JP2016161726A - Light shielding device, autonomous traveling body, and autonomous traveling body system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent reflection on a captured image of an imaging part disposed in an autonomous traveling body without impairing an aesthetic appearance.SOLUTION: A disturbance light shielding structure (7) includes one end (27b) that surrounds an edge of an opening (21a) of an exterior part (21) and is fixed, and a projection part (17a) fixed to a camera part (15). The disturbance light shielding structure (7) surrounds the periphery of an imaging surface 15a, and extends from the one end (27b) toward the projection part (17a).SELECTED DRAWING: Figure 1

Description

  The present invention relates to a shading device, an autonomous traveling body, and an autonomous traveling body system provided in an autonomous traveling body having an imaging unit that captures an image from an opening provided in an exterior part.

  FIG. 9 is a perspective view showing the configuration of the scanner type camera 110 described in Patent Document 1. As shown in FIG. The scanner type camera 110 is a two-dimensional scanner type electronic still camera that takes in external light from an objective lens 115 provided in the body 111 to a line CCD provided in the body 111 and obtains a photographed image by the line CCD. The scanner-type camera 110 further includes a light shielding cover member 127 for preventing external light from entering the objective lens 115 when shooting is not performed. The light shielding cover member 127 is attached to the surface of the body 111 on which the objective lens 115 is disposed so as to be rotatable by a rotation shaft 128.

  As shown in FIG. 9, at the time of photographing, the light shielding cover member 127 is rotated about the rotation axis 128, and the light shielding cover member 127 is raised from the body 111 so that the light shielding cover member 127 and the objective lens 115 do not overlap. As a result, external light is allowed to enter the objective lens 115 and the line CCD. On the other hand, when shooting is not performed, the light shielding cover member 127 is rotated around the rotation axis 128 so that the light shielding cover member 127 overlaps the objective lens 115. This prevents external light from entering the line CCD through the objective lens 115 when shooting is not performed.

  In recent years, cameras have been used in various devices for image recognition. FIG. 10 is a diagram illustrating a configuration of an autonomous traveling body 210 that performs autonomous traveling in a building. An autonomous traveling body 210 shown in FIG. 10 includes a driving mechanism 212 having driving wheels, a traveling carriage unit 211 including a main body unit unit 213 mounted on the driving mechanism 212, and a camera unit 215 mounted on the main body unit unit 213. The exterior part 221 covers. In order for the autonomous traveling body 210 to recognize the landmarks arranged on the ceiling, the photographing surface 215a of the camera unit 215 faces upward (upward in the drawing in FIG. 10). An opening 221a corresponding to the angle of view of the camera unit 215 is provided at the top of the exterior portion 221, and a transparent light transmissive member 216 made of acrylic is fitted into the opening 221a. Then, the autonomous traveling body 210 corrects the position recognized by itself by recognizing the position of the landmark photographed by the camera unit 215. Further, the light transmissive member 216 prevents foreign matter (dust, dust, etc.) from entering the autonomous traveling body 210 from the opening 221a.

Japanese Patent Laid-Open No. 11-149105 (released on June 2, 1999) Japanese Patent Laid-Open No. 11-174544 (released July 2, 1999)

  The scanner-type camera 110 shown in FIG. 9 has a structure in which the light-shielding cover member 127 is raised from the body 111 at the time of photographing, and thus the appearance design is remarkably impaired.

  According to the autonomous traveling body 210 shown in FIG. 10, disturbance light Z <b> 1 such as sunlight passes through the light transmissive member 216 and becomes scattered light Z <b> 2 inside the autonomous traveling body 210. The scattered light Z2 is incident on the photographing surface 215a of the camera unit 215 arranged away from the light transmissive member 216, so that it is reflected in the photographed image of the camera unit 215, and the camera unit 215 displays a normal image ( Video) cannot be shot.

  In order to prevent disturbance light from entering the imaging surface of such a camera, it is conceivable to provide a disturbance light shielding structure as shown in FIG.

  In addition to the structure of the autonomous traveling body 210 illustrated in FIG. 10, the autonomous traveling body 220 illustrated in FIG. 11 surrounds the light transmissive member 216 at the top of the exterior portion 221, and the top of the exterior portion 221. The ambient light shielding structure 227 is provided to stand in a direction away from the light. The disturbance light shielding structure 227 can suppress the disturbance light Z1 from entering the light transmissive member 216. However, since the disturbance light shielding structure 227 rises from the top of the exterior portion 221, the appearance design of the autonomous traveling body 220 is significantly impaired.

  The present invention has been made to solve the above-described problems, and its purpose is to reflect the reflected light in the captured image of the imaging unit arranged in the autonomous traveling body without impairing the aesthetic appearance. Is to prevent.

  In order to solve the above-described problem, a light shield according to an aspect of the present invention includes an imaging unit and an exterior unit that has an opening provided in a region overlapping the imaging surface of the imaging unit and covers the imaging unit. A light-shielding device that is arranged on the autonomous traveling body and restricts light incident on the imaging surface, and surrounds an edge of the opening of the exterior part and is fixed to the exterior part; A second connecting portion that is fixed to the photographing portion, surrounds the periphery of the photographing surface, and extends from the first connecting portion toward the inside of the exterior portion; It is characterized by extending toward the connecting part.

  According to one aspect of the present invention, there is an effect of preventing the reflected light from being reflected in the captured image of the imaging unit disposed in the autonomous traveling body without impairing the appearance.

It is sectional drawing showing the structure of the disturbance light shielding structure in the autonomous running body which concerns on Embodiment 1 of this invention. It is a figure showing the structure of the autonomous traveling body system which concerns on Embodiment 1 of this invention. It is a figure showing a mode that the exterior part is assembled | attached to the traveling trolley | bogie part in the autonomous traveling body of the said autonomous traveling body system. It is sectional drawing showing the structure of the camera part vicinity of the autonomous running body which concerns on Embodiment 2 of this invention. It is sectional drawing showing the structure of the camera part vicinity of the autonomous traveling body which concerns on a reference example. It is sectional drawing showing the structure of the disturbance light shielding structure vicinity of the autonomous running body which concerns on Embodiment 3 of this invention. It is a figure showing the structure of the autonomous running body which concerns on Embodiment 4 of this invention. It is a figure showing a mode that the exterior part is assembled | attached to the traveling trolley part in the autonomous traveling body of the autonomous traveling body system which concerns on Embodiment 4 of this invention. It is a perspective view showing the structure of the conventional scanner type camera. It is a figure showing the structure of the autonomous running body which autonomously runs in the conventional building. It is a figure showing the example which arranged disturbance light shielding structure in the top of the above-mentioned autonomous running body.

