JP2010055250A - Location information acquisition system and acquisition method for mobile object - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a location information acquisition system of a mobile object for accurately acquiring the location information of the mobile object. <P>SOLUTION: The location information acquisition system 1 of the mobile object includes: an inertia sensor 3 installed at the mount 8 of the mobile object; a radio ID tag 2 laid on the backside or surface of a floor 7, and having location information; a radio ID tag reader 4 installed at the mount 8 of the mobile object, and configured to read the location information of the radio ID tag 2; a processing means 5 for acquiring the current location information of the mobile object on the basis of the location information of the radio ID tag 2, creating the approximation formula of the traveling orbit of the mobile object on the basis of detection information of the inertial sensor 3, correcting the approximation expression on the basis of the location information of the radio ID tag 2, and acquiring future predicted location information of the mobile object by using the corrected approximation formula; and storage means 6 for storing the detection signal of the inertial sensor 3, the location information of the mobile object and moving path information of the mobile robot 10. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a moving body position information acquisition system and acquisition method, and more particularly, to a moving body position information acquisition system and an acquisition method for preventing contact between a moving body such as a person and a mobile robot.

  Patent Documents 1 to 6 disclose techniques for acquiring position information of a moving body using a wireless ID (identifier) tag, an IC (Integrated Circuit) chip, or the like.

In particular, in the guidance system of Patent Document 1, a plurality of wireless ID tags are regularly embedded on the floor. A visitor ID reader is built in the footwear worn by the visitor. A guide robot ID reader is mounted on the guide robot. A visitor wearing the footwear and a guidance robot move on the wireless ID tag on the floor. The visitor ID reader and the guidance robot ID reader respectively read the position coordinate information of the wireless ID tag. Based on each position coordinate information, the position specifying unit obtains a relative distance between the visitor and the guidance robot. The guide robot performs a visitor guidance operation so that the visitor returns to a predetermined guide route when the relative distance is greater than the reference distance.
JP 2005-66745 A JP 2006-194893 A JP-A-2-47798 JP 2004-271372 A JP 2008-3077 A JP 2002-306831 A

  By the way, when a mobile robot that moves in a moving space operates in a real environment such as indoors or outdoors, there are moving bodies such as people. Therefore, the mobile robot needs to move so as not to be an obstacle to the behavior of the mobile body. However, since the number of sensors that can be mounted on a mobile robot and the capabilities of the sensors are limited, at present, the position information of the moving body is accurately obtained only by the information of the mounted sensors, and contact with the moving body is avoided. It is difficult.

  Therefore, as in Patent Documents 1 to 6 described above, the technique for acquiring the position information of the moving body using a wireless ID tag or an IC chip is effective because it can accurately acquire the position information of the moving body. . However, the techniques disclosed in Patent Documents 1 to 6 cannot acquire position information of the moving object when the moving object moves to a place where the wireless ID tag or the IC chip cannot be read.

  An object of the present invention is to provide a moving body position information acquisition system and an acquisition method capable of accurately acquiring the position information of the moving body.

  The mobile body position information acquisition system according to the present invention is a mobile body position information acquisition system for preventing contact between a mobile body such as a person and a mobile robot, and is an inertia provided on a mobile body mounting body. A sensor, a wireless ID tag regularly laid on the back or surface of the floor and having position information, a wireless ID tag reader provided on a mounting body of a moving body and reading the position information of the wireless ID tag, and the wireless ID The position information of the wireless ID tag read by the tag reader is acquired, the current position information of the moving body is acquired based on the position information, the detection information of the inertia sensor is acquired, and the detection information is Based on the position information of the wireless ID tag, the approximate expression is corrected based on the position information of the mobile ID, and the mobile body is predicted using the corrected approximate expression. Comprising a processing means for acquiring location information, the detection signal of the inertia sensor, and a storage means for storing route information of the position information and the mobile robot of the mobile. As a result, it is possible to accurately acquire human position information.

  The processing means determines whether the moving body exists in a floor area where the wireless ID tag is laid based on the acquisition status of the position information of the wireless ID tag and the detection status of the detection information of the inertia sensor. And based on the determination result, using the position information of the moving body immediately before stored in the storage means and the corrected approximate expression, the current position information of the moving body, It is also preferable to obtain the predicted future position information of the mobile body. As a result, the human current position information and the future predicted position information are acquired using the human position information immediately before the acquisition of the position information of the wireless ID tag is interrupted. The position information can be acquired accurately.

