JP3512099B2 - Position detecting system, position detecting device, position detecting method, robot device and control method therefor - Google Patents

Description

Detailed Description of the Invention

[0001]

[Table of Contents] The present invention will be described in the following order.

BACKGROUND OF THE INVENTION Technical Field of the Invention Means for Solving the Problems to be Solved by the Invention Embodiments of the Invention (1) First Example (1-1) Individual Identification System According to First Example 1 to 4) (1-2) Configuration of color extraction unit (FIGS. 1 to 6) (1-3) Operation and effect of first embodiment (FIGS. 1 to 4) (2) Second Embodiment (2-1) Overall Configuration of Individual Identification System According to Second Embodiment (FIGS. 1 to 12) (2-2) Operation and Effect of Second Embodiment (FIGS. 1 to 12) (3) Third Embodiment (3-1) Overall Configuration of Position Detection System According to Third Embodiment (FIGS. 13 to 15) (3-2) Operations and Effects of Third Embodiment (FIGS. 13 to 1)
5) (4) Fourth Embodiment (4-1) Principle (FIG. 16) (4-2) Overall Configuration of Position Detection System According to Fourth Embodiment (FIGS. 14, 17 and 18) (4-3) Operations and effects of the fourth embodiment (FIGS. 17 and 1)
8) (5) Fifth embodiment (5-1) Overall configuration of position detection system according to fifth embodiment (FIGS. 17, 19 to 21) (5-2) Operation and effect of fifth embodiment (FIG. 19 to 2
1) (6) Sixth embodiment (6-1) Overall configuration of position detection system according to sixth embodiment (FIGS. 19 and 22 to 24) (6-2) Operation and effect of sixth embodiment (FIG. 22 to 2
4) (7) Seventh embodiment (7-1) Overall configuration of position detection system according to seventh embodiment (FIGS. 14, 25 to 27) (7-2) Operation and effect of seventh embodiment (FIG. 7) 25 to FIG.
7) (8) Eighth Embodiment (8-1) Overall Configuration of Position Detection System According to Eighth Embodiment (FIGS. 17, 28 and 29) (8-2) Operation and Effect of Eighth Embodiment (FIG. 28 and FIG.
9) (9) Other Examples (FIGS. 1 to 36) Effects of the Invention

[0003]

TECHNICAL FIELD The present invention relates to a position detection system,
The present invention relates to a position detection device, a position detection method, a robot device, and a control method thereof, and is suitable for application to, for example, a position detection system and an autonomous mobile robot for detecting the position of an autonomous mobile robot.

[0004]

2. Description of the Related Art In recent years, as one of mobile robots, so-called autonomous movement has been adopted in which information about the surrounding environment is sequentially taken in and the user can decide his / her own behavior based on the obtained information and move. Research on type robots is ongoing.

[0005]

By the way, as a method for such a mobile robot to identify another mobile robot individual (for example, No. 1 machine, No. 2 machine, etc.), the radio waves are transmitted to each robot, A first method of generating a special signal for identification of infrared rays or sound waves, a second method of applying a predetermined color different from each other to each robot and identifying the robot based on the color, and a method of identifying each robot A third method in which a symbol for identification, a barcode, or the like is written on the surface can be considered.

However, in the first method, a special device for transmitting or receiving a signal is required, and the desired signal is transmitted due to the regulation by the radio regulations and the influence on other devices existing in the vicinity. There are problems that you may not be able to do.

In the second method, if only a very small number of robots are to be identified, there is no problem because it is sufficient to prepare colors that are easy to identify as many as the number of robots, but it is delicate to identify a large number of robots. However, there is a problem in that image processing becomes complicated and is easily affected by lighting conditions and the like.

Further, the third method has a problem that a symbol or the like may not be observed depending on the direction or posture of the robot.

On the other hand, as a method for enabling the mobile robot to detect its own position in the mobile area,
The first method is to write a mark such as a color pattern or a symbol on the floor of the moving area so that the robot can read these signs visually, and to use radio waves, infrared rays, or sound waves on the floor or the corners of the moving area. The second method of installing a transmitting device such as the above, and detecting the position based on the signal from the transmitting device, and the position at the time of starting the robot are given to the robot by some means, and the driving state of the moving means. A third method or the like is conceivable in which the moving distance and the moving direction are obtained from (for example, the number of rotations of the wheel) and the current position is detected by integrating the moving distance and the moving direction.

In this case, the first method is such that the camera installed in the robot is sometimes directed downward to image the floor surface,
Alternatively, it can be realized by separately preparing a camera for monitoring the floor surface.

However, if the first method is to be realized by the former method, while the robot is facing downward to detect its own position, it cannot fully overlook the surroundings and other robots. There is a risk of colliding with a moving body such as, and if the first method is to be realized by the latter method, a camera for floor surface monitoring is separately prepared.
There is a problem that the manufacturing cost becomes high, the weight of the robot increases, or the structure of the robot becomes complicated.

In the second method, when the transmitter is placed on the floor of the moving area, the transmitter itself becomes an obstacle to the robot's behavior.

Further, in the third method, there is a problem that the error of the measured current position becomes large due to the limit of the measuring accuracy of the moving distance and the moving direction of the robot. Especially when the robot moves a long distance while frequently changing its direction, errors accumulate and become large, and it becomes difficult to detect the current position correctly.