  Hereinafter, embodiments of the present invention will be described in detail.

Embodiment 1
(Configuration of autonomous vehicle system 1)
The configuration of the autonomous traveling body system 1 according to the present embodiment will be described with reference to FIGS. 2 and 3. FIG. 2 is a diagram illustrating a configuration of the autonomous traveling body system 1 according to the first embodiment of the present invention.

  As shown in FIG. 2, the autonomous traveling body system 1 includes a landmark (marker) 3 arranged on the ceiling 2 of the building and an autonomous traveling body 10 that performs autonomous traveling. In this embodiment, the autonomous traveling body 10 is assumed to autonomously travel mainly on the floor surface inside the building, for example, in various commercial facilities such as a museum and an airport. The autonomous traveling body 10 includes a traveling carriage unit 11 and an exterior part 21 assembled so as to cover the traveling carriage unit 11. Specifically, the autonomous traveling body 10 includes a traveling carriage unit 11, a camera unit (imaging unit) 15, a light transmissive member 16, an exterior unit 21, and a disturbance light shielding structure (shading device) 7. ing.

  The landmarks 3 are arranged at predetermined intervals on the ceiling 2 or the like in the building in order to recognize the position where the autonomous traveling body 10 is traveling. The landmark 3 is not necessarily arranged on the ceiling 2. The landmark 3 may be disposed at a position similar to the ceiling 2 or may be disposed on a side wall, for example. Further, the landmarks 3 may not be arranged at a predetermined interval.

  The disturbance light shielding structure 7 prevents the disturbance light from entering the imaging surface 15 a of the camera unit 15. The disturbance light shielding structure 7 is arranged in the traveling carriage unit 11 in a direction from the opening 21a provided in the exterior part 21 in accordance with the angle of view of the imaging surface 15a of the camera part 15 into the exterior part 21. The camera unit 15 extends to the imaging surface 15a and surrounds the edge of the imaging surface 15a of the camera unit 15.

  The disturbance light shielding structure 7 includes a first disturbance light shielding structure (first light shielding portion) 27 and a second disturbance light shielding structure (second light shielding portion) 17. The first disturbance light shielding structure 27 extends from the opening 21a of the exterior part 21 in the exterior part 21 in a direction approaching the imaging surface 15a of the camera part 15, and the lower end part is a second disturbance light shielding structure. 17 is inserted. The second ambient light shielding structure 17 surrounds the edge of the imaging surface 15 a of the camera unit 15 and extends from the imaging surface 15 a of the camera unit 15 in a direction approaching the opening 21 a of the exterior unit 21. The specific structure of the disturbance light shielding structure 7 will be described later with reference to FIG.

  The traveling carriage unit 11 includes a drive mechanism 12 that travels by rotating a tire by motor driving, a battery, a voice input / output component, a control board, and the like, and a main unit unit (image) mounted on the drive mechanism 12. Recognition unit) 13.

  The drive mechanism 12 includes a sensor unit 14, a tire, and a motor (not shown). The drive mechanism 12 drives the motor in accordance with an instruction from the main unit 13 and rotates the tire to autonomously travel the autonomous traveling body 10. The drive mechanism 12 controls traveling based on self-position information acquired from the main unit unit 13.

  The sensor unit 14 includes a laser range finder, an ultrasonic sensor, a gyro sensor, or the like. When the main unit 13 detects an obstacle around the autonomous traveling body 10 based on the sensor output acquired by the sensor unit 14, the drive mechanism 12 stops in front of the obstacle or travels so as to avoid the obstacle. . The sensor unit 14 may be arranged in the main unit 13 instead of the drive mechanism 12.

  The main unit 13 is disposed on the drive mechanism 12. The main unit 13 includes a battery, a voice input / output component, a control board, and the like, and controls traveling and other driving of the autonomous traveling body 10. The main unit 13 stores map information indicating the area and route that the autonomous traveling body 10 should travel. The main unit 13 recognizes its own position in the map information from the sensor output acquired from the sensor unit 14 and the captured image acquired from the camera unit 15, and controls the driving of the drive mechanism 12 based on the information indicating the self position. To do.

  The main body unit 13 periodically detects and recognizes the image of the landmark 3 included in the photographed image acquired from the camera unit 15, so that the self position in the map information and the self position actually running are To grasp the difference between them and periodically correct their position in the map information.

  The camera unit 15 is a camera for detecting the landmark 3 arranged on the ceiling 2. The camera unit 15 includes, for example, an objective lens and an imaging element that is an image sensor such as a charge coupled device (CCD) or a complementary metal-oxide semiconductor (CMOS). The camera unit 15 converts the light reflected by the subject and incident on the objective lens into an electrical signal by the imaging device.

  The light transmissive member 16 is a plate-like member that protects the imaging surface 15 a of the camera unit 15. The light transmissive member 16 is disposed in contact with the imaging surface 15 a of the camera unit 15 so as to cover the imaging surface 15 a of the camera unit 15. The light transmissive member 16 is made of a transparent material, for example, acrylic. The light reflected by the subject passes through the light transmissive member 16, and the light that has passed through the light transmissive member 16 enters the photographing surface 15 a of the camera unit 15, so that the camera unit 15 photographs the subject.

  The exterior part 21 is a so-called cabinet. The exterior part 21 is hollow inside, and the lower end part is opened to such an extent that the traveling carriage part 11 can be inserted. An opening 21a having an area corresponding to the angle of view of the camera unit 15 is provided at the top of the exterior unit 21 so that the exterior unit 21 overlaps the imaging surface 15a of the camera unit 15 when the exterior unit 21 is assembled to the traveling carriage unit 11. Is provided. Light reflected from the subject enters the imaging surface 15 a of the camera unit 15 from the exterior of the exterior unit 21 through the opening 21 a of the exterior unit 21. Thereby, the camera unit 15 photographs the subject.