Preferably, the processing means determines whether or not the mobile body and the mobile robot come into contact with each other at a current position of the mobile body or a predicted future position of the mobile body.
In the case where it is determined that the determination result is in contact with the moving body, the processing unit corrects the movement route information of the mobile robot so as to avoid contact with the moving body, and the mobile robot It is preferable to acquire the travel route information. Thereby, contact with a human and a mobile robot can be avoided.

  The wearing body is footwear worn by a human being as the moving body, and the footwear includes a notification means for notifying the possibility of contact with the mobile robot, and the processing means is based on the determination result, It is preferable to control notification means for informing the possibility of contact with the mobile robot. Thereby, not only the avoidance operation of the mobile robot, but also humans can actively avoid contact with the mobile robot, and safety can be further improved.

  The mobile robot includes a camera controlled by a camera control unit, and the camera control unit acquires current position information of the moving body from the storage unit, and acquires the current position information of the acquired moving body. It is preferable to control the camera based on As a result, it is possible to more accurately acquire the predicted future position information of the human. In addition, when the human face height position is imaged by the camera, it is possible to quickly image based on the current position information of the human.

Preferably, the processing means and the storage means are provided in a server, and the server, the mobile robot, and the mounting body are configured to be capable of wireless communication with wireless communication means.
Preferably, the processing means and the storage means are provided in a mobile robot, and the mobile robot and the mounting body are configured to be capable of wireless communication with wireless communication means.

  Preferably, the processing means controls the wireless ID tag reader based on an acquisition state of detection information of the inertia sensor. As a result, it is possible to prevent the task from being performed on footwear that is not being used by humans.

  The mounting body includes notification means for notifying the acquisition status of the position information of the wireless ID tag, and the processing means acquires the position information of the wireless ID tag based on the acquisition status of the position information of the wireless ID tag. It is preferable to control the notification means for informing the situation. Thereby, a human can know from the outside whether the position information acquisition system is operating normally. In addition, a human can know that the wireless ID tag has deviated from the floor area where the wireless ID tag is laid, and can consciously pay attention to contact with the mobile robot.

  The moving body position information acquisition method according to the present invention is a moving body position information acquisition method for preventing contact between a moving body such as a person and a mobile robot, and is provided on a mounting body of the moving body. The wireless ID tag reader acquires the position information of the wireless ID tag regularly laid on the back surface or the surface of the floor, and based on the position information of the wireless ID tag, the processing means uses the current position of the mobile object. Based on the information acquisition step and the detection information of the inertia sensor provided on the mounting body of the moving body, the processing means creates an approximate expression of the moving path of the moving body, and the position information of the wireless ID tag A step of correcting the approximate expression and acquiring predicted future position information of the moving body using the corrected approximate expression. As a result, it is possible to accurately acquire human position information.

  The processing means determines whether the moving body exists in a floor area where the wireless ID tag is laid based on the acquisition status of the position information of the wireless ID tag and the detection status of the detection information of the inertia sensor. And based on the determination result, the current position information of the moving object and the future prediction of the moving object are determined using the position information of the immediately preceding moving object and the corrected approximate expression. It is preferable to acquire position information. As a result, the human current position information and the future predicted position information are acquired using the human position information immediately before the acquisition of the position information of the wireless ID tag is interrupted. The position information can be acquired accurately.

  ADVANTAGE OF THE INVENTION According to this invention, the positional information acquisition system and acquisition method of a mobile body which can acquire the positional information on a mobile body correctly can be provided.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments of a moving body position information acquisition system and acquisition method according to the present invention will be described with reference to the drawings. However, the present invention is not limited to the following embodiments. In addition, for clarity of explanation, the following description and drawings are simplified as appropriate.

  The mobile body position information acquisition system and acquisition method of the present embodiment are configured such that the server creates movement path information (map) of the mobile robot and controls the mobile robot based on the movement path information. Moreover, the moving body position information acquisition system and acquisition method according to the present embodiment acquires human position information as the moving body.