The present invention has been made in consideration of the above points, and a position detecting system, a position detecting device, a position detecting method, a robot device and their control capable of accurately detecting the position of a moving body or its own in a region. It is intended to propose a method.

[0015]

In order to solve such a problem, in the present invention, in a position detection system, a plurality of wall surfaces of different colors provided along the periphery of a predetermined area and moving within the area. And a color for detecting the relative position of the moving body with respect to the wall surface, based on the first image information output from the image pickup means and the image pickup means provided on the moving body. Movement within the area based on the relative position detection means, the detection results of the colors and the relative position detection means, and the map information of the area including the colors of all the wall surfaces and the positions of all the wall surfaces stored in advance Position detecting means for detecting the position of the body is provided, and each wall surface is colored so that the degree of color saturation changes in the longitudinal direction of the wall surface.
Based on the degree of saturation of the color of the wall surface in the image based on the image information, the distance from the one end of the wall surface in the direction parallel to the wall surface is detected as the relative position of the mobile object with respect to the wall surface. As a result, the position detection system can easily and reliably detect the position of the moving body within the area.

Further, in the present invention, in the position detecting system, a plurality of wall surfaces of different colors provided along the periphery of a predetermined area, and an image pickup means provided on a moving body moving in the area, First output from the imaging means
The color and relative position detecting means for detecting the color of the wall surface imaged by the image capturing means and the relative position of the moving body with respect to the wall surface, and the detection results of the color and relative position detecting means in advance, Position detection means for detecting the position of the moving body within the area based on the stored map information of the area including the colors of all the wall surfaces and the positions of all the wall surfaces is provided. A diagonal line is drawn so as to extend from one end to the other end in the longitudinal direction, and the color and relative position detecting means indicates that the portion above or below the diagonal line of the wall surface with respect to the height of the wall surface in the image based on the first image information. Based on the length ratio, as the relative position of the moving body to the wall surface,
The distance from the one end of the wall surface of the moving body in the direction parallel to the wall surface is detected. As a result, the position detection system can easily and reliably detect the position of the moving body within the area.

Further, according to the present invention, in the position detecting system, a plurality of wall surfaces of different colors provided along the periphery of a predetermined area, and an image pickup means provided on a moving body moving in the area, Color and relative position detection means for detecting the color of the wall surface imaged by the imaging means and the relative position of the moving body with respect to the wall surface based on the first image information output from the imaging means, and color and relative position detection Position detecting means for detecting the position of the moving body in the area based on each detection result of the means and the map information of the area including the colors of all the wall surfaces and the positions of all the wall surfaces stored in advance. Provided, and each wall surface has a diagonal line or an imaginary line extending from one end to the other end in the longitudinal direction of the wall face as a boundary, and the portions above and below the diagonal line or the imaginary line have the same hue and different degrees of saturation. The color and relative position detecting means is based on the ratio of the length of the upper or lower portion of the wall surface to the height of the wall surface in the image based on the first image information, As a relative position of the moving body with respect to the wall surface, the distance from the one end of the moving body in the direction parallel to the wall surface is detected. As a result, the position detection system can easily and reliably detect the position of the moving body within the area.

Further, according to the present invention, in the position detecting device, a corresponding predetermined one of a plurality of wall surfaces of different colors provided on a moving body moving in a predetermined area and provided along the periphery of the area. And a relative position for detecting the color of the wall surface imaged by the imaging means and the relative position of the moving body with respect to the wall surface based on the first image information output from the imaging means. The detection means, each detection result of the color and relative position detection means,
Position detection means for detecting the position of the moving body in the area based on the map information of the area including the colors of all the wall surfaces and the positions of all the wall surfaces stored in advance, and each wall surface is Coloring is performed so that the color saturation varies in the longitudinal direction of the wall surface, and the color / relative position detection means determines the moving body relative to the wall surface based on the color saturation of the wall surface in the image based on the first image information. As the relative position, the distance from the one end of the wall surface of the moving body in the direction parallel to the wall surface is detected. As a result, this position detection device can easily and reliably detect the position of the moving body within the area.

Further, according to the present invention, in the position detecting device, a corresponding predetermined one of a plurality of wall surfaces of different colors provided on the moving body which moves in a predetermined area and provided along the periphery of the area. Imaging means for imaging the wall surface;
Color and relative position detection means for detecting the color of the wall surface imaged by the imaging means and the relative position of the moving body with respect to the wall surface based on the first image information output from the imaging means, and color and relative position detection Position detecting means for detecting the position of the moving body in the area based on each detection result of the means and the map information of the area including the colors of all the wall surfaces and the positions of all the wall surfaces stored in advance. A diagonal line is provided on each wall face so as to extend from one end to the other end in the longitudinal direction of the wall face, and the color and relative position detection means sets the diagonal line of the wall face to the height of the wall face in the image based on the first image information. Based on the ratio of the length of the upper part or the lower part, the distance from the one end of the wall surface of the moving body in the direction parallel to the wall surface is detected as the relative position of the moving body with respect to the wall surface. As a result, this position detection device can easily and reliably detect the position of the moving body within the area.