  FIG. 3 is a diagram illustrating a state in which the exterior portion 21 is assembled to the traveling carriage unit 11. As shown in FIG. 3, the exterior part 21 is relatively moved in the direction indicated by the arrow A, so that the camera part 15 and the traveling carriage part 11 are inserted from the open lower end part. In this way, the exterior portion 21 is assembled to the traveling cart unit 11 so as to cover the camera unit 15 and the traveling cart unit 11.

  When the exterior part 21 is assembled to the traveling carriage part 11, the top part of the exterior part 21 is placed inside the second disturbance light shielding structure 17 arranged on the imaging surface 15 a of the camera part 15 that constitutes the ambient light shielding structure 7. The exterior part 21 is assembled to the traveling carriage part 11 by positioning so that the first disturbance light shielding structure 27 arranged in the space is inserted.

(Specific configuration of disturbance light shielding structure 7)
Next, a specific configuration of the disturbance light shielding structure 7 in the autonomous traveling body 10 will be described with reference to FIG. FIG. 1 is a cross-sectional view illustrating the configuration of the disturbance light shielding structure 7 of the autonomous traveling body 10.

  The disturbance light shielding structure 7 constitutes a path through which light reflected from the subject passes through the opening 21 a of the exterior portion 21 and reaches the imaging surface 15 a of the camera portion 15. The first disturbance light shielding structure 27 and the second disturbance light shielding structure 17 have a cylindrical shape, and one of them has a size that can be inserted into the other.

  The first ambient light shielding structure 27 is disposed on the exterior portion 21, and the second ambient light shielding structure 17 is disposed on the camera portion 15. The first disturbance light shielding structure 27 and the second disturbance light shielding structure 17 are each made of a material that blocks light. The first disturbance light shielding structure 27 and the second disturbance light shielding structure 17 are each preferably black with no gloss. Thereby, since reflection and scattering of incident light can be suppressed most, the effect of reducing the reflection of disturbance light (scattered light) in the captured image of the camera unit 15 is increased.

  The first disturbance light shielding structure 27 includes an end portion (first connection portion) 27b that surrounds the edge portion of the opening portion 21a of the exterior portion 21 and is detachably connected to the exterior portion 21 and a camera. And the other end 27 c which is an end closer to the portion 15. Of the first ambient light shielding structure 27, one end 27b is the upper end, and the other end 27c is the lower end. The other end 27 c of the first ambient light shielding structure 27 is separated from the camera unit 15. The first ambient light shielding structure 27 extends from one end portion 27b to the inside of the exterior portion 21 and to the other end portion 27c.

  One end 27b of the first ambient light shielding structure 27 is bent. When one end portion 27b of the first disturbance light shielding structure 27 that is bent is fitted into the concave portion 21b of the exterior portion 21 provided along the edge of the opening portion 21a of the exterior portion 21, 1 of the ambient light shielding structure 27 is fixed to the exterior portion 21.

  The second ambient light shielding structure 17 surrounds the edge of the imaging surface 15a of the camera unit 15, and approaches the opening 21a of the exterior unit 21 from the imaging surface 15a of the camera unit 15 (the imaging surface 15a of the camera unit 15). (Direction away from).

  The second ambient light shielding structure 17 includes a protrusion (second connection portion) 17a disposed on the inner surface, and one end 17b that is an end closer to the opening 21a of the exterior portion 21; The other end 17 c that is an end close to the camera unit 15 and surrounds the periphery of the side surface of the camera unit 15. Of the second ambient light shielding structure 17, one end 17b is the upper end and the other end 17c is the lower end.

  The protrusion 17a is in contact with and connected to the edge of the imaging surface 15a of the camera unit 15. Alternatively, the protrusion 17a may be in contact with and connected to the edge of the light transmissive member 16 disposed on the imaging surface 15a of the camera unit 15. Thus, the 2nd disturbance light shielding structure 17 is connected with the camera part 15 so that attachment or detachment is possible directly or indirectly.

  The second ambient light shielding structure 17 can also be expressed as extending from one end 17b to the protrusion 17a in a direction from the opening 21a of the exterior 21 to the inside of the exterior 21. The second ambient light shielding structure 17 is not in contact with the exterior part 21.

  The vicinity of the other end portion 27 c of the first disturbance light shielding structure 27 is inserted into the second disturbance light shielding structure 17 from the one end portion 17 b side of the second disturbance light shielding structure 17. That is, in the present embodiment, the inner diameter of the second ambient light shielding structure 17 is larger than the inner diameter of the first ambient light shielding structure 27. The vicinity of the other end 27c of the first disturbance light shielding structure 27 is separated from the inner surface of the second disturbance light shielding structure 17, and the second disturbance light shielding structure 17 and the first disturbance light shielding structure 17 are separated. A gap is provided between the terminal 27 and the terminal 27.

  The inner diameter of the first ambient light shielding structure 27 is larger than the inner diameter of the second ambient light shielding structure 17, and the vicinity of one end 17 b of the second ambient light shielding structure 17 is the first ambient light shielding structure 17. The structure inserted in the other edge part 27c vicinity of the disturbance light shielding structure 27 may be sufficient.

(Main advantages of autonomous vehicle system 1)
As described above, the disturbance light shielding structure 7 disposed in the autonomous traveling body 10 constituting the autonomous traveling body system 1 limits the incident angle of light incident on the imaging surface 15 a of the camera unit 15. The ambient light shielding structure 7 surrounds the edge of the opening 21 a of the exterior part 21, and has one end 27 b fixed to the exterior part 21 and a protrusion 17 a fixed to the camera part 15. The ambient light shielding structure 7 surrounds the periphery of the imaging surface 15a of the camera unit 15 and extends toward the inside of the exterior unit 21, and extends from one end 27b toward the projection 17a. ing.

