JP2009192247A - Movable body location measurement system and movable body mounting system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a movable body location measurement system for simply measuring the location of a movable body and a movable body mounting system. <P>SOLUTION: When a communication device 100 disposed on an autonomous travel robot 400 emits light corresponding to an inquiry signal all over its periphery, a signal generator 300 having received the light emits light corresponding to an identification signal including its own individual number. The light is received by the communication device 100. A measuring instrument 200 connected to the communication device 100 is used for measuring the position and direction of the travel robot 400 and the direction of the signal generator 300 viewed from the travel robot 400, based on the time of the first reception of the light corresponding to the inquiry signal and that of the light corresponding to the identification signal, respectively, and on the incoming direction of the light corresponding to the identification signal. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a moving body arrangement measuring system and a moving body mounting system for measuring the arrangement of a moving body such as an autonomous traveling robot.

In recent years, robots (autonomous traveling robots) that can autonomously travel without being externally controlled have been developed. Such an autonomous traveling robot needs to measure its own position and appropriately move based on the position. As a position measurement method, for example, in Patent Document 1, the autonomous traveling robot measures the absolute position from the reference point to itself in advance and then integrates the amount of movement thereafter, while moving based on the amount of movement. It is always possible to grasp its own position. Moreover, in patent document 2, an ultrasonic transmission apparatus is arrange | positioned in the area | region where an autonomous traveling robot moves, an autonomous traveling robot calculates the distance from self to an ultrasonic transmission apparatus, and own position is based on the said distance. To figure out.
JP 2000-242332 A JP-A-8-54926

  However, in the technique described in Patent Document 1, the autonomous traveling robot needs to acquire its absolute position in the operable area in advance before starting the operation. In order to grasp the absolute position, it is necessary to measure the distance from the wall surface using various sensors, photograph the inside of the operable area, analyze the image, and input data in advance by the operator. This increases the cost and complicates the operation sequence. Even when the absolute position is acquired, if the autonomous traveling robot moves and an unexpected operation occurs while accumulating the amount of movement, for example, when it collides with another object, There is a divergence between the accumulated amount of movement and the actual amount of movement, making it impossible to grasp an accurate position.

  Further, in the technique described in Patent Document 2, although it is not necessary to acquire an absolute position before the operation is started, the autonomous mobile robot is unique to the ultrasonic transmission device for each of the ultrasonic transmission devices. Therefore, for each ultrasonic transmission device, the transmission of the identification synchronization signal to the ultrasonic transmission device is performed for each ultrasonic transmission device. Therefore, it is necessary to repeat the process of receiving the ultrasonic wave from the ultrasonic transmission device, and it takes time to finally grasp the position of itself.

  An object of the present invention is to solve the above-described problems, and to provide a moving body arrangement measuring system and a moving body mounting system capable of easily measuring the arrangement of a moving body.

  A moving body arrangement measuring system according to the present invention includes a communication device and a measuring device mounted on a moving body, and a signal generating device arranged on the moving body, and measures the arrangement of the moving body. In the arrangement measurement system, the communication device includes inquiry signal transmission means for transmitting an inquiry signal over the entire outer periphery, and the signal generator includes inquiry signal reception means for receiving the inquiry signal, and the inquiry signal reception means. A reply signal transmitting means for transmitting a reply signal including its own unique information when the inquiry signal is received, and the communication apparatus has a reply signal receiving means for receiving the reply signal; After the inquiry signal is transmitted by the inquiry signal transmission unit, the measurement signal is received by the response signal reception unit. And measuring the distance between the signal generator specified by the specific information included in the reply signal and the moving body based on the time until the reply is received, and receiving the reply received by the reply signal receiving means Measurement means for measuring the direction of the signal generation device specified by the specific information included in the return signal from the moving body based on the arrival direction of the signal.

  According to this configuration, when the communication device transmits an inquiry signal over the entire outer periphery, the signal generation device that has received the inquiry signal transmits a reply signal including its own unique information. Then, the measuring device measures the distance from the signal generating device specified by the unique information included in the reply signal to the moving body based on the time from when the inquiry signal is transmitted until the reply signal is received. Based on the arrival direction of the return signal, the direction from the moving body of the signal generator specified by the unique information included in the return signal is measured. In this moving body arrangement measurement system, even if the position of the moving body is not acquired before the operation of the moving body, while the moving body is moving, the distance from the signal generator to the moving body, It is possible to measure the direction of the signal generator from Further, the return signal transmitted by each signal generator includes unique information of the signal generator. For this reason, if the communication device transmits the inquiry signal only once, it can distinguish each reply signal even when the reply signal from each signal generator that received the inquiry signal is received at the same time. It takes no time to measure the placement of the body.

  Further, in the moving body arrangement measuring system according to the present invention, the measuring means includes a distance between the signal generating device specified by the unique information included in the return signal and the moving body, and the moving body from the moving body. Based on the direction of the signal generator specified by the unique information included in the reply signal, the relative position and the relative orientation of the moving body with respect to the signal generator specified by the unique information included in the reply signal are measured. It may be.

  Further, in the moving body arrangement measuring system according to the present invention, the measuring device includes position information holding means for holding position information of the signal generating device in a predetermined coordinate space, and the measuring means is the signal generating device. Signal generation specified by the position information, the distance between the signal generating device specified by the unique information included in the return signal and the mobile body, and the specific information included in the return signal from the mobile body You may make it measure the position of the said mobile body in the said predetermined coordinate space based on the direction of an apparatus.

  In the mobile body arrangement measuring system according to the present invention, the reply signal transmitting unit may transmit the reply signal after a predetermined time has elapsed from the reception of the inquiry signal by the inquiry signal receiving unit.

  According to this configuration, the measuring device can be provided with a certain time delay from the reception of the inquiry signal to the transmission of the reply signal according to the time required from the reception of the inquiry signal to the transmission of the reply signal. Therefore, it is possible to appropriately measure the distance from the signal generating device to the moving body and the direction of the signal generating device from the moving body from the time difference between the transmission of the inquiry signal and the reception of the reply signal.

  Further, in the moving body arrangement measuring system according to the present invention, the return signal receiving unit includes a plurality of receiving units that can receive only the return signal that comes from different predetermined ranges, and the measuring unit includes: The arrival direction of the reply signal may be specified based on the receiving unit that has received the reply signal.

