JP2009103476A - Position management system of object - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a position management system of an object capable of achieving high functionality in a building space. <P>SOLUTION: The position management system 1 includes: a transmission/reception system 2 at a building side; and a transmission/reception system 11 at an object side. The transmission/reception system 2 at a building side includes: an LED emission section 4; a luminaire material 3 having an ultrasonic receiver 5; an LED management control section 6; an ultrasonic sensor control section 7; a position management control section 8; a movement command control section 9; and a total management control section 10. The transmission/reception system 11 at an object side has a light reception section 12; and an ultrasonic transmitter 13. The LED emission section 4 is driven by a control signal from the LED management control section 6 to output illumination light, and the control signal is transmitted to an object of which position management is performed. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an object position management system configured to achieve high functionality in a building space where a moving body such as a robot exists.

  In recent years, a technique for performing communication using illumination light has been developed. For example, Patent Document 1 discloses that an illumination LED installed on a transmission side is driven according to a transmission signal, and output light is transmitted from a light emitting unit on a reception side to perform bidirectional communication. Such illumination light communication can be realized by modulating the LED.

JP 2004-221747 A

  In bidirectional communication as described in Patent Document 1, illumination light is merely used for bidirectional communication between a transmission side and a reception side, and a terminal on the reception side is installed on the transmission side. It is not intended to detect the position that is present. For this reason, when detecting the position of an object in an environment using the illumination light, it is necessary to install position detection parts separately from the lighting fixtures on the transmission side and the reception side, which is costly. There is a problem that the space for installing these parts is required. In addition, when there is a moving body such as a robot in the building space, the moving body has a control function, so the movement of the moving body is restricted and the building space is effectively used. There was a problem that the function of the space could not be improved.

  The present invention solves the above-described problem, and achieves high functionality of space control in a building space, and can save space by integrating a light source and an object position detection component into a lighting fixture. The object is to provide an object position management system.

In order to achieve such an object, the object position management system of the present invention includes:
A lighting fixture in which a light source for outputting transmission data and a first receiving means for detecting a position signal of an object are integrally attached;
A control unit electrically connected to the lighting apparatus;
A second receiving means attached to the object, receiving the output light of the light source and receiving the transmission data, and a transmission / reception instrument provided with a transmitting means for transmitting a position signal of the object;
The transmission data includes a movement control signal for the object formed by the control unit.

  The object position management system according to the present invention is characterized in that the lighting fixtures are provided at least at four corners of the ceiling.

  The object position management system according to the present invention is characterized in that the lighting fixtures are provided in a lattice pattern on the ceiling.

  The object position management system according to the present invention is characterized in that means for changing the installation position of the lighting fixture in a straight line and means for changing the mounting angle of the lighting fixture are provided.

  In the object position management system according to the present invention, the transmitting / receiving device is attached to a moving object and a stationary object.

Further, the object position management system of the present invention is attached to a plurality of robots that walk and move the transmission / reception instrument, and objects assigned to each of the robots,
Each robot assists the movement of an object assigned to each robot by a signal from the control unit.

  ADVANTAGE OF THE INVENTION According to this invention, high functionality can be achieved in the building space where moving bodies, such as a robot, exist. In addition, since the light source for outputting transmission data to the lighting fixture and the first receiving means for detecting the position signal of the object are integrally attached, the installation space of the object position management system can be saved.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 5 is an explanatory diagram illustrating an example in which a light source and an ultrasonic receiver are integrated with a lighting fixture. The luminaire 3 has a ring shape, and an ultrasonic receiver 5 is provided at the center. The ultrasonic receiver 5 receives an ultrasonic signal transmitted from a moving object or a stationary object to be managed. A plurality of LED light emitting units 4 are provided on the periphery of the lighting fixture 3. The LED light emitting unit 4 has a function of illuminating a room or the like and transmitting data including a control signal to a target object under the environment of illumination light.

  The lighting fixture 3 shown in FIG. 5 integrates an LED light emitting unit 4 having a signal transmission function and an ultrasonic receiver 5 that receives a signal from an object to be managed. For this reason, it becomes a compact structure and can save installation space. Moreover, since many LED light emission parts are provided in the ring-shaped periphery part, the luminous intensity of illumination light is raised and the signal transmission intensity | strength with respect to the object made into management increases. The lighting fixture 3 is attached to the ceiling of a building etc. so that it may mention later.

