JP2022139824A - Traveling body, traveling system, and traveling method - Google Patents

Abstract

To augment the freedom in a requirement for enabling a guide line to be laid on.SOLUTION: A traveling body 1 includes a traveling device 20 that travels, an imaging device 30 that images a direction intersecting an advancing direction of the traveling device 20 and obtains a shot image of a surface extending along the advancing direction, and a control unit 10 that controls the traveling device 20 on the basis of the shot image obtained by the imaging device 30. The control unit 10 detects a width in a shot image of a guide line SL displayed on the surface along the advancing direction, and controls the traveling device 20 so that the traveling device adjusts a clearance from the surface on the basis of the detected width.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to a running body, a running system, and a running method.

Various techniques related to a traveling body that can travel are known. For example, Patent Literature 1 discloses an automatic guided vehicle that travels along a guide line on a travel road surface. This automatic guided vehicle captures an image of a guide line on the road surface with an imaging device that captures an image of the lower part of the vehicle body, and travels while being guided so as not to deviate from the imaged guide line.

JP 2019-67318 A

In the automatic guided vehicle described above, it is assumed that a guide line can be laid on the traveling road surface. In addition, for example, in a situation where the guide line is likely to be stepped on by the automatic guided vehicle or by people coming and going, the guide line may deteriorate. In this way, in a device that travels while being guided so as not to deviate from the guide line, the conditions under which the guide line can be laid tend to be severely restricted.

Therefore, the object of the traveling body, traveling system, and traveling method according to the present disclosure is to increase the degree of freedom of conditions under which guide lines can be laid.

A traveling object (1) according to an aspect of the present disclosure captures an image of a traveling device (20) that travels and a direction that intersects the traveling direction (D) of the traveling device (20), and along the traveling direction (D) An imaging device (30) that acquires a captured image (P) of an extending surface (W), and control for controlling a traveling device (20) based on the captured image (P) acquired by the imaging device (30) a section (10), wherein the control section (10) detects the width (SLW) in the captured image (P) of the guide line (SL) displayed on the plane (W) along the traveling direction (D). Then, based on the detected width (SLW), the traveling device (20) is controlled to adjust the separation distance (L) from the surface (W).

A traveling system (100) according to one aspect of the present disclosure includes a guide line (SL) displayed on a surface (W) and a traveling body (1) that travels along the guide line (SL), The traveling body (1) captures an image of a traveling device (20) that travels and a direction that intersects the traveling direction (D) of the traveling device (20), and a surface (W) that extends along the traveling direction (D). and a control unit (10) for controlling the travel device (20) based on the captured image (P) acquired by the imaging device (30). In addition, the control unit (10) detects the width (SLW) in the captured image (P) of the guide line (SL) displayed on the surface (W) along the traveling direction (D), and detects the detected width ( SLW), the traveling device (20) is controlled to adjust the separation distance (L) from the surface (W).

A traveling method according to an aspect of the present disclosure is a traveling method for traveling a traveling device (20), in which an image is captured in a direction intersecting the traveling direction (D) of the traveling device (20), and an imaging step of acquiring a captured image (P) of a surface (W) extending along the surface (W); and a control step of controlling the traveling device (20) based on the captured image (P) acquired in the imaging step. In addition, in the control step, the width (SLW) in the captured image (P) of the guide line (SL) displayed on the surface (W) along the traveling direction (D) is detected, and the detected width (SLW) Based on, the traveling device (20) is controlled to adjust the separation distance (L) from the surface (W).

According to at least one of the traveling body (1), the traveling system (100), and the traveling method, the direction intersecting with the traveling direction (D) of the traveling device (20) is imaged, and The width (SLW) of the guide line (SL) displayed on the surface (W) along is detected. Then, the travel device (20) is controlled to adjust the separation distance (L) from the surface (W) based on the detected width (SLW). Therefore, the guide line (SL) does not necessarily have to be laid on the road surface, and there are few restrictions on how the guide line (SL) is laid. Therefore, according to at least one of the traveling body (1), the traveling system (100), and the traveling method, it is possible to increase the degree of freedom of the conditions under which the guide line (SL) can be laid.

In the traveling body (1) according to one aspect of the present disclosure, the traveling device (20) travels on the floor (F), and the imaging device (30) moves on the side surface (W) in the traveling direction (D). A captured image (P) may be obtained by capturing an image of the wall surface (W). According to this, the traveling body (1) that travels along the wall surface (W) with the floor surface (F) as the traveling road surface is suitably realized.

In the traveling object (1) according to one aspect of the present disclosure, the control unit (10) detects the vertical width (SLW) of the guide line (SL) in the captured image (P), detects the detected width (SLW ), the traveling device (20) may be controlled to adjust the separation distance (L) from the plane (W). According to this, the traveling object (1) that travels while adjusting the separation distance (L) from the wall surface (W) with the floor surface (F) as a traveling road surface, for example, is suitably realized.

In the traveling body (1) according to one aspect of the present disclosure, the control unit (10) adjusts the separation distance (L) from the surface (W) to adjust the width ( SLW) may be controlled to a preset size. According to this, the function of adjusting the separation distance (L) from the surface (W) is concretely realized. In particular, by changing the width (SLW) of the guide line (SL) without changing the setting of the running body (1), it is possible to run a route spaced apart from the surface (W) by a desired distance. Further, by making the width (SLW) of the guide line (SL) constant, it is possible to travel along a route spaced apart from the surface (W) by a constant distance.

In the running object (1) according to one aspect of the present disclosure, the control unit (10) detects the first marker (SM1) displayed on the surface (W) in the captured image (P), The travel device (20) may be controlled to perform the set operation. According to this, by displaying the first marker (SM1) on the surface (W), the traveling body (1) can be caused to perform various operations. In particular, without changing the aspect of the first marker (SM1) displayed on the surface (W), it is possible to cause the traveling body (1) to perform a desired operation by changing the preset operation. .

In the traveling body (1) according to one aspect of the present disclosure, the control unit (10) detects the first marker (SM1) when the surface (W) is bent in the direction blocking the traveling direction (D). In some cases, when a setting operation is set in advance to change the traveling direction (D) in a direction along the first curved front surface (W1), which is the curved front surface (W), the first curved front surface When the traveling direction (D) is changed in the direction along (W1) and the second marker (SM2) displayed on the first bending front surface (W1) in the captured image (P) is detected, the traveling direction ( D) may be suppressed from turning. According to this, for example, when the plane (W) is on the left side (or right side) of the traveling body (1), the traveling body (1) is turned right (or left) along the plane (W). can let

In the traveling object (1) according to one aspect of the present disclosure, the control unit (10) controls the first marker (SM1 ) is detected, and the setting operation to change the traveling direction (D) in the direction along the second bent front surface (W2), which is the bent front surface (W), is set in advance. The direction of travel (D) may be changed to a direction along the 2-bend front surface (W2). According to this, for example, when the plane (W) is on the left side (or right side) of the traveling body (1), the traveling body (1) is turned left (or right) along the plane (W). can let

In the traveling object (1) according to one aspect of the present disclosure, when the control unit (10) detects the code (SC) displayed on the surface (W) in the captured image (P), the code (SC) The traveling device (20) may be controlled to perform a designated designated action. According to this, by displaying the code (SC) on the surface (W), the traveling body (1) can be made to perform various operations. In particular, the running body (1) can be made to perform a desired operation by changing the mode of the code (SC) displayed on the surface (W) without changing the setting of the running body (1).

In the traveling object (1) according to one aspect of the present disclosure, the code (SC) is moving forward or backward along the traveling direction (D) when the code (SC) is detected by the control unit (10). You may specify the specified action depending on whether the According to this, it is possible to designate different designated motions for forward movement and backward movement of the traveling body (1), so that the movement of the traveling body (1) can be specified in detail.

