JP2009145055A - Autonomous mobile - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve accuracy in awareness of location without using complicated equipment in an autonomous mobile capable of recognizing its location by detecting an infra-red ray containing an intrinsic ID signal, an autonomous mobile control system for controlling such an autonomous mobile and a location recognition method of controlling such an autonomous mobile. <P>SOLUTION: The autonomous mobile including a mobile body and a detection part for detecting the infra-red ray radiated from an infra-red ray irradiation part radiating the infra-red ray containing the intrinsic ID signal is capable of moving while recognizing its location based on the information on the infra-red light detected in the detection part, wherein the relative location of the mobile body to the infra-red light radiation part can be accurately obtained when the radiated infra-red light is detected, by including the information specifying the incident direction of the infra-red ray in the information on the infra-red ray detected in the detection part. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an autonomous moving body that moves within a specific moving area, an autonomous moving body control system, a position recognition method used for controlling an autonomous moving body, and the like.

  In recent years, autonomous mobile robots that can move autonomously within a limited area inside a building or outdoors based on the surrounding environment are being developed. Such a robot normally moves in order to enable autonomous movement by creating a movement path from its current position to a specific target point on a movement map relating to a moving area stored in advance. It has a function of recognizing its own position within the area.

  As a technique for recognizing such a self-position, for example, a technique described in Patent Document 1 is known. According to the position recognition method disclosed in Patent Document 1, a plurality of infrared irradiation units that can irradiate infrared rays including unique ID signals in a predetermined range are installed, and infrared rays emitted from these infrared irradiation units are used for infrared rays. The self-position recognition is performed by receiving light by a moving object (such as a mobile terminal) provided with the light receiving device.

In such a technique, mapping information indicating the relationship between the position of each infrared irradiation unit and the ID of infrared rays irradiated from these irradiation units is set in advance, and an ID signal received based on the set mapping information A position corresponding to is identified, and the identified position is recognized as a self-position.
JP 2000-98034 A

  Although the infrared signal irradiated from the infrared irradiation unit as described above has a certain directivity, spatial spread (about 0.7 m to 2.5 m in a standard indoor area) occurs during irradiation. Therefore, the self-position estimation based on the mapping information set as described above can determine that the moving target exists somewhere in the area having a predetermined spread, but the accurate position information and the moving direction of the moving target Information on (orientation) cannot be obtained. Therefore, by installing a plurality of infrared irradiation units that irradiate infrared rays having unique IDs, and simultaneously receiving infrared rays including different ID signals emitted from these infrared irradiation units, the accuracy of the recognition position is improved. It is possible.

  However, even when the self-position is recognized by such a method, the number of infrared irradiation units to be installed is limited, so that the self-position is still recognized as any position in a specific area. Become. For this reason, there is a problem that a self-position cannot be recognized with sufficient accuracy in a moving object such as an autonomous mobile body that needs to recognize a moving direction in accordance with its own position information.

  The present invention has been made to solve such a problem, and an autonomous mobile body capable of recognizing its own position by detecting infrared rays including a unique ID signal, and controls such an autonomous mobile body. In the autonomous mobile body control system and the position recognition method used for controlling such an autonomous mobile body, it is an object to improve the recognition position accuracy without using complicated equipment.

  An autonomous mobile body according to the present invention includes a mobile body and a detection unit that detects infrared rays emitted from an infrared irradiation unit that emits infrared rays including a unique ID signal, and information about infrared rays detected by the detection unit. The information on the infrared rays detected by the detection unit includes information for specifying the incident direction of the infrared rays.

  According to such an autonomous mobile body, when infrared rays including a unique ID signal are detected, in addition to the infrared irradiation area information, the relative position of the mobile body relative to the infrared irradiation portion that has irradiated the infrared rays is determined. Since it can be limited, the self-position can be recognized with higher accuracy.

  Moreover, in such an autonomous mobile body, the detection unit is capable of identifying two or more infrared rays each including different ID signals, and is based on information identifying the incident directions of the two or more identified infrared rays. May be recognized. In this way, by specifying the incident direction of multiple types of infrared rays, it is possible to specify the relative position and relative attitude of the autonomous mobile body with respect to the infrared irradiation unit, so the self-position can be accurately determined without using special equipment. While being able to recognize well, the moving direction of an autonomous mobile body can also be recognized.

  Moreover, it is preferable that such an autonomous mobile body further includes a measurement unit that measures the degree of inclination of the detection unit from the horizontal direction. In the case of such an autonomous mobile body, even if the moving region has an inclined surface or the like, it is possible to perform accurate self-position recognition in consideration of the degree of inclination.