  As described above, the disturbance light shielding structure 7 is not exposed to the outside of the exterior portion 21, and extends from one end portion 27 b fixed to the exterior portion 21 in a direction toward the inside of the exterior portion 21. Therefore, it is not visually recognized from the outside of the exterior part 21. For this reason, it can prevent impairing the external appearance of the autonomous traveling body 10 by providing the disturbance light shielding structure 7. Further, the disturbance light shielding structure 7 surrounds the periphery of the imaging surface 15 a of the camera unit 15, and protrudes from one end 27 b that surrounds the edge of the opening 21 a of the exterior unit 21 and is connected to the camera unit 15. It extends toward 17a. For this reason, the light that has passed through the opening 21 a of the exterior portion 21 enters the imaging surface 15 a of the camera portion 15 along the inner surface of the disturbance light shielding structure 7. For this reason, since it can prevent that the light which passed the opening part 21a of the exterior part 21 is scattered in the exterior part 21, it prevents that the said scattered light injects into the imaging surface 15a of the camera part 15 can do. Thus, according to the disturbance light shielding structure 7, the scattered light is reflected in the photographed image photographed by the camera unit 15 arranged in the autonomous traveling body 10 without deteriorating the appearance of the autonomous traveling body 10 (shooting). Image quality deterioration).

  Specifically, the disturbance light shielding structure 7 includes a first disturbance light shielding structure 27 including one end portion 27b and a second disturbance light shielding structure 17 including a protrusion 17a. One of the first disturbance light shielding structure 27 and the second disturbance light shielding structure 17 is inserted inside the other.

  Here, the autonomous traveling body 10 is manufactured by assembling the exterior portion 21 to the traveling carriage unit 11. Since the camera unit 15 reads the landmark 3 arranged on the ceiling 2, the positional accuracy arranged on the traveling carriage unit 11 needs to some extent. For this reason, before the exterior part 21 is assembled | attached to the traveling cart part 11, it has already been fixed to the traveling cart part 11. FIG. On the other hand, the positional accuracy for assembling the exterior portion 21 to the traveling carriage unit 11 is lower than the positional accuracy for arranging the camera unit 15 to the traveling carriage unit 11 for cost reduction.

  Therefore, the disturbance light shielding structure 7 is composed of two members, a first disturbance light shielding structure 27 connected to the exterior part 21 and a second disturbance light shielding structure 17 connected to the camera part 15. By dividing, the first disturbance light shielding structure 27 and the second disturbance light shielding structure 17 are surely attached to the camera unit 15 even if the positional accuracy of assembling the exterior part 21 to the traveling carriage unit 11 is relatively low. The image capturing surface 15a is surrounded and is directed toward the inside of the exterior portion 21, and can be configured to extend from one end portion 27b toward the protruding portion 17a.

  Further, one of the first disturbance light shielding structure 27 and the second disturbance light shielding structure 17 is inserted into the other and has an overlapping portion, so that the overlapping portion has a light shielding effect. Get higher. Thereby, the effect which prevents the reflection of the scattered light to the picked-up image which the camera part 15 image | photographs becomes high.

  The reason why the light shielding effect is enhanced by having a portion where the first disturbance light shielding structure 27 and the second disturbance light shielding structure 17 overlap as described above is as follows.

  The edges and protrusions of the ambient light shielding structure 7 cause the scattered light in particular. In the disturbance light shielding structure 7 according to the present embodiment, since the first disturbance light shielding structure 27 connected to the opening 21a of the exterior portion 21 is inserted into the second disturbance light shielding structure 17, The light that has passed through the opening 21a of the exterior portion 21 (that is, one end portion 27b of the first disturbance light shielding structure 27) mainly reaches along the inner surface of the first disturbance light shielding structure 27. Only the other end 27 c of the first ambient light shielding structure 27 is provided. To one end 17b of the second ambient light shielding structure 17 disposed outside the first ambient light shielding structure 27, the first ambient light shielding structure 27 and the second ambient light shielding structure 17 are provided. Most of the light does not reach because it must pass through the gap. Therefore, the first disturbance light shielding structure 27 is inserted into the second disturbance light shielding structure 17 and has an overlapping portion, thereby preventing the reflected light from being reflected in the captured image captured by the camera unit 15. Becomes higher.

  Note that one end portion 27 b of the first ambient light shielding structure 27 can be detached from the exterior portion 21. In this way, by allowing the first disturbance light shielding structure 27 to be removable from the exterior portion 21, the exterior portion 21 is assembled to the traveling carriage unit 11 with the first disturbance light shielding structure 27 removed. Thereafter, the autonomous traveling body 10 may be completed by attaching one end portion 27 b of the first disturbance light shielding structure 27 to the exterior portion 21. Thereby, when assembling the large exterior part 21 to the traveling carriage part 11, it is not necessary to align the first disturbance light shielding structure 27 and the second disturbance light shielding structure 17. The disturbance light shielding structure 7 having the first disturbance light shielding structure 27 and the second disturbance light shielding structure 17 can be obtained.

  The first disturbance light shielding structure 27 is inserted into the second disturbance light shielding structure 17. Here, since the opening portion 21 a is provided in the exterior portion 21, foreign matter may be mixed into the exterior portion 21 from the opening portion 21 a. In particular, when a metallic foreign object touches a wiring or the like disposed on the main unit 13, it causes a short circuit. However, in the disturbance light shielding structure 7, since the first disturbance light shielding structure 27 is inserted into the second disturbance light shielding structure 17, the opening 21 a of the exterior portion 21 is provided from the outside of the exterior portion 21. Foreign matter such as dust and dirt mixed in the inside passes through the first disturbance light shielding structure 27 and stays in the second disturbance light shielding structure 17 and in the region above the camera unit 15. Thus, since the foreign matter mixed in the opening 21a of the exterior part 21 can be prevented from dropping into the main unit unit 13, the occurrence of malfunction of the autonomous traveling body 10 can be prevented.

  In addition, the first disturbance light shielding structure 27 including the one end portion 27b fixed to the exterior portion 21 is inserted into the second disturbance light shielding structure 17, so that the first disturbance From one end portion 27b of the light shielding structure 27 to the other end portion 27c that is the end of the portion of the first disturbance light shielding structure 27 that overlaps the second disturbance light shielding structure 17 (that is, the first disturbance light shielding structure 27) No step is generated from the upper end to the lower end of the ambient light shielding structure 27. For this reason, compared with the reverse case (when the second disturbance light shielding structure 17 is inserted into the first disturbance light shielding structure 27), the light that has entered the opening 21a of the exterior part 21 Thus, it is possible to prevent the light reflected by the inner surface of the first disturbance light shielding structure 27 from becoming stray light.