Further, according to the present invention, in the position detecting device, a predetermined predetermined corresponding one of a plurality of wall surfaces of different colors provided on the moving body which moves in a predetermined area and is provided along the periphery of the area. Imaging means for imaging the wall surface;
Color and relative position detection means for detecting the color of the wall surface imaged by the imaging means and the relative position of the moving body with respect to the wall surface based on the first image information output from the imaging means, and color and relative position detection Position detecting means for detecting the position of the moving body in the area based on each detection result of the means and the map information of the area including the colors of all the wall surfaces and the positions of all the wall surfaces stored in advance. Provided, each wall is colored with a different hue and saturation with the same hue above and below the slanted line or virtual line, with the slanted line or virtual line extending from one end to the other end in the longitudinal direction of the wall face as a boundary. The color and relative position detecting means determines the wall surface based on the ratio of the length of the upper or lower portion of the wall surface to the height of the wall surface in the image based on the first image information. Against As the relative position of the moving body, and to detect the distance from one end of the wall surface of the moving body on the wall surface in a direction parallel. As a result, this position detection device can easily and reliably detect the position of the moving body within the area.

Further, according to the present invention, in the position detecting method, among the plurality of wall surfaces of different colors provided along the periphery of the area, the corresponding wall surface is imaged by the imaging means arranged on the moving body, A first step for detecting the color of the wall surface imaged by the imaging means and the relative position to the wall surface based on the obtained first image information;
Movement within the area based on the color of the wall surface detected in the first step and the relative position with respect to the wall surface, and the map information of the area including the colors of all the wall surfaces and the positions of all the wall surfaces stored in advance. A second step for detecting the position of the body is provided, and each wall surface is colored so that the saturation of the color changes in the longitudinal direction of the wall surface. In the first step, an image based on the first image information is provided. Based on the saturation of the color of the wall surface inside, the distance from one end of the wall surface to the moving body in the direction parallel to the wall surface is detected as the relative position of the moving body with respect to the wall surface. As a result, according to this position detection method, it is possible to easily and reliably detect the position of the moving body within the area.

Further, according to the present invention, in the position detecting method, among the plurality of wall surfaces of different colors provided along the periphery of the area, the corresponding wall surface is imaged by the imaging means arranged on the moving body. , A first step for detecting the color of the wall surface imaged by the image pickup means and the relative position to the wall surface based on the obtained first image information, and the color of the wall surface detected in the first step and the A second step for detecting the position of the moving body in the area based on the relative position with respect to the wall surface and the map information of the area including the colors of all the wall surfaces and the positions of all the wall surfaces stored in advance. A diagonal line is drawn on each wall surface so as to extend from one end to the other end in the longitudinal direction of the wall surface. In the first step, the height of the wall surface relative to the height of the wall surface in the image based on the first image information is written. Based on the ratio of length of the upper part or lower part than the line, as the relative position of the moving body with respect to the wall surface, and to detect the distance from one end of the wall surface of the moving body on the wall surface in a direction parallel. As a result, according to this position detection method, it is possible to easily and reliably detect the position of the moving body within the area.

Further, according to the present invention, in the position detecting method, among the plurality of wall surfaces of different colors provided along the periphery of the area, the corresponding wall surface is imaged by the imaging means arranged in the moving body, A first step for detecting the color of the wall surface imaged by the imaging means and the relative position to the wall surface based on the obtained first image information;
Movement within the area based on the color of the wall surface detected in the first step and the relative position with respect to the wall surface, and the map information of the area including the colors of all the wall surfaces and the positions of all the wall surfaces stored in advance. A second step for detecting the position of the body is provided, and each wall surface is a diagonal line or an imaginary line extending from one end to the other end of the wall face in the longitudinal direction. Are colored in the same hue and different in saturation, and in the first step, a portion above or below a diagonal line or an imaginary line of the wall surface with respect to the height of the wall surface in the image based on the first image information is Based on the length ratio, the relative position of the moving body to the wall surface is detected as the distance from the one end of the wall surface of the moving body in the direction parallel to the wall surface. As a result, according to this position detection method, it is possible to easily and reliably detect the position of the moving body within the area.

Further, according to the present invention, in the robot device, an image pickup means for picking up an image of a predetermined predetermined wall surface among a plurality of wall surfaces of different colors provided along the periphery of the area, and output from the image pickup means. Based on the first image information, the color and relative position detecting means for detecting the color of the wall surface imaged by the image capturing means and the relative position with respect to the wall surface, the respective detection results of the color and relative position detecting means, and stored in advance. Position detection means for detecting the position of the moving body in the area based on the map information of the area including the color of all the wall surfaces and the position of all the wall surfaces are provided, each wall surface,
Coloring is performed so that the color saturation varies in the longitudinal direction of the wall surface, and the color and relative position detection means determines the robot for the wall surface based on the color saturation of the wall surface in the image based on the first image information. As the relative position of the device,
The distance from the one end of the wall surface of the robot device in the direction parallel to the wall surface is detected. As a result, the robot apparatus can easily and reliably detect the position of the moving body within the area.