  In addition, in such an autonomous mobile body, in order to recognize the self position more accurately or simply, a position estimation unit that acquires position information for estimating the self position may be further provided. Such an autonomous mobile body recognizes its own position by combining the position information acquired by the position estimating means and the infrared information detected by the detection unit. Thus, by recognizing the self-position by combining the estimated position information and infrared information, the position information estimated by the position estimation means can be corrected, and as a result, more accurate. Self-position recognition is possible. Furthermore, even when infrared rays cannot be detected temporarily, the autonomous mobile body configured in this way can move while estimating its own position, so that it is a mobile environment equipped with obstacles that shield infrared rays. However, it becomes possible to perform autonomous movement by recognizing the self-position accurately.

  Such position estimation means is not particularly limited. For example, the position estimation means estimates the self-position based on odometry information related to the distance and direction of the moving object, or an IC tag provided at a known position. The self-position may be estimated by reading. When such a position estimation means is used, the position of the autonomous mobile body can be recognized without excessively complicating the structure of the autonomous mobile body and without using excessive facilities.

  The present invention also provides an autonomous mobile body control system for controlling an autonomous mobile body. The autonomous mobile body control system is provided with infrared rays including a unique ID signal provided at a predetermined position. An autonomous moving body that includes an infrared irradiation unit that irradiates, and a detection unit that detects infrared rays emitted from the infrared irradiation unit, and is movable while recognizing its own position based on information about infrared detected by the detection unit; An autonomous mobile body that autonomously moves within a specific area, wherein the information about the infrared rays detected by the detection unit includes information for identifying the incident direction of the infrared rays. It is said.

  In such an autonomous mobile body control system, when infrared rays including a unique ID signal are detected, in addition to the infrared irradiation area information, the relative position of the autonomous mobile body with respect to the infrared irradiation section that radiates infrared rays Therefore, the self-position can be recognized with higher accuracy.

  Moreover, in such an autonomous mobile body control system, two or more infrared irradiation units are provided, each radiates infrared rays including different ID signals, and the detection unit outputs two or more infrared rays including the different ID signals. The self-position of the autonomous mobile body may be recognized based on information that is identifiable and that identifies the incident directions of the two or more identified infrared rays. In this way, by specifying the incident direction of multiple types of infrared rays, it is possible to specify the relative position and relative attitude of the autonomous mobile body with respect to the infrared irradiation unit, so the self-position can be accurately determined without using special equipment. While being able to recognize well, the moving direction of an autonomous mobile body can also be recognized.

  Further, the apparatus further includes position estimation means for acquiring position information for estimating the self-position of the autonomous mobile body as described above, and the position information acquired by the position estimation means and the infrared ray detected by the detection unit The system may be configured to recognize the self-position of the autonomous mobile body in combination with the information. Thus, by recognizing the self-position by combining the estimated position information and infrared information, the position information estimated by the position estimation means can be corrected, and as a result, more accurate. Self-position recognition is possible. Furthermore, even when infrared rays cannot be detected temporarily, the autonomous mobile body can move while estimating its own position, so even in a mobile environment equipped with obstacles that shield infrared rays, etc. It becomes possible to perform autonomous movement while recognizing the self position.

  Further, the position estimating means is not particularly limited. For example, the position estimating means estimates the self position based on odometry information relating to the distance and direction of the moving object, or reads an IC tag provided at a known position. Thus, the self-position may be estimated. When such a position estimation means is used, the position of the autonomous mobile body can be recognized without excessively complicating the structure of the autonomous mobile body and without using excessive facilities.

  In addition, such a position estimation means is not necessarily provided on the autonomous mobile body side. For example, the autonomous mobile body is obtained from data obtained by observing the autonomous mobile body from outside the autonomous mobile body, such as GPS. It is also possible to use one that estimates its own position from position information. In such a case, the internal structure of the autonomous mobile body can be made simpler.

  Furthermore, the present invention also provides a position recognition method used for controlling a moving object such as an autonomous moving body as described above, and an infrared ray including a unique ID signal emitted from a predetermined position. And detecting a relative position from the infrared irradiation unit based on the detected incident direction of infrared rays. According to such a position recognition method, when an infrared ray including a unique ID signal is detected, in addition to the infrared irradiation area information, the relative position of the place where the infrared ray is detected with respect to the position where the infrared ray is irradiated is determined. It can be determined more accurately.