  FIG. 6 is an explanatory view showing a lighting fixture 3 according to another embodiment of the present invention. In the configuration of FIG. 6, the luminaire 3 is attached to the support 80. A slide outlet 81 is provided on the ceiling or the like, and the sliding portion 83 of the support 80 is fitted into the groove portion of the slide outlet 81. The sliding portion 83 and the main body of the support 80 are connected by a connecting portion 82, and the attachment angle of the lighting fixture 3 can be changed by the moving portion 84. In the configuration of FIG. 6, the installation position of the lighting fixture 3 can be changed linearly, and the attachment angle can be changed, so that the degree of freedom in providing the lighting fixture 3 can be increased. .

  FIG. 1 is a block diagram showing an overall configuration of an object position management system 1 according to an embodiment of the present invention. As shown in FIG. 1, the object position management system 1 includes a building-side transmission / reception system 2 and an object-side transmission / reception instrument 11. The building-side transmission / reception system 2 includes an LED light emitting unit 4, a lighting fixture 3 having an ultrasonic receiver 5, an LED management control unit 6, an ultrasonic sensor control unit 7, a position management control unit 8, a movement command control unit 9, An overall management control unit 10 is provided. In addition, the light transmitting / receiving device 11 and the ultrasonic transmitter 13 are provided in the object-side transceiver 11.

  The overall management control unit 10 sets a management signal including parameters such as a moving distance and a direction of an object to be subjected to position management. This management signal is transmitted to the position management control unit 8 and the movement command control unit 9. The LED light emission unit 4 is driven by a control signal from the LED management control unit 6 to output illumination light, and transmission data including a movement control signal is transmitted to an object whose position is to be managed. The object-side transmitting / receiving instrument 11 is provided on a moving object such as a robot. The light receiving unit 12 attached to the robot receives the movement control signal and acquires information such as a moving direction and a moving distance, for example. The drive mechanism provided in the robot is controlled by the control signal. The movement position of the robot is transmitted from the ultrasonic transmitter 13 to the transmission / reception system 2 on the building side, and the transmission signal is received by the ultrasonic receiver 5.

The signal received by the ultrasonic receiver 5 is transmitted to the overall management control unit 10 via the ultrasonic sensor control unit 7. The overall management control unit 10 confirms whether or not the robot has moved to the initially set position, and if the movement position needs to be corrected, a fine adjustment control signal is sent to the position management control unit 8 and the movement command control unit 9. Send. The LED light emitting unit 4 is driven by a control signal from the LED management control unit 6 and transmits the fine adjustment control signal to the light receiving unit 12. The overall management control unit 10 is electrically connected to the lighting fixture 3.

  Next, position detection of an ultrasonic transmitter when using an ultrasonic sensor, that is, position detection of an object to which the ultrasonic transmitter is attached will be described. FIG. 7 is an explanatory diagram showing the principle of position detection of the ultrasonic transmitter. In this ultrasonic position detection system, for example, ultrasonic receivers are arranged at four corners in a matrix on the ceiling or wall surface, and the position of the ultrasonic transmitter is detected from the principle of three-point positioning.

  In the example of FIG. 7, the position of the ultrasonic transmitter 13 is detected using three ultrasonic receivers 5a, 5b, and 5c. At this time, the ultrasonic propagation distance from the ultrasonic transmitter 13 is predicted from the time difference between the transmitter signals received by the receivers 5a, 5b, and 5c. Next, circles with radii R1, R2, and R3 corresponding to ultrasonic propagation distances are drawn around the receivers 5a, 5b, and 5c. Subsequently, the intersection of all the circles is estimated as the position where the ultrasonic transmitter 13 is located, and three-dimensional coordinates are obtained.

