JP2021096566A - Traveling position verification system, traveling position measurement system, and traveling position correction system - Google Patents

Abstract

To provide a traveling position verification system, a traveling position measurement system, and a traveling position correction system capable of verifying position accuracy about a traveling position of a mobile body, objectively measuring the traveling position, and correcting a traveling position whose position accuracy must be improved.SOLUTION: A traveling position verification system comprises: a plurality of pole members PO which define a two-dimensional detection region indicating a detection range of a mobile body 110; an imaging unit 10 which images the detection region; a marker MK which is attached to the mobile body 110 and moves in the detection region; a measurement unit which measures a traveling position of the mobile body 110 from a position of the marker MK on two-dimensional image data acquired by the imaging unit 10; and a verification unit which verifies the traveling position of the mobile body 110 on the basis of measurement results in the measurement unit.SELECTED DRAWING: Figure 1

Description

The present invention relates to a traveling position verification system, a traveling position measurement system, and a traveling position correction system that verify the traveling position of a moving body.

As a technique for detecting the traveling position of a moving body, an autonomous traveling body that estimates its own position is known (see Patent Document 1).

However, with respect to the estimation of the self-position by the autonomous traveling body as illustrated in Patent Document 1, it has been so far to objectively measure how accurate the estimated position and the actually traveling position are. It wasn't considered very much.

Japanese Unexamined Patent Publication No. 2019-12118

The present invention has been made in view of the above points, and the position accuracy of the traveling position of the moving body is verified, the traveling position is objectively measured, and the traveling position is corrected in order to improve the position accuracy. It is an object of the present invention to provide a traveling position verification system, a traveling position measurement system, and a traveling position correction system.

The traveling position verification system for achieving the above object is attached to a moving body, a plurality of pole members for defining a two-dimensional detection area indicating a range for detecting the moving body, an imaging unit for imaging the detection area, and the moving body. A marker that moves in the detection area, a measurement unit that measures the traveling position of the moving object from the position of the marker on the two-dimensional image data acquired by the imaging unit, and a traveling position of the moving object based on the measurement result of the measuring unit. It has a verification unit for verification.

In the above-mentioned traveling position verification system, a marker attached to a moving body moves in a two-dimensional detection area defined by a plurality of pole members, and the marker is imaged by an imaging unit on the two-dimensional image data acquired. By measuring the traveling position of the moving body from the position of the marker in the above, the traveling position of the moving body can be reliably measured by two-dimensional and simple image processing. Then, by verifying using the traveling position of the moving body based on the measurement result, for example, the accuracy of the position estimation of the moving body having the function of estimating the self-position can be determined from the objective standard.

In a specific aspect of the present invention, the detection region is a horizontal virtual plane region formed by the detection portions of a plurality of pole members, and the height of the detection portion and the height of the marker attached to the center of the rotation axis of the moving body. Are the same. In this case, the marker can be moved on the horizontal virtual plane region formed by the detection unit of each pole member, and at this time, the detection unit of each pole member is within the imaging range of the imaging unit. By capturing, a two-dimensional detection area can be easily and surely determined based on the detection unit.

In another aspect of the present invention, the moving body estimates its own position while moving, and the verification unit verifies the accuracy of the self-position estimation in the moving body based on the comparison with the measurement result of the measuring unit. In this case, with respect to the estimation of the self-position by the moving body, the estimation accuracy can be verified based on the measurement result of the measuring unit.

In yet another aspect of the present invention, the measuring unit performs a conversion process from a virtual plane on the two-dimensional image data to a coordinate plane indicating the position in the real space, and the pixel position corresponding to the marker on the two-dimensional image data. Is associated with one place on the two-dimensional plane as the detection area, and the traveling position of the moving body is determined. In this case, the actual traveling position of the moving body can be specified from the conversion process of the two-dimensional image data.

In yet another aspect of the invention, the moving body includes rotational movement as a method of movement, and markers are provided at at least two locations, a position at the center of rotation and a position outside the center of rotation of the moving body, for measurement. The unit measures the rotation angle of the moving body from the position of the marker. In this case, the rotational movement of the moving body can be accurately captured by the markers provided at at least two places.

The traveling position measurement system for achieving the above object includes an imaging unit that images a two-dimensional detection area indicating a range for detecting a moving object, a marker that is attached to the moving object and moves in the detection area, and an imaging unit. It is provided with a measuring unit that measures the traveling position of the moving body from the position of the marker on the two-dimensional image data acquired by.

In the above-mentioned traveling position measurement system, in a two-dimensional detection area indicating a range for detecting a moving body, a marker attached to the moving body moves, and the marker is imaged by an imaging unit on the two-dimensional image data acquired. By measuring the traveling position of the moving body from the position of the marker in the above, the traveling position of the moving body can be reliably measured by two-dimensional and simple image processing.

In a specific aspect of the present invention, the traveling position measurement system includes a communication unit that outputs a measurement result of the measurement unit to a moving body. In this case, the measurement result of the measurement unit can be used on the moving body side via the communication unit.

In another aspect of the present invention, the mobile body detects its own position from the measurement result of the measurement unit received from the communication unit. In this case, in the moving body, self-position detection using the measurement result of the measuring unit becomes possible.