  According to this configuration, each receiving unit can receive only a reply signal coming from a different predetermined range, so that the receivable range corresponding to the receiving unit that received the reply signal is specified as the arrival direction of the reply signal. can do.

  Further, in the mobile body arrangement measuring system according to the present invention, when the return signal is received by a plurality of the receiving units, the measuring unit is based on the receiving unit that has received the return signal having the maximum strength. The arrival direction of the return signal may be specified.

  According to this configuration, when a plurality of receiving units receive a reply signal, the receivable range corresponding to the receiving unit that has received the reply signal having the maximum strength can be specified as the arrival direction of the reply signal.

  Moreover, the moving body arrangement | positioning measurement system which concerns on this invention may make it the said reply signal transmission means have a some transmission unit which transmits the said reply signal to the respectively different predetermined range.

  According to this configuration, it is possible to limit the transmission range of the reply signal, reduce the number of reception units that receive the reply signal as much as possible, and more appropriately identify the arrival direction of the reply signal in the measurement device. Become.

  Further, the moving body arrangement measuring system according to the present invention is based on the distance from the signal generator to the moving body measured by the measuring unit and the direction of the signal generator from the moving body. You may make it have a movement control means to which a moving body is moved.

  In the moving body arrangement measuring system according to the present invention, the movement control means may bring the moving body closer to the signal generator.

  In the mobile body arrangement measurement system according to the present invention, the movement control means may cause the signal generator to follow the mobile body when the signal generator moves.

  According to the present invention, there is provided a mobile body mounting system including a communication device and a measurement device mounted on a mobile body, wherein the communication device transmits an inquiry signal over the entire outer periphery, and other than the mobile body. And a reply signal receiving means for receiving a reply signal including specific information of the signal generator transmitted from the signal generator that has received the inquiry signal, and the measuring device transmits the inquiry signal A signal generating device identified by specific information included in the reply signal, and the moving body based on a time from when the inquiry signal is transmitted by the means until the reply signal is received by the reply signal receiving means And measuring the distance between the mobile body and the mobile unit based on the arrival direction of the reply signal received by the reply signal receiving means. Having a measuring means for measuring the direction of the signal generating apparatus identified by a unique information included in the reply signal.

  According to the present invention, in a measurement device mounted on a mobile body, the communication device is specified by specific information included in a response signal based on the time from when the communication device transmits an inquiry signal until the response signal is received. While measuring the distance from the signal generator to the moving body, based on the arrival direction of the return signal, measuring the direction of the signal generator specified by the specific information included in the return signal from the mobile body, It is possible to measure the arrangement of the moving object without acquiring the position of the moving object before starting the operation of the moving object, and it is possible to easily measure the arrangement of the moving object without taking time for the measurement. .

  Hereinafter, embodiments of the present invention will be specifically described with reference to the drawings. FIG. 1 is an external perspective view of a moving body arrangement measuring system according to an embodiment of the present invention, and FIG. 2 is a top view (FIG. 2A) and a side view (FIG. 2B).

  The moving body arrangement measuring system shown in FIGS. 1 and 2 measures the arrangement of an autonomous traveling robot 400 that is a moving body that can move in a moving area 500, and includes a communication device 100 mounted on the autonomous traveling robot 400, and Measuring device 200 and signal generators 300-1, 300-2, 300-3, 300-4 (hereinafter collectively referred to as "signal generator 300" as appropriate) arranged at the four corners of moving area 500. Consists of. Among these, the communication device 100 and the measurement device 200 mounted on the autonomous mobile robot 400 correspond to a mobile body mounting system.

  FIG. 3 is a diagram illustrating detailed configurations of the communication device 100, the measurement device 200, and the signal generation device 300. 3 includes an inquiry signal generation circuit 102, a light emitting element driving circuit 104, a light emitting element 106, a light receiving element 108, an amplifier circuit 110, a logical product circuit 112, an identification signal analysis circuit 114, and a received signal temporary storage unit 116. And a reference frequency transmission circuit 118. Among these, the inquiry signal generation circuit 102, the light emitting element driving circuit 104, and the light emitting element 106 correspond to inquiry signal transmitting means, and the light receiving element 108, the amplifier circuit 110, and the AND circuit 112 correspond to reply signal receiving means. 3 includes a measurement unit 202, a movement control unit 204, and a memory 206. Among these, the measurement unit 202 corresponds to the measurement unit, the movement control unit 204 corresponds to the movement control unit, and the memory 206 corresponds to the position information holding unit.

  3 includes a light receiving element 302, an amplifier circuit 304, a solid number switching circuit 306, a delay circuit 308, an identification signal generating circuit 310, a light emitting element driving circuit 312, a light emitting element 314, and a reference frequency transmission. The circuit 316 is configured. Among these, the light receiving element 302 and the amplifier circuit 304 correspond to the inquiry signal receiving means, and the solid number switching circuit 306, the delay circuit 308, the identification signal generating circuit 310, the light emitting element driving circuit 312 and the light emitting element 314 are the reply signal transmitting means. Corresponding to

  In FIG. 3, the measurement unit 202 in the measurement device 200 instructs the inquiry signal generation circuit 102 in the communication device 100 to measure the arrangement of the autonomous traveling robot 400 at a predetermined timing, for example, at a predetermined time interval. .

  The reference frequency transmission circuit 118 in the communication device 100 outputs a signal having a predetermined frequency (reference frequency) to the inquiry signal generation circuit 102 and the logical product circuit 112. When the inquiry signal generation circuit 102 receives an arrangement measurement instruction from the measurement unit 202, the inquiry signal generation circuit 102 generates a signal (inquiry signal) for making an inquiry to the signal generator 300 and outputs the reference frequency output from the reference frequency transmission circuit 118. The inquiry signal is output to the light emitting element driving circuit 104 at the timing when the above signal is input. When receiving the inquiry signal, the light emitting element driving circuit 104 outputs an electric signal to the light emitting element 106 in order to drive the light emitting element 106. The light emitting element 106 is, for example, a light emitting diode (LED), and converts an electric signal from the light emitting element driving circuit 104 into light to emit light. Thereby, the light corresponding to the inquiry signal is irradiated to the surroundings.