  In the method shown in FIG. 7, there is a possibility that the reception areas of the ultrasonic receivers 5a, 5b, and 5c cannot be used effectively to the maximum. That is, when the ultrasonic receivers 5a, 5b, and 5c are installed on the ceiling, the ceiling height is about 3 m in a general building. On the other hand, the reception area of the ultrasonic receiver has a conical characteristic with a receiving distance of 7 m and about 100 ° with the ultrasonic receiver as the center. For this reason, it becomes the situation where the reception area of an ultrasonic receiver cannot be used effectively to the maximum. Therefore, for example, assuming a square room with a side of 10 m, if the ultrasonic receivers are installed on the ceilings at the four corners of the room in the diagonal direction of the room, they can be covered with four receivers.

  FIG. 2 is an explanatory view showing an embodiment of the present invention. In FIG. 2, 21 is a space side control unit, and a computer 21a is installed. The space-side control unit 21 measures the ID and three-dimensional position of each moving body and grasps the positional relationship of the moving body in the space. In addition, a solution for the task is obtained and position information is transmitted to each moving body. That is, the movement position is indicated. Furthermore, work position information is transmitted. This space side control unit 21 is constructed for each application.

  An ultrasonic array sensor 15a is provided on the ceiling of the room for managing the position of the object. In this example, since the ceiling is formed in a rectangular shape, in addition to the positions of the four corners of the ceiling, the light source (LED light emitting unit) and the position detection means (ultrasonic receiver) are opposed to the central part of the long side of the ceiling. ) Is integrally provided. If the ceiling is square, the lighting fixtures 23 are installed at the four corners of the ceiling as described above. A moving object such as a robot includes a fixed portion 16a and a moving portion 16b such as an arm. Reference numerals 17 to 20 denote stationary objects. An ultrasonic tag 14 is provided for each of the moving object and the stationary object. The ultrasonic tag 14 is provided with the light receiving unit 12 and the ultrasonic transmitter 13 as described in FIG. The ultrasonic tag 14 is excited by a radio device 30 installed at an appropriate position above the room.

  The controller 22 controls the LED light emitting unit 4, the ultrasonic receiver 5, and the radio device 30 provided in the lighting fixture 23. W indicates an object detection range, that is, an attachment range of the ultrasonic tag 14. In the example of FIG. 2, lighting fixtures 23 having ultrasonic receivers are provided only at six locations on the four corners of the ceiling and the central edge of the long side. For this reason, there exists an advantage that the receiving area of an ultrasonic receiver can be utilized to the maximum.

  FIG. 3 is an explanatory diagram of a configuration according to another embodiment of the present invention. The same parts as those in FIG. 2 are denoted by the same reference numerals, and detailed description thereof is omitted. In the example of FIG. 3, the ultrasonic array sensor 15 has a large number of the lighting fixtures attached to the ceiling in a lattice pattern. For this reason, the detection accuracy of the signal from the ultrasonic tag 14 is improved, and in particular, the position management of the moving unit 16b can be performed with high accuracy. In this case, since the number of light sources is also increased, the illumination in the room becomes brighter and the control signal reception intensity of the ultrasonic tag can be increased.

  As described above, in the embodiment of the present invention, since the lighting fixture combines the ultrasonic receiver and other devices, in this example, the light source, it is possible to increase the functionality of the member attached to the ceiling. Become. Further, an ultrasonic receiver is attached to the surface of a member manufactured as a lighting fixture, and a plurality of high-brightness LEDs are arranged around the ultrasonic receiver.

  The LED can be used as a lighting fixture by being normally lit, and can be used as a means for LED communication by performing modulation control or the like with the LED control circuit as described above. In addition, by using the lighting fixture, it matches the design of the space and increases the degree of freedom in adjusting the installation direction of the ultrasonic receiver as described with reference to FIG.

  FIG. 4 is an explanatory view showing still another embodiment of the present invention. In FIG. 4, the configuration of the present invention is applied to a system in which a person (object) and a robot move relative to each other, such as nursing care. 4 is a work space of the robot 40 and 66 is a control area of the robot 40. Since the work space 65 is restricted by the movement of the robot 40, it is set, for example, within a limited range in the room. In this example, the robot 40 supports the movement of the hand of a person 50, for example.

  Reference numeral 41 denotes a position processing unit of the robot 40. The position processing unit 41 recognizes the movement of the person 50 to be controlled by the detection signal from the sensor, and controls the operation of the robot 40. That is, the robot 40 constitutes a kind of closed loop control system controlled by the position processing unit 41 provided in itself. Further, the robot 40 and the person 50 are configured to operate in a one-to-one relationship.