  In such a position recognition method, two or more infrared rays including different ID signals are detected, and the relative position from the infrared irradiation unit is recognized based on the detected incident direction of each infrared ray. Also good. According to such a position recognition method, the relative position and the relative attitude with respect to the infrared irradiation unit are obtained by obtaining the relative positions from the positions where the infrared rays are provided at two or more locations where the infrared rays are detected. Can be identified. Therefore, when recognizing the position of the movement target provided with detection means for detecting infrared rays, the self-position can be accurately recognized without using special equipment, and the movement direction of the movement target is also recognized. be able to.

  Further, in such a position recognition method, position recognition is performed by measuring the degree of inclination of the place where infrared rays are detected from the horizontal direction and correcting the recognized relative position based on the measured degree of inclination. May be. In the case of such a position recognition method, it is possible to perform accurate position recognition in consideration of the degree of inclination even when the area for position recognition has an inclined surface or the like.

  Furthermore, when performing such position recognition, position information for estimating the self position may be acquired, and the self position may be recognized by combining the acquired position information and the recognized relative position. In such a position recognition method, the position information estimated by a separate means and the relative position with respect to the infrared irradiation unit recognized as described above are combined to perform position recognition by correcting the estimated position information. Therefore, position recognition with higher accuracy can be performed.

  As described above, according to the present invention, an autonomous mobile body capable of recognizing its own position by detecting infrared light including a unique ID signal, and an autonomous mobile body control system for controlling such an autonomous mobile body, And in the position recognition method used for controlling such an autonomous mobile body, it is possible to improve the recognition position accuracy without using complicated equipment.

Embodiment 1 of the Invention
The autonomous mobile body according to the first embodiment of the present invention, the autonomous mobile body control system for controlling the autonomous mobile body, and the positions used for controlling the autonomous mobile body, etc., with reference to FIGS. 1 to 13 A recognition method will be described. In this embodiment, it is assumed that the autonomous mobile body is a mobile body-type mobile body that autonomously moves on a plane by driving a pair of wheels.

  FIG. 1 schematically shows an embodiment of an autonomous mobile body control system 1 in which a vehicle-type autonomous mobile body 10 moves on an indoor floor surface P. As shown in FIG. In this embodiment, it is assumed that the moving floor surface P is a horizontal surface having no step or inclination, and no object is particularly placed on the floor surface. Moreover, in the indoor ceiling in which the autonomous mobile body 10 moves, as shown in FIG. 2, it is assumed that a plurality of infrared irradiation units 20 that irradiate infrared rays are arranged in a plane at equal intervals. The plurality of infrared irradiation units irradiate infrared rays each having a unique ID, and as shown in FIG. 2, the infrared irradiation range has a planar spread, and the floor on which the autonomous mobile body moves In the above, the spread of the infrared rays is determined so that a plurality of types of infrared rays having different IDs are irradiated.

  As shown in FIG. 3, the infrared light emitted from the infrared irradiation unit 20 includes a unique ID signal in a signal represented by a fixed code, and the detection unit described later reads this ID signal. Then, the detected infrared ray is specified.

  As shown in FIG. 2, the moving region irradiated with infrared rays by the infrared irradiation unit 20 includes (a) an area 30 a where infrared rays are irradiated only by a single infrared irradiation unit, and (b) two infrared irradiation units. The area 30b is irradiated with infrared rays having different IDs, (c) The area 30c is irradiated with infrared rays having different IDs by three infrared irradiation units, and (d) The area is irradiated with infrared rays having different IDs by four infrared irradiation units. 30d.

  Next, the autonomous mobile body 10 used for such an autonomous mobile body control system 1 will be described. FIG. 4 schematically shows the structure of the autonomous mobile body 10 shown in FIG. 1 as viewed from the side. As shown in FIG. 4, the autonomous mobile body 10 includes a box-shaped mobile body 10a and a detection unit 10b provided on the upper surface of the mobile body 10a for detecting infrared rays. The movable body main body 10a is a four-wheeled movable body including wheels 11 and 12 that are opposed to each other before and after the movable body main body 10a.

  In the moving body 10a, a motor (not shown) as a drive unit for driving the wheels 11 and 12 and a control signal for driving the wheels 11 and 12 are created, and the motor is controlled. A control computer 15 including an arithmetic processing unit for transmitting signals and the like, and a battery (not shown) for supplying electric power to each component provided in the movable body main body are provided. The autonomous mobile body 10 configured in this way independently controls the drive amount of the pair of wheels 11 and 11 so that the vehicle travels straight, moves in a curve (turns), moves backward, and rotates on the spot (the midpoint of both wheels). Movement such as turning around the center.