A traveling object (1) according to an aspect of the present disclosure includes an information output device (40) that outputs information as sound or an image, and a control unit (10) outputs a code (SC) when detecting the code (SC). The information output device (40) may be controlled to output the specified information specified by SC). According to this, it is possible to provide information to the user by outputting audio or images.

In the traveling object (1) according to one aspect of the present disclosure, the control unit (10) displays the code marker (SCM) indicating that the code (SC) is displayed on the surface (W) in the captured image (P). If detected, the traveling device (20) may be controlled to reduce speed. According to this, since the code (SC) is imaged in a decelerated state, the code (SC) can be imaged more accurately.

A running object (1) according to an aspect of the present disclosure includes an operation accepting device (50) that accepts an operation by a user, and a control unit (10), based on an operation accepted by the operation accepting device (50), A running device (20) may be controlled. According to this, the traveling body (1) can be operated as desired by the user. For example, when the running body (1) starts running when an operation by the user is accepted, the running body (1) can start running at the timing desired by the user.

It should be noted that the reference numerals in parentheses above indicate the reference numerals of the constituent elements in the embodiment described later as an example of the present disclosure, and are not intended to limit the present disclosure to the aspect of the embodiment.

In this way, the traveling body, traveling system, and traveling method according to the present disclosure can increase the degree of freedom of conditions under which guide lines can be laid.

FIG. 1 is a block diagram showing a traveling system according to this embodiment. FIG. 2 is a diagram showing an example of an area provided with walls on which guide signs are displayed. FIG. 3 is a perspective view showing the overall configuration of the traveling body. FIG. 4 is a side view of the running body viewed along the traveling direction. FIG. 5 is a diagram showing an example of a captured image of a wall surface on which guide lines are displayed. FIG. 6 is a diagram showing a method of calculating the width of the guide line in the captured image. FIG. 7 is a diagram showing an example of a captured image of a wall surface on which guide lines and markers are displayed. FIG. 8 is a plan view for explaining a right turn along a wall surface extending to the left side of the traveling body. FIG. 9 is a plan view for explaining a left turn along a wall surface extending to the left side of the traveling body. FIG. 10 is a diagram showing an example of a captured image of a wall surface in which guide lines and a part of the code are displayed. FIG. 11 is a diagram showing an example of a captured image of a wall surface in which all guide lines and codes are displayed. FIG. 12 is a flow chart showing a processing procedure for travel control. FIG. 13 is a flow chart showing a processing procedure of inner loop control. FIG. 14 is a flow chart showing a processing procedure of outer circumference control. FIG. 15 is a flow chart showing a processing procedure of code reading control.

Exemplary embodiments are described below with reference to the drawings. In addition, the same reference numerals are given to the same or corresponding parts in each figure, and overlapping explanations are omitted.

[Driving system]
FIG. 1 is a block diagram showing a traveling system 100 according to this embodiment. FIG. 2 is a diagram showing an example of an area provided with a wall on which a guide sign S is displayed. FIG. 3 is a perspective view showing the overall configuration of the traveling body 1. As shown in FIG. FIG. 4 is a side view of the traveling body 1 as seen along the traveling direction D. As shown in FIG. As shown in FIGS. 1 to 4, the traveling system 100 is a system comprising a traveling body 1 capable of traveling in a predetermined area and guide signs S for instructing the movement of the traveling body 1. FIG. The traveling body 1 is a device that travels in an area provided with a surface along the surface. The “surface” may be, for example, a wall surface W of a wall such as a room. In this case, the traveling body 1 is a device that travels along the wall surface W in an area provided with a wall, and operates based on the guidance sign S displayed on the wall surface W. As shown in FIG. In addition, the “wall” does not necessarily have to be a wall as a fixed structure, and may be, for example, a movable partition plate or a vertical curtain. Moreover, the surface does not necessarily have to be a surface that extends vertically like the wall surface W of the wall of the room, and may be a surface that extends in any direction (for example, a horizontal surface or an inclined surface). Alternatively, the surface may not necessarily be a flat surface like the wall surface W of the wall of the room, but may be a curved surface. In the following description, the wall surface W of the wall is exemplified as the surface.

Here, as an area in which traveling system 100 is constructed, indoor space R, at least a part of which is partitioned by walls, is exemplified. The indoor space R may be, for example, an exhibition room in which the exhibit E is displayed and for users who are visitors to observe the exhibit E (as an example of the exhibit E, a panel is illustrated in FIG. 2). is done.). The guide sign S is displayed on the wall surface W of the indoor space R as described above. Then, by operating based on the guide sign S, the running body 1 guides the user, for example, and provides information (for example, information about the exhibit E) to the user. The area in which the traveling system 100 is constructed may be provided with a wall surface W on which the guide sign S is displayed, and does not necessarily have to be indoors.

The indoor space R has a floor surface F and the wall surface W described above. The floor surface F is configured by, for example, a horizontal surface. Note that the “horizontal plane” may have an inclination and steps as long as the traveling body 1 can travel. Further, the material of the floor surface F is not particularly limited as long as the traveling body 1 can run, and may be, for example, carpet, marble, wood, grass, sand, or the like. On the other hand, the wall surface W is configured as, for example, a vertical surface. It should be noted that the "vertical surface" does not necessarily extend strictly vertically as long as the guide sign S displayed on the wall surface W can be detected by the traveling body 1, and has an inclination and steps. may be

First, the guide sign S will be explained. The guide sign S includes guide lines SL. Also here, the guide sign S further includes a marker SM and a code SC.

The guide line SL is a strip-shaped line (line) displayed on the wall surface W. As shown in FIG. The guide line SL is displayed on the wall surface W so that the height from the floor surface F is constant (substantially constant) (that is, horizontally (substantially horizontally)). The guide line SL may be displayed on the wall surface W at a height that can be imaged by an imaging device 30, which will be described later, of the running body 1. Here, the guide line SL is displayed on the wall surface W at a height of about 40 cm from the floor surface F. displayed in position. The width SLW0 (see FIG. 6) of the guide line SL may be constant regardless of the location, or may vary depending on the location. Here, the guide line SL is displayed on the wall surface W so that the width SLW0 in the vertical direction is constant regardless of the part. For example, the vertical width SLW0 of the guide line SL may be about 4 cm. The guide line SL has a color different from the color of the wall surface W. This makes it easier to distinguish between the wall surface W and the guide line SL.

A marker SM is a mark displayed on the wall surface W. FIG. The marker SM functions as a first marker SM1 or a second marker SM2 as described later. The marker SM is associated with a preset setting operation, and is imaged by the imaging device 30 of the running body 1 to cause the running body 1 to perform the setting operation. The “setting operation” is an operation to be executed by the running body 1 when detected by the running body 1 . Each marker SM may be individually determined to be the first marker SM1 or the second marker SM2. It may function as the first marker SM1 or as the second marker SM2 depending on the state of the marker.

The shape of the marker SM is not particularly limited, and a rectangle having a horizontal width of about 10 cm and a vertical width of about 4 cm is exemplified here. The marker SM is displayed on the wall surface W such that the height from the floor surface F is within a predetermined range. The marker SM may be displayed on the wall surface W so as to be at a height that can be imaged by an imaging device 30, which will be described later, of the running body 1. Here, the marker SM is displayed at a position below the guide line SL and about 4 cm away from the guide line SL. is displayed in

Note that the marker SM may be displayed at any position above the guide line SL, below the guide line SL, or on the guide line SL (a position superimposed on the guide line SL). Further, when the marker SM is displayed at a position above or below the guide line SL, the marker SM may be in contact with or separated from the guide line SL. When the marker SM is in contact with the guide line SL, it is possible to reduce the angle of view of the imaging device 30 . On the other hand, when the marker SM is spaced apart from the guide line SL, it is possible to improve the processing accuracy of identifying the marker SM imaged by the imaging device 30 and the guide line SL.