In yet another aspect of the present invention, the moving body estimates its own position while moving, and modifies the self-position estimation based on the measurement result of the measurement unit received from the communication unit. In this case, in a moving body that estimates its own position, it is possible to improve the accuracy of the position estimation by modifying the self-position estimation using the measurement result of the measuring unit.

The traveling position correction system for achieving the above object is attached to a plurality of pole members that define a two-dimensional detection area indicating a range for detecting a moving body, an imaging unit that images the detection area, and the moving body. A marker that moves in the detection area, a measurement unit that measures the traveling position of the moving object from the position of the marker on the two-dimensional image data acquired by the imaging unit, and a traveling position of the moving object based on the measurement result of the measuring unit. It includes a verification unit for verification and a calibration unit for correcting self-position estimation in a moving body according to the verification result in the verification unit.

In the above-mentioned traveling position correction system, a marker attached to a moving body moves in a two-dimensional detection area defined by a plurality of pole members, and the marker is imaged by an imaging unit on the two-dimensional image data acquired. By measuring the traveling position of the moving body from the position of the marker in the above, the traveling position of the moving body can be reliably measured by two-dimensional and simple image processing. Then, by verifying using the traveling position of the moving body based on the measurement result, for example, the accuracy of the position estimation of the moving body having the function of estimating the self-position can be determined from the objective standard. Further, from the verification result, for example, if there is a problem in the accuracy of the position estimation, it is possible to correct the self-position estimation in the moving body, that is, to calibrate the position estimation, if necessary.

It is a conceptual perspective view which shows one configuration example of the traveling position verification system which concerns on 1st Embodiment. It is a block diagram for demonstrating one configuration example about the running position verification system and the internal structure of a moving body. (A) to (D) are conceptual diagrams showing an example of the state of the preparatory stage for verification by the traveling position verification system. (A) to (C) are conceptual diagrams for explaining an example of an imaging mode and image processing in a traveling position verification system. (A) and (B) are conceptual perspective views showing an example of a state during the preparatory work for performing verification and a state during the verification operation after the preparation is completed. It is a conceptual diagram for demonstrating an example about various processes for measuring a traveling position at the time of a verification operation. (A) is a conceptual plan view showing an example of how the position change of the marker is captured with running, and (B) is an image diagram conceptually showing the trajectory of the moving body in the case of (A). Is. (A) is a conceptual perspective view for explaining an example of a marker of one modified example, and (B) is a plan view. It is a block diagram for demonstrating one configuration example of the traveling position correction system which concerns on 2nd Embodiment. It is a conceptual perspective view which shows one configuration example of the traveling position measurement system which concerns on 3rd Embodiment. It is a block diagram for demonstrating one configuration example about the internal structure of a traveling position measurement system and a moving body. It is a block diagram for demonstrating one configuration example about the running position measurement system of one modification and the internal structure of a moving body.

[First Embodiment]
Hereinafter, an example of the traveling position verification system according to the first embodiment will be described with reference to FIG. 1 and the like.

The traveling position verification system 100 according to the present embodiment captures the traveling state of the autonomous traveling type moving body 110 to be verified or evaluated, measures the progress of the traveling position, and verifies the accuracy of the autonomous traveling. Alternatively, it is a system for evaluation. In particular, in one example here, the moving body 110 is an autonomous mobile robot equipped with a system called SLAM (Simultaneously Localization and Mapping) that can simultaneously perform self-position estimation and map creation, and the traveling position verification system 100 is a running position verification system 100 in advance. The accuracy of self-position estimation in the moving body 110 is objectively verified by measuring the moving body 110 from the outside with respect to the running progress within the determined traveling range.

In order to perform the above verification, the traveling position verification system 100 includes a plurality of pole member POs, a marker MK, an imaging unit 10, and an information processing device 50.

The plurality (4) pole members PO have the same shape, and each has a detection unit DT at the tip (upper end) of the rod-shaped support column portion. In the illustrated example, the traveling area RA1 is defined as a predetermined range as the area in which the moving body 110 travels. More specifically, the traveling region RA1 is a predetermined rectangular horizontal plane region, and is partitioned by installing four pole member POs at the four corners of the traveling region RA1. Correspondingly, the two-dimensional rectangular region with the positions of the four detection units DT as vertices is a horizontal virtual plane region. Hereinafter, the virtual plane area corresponding to this traveling area RA1 is referred to as VS1. Each detection unit DT is composed of, for example, a retroreflective member or a self-luminous member.

Like the detection unit DT, the marker MK is composed of, for example, a retroreflective member or a self-luminous member, and is attached to the moving body 110. The marker MK moves in the virtual plane region VS1. In the traveling position verification system 100 of the present embodiment, the traveling progress of the moving body 110 moving in the traveling region RA1 is detected by capturing the movement of the marker MK in the virtual plane region VS1. That is, the movement (movement) in the plane virtual plane region VS1 can be equated with the plane movement (movement) of the traveling region RA1. From a different point of view, the traveling region RA1 on the lower side is shifted to the virtual plane region VS1 corresponding to this and located on the upper side. By doing so, for example, it is possible to avoid or suppress that a part of the moving body 110 becomes a shadow when performing position detection.