  In a storage area such as a memory provided in the control computer 15, a floor surface that moves together with a program for controlling the moving speed, moving direction, moving distance, and the like of the autonomous mobile body 10 based on the control signal. P map information is stored in advance. As this map information, for example, a grid map or the like obtained by virtually depicting grid lines connecting lattice points arranged at substantially constant intervals d (for example, 10 cm) on the entire shape of the floor surface P is used. It is done. Then, using the coordinates on the grid point that is the intersection of the grid lines, the position corresponding to the self position, the movement end point that is the destination, the movement direction, and the like are specified. The control computer 15 recognizes the self position on the map information in real time, creates the movement route from the movement start point to the destination movement end point using the recognized self position as the movement start point. The wheel is driven to move along the travel path.

  Moreover, the autonomous mobile body 10 has a function of estimating its own position based on odometry information. That is, the distance and direction of movement are calculated by the control computer 15 based on the rotational speed of the wheels, the moving speed of the moving body, and the like, and the current relative position with respect to a fixed point (for example, the movement start point) on the moving area is estimated. To do.

  Further, although not shown, a camera or the like (not shown) that recognizes an obstacle or the like that appears in the moving direction is fixed on the front surface of the moving body 10a, and is acquired by imaging with this camera. As a result of the surrounding environment information such as images and videos being input to the control computer 15, the path, speed, and the like of the moving body are appropriately changed in accordance with the program.

  Next, the detection part 10b for detecting infrared rays provided on the upper surface of the mobile body 10a will be described. The detection unit 10b includes a light receiving surface that receives infrared rays emitted from the infrared irradiation unit 20, and an incident angle detection element for incident infrared rays is provided on the light receiving surface. As shown in FIG. 5, the detection unit having such a detection element can specify, for each received infrared ray, the incident angle φ0 of the received infrared ray with respect to the light receiving surface. In the embodiment shown in FIG. 5, the incident angle of infrared light received from one infrared irradiation unit (infrared irradiation unit 201) is φ0, and the incident angle of infrared light received from the other infrared irradiation unit (infrared irradiation unit 202) is An example is shown in which φ1 and the angle difference is φ. Thus, the information regarding the incident angle for each infrared ray detected by the detection unit 10b is transmitted to the control computer 5 together with the unique ID signal included in each infrared ray. In the present embodiment, since the floor on which the autonomous mobile body moves is horizontal, the distance in the vertical direction from the light receiving surface of the detection unit to the infrared irradiation unit 20 is kept at a known constant value (= h). Shall be.

  Next, a procedure for such an autonomous mobile body 10 to recognize its own position in the map information will be described with reference to FIGS. 6 to 11. FIG. 6 is a diagram simply illustrating a state in which an autonomous moving body exists in a moving region irradiated with infrared rays by four adjacent infrared irradiation units 20a, 20b, 20c, and 20d. In this embodiment, these infrared irradiation parts shall be arrange | positioned so that the square of length K may be drawn. In addition, arrangement | positioning of an infrared irradiation part is not limited to a square, It is good also as what is arrange | positioned so that the rectangle of length K 'and K may be drawn.

  The autonomous mobile body 10 specifies the relative self-position with respect to these infrared irradiation units based on the incident direction of the infrared rays detected by the detection unit. Specifically, when two or more different infrared rays are detected from these infrared irradiation units (when the autonomous mobile body detects infrared rays in the areas 30b, 30c, and 30d in FIG. 2), a plurality of detected infrared rays are detected. Based on the information regarding the incident angle, the self-position of the autonomous mobile body (relative position with respect to the infrared irradiation unit) and the relative direction with respect to the infrared irradiation unit in the direction in which the autonomous mobile body is moving are specified. On the other hand, when only a single infrared ray is detected (when the autonomous mobile body detects an infrared ray in the area 30a shown in FIG. 2), the estimated self-position and irradiation using the above-described function for estimating the self-position. The self-position is recognized by combining with the infrared information.

  First, as an example of detecting infrared rays including two or more different unique ID signals using FIG. 6, FIG. 7, and FIG. 8, the infrared rays irradiated from 20a and 20b are detected, and the autonomous mobile body's self-position ( An example in which the relative position with respect to the infrared irradiation unit and the relative direction of the direction in which the autonomous mobile body is moving with respect to the infrared irradiation unit will be described.