  As shown in FIG. 1 and FIG. 2, the mobile body position information acquisition system 1 (hereinafter simply referred to as a position information acquisition system) 1 includes a wireless ID tag 2, an inertia sensor 3, a wireless ID tag reader 4, and a process. Means 5 and storage means 6 are provided. For example, the wireless ID tag 2 is regularly laid on a floor 7 of a building which is a human moving space. The inertia sensor 3 and the wireless ID tag reader 4 are built in footwear 8 which is a human wearing body. The processing unit 5 and the storage unit 6 are provided in the server 9. The server 9, the footwear 8, and the mobile robot 10 are configured to be capable of wireless communication via the wireless communication means 11.

  Incidentally, as the mobile robot 10, a wheel type robot or a walking type robot can be used, but in this embodiment, a wheel type robot is used. That is, the mobile robot 10 is provided with three wheels at the bottom as moving means, and two of the three wheels are rotationally driven by the driving means 12. Then, the mobile robot 10 controls the drive means 12 by the control means 13 based on the movement route information transmitted from the server 9 via the wireless communication means 11, and realizes forward and backward movement and turning.

  The wireless ID tag 2 is a so-called RFID (Radio Frequency Identification), and includes an antenna and an IC chip. Position information is stored in the IC chip. When the wireless ID tag reader 4 is brought close to the wireless ID tag 2, the position information is read by the wireless ID tag reader 4. This position information is associated with the movement route of the mobile robot 10. That is, when creating the movement route of the mobile robot 10, as illustrated in FIG. 3, the floor 7 is partitioned in a lattice shape, and coordinates are given to the intersections. Therefore, the wireless ID tag 2 in which coordinate information equal to the coordinates given to the intersection portion is stored is arranged at each intersection portion. As a result, the wireless ID tag 2 is regularly arranged on the floor 7. The wireless ID tag 2 may be disposed on either the front surface or the back surface of the floor 7.

  The inertia sensor 3 is a so-called inertia sensor including an acceleration sensor, an angular velocity sensor, and a load sensor. The inertia sensor 3 is built in footwear 8 worn by a human being as a moving body.

  The wireless ID tag reader 4 includes an antenna and a control unit, and the control unit decodes position information of the wireless ID tag 2 received by the antenna. The wireless ID tag reader 4 is built in the bottom of the footwear 8. Therefore, when a person wears the footwear 8 and walks on the floor 7 on which the wireless ID tag 2 is regularly laid, the wireless ID tag reader 4 can accurately acquire the current position information of the person.

  The processing means 5 is provided in the server 9 and is constituted by a CPU (Central Processing Unit) or the like. The processing means 5 acquires the detection information of the inertia sensor 3 via the wireless communication means 11 and stores it in the storage means 6 sequentially. The processing unit 5 acquires the accumulated detection signal from the storage unit 6 and creates an approximate expression indicating the human movement locus based on the accumulated detection signal. That is, an approximate expression (for example, X direction: quintic expression, Y direction: quintic expression of 10 parameters) indicating the moving distance and moving direction of the person is created from the acceleration and angular velocity detected by the inertia sensor 3. However, with only the approximate expression, the absolute position of a person cannot be known, and if the footwear 8 slips, a large error occurs.

  Therefore, the processing means 5 acquires the position information of the wireless ID tag 2 read by the wireless ID tag reader 4 via the wireless communication means 11, and based on the position information of the wireless ID tag 2, the current position of the person Get information. Then, the processing unit 5 corrects the approximate expression based on the acquired human position information, and acquires (calculates) human predicted future position information using the corrected approximate expression. In this way, the current position information of the person can be acquired based on the position information of the wireless ID tag 2 always acquired from the wireless ID tag reader 4. In addition, since the approximate expression is corrected based on the position information of the wireless ID tag 2, it is possible to accurately acquire the predicted position information of the human future. The processing unit 5 stores the corrected approximate expression and the acquired human position information in the storage unit 6. The processing unit 5 sequentially acquires the corrected approximate expression from the storage unit 6 and acquires human future predicted position information. Here, the current position information of the human means information indicating an absolute position where the human is present at the present time. In addition, human future predicted position information refers to both the absolute position calculated by an approximate expression and reached after a predetermined time has elapsed, and information indicating a locus in which the absolute position continues.