The code SC is a mark displayed on the wall surface W and presents a mode determined according to certain rules. For example, the code SC may present a shape or color in which an arbitrary character string is converted according to specific rules. As a result, the code SC is imaged by the imaging device 30, for example, and reverse-converted according to a specific rule, so that the original character string information can be provided to the vehicle 1. FIG. Here, the code SC is a two-dimensional code (two-dimensional barcode), specifically a QR code (registered trademark). Also, the code SC is a static two-dimensional code.

The code SC is generated by converting information (for example, information consisting of a character string) relating to a command for causing the running body 1 to perform a specified action according to specific rules. "Specified operation" means an operation to be performed by the control unit 10, which is specified by the code SC. In this way, the code SC is associated with the specified action specified by the code SC. 1 to execute. The code SC causes the information output device 40 to output the specified information when outputting the specified information from the information output device 40, which will be described later, is specified as the specified operation. The “specified information” is information specified by the code SC and output by the information output device 40 . The specified information may be, for example, information about the exhibit E displayed near the code SC (for example, information describing the exhibit E).

The code SC is displayed on the wall surface W so that the height from the floor surface F is within a predetermined range. The code SC may be displayed on the wall surface W so as to be at a height that can be imaged by an imaging device 30, which will be described later, of the running body 1. is displayed in

The code SC may be displayed at any position above the guide line SL, below the guide line SL, or above the guide line SL (a position overlapping the guide line SL). Further, when the code SC is displayed above or below the guide line SL, the code SC may be in contact with or separated from the guide line SL. When the code SC is in contact with the guide line SL, it is possible to reduce the angle of view of the imaging device 30 . On the other hand, when the code SC is spaced apart from the guide line SL, it is possible to improve the processing accuracy of identifying the marker SM imaged by the imaging device 30 and the guide line SL.

The code SC contains a code marker SCM as part of it. A “code marker” is a mark displayed on the wall surface W to indicate that the code SC is displayed on the wall surface W. FIG. That is, the code SC includes at least the code marker SCM portion and the portion other than the code marker SCM. The portion of the code marker SCM in the code SC may be at least a part of the portion (information portion) used when the code SC is reverse-transformed, and the portion not used when the code SC is reverse-transformed ( non-information part).

Here, the code SC has cutout symbols (finder patterns) at three corners of the code SC, which serve as references for detecting the position in the code SC. Let the symbol act as a code marker SCM. A portion of the code SC other than the code marker SCM has a color different from the color of the wall surface W and a color different from the color of the guide line SL. On the other hand, the code marker SCM portion of the code SC has a different color from the wall surface W and the same color as the guide line SL. As a result, the setting of the traveling body 1 (for example, the control unit 10 or the imaging device 30) is normally set to facilitate the detection of the guide line SL and the code marker SCM, and the detection of the code marker SCM triggers the travelling. By switching the setting of the body 1 (for example, the control unit 10 or the imaging device 30) to a setting that makes it easier to detect the portion of the code SC other than the code marker SCM, the code SC can be easily detected.

Next, the traveling body 1 will be described. A traveling object 1 is a device that travels in a predetermined area. The traveling object 1 waits while being charged at a charging place, and travels along the guide line SL when receiving a command. The traveling body 1 is, for example, capable of autonomous travel. “Autonomous driving” means that the vehicle selects a driving route by itself (autonomously) and drives without being controlled by a person in real time. Here, the traveling object 1 autonomously travels on the floor surface F while selecting a travel route based on the guidance signs S displayed on the wall surface W of the indoor space R. The running body 1 includes a control unit 10 , a running device 20 , an imaging device 30 , an information output device 40 and an operation reception device 50 .

The control unit 10 is configured as a computer (control device) capable of wired or wireless communication with various devices such as the travel device 20, the imaging device 30, the information output device 40, and the operation reception device 50, for example. The control unit 10 has a control arithmetic device, a storage device, and an input/output device as physical components. The control arithmetic device is composed of a controller such as a CPU (Central Processing Unit), for example, and performs arithmetic processing and controls the storage device and the input/output device. The storage device has, for example, a main storage device and an auxiliary storage device. The main storage device is composed of, for example, a RAM (Random Access Memory). Also, the auxiliary storage device is composed of, for example, a ROM (Read Only Memory). The input/output device has, for example, an input device that receives data from the outside and transmits it to the storage device, and an output device that outputs to the outside the results of calculations performed by the control calculation unit and stored in the storage device. there is The control unit 10 executes a predetermined process by, for example, reading a program stored in ROM into RAM and causing the CPU to execute the program read into RAM. Note that the control unit 10 may have a configuration different from that of the computer described above.

The control unit 10 is a device that controls the travel device 20 , the imaging device 30 , the information output device 40 , and the operation reception device 50 . First, these devices controlled by the control unit 10 will be described.

The traveling device 20 is a device that travels along the traveling direction D. As shown in FIG. The “moving direction D” is a route along which the traveling device 20 (or the traveling body 1) travels, and the traveling device 20 (or the traveling body 1) advances or retreats along the traveling direction D (Fig. 3). The traveling device 20 travels on the floor surface F. The travel device 20 has a pair of wheels 21, 21 below, and rotates the pair of wheels 21, 21 to cause the travel body 1 as a whole to travel. The traveling device 20 can rotate the pair of wheels 21, 21 in opposite directions or at different rotational speeds. As a result, the traveling device 20 can shift the direction of travel D to the left or right while traveling, turn right or left while traveling, or turn while stopped. In addition, the traveling device 20 can travel along the traveling direction D by switching between forward and backward movement. In other words, the traveling device 20 can move forward (or move backward) along the traveling direction D, then temporarily stop, and move backward (or move forward) along the traveling direction D in the opposite direction. The traveling device 20 travels according to an instruction from the control unit 10 .

The imaging device 30 is a device that is provided in the traveling device 20 and acquires the captured image P. As shown in FIG. The imaging device 30 transmits the acquired captured image P to the control unit 10 . The imaging device 30 may be, for example, a camera. The imaging device 30 is provided (for example, fixed) on the traveling device 20 so as to take an image in a direction intersecting with the traveling direction D of the traveling device 20 . Specifically, the imaging device 30 is provided in the traveling device 20 so as to image the side of the traveling device 20 in the traveling direction D. As shown in FIG. For example, the imaging device 30 may be provided in the traveling device 20 so as to image a direction perpendicular to the traveling direction D of the imaging device 30 . Further, the imaging device 30 may be provided in the traveling device 20 so as to take an image in the horizontal direction. Note that the traveling body 1 may be provided with a single imaging device 30 or may be provided with a plurality of imaging devices 30 .

The imaging device 30 acquires a captured image P of the wall surface W extending along the traveling direction D of the traveling device 20 when the traveling device 20 is traveling along the wall surface W. The imaging device 30 is provided on the traveling device 20 so as to have a height capable of imaging the guide sign S displayed on the wall surface W in the vertical direction. In other words, the imaging device 30 is provided in the traveling device 20 so that the height of the guide sign S displayed on the wall surface W is included in the captured image P. In this case, "the guide sign displayed on the wall surface is included in the captured image" means that the separation distance L between the traveling device 20 (or the traveling body 1) and the wall surface W is a preset distance. means that the guide sign S displayed on the wall surface W is included in the captured image P. The imaging device 30 may be provided on the traveling device 20 so as to have the same height as the guide sign S (for example, the guide line SL) displayed on the wall surface W in the vertical direction. Note that the imaging device 30 may be provided on the traveling device 20 so as to be vertically movable.

The information output device 40 is a device that outputs information as audio or images. For example, the information output device 40 may be a speaker that outputs information as sound, or a display that outputs information as an image. Here, the information output device 40 is a device having both a speaker and a display, and the display is a touch panel display that also functions as an operation reception device 50, which will be described later. Further, the information output device 40 (and the operation reception device 50) may be integrally configured by sharing a housing with the control section 10. FIG. The information output device 40 outputs information according to instructions from the control section 10 .