Further, in the present invention, in the robot device, an image pickup means for picking up an image of a predetermined predetermined wall surface among a plurality of wall surfaces of different colors provided along the periphery of the area, and the image output means outputs the image. Based on the first image information, the color and relative position detecting means for detecting the color of the wall surface imaged by the image capturing means and the relative position with respect to the wall surface, the respective detection results of the color and relative position detecting means, and stored in advance. Position detection means for detecting the position of the moving body in the area based on the map information of the area including the color of each wall surface and the position of each wall surface are provided, each wall surface,
A diagonal line is drawn from one end to the other end in the longitudinal direction of the wall surface, and the color and relative position detecting means is located above or below the diagonal line of the wall surface with respect to the height of the wall surface in the image based on the first image information. Based on the ratio of the lengths of the portions, the distance from the one end of the wall surface of the robot device in the direction parallel to the wall surface is detected as the relative position of the robot device with respect to the wall surface. As a result, the robot apparatus can easily and reliably detect the position of the moving body within the area.

Further, in the present invention, in the control method of the robot apparatus, among the plurality of wall surfaces of different colors provided along the periphery of the area, the corresponding wall surface is imaged by the imaging means arranged in the robot apparatus. The first step for detecting the color of the wall surface imaged by the imaging means and the relative position with respect to the wall surface based on the first image information obtained by the above, and the color of the wall surface detected in the first step. And a second step for detecting the position of the robot device in the area based on the relative position with respect to the wall surface and the map information of the area including the colors of all the wall surfaces and the positions of all the wall surfaces stored in advance. And, based on the detection result, the robot device controls the action of the robot device so that the robot device autonomously takes action according to the surrounding situation.
And each wall is colored so that the saturation of the color changes in the longitudinal direction of the wall, and in the first step, the saturation of the color of the wall in the image based on the first image information is provided. Based on the above, the distance from one end of the wall surface to the robot device in the direction parallel to the wall surface is detected as the relative position of the robot device with respect to the wall surface. As a result, according to this control method for the robot apparatus, the position of the moving body in the area can be detected easily and reliably.

Further, according to the present invention, in the control method of the robot apparatus, among the plurality of wall surfaces of different colors provided along the periphery of the area, the corresponding wall surface is imaged by the image pickup means arranged in the robot apparatus. The first step for detecting the color of the wall surface imaged by the imaging means and the relative position with respect to the wall surface based on the first image information obtained by the above, and the color of the wall surface detected in the first step. And a second step for detecting the position of the robot device in the area based on the relative position with respect to the wall surface and the map information of the area including the colors of all the wall surfaces and the positions of all the wall surfaces stored in advance. And, based on the detection result, the robot device controls the action of the robot device so that the robot device autonomously takes action according to the surrounding situation.
And a diagonal line is drawn on each wall surface from one end to the other end in the longitudinal direction of the wall surface. In the first step, the height of the wall surface in the image based on the first image information is compared. As a relative position of the robot device with respect to the wall surface, based on the ratio of the length of the upper part or the lower part of the wall surface, the distance from the one end of the wall surface of the robot device in the direction parallel to the wall surface is detected. .
As a result, according to this control method for the robot apparatus, the position of the moving body in the area can be detected easily and reliably.

Further, in the present invention, in the control method of the robot apparatus, among the plurality of wall surfaces of different colors provided along the periphery of the area, the corresponding wall surface is imaged by the imaging means arranged in the robot apparatus. The first step for detecting the color of the wall surface imaged by the imaging means and the relative position with respect to the wall surface based on the first image information obtained by the above, and the color of the wall surface detected in the first step. And a second step for detecting the position of the robot device in the area based on the relative position with respect to the wall surface and the map information of the area including the colors of all the wall surfaces and the positions of all the wall surfaces stored in advance. And, based on the detection result, the robot device controls the action of the robot device so that the robot device autonomously takes action according to the surrounding situation.
Is provided, and each wall surface has a diagonal line or an imaginary line extending from one end to the other end in the longitudinal direction of the wall face as a boundary. Colored in different colors, in the first step, based on the ratio of the length of the portion above or below the oblique line or virtual line of the wall surface to the height of the wall surface in the image based on the first image information, As the relative position of the robot device with respect to the wall surface, the distance from one end of the wall surface of the robot device in the direction parallel to the wall surface is detected. As a result, according to this control method for the robot apparatus, the position of the moving body in the area can be detected easily and reliably.

[0029]

[0030]

[0031]

[0032]

[0033]

[0034]

[0035]

[0036]

[0037]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described in detail below with reference to the drawings.

(1) First Embodiment (1-1) Overall Configuration of Individual Identification System According to First Embodiment In FIG. 1, reference numeral 1 indicates an individual identification system to which the present invention is applied as a whole, within a predetermined area 2. Multiple robots in 3
A to 3C are arranged. In the following description, it is assumed that the region 2 has a flat rectangular shape, the direction parallel to one predetermined side is the X direction (arrow x), and the direction perpendicular to this is the Y direction (arrow y) and the region 2. The vertical direction is the Z direction (arrow z).

In each of the robots 3A to 3C, as shown in FIG. 2, the neck portion 11 is provided at the front end of the upper surface of the body portion 10, respectively.
The head 12 is disposed through the upper and lower parts, and the thighs 13 and the shins 14 are provided at the four corners of the lower surface of the body 10 in the front, rear, left and right, respectively.
Right front leg 15A, left front leg 15B, right rear leg 1
5C and the left rear leg portion 15D (hereinafter, these are collectively referred to as the leg portions 15A to 15D) are arranged.