  The reason why this stray light can be prevented is as follows. That is, the edge part and protrusion part which the disturbance light shielding structure 7 has become a cause of scattered light especially. In the disturbance light shielding structure 7 according to the present embodiment, a first disturbance light shielding structure 27 connected to the opening 21 a of the exterior portion 21 is inserted into the second disturbance light shielding structure 17. In other words, one end 17 b of the second ambient light shielding structure 17, which is an overlapping portion of the first ambient light shielding structure 27 and the second ambient light shielding structure 17, is the first ambient light shielding structure 27. It is arranged outside. In this manner, the one end portion 17b of the second ambient light shielding structure 17 is configured to be the first ambient light shield in which the light that has passed through the one end portion 27b of the first ambient light shielding structure 27 travels mainly along. Light that is farther from the inner surface of the structure 27 and reaches one end 17b of the second ambient light shielding structure 17 is reduced. For this reason, generation | occurrence | production of the stray light inside the disturbance light shielding structure 7 can be prevented. Thereby, it is possible to further prevent the camera unit 15 from being reflected in the captured image.

  Further, the first disturbance light shielding structure 27 and the second disturbance light shielding structure 17 are separated from each other. That is, a gap exists between the outer surface of the first ambient light shielding structure 27 and the inner surface of the second ambient light shielding structure 17 in a state where the exterior portion 21 is assembled to the traveling carriage unit 11. Thus, since the positional accuracy for assembling the exterior part 21 to the traveling carriage part 11 can be provided by the gap between the first ambient light shield structure 27 and the second ambient light shield structure 17, the exterior part 21 is Even if the positional accuracy assembled to the traveling carriage unit 11 is relatively low, it is possible to reliably obtain the disturbance light shielding structure 7 having the first disturbance light shielding structure 27 and the second disturbance light shielding structure 17.

  Further, the specific shape of the first disturbance light shielding structure 27 and the second disturbance light shielding structure 17 can be a cylindrical shape constituted by a smooth curved surface. By forming the first disturbance light shielding structure 27 and the second disturbance light shielding structure 17 into a cylindrical shape composed of a smooth curved surface, an angle that causes diffuse reflection (causes scattered light). Are not present inside the first ambient light shielding structure 27 and the second ambient light shielding structure 17. For this reason, light scattering can be suppressed as compared with the case where the corner is present inside. As the cylindrical shape configured with a smooth curved surface, for example, a cylindrical shape, an elliptical cylindrical shape, a truncated cone shape, or the like can be used.

  Further, the first disturbance light shielding structure 27 and the second disturbance light shielding structure 17 are painted black, so that the light that has passed through the opening 21a of the exterior portion 21 is reflected in the first disturbance light shielding structure 27. And it can prevent scattering in the 2nd disturbance light shielding structure 17 more.

  In addition, the autonomous traveling body 10 includes a light transmissive member 16 disposed in contact with the imaging surface 15 a of the camera unit 15 inside the second disturbance light shielding structure 17. Thereby, even if a foreign substance enters the inside of the 1st disturbance light shielding structure 27 and the 2nd disturbance light shielding structure 17 from the opening part 21a of the exterior part 21, it will only fall on the surface of the light transmissive member 16. Therefore, it is possible to prevent the function of the camera unit 15 from being affected.

  In addition, since the imaging surface 15a of the camera unit 15 and the light transmissive member 16 are not separated from each other, the occurrence of reflection or scattering between the imaging surface 15a and the light transmissive member 16 is prevented. Can do.

[Embodiment 2]
The second embodiment of the present invention will be described below with reference to FIGS. 4 and 5. For convenience of explanation, members having the same functions as those described in the first embodiment are given the same reference numerals, and descriptions thereof are omitted.

  FIG. 4 is a cross-sectional view illustrating a configuration in the vicinity of the camera unit 18 of the autonomous traveling body 10A according to the second embodiment of the present invention. FIG. 5 is a cross-sectional view illustrating a configuration in the vicinity of the camera unit 18 of the autonomous traveling body 110A according to the reference example. The autonomous traveling body system 1 illustrated in FIG. 2 may include the autonomous traveling body 10A illustrated in FIG. The autonomous traveling body 10A includes a camera unit (imaging unit) 18 instead of the camera unit 15 that the autonomous traveling body 10 has. Other configurations of the autonomous traveling body 10A are the same as those of the autonomous traveling body 10.

  The camera unit 18 includes an infrared projector 19 that emits infrared light. A light transmissive member 16 made of acrylic or the like is disposed in contact with the imaging surface 18 a of the camera unit 18.

  Here, as in the autonomous traveling body 110A shown in FIG. 5, the light transmissive member 116A is not arranged in contact with the imaging surface 18a of the camera unit 18, but covers the opening 21a of the exterior unit 21, and the camera When arranged away from the imaging surface 18a of the unit 18, the infrared light emitted from the infrared projector 19 of the camera unit 18 is reflected by the light transmissive member 116A, and as shown by the arrow B, the light transmissive member 116A and the camera unit 18 are reflected. A phenomenon occurs in which the light is scattered with the image capturing surface 18a and reflected in the captured image captured by the camera unit 18.

  On the other hand, as shown in FIG. 4, in the autonomous traveling body 10 </ b> A according to the present embodiment, even if the camera unit 18 includes the infrared projector 19, the light transmissive member 16 is connected to the imaging surface 18 a of the camera unit 18. Since they are arranged in contact with each other, it is possible to prevent the reflection of the captured image of the camera unit 18 due to the infrared light emitted from the infrared projector 19.

[Embodiment 3]
The third embodiment of the present invention will be described below with reference to FIG. For convenience of explanation, members having the same functions as those described in the first and second embodiments are denoted by the same reference numerals and description thereof is omitted.