  FIG. 6 shows a fixed coordinate system in which the infrared irradiation unit is arranged, the moving direction of the autonomous moving body, and the coordinates orthogonal to the moving direction when the position where the autonomous moving body exists is the origin Q (0, 0). The movement coordinate system using is described on the same map. Since the position of the infrared irradiation unit 20b is known, it is expressed as a known coordinate (a, b) in the above-mentioned fixed coordinate system, and is unknown in the moving coordinate system (a ′, b ′). ).

  In addition, the angle formed by the Y axis of the fixed coordinate system of the autonomous mobile body and the y axis of the moving coordinate system is expressed as θ (0 ° <θ <90 °), and by specifying the value of θ, Specify the direction of movement of the autonomous mobile body.

When the distance in the x-axis direction of the infrared irradiation units 20a and 20b in the formed moving coordinate system is L1 and L2 in the y-axis direction, L1 and L2 are expressed as follows using the angle θ described above ( Expressions 1) and 2 can be expressed.

Here, as shown in FIG. 7, with respect to the x-axis direction of the moving coordinate system, the angle formed by the infrared ray incident on the detection unit from the infrared irradiation unit 20a and the horizontal direction is α0, and the infrared ray incident on the detection unit from the infrared irradiation unit 20b. However, if the angle between the incident direction of the infrared rays incident from the infrared irradiation unit 20a is α, the distance L1 can be expressed as the following (Equation 3):

Similarly, as shown in FIG. 8, with respect to the y-axis direction of the moving coordinate system, the angle formed by the infrared ray incident on the detection unit from the infrared irradiation unit 20a and the horizontal direction is β0, and the infrared ray incident on the detection unit from the infrared irradiation unit 20b. However, when the angle formed by the incident direction of the infrared rays incident from the infrared irradiation unit 20a is β, the distance L2 can be expressed as (Equation 4) below:

Here, since it is clear that there is a relationship of tan θ = L2 / L1 between θ, L1, and L2, the relative moving direction θ of the autonomous mobile body with respect to the fixed coordinate system is expressed by (Equation 1) to By using (Equation 4), it is expressed as shown in the following (Equation 5):

Accordingly, the relative moving direction θ of the autonomous moving body with respect to the fixed coordinate system is expressed as (Equation 6) using known values α0, α, β0, β.

  On the other hand, in the present embodiment, the floor on which the autonomous mobile body moves is horizontal, and the height h from the upper surface (position where the detection unit is installed) to the infrared irradiation unit of the autonomous mobile body is a known value. However, for example, even if the height h is an unknown value, the value of L1 is obtained from θ and K using (Equation 1) after obtaining the value of θ from (Equation 3) described above. Further, the value of h can be obtained from L1 using (Equation 3).

Further, assuming that the position coordinates of the infrared irradiation unit 20b in the moving coordinate system are (a ′, b ′), the values of a ′ and b ′ are as follows from the incident angles of the infrared rays detected by the detection unit: 7) and can be expressed as shown in (Equation 8)

Furthermore, when the coordinates in the moving coordinate system expressed using the values of a ′ and b ′ are converted into the coordinates in the fixed coordinate system, the position coordinates (a, b) of the infrared irradiation unit 20b are the following numbers ( 9) can be expressed as:

  In this way, since the position on the fixed coordinates of the infrared irradiation unit when the self position is the origin can be specified, the relative position on the fixed coordinates of the autonomous mobile body 10 with respect to the position of the infrared irradiation unit Can be requested.

  Next, an example in which only a single infrared ray is detected and the self-position is recognized by combining the estimated self-position and the information of the irradiated infrared light will be described with reference to FIGS. 9, as in FIG. 6, the position where the autonomous mobile body exists is set as the origin Q ′ (0, 0), the fixed coordinate system in which the infrared irradiation unit is arranged, the moving direction of the autonomous mobile body, A state in which a moving coordinate system using coordinates orthogonal to the moving direction is described on the same map is shown. And since the position where these infrared irradiation parts are arrange | positioned is known, the position of the infrared irradiation part 20a shall be represented as a known coordinate (c, d) in a fixed coordinate system, for example, and a movement coordinate system Is represented as unknown coordinates (c ′, d ′).

  In addition, the angle formed by the Y axis of the fixed coordinate system of the autonomous mobile body and the y axis of the mobile coordinate system is expressed as Θ, and the moving direction of the autonomous mobile body is specified by specifying the value of Θ. .