  4 is an external perspective view of the communication device 100, and FIG. 5 is a top view (FIG. 5A) and a side view (FIG. 5B) of the communication device 100. FIG. As shown in FIGS. 4 and 5, a plurality of light emitting elements 106 are arranged in a circle outside the communication device 100. Each light emitting element 106 emits light corresponding to the inquiry signal over the entire outer periphery.

  Again, referring back to FIG. The light receiving element 302 in the signal generating apparatus 300 receives light corresponding to the inquiry signal from the light emitting element 106 in the communication apparatus 100. 6 is an external perspective view (FIG. 6A) from above and an external perspective view from below (FIG. 6B), and FIG. 7 is a top view of the signal generator 300 (FIG. 6). 7 (a)) and a side view (FIG. 7 (b)). As shown in FIGS. 6 and 7, a plurality of light receiving elements 302 are arranged in an arc shape outside the signal generator 300. When each of the light receiving elements 302 receives light corresponding to the inquiry signal, the light receiving element 302 converts the light into an electric signal and outputs the electric signal to the amplifier circuit 304.

  Again, referring back to FIG. The amplifier circuit 304 amplifies the inquiry signal, which is an input electric signal, and outputs it to the solid number switching circuit 306. The individual number switching circuit 306 sets a unique number (solid number) for the signal generator 300 including itself in accordance with the operation of the changeover switch 352 shown in FIGS. 6 and 7 by the operator. When the inquiry signal from the amplifier circuit 304 is input, the individual number switching circuit 306 outputs the individual number set at that time to the delay circuit 308.

  The delay circuit 308 inputs a solid number so that a time from when the light receiving element 302 receives light until a light emitting element 314 described later emits light becomes a predetermined time. The individual number is output to the identification signal generation circuit 310. Here, when there are a plurality of signal generators 300 and the plurality of signal generators 300 simultaneously emit light corresponding to an identification signal to be described later, if the allowable amount that can be handled by the communication device 100 is exceeded, In the signal generator 300, it is desirable that the time from when the light receiving element 302 receives light to when a light emitting element 314 described later emits light is different.

  The reference frequency transmission circuit 316 outputs a signal of the same reference frequency as the reference frequency transmission circuit 118 in the communication apparatus 100 to the identification signal generation circuit 310. When the identification number generation circuit 310 receives the individual number from the delay circuit 308, the identification signal generation circuit 310 generates an identification signal including the identification number as a reply signal to the inquiry signal, and the reference frequency signal output from the reference frequency transmission circuit 316 is generated. The identification signal is output to the light emitting element driving circuit 312 at the input timing. When the identification signal is input, the light emitting element driving circuit 312 outputs an electrical signal corresponding to the identification signal to the light emitting element 314 to drive the light emitting element 314.

  The light emitting element 314 is, for example, a light emitting diode (LED), and converts an electric signal from the light emitting element driving circuit 312 into light to emit light. Thereby, the light corresponding to the identification signal is irradiated to the surroundings. As shown in FIGS. 6 and 7, a plurality of light emitting elements 312 are arranged in an arc shape outside the signal generator 300. Further, a slit plate 350 is provided between the light emitting elements 312 arranged in the arc shape, and a transmission unit is configured by one light emitting element 312 and the slit plates 350 located on both sides of the light emitting element 312. Is done. Due to the slit plate 350, the range in which each of the light emitting elements 312 emits light corresponding to the identification signal is different.

  Again, referring back to FIG. The light receiving element 108 in the communication device 100 receives light corresponding to the identification signal from the light emitting element 314 in the signal generating device 300. As shown in FIGS. 4 and 5, a plurality of light receiving elements 108 are arranged in a circle outside the communication device 100. In addition, a slit plate 150 is provided between the light receiving elements 108 arranged in a circle, and a receiving unit is constituted by one light receiving element 108 and the slit plates 150 located on both sides of the light receiving element 108. Composed. With the slit plate 150, each light receiving element 108 can receive only light coming from different ranges. Even when light is irradiated only on the slit plate 150, all the light receiving elements 108 and the slits 150 are integrated in the arrangement direction so that any one of the light receiving elements 108 can receive the light. It may be rotatable. When each of the light receiving elements 302 receives light corresponding to the identification signal, the light receiving element 302 converts the light into an electric signal and assigns an ID (light receiving element ID) that is identification information to the identification signal that is the electric signal. The signal is output to the amplifier circuit 110 above.

  Again, referring back to FIG. The amplifier circuit 110 amplifies the identification signal and the light receiving element ID, which are input electrical signals, and outputs the amplified signal to the AND circuit 112. The AND circuit 112 receives the identification signal and the light receiving element ID from the amplifier circuit 110, and inputs the identification signal and the light receiving element ID at the timing when the reference frequency signal output from the reference frequency transmission circuit 118 is input. Output to the analysis circuit 114.

  Each time the identification signal analysis circuit 114 receives the identification signal and the light receiving element ID from the AND circuit 112, the light emitting element 106 in the communication device 100 emits light and then the light receiving element 302 in the signal generation device 300 receives light. And the time from when the light emitting element 314 in the signal generator 300 emits light until the light receiving element 108 in the communication device 100 receives light is calculated.

  Specifically, the identification signal analysis circuit 114 acquires the time from when the inquiry signal generation circuit 102 outputs the inquiry signal to when the signal is input to itself. Further, the identification signal analyzing circuit 114 is the same as the time (light emission processing time) from when the predetermined inquiry signal generation circuit 102 outputs the inquiry signal until the light emitting element 108 emits light from the acquired round trip time. Is subtracted from the time (light reception processing time) from when the light receiving element 108 previously received until the identification signal is input to itself. The time obtained by this calculation is the time from when the light emitting element 106 in the communication apparatus 100 emits light until the light receiving element 108 receives light (light emitting / receiving time). Furthermore, the identification signal analysis circuit 114 subtracts a predetermined time from when the light receiving element 302 in the signal generator 300 receives light until the light emitting element 314 emits light from the light emitting and receiving time. Thereby, the time from when the light emitting element 106 emits light until the light receiving element 302 receives light and the time from when the light emitting element 314 emits light until the light receiving element 108 receives light, in other words, communication. The time for the light to reciprocate between the device 100 and the signal generator 300 (signal reciprocation time) is obtained.