  FIG. 6 is a cross-sectional view illustrating a configuration in the vicinity of the disturbance light shielding structure 7B of the autonomous traveling body 10B according to the third embodiment of the present invention. The autonomous traveling body system 1 shown in FIG. 2 may have an autonomous traveling body (autonomous traveling body) 10B shown in FIG. The autonomous traveling body 10B includes a disturbance light shielding structure (shading device) 7B instead of the disturbance light shielding structure 7 which the autonomous traveling body 10 has. Other configurations of the autonomous traveling body 10B are the same as those of the autonomous traveling body 10.

  The disturbance light shielding structure 7B has a fine concavo-convex structure (concave / convex shape) 28 in addition to the first disturbance light shielding structure 27 and the second disturbance light shielding structure 17. The configuration and arrangement of the first disturbance light shielding structure 27 and the second disturbance light shielding structure 17 are the same as those in the first and second embodiments.

  The fine concavo-convex structure 28 is provided on the inner surface 27 a of the first ambient light shielding structure 27. As an example, the fine concavo-convex structure 28 can be formed on the inner surface of the first disturbance light shielding structure 27 by surface treatment such as blast treatment. By providing the fine concavo-convex structure 28 on the inner surface 27a of the first ambient light shielding structure 27, the incident light from the opening 21a of the exterior part 21 is diffused by the fine concavo-convex structure 28, and thus the camera unit 15 takes an image. The reflection in the image can be prevented more effectively.

  The fine concavo-convex structure 28 may be provided not only on the inner surface 27 a of the first ambient light shielding structure 27 but also on the inner surface of the second ambient light shielding structure 17. You may provide only in the inner surface of the 2nd disturbance light shielding structure 17 instead of providing in the inner surface 27a. What is necessary is just to be provided in at least one of the inner surface 27a of the 1st disturbance light shielding structure 27, and the inner surface of the 2nd disturbance light shielding structure 17. FIG.

[Embodiment 4]
The following description will discuss Embodiment 4 of the present invention with reference to FIGS. 7 and 8. For convenience of explanation, members having the same functions as those described in the first to third embodiments are denoted by the same reference numerals and description thereof is omitted.

  FIG. 7 is a diagram illustrating a configuration of an autonomous traveling body 10C according to the fourth embodiment of the present invention. The autonomous traveling body system 1 illustrated in FIG. 2 may include the autonomous traveling body 10C illustrated in FIG. The autonomous traveling body 10C includes a traveling carriage part 11C and an exterior part 21C instead of the traveling carriage part 11 and the exterior part 21 that the autonomous traveling body 10 has. Other configurations of the autonomous traveling body 10C are the same as those of the autonomous traveling body 10.

  The autonomous traveling body 10C is an automatic guided vehicle that transports materials, parts, products, and the like mainly in a factory. In the autonomous traveling body 10 </ b> C, the camera unit 15 is disposed in the traveling carriage unit 11.

  The exterior portion 21C is a so-called cabinet. The exterior portion 21C is hollow inside, and the lower end is opened to such an extent that the traveling cart portion 11C can be inserted. On the upper surface of the exterior portion 21C, there is an opening 21Ca having an area corresponding to the angle of view of the camera portion 15 so that the exterior portion 21C overlaps the imaging surface 15a of the camera portion 15 when the exterior portion 21C is assembled to the traveling carriage portion 11C. Is provided. The light reflected from the subject enters the imaging surface 15a of the camera unit 15 from the exterior of the exterior unit 21C through the opening 21Ca of the exterior unit 21C. Thereby, the camera unit 15 photographs the subject.

  The first disturbance light shielding structure 27 extends from the opening 21Ca of the exterior portion 21C in the exterior portion 21C in a direction approaching the photographing surface 15a of the camera portion 15, and the lower end portion is a second disturbance light shielding structure. 17 is inserted.

  FIG. 8 is a diagram illustrating a state in which the exterior portion 21C is assembled to the traveling cart portion 11C. As shown in FIG. 8, the exterior part 21C is relatively moved in the direction indicated by the arrow C, so that the camera part 15 and the traveling carriage part 11C are inserted from the open lower end part. Thus, the exterior part 21C covers the camera part 15 and the traveling carriage part 11C and is assembled to the traveling carriage part 11C.

  When the exterior part 21C is assembled to the traveling carriage part 11C, the second disturbance light shielding structure 17 arranged on the imaging surface 15a of the camera part 15 constituting the disturbance light shielding structure 7 is provided on the upper surface of the exterior part 21C. Positioning is performed such that the arranged first disturbance light shielding structure 27 is inserted, and the exterior portion 21C is assembled to the traveling carriage portion 11C.

  As described above, since the autonomous traveling body 10C has the disturbance light shielding structure 7, the captured image captured by the camera unit 15 disposed on the autonomous traveling body 10C is taken without impairing the appearance of the autonomous traveling body 10C. Reflection can be prevented.

[Summary]
The shading device (disturbance light shielding structures 7 and 7B) according to the aspect 1 of the present invention has openings 21a and 21Ca in regions overlapping with the photographing unit (camera unit 15) and the photographing surface 15a of the photographing unit (camera unit 15). And a light shield (disturbance light) that is disposed on the autonomous traveling bodies 10 and 10A to 10C that include exterior portions 21 and 21C that cover the imaging unit (camera unit 15) and restricts light incident on the imaging surface 15a. 1st connection part (one edge part 27b) which is shielding structure 7 * 7B, Comprising: The edge part of opening part 21a * 21Ca of said exterior part 21 * 21C is fixed to the said exterior part 21 * 21C ) And the second connection part (projection part 17a) fixed to the photographing part (camera part 15), and surrounds the periphery of the photographing surface 15a and the first connecting part (one side) End portion 27b) of the exterior portions 21 and 21C A direction toward characterized in that it extends toward the second connection section (protrusion 17a).

  Thus, since the light shield is not exposed to the outside of the exterior part and extends in the direction toward the inside of the exterior part from the first connection part fixed to the exterior part, It is not visible from the outside. For this reason, it can prevent impairing the beauty | look of the external appearance of the autonomous running body by providing a light-shielding device. Furthermore, the light shield extends from the first connecting portion that surrounds the photographing surface of the photographing unit and surrounds the edge of the opening of the exterior portion toward the second connecting portion that is fixed to the photographing unit. ing. For this reason, the light that has passed through the opening of the exterior part enters the imaging surface of the imaging unit along the inner surface of the light shield. For this reason, since it can prevent that the light which passed the opening part of the exterior part is scattered in an exterior part, it can prevent that the said scattered light injects into the imaging surface of an imaging | photography part. Thus, according to the shader, the reflected light is reflected in the captured image taken by the imaging unit arranged on the autonomous traveling body without deteriorating the appearance of the autonomous traveling body (deterioration of the quality of the captured image). Can be prevented.