In this case, a camera 16 is attached to the head 12, a microphone 17 (FIG. 3) is attached to a predetermined position of the head 12, and the head 12, the body portion 10 and each leg portion 15A. A plurality of contact sensors 18A to 18Z (Fig. 3) are attached to the surfaces of 15D to 15D, respectively.

Further, a control unit 19 (FIG. 3) is provided in the body portion 10, and the control unit 19 receives the image signal S1 supplied from the camera 16 and the microphone 17 as shown in FIG. The surrounding state is recognized based on the supplied voice signal S2 and the sensor signals S3A to S3Z respectively supplied from the contact sensors 18A to 18Z, and based on the recognition result, each constituent unit (head 12, neck 11, body). Actuator 21 in each joint 20A to 20J (FIG. 2) that connects the portion 10, each thigh 13 and each shin 14).
Each of A to 21J is driven as required.

As a result, in each of the robots 3A to 3C, each constituent unit can be freely driven under the control of the control unit 19, and thus, an action corresponding to the surrounding environment can be autonomously taken. It is made possible.

In addition to this configuration, this individual identification system 1
In this case, as is apparent from FIG. 2A, the rear end of the upper surface of the body portion 10 of each of the robots 3A to 3C is color-coded in a different pattern for each of the robots 3A to 3C via the support rod 22. A spherical identification body 23 is attached.

As shown in FIG. 2B, each discriminator 23 has three predetermined colors on the surface of the sphere, each of which has a predetermined three colors in a direction perpendicular to the moving direction of the robots 3A to 3C (that is, Z). Direction) and are applied in a strip shape.

Further, the control unit 19 of each of the robots 3A to 3C
An individual identification unit 30 as shown in FIG. 4 is provided in (FIG. 3) in order to identify the individuals of the other robots 3A to 3C moving in the area 2 based on the identification body 23.

That is, in the individual identifying unit 30, the same number of color extracting units 3 (for example, 16) as the colors used for identification are used.
The image signal S1 having 1A to 31U and supplied from the camera 16 is input to each of the color extracting units 31A to 31U.

Each color extraction unit 31 extracts a pixel of a predetermined color from the image based on the image signal S1, the portion corresponding to the pixel rises to the logic "1" level, and the portion corresponding to the other pixels. Sends the color extraction signals S10A to S10U falling to the logic "0" level to the color pattern detection unit 32, respectively. Each color extraction unit 31A-
The unit 31U extracts pixels of different colors from the plurality of colors used for identification.

The color pattern detecting section 32 includes a color extracting section 31 for each color.
Each color extraction signal S10 respectively supplied from A to 31U
By overlapping and scanning the images obtained based on A to S10U, a portion where the colors in the image are arranged in three colors in a substantially circular shape in the Z direction is detected, and this is determined to be the identifying body 23, and The color pattern of the identifier 23, the position in the image, and the diameter in units of pixels are sent to the comparison / calculation unit 33 as the identifier information signal S11.

The comparison / calculation unit 33 determines the color pattern of the imaged identifier 23 obtained based on the supplied identifier information signal S11 and the color of each identifier 23 stored in advance in the first memory 34. The identification body 2 imaged by the camera 16 based on the pattern and the table relating to the ID thereof.
3 IDs (ie, individuals of robots 3A to 3C) are detected.

Further, the comparing / calculating section 33 detects the imaged identifier 2 obtained based on the supplied identifier information signal S11.
The diameter (Dpic) in pixels of the image of 3 and the second
Reference value (camera 1
6 and the identifier 2 when the identifier 23 is 1 [m] apart
Based on the diameter (Dstd) in units of 3 pixels,

[0051]

[Equation 1]

The identifier 2 is obtained by executing the operation of
The distance L1 to 3 is calculated.

Further, the comparison / calculation unit 33 detects the ID of the discriminator 23, the distance L1 to the discriminator 23 obtained by the calculation of the equation (1), and the image obtained based on the discriminant information signal S11. The position of the discriminator 23 in the inside is sent as a discriminant detection signal S12 to the highest CPU 36 which controls the behavior of the entire robot 3A to 3C.

In this way, in the robots 3A to 3C, the CPU 36 can recognize the positions of the other robots 3A to 3C based on the identification object detection signal S12, and thus the surrounding situation based on the recognition result. It is designed to be able to take actions according to.

(1-2) Structure of Color Extraction Unit Generally, each color in the image based on the image signal has two color difference signals (RY, B- included in the image signal).
Y), the signal level U of the first color difference signal
On the axis, the signal level V of the other second color difference signal can be represented as a point on the UV plane along the Y axis. However, even with the same color, the position on the UV plane will change slightly depending on the lighting conditions.

Therefore, as shown in FIG. 5, considering a rectangular area 40 in the UV plane, when the first and second color difference levels U and V of the pixel enter the area 40, the pixel is to be extracted. Luminance level Y of the pixel in order to determine that the color is a certain color and to respond to changes in lighting conditions and the like.
Thus, by moving the area 40, it is possible to accurately extract the pixel of the corresponding color in the image based on the image signal.