At this time, when the distance in the x-axis direction of the infrared irradiation unit 20a in the moving coordinate system is L1 ′ and L2 ′ in the y-axis direction, L1 ′ and L2 ′ are as follows from the positional relationship shown in FIGS. (Equation 10) and (Equation 11) can be expressed as follows:

  Since L1 ′ and L2 ′ have a relationship of L1 ′ = c ′ and L2 ′ = d ′ with respect to the above-described coordinates (c ′, d ′), the above-described (Equation 10) and (Equation 11) The coordinates (c ′, d ′) of the infrared irradiation unit 20a can be obtained from the values of L1 ′ and L2 ′ obtained by the above.

  However, since the coordinates (c ′, d ′) are coordinates in the moving coordinate system viewed from the autonomous moving body, the position of the infrared irradiation unit 20a in the fixed coordinate system cannot be actually specified. That is, as shown in FIG. 12, it is only understood that the autonomous mobile body exists at any one of candidate positions arranged in a circle around the infrared irradiation unit, and a specific position cannot be specified.

  In such a case, the candidate position closest to the self position estimated using the odometry information is selected from the self candidate positions arranged in a circle around the moving body as described above. The odometry information is preferably obtained based on the self-position that can be specified by detecting two or more different infrared rays as described above.

  Furthermore, the movement direction Θ of the autonomous mobile body is also specified from the self-position (L1 ′ and L2 ′ values) specified together with the odometry information.

  Thus, when only a single infrared ray is detected, the self-position can be recognized by combining the estimated self-position and the information of the irradiated infrared rays.

  Next, a procedure for the autonomous mobile body configured as described above to identify its own position will be described in detail with reference to the flowchart shown in FIG.

  First, the autonomous mobile body 10 that has started moving within the moving area determines whether or not infrared rays including an ID signal can be detected from the infrared irradiation unit (STEP 101). When infrared rays are detected, it is determined whether infrared rays including two or more different ID signals are detected while performing self-position estimation based on odometry information (STEP 102). When infrared rays including two or more different ID signals are detected, two different ID signals are identified from the detected infrared rays (STEP 103), the incident angles of those infrared rays, and the infrared rays that irradiate the detected infrared rays. Using the position of the irradiation unit, the self position and the moving direction of the autonomous moving body are recognized (STEP 104). Then, while memorizing the specified self position and moving direction (STEP 105), it is determined whether or not to proceed to STEP 106 and continue the movement. If the movement is continued, the process returns to STEP 101 and infrared detection is possible again. Determine whether or not. When the movement is not continued, after a predetermined movement stop process is performed (STEP 107), the process waits until the next command is received.

  On the other hand, if it is determined in STEP 102 that only an infrared ray having a single ID has been detected, a candidate position of the infrared irradiation unit is specified from the incident angle of the infrared ray and the position of the infrared irradiation unit (STEP 203). Then, the identified candidate position is compared with the self-position estimated by the odometry information, and it is determined whether or not there is one included in the range of the distance error δ (STEP 204). If the candidate position is included in the error δ as compared with the estimated self-position, the position having the smallest error among the candidate positions is recognized as the self-position (STEP 205). Then, the process proceeds to STEP 105, where the specified self position is stored and the movement is continued. If all of the candidate positions of the autonomous mobile body specified in STEP 204 exceed a specific error range, it is determined that the self-position cannot be recognized by the irradiated infrared rays, and the process proceeds to STEP 302 (to be described later) to perform odometry. Perform self-location estimation based on information.

  In STEP 101, when infrared rays cannot be detected due to an obstacle or the like existing in the moving area, the self position is estimated based on the odometry information (STEP 302), and the estimated self position is determined as a temporary self position. Later (STEP 303), the process proceeds to STEP 105 and the estimated self-position is stored. Then, after proceeding to STEP 106 and determining whether or not to continue the movement, when continuing the movement, the process returns to STEP 101 to determine whether or not infrared rays can be detected again.

  In this way, by recognizing the self-position using the irradiated infrared ray having the unique ID, the self-position can be recognized more reliably than the self-position recognition based only on the odometry information. it can.

  In the above-described embodiment, when infrared rays including two or more different ID signals cannot be detected, the self-position is recognized using the self-position estimated based on the odometry information. You may control so that a mobile body moves toward the area which can detect the infrared rays containing two or more different ID signals. For example, in the movement history of the autonomous mobile body, a method of reading an area that can detect infrared rays including two or more different ID signals and moving the coordinates within the area as a target point can be used.