  Further, the identification signal analysis circuit 114 associates the input identification signal and the light receiving element ID with the signal round-trip time calculated when the identification signal is input, and stores it in the received signal temporary storage unit 116. Then, the identification signal analysis circuit 114 reads each identification signal stored in the reception signal temporary storage unit 116 at a timing when the identification signal is no longer input. Further, the identification signal analysis circuit 114 analyzes the read identification signal and identifies the individual number included in the identification signal. Then, when there are a plurality of identification signals including the same individual number, the identification signal analysis circuit 114 leaves only one of them, the other identification signal, and the light receiving element ID and signal corresponding to the identification signal. The round trip time is deleted from the received signal temporary storage unit 114. Here, the case where there are a plurality of identification signals including the same solid number means a case where a plurality of light receiving elements 108 receive light corresponding to the same identification signal. Then, the identification signal analysis circuit 114 outputs the combination of the identification signal, the light receiving element ID, and the signal round-trip time remaining in the received signal temporary storage unit 116 to the measurement unit 202 in the measurement apparatus 200.

  When the combination of the identification signal, the light receiving element ID, and the signal round trip time is input, the measuring unit 202 specifies the arrival direction of the light received by the light receiving element 108. Further, the memory 206 in the measuring device 200 stores in advance position information of the signal generator 300 in a predetermined coordinate space. The measurement unit 202 specifies the individual number based on the position information of the signal generator 300 in the predetermined coordinate space, the specified individual number and the light arrival direction, and the signal round-trip time from the identification signal analysis circuit 114. The distance from the signal generator 200 to the autonomous mobile robot 400 on which it is mounted and the direction from the autonomous robot 400 of the signal generator 200 specified by the solid number are measured. The measuring unit 202 further measures the relative position and relative orientation of the autonomous mobile robot 400 with respect to the signal generation device 200 specified by the solid number based on the measured distance and direction.

  These measurement results are output to the movement control unit 204. The movement control unit 204 controls the movement of the autonomous traveling robot 400 by driving a motor or a steering (not shown) in the autonomous traveling robot 400 according to the input measurement result.

  Hereinafter, examples of arrangement measurement and movement control of the autonomous traveling robot 400 will be described.

  FIG. 8 is a flowchart showing the operation of the communication device 100 when measuring the arrangement of the autonomous traveling robot 400, FIG. 9 is a flowchart showing the operation of the signal generating device 300 when measuring the arrangement of the autonomous traveling robot 400, and FIG. 5 is a flowchart showing the operation of the measuring device 200 when measuring the arrangement of the traveling robot 400.

  As shown in FIG. 8, the inquiry signal generation circuit 102 in the communication device 100 generates an inquiry signal upon receiving an arrangement measurement instruction from the measurement unit 202 (S101), and is output from the reference frequency transmission circuit 118. The inquiry signal is output to the light emitting element driving circuit 104 at the timing when the reference frequency signal is input. The light emitting element driving circuit 104 to which the inquiry signal is input outputs an electric signal to the light emitting element 106, and the light emitting element 106 converts the electric signal from the light emitting element driving circuit 104 into light and emits light corresponding to the inquiry signal. (S102).

  For example, as shown in FIGS. 11A and 11B, when the autonomous mobile robot 400 equipped with the communication device 100 and the signal generators 300-1 to 300-4 are arranged in the moving area 500. The light Z corresponding to the inquiry signal is emitted from the communication device 100 toward the signal generation devices 300-1 to 300-4.

  Thereafter, as shown in FIG. 9, the solid number switching circuit 308 in the signal generator 300 determines whether or not the light receiving element 302 has received the light corresponding to the inquiry signal (S201). Specifically, the solid number switching circuit 308 determines whether or not the amplified inquiry signal from the amplifier circuit 304 has been input, and if received, the light receiving element 302 receives light corresponding to the inquiry signal. It is considered that it did.

  When the light receiving element 302 receives light corresponding to the inquiry signal, the solid number switching circuit 306 sets a solid number in the signal generator 300 including itself (S202). The delay circuit 308 inputs a solid number so that a time from when the light receiving element 302 receives light until a light emitting element 314 described later emits light becomes a predetermined time. The solid number is output to the identification signal generation circuit 310 (S203).

  When the identification number generation circuit 310 receives the individual number from the delay circuit 308, the identification signal generation circuit 310 generates an identification signal including the identification number as a reply signal to the inquiry signal (S204), and the reference frequency output from the reference frequency transmission circuit 316 is generated. The identification signal is output to the light emitting element driving circuit 312 at the timing when the above signal is input. The light emitting element driving circuit 312 to which the identification signal is input outputs an electric signal to the light emitting element 314, and the light emitting element 314 converts the electric signal from the light emitting element driving circuit 104 into light and emits light corresponding to the identification signal. (S205).

  Again, referring back to FIG. The identification signal analysis circuit 114 in the communication device 100 determines whether or not the light receiving element 108 has received light corresponding to the identification signal (S103). Specifically, the identification signal analysis circuit 114 determines whether or not the identification signal and the light receiving element ID from the logical product circuit 112 are input, and in the case of the input, the light receiving element 108 emits light corresponding to the identification signal. Is considered to have received light.

  For example, as shown in FIGS. 12A and 12B, in the movement region 500, the autonomous mobile robot 400 equipped with the communication device 100 and the signal generators 300-1 to 300-4 are arranged. The light receiving element 108 in the communication device 100 includes a light a corresponding to the identification signal from the signal generating device 300-1, a light b corresponding to the identification signal from the signal generating device 300-2, and the signal generating device 300-3. The light c corresponding to the identification signal and the light d corresponding to the identification signal from the signal generator 300-1 are received.

  Again, referring back to FIG. When the light receiving element 108 receives light corresponding to the identification signal, the identification signal analysis circuit 114 waits for the light receiving element 302 in the signal generator 300 to receive light after the light emitting element 106 in the communication apparatus 100 emits light. And a time (signal round-trip time) obtained by adding the time from when the light emitting element 314 in the signal generating device 300 emits light until the light receiving element 108 in the communication device 100 receives light is calculated (S104).