The operation accepting device 50 is a device that accepts a user's operation. For example, the operation accepting device 50 may be a button that accepts an operation by pressing or touching, a voice recognition device that accepts an operation by voice input, or an image processing device that accepts an operation by a user's gesture. good too. Here, the operation accepting device 50 is a touch panel display that accepts touch operations, and also functions as the information output device 40 . The operation reception device 50 transmits information regarding the operation received from the user to the control unit 10 .

Next, functions realized by the control unit 10 will be described. The control unit 10 controls the traveling device 20 based on the captured image P acquired by the imaging device 30 .

FIG. 5 is a diagram showing an example of a captured image P of the wall surface W on which the guide line SL is displayed. As shown in FIG. 5 , when receiving a captured image P acquired by the imaging device 30 from the imaging device 30 , the control unit 10 analyzes the received captured image P and detects the guide sign S included in the captured image P. to detect Specifically, the control unit 10 analyzes the captured image P and detects the width SLW of the guide line SL displayed on the wall surface W along the traveling direction D in the captured image P. More specifically, the control unit 10 detects the vertical width SLW of the guide line SL extending horizontally (substantially horizontally) along the traveling direction D in the captured image P. The "width of the guide line in the captured image" can be detected by various methods. For example, the width SLW of the guide line SL in the captured image P may be detected based on the number of pixels or the ratio of the area of the region representing the guide line SL in the captured image P. Further, the width SLW of the guide line SL in the captured image P is determined by detecting one or more edges in a direction perpendicular to the extending direction of the guide line SL, and using the position of the detected edge or the distance between the edges. may be detected by For example, the width SLW of the guide line SL in the captured image P is based on the widths of each of one end and the other end (both ends of the captured image P in the horizontal direction) included in the captured image P (for example, averaged ), or may be detected as the width of a part (for example, the central part) of the guide line SL included in the captured image P in the extending direction.

The control unit 10 controls the traveling device 20 so as to adjust the separation distance L of the traveling device 20 (or the traveling body 1) from the wall surface W based on the detected width SLW (see FIG. 4). The "separation distance" is the distance between the traveling device 20 (or the traveling body 1) and the wall surface W. It may be the distance that you are. The control unit 10 controls the traveling device 20 so that the distance L from the wall surface W is adjusted so that the width SLW of the guide line SL in the captured image P becomes a preset size (length).

FIG. 6 is a diagram showing a method of calculating the width SLW of the guide line SL in the captured image P. As shown in FIG. As shown in FIG. 6, the imaging device 30 provided in the traveling device 20 images the wall surface W at a predetermined angle of view α. At this time, using the actual width SLW0 of the guide line SL on the wall surface W, the angle of view α, and the separation distance L, the width SLW of the guide line SL in the vertical direction of the captured image P is SLW=W/(L/ tan α).

Therefore, the width SLW of the guide line SL in the captured image P increases as the traveling direction D of the traveling device 20 approaches the wall surface W and the imaging device 30 approaches the wall surface W (that is, as the separation distance L decreases). (The state of the captured image P on the left side of the figure). Therefore, when the width SLW of the guide line SL in the captured image P is larger than a predetermined value (or a predetermined range), the control unit 10 controls the traveling device 20 so that the traveling direction D of the traveling device 20 moves away from the wall surface W. to control. Conversely, the distance SLW of the guide line SL in the captured image P becomes smaller as the moving direction D of the traveling device 20 moves away from the wall surface W and the imaging device 30 becomes further away from the wall surface W (that is, as the separation distance L increases). (The state of the captured image P on the right side of the drawing). Therefore, when the width SLW of the guide line SL in the captured image P is smaller than a predetermined value (or a predetermined range), the control unit 10 moves the traveling device 20 so that the traveling direction D of the traveling device 20 approaches the wall surface W. to control. The control unit 10 may control the traveling device 20 by any method, and may use feedback control such as PID control, for example.

When detecting the first marker SM1 displayed on the wall surface W in the captured image P, the control unit 10 controls the traveling device 20 to perform a preset operation. As a result, the controller 10 causes the traveling device 20 to travel along the wall surface W as follows.

FIG. 7 is a diagram showing an example of a captured image P of the wall surface W on which guide lines SL and markers SM are displayed. FIG. 8 is a plan view for explaining a right turn along a wall surface W extending to the left side of the traveling body 1. FIG. As shown in FIGS. 7 and 8, in the scene of FIG. 8, when the wall surface W is bent in a direction blocking the traveling direction D of the traveling body 1, the traveling body 1 bends along the curved wall surface W. The running device 20 runs like this. The example of FIG. 8 shows the case of turning right, but conversely, the same applies to the case of turning left along the wall surface W extending to the right side of the traveling body 1 . In the following description, when the wall surface W is bent in a direction blocking the traveling direction D of the traveling body 1, the wall surface W before bending is also referred to as a front wall surface W0, and the wall surface W after bending is referred to as a first wall surface W0. It is also referred to as a bending end wall surface W1. Further, more generally, when a surface that is not limited to the wall surface W is bent in a direction that blocks the travel direction D of the traveling body 1, the surface before bending is referred to as the front surface of the bend, and the surface after the bend is referred to as the first surface. It is also called 1-bent front surface. Therefore, the front wall surface W0 of bending is an example of the front surface of bending, and the first wall surface W1 of front bending is an example of the front surface of bending.

When the control unit 10 detects the first marker SM1 displayed on the wall surface W0 before the bend when the wall surface W is bent in the direction blocking the traveling direction D, the control unit 10 advances in the direction along the wall surface W1 after the bend. When the setting operation to turn the direction D is set in advance, the traveling direction D is turned to the direction along the first bending end wall surface W1, and the image displayed on the first bending end wall surface W1 in the captured image P It suppresses turning of the traveling direction D when the second marker SM2 is detected. That is, when the first marker SM1 displayed on the front wall surface W0 of the bend is detected in the captured image P, the control unit 10 causes the traveling device 20 to change direction in the direction along the wall surface W1 before the bend. Control. The control unit 10 may control the traveling device 20 so as not to move forward or backward (that is, not to move its position) while changing directions. After that, the direction change of the traveling device 20 progressed, the first bending front wall surface W1 came to be included in the captured image P, and the second marker SM2 displayed on the first bending front wall surface W1 was detected in the captured image P. Triggered by this, the travel device 20 is controlled to suppress the direction change (to end the direction change or to reduce the turning speed of the direction change). Note that the "turning speed" is the turning speed, and may be, for example, an angular velocity.

When the direction is changed along the first bent wall surface W1, the conditions for completion of the direction change include that the second marker SM2 is newly detected. For example, when the direction is changed along the first bent wall surface W1, the first marker SM1 may not be detected and the second marker SM2 may be detected when the direction change is started. conditions are set. When the direction change of the traveling device 20 is completed, the control unit 10 detects the width SLW in the captured image P of the guide line SL displayed on the first curved wall surface W1 along the traveling direction D, and detects the detected width SLW. Based on, the traveling device 20 is controlled so as to adjust the separation distance L from the first bending end wall surface W1.

FIG. 9 is a plan view for explaining a left turn along a wall surface W extending to the left side of the traveling body 1. FIG. As shown in FIGS. 7 and 9, in the scene of FIG. 9, when the wall surface W is curved in a direction opposite to the direction in which the traveling body 1 blocks the traveling direction D, the vehicle travels along the curved wall surface W. The traveling device 20 travels so that the body 1 bends. In the example of FIG. 9, the case of turning left is shown, but conversely, the case of turning right along the wall surface W extending to the right side of the traveling body 1 is the same. In the following description, when the wall surface W is bent in the direction opposite to the direction blocking the traveling direction D of the traveling body 1, the wall surface W before bending is also referred to as a front wall surface W0, and the wall surface after bending W is also referred to as a second bending end wall surface W2. Further, more generally, when a surface other than the wall surface W is bent in the direction opposite to the direction blocking the traveling direction D of the traveling body 1, the surface before bending is referred to as the bending front surface, and the bending front surface The surface of is also referred to as a second bending front surface. Therefore, as described above, the front bend wall surface W0 is an example of the front bend surface, and the second front bend wall surface W2 is an example of the second front bend surface.