  Further, the processing means 5 determines whether or not the human and the mobile robot 10 are in contact with each other at the acquired current position or future predicted position. That is, the processing means 5 determines whether the person exists at the present time or after a predetermined time has elapsed on the movement route of the mobile robot 10 based on the acquired current position information or future predicted position information of the person. Determine whether or not.

  When it is determined that a human is currently on the moving route of the mobile robot 10, the processing unit 5 determines whether or not the human is separated from the moving route of the mobile robot 10 based on the repeatedly acquired human current position information. judge. When the processing unit 5 determines that the current position information of the human being acquired repeatedly does not change and the person does not leave the moving path of the mobile robot 10, the mobile robot avoids the current position of the human. The travel route information of 10 is corrected and transmitted to the mobile robot 10 via the wireless communication means 11.

When it is determined that the human exists on the moving path of the mobile robot 10 after a predetermined time has elapsed, the processing unit 5 determines the time for the human to reach the moving path of the mobile robot 10 and the human on the moving path of the mobile robot 10. Is calculated and compared with the time required for the mobile robot 10 to reach a position where it is expected to exist. If the processing unit 5 determines that the comparison results are substantially equal, the processing unit 5 corrects the movement path information of the mobile robot 10 so as to avoid a position where the person is expected to be on the movement path of the mobile robot 10. And transmitted to the mobile robot 10 via the wireless communication means 11.
The mobile robot 10 that has acquired the corrected travel route information controls the drive unit 12 by the control unit 13 based on the travel route information, and moves while avoiding contact with humans.

  Incidentally, it is preferable that the processing means 5 controls the wireless ID tag reader 4 based on the acquisition status of the detection information of the inertia sensor 3. That is, the fact that the processing means 5 acquires the detection information of the inertia sensor 3 can be said that a person is wearing the footwear 8. Therefore, the processing means 5 stops the acquisition of the detection information of the inertia sensor 3 so that the wireless ID tag reader 4 reads the position information of the wireless ID tag 2 only when a person is wearing the footwear 8. The information indicating the fact is output to the wireless ID tag reader 4 via the wireless communication means 11. The wireless ID tag reader 4 stops reading the position information of the wireless ID tag 2 when the information indicating the interruption is input. As a result, it is possible to prevent the task from being performed on footwear that is not being used by humans.

  The storage means 6 is provided in the server 9 and is composed of a RAM (Random Access Memory), a ROM (Read Only Memory), or the like. The storage means 6 stores the accumulated detection information of the inertia sensor 3, human position information, movement path information of the mobile robot 10, corrected approximate expression, and the like. The movement route information of the mobile robot 10 stored in the storage unit 6 is output from the server 9 to the mobile robot 10 via the wireless communication unit 11.

  The position information acquisition system for a mobile object having such a configuration can accurately acquire the position information of a person on the floor 7 on which the wireless ID tag 2 is laid, as described above. Can be avoided. However, as shown in FIG. 3, when the mobile robot 10 moves across, for example, the rooms R1 and R2, the wireless ID tag 2 may not be laid in the communication path R3 between the rooms R1 and R2. In such a case, if the person also moves across the rooms R1 and R2, the person's position information cannot be acquired in the communication path 3 where the wireless ID tag 2 has been laid down, and the person and the mobile robot 10 may come into contact. Therefore, the processing means 5 determines whether or not a person is present in the floor area where the wireless ID tag 2 is laid, based on the acquisition status of the position information of the wireless ID tag 2 and the detection information of the inertia sensor 3. . That is, when the acquisition of the position information of the wireless ID tag 2 is interrupted and the detection information of the inertia sensor 3 is continuously acquired, the processing means 5 is assumed that the person has left the floor area where the wireless ID tag 2 is laid. judge. Then, the processing unit 5 determines the current position information of the person and the predicted future position information based on the immediately preceding (acquired last) position information stored in the storage unit 6 and the corrected approximate expression. To get. More specifically, the processing means 5 calculates the time after the acquisition of the position information of the wireless ID tag 2 is stopped, and from the position information of the person immediately before the acquisition of the position information of the wireless ID tag 2 is stopped, The distance moved in the direction is calculated by using the corrected approximate expression, and the current position information of the person and the predicted position information of the future are acquired. Using this acquired human current position information and future predicted position information, the processing means 5 determines whether or not the human and the mobile robot 10 are in contact with each other. Since the current position information of the person and the predicted future position information of the person are acquired using the position information of the person immediately before the acquisition of the position information of the wireless ID tag 2 stops, the current position information of the person and the predicted future position information of the person are acquired. Can be obtained accurately. Therefore, it is possible to prevent the human and the mobile robot 10 from contacting each other even in the communication path R3 where the wireless ID tag 2 is not installed.