In this case, to specify the area 40, the first
And the upper limit values a ₁ and b ₁ and the lower limit values a ₂ and b ₂ of the second color difference levels U and V may be determined according to the color to be extracted,
In order to move the area 40 according to the brightness level Y, the upper limit values a ₁ and b ₁ and the lower limit values a ₂ and b ₂ of the first and second color difference levels U and V are respectively set in advance for each brightness level Y. A table is created by calculating and determining, and based on the table and the brightness level Y of the actual pixel, the upper and lower limits a ₁ and b ₁ and the lower limit a _{2 of} the first and second color difference levels U and V,
It suffices to change b ₂ .

In consideration of the above points, each of the robots 3A to 3C
The color extracting units 31A to 31U of the individual identifying unit 30 of FIG.
It is configured as shown in.

That is, in the color extraction units 31A to 31U, the image signal S1 supplied from the camera 16 is input to the separation circuit 41, and the separation circuit 41 concerned outputs the image signal S1.
Luminance signal S20 and two color difference signals (RY, B-
Y) Separate into S21A and S21B.

In this case, the luminance signal S20 is sequentially converted into the luminance data D1 corresponding to each pixel by being sampled in the analog / digital conversion circuit 42 at a predetermined first cycle, and then the first to the first. 4 memories 44A to 44D.

Further, one of the two color difference signals S21A and S21B, the first color difference signal S21A is sampled at the above-described first period in the analog / digital conversion circuit 43A, and thus the first color difference signal S21A corresponding to each pixel is obtained. One color difference data D2A is sequentially converted and then supplied to the first and second comparison circuits 45A and 45B, and the other second color difference signal S21B is supplied to the analog / digital conversion circuit 43B. The second color difference data D2B corresponding to each pixel is sequentially converted by being sampled in a cycle, and then supplied to the third and fourth comparison circuits 45C and 45D.

At this time, the first and second memories 44A, 4
4B, the value of the first color difference data D2A (that is, the first color difference data D2A for each value of the luminance data D1 of the pixel (that is, the luminance level Y) is associated with the color to be extracted by the color extracting units 31A to 31U. The upper limit value a ₁ or the lower limit value a _{2 of the} color difference level U) is stored as a table, and second color difference data for each value of the luminance data D1 of the pixel is stored in the third and fourth memories 44C and 44D. The upper limit value b ₁ or the lower limit value b ₂ of the value of D2B (that is, the second color difference level V) is stored as a table. Note that these upper limit values a
₁ and b ₁ and the lower limit values a ₂ and b ₂ are the brightness level Y of the pixel.
Address as an address bus 46 and data bus 47
Is set by the highest CPU 36 described above.

The first to fourth memories 44A to 44D are also provided.
Is configured to output a corresponding set value from a table stored in advance using the value of the brightness data D1 respectively supplied as an address.

Thus, in the color extracting units 31A to 31U, the upper limit value a of the preset first color difference level a corresponding to the value of the luminance data D1 is set for each pixel from the first and second memories 44A to 44D. ₁ or the lower limit value a ₂ is output, and the upper limit value b _{1 of} the preset second color difference level corresponding to the value of the luminance data D1 is set for each pixel from the third and fourth memories 44C and 44D. And the lower limit value b ₂
Are supplied to the corresponding first to fourth comparison circuits 45A to 45D.

In the first to fourth comparison circuits 45A to 45D, the outputs of the corresponding first to third or fourth memories 44A to 44D and the first to pixel sequentially supplied to each pixel.
Alternatively, the values of the second color difference data D2A and D2B are sequentially compared, and the comparison result is sent to the determination circuit 48 in sequence.

The determination circuit 48 has, for example, an AND circuit configuration, and the pixel thereof is based on the output of each of the first to fourth comparison circuits 45A to 45D.
Whether it is within the area 40 (FIG. 5) determined by the upper limit values a ₁ and b ₁ or the lower limit values a ₂ and b ₂ of the first or second color difference levels U and V respectively stored in D Whether or not it is "1" is stored in the frame memory 49, and "0" is stored in the frame memory 49 at a position corresponding to the pixel.

Thus, the frame memory 49 outputs the color extraction signals S10A to S10U in which only the portions corresponding to the pixels of the colors to be extracted by the color extraction units 31A to 31U are raised to the logic "1" level. .

In this way, the color extracting units 31A to 31U
Is adapted to extract pixels of the corresponding color from the image based on the image signal S1, and the color extraction signals S10A to S10U thus obtained are sent to the color pattern detection unit 32 (FIG. 4) as described above. It is designed to do.

(1-3) Operation and effects of the first embodiment With the above configuration, in the case of this individual identification system 1,
Each of the robots 3A to 3C includes a color pattern of the identification body 23 imaged by the camera 16, a position in the image based on the image signal S1 supplied from the camera 16, and a diameter in units of pixels as the individual identification unit 30. The color patterns of the identification bodies 23 detected by the color extraction units 31A to 31U and the color pattern detection unit 32, the color patterns of the identification bodies 23 stored in the first memory 34, and the IDs thereof. The ID of the discriminator 23 (individuals of the robots 3A to 3C) picked up based on the table is detected, the diameter of the discriminator 23 detected by the color pattern detection unit 32 as a unit, and the second memory 35. The distance L1 to the discriminant 23 is calculated based on the reference value stored in the ID, the detected ID of the discriminator 23, the distance L1 to the discriminator 23, and As the uppermost governs the position and the behavior of the robot 3A~3C respective identification member 23 C to definitive
It is sent to the PU 36.