When the control unit 10 detects the first marker SM1 displayed on the front wall surface W0 when the wall surface W is bent in the direction opposite to the direction blocking the traveling direction D, When the setting operation to change the direction of travel D to the direction along the second bending front wall surface W2 is set in advance, the direction of travel D is changed to the direction along the second bent front wall surface W2. That is, when the first marker SM1 displayed on the wall surface before bending W0 is detected in the captured image P, the control unit 10 causes the traveling device 20 to change direction in the direction along the wall surface W2 before bending. Control. The control unit 10 may control the traveling device 20 so as to continue forward movement (or backward movement) (that is, continue to move its position) even while the direction is changed. After that, the direction change of the traveling device 20 progresses, and the captured image P comes to include the second bent front wall surface W2.

When the direction is changed along the second bent wall surface W2, the condition for completion of the direction change does not include the detection of the second marker SM2. When the direction change of the traveling device 20 is completed, the control unit 10 detects the width SLW in the captured image P of the guide line SL displayed on the second curved wall surface W2 along the traveling direction D, and detects the detected width SLW. Based on, the traveling device 20 is controlled so as to adjust the separation distance L from the second bending end wall surface W2.

When the control unit 10 detects the code SC displayed on the wall surface W in the captured image P, the control unit 10 causes the moving body 1 (for example, the moving device 20, the imaging device 30, the information It controls the output device 40 or the operation reception device 50).

FIG. 10 is a diagram showing an example of a captured image P of the wall surface W in which the guide line SL and part of the code SC are displayed. FIG. 11 is a diagram showing an example of a captured image P of the wall surface W in which all of the guide lines SL and codes SC are displayed. As shown in FIGS. 10 and 11, when the control unit 10 detects the code SC in the captured image P, the control unit 10 inversely transforms the detected code SC according to a specific rule, thereby obtaining information on the original character string. do. The control unit 10 controls each device of the traveling body 1 based on the acquired character string information.

For example, when the information acquired from the code SC includes a command to reproduce a specific video file or audio file, the control unit 10 reproduces the video file or audio file and causes the information output device 40 to output. These moving image files or audio files may be reproduced and output as a single file, or a plurality of moving image files or audio files organized as a playlist may be continuously reproduced. The moving image file or the audio file may be stored in advance in the control unit 10 or in a storage medium (eg, HDD, etc.) connected to the control unit 10, or may be stored by the control unit 10 communicating with an external server or the like. may be distributed.

If the information acquired from the code SC includes a command to set the setting operation to be executed when the next marker SM is detected, the control unit 10 sets the setting operation. For example, when the control unit 10 detects the first marker SM1 displayed on the front wall surface W0 when the wall surface W is bent in the direction blocking the traveling direction D according to the information acquired from the code SC, , a setting operation may be set in which the direction of travel D is changed to the direction along the first bent wall surface W1. Alternatively, when the control unit 10 detects the first marker SM1 displayed on the front wall surface W0 when the wall surface W is bent in the direction opposite to the direction blocking the traveling direction D, the control unit 10 detects the second wall surface before the bend You may set the setting operation|movement which should turn the advancing direction D in the direction along W2. Alternatively, the control unit 10 may set a setting operation to proceed straight without changing direction even when the first marker SM1 is detected next time.

Further, when the information acquired from the code SC includes a command to travel for a predetermined time or a predetermined distance, the control unit 10 controls the travel device 20 so that the vehicle travels for the predetermined time or a predetermined distance. may If the information acquired from the code SC includes a command to stop at a predetermined timing, the control unit 10 may control the traveling device 20 to stop at the predetermined timing.

Further, if the information acquired from the code SC includes a command to execute each process described above only when moving forward or when reversing, the control unit 10 executes each process only when moving forward or when reversing. Each device of the traveling body 1 may be controlled as follows. If the information acquired from the code SC includes a command to execute a predetermined operation even if the marker SM is not detected, the control unit 10 controls the moving body 1 to execute the predetermined operation. may control each device of The predetermined action may be, for example, going straight, turning left or right, stopping, or returning to the charging station. Returning to the charging location can be realized by known technology using, for example, an infrared sensor.

The code SC may designate a designated operation depending on whether the traveling device 20 is moving forward or backward along the traveling direction D when the code SC is detected by the control unit 10 . "Specify a specified motion depending on whether the vehicle is moving forward or backward" means that the specified motion is specified separately for each of forward movement and backward movement. Therefore, the control unit 10 may specify different specified motions for advancing and reversing, or may specify the same specified motion for each. In other words, the code SC may designate a designated operation according to whether the traveling device 20 is moving forward or backward along the traveling direction D when the code SC is detected by the control unit 10 . In other words, when the control unit 10 detects the code SC displayed on the wall surface W in the captured image P, the control unit 10 performs a designated operation according to whether the traveling device 20 is moving forward or backward along the traveling direction D. The traveling device 20 may be controlled so as to do so.

Further, the control unit 10 may control the information output device 40 to output the designation information designated by the code SC when the code SC is detected. In other words, the code SC may specify outputting the specified information from the information output device 40 as the specified operation. For example, if the specified information is information about an exhibit E exhibited near the code SC (for example, information describing the exhibit E), the control unit 10 controls the information output device 40 to Information may be provided to the user.

When the control unit 10 detects the code marker SCM indicating that the code SC is displayed on the wall surface W in the captured image P (FIG. 10), the control unit 10 controls the traveling device 20 to reduce the speed. When analyzing the captured image P, the control unit 10 normally sets the guide line SL and the code marker SCM to be easily detected, and when the code marker SCM is detected, the part of the code SC other than the code marker SCM is changed. switch to a setting that is easy to detect. After detecting the code marker SCM on the wall surface W in the captured image P, the control unit 10 may control the traveling device 20 to stop when the entire code SC is detected (FIG. 11). In this case, the control unit 10 may control the traveling device 20 to stop in a state where the entire code SC is displayed in the captured image P. Alternatively, the control unit 10 may control the traveling device 20 to stop when the entire code SC is displayed and the code SC is detected.

Further, the control unit 10 receives from the operation reception device 50 information regarding the operation received by the operation reception device 50 from the user. In this case, the control unit 10 controls the traveling device 20 based on the operation received by the operation receiving device 50. FIG. For example, when the control unit 10 receives an operation to start traveling while waiting at a charging place, the control unit 10 controls the traveling device 20, the imaging device 30, and the like to start traveling. For example, when an operation to resume running is received while the vehicle is stopped as a designated action specified by the code SC, the control unit 10 controls the running device 20, the imaging device 30, and the like to resume running.

[Driving control]
The traveling control executed by the traveling body 1 will be described. The traveling control is a control using a traveling method in which the control unit 10 of the traveling body 1 causes the traveling device 20 to travel. FIG. 12 is a flow chart showing a processing procedure for travel control. The flowchart shown in FIG. 12 is started, for example, when the running body 1 is on standby at a charging place or the like while being activated.

In step S<b>10 , the control unit 10 of the running body 1 receives from the operation reception device 50 information regarding the operation for starting traveling that the operation reception device 50 has received from the user. For example, the control unit 10 may receive information about the operation for starting running from the operation receiving device 50 when the user touches a button for starting running displayed on the touch panel display of the operation receiving device 50 . After that, the traveling control proceeds to step S12.

In step S12, the control unit 10 of the traveling body 1 controls the traveling device 20 to start traveling. For example, the control unit 10 causes the entire traveling body 1 to travel (for example, move forward) along the traveling direction D by rotationally driving the pair of wheels 21 provided in the travel device 20 . After that, the traveling control proceeds to step S14.