  Furthermore, the identification signal analysis circuit 114 associates the input identification signal and the light receiving element ID with the signal round trip time calculated when the identification signal is input, and stores it in the received signal temporary storage unit 116 (S105). . Thereafter, the operation after the determination (S103) on whether or not the light receiving element 108 has received the light corresponding to the identification signal is repeated.

  On the other hand, when it is determined in S103 that the light receiving element 108 does not receive the light corresponding to the identification signal, specifically, a sufficient time has elapsed since the light receiving element 108 finally received the light corresponding to the identification signal. When it is determined that the light receiving element 108 has received the light corresponding to the identification signals from all the signal generators 300 that have received the light corresponding to the inquiry signal, the following operation is performed. Done. That is, the identification signal analysis circuit 114 reads and analyzes each identification signal stored in the received signal temporary storage unit 116, and identifies the individual number included in the identification signal. Then, when there are a plurality of identification signals including the same individual number, the identification signal analysis circuit 114 leaves only one of them, the other identification signal, and the light receiving element ID and signal corresponding to the identification signal. The round trip time is deleted from the received signal temporary storage unit 114 (S106). At this time, the identification signal analysis circuit 114 grasps the intensity of light when the light receiving element 108 receives light corresponding to the identification signal for each of a plurality of identification signals including the same solid number, and the corresponding light. Only the identification signal having the maximum intensity may be left, and the other identification signal, the light receiving element ID corresponding to the identification signal, and the signal round-trip time may be deleted from the received signal temporary storage unit 114.

  Then, the identification signal analysis circuit 114 outputs the combination of the identification signal, the light receiving element ID, and the signal round trip time remaining in the reception signal temporary storage unit 116 to the measurement unit 202 in the measurement device 200 (S107).

  Thereafter, as shown in FIG. 10, the measurement unit 202 in the measurement apparatus 200 inputs a combination of the identification signal, the light receiving element ID, and the signal round trip time from the identification signal analysis circuit 114 in the communication apparatus 100 (S301).

  Next, the measuring unit 202 specifies the individual number in the identification signal, and specifies the arrival direction of the light corresponding to the identification signal based on the individual number and the light receiving element ID in the identification signal (S302). Specifically, as described above, each light receiving element 108 arranged in a circle can receive only light arriving from different ranges, and the light receiving element ID input to the measuring unit 202 is the light. Is the identification information of the light receiving element 108 that received the light. The solid number identified by the measuring unit 202 identifies the signal generator 300 that is the light source. Therefore, the measuring unit 202 can identify which light receiving element 108 has received the light based on the light receiving element ID, in other words, the arrival direction of the light corresponding to the identification signal. Moreover, the measurement part 202 can identify from which signal generator 300 the light corresponding to the identification signal is based on the individual number. That is, the measurement unit 202 can determine in which arrival direction from which signal generator 300 the light corresponding to the identification signal has arrived.

  For example, in the example shown in FIG. 13, the light receiving element 180-1 receives the light a corresponding to the identification signal from the signal generator 300-1. In this case, the measuring unit 202 determines which direction the light a corresponding to the identification signal is from the signal generator 300-1 and further from which direction the light a corresponding to the identification signal has arrived. Can be identified. Similarly, the light receiving element 180-2 receives the light b corresponding to the identification signal from the signal generator 300-2, and the light receiving element 180-3 receives the light c corresponding to the identification signal from the signal generator 300-3. The light receiving element 180-4 receives light d corresponding to the identification signal from the signal generator 300-2. In this case, the measurement unit 202 uses the light b, c, d corresponding to these identification signals from the signal generators 300-2, 300-3, 300-4, respectively, and further corresponds to the identification signals. It is possible to specify from which direction the light beams b, c, d to be emitted have come.

  Again, referring back to FIG. The memory 206 in the measuring device 200 stores position information of the signal generator 300 in a predetermined coordinate space. The measuring unit 202 is identified by the solid number based on the position information of the signal generator 300 in the predetermined coordinate space, the signal round-trip time from the identification signal analysis circuit 114, and the identified solid number and light arrival direction. The distance from the signal generating device 300 to the autonomous mobile robot 400 on which it is mounted is measured, and the direction of the signal generating device 300 specified by the solid number from the autonomous mobile robot 400 on which it is mounted is measured (S303). ).

  Furthermore, the measurement unit 202 is specified by the measured distance from the signal generation device 300 specified by the individual number to the autonomous mobile robot 400 on which the measurement unit 202 is installed, and the individual number from the autonomous mobile robot 400 on which the measurement unit 202 is installed. Based on the direction of the signal generator 300, the position and orientation of the autonomous mobile robot are measured.

  FIG. 14 is a diagram illustrating an example of measurement of the position and orientation of the autonomous mobile robot 400. FIG. 14 (a) is a top view of the moving body arrangement measuring system corresponding to the XY coordinate plane, and FIG. 14 (b). These are the side views of the mobile body arrangement | positioning measurement system corresponding to a XZ coordinate plane.

First, the measurement unit 202 subtracts the distance from the ground to the communication device 100, which is known in advance, from the distance from the ground to the signal generation device 300 specified by the position information of the signal generation device 300-1, thereby obtaining the distance Z1. Is calculated. Next, the measurement unit 202 divides the signal round-trip time by 2 and further multiplies the speed of light to thereby calculate the distance A from the signal generation device 300-1 specified by the unique number included in the identification signal to the communication device 100. Is calculated. Furthermore, the measurement unit 202 calculates the distance A1 as
(Formula 1) A1 = √ (A ² −Z1 ² )
Calculated by Next, the measurement unit 202 determines an angle S1 formed by the light arrival direction from the signal generation device 300-1 specified by the unique number included in the identification method and the forward direction of the autonomous traveling robot 400. Specified as the heading. Furthermore, the measurement unit 202 uses the angle S1, the position information of the signal generator 300-1, and the distance A1 described above to calculate the distances X1 and Y1.
(Formula 2) X1 = A1.cos (S1) = √ (A ² −Z1 ² ) · cos (S1)
(Formula 3) Y1 = A1 · sin (S1) = √ (A ² −Z1 ² ) · sin (S1)
Calculated by Thus, by obtaining the distances X1, Y1, and Z1, the positional relationship between the signal generating device 300-1 and the communication device 100 in a predetermined coordinate space is grasped, and further, the communication device 100 in the predetermined coordinate space. The position of is grasped. Similarly, the positional relationship between the signal generation device 300-2 and the communication device 100, the positional relationship between the signal generation device 300-3 and the communication device 100, and the positional relationship between the signal generation device 300-4 and the communication device 100. And the position of the communication device 100 is grasped for each. As described above, when a plurality of positions of the communication device 100 can be obtained, an average value of the positions may be used as the final position of the communication device 100.