The image pickup unit 10 is an image pickup camera composed of an individual image sensor such as a CCD or CMOS, and images the virtual plane region VS1 defined by the detection unit DT of the pole member PO, and captures the inside of the virtual plane region VS1. The moving marker MK is imaged. In other words, the plurality of pole member POs define a two-dimensional detection region indicating a range in which the moving body 110 is detected via the marker MK, and the image pickup unit 10 defines the detection region in the detection region. Two-dimensional image data for grasping the position of the moving body 110 is acquired. In order to perform the above-mentioned imaging, the imaging unit 10 is installed on the upper side so as to overlook the virtual plane region VS1.

The information processing device 50 is composed of, for example, a notebook personal computer or the like, and is connected to the image pickup unit 10 to perform various information processing in addition to image processing related to image data acquired by the image pickup unit 10. In the present embodiment, the information processing device 50 functions as a measurement unit that measures the traveling position of the moving body 110 from the position of the marker MK, and also functions as a verification unit that verifies the traveling position of the moving body 110 based on the measurement result. To do. A more specific internal configuration of the information processing device 50 will be described later as an example. The information processing device 50 can be configured by various devices such as a tablet-type personal computer, a PDA terminal, and a smartphone, in addition to the illustrated notebook-type personal computer.

Hereinafter, with reference to the block diagram of FIG. 2, one configuration example will be described with respect to the internal structure of the information processing device 50 and the internal structure of the moving body 110 among the traveling position verification system 100.

First, a configuration example of the information processing apparatus 50 will be described in detail. As shown in the figure and as described above, in the traveling position verification system 100, the information processing device 50 is connected to the image pickup unit 10 and performs various processes on the image data acquired by the image pickup unit 10 to move. The traveling position of the body 110 can be detected. Therefore, the information processing device 50 includes a main control unit 51, an image processing unit 52, and a storage unit 53.

The main control unit 51 is composed of, for example, a CPU or the like, reads various programs and data stored in the storage unit 53, performs arithmetic processing, and outputs various command signals to operate each unit constituting the information processing device 50. Output.

The image processing unit 52 is composed of, for example, a GPU or the like, and is a device specialized in processing related to an image among various processes in the information processing device 50. The image processing unit 52 performs various image processing related to the image data acquired by the image capturing unit 10 in accordance with a command from the main control unit 51.

The storage unit 53 is composed of a storage device or the like, and stores various programs and data. In particular, in the present embodiment, in order to enable various image processing for detecting the traveling position as described above, for example, the detection unit DT of the pole member PO in the image is detected, or the position of the detected detection unit DT is detected. Various programs for extracting the virtual plane area VS1 from, detecting the position of the marker MK in the virtual plane area VS1, and associating each extracted point with the actual position in space, a threshold value, etc. Numerical data of is stored.

In the above, the main control unit 51 functions as a measurement unit 51a and a verification unit 51b by utilizing various programs and data stored in the storage unit 53 and image processing by the image processing unit 52. For example, the main control unit 51 as the measurement unit 51a causes the image processing unit 52 to perform image processing, so that the traveling position of the moving body 110 from the position of the marker MK on the two-dimensional image data acquired by the imaging unit 10 To measure. Further, the main control unit 51 as the verification unit 51b verifies or evaluates the traveling position of the moving body 110 based on the measurement result of the measurement unit 51a and the comparison with various data stored in the storage unit 53. ..

In addition to the above, the information processing device 50 includes an input device 54 and a display device (output device) 55. The input device 54 accepts an operation by the user. That is, the user can output various operation commands via the input device 54 in order to perform verification or evaluation by the traveling position verification system 100. The display device 55 performs various display operations so that the user can visually recognize the result of verification or evaluation. The input device 54 can be composed of various devices such as a keyboard, a mouse, and a touch panel sensor. Further, as the display device 55 which is an output device, various devices such as a liquid crystal panel and an organic EL panel can be adopted.

Next, a configuration example of the mobile body 110 to be inspected will be described in detail. As shown in the figure, the moving body 110 includes a main control unit MP, a storage unit ME, a sensor SE, a driving device DD, and a driving wheel WD so as to enable the self-position to be estimated while moving. Be prepared.

The main control unit MP is composed of, for example, a CPU or the like, is connected to each unit constituting the mobile body 110, exchanges various information, and performs integrated control regarding the operation of the mobile body 110.

The storage unit ME is composed of a storage device or the like, and stores various programs and data. In particular, in the present embodiment, programs and data for simultaneously performing self-position estimation and map creation based on the results of sensing by the sensor SE composed of various sensors are stored.

The sensor SE is composed of various sensors that can grasp the surrounding environment for self-position estimation of, for example, a distance measuring sensor that measures a distance by a laser range scanner such as a rider.

As described above, in particular, in the present embodiment, in the moving body 110, the main control unit MP functions as a self-position estimation unit PE that estimates the self-position from the information acquired by the sensor SE composed of various sensors. ..

In addition, among the moving bodies 110, the driving device DD is composed of a driving circuit or the like, and the driving wheels WD are rotated according to instructions from the main control unit MP to move (running) the moving body 110 in various directions. To enable.