In step S14, the control unit 10 of the running body 1 controls the imaging device 30 to capture an image of the wall surface W, which is a surface in a direction intersecting the traveling direction D of the traveling device 20 (for example, the side of the traveling direction D). . Then, the control unit 10 acquires the captured image P of the wall surface W extending along the traveling direction D of the traveling device 20 by acquiring the captured image P from the imaging device 30 (imaging step). After that, the travel control proceeds to step S16.

After step S16, the control unit 10 controls the travel device 20 based on the captured image P acquired in the imaging step (control step). Each stage of the control steps will be described below.

In step S<b>16 , the control unit 10 of the traveling body 1 detects (calculates) the width SLW of the guide line SL displayed on the wall surface W along the traveling direction D of the traveling device 20 in the captured image P. For example, the control unit 10 determines that the width SLW of the guide line SL in the captured image P is the actual width SLW0 of the guide line SL on the wall surface W, the angle of view α of the imaging device 30, and the traveling device 20 (or traveling body 1 ) from the wall surface W, it may be calculated from the formula SLW=W/(L/tanα). Note that the formula for calculating the width SLW is not limited to the above formula. After that, the traveling control proceeds to step S18.

In step S18, the controller 10 of the traveling body 1 travels so as to adjust the separation distance L of the traveling device 20 (or the traveling body 1) from the wall surface W based on the detected width SLW of the guide line SL. Control the device 20 . Specifically, the control unit 10 controls the travel device 20 so that the distance L from the wall surface W is adjusted so that the width SLW of the guide line SL in the captured image P becomes a preset size. More specifically, when the width SLW of the guide line SL in the captured image P is larger than a predetermined value (or a predetermined range), the controller 10 controls the travel direction D of the travel device 20 to move away from the wall surface W. to control the traveling device 20. Conversely, when the width SLW of the guide line SL in the captured image P is smaller than a predetermined value (or a predetermined range), the controller 10 controls the travel device 20 so that the travel direction D of the travel device 20 approaches the wall surface W. 20. After that, the traveling control proceeds to step S20.

In step S20, the control unit 10 of the traveling body 1 determines whether or not the traveling of the traveling device 20 is finished (or finished). For example, the traveling device 20 may end traveling based on a command by the code SC, or may end traveling when the operation receiving device 50 receives an operation to end (stop) traveling from the user. When the control unit 10 determines that the traveling of the traveling device 20 is finished (or finished) (step S20: YES), the current traveling control is finished. On the other hand, when the control unit 10 does not determine that the travel of the travel device 20 has ended (or has ended) (step S20: NO), the process returns to step S14 to continue the travel control.

[Inner loop control]
The inward rotation control executed by the traveling body 1 will be described. "Inward turning control" means that, when the wall surface W is bent in a direction that blocks the traveling direction D of the traveling body 1, the traveling body 1 bends along the curved wall surface W (that is, turns inward). This is the control for causing the traveling device 20 to travel (see FIG. 8). The inner loop control may be included as part of the control steps described above. FIG. 13 is a flow chart showing a processing procedure of inner loop control. For example, the flowchart shown in FIG. 13 is executed when the first marker SM1 displayed on the curved front wall surface W0 is detected while the traveling body 1 is traveling along the guide line SL displayed on the wall surface W. It is started when a setting operation is set to change the direction of travel D to the direction along the first bending end wall surface W1.

In step S<b>30 , the control unit 10 of the running body 1 analyzes the captured image P of the wall surface W captured by the imaging device 30 . When the first marker SM1 is displayed on the wall surface W, the control unit 10 detects the first marker SM1 displayed on the wall surface W. After that, the inner rotation control proceeds to step S32.

In step S32, the control unit 10 of the traveling body 1 controls the traveling device 20 so as to change direction in the direction along the first bending end wall surface W1. For example, after stopping the traveling of the traveling device 20, the control unit 10 causes the pair of wheels 21, 21 provided on the traveling device 20 to rotate in opposite directions so that the traveling device 20 bends in the traveling direction D on the spot. may be redirected to After that, the inner rotation control proceeds to step S34.

In step S<b>34 , the controller 10 of the traveling body 1 analyzes the captured image P of the wall surface W captured by the imaging device 30 while changing the traveling direction D of the traveling device 20 . When the second marker SM2 is displayed on the wall surface W (first curved wall surface W1), the control unit 10 detects the second marker SM2 displayed on the wall surface W (first curved wall surface W1). After that, the inner rotation control proceeds to step S36.

In step S<b>36 , the control unit 10 of the traveling body 1 prevents the traveling device 20 from changing the traveling direction D. Specifically, the control unit 10 reduces the turning speed of the direction change. The control unit 10 may finally end the direction change in the direction in which the traveling direction D of the traveling device 20 is along the first bending end wall surface W1. With the above, the control unit 10 ends the current inner rotation control.

[Outer rotation control]
The outer circumference control executed by the traveling body 1 will be described. "Outer rotation control" means that, when the wall surface W is bent in the direction opposite to the direction in which the traveling body 1 blocks the traveling direction D, the traveling body 1 is bent along the curved wall surface W (that is, the outer circumference control). (see FIG. 9). Outer control may be included as part of the control steps described above. FIG. 14 is a flow chart showing a processing procedure of outer circumference control. For example, the flowchart shown in FIG. 14 is executed when the first marker SM1 displayed on the curved front wall surface W0 is detected while the traveling body 1 is traveling along the guide line SL displayed on the wall surface W. It is started when the setting operation is set to change the traveling direction D to the direction along the second curved wall surface W2.

In step S<b>40 , the control unit 10 of the running body 1 analyzes the captured image P of the wall surface W captured by the imaging device 30 . When the first marker SM1 is displayed on the wall surface W, the control unit 10 detects the first marker SM1 displayed on the wall surface W. After that, the outer circumference control proceeds to step S42.

In step S42, the control unit 10 of the traveling body 1 controls the traveling device 20 so as to change direction in the direction along the second bending end wall surface W2. For example, the control unit 10 rotates the pair of wheels 21, 21 provided on the traveling device 20 at different rotational speeds to bend the traveling direction D of the traveling device 20 without stopping the travel of the traveling device 20. You can turn around like this. After that, the outer circumference control proceeds to step S44.

In step S<b>44 , the control unit 10 of the traveling body 1 prevents the traveling device 20 from changing the traveling direction D. Specifically, the control unit 10 reduces the turning speed of the direction change. More specifically, when the direction change of the traveling device 20 progresses and the traveling direction D of the traveling device 20 approaches the direction along the second bent wall surface W2, the captured image P of the wall surface W captured by the imaging device 30 , the guide line SL displayed on the wall surface W2 at the end of the second bend is detected. At this time, when the direction change of the traveling device 20 is insufficient, the width SLW of the guide line SL in the captured image P becomes smaller than a predetermined value (or a predetermined range). The travel device 20 is controlled so that the traveling direction D approaches the wall surface W (that is, so that the direction change is continued). Thereafter, as the travel device 20 changes direction, the width SLW of the guide line SL in the captured image P approaches a predetermined value (or a predetermined range). The traveling device 20 is controlled to reduce the speed approaching (that is, to reduce the turning speed of direction change, in other words, to suppress direction change). With the above, the control unit 10 ends the current outer rotation control.

[Code reading control]
Code reading control executed by the running body 1 will be described. Code reading control may be included as part of the control steps described above. FIG. 15 is a flow chart showing a processing procedure of code reading control. The flowchart shown in FIG. 15 is started when the vehicle 1 is running along the guide line SL displayed on the wall surface W, for example.

In step S<b>50 , the control unit 10 of the running body 1 analyzes the captured image P of the wall surface W captured by the imaging device 30 . When the code marker SCM is displayed on the wall surface W (see FIG. 10), the control unit 10 detects the code marker SCM displayed on the wall surface W. Thereafter, code read control proceeds to step S52.