  Moreover, in the above-mentioned embodiment, although the area | region which an autonomous mobile body moves has shown the example in which the infrared rays including the specific ID signal are irradiated by the infrared irradiation part single or plural, the present invention It is not limited. For example, as shown in FIG. 14, the irradiation region from the infrared irradiation unit may be determined so that a plurality of infrared rays including different unique ID signals are irradiated in all the movement regions.

  Furthermore, as described above, when the self-position is recognized in combination with position estimation means such as odometry information, even if the entire moving area is irradiated with a single infrared ray by the infrared irradiation unit, It becomes possible to recognize the position. In this case, it is preferable to store the position (start point) at which the movement is started and estimate the self position using this position as the initial coordinate (reference) because the position can be easily estimated based on the odometry information.

  The embodiment of the autonomous mobile body and the autonomous mobile body control system according to the present invention described above is merely an example, and the present invention is not limited to this.

  For example, in the above-described embodiment, the means for estimating the self-position is described as an example using odometry information, but the present invention is not limited to this. For example, an IC tag or the like is installed at a known position inside the moving area (floor surface), and a reading unit for reading these IC tags is provided in the mobile body, so that these IC tags can be used when moving. A device that estimates the self-position by reading can also be used. By correcting the self-position estimated by such position estimation means by the self-position recognition method of the present invention, the self-position of the autonomous mobile body can be obtained more accurately.

  Furthermore, the means for estimating the self-position observes the autonomous mobile body using a position observation system outside the mobile body such as GPS, and estimates the self-position of the autonomous mobile body based on the obtained data. Also good. In such a case, the accuracy of the self-position obtained by GPS can be further increased.

  Further, in the above-described embodiment, the description has been given using an example in which the moving floor surface is horizontal, but the present invention is not limited to this. That is, by providing a measuring unit such as a sensor for measuring the level of the horizontal level of the mobile body in the mobile body, it is possible to perform self-position recognition in consideration of the inclination even when the floor is not horizontal. It becomes possible. In the case of such an embodiment, even if there is a step or an inclination on the moving floor surface, it is possible to accurately recognize its own position.

  Moreover, in this embodiment, although the detection part has shown the example provided with the detection element which detects the incident angle of the incident infrared rays, as a method of detecting the incident angle of infrared rays, it is not restricted to this. Absent. For example, a light-receiving element having a slit portion opened by a mask is attached so as to be rotatable about the x-axis and y-axis of the aforementioned movement coordinate axis using a motor or the like, and only infrared rays transmitted through the slit portion are detected. It becomes possible to detect the incident angle of infrared rays.

  Furthermore, in the said embodiment, although it demonstrated using the wheel drive type mobile body which drives and moves a wheel as an autonomous mobile body, it is not restricted to this, For example, the produced gait data It is also possible to use a legged mobile robot such as a biped walking type that moves according to the above. In addition, the autonomous mobile body referred to in the present invention is not particularly limited to those that move on a plane, and even if it moves three-dimensionally in space, its position can be estimated accurately. is there.

Other embodiments.
It should be noted that the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the gist of the present invention already described.

1 schematically shows an autonomous mobile body control system 1 for controlling an autonomous mobile body that moves on an indoor floor surface P according to a first embodiment. It is the schematic which shows a mode that the infrared irradiation part was arranged on the ceiling of the room | chamber interior which the autonomous mobile body moves in the autonomous mobile body control system shown in FIG. It is the schematic which shows a mode that an intrinsic | native ID signal is contained inside the infrared rays irradiated from the infrared irradiation part shown in FIG. It is a figure which shows roughly a mode that the structure of the autonomous mobile body which comprises some autonomous mobile body control systems shown in FIG. 1 was seen from the side. It is a figure which shows a mode that the detection part with which the autonomous mobile body shown in FIG. 4 was equipped specifies the inclination angle with respect to the light-receiving surface of the received infrared rays for every received infrared rays. The same map with the fixed coordinate system where the infrared irradiation unit is placed and the moving coordinate system using the moving direction of the autonomous moving body and the coordinates orthogonal to this moving direction, with the position where the autonomous moving body exists as the origin It is the schematic which shows a mode described above. It is the schematic which shows a mode that the infrared rays entered into the detection part from each infrared irradiation part about the x-axis direction of the movement coordinate system shown in FIG. It is the schematic which shows a mode that the infrared rays entered into the detection part from each infrared irradiation part about the y-axis direction of the movement coordinate system shown in FIG. A fixed coordinate system in which the position where the autonomous mobile body exists is set as the origin, a single infrared irradiation unit is arranged, and a movement coordinate system using the movement direction of the autonomous mobile body and coordinates orthogonal to the movement direction It is the schematic which shows a mode that was described on the same map. It is the schematic which shows a mode that the infrared rays entered into the detection part from each infrared irradiation part about the x-axis direction of the movement coordinate system shown in FIG. It is the schematic which shows a mode that the infrared rays inject into the detection part from each infrared irradiation part about the y-axis direction of the movement coordinate system shown in FIG. It is a figure which shows that an autonomous mobile body exists in one of the candidate positions arrange | positioned circularly centering | focusing on the infrared irradiation part. It is a flowchart which shows the procedure for pinpointing the self-position of an autonomous mobile body in the autonomous mobile body control system which concerns on 1st Embodiment. It is the schematic which shows schematically other embodiment by which the irradiation area | region from an infrared irradiation part was defined so that the infrared rays containing several intrinsic | native ID signal might be irradiated in all the movement area | regions.