If the distance Z1 is indefinite, it can be obtained as follows. In FIG. 15, when the autonomous mobile robot 400 moves by a distance C1, the measuring unit 202 grasps the distance C1. Here, assuming that the distance B1 and the distance B2 are known, the following expressions 4 and 5 hold.
(Formula 4) B1 ² = Z1 ² + X1 ²
(Formula 5) B2 ² = Z1 ² + (X1 + C1) ²
From these equations 4 and 5,
(Formula 6) B2 ² = (B1 ² −X1 ² ) + (X1 + C1) ² = B1 ² + 2X1 · C1 + C1 ²
Therefore,
(Formula 7) X1 = (B2 ² −B1 ² −C1 ² ) / 2C1
Substituting Equation 7 into Equation 4,
(Formula 8) Z1 = √ (B1 ² − ((B2 ² −B1 ² −C1 ² ) / 2C1) ² )
It becomes. The measuring unit 202 can calculate the distance Z1 by this equation 8.

  Again, referring back to FIG. Next, the measurement unit 202 measures the direction of the signal generator 300 from the autonomous mobile robot 400 based on the individual number in the identification signal and the direction of arrival of light corresponding to the identification signal (S304). Here, the measuring unit 202 uniquely identifies the signal generation device 300 based on the individual number in the identification signal, and further, the signal generation device 300 identifies the light arrival direction corresponding to the identification signal identified in S302. Know that it exists. The position and orientation of the autonomous traveling robot 400 measured in S303 and the direction of the signal generator 300 from the autonomous traveling robot 400 measured in S304 are output to the movement control unit 204.

  The movement control unit 204 controls the movement of the autonomous traveling robot 400 by driving a motor or a steering (not shown) in the autonomous traveling robot 400 according to the input measurement result.

  Specifically, as illustrated in FIG. 1, when the autonomous mobile robot 400 is present in the movement area 500, the movement control unit 204 is configured to generate signal generators 300-1 and 300 that are arranged at the four corners of the movement area 500. -2, 300-3, 300-4 The autonomous traveling robot 400 is moved to an appropriate position based on the position and orientation of the autonomous traveling robot 400, which is measured from the light corresponding to the identification signal from the 300-3, 300-4. Control for directing the robot 400 in an appropriate direction is performed. In addition, the movement control unit 204 measures these signal generators 300 from the autonomous mobile robot 400, which are measured from light corresponding to the identification signals from the signal generators 300-1, 300-2, 300-3, and 300-4. Based on the direction, the autonomous traveling robot 400 is controlled to be directed in an appropriate direction.

  Further, as shown in FIGS. 16 and 17, there are a plurality of moving areas 500, 501, 502, and in the moving area 500, signal generators 300-1, 300-2, 300-3, 300-4 are provided at the four corners. The signal generator 300-5 is arranged at the position of the entrance / exit 503, and the signal generators 301-1, 301-2, 301-3, 301-4 are arranged at the four corners in the moving area 501, and the entrance / exit 504 is arranged. The signal generator 301-5 is disposed at the position of the signal, the signal generators 302-1, 302-2, 302-3, 302-4 are disposed at the four corners in the moving area 502, and the signal is generated at the position of the entrance / exit 503. When the device 302-5 is arranged and the signal generator 302-6 is arranged at the position of the entrance / exit 503, the following movement control is performed.

  That is, when the autonomous mobile robot 400 is present in the movement area 500, the movement control unit 204 performs signal generation devices 300-1, 300-2, 300-3, 300-4, 300 arranged in the movement area 500. Based on the position and orientation of the autonomous traveling robot 400 measured from the light corresponding to the identification signal from −5, the autonomous traveling robot 400 is moved to an appropriate position, and the autonomous traveling robot 400 is directed to the appropriate direction. Perform the control. In addition, the movement control unit 204 is measured from light corresponding to the identification signals from the signal generators 300-1, 300-2, 300-3, 300-4, and 300-5, and is transmitted from the autonomous mobile robot 400. Based on the direction of the signal generation device 300, control is performed so that the autonomous mobile robot 400 is directed in an appropriate direction. Alternatively, the movement control unit 204 moves the autonomous traveling robot 400 based on the direction of the signal generating apparatus 300-5 from the autonomous traveling robot 400, which is measured from the light corresponding to the identification signal from the signal generating apparatus 300-5. The autonomous traveling robot 400 is advanced from the entrance / exit 503 to the outside of the moving area 500 by moving it toward the signal generator 300-5.

  In addition, when the autonomous mobile robot 400 is present in the movement area 501, similarly, the movement control unit 204 includes the signal generators 301-1, 301-2, 301-3, 301- arranged in the movement area 501. 4, based on the position and orientation of the autonomous traveling robot 400 measured from the light corresponding to the identification signal from 301-5, the autonomous traveling robot 400 is moved to an appropriate position, and the autonomous traveling robot 400 is Control the direction. In addition, the movement control unit 204 is measured from the light corresponding to the identification signals from the signal generators 301-1, 301-2, 301-3, 301-4, and 301-5, and these signals from the autonomous mobile robot 400 are measured. Based on the direction of the signal generation device 300, control is performed so that the autonomous mobile robot 400 is directed in an appropriate direction. Alternatively, the movement control unit 204 moves the autonomous traveling robot 400 based on the direction of the signal generating device 301-5 from the autonomous traveling robot 400 measured from the light corresponding to the identification signal from the signal generating device 301-5. The autonomous traveling robot 400 is advanced from the entrance / exit 504 to the outside of the moving area 501 by moving the signal generator 301-5 in the direction of the signal generator 301-5.