Hereinafter, with reference to FIG. 3 and the like, a preparatory step for verifying the moving body 110 by the traveling position verification system 100 or performing performance evaluation (accuracy evaluation of position estimation) in the moving body 110 and the like will be described.

First, as a premise, the moving body 110 to be inspected in the present embodiment has a cylindrical appearance, for example, as shown in FIG. 3A, and here, by operating the drive wheel WD, the moving body 110 has a cylindrical appearance. As a mode of movement, it is possible to go straight and backward indicated by the bidirectional arrow A1 and to rotate around the rotation axis AX indicated by the bidirectional arrow A2. It runs freely on RA1. In the illustrated example, it is assumed that the rotation axis AX coincides with the rotation center axis in the cylindrical shape.

In the above, in the present embodiment, first, as shown in FIG. 3B, among the cylindrical moving bodies 110, the marker MK is placed on the axis of the rotating axis AX of the moving body 110 at the disk-shaped top TO. Is attached from above. In this case, the position displacement of the marker MK does not occur while the moving body 110 rotates in the direction indicated by the arrow A2.

Next, as shown in FIG. 3C, the height is adjusted so that the detection units DT of the plurality of pole member POs come at the same height H1 as the marker MK. That is, the height of the detection unit DT and the height of the marker MK attached to the center of the rotation axis of the moving body 110 are set to be the same.

After the height adjustment, as shown in FIG. 3D, four pole member POs are installed at the four corners of the traveling region RA1. From the above, the range to be imaged is defined.

Next, the preparatory processing in the imaging unit 10 and the information processing device 50 will be described with reference to FIG. 4 (A) to 4 (C) are conceptual diagrams for explaining an example of an imaging mode and image processing in the traveling position verification system 100.

First, as shown in FIG. 4A, imaging is performed so that all of the detection unit DTs of the four pole member POs installed in the state described in FIG. 3C are within the imaging range from the upper side. The unit 10 is installed at a position that gives a bird's-eye view of this. That is, the installation location of the imaging unit 10 is set so that the entire virtual plane region VS1 is imaged without being cut off in the image. Here, as shown in the figure, with respect to the actual space, the UV coordinates are defined as U in the lateral direction and V in the longitudinal direction in the traveling region RA1 (or the corresponding virtual planar region VS1) which is a rectangular planar region. Is stipulated. Further, the UV coordinates indicating the positions indicating the four corners of the traveling region RA1 or the virtual plane region VS1 (positions corresponding to the respective detection units DT) are set to (u1, v1), (u2, v2), (u3, v3), respectively. , (U4, v4). Further, these positions (points) are also displayed as points PR1 to PR4.

On the other hand, FIG. 4B is an image diagram showing an example of an image taken by the installed imaging unit 10. In the illustration, each position of the image diagram GI of the two-dimensional plane is defined by the XY coordinates. Further, in the image diagram GI, the points (pixels) corresponding to the detection unit DT are set to PG1 to PG4, and the XY coordinates of each point PG1 to PG4 are set to (x1, y1), (x2, y2), (x3, respectively). Let y3) and (x4, y4). These points PG1 to PG4 correspond to points PR1 to PR4 shown in (u1, v1), (u2, v2), (u3, v3), and (u4, v4) in FIG. 4 (A), respectively. Further, the quadrangular (trapezoidal in the illustrated example) image region VG1 formed by connecting the points PG1 to PG4 with a straight line corresponds to the virtual plane region VS1 or the traveling region RA1.

In the installation environment of each unit as described above, when the two-dimensional image data acquired by the imaging unit 10 is output to the information processing device 50, the information processing device 50 sets each position on the image and the position in the real space. Various processes are performed so as to be able to associate with. Specifically, as shown in FIG. 4C as an example, first, the range of the quadrangular (trapezoidal) image area VG1 viewed in XY coordinates is defined by the points in pixel units on the XY coordinates. Corresponds to the range in UV coordinates in real space. Specifically, the information processing apparatus 50 first sets the coordinates (x1, y1), (x2, y2), (x3, y3), (x4, y4) indicating the four points PG1 to PG4 as XY coordinates. Capture and memorize the positions on these pixels. Next, the information processing device 50 has four points PG1 to PG4 and positions (points) in real space (u1, v1), (u2, v2), (u3, v3), (u4, v4). The points PR1 to PR4 shown by are associated with each other. Then, the information processing apparatus 50 has a rectangular image region VG1 determined by the positions of the four stored points PG1 to PG4 and a rectangular traveling region RA1 which is an region in the real space in the image region VG1. The transformation matrix H that associates an arbitrary point in the above with one point in the traveling region RA1 on a one-to-one basis is calculated. In this case, the transformation matrix H is a transformation from a quadrilateral region to a quadrilateral region, and has a corresponding relationship (x1, y1), (x2, y2), (x3, y3), (x4, y4) and (. It can be represented by a linear transformation matrix based on u1, v1), (u2, v2), (u3, v3), and (u4, v4).