  In the case of the determination result that the footwear 8 obtains the determination result of whether or not the human and the mobile robot 10 are in contact with each other in the processing unit 5 via the wireless communication unit 11, It is preferable to provide a notification means 14 for notifying the possibility of contact with the mobile robot 10. The notification means 14 includes a device such as a vibration motor, a solenoid, a speaker, etc. that informs humans sensuously. When the processing unit 5 determines that the human and the mobile robot 10 are in contact with each other, the processing unit 5 outputs the determination result information to the notification unit 14 via the wireless communication unit 11. When the determination result information is input, the notification means 14 activates a device that informs humans in a sensuous manner, and notifies the humans that there is a possibility of contact with the mobile robot 10. Thereby, not only the avoiding operation of the mobile robot 10, but also humans can actively avoid contact with the mobile robot 10, and the safety can be further improved.

  Furthermore, the footwear 8 is preferably provided with a notification means 15 for notifying the acquisition status of the position information of the wireless ID tag 2. The notification means 15 includes a device such as an LED (Light Emitting Diode) or a speaker that happily notifies a human. When the processing unit 5 acquires the acquisition status of the position information of the wireless ID tag 2, that is, the position information of the wireless ID tag 2, the processing unit 5 outputs information indicating the acquisition to the notification unit 15 via the wireless communication unit 11. When the information indicating the acquisition is input, the notification unit 15 activates a device that informs humans in a sensuous manner and notifies that the processing unit 5 has acquired the position information of the wireless ID tag 2 normally. . In addition, the user is informed that the user is in the floor area where the wireless ID tag 2 is laid. Thereby, a human can know from the outside whether the position information acquisition system is operating normally. In addition, the human can know that the wireless ID tag 2 is out of the floor area where the wireless ID tag 2 is laid, and can consciously pay attention to contact with the mobile robot 10.

  The mobile robot 10 preferably includes a camera 17 controlled by the camera control means 16. At this time, the server 9 and the mobile robot 10 are configured to be capable of wireless communication via the wireless communication means 11. When the processing unit 5 acquires the current position information of the human, the processing unit 5 outputs the current position information of the human to the camera control unit 16 via the wireless communication unit 11. When the current position information of the person is input, the camera control unit 16 controls the orientation of the camera 17 to the current position of the person, and can capture the human face height position. The direction of the camera 17 is controlled. Then, the camera 17 captures the human face height position and outputs the image information to the processing unit 5 of the server 9 via the wireless communication unit 11. The processing unit 5 performs processing on the input image information to acquire unevenness information of the human face height position, and estimates in which direction the human face is directed based on the unevenness information. The processing means 5 estimates the human front-rear direction based on the human face information history and the detection information of the inertia sensor 3 based on the estimation result of the human face direction. As a result, it is possible to more accurately acquire the predicted future position information of the human. In addition, when the human face height position is imaged by the camera 17, it is possible to quickly image based on the current position information of the human. Incidentally, as the camera 17, an image sensor such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS) can be used.

Using the position information acquisition system 1 having the above-described configuration, the position information acquisition method of the present invention is implemented as shown in FIG.
First, the inertia sensor 3 provided in the human footwear 8 outputs the detection information of the inertia sensor 3 to the processing means 5 of the server 9 via the wireless communication means 11. The processing means 5 recognizes that the person is wearing the footwear 8 by acquiring the detection information of the inertia sensor 3, and continues the subsequent processing (S1).

  On the other hand, the wireless ID tag reader 4 provided on the human footwear 8 acquires position information of the wireless ID tag 2 regularly laid on the back surface or the front surface of the floor, and the position information is transmitted via the wireless communication means 11. To the processing means 5 of the server 9 (S2).