  The light shield (disturbance light shielding structures 7 and 7B) according to aspect 2 of the present invention is the first light-shielding part (first disturbance) including the first connection part (one end part 27b) in aspect 1 described above. A light shielding structure 27) and a second light shielding part (second disturbance light shielding structure 17) including the second connection part (projection part 17a), and the first light shielding part (first light shielding part 17). It is preferable that one of the disturbance light shielding structure 27) and the second light shielding portion (second disturbance light shielding structure 17) is inserted inside the other.

  Here, the autonomous traveling body is manufactured by assembling the exterior part to the traveling carriage part in which the photographing part is arranged. Since the photographing unit reads the mark arranged on the ceiling of the building, the positional accuracy arranged in the traveling carriage unit needs to some extent. For this reason, before an exterior part is assembled | attached to a traveling trolley part, it is already fixed to the traveling trolley part. On the other hand, for cost reduction, the positional accuracy for assembling the exterior part to the traveling carriage unit is lower than the positional accuracy for arranging the imaging unit to the traveling carriage unit.

  Therefore, the light shielding unit is configured by two members, that is, a first light shielding part fixed to the exterior part and a second light shielding part fixed to the photographing part. Even if the positional accuracy for assembling the trolley to the traveling carriage is relatively low, the first light-shielding part and the second light-shielding part are surely surrounded by the photographing surface of the photographing part and directed toward the inside of the exterior part. And it can be set as the structure extended | stretched toward a 2nd connection part from a 1st connection part.

  The shader (disturbance light shielding structures 7 and 7B) according to aspect 3 of the present invention is the above-described aspect 2, wherein the first light shielding part (first disturbance light shielding structure 27) is the second light shielding part ( It is preferable to be inserted into the second disturbance light shielding structure 17). According to the above configuration, since the first light-shielding portion and the second light-shielding portion have the overlapping portion, the light-shielding effect is enhanced in the overlapping portion. For this reason, the effect which prevents the reflection of the scattered light to the picked-up image which a imaging | photography part image | photographs more becomes high.

  In addition, as described above, the reason why the light shielding effect is enhanced by having the portion where the first light shielding portion and the second light shielding portion overlap is as follows.

  The edge part and protrusion part which a light-shielding device has become a cause of scattered light especially. Since the 1st light-shielding part connected with the opening part of the exterior part is inserted in the inside of the 2nd light-shielding part, the light-shielding device which concerns on this aspect 3 WHEREIN: That is, the opening part (namely, 1st The light that has passed through one end of the light shielding portion mainly reaches the inner surface of the first light shielding portion only at the other end of the first light shielding portion. Most light is required to pass through the gap between the first light-shielding part and the second light-shielding part to one end of the second light-shielding part arranged outside the first light-shielding part. Does not reach. For this reason, the first light-shielding part is inserted into the second light-shielding part and has an overlapping portion, so that the effect of preventing the reflected light from being reflected in the captured image captured by the photographing part is enhanced.

  Here, since the exterior portion is provided with the opening, foreign matter may be mixed into the exterior portion from the opening. In particular, when a metallic foreign object touches a wiring or the like arranged on the traveling carriage unit, it causes a short circuit.

  However, in the light shield, since the first light shielding portion is inserted inside the second light shielding portion, foreign matters such as dust and dust mixed in the opening portion of the exterior portion from the outside of the exterior portion are It passes through the first light-shielding part and remains in the second light-shielding part and in the region above the photographing part. Thus, since the foreign matter mixed in the opening of the exterior part can be prevented from falling onto the traveling carriage part, it is possible to prevent malfunction of the autonomous traveling body.

  In addition, the first light-shielding part including the first connection part fixed to the exterior part is inserted into the second light-shielding part, so that the first light-shielding part first No step is generated from the connection portion to the other end portion of the first light shielding portion which is the end of the portion overlapping the second light shielding portion (that is, from the upper end portion to the lower end portion of the first light shielding portion). . For this reason, compared with the reverse case (when the second light-shielding part is inserted into the first light-shielding part), the light has entered the opening of the exterior part, and the light of the first light-shielding part It is possible to prevent the light reflected from the inner surface from becoming stray light.

  The reason why this stray light can be prevented is as follows. That is, the edge part and protrusion part which a light shield has become a cause of scattered light especially. In the light shielding device according to the third aspect, the first light shielding portion connected to the opening of the exterior portion is inserted into the second light shielding portion. In other words, one end portion of the second light shielding portion, which is an overlapping portion of the first light shielding portion and the second light shielding portion, is disposed outside the first light shielding portion. Thus, one end of the second light-shielding portion is farther from the inner surface of the first light-shielding portion where light that has passed through one end of the first light-shielding portion travels mainly along the second light-shielding portion. The light reaching one end of the light shielding portion is reduced. For this reason, generation | occurrence | production of the stray light inside a light-shielding device can be prevented. Thereby, it is possible to further prevent reflection in the captured image of the imaging unit.

  The light shield (disturbance light shielding structures 7 and 7B) according to aspect 4 of the present invention is the same as that of aspect 3, except that the first light shielding part (first disturbance light shielding structure 27) and the second light shielding part ( The second disturbance light shielding structure 17) is preferably separated from the second disturbance light shielding structure 17). According to the above configuration, since the positional accuracy for assembling the exterior part to the traveling carriage part can be provided by the gap between the first shader and the second shader, the positional accuracy for assembling the exterior part to the traveling carriage part is high. Even if it is relatively low, it is possible to reliably obtain a light shield having the first light shield and the second light shield.