  Further, when the autonomous mobile robot 400 is present in the movement area 502, the movement control unit 204 similarly has the signal generators 302-1, 302-2, 302-3, 302-arranged in the movement area 502. 4, the autonomous traveling robot 400 is moved to an appropriate position based on the position and orientation of the autonomous traveling robot 400 measured from the light corresponding to the identification signal from the 302 302, 302-6. Control is performed to turn 400 in an appropriate direction. In addition, the movement control unit 204 is an autonomous traveling robot that is measured from light corresponding to identification signals from the signal generators 302-1, 302-2, 302-3, 302-4, 302-5, and 302-6. Based on the direction of these signal generators 300 from 400, the autonomous traveling robot 400 is controlled to face in an appropriate direction. Alternatively, the movement control unit 204 controls the autonomous traveling robot 400 based on the direction of the signal generating device 302-5 from the autonomous traveling robot 400, which is measured from the light corresponding to the identification signal from the signal generating device 302-5. The autonomous traveling robot 400 is advanced from the entrance / exit 503 to the outside of the moving area 502 by moving in the direction of the signal generating device 302-5, and the movement control unit 204 identifies the signal generating device 302-6 from the signal generating device 302-6. Based on the direction of the signal generator 302-6 from the autonomous mobile robot 400 measured from the light corresponding to the signal, the autonomous mobile robot 400 is moved toward the signal generator 302-6. Then, the autonomous mobile robot 400 is advanced from the entrance / exit 504 to the outside of the moving area 502.

  Further, as shown in the top view of FIG. 18A and the side view of FIG. 18B, when the signal generating device 300 is arranged in another autonomous traveling robot 600 that has entered the moving area 500. The measuring unit 202 replaces S303 in S303 of FIG. 10 with the autonomous traveling robot 400 mounted thereon based on the signal round-trip time from the identification signal analysis circuit 114, the identified solid number, and the light arrival direction. The relative position and the relative direction with respect to the signal generator 300 are measured. In this case, the movement control unit 204 generates the signal for the autonomous mobile robot 400 based on the direction of the signal generator 300 from the autonomous mobile robot 400 measured from the light corresponding to the identification signal from the signal generator 300. By moving the robot 300 in the direction of the device 300, the autonomous traveling robot 400 is made to follow another autonomous traveling robot 600. Alternatively, the movement control unit 204 determines the autonomous traveling robot 400 as the signal generating device based on the direction of the signal generating device 300 from the autonomous traveling robot 400 measured from the light corresponding to the identification signal from the signal generating device 300. The autonomous traveling robot 400 is moved away from the other autonomous traveling robots 600 by moving in a direction opposite to the direction 300.

  Further, as shown in the perspective view of FIG. 19, the top view of FIG. 20A, and the front view of FIG. 20B, when the signal generator 300 is arranged on the human body 700, the measurement is performed in the same manner. In place of S303 in S303 in FIG. 10, the unit 202 determines the signal of the autonomous mobile robot 400 on which it is mounted based on the signal round-trip time from the identification signal analysis circuit 114, the identified solid number, and the light arrival direction. The relative position and relative direction with respect to the generator 300 are measured. In this case, the movement control unit 204 controls the autonomous mobile robot 400 to follow the signal generator 300 while maintaining a predetermined distance and direction based on the relative position and relative direction.

  Further, as shown in the perspective view of FIG. 21, the top view of FIG. 22A, and the front view of FIG. 22B, a person carries a remote control 350 that incorporates the signal generator 300 in a hand 800. Similarly, instead of S303 in S303 in FIG. 10, the measurement unit 202 is mounted based on the signal round-trip time from the identification signal analysis circuit 114, the identified solid number, and the light arrival direction. The relative position and relative direction of the autonomous traveling robot 400 to the signal generator 300 are measured. In this case, the movement control unit 204 controls the autonomous mobile robot 400 to approach the person carrying the remote controller 350 based on the relative position and relative direction.

  Note that the signal generation device 300 may transmit a control signal of the autonomous traveling robot 400 to the autonomous traveling robot 400. In this case, the control signal received by the communication device 100 is sent to the movement control unit 204 as it is. Then, the movement control unit 204 controls the operation of the autonomous mobile robot 400 based on the input control signal. In this case, the signal generator 300 preferably irradiates the light corresponding to the control signal at a different timing from the light corresponding to the identification signal.

  As described above, in the mobile body arrangement measurement system of the present embodiment, when the communication device 100 arranged in the autonomous mobile robot 400 emits light corresponding to the inquiry signal over the entire outer periphery, the signal generation device 300 that has received the light is The light corresponding to the identification signal including its own solid number is emitted. Then, this light is received by the communication device 100, and the measuring device 200 connected to the communication device 100 recognizes the light corresponding to the inquiry signal, the initial light reception time of each of the light corresponding to the identification signal, and the identification. Based on the direction of arrival of light corresponding to the signal, the distance from the signal generator 300 to the autonomous mobile robot 400 and the direction of the signal generator 300 from the autonomous mobile robot 400 are measured. In such a moving body arrangement measuring system, the arrangement of the autonomous traveling robot 400 can be determined while it is moving without acquiring the position of the moving body before the operation of the autonomous traveling robot 400 starts. Can be measured.

  Further, the identification signal from each signal generator 300 includes unique information of the signal generator 300. For this reason, if the communication device 100 emits light corresponding to the inquiry signal only once, the communication device 100 receives light corresponding to the identification signal from each signal generator 300 that has received the light corresponding to the inquiry signal. However, since each identification signal can be distinguished, it does not take time to measure the arrangement of the autonomous mobile robot 400.

  In the above-described embodiment, the communication between the communication device 100 and the signal generation device 300 is performed by light. However, this light may be visible light, infrared light other than visible light, or the like. It may be. Further, instead of light, communication may be performed using radio waves, ultrasonic waves, or the like.

  As described above, the mobile object arrangement measuring system and the mobile object mounting system according to the present invention can easily measure the arrangement of the mobile object, and are useful as a mobile object arrangement measuring system and the like.