In step S52, the controller 10 of the traveling body 1 controls the traveling device 20 so as to reduce the traveling speed. Note that if the control unit 10 or the image pickup device 30 is set to easily detect the guide line SL and the code marker SCM, the control unit 10 or the image pickup device 30 is set to detect the portion of the code SC other than the code marker SCM. may be switched to a setting that makes it easier to detect . Thereafter, code reading control proceeds to step S54.

In step S<b>54 , the control unit 10 of the running body 1 analyzes the captured image P of the wall surface W captured by the imaging device 30 . When the entire code SC is displayed on the wall surface W (see FIG. 11), the control unit 10 detects the code SC displayed on the wall surface W. Thereafter, code read control proceeds to step S56.

In step S56, the controller 10 of the traveling body 1 controls the traveling device 20 to stop. After that, code read control proceeds to step S58.

In step S58, the control unit 10 of the running body 1 controls the running body 1 (for example, the running device 20, the imaging device 30, the information output device 40, or the operation reception device 50) to perform the specified action specified by the code SC. to control. As an example, when the code SC detected by the control unit 10 specifies that the specified information is output from the information output device 40 as a specified operation, the control unit 10 controls the information output device 40 to Information may be provided to the user. Code reading control then proceeds to step S60.

In step S<b>60 , the control unit 10 of the running body 1 receives from the operation receiving device 50 information regarding the operation for resuming travel that the operation receiving device 50 has received from the user. For example, the control unit 10 may receive information about the operation for resuming running from the operation receiving device 50 when the user touches a button for resuming running displayed on the touch panel display of the operation receiving device 50 . After that, code reading control proceeds to step S62.

In step S62, the control section 10 of the traveling body 1 controls the traveling device 20 to resume traveling. With the above, the control unit 10 ends the current code reading control.

[Action and effect]
As described above, the traveling body 1 captures images of the traveling device 20 and the direction intersecting with the traveling direction D of the traveling device 20, and acquires the captured image P of the wall surface W extending along the traveling direction D. and a control unit 10 that controls the traveling device 20 based on the captured image P acquired by the imaging device 30. The control unit 10 is displayed on the wall surface W along the traveling direction D. The width SLW of the guide line SL in the captured image P is detected, and the traveling device 20 is controlled to adjust the separation distance L from the wall surface W based on the detected width SLW.

Further, the traveling system 100 includes a guide line SL displayed on a wall surface W and a traveling body 1 that travels along the guide line SL. based on the captured image P acquired by the imaging device 30 that captures an image of the wall surface W extending along the direction of travel D, and the captured image P acquired by the imaging device 30. a control unit 10 for controlling the device 20, the control unit 10 detects the width SLW in the captured image P of the guide line SL displayed on the wall surface W along the traveling direction D, and adjusts the width SLW to the detected width SLW. Based on this, the traveling device 20 is controlled so as to adjust the separation distance L from the wall surface W.

Further, the above-described traveling method is a traveling method in which the traveling device 20 travels, and an image P of the wall surface W extending along the traveling direction D is captured by capturing an image in a direction intersecting the traveling direction D of the traveling device 20. and a control step of controlling the traveling device 20 based on the captured image P acquired in the imaging step. The width SLW of the guide line SL in the captured image P is detected, and the traveling device 20 is controlled to adjust the separation distance L from the wall surface W based on the detected width SLW.

According to at least one of the traveling body 1, the traveling system 100, and the traveling method, the direction intersecting the traveling direction D of the traveling device 20 is imaged, and the guide line displayed on the wall surface W along the traveling direction D. The width SLW of SL is detected. Then, the traveling device 20 is controlled so as to adjust the separation distance L from the wall surface W based on the detected width SLW. Therefore, the guide line SL does not necessarily need to be laid on the road surface, and there are few restrictions on how the guide line SL is laid. Therefore, according to at least one of the traveling body 1, the traveling system 100, and the traveling method, it is possible to increase the degree of freedom of conditions under which the guide line SL can be laid.

In the traveling body 1, the traveling device 20 travels on the floor surface F, and the imaging device 30 images the wall surface W, which is a side surface in the traveling direction D, to acquire the captured image P. According to this, the traveling body 1 that travels along the wall surface W using the floor surface F as a traveling road surface is suitably realized.

In the traveling body 1, the control unit 10 detects the vertical width SLW of the guide line SL in the captured image P, and adjusts the separation distance L from the wall surface W based on the detected width SLW. 20. According to this, the traveling body 1 that travels while adjusting the separation distance L from the wall surface W using the floor surface F as a traveling road surface, for example, is suitably realized.

In the traveling object 1, the control unit 10 controls the traveling device 20 so that the distance L from the wall surface W is adjusted so that the width SLW of the guide line SL in the captured image P becomes a preset size. According to this, the function of adjusting the separation distance from the wall surface is concretely realized. In particular, by changing the width SLW of the guide line SL, the vehicle 1 can travel along a route spaced apart from the wall surface W by a desired distance without changing the setting of the vehicle 1 . In addition, by making the width SLW of the guide line SL constant, it is possible to make the vehicle travel along a route separated from the wall surface W by a constant distance.

In the traveling object 1, when the first marker SM1 displayed on the wall surface W in the captured image P is detected, the control unit 10 controls the traveling device 20 to perform a preset operation. According to this, by displaying the first marker SM1 on the wall surface W, the traveling body 1 can be caused to perform various operations. In particular, without changing the mode of the first marker SM1 displayed on the wall surface W, it is possible to cause the traveling body 1 to perform a desired action by changing the preset operation.

In the traveling body 1, when the wall surface W is bent in the direction blocking the traveling direction D and the first marker SM1 is detected, the control unit 10 detects the first bent wall surface W1, which is the wall surface W ahead of the bend. When the setting operation to turn the traveling direction D in the direction along the first bending wall surface W1 is set in advance, the traveling direction D is changed in the direction along the first bending wall surface W1, and in the captured image P, the first bending wall surface It suppresses turning of the traveling direction D when the second marker SM2 displayed on W1 is detected. According to this, for example, when there is a wall surface W on the left side (or right side) of the traveling body 1, the traveling body 1 can be caused to turn right (or turn left) along the wall surface W.

In the traveling body 1, the control unit 10 detects the first marker SM1 when the wall surface W is curved in the direction opposite to the direction blocking the traveling direction D, and detects the wall surface W ahead of the curved second marker SM1. When the setting operation to change the traveling direction D to the direction along the curved wall surface W2 is set in advance, the traveling direction D is changed to the direction along the second curved wall surface W2. According to this, for example, when there is a wall surface W on the left side (or right side) of the traveling body 1, the traveling body 1 can be caused to turn left (or right) along the wall surface W.

In the traveling object 1, when the control unit 10 detects the code SC displayed on the wall surface W in the captured image P, the control unit 10 controls the traveling device 20 to perform the specified action specified by the code SC. According to this, by displaying the code SC on the wall surface W, the traveling body 1 can be caused to perform various operations. In particular, by changing the mode of the code SC displayed on the wall surface W, the running body 1 can be caused to perform a desired operation without changing the setting of the running body 1 .

In the traveling object 1, the code SC designates a designated operation according to whether the object is moving forward or backward along the traveling direction D when the control unit 10 detects the code SC. According to this, it is possible to specify different specified motions when the traveling body 1 moves forward and when it moves backward, so that the motion of the traveling body 1 can be specified in detail.

The traveling body 1 is provided with an information output device 40 for outputting information in the form of sound or image, and the control unit 10 controls the information output device 40 so as to output specified information specified by the code SC when the code SC is detected. to control. According to this, it is possible to provide information to the user by outputting audio or images.

In the traveling object 1, when the code marker SCM indicating that the code SC is displayed on the wall surface W is detected in the captured image P, the control unit 10 controls the traveling device 20 to reduce the speed. According to this, since the code SC is imaged in a decelerated state, the code SC can be imaged more accurately.