  The light shield (disturbance light shielding structures 7 and 7B) according to aspect 5 of the present invention includes the first light shielding part (first disturbance light shielding structure 27) and the second light shielding part according to aspects 2 to 4. (Second disturbance light shielding structure 17) is preferably cylindrical. Thereby, the said 1st light-shielding part and the said 2nd light-shielding part can be obtained as one form. Thus, by making the first light-shielding part and the second light-shielding part into a cylindrical shape configured with a smooth curved surface, the corner part that causes irregular reflection (causes scattered light thereby), It does not exist inside the first light shielding part and the second light shielding part. For this reason, light scattering can be suppressed as compared with the case where the corner is present inside.

  The light shield (disturbance light shielding structures 7 and 7B) according to aspect 6 of the present invention includes the first light shielding part (first disturbance light shielding structure 27) and the second light shielding part according to aspects 2 to 5. The (second ambient light shielding structure 17) is preferably black. Thereby, scattering in the first light-shielding part and the second light-shielding part can be further prevented.

  The light shield (disturbance light shielding structure 7B) according to aspect 7 of the present invention is the light shielding unit (first disturbance light shielding structure 27) and the second light shielding part (first light shielding part 27) in the above aspects 2 to 6. It is preferable that at least one inner surface of the disturbance light shielding structure 17) 2 has an uneven shape (fine uneven structure 28). According to the above configuration, reflection of light on the photographed image taken by the photographing unit can be more effectively prevented by diffusing light by the uneven shape.

  The autonomous traveling bodies 10 and 10A to 10C according to the aspect 8 of the present invention are the above-described light shields (disturbance light shielding structures 7 and 7B), the imaging unit (camera part 15), and the exterior according to the aspects 2 to 6. It is preferable to have the parts 21 and 21C. With the above configuration, it is possible to prevent reflection in a captured image captured by the imaging unit without deteriorating the appearance of the appearance.

  The autonomously traveling bodies 10 and 10A to 10C according to the ninth aspect of the present invention are the light transmissive members that are arranged inside the light shield (disturbance light shielding structures 7 and 7B) in the eighth aspect and cover the imaging surface 15a. 16 is preferable. According to the above configuration, even if a foreign substance enters the light shield from the opening of the exterior part, it only falls on the surface of the light transmissive member, so that the function of the photographing unit can be prevented from being affected. it can.

  In the autonomous traveling body 10A according to aspect 10 of the present invention, in the aspect 9, the imaging unit (camera unit 15) includes an infrared projector 19, and the light transmissive member 16 contacts the imaging surface 15a. It is preferable. According to the above configuration, since the light-transmitting member is arranged in contact with the imaging surface of the imaging unit, reflection occurs in the captured image of the imaging unit due to the infrared light emitted from the infrared projector. Can be prevented.

  The autonomous traveling body system 1 according to the aspect 11 of the present invention includes the autonomous traveling bodies 10 and 10A to 10C and the markers (landmarks 3) arranged in a building in the above aspects 8 to 10, Autonomous traveling bodies 10 and 10A to 10C further recognize an image of the marker (landmark 3) included in an image captured by the imaging unit (camera unit 15) (main body unit unit 13 and 13C). It is preferable to have. According to the above configuration, it is possible to prevent reflection in the captured image taken by the imaging unit arranged in the autonomous traveling body without impairing the appearance of the autonomous traveling body.

  The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope shown in the claims, and embodiments obtained by appropriately combining technical means disclosed in different embodiments. Is also included in the technical scope of the present invention. Furthermore, a new technical feature can be formed by combining the technical means disclosed in each embodiment.

  INDUSTRIAL APPLICABILITY The present invention can be used for a shader, an autonomous traveling body, and an autonomous traveling body system provided in an autonomous traveling body having an imaging unit that captures an image from an opening provided in an exterior portion.

1 Autonomous Vehicle System 2 Ceiling 3 Landmark (Marker)
7.7B Light blocking structure (shading device)
10.10A to 10C Autonomous traveling body 11.11C Traveling carriage unit 12. Drive mechanism 13.13C. Main unit unit (image recognition unit).
14 Sensor unit 15/18 Camera unit (shooting unit)
15a / 18a Imaging surface 16 Light transmitting member 17 Second disturbance light shielding structure (second light shielding portion)
17a Protruding part (second connecting part)
19 Infrared projector 21 / 21C Exterior part 21a / 21Ca Opening part 27 First disturbance light shielding structure (first light shielding part)
27b One end (first connecting portion)
28 Micro uneven structure (uneven shape)

Claims (11)

A light-shielding device that restricts light incident on the imaging surface, which is arranged in an autonomous traveling body that includes an imaging unit and an exterior part that is provided with an opening in a region overlapping the imaging surface of the imaging unit and covers the imaging unit. There,
A first connecting portion that surrounds an edge of the opening of the exterior portion and is connected to the exterior portion;
A second connecting portion fixed to the photographing portion;
A light shield that surrounds the periphery of the imaging surface and extends from the first connection portion toward the inside of the exterior portion and toward the second connection portion.   The first light-shielding part including the first connection part and the second light-shielding part including the second connection part. The first light-shielding part and the second light-shielding part are: The light-shielding device according to claim 1, wherein one is inserted into the other.   The light-shielding device according to claim 2, wherein the first light-shielding portion is inserted into the second light-shielding portion.   The light-shielding device according to claim 2 or 3, wherein the first light-shielding portion and the second light-shielding portion are separated from each other.   The light-shielding device according to any one of claims 2 to 4, wherein the first light-shielding portion and the second light-shielding portion are cylindrical.   The light shielding device according to any one of claims 2 to 5, wherein the first light shielding portion and the second light shielding portion are black.   The light shielding device according to claim 2, wherein at least one inner surface of the first light shielding portion and the second light shielding portion has an uneven shape. The light shield according to any one of claims 1 to 7,
An autonomous traveling body comprising the photographing section and the exterior section.   The autonomous traveling body according to claim 8, further comprising a light transmissive member that is disposed inside the shader and covers the imaging surface. The imaging unit has an infrared projector,
The autonomous traveling body according to claim 9, wherein the light transmissive member is in contact with the imaging surface. The autonomous traveling body according to any one of claims 8 to 10,
With markers placed in the building,
The autonomous traveling body system further includes an image recognition unit that recognizes an image of the marker included in an image captured by the imaging unit.

Images