As described above, the preparation for detecting the position of the moving body 110 by the traveling position verification system 100 and performing the verification on the moving body 110 or the performance evaluation (accuracy evaluation of the position estimation) in the moving body 110 is completed.

Hereinafter, the verification operation after the preparation is completed will be described with reference to FIG. Note that FIG. 5A shows a state during the preparatory work for performing verification. That is, FIG. 5A shows a state in which the moving body 110 to which the marker MK is attached is installed in the traveling region RA1 after completing each of the above-mentioned preparation steps. That is, when the marker MK is detected in the traveling position verification system 100, the traveling position detection of the moving body 110 can be started.

In this example, as shown in FIG. 5B, the movement of the marker MK, that is, the traveling progress of the moving body 110 is detected after removing the four pole member POs in advance before the start of the verification operation. However, as described above, in the information processing apparatus 50, the position of the detection unit DT of the pole member PO, that is, the position of the pixel on the image is determined in advance in the stage prior to this. It is remembered. That is, the XY coordinates of the points PG1 to PG4 on the image corresponding to the positions indicated by the broken lines in FIG. 5B are stored in advance in the information processing apparatus 50. Further, in the following, the position of the marker MK (particularly the position on the image) is indicated by a point PT (x, y).

FIG. 6 is a conceptual diagram showing an example of various processes for measuring the traveling position during the verification operation in the above-described embodiment. As shown in the figure, the point PT (x, y) existing in the image area VG1 (corresponding to the point indicating the position of the marker MK existing in the virtual plane area VS1) is converted into the traveling area RA1 in the real space by the transformation matrix H. By associating with the point PS (u, v) which is one point and tracking this locus, the movement progress of the marker MK, that is, the traveling progress of the moving body 110 can be detected.

Hereinafter, a specific example of verification regarding the progress of the traveling position of the moving body 110 by the traveling position verification system 100 will be described with reference to FIG. 7.

Here, a case where the moving body 110 is a cleaning robot for cleaning the floor surface will be described. It is known that recent cleaning robots are equipped with SLAM and simultaneously perform self-position estimation and map creation, that is, setting of a range to be cleaned. In order to enable such an operation, for example, it is premised that the moving body 110 has sufficient accuracy and accuracy for self-position estimation. In the present embodiment, the traveling position verification system 100 verifies how accurately the moving body 110 as a cleaning robot can move within the predetermined traveling area RA1 corresponding to the range of the floor surface to be cleaned. .. That is, the performance evaluation (accuracy evaluation of position estimation) is performed on the moving body 110 as a cleaning robot.

Here, as shown by the arrow AA1 in FIG. 7A, the moving body 110 moves in the traveling region RA1 in a zigzag manner by combining straight movement and rotation while estimating its own position according to a predetermined program. It shall be. As described above, the traveling position verification system 100 can detect the traveling progress of the moving body 110 by following the trajectory of the marker MK. As shown by hatching in FIG. 7B, here, it is assumed that the passage range TR1 of the moving body 110, which has a disk shape in a plan view, is the cleaning range. In the above case, for example, how much the passing range TR1 which is the cleaning range occupies the traveling area RA1 (that is, how much the hatching fills the traveling area RA1) is evaluated for the accuracy of self-position estimation in the moving body 110. It is conceivable to use one. That is, if the moving body 110 passes through the traveling area RA1 all over, it means that the floor surface is thoroughly cleaned as a cleaning robot, and the accuracy evaluation is 100%. For example, an image that visualizes the situation conceptually shown in FIG. 7 or the like or the occupancy rate of the passing range TR1 with respect to the traveling area RA1 may be displayed on the display device 55 (see FIG. 2).

For example, when moving the moving body 110 in a zigzag manner as described above, all that can be used as a moving method of the moving body 110 by combining various things with respect to the direction and angle range of straight forward and backward movement and rotation. It is also conceivable to make it possible to verify the position estimation accuracy for the included ones.

Further, regarding the timing of performing the above verification or evaluation (performance evaluation), for example, by performing the verification or evaluation (performance evaluation) at the time of product shipment, it is possible to determine whether the moving body 110 as the cleaning robot has the performance that can be shipped. It is conceivable to do so. Alternatively, it is conceivable that the above verification or evaluation is performed at the time of maintenance after shipment. For example, in the case of verification at the time of product shipment, if there is no problem in the performance evaluation, it will be shipped as it is, whereas if there is a problem in the performance evaluation, that is, a certain standard (the ratio of the passing range TR1 to the traveling area RA1 is If it does not satisfy (whether or not it is equal to or higher than a certain value, etc.), various correction processes related to the self-position estimation unit PE of the moving body 110 are performed, and verification is performed again. The marker MK may be attached to the moving body 110 only at the time of verification, and may be removed at the time of shipment or after the maintenance is completed.

Hereinafter, the traveling position verification system 100 having the marker MK of one modification will be described with reference to FIG.