  The processing unit 5 acquires the current position information of the person based on the input position information of the wireless ID tag 2, and sequentially stores the position information of the person in the storage unit 6 (S3). At the same time, the processing means 5 acquires the detection information of the inertia sensor 3, creates an approximate expression of the human movement trajectory based on the detection information, and stores the approximate expression in the storage means 6. Then, the processing means 5 corrects the approximate expression acquired from the storage means 6 based on the position information of the wireless ID tag 2, and acquires the predicted position information of the human future using the corrected approximate expression ( S4).

Next, the processing means 5 determines whether or not the human and the mobile robot 10 are in contact with each other at the acquired current position or future predicted position (S5).
When it is determined that a human is currently on the moving path of the mobile robot 10, the processing unit 5 repeats the steps S <b> 1 to S <b> 5 to determine whether the human is leaving the moving path of the mobile robot 10. (S6). When the processing unit 5 determines that the current position information of the human being acquired repeatedly does not change and the person does not leave the moving path of the mobile robot 10, the mobile robot avoids the current position of the human. 10 is corrected and transmitted to the mobile robot 10 via the wireless communication means 11 (S7, S8).

  When it is determined that the human exists on the moving path of the mobile robot 10 after a predetermined time has elapsed, the processing unit 5 determines the time for the human to reach the moving path of the mobile robot 10 and the human on the moving path of the mobile robot 10. The time required for the mobile robot 10 to reach a position where it is expected to exist is calculated and compared (S9). When the processing means 5 determines that the comparison results are substantially equal, the processing means 5 corrects the movement route information of the mobile robot 10 so as to avoid the predicted position of the future of the human, and sends the information to the mobile robot 10 via the wireless communication means 11. Transmit (S10, S8).

The mobile robot 10 that has acquired the corrected travel route information controls the drive unit 12 by the control unit 13 based on the travel route information, and moves while avoiding contact with humans.
By repeating the above steps, it is possible to accurately acquire the position information of the moving human and prevent contact between the human and the mobile robot 10.

  Further, the processing means 5 determines whether or not there is a person in the floor area where the wireless ID tag 2 is laid based on the acquisition status of the position information of the wireless ID tag 2 and the acquisition status of the detection information of the inertia sensor 3. Based on the determination result, the current position information of the person and the predicted future position information of the person are obtained using the position information of the person immediately before stored in the storage unit 6 and the corrected approximate expression. It is preferable to obtain. Thereby, even in a place where the wireless ID tag 2 has been laid down, it is possible to accurately acquire the current position information of the person and the predicted future position information, thereby preventing contact between the person and the mobile robot 10.

  In the position information acquisition system and acquisition method of the above-described embodiment, the server 9 includes the processing unit 5 and the storage unit 6. However, as shown in FIG. 5, the mobile robot 10 includes the processing unit 5 and the storage unit. 6 can be implemented in substantially the same manner. Further, the processing means 5 determines whether or not the first processing means for acquiring the current position information and future predicted position information of the human and the human and the mobile robot 10 are in contact with each other. The second processing means for correcting the movement route information of the mobile robot 10 may be divided based on the above. At this time, the first processing means is provided in the server 9, and the second processing means is provided in the mobile robot 10.

  The embodiment of the position information acquisition system and acquisition method of the moving body according to the present invention has been described above. However, the present invention is not limited to the above configuration, and can be changed without departing from the technical idea of the present invention. . For example, in this embodiment, human position information is acquired as a moving body, but an animal may be used. In this case, the inertia sensor 3 and the wireless ID tag reader 4 are provided on the collar or the like. In the present embodiment, the footwear is used as the wearing body, but a belt or the like may be used as long as it is worn at a height position where the position information of the wireless ID tag 2 can be read.

It is a schematic diagram which shows the positional information acquisition system of the moving body which concerns on this invention. It is a block diagram which shows roughly the positional information acquisition system of the moving body which concerns on this invention. It is the top view which showed roughly arrangement | positioning of the wireless ID tag laid on the floor. It is a flowchart figure which shows schematically the position information acquisition method of the moving body which concerns on this invention. It is a block diagram which shows roughly the position information acquisition system of the different moving body which concerns on this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Position information acquisition system 2 Wireless ID tag 3 Inertia sensor 4 Wireless ID tag reader 5 Processing means 6 Storage means 7 Floor 8 Footwear 9 Server 10 Mobile robot 11 Wireless communication means 14 Notification means 15 notifying of possibility of contact with mobile robot Notification means 16 for notifying the acquisition status of ID tag position information 16 Camera control means 17 Camera