Explanation of symbols

1 ... Floor (plane)
DESCRIPTION OF SYMBOLS 10 ... Autonomous moving body 10a ... Moving body main body 10b ... Detection part 11, 12 ... Wheel 15 ... Control computer 20 ... Infrared irradiation part P ... Floor surface

Claims (16)

A mobile body and a detection unit that detects infrared rays emitted from an infrared irradiation unit that emits infrared rays including a unique ID signal, while recognizing its own position based on information about the infrared rays detected by the detection unit A movable autonomous mobile body,
The information regarding the infrared rays detected by the detection unit includes information for specifying the incident direction of infrared rays. The detection unit is capable of discriminating two or more infrared rays each including different ID signals, and recognizes a self-position based on information specifying an incident direction of the identified two or more infrared rays. The autonomous mobile body according to 1. The autonomous mobile body according to claim 1, further comprising a measurement unit that measures a degree of inclination of the detection unit from a horizontal direction. Position estimation means for acquiring position information for estimating the self position is further provided, and the self position is recognized by combining the position information acquired by the position estimation means and the infrared information detected by the detection unit. The autonomous mobile body according to any one of claims 1 to 3, wherein: The autonomous mobile body according to claim 4, wherein the position estimation means estimates the self-position based on odometry information relating to the distance and direction of travel of the mobile body. The autonomous mobile body according to claim 4, wherein the position estimation means estimates an own position by reading an IC tag provided at a known position. An infrared irradiation unit that irradiates infrared rays including a unique ID signal provided at a predetermined position, and a detection unit that detects infrared rays emitted from the infrared irradiation unit, and is based on information about infrared rays detected by the detection unit An autonomous mobile body control system for controlling an autonomous mobile body that autonomously moves within a specific area, comprising an autonomous mobile body that can move while recognizing its own position,
The information regarding the infrared rays detected by the detection unit includes information for specifying the incident direction of the infrared rays. Two or more infrared irradiation units are provided, each irradiates infrared rays including different ID signals, and the detection unit can identify two or more infrared rays including the different ID signals,
The autonomous mobile body control system according to claim 7, wherein the self-position of the autonomous mobile body is recognized based on the information specifying the incident directions of the two or more identified infrared rays. Further comprising position estimation means for acquiring position information for estimating the self-position of the autonomous mobile body, combining the position information acquired by the position estimation means and the infrared information detected by the detection unit, The autonomous mobile body control system according to claim 7 or 8, wherein the self-position of the autonomous mobile body is recognized. The autonomous mobile body control system according to claim 7 or 8, wherein the position estimation means estimates a self-position based on odometry information relating to a distance and a direction in which the autonomous mobile body has moved. The autonomous mobile control system according to claim 7 or 8, wherein the position estimation means estimates an own position by reading an IC tag provided at a known position. The said position estimation means estimates a self position from the positional information on the autonomous mobile body obtained based on the data which observed the autonomous mobile body from the outside of the autonomous mobile body. The autonomous mobile control system described in 1.   A position recognition method for detecting an infrared ray including a unique ID signal emitted from a predetermined position and recognizing a relative position from the infrared irradiation unit based on the detected incident direction of the infrared ray. The position recognition method according to claim 13, wherein two or more infrared rays including different ID signals are detected, and a relative position from the infrared irradiation unit is recognized based on each detected incident direction of the infrared rays. The position recognition method according to claim 13 or 14, wherein a degree of inclination from a horizontal direction is measured, and the recognized relative position is corrected based on the measured degree of inclination. The position information for estimating the self-position is acquired, and the self-position is recognized by combining the acquired position information and the recognized relative position. Position recognition method.

Images