FIG. 8 is a diagram for explaining an example of the marker MK of the one modification example, FIG. 8 (A) is a conceptual perspective view of the marker MK of the one modification example, and FIG. 8 (B) is a diagram. , It is a plan view. This modified example differs from the above example in that a plurality of markers MK1 and MK2 are installed. More specifically, in the example of FIG. 8, the markers MK1 and MK2 are provided at two positions, a position at the center of rotation and a position outside the center of rotation of the moving body 110. In this case, the rotational movement of the moving body 110 can be grasped from the relative position change between the marker MK1 and the marker MK2. Specifically, for example, as shown in FIG. 8B, when the moving body 110 is rotated, the marker MK1 at the position of the rotation center does not move from the position of the rotation axis AX, but is at a position outside the rotation center. The marker MK2 in is moved around the rotation axis AX as shown by the broken line and the solid line. In this case, the rotation angle θ of the moving body 110 can be calculated from the position change of the marker MK2 shown by the broken line and the solid line and the fixed position of the marker MK1. That is, the measuring unit 51a (see FIG. 2) can measure the rotation angle of the moving body from the position of the marker MK. The number of markers MK is not limited to two and may be three or more. As described above, in the case of this modification, the rotational movement of the moving body can be accurately captured by the markers MK provided at at least two places. For example, this modification can be used to confirm the accuracy of self-position estimation with respect to changes in the direction of rotation and the range of angles to be rotated during the zigzag movement shown in FIG. 7.

As described above, the traveling position verification system 100 according to the present embodiment includes a plurality of pole member POs that define a two-dimensional detection area indicating a range for detecting the moving body 110, and a virtual plane area VS1 that is a detection area. The moving position of the moving body 110 is determined from the position of the imaging unit 10 to be imaged, the marker MK attached to the moving body 110 and moving in the virtual plane region VS1, and the marker MK on the two-dimensional image data acquired by the imaging unit 10. It includes a measuring unit 51a for measurement and a verification unit 51b for verifying the traveling position of the moving body 110 based on the measurement result of the measuring unit 51a. With the above configuration, in the traveling position verification system 100, the marker MK attached to the moving body 110 moves in the two-dimensional virtual plane region VS1 defined by the plurality of pole member POs, and the marker MK is imaged by the imaging unit 10. By measuring the traveling position of the moving body 110 from the position of the marker MK on the two-dimensional image data acquired in this way, the traveling position of the moving body can be reliably measured by two-dimensional and simple image processing. Then, by verifying using the traveling position of the moving body 110 based on the measurement result, for example, the accuracy of the position estimation of the moving body 110 having a function of estimating its own position is judged from an objective standard. it can.

[Second Embodiment]
Hereinafter, an example of the traveling position correction system according to the second embodiment will be described with reference to FIG. 9. This embodiment shows one aspect of a traveling position correction system using the traveling position verification system shown as an example in the first embodiment, and has a calibration unit and is a moving body as necessary based on the verification result. Since it is the same as the traveling position verification system of the first embodiment except that the correction for the self-position estimation in the above is performed, the same reference numerals are given to the common components for the overall configuration, and the part related to the calibration unit. Detailed explanation of other parts other than is omitted.

FIG. 9 is a block diagram of a configuration example relating to the internal structure of the traveling position correction system 200 and the like according to the present embodiment, and is a diagram corresponding to FIG.

As shown in the figure, the traveling position correction system 200 of the present embodiment has a calibration data creation unit 51c in the main control unit 51 of the information processing device 50, and the information processing device 50 has an interface unit 60. In that respect, it differs from the traveling position verification system 100 illustrated in FIG. 2 and the like. Further, the moving body 210 to be verified corresponding to the configuration of the traveling position correction system 200 also has an interface unit 70, and also has a calibration reception processing unit CC in the self-position estimation unit PE of the main control unit MP. doing.

In the traveling position correction system 200 of the present embodiment, the moving body 210 is verified in the same manner as in the case of the traveling position verification system 100 exemplified in the first embodiment. That is, with respect to the moving body 210 having a function of estimating the self-position, various processes for the two-dimensional image data acquired by the imaging unit 10 are performed in the information processing device 50 in order to judge the accuracy of the self-position estimation from an objective standard. Will be. On this basis, when it is determined that the self-position estimation by the moving body 210 needs to be corrected for improving the accuracy, the traveling position correction system 200 performs a process for correcting the self-position estimation. .. Specifically, the main control unit 51 as the calibration data creation unit 51c creates various modification programs related to the self-position estimation unit PE of the moving body 210 according to the verification result, and the created modification program is used as the interface unit 60. It is output to the mobile body 210 via, for example, a wired connection. That is, in the traveling position correction system 200, the calibration data creation unit 51c and the interface unit 60 function as the calibration unit CS that corrects the self-position estimation in the moving body 210.

By connecting to the interface unit 60, the moving body 210 receives the correction program created by the traveling position correction system 200 via the interface unit 70, and is provided by the calibration reception processing unit CC provided in the self-position estimation unit PE. , Modify the self-position estimation program based on the modification program. That is, in the present embodiment, if there is a problem in the accuracy of the position estimation from the verification result of the traveling position correction system 200, for example, the self-position estimation in the moving body 210 is corrected as necessary. That is, the position estimation can be calibrated.