It is an external appearance perspective view of a mobile body arrangement | positioning measurement system. It is the upper side figure and side view of a moving body arrangement | positioning system. It is a figure which shows the detailed structure of a communication apparatus, a movement control apparatus, and a signal generator. It is an external appearance perspective view of a communication apparatus. It is the top view and side view of a communication apparatus. It is the external appearance perspective view from the upper direction of a signal generator, and the external appearance perspective view from the downward direction. It is the top view and side view of a signal generator. It is a flowchart which shows operation | movement of the communication apparatus at the time of arrangement | positioning measurement of an autonomous running robot. It is a flowchart which shows operation | movement of the signal generator at the time of arrangement | positioning measurement of an autonomous running robot. It is a flowchart which shows operation | movement of the measuring device at the time of arrangement | positioning measurement of an autonomous running robot. It is the top view and side view which show an example of the irradiation of the light corresponding to the inquiry signal from a communication apparatus to a signal generator. It is the top view and side view which show an example of the irradiation of the light corresponding to the identification signal from a signal generator to a communication apparatus. It is a top view which shows an example of light reception corresponding to the identification signal in a communication apparatus. It is the upper side figure and side view which show the 1st example of the measurement of the position and direction of an autonomous running robot. It is a side view which shows the 2nd example of the measurement of the position and azimuth | direction of an autonomous running robot. It is an external appearance perspective view of the other example of a moving body arrangement | positioning measurement system. It is a top view of the other example of a moving body arrangement | positioning measurement system. It is the upper side figure and side view which show the 1st example of the movement control of an autonomous running robot. It is an external appearance perspective view which shows the 2nd example of the movement control of an autonomous running robot. It is the top view and front view which show the 2nd example of the movement control of an autonomous running robot. It is an external appearance perspective view which shows the 3rd example of the movement control of an autonomous running robot. It is the upper side figure and side view which show the 3rd example of the movement control of an autonomous running robot.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Communication apparatus 102 Inquiry signal generation circuit 104,312 Light emitting element drive circuit 106,314 Light emitting element 108,302 Light receiving element 110,304 Amplifier circuit 112 AND circuit 114 Identification signal analysis circuit 116 Received signal temporary storage part 118,316 Reference frequency Transmission circuit 200 Measuring device 202 Measuring unit 204 Movement control unit 206 Memory 300 Signal generator 306 Solid number switching circuit 308 Delay circuit 310 Identification signal generating circuit

Claims (11)

A mobile body arrangement measurement system configured by a communication device and a measurement device mounted on a mobile body, and a signal generation device arranged other than the mobile body, and measuring the placement of the mobile body,
The communication device
Inquiry signal transmission means for transmitting an inquiry signal over the entire circumference,
The signal generator is
Inquiry signal receiving means for receiving the inquiry signal;
When the inquiry signal is received by the inquiry signal receiving means, a reply signal transmitting means for transmitting a reply signal including its own unique information,
The communication device
A reply signal receiving means for receiving the reply signal;
The measuring device is
A signal generation device specified by specific information included in the reply signal based on a time from when the inquiry signal is transmitted by the inquiry signal transmission unit to when the reply signal is received by the reply signal receiving unit; A signal that is measured by the unique information included in the return signal from the mobile body based on the direction of arrival of the return signal received by the return signal receiving means while measuring the distance to the mobile body A moving body arrangement measuring system having measuring means for measuring the direction of a generator.   The measuring means generates a signal specified by the distance between the signal generating device specified by the unique information included in the return signal and the moving body, and the specific information included in the return signal from the moving body. The mobile body arrangement measurement system according to claim 1, wherein a relative position and a relative direction of the mobile body with respect to a signal generation device specified by unique information included in the reply signal are measured based on a direction of the device. The measuring device has position information holding means for holding position information of the signal generator in a predetermined coordinate space,
The measuring means is included in the position information of the signal generating device, the distance between the signal generating device specified by the unique information included in the reply signal and the moving body, and the reply signal from the moving body. The moving body arrangement | positioning measurement system of Claim 1 which measures the position of the said moving body in the said predetermined coordinate space based on the direction of the signal generator specified by the specific information to be performed.   4. The moving body arrangement measuring system according to claim 1, wherein the reply signal transmitting unit transmits the reply signal after a predetermined time has elapsed since the inquiry signal was received by the inquiry signal receiving unit. The reply signal receiving means has a plurality of receiving units each capable of receiving only the reply signal coming from different predetermined ranges,
5. The moving body arrangement measuring system according to claim 1, wherein the measuring unit specifies an arrival direction of the reply signal based on a receiving unit that has received the reply signal.   6. The measurement unit according to claim 5, wherein when the reply signals are received by a plurality of the receiving units, the measuring unit specifies the arrival direction of the reply signals based on the receiving unit that has received the reply signal having the maximum strength. Mobile body placement measurement system.   The mobile body arrangement measurement system according to claim 5 or 6, wherein the reply signal transmission means includes a plurality of transmission units each transmitting the reply signal to different predetermined ranges.   The movement control means for moving the moving body based on the distance from the signal generating apparatus to the moving body and the direction of the signal generating apparatus from the moving body measured by the measuring means. The moving body arrangement | positioning measurement system in any one of 1 thru | or 7.   The moving body arrangement measurement system according to claim 8, wherein the movement control unit brings the moving body close to the signal generator.   The said movement control means is a moving body arrangement | positioning measurement system of Claim 8 which makes the said signal generating apparatus track the said moving body when the said signal generating apparatus moves. A mobile body mounting system comprising a communication device and a measurement device mounted on a mobile body,
The communication device
Inquiry signal transmission means for transmitting the inquiry signal over the entire circumference;
Reply signal receiving means for receiving a reply signal that is arranged other than the moving body and is transmitted from the signal generator that has received the inquiry signal and that includes unique information of the signal generator;
The measuring device is
A signal generation device specified by specific information included in the reply signal based on a time from when the inquiry signal is transmitted by the inquiry signal transmission unit to when the reply signal is received by the reply signal receiving unit; A signal that is measured by the unique information included in the return signal from the mobile body based on the direction of arrival of the return signal received by the return signal receiving means while measuring the distance to the mobile body A moving body mounting system having measuring means for measuring the direction of a generator.

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