  Reference numeral 67 denotes a work space when the present invention is applied. In this case, Y is the mutual position management system for the robots 42 to 44 and the persons 51 to 52 that are walking and moving. The robot workspace is expanded like Z. Further, the relationship between the robot and the person is N to N, in this example, 3 to 3. Although not shown, ultrasonic tags are attached to the robots 42 to 44 and the persons 51 to 52 that are walking and moving. Further, a composite member provided with a light source and an ultrasonic receiver in the form as shown in FIG. 2 or 3 is installed on the ceiling of the room.

  Reference numeral 60 denotes a control unit installed at an appropriate place in the building, and has a function of combining the space side control unit and the controller shown in FIGS. In the example of FIG. 4, as an example of effective use of the building space, which is the original purpose of the system, that is, to increase the functionality of the building space, a moving system such as a robot (person) such as a robot in the building side system, other tables, etc. It detects the position of a stationary object and issues a movement command from the building to the robot. At this time, the position of each of the plurality of robots is accurately detected, and a control signal is transmitted to each robot so as to move to the optimum position. For this reason, it is possible to perform centralized control so that each robot can safely perform operations such as care for a person assigned correspondingly without complicating each other, that is, assists the operation of an object (person).

  As described above, the following advantages can be obtained by realizing high functionality of the building space. In other words, a high-performance robot used to process all information in the robot and acted as a robot alone. However, by providing a control unit on the building side, the robot can be moved by a control signal from the control unit. Control can be performed. In this case, the movement control of the robot or the like can move the building space without restriction, and can increase the functionality of the building space.

  Thus, even a simple robot or machine that does not have a control function can be used inside or outside the building. In addition, by managing the position information and the like on the building side, it is possible to manage a group of movement plans (route plans, action plans) and the like of the moving body as a whole instead of a single robot. As a result, communication between a person and a machine (robot), which has not been conventionally possible, is also possible.

  As described above, the present invention provides an object position management system that simplifies the configuration and saves installation space by improving functionality in a building space and attaching a light source and an ultrasonic receiver to a lighting fixture. Can be provided.

It is a block diagram which shows the whole structure of embodiment of this invention. It is explanatory drawing which shows the process sequence of this invention. It is explanatory drawing which shows embodiment of this invention. It is explanatory drawing which shows embodiment of this invention. It is a characteristic view which shows embodiment of this invention. It is explanatory drawing which shows embodiment of this invention. It is explanatory drawing which shows the premise technique of this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Object position management system, 2 ... Building transmission / reception system, 3 ... Lighting equipment, 4 ... LED light emission part, 5 ... Ultrasonic receiver, 6 ... LED management Control part, 7 ... Ultrasonic sensor control part, 8 ... Position management control part, 9 ... Movement command control part, 10 ... Overall management control part, 11 ... Object side transmission / reception instrument, 12 ... light receiving part, 13 ... ultrasonic transmitter

Claims (6)

A lighting fixture in which a light source for outputting transmission data and a first receiving means for detecting a position signal of an object are integrally attached;
A control unit electrically connected to the lighting apparatus;
A second receiving means attached to the object, receiving the output light of the light source and receiving the transmission data, and a transmission / reception instrument provided with a transmitting means for transmitting a position signal of the object;
The object position management system, wherein the transmission data includes a movement control signal for the object formed by the control unit. 2. The object position management system according to claim 1, wherein the lighting fixtures are provided in at least four corners of the ceiling. The object position management system according to claim 1, wherein the lighting fixture is provided in a lattice shape on a ceiling. The position of the object according to any one of claims 1 to 3, further comprising means for linearly changing the installation position of the lighting fixture and means for changing the mounting angle of the lighting fixture. Management system. 5. The object position management system according to claim 1, wherein the transmission / reception instrument is attached to a moving object and a stationary object. A plurality of robots that walk and move the transmitter / receiver device, and attached to objects assigned to each robot,
The object position management system according to any one of claims 1 to 5, wherein each robot assists movement of an object assigned to each robot by a signal from the control unit.

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