[Third Embodiment]
Hereinafter, an example of the traveling position measurement system according to the third embodiment will be described with reference to FIG. 10 and the like. This embodiment shows one aspect of a traveling position measurement system having the same configuration as the traveling position verification system shown as an example in the first embodiment, but during the main operation of the moving body (for example, cleaning of a cleaning robot). It is different from the case of the first embodiment and the like in that the traveling position is measured during operation). In the present embodiment, it is assumed that various preparations for detecting the markers illustrated with reference to FIGS. 3 to 5 in the first embodiment have been completed, and the traveling position is measured during the main operation of the moving body. I do. However, it has the same configuration as that illustrated in the traveling position verification system of the first embodiment, except for the configuration for using the traveling position measurement during the main operation as described above, and thus has a common configuration. The elements are designated by the same reference numerals, and detailed description of the overall configuration is omitted.

FIG. 10 is a conceptual perspective view showing a configuration example of the traveling position measurement system 300 according to the present embodiment, and is a diagram corresponding to FIG. 5 (B). Further, FIG. 11 is a block diagram of a configuration example relating to the internal structure of the traveling position measurement system 300 and the like, and is a diagram corresponding to FIG. 2 and the like.

As illustrated in FIGS. 10 and 11, the traveling position measuring system 300 of the present embodiment is different from the traveling position verification system 100 illustrated in FIG. 2 and the like in that the information processing device 50 includes the communication unit 80. ing. Since it is not premised that verification (verification of position estimation) is performed, the verification unit is omitted in the main control unit 51. Further, the mobile body 310, which is the object to be verified according to the configuration of the traveling position measurement system 300, also has the communication unit 90. That is, wireless communication is possible between the communication unit 80 and the communication unit 90. Further, the moving body 310 does not have a self-position estimation unit, but instead has a self-position detection unit PD.

In the traveling position measurement system 300 of the present embodiment, the position of the moving body 310 is detected as in the case of the traveling position verification system 100 exemplified in the first embodiment. Further, the traveling position measurement system 300 outputs the measurement result of the measurement unit 51a to the mobile body 310 by wireless communication via the communication unit 80.

On the other hand, the mobile body 310 does not perform the self-position estimation operation by itself, and instead, the self-position detection unit PD receives and accepts the measurement result from the traveling position measurement system 300 via the communication unit 90. The self-position is detected based on the result. That is, the moving body 310 can grasp its own position (self-position detection) by detecting its own position from the measurement result of the measuring unit 51a received from the traveling position measuring system 300.

Hereinafter, the traveling position measurement system 300 of one modification of the present embodiment will be described with reference to FIG. Note that FIG. 12 is a block diagram of a configuration example relating to the internal structure of the traveling position measurement system 300 and the like of the modified example, and is a diagram corresponding to FIG.

In an example of FIG. 12, the moving body 410 to be verified has a self-position estimation unit PE, and further has a correction unit CO in the self-position estimation unit PE. It's different from the case. More specifically, the moving body 410 estimates its own position while moving based on the self-position estimation unit PE, and further, the measurement unit 51a received by the correction unit CO by the communication between the communication units 80 and 90. Correct the self-position estimation based on the measurement result of. That is, in this modification, in the moving body 410 that estimates the self-position, the accuracy of the position estimation is improved by correcting the self-position estimation as necessary by using the measurement result of the measuring unit 51a. It is possible.

As described above, in the traveling position measurement system 300 according to the present embodiment, the marker attached to the moving body 310 or the like in the virtual plane area VS1 which is a two-dimensional detection area indicating the range for detecting the moving body 310 or the like. By measuring the traveling position of the moving body 310 or the like from the position of the marker MK on the two-dimensional image data acquired by moving the MK and imaging it with the imaging unit 10, two-dimensional and simple image processing is performed. The traveling position of the moving body can be reliably measured. In particular, in the present embodiment, the traveling position is measured during the main operation of the moving body 310 or the like, for example, during the cleaning operation of the cleaning robot, and the moving body 310 or the like uses this measurement result for detecting its own position. Can be done.

[Other]
The present invention is not limited to the above-described embodiment, and can be implemented in various embodiments without departing from the gist thereof.

First, in the above, the cleaning robot is illustrated with respect to the moving body 110 and the like which are the targets of the measurement of the traveling position and the verification thereof, but the moving body 110 and the like are not limited to this, and various things can be assumed. For example, it may be applied to a transfer robot used in a factory, an airport, or the like. Further, the shape of the moving body 110 or the like is not limited to the cylindrical shape, and may be various shapes. Further, when measuring or verifying the traveling position of the moving body 110 or the like, the virtual area VS1 corresponding to the traveling area RA1 is set as the imaging range from the bird's-eye view position as in the present application, instead of the traveling area RA1 itself, and the marker MK is placed on the top surface. By attaching and placing it, it is possible to suppress the possibility that the moving body 110 or the like itself becomes a shadow and the marker MK becomes difficult to catch. It should be noted that the above is not limited to the moving body 110 having a height of about 1 m, for example, and it is considered that the effect can be obtained even with a thin one having a height not so much. That is, each embodiment can be applied in various aspects such as the moving body 110 having different heights.

Further, the traveling mode of the moving body on a plane is not limited to straight traveling and rotation, and may be various modes.