Therefore, in this individual identification system 1, the individual CPUs of the other robots 3A to 3C around which the highest CPUs of the robots 3A to 3C are respectively located, and the distances L1 and directions to the robots 3A to 3C. Can be accurately recognized.

Further, in this individual identification system 1, since the identification bodies 23 of the respective robots 3A to 3C can be produced by coloring a thing such as a ping-pong ball, it can be constructed at an extremely low cost. it can.

Further, in this individual identification system 1, since each robot 3A to 3C does not use a special signal as a means for identifying the individual of the other robots 3A to 3C, it adversely affects the peripheral equipment. Or be regulated under the Radio Law.

Further, in the individual identifying system 1, the identifying body 23 is spherical as described above, and a plurality of identifying colors are applied in a strip shape in the direction perpendicular to the moving directions of the robots 3A to 3C, so that the robot is formed. Area 2 where 3A to 3C move
As long as it is substantially flat, the discriminator 23 can be seen to have the same shape and the same color pattern when viewed from any direction.
Individuals of ~ 3C can be easily and reliably identified.

Further, in this individual identification system 1, since the identification bodies 23 of the respective robots 3A to 3C are configured such that the surface is painted in a plurality of colors instead of a single color, a large number of robots can be selected depending on the combination of colors. 3A to 3C can be identified. In this case, it is possible to increase the number of combinations even if only the colors with largely different hues such as primary colors are used as the identification colors, so the lighting conditions are affected more than when individual identification is performed due to the subtle color differences. There is an advantage that is hard to receive.

According to the above configuration, each of the robots 3A-3
While the identification bodies 23 having different color patterns are attached to C, in each of the robots 3A to 3C, the color pattern of the identification body 23 imaged by the camera 16 and the image based on the image signal S1 supplied from the camera 16 The position and the diameter at, respectively, and the detection result,
The ID of the imaged identification body 23 is detected based on the color pattern of each identification body 23 stored in advance in the first memory 34 and a table relating to the ID, and the detected image signal S1 is detected in the image. The diameter of the identification body 23 of
Since the distance L1 to the discriminator 23 is calculated based on the reference value stored in the second memory 35, each of the robots 3A to 3C facilitates the individual of the other robots 3A to 3C. In addition, it is possible to surely identify, and thus it is possible to realize an individual identification system and a robot having a simple configuration capable of reliably recognizing the individuals of the robots 3A to 3C.

(2) Second Embodiment (2-1) Overall Configuration of Individual Identification System According to Second Embodiment FIGS. 7 and 8 show an individual identification system 5 according to the second embodiment.
0, and as shown in FIG. 9 in which parts corresponding to those in FIG.
Identification seals 52 are attached to the upper surfaces of the C body portions 10, respectively.

In this case, as shown in FIG. 10, the identification seal 52 of each of the robots 51A to 51C has a predetermined number (for example, 6) of strip-shaped regions 52A whose surfaces are successively adjacent to each other.
To 52F, and each of these strip-shaped regions 52A to 52F.
Are colored with any one of a plurality of colors selected for identification. The combination (color pattern) of colors for coloring the strip-shaped areas 52A to 52F on the surface of the identification sticker 52 is the identification sticker 52.
A different pattern is selected for each, and thus the robots 51A ...
51C individuals can be identified.

On the other hand, as is clear from FIGS. 7 and 8,
A camera 53 is arranged above the area 2 so that the entire area 2 can be photographed within one screen.
The image signal S30 output from is supplied to the individual identification unit 54 provided outside the area 2.

In this case, in the individual identifying section 54, as shown in FIG. 11 in which parts corresponding to those in FIG. 4 are assigned the same reference numerals, a number (16 colors) corresponding to the number of colors for identification. Of the color extracting units 31A to 31U.
Color extraction signals S10A respectively output from A to 31U
~ S10U are sent to the color pattern detection unit 55, respectively.

The color pattern detection unit 55 scans the images based on the supplied color extraction signals S10A to S10U by superimposing them on each other to scan a portion where a predetermined number of colors for identification are arranged in strips in the image. It is detected and that portion is determined as the identification sticker 52 of the robot 51A to 51C, and the color pattern of the identification sticker 52 and the position in the image in units of pixels are used as the identification sticker detection signal S31.
Is sent to the comparison / calculation unit 56. In this case, the identification stickers 52 are detected by the number of the robots 51A to 51C located in the area 2, and the color patterns of the identification stickers 52 and the positions in the image are sent to the comparison / calculation unit 56, respectively.

The comparison / calculation unit 56 determines the color pattern of each identification sticker 52 obtained based on the supplied identification sticker detection signal S31, the color pattern of each identification sticker 52 stored in the memory 57 in advance, and its ID. The ID of each identification seal 52 in the image based on the image signal S30 from the camera 53 (that is, the individual individual robots 51A to 51C) is detected based on the table of FIG. The position information in the area 2 is sent to the transmitter 58 as a robot position detection signal S32.
Each robot 51A to 51C moving in the area 2 via
To the radio wave.