The traveling body 1 includes an operation reception device 50 that receives an operation by a user, and the control unit 10 controls the traveling device 20 based on the operation received by the operation reception device 50 . According to this, the traveling body 1 can be operated as desired by the user. For example, when the running body 1 starts running when an operation by the user is received, the running body 1 can start running at the timing desired by the user.

[Modification]
The above-described embodiments can be implemented in various forms modified or improved based on the knowledge of those skilled in the art.

For example, in the above-described embodiment, the control unit 10 controls the travel device 20 based on the guide signs S displayed on the wall surface W. As shown in FIG. However, the control unit 10 may control the travel device 20 based on the guide signs S displayed not only on the wall surface W but also on various surfaces in general. In this case, the wall surface W in the embodiment described above can be read as a surface.

Further, in the above-described embodiment, the traveling body 1 travels on the floor surface F. As shown in FIG. However, the traveling body 1 does not necessarily have to travel on the floor surface F, and may travel on the wall surface W or the ceiling surface, for example. When the traveling body 1 travels on the wall surface W, for example, the traveling device 20 travels on the wall surface W, and the guide sign S displayed on the floor surface F or the ceiling surface is converted into the captured image P captured by the imaging device 30. Based on this, the controller 10 may control the traveling device 20 . In this case, the "guide sign S displayed on the floor surface F or the ceiling surface" corresponds to the "guide sign S displayed on the surface". Further, when the traveling body 1 travels on the ceiling surface, for example, the travel device 20 travels on the ceiling surface, and the guide sign S displayed on the wall surface W is based on the captured image P captured by the imaging device 30. , the control unit 10 may control the traveling device 20 .

Further, in the above-described embodiment, the width SLW0 of the guide line SL is constant irrespective of the part, and the traveling body 1 travels while maintaining a constant separation distance L from the wall surface W on which the guide line SL is displayed. However, the width SLW0 of the guide line SL may vary depending on the part. In this case, by appropriately adjusting the width SLW0 of the guide line SL, it is possible to arbitrarily change the separation distance L between the running body 1 and the wall surface W without changing the setting of the running body 1 .

Further, in the above-described embodiment, the following processing may be executed in order to prevent the traveling body 1 from interfering with the wall surface W when the outer circumference control is performed. That is, when the control unit 10 detects the first marker SM1 when the wall surface W is curved in the direction opposite to the direction blocking the traveling direction D, the control unit 10 detects the wall surface W at the end of the curve. When the setting operation to change the traveling direction D to the direction along W2 is preset, the width SLW in the captured image P of the guide line SL at the protruding corner of the wall is detected, and based on the detected width SLW , while controlling the travel device 20 so that the separation distance L from the wall surface W does not become equal to or less than a predetermined value, the traveling direction D may be changed to the direction along the second curved wall surface W2. In addition, the "outer corner" is a boundary corner portion where the front wall surface W0 and the second front wall surface W2 are connected.

Also, in the above-described embodiment, the code SC is a static two-dimensional code. However, the code SC may not be a static two-dimensional code as long as it is a code that can be imaged by the imaging device 30 and provide information to the control unit 10 . For example, the code SC may be a dynamic two-dimensional code or a one-dimensional code (so-called bar code).

In addition, when capturing (obtaining) the captured image P, the imaging device 30 captures up to an area around the captured image P used for controlling the traveling device 20 (for example, an area in front of and adjacent to the captured image P). The image P may be captured at the same time. That is, the imaging device 30 is capable of wide-angle imaging, and only part of the entire image captured by the imaging device 30 may be used as the captured image P for controlling the traveling device 20 .

1 Traveling body 10 Control unit 20 Traveling device 30 Imaging device 40 Information output device 50 Operation receiving device 100 Traveling system D Traveling direction F Floor surface L Separation distance P Captured image S Guidance sign SC Code SCM Code marker SL Guidance line SLW Width SM Marker SM1 First marker SM2 Second marker W Wall surface (surface)
W1 1st bending front wall surface (first bending front surface)
W2 Second bending front wall surface (second bending front surface)

Claims (14)

a traveling device that travels;
an imaging device that captures an image in a direction that intersects the travel direction of the traveling device and acquires a captured image of a surface that extends along the travel direction;
a control unit that controls the traveling device based on the captured image acquired by the imaging device;
The control unit detects a width in the captured image of the guide line displayed on the surface along the traveling direction, and adjusts a separation distance from the surface based on the detected width. A running body that controls the running device. The traveling device travels on the floor,
2. The traveling body according to claim 1, wherein said imaging device captures an image of a wall surface, which is a side surface in said traveling direction, to acquire said captured image. The control unit detects the width of the guide line in the vertical direction in the captured image, and controls the traveling device so as to adjust the separation distance from the surface based on the detected width. The running body according to claim 1 or 2. 4. The controller according to any one of claims 1 to 3, wherein the controller adjusts the distance from the surface and controls the traveling device so that the width of the guide line in the captured image becomes a preset size. 1. The traveling body according to 1. The controller according to any one of claims 1 to 4, wherein when the first marker displayed on the surface is detected in the captured image, the controller controls the traveling device so as to perform a preset operation. The running body according to the item. When the first marker is detected when the surface is bent in a direction blocking the traveling direction, the control unit controls the traveling direction in a direction along a first bending front surface, which is the surface ahead of the bending, when the first marker is detected. When the setting operation for changing the direction is set in advance, the traveling direction is changed to the direction along the first curved front surface, and the direction displayed on the first curved front surface in the captured image is displayed. 6. The traveling body according to claim 5, which suppresses turning of the traveling direction when the second marker is detected. When the first marker is detected when the surface is bent in a direction opposite to the direction blocking the traveling direction, the control unit is configured to, when the surface is bent in a direction opposite to a direction blocking the direction of travel, a second curved front surface that is the curved front surface. 7. The traveling body according to claim 5, wherein when said setting operation to change said traveling direction to a direction is set in advance, said traveling direction is changed to a direction along said second bending front surface. The controller according to any one of claims 1 to 7, wherein when a code displayed on the surface is detected in the captured image, the control unit controls the traveling device so as to perform a specified action specified by the code. The running body according to the item. 9. The traveling body according to claim 8, wherein said code designates said designated motion depending on whether said code is moving forward or backward along said traveling direction when said code is detected by said control unit. Equipped with an information output device that outputs information as sound or image,
10. The moving body according to claim 8, wherein said control unit controls said information output device to output specified information specified by said code when said code is detected. 11. The control unit according to any one of claims 8 to 10, wherein when a code marker indicating that the code is displayed on the surface is detected in the captured image, the control unit controls the traveling device so as to reduce speed. 1. The traveling body according to 1. Equipped with an operation reception device that receives an operation by a user,
The traveling body according to any one of claims 1 to 11, wherein said control unit controls said traveling device based on said operation accepted by said operation accepting device. The guide line displayed on the surface,
a traveling body that travels along the guide line,
The running body is
a traveling device that travels;
an imaging device that captures an image in a direction that intersects the direction of travel of the traveling device and obtains a captured image of the surface that extends along the direction of travel;
a control unit that controls the traveling device based on the captured image acquired by the imaging device;
The control unit detects a width of the guide line displayed on the surface along the traveling direction in the captured image, and adjusts a separation distance from the surface based on the detected width. A travel system that controls the travel device. A traveling method for traveling a traveling device,
an imaging step of capturing an image in a direction intersecting with the direction of travel of the traveling device, and obtaining a captured image of a surface extending along the direction of travel;
a control step of controlling the traveling device based on the captured image acquired in the imaging step;
In the control step, a width in the captured image of the guide line displayed on the surface along the traveling direction is detected, and a separation distance from the surface is adjusted based on the detected width. A traveling method for controlling the traveling device.

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