Further, in the above, various aspects can be considered for the planar (two-dimensional) traveling region RA1. For example, when the accuracy verification of the self-position estimation is performed as illustrated in the traveling position verification system 100 of the first embodiment and the traveling position correction system 200 of the second embodiment, the size and shape of the traveling region RA1 are determined. , An accurate range can be set in advance according to the accuracy to be obtained. Further, the traveling area RA1 may be defined according to the traveling mode of the moving body.

Further, the installation of the imaging unit 10 can be variously supported according to the accuracy required for verification and the like, the resolution of the camera, and the like. For example, in the case of the image diagram GI of the two-dimensional plane illustrated in FIG. 4 (B), the pixels from the point PG1 to the point PG2 far from the imaging position even though the actual distance is equidistant or almost equidistant. The number is smaller than the number of pixels from the point PG3 to the point PG4 near the imaging position, and the accuracy at the time of verification is relatively coarse. Further, depending on the imaging position, for example, the number of pixels from the point PG1 to the point PG4 may decrease and become coarser than the actual distance. Therefore, for example, table data may be stored on the information processing apparatus 50 side for these various parameters, and the quality of the installation of the imaging unit 10 may be determined from the image diagram GI illustrated in FIG. 4 (B). ..

Further, for example, when the target traveling region RA1 becomes very large or is divided into a plurality of locations, a plurality of imaging units 10 may be installed to target different regions depending on each imaging unit 10. ..

10 ... Imaging unit, 50 ... Information processing device, 51 ... Main control unit, 51a ... Measurement unit, 51b ... Verification unit, 51c ... Calibration data creation unit, 52 ... Image processing unit, 53 ... Storage unit, 54 ... Input device, 55 ... Display device (output device), 60, 70 ... Interface unit, 80, 90 ... Communication unit, 100 ... Travel position verification system, 110, 210, 310, 410 ... Moving object, 200 ... Travel position correction system, 300 ... Traveling position measurement system, A1, A2, AA1 ... Arrow, AX ... Rotation axis, CC ... Calibration reception processing unit, CO ... Correction unit, CS ... Calibration unit, DD ... Drive device, DT ... Detection unit, H ... Conversion matrix, MK, MK1, MK2 ... Marker, MP ... Main control unit, PD ... Self-position detection unit, PE ... Self-position estimation unit, PG1-PG4 ... Point, PO ... Pole member, PS ... Point, PT ... Point, RA1 ... Running Area, SE ... sensor, TO ... top, TR1 ... passage range, VG1 ... image area, VS1 ... virtual plane area (detection area), WD ... drive wheel, θ ... rotation angle

Claims (10)

A plurality of pole members that define a two-dimensional detection area indicating a range for detecting a moving object, and
An imaging unit that captures the detection area and
A marker attached to the moving body and moving in the detection area,
A measuring unit that measures the traveling position of the moving body from the position of the marker on the two-dimensional image data acquired by the imaging unit.
A traveling position verification system including a verification unit that verifies the traveling position of the moving body based on the measurement result of the measuring unit. The detection region is a horizontal virtual plane region formed by detection portions of a plurality of pole members.
The traveling position verification system according to claim 1, wherein the height of the detection unit and the height of the marker attached to the center of the rotation axis of the moving body are the same. The moving body estimates its own position while moving,
The traveling position verification system according to any one of claims 1 and 2, wherein the verification unit verifies the accuracy of self-position estimation in the moving body based on a comparison with the measurement result of the measurement unit. The measuring unit detects the pixel position corresponding to the marker on the two-dimensional image data by the conversion process from the virtual plane on the two-dimensional image data to the coordinate plane indicating the position in the real space. The traveling position verification system according to any one of claims 1 to 3, wherein the traveling position of the moving body is determined in association with one location on the two-dimensional plane. The moving body includes rotational movement as a moving method.
The markers are provided at at least two positions, a position at the center of rotation and a position outside the center of rotation of the moving body.
The traveling position verification system according to any one of claims 1 to 4, wherein the measuring unit measures the rotation angle of the moving body from the position of the marker. An imaging unit that captures a two-dimensional detection area that indicates the range for detecting a moving object,
A marker attached to the moving body and moving in the detection area,
A traveling position measurement system including a measuring unit that measures the traveling position of the moving body from the position of the marker on the two-dimensional image data acquired by the imaging unit. The traveling position measurement system according to claim 6, further comprising a communication unit that outputs the measurement result of the measurement unit to the moving body. The traveling position measurement system according to claim 7, wherein the moving body detects its own position from the measurement result of the measurement unit received from the communication unit. The traveling position measurement system according to claim 7, wherein the moving body estimates its own position while moving, and corrects the self-position estimation based on the measurement result of the measurement unit received from the communication unit. A plurality of pole members that define a two-dimensional detection area indicating a range for detecting a moving object, and
An imaging unit that captures the detection area and
A marker attached to the moving body and moving in the detection area,
A measuring unit that measures the traveling position of the moving body from the position of the marker on the two-dimensional image data acquired by the imaging unit.
A verification unit that verifies the traveling position of the moving body based on the measurement results of the measurement unit,
A traveling position correction system including a calibration unit that corrects self-position estimation in the moving body according to a verification result in the verification unit.

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