Claims (12)

A position information acquisition system for the moving body for preventing contact between the moving body such as a person and the mobile robot,
An inertia sensor provided on the moving body, and
A wireless ID tag regularly laid on the back or surface of the floor and having location information;
A wireless ID tag reader provided on a mounting body of a mobile body for reading position information of the wireless ID tag;
Obtaining the position information of the wireless ID tag read by the wireless ID tag reader, obtaining the current position information of the moving body based on the position information, obtaining the detection information of the inertia sensor, Create an approximate expression of the moving trajectory of the mobile object based on the detection information, correct the approximate expression based on the position information of the wireless ID tag, and use the corrected approximate expression to predict the future position of the mobile object Processing means for obtaining information;
Storage means for storing a detection signal of the inertia sensor, position information of the moving body, and movement path information of the mobile robot;
A position information acquisition system for a moving body.   The processing means determines whether the moving body exists in a floor area where the wireless ID tag is laid based on the acquisition status of the position information of the wireless ID tag and the detection status of the detection information of the inertia sensor. And based on the determination result, using the position information of the moving body immediately before stored in the storage means and the corrected approximate expression, the current position information of the moving body, 2. The position information acquisition system for a moving body according to claim 1, wherein future position information of the moving body is acquired.   The said processing means determines whether the said mobile body and the said mobile robot contact at the present position of the said mobile body, or the future estimated position of the said mobile body, or it is characterized by the above-mentioned. 2. The moving body position information acquisition system according to 2. In the case where it is determined that the determination result is in contact with the moving body, the processing means corrects the moving route information of the mobile robot in order to avoid contact with the moving body,
The position information acquisition system for a moving body according to claim 3, wherein the mobile robot acquires the corrected movement route information. The wearing body is footwear worn by a human being as the moving body,
The footwear comprises a notification means for notifying the possibility of contact with the mobile robot,
4. The moving body position information acquisition system according to claim 3, wherein the processing means controls a notifying means for notifying the possibility of contact with the mobile robot based on the determination result. The mobile robot includes a camera controlled by camera control means,
2. The camera control unit acquires current position information of the moving body from the storage unit, and controls the camera based on the acquired current position information of the moving body. The positional information acquisition system of the moving body described in 1. The processing means and the storage means are provided in a server,
The position information of the moving body according to any one of claims 1 to 6, wherein the server, the mobile robot, and the mounting body are configured to be capable of wireless communication by wireless communication means. system. The processing means and the storage means are provided in a mobile robot,
The position information acquisition system for a moving body according to any one of claims 1 to 6, wherein the mobile robot and the mounting body are configured to be capable of wireless communication with wireless communication means.   The position information acquisition system for a moving body according to any one of claims 1 to 8, wherein the processing means controls the wireless ID tag reader based on an acquisition state of detection information of the inertia sensor. . The wearing body includes notification means for notifying the acquisition status of the position information of the wireless ID tag,
The said processing means controls the notification means which notifies the acquisition situation of the position information of the said wireless ID tag based on the acquisition situation of the position information of the said wireless ID tag, The any one of Claim 1 thru | or 9 characterized by the above-mentioned. The moving body position information acquisition system according to the item. A method for acquiring positional information of the moving body for preventing contact between the moving body such as a person and the mobile robot,
A step of acquiring position information of a wireless ID tag regularly laid on the back surface or the surface of the floor with a wireless ID tag reader provided on the mounting body of the mobile body;
A process means for acquiring current position information of the mobile body based on position information of the wireless ID tag;
Based on the detection information of the inertia sensor provided on the movable body mounting body, the processing means creates an approximate expression of the moving locus of the mobile body, and based on the position information of the wireless ID tag, the approximate expression is calculated. Correcting and obtaining future predicted position information of the mobile object using the corrected approximate expression;
A position information acquisition method for a moving object comprising:   The processing means determines whether the moving body exists in a floor area where the wireless ID tag is laid based on the acquisition status of the position information of the wireless ID tag and the detection status of the detection information of the inertia sensor. And based on the determination result, the current position information of the moving object and the future prediction of the moving object are determined using the position information of the immediately preceding moving object and the corrected approximate expression. The position information acquisition method according to claim 11, wherein the position information is acquired.

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