In each of the robots 51A to 51C, as shown in FIG. 12 in which the parts corresponding to those in FIG. 3 are assigned the same reference numerals, the radio waves transmitted from the transmitter 58 of the individual identifying section 54 are received via the antenna 60. The ID of each identification seal 52 received by the unit 61 (that is, each robot 51
The individual information items A to 51C) and their position information in the area 2 are sent to the control unit 62 as a reception signal S33.

At this time, the control section 62 is supplied with the image signal 1 from the camera 16 and the audio signal S2 from the microphone 17, and the contact sensors 18A to 18A-1.
The sensor signals S3A to S3Z are supplied from 8Z.

Thus, the control unit 62, based on the supplied image signal S1, audio signal S2, sensor signals S3A to 3Z and received signal S33, the surrounding environment and the robots 51A to 51A including itself in the area 2. The position of 51C can be recognized, the action can be determined by itself based on the recognition result, and the corresponding actuators 21A to 21A-2 can be determined based on the determination result.
Drive 1J.

In this way, each of the robots 51A to 51C is
Recognizes the surrounding environment and the positions of all the robots 51A to 51C including the one moving in the area 2 and can act autonomously based on the recognition result.

(2-2) Operation and effects of the second embodiment With the above configuration, in the individual identification system 50,
The entire area 2 is imaged from above by a camera 53, and based on the obtained image signal S30, an individual identification unit 54 disposed outside the area 2 detects each identification seal 52 in the image based on the image signal S30. The position of each color extraction unit 31A-3
1U and the color pattern detection unit 55 detects, and from the detection result and the color pattern information of each identification label 52 stored in the memory 57, each identification label 52 in the image.
Position and ID are detected, and the detection result is transmitted to each of the robots 51A to 51C in the area 2 via the transmission unit 58.

On the other hand, in each of the robots 51A to 51C, each of the robots 51A to 51C transmitted from the individual identifying section 54.
The position information in the area 2 of 51C, the image signal S1 supplied from the camera 16, the audio signal S2 supplied from the mylophone 17, and the sensor signals S3A to S3Z supplied from the contact sensors 18A to 18Z, respectively. Based on the surrounding conditions and the positions of the robots 51A to 51C, the robot autonomously acts based on the recognition result.

Therefore, in this individual identification system 50, each of the robots 51A to 51C can surely recognize the absolute positions of the other robots 51A to 51C in the area 2 and itself.

Further, in the individual identification system 50, as a treatment for each of the robots 51A to 51C, it is sufficient to dispose the antenna 60 and the receiving section 61 and attach the identification seal 52, respectively.
To 51C, each of the robots 3A to 3C of the first embodiment.
This can be simplified compared to (FIG. 2 (A)).
Also, the system as a whole requires a camera 53 and an individual identification unit 54 for picking up an image of the entire area 2. However, since this may be one set regardless of the number of robots 51A to 51C, compared to the first embodiment. The configuration can be simplified.

Further, in the individual identification system 50, the surface of the identification sticker 52 is painted in a plurality of colors instead of a single color, so that a large number of robots 51A to 51C can be easily identified by the combination of colors. Can be In this case, as a color for identification, even if a color such as a primary color that greatly differs in hue is used, the number of combinations can be increased, so compared to the case of performing individual identification from a subtle color difference using a single color. Therefore, there is an advantage that it is not easily affected by lighting conditions.

Further, in the individual identifying system 50, the IDs and positions of the robots 51A to 51C in the area 2 can be intensively recognized by the individual identifying unit 54, and therefore, by storing them. Each robot 51A
Each robot 51A to 51C as a record of the actions of
It can be used for evaluation and improvement of the programs that control each.

Further, since the individual identification system 50 does not utilize the sights of the robots 51A to 51C,
There is also an advantage that it can be applied even when the visual processing capability of each of the robots 51A to 51C is low, or when each of the robots 51A to 51C has no visual sense.

According to the above configuration, the robots 51A-5
The whole action area 2 of 1C is imaged from above by the camera 53, the position of each identification seal 52 in the image based on the obtained image signal S30 is detected, and the detection result and each stored in the memory 57 are detected. The ID and position of each identification sticker 52 in the image are detected from the color pattern information of the identification sticker 52, and the detection result is used for each robot 51A in the area 2.
.. to 51C, the absolute positions of the robots 51A to 51C moving in the area 2 can be accurately detected, and thus the robots 51A to 51C in the action area 2 can be reliably detected. It is possible to realize an individual identification system and a robot having a simple configuration that can be identified.

(3) Third Embodiment (3-1) Overall Configuration of Position Detection System According to Third Embodiment FIG. 13 in which parts corresponding to those in FIG.
Shows a position detection system 70 to which the present invention is applied, and a wall 72 having a predetermined height is provided along the periphery of the action area 2 of the robot 71.

In this case, the inner wall surface 72A of the wall 72 is the area 2
Different colors are applied to the wall surfaces 72AA to 72AD along the respective sides, and which wall surface 72AA to 72AD is based on the applied color.
.About.72AD can be easily discriminated.

On the other hand, the robot 71 is shown in FIG. 15 in place of the individual identification unit 30 (FIG. 4) in the control unit 19 (FIG. 3) of the robots 3A to 3C (FIGS. 2A and 3) of the first embodiment. First, except that a wall identification portion 80 as shown in FIG.
It is constructed similarly to the robots 3A to 3C of the embodiment.

In this case, the wall identifying section 80 is provided with the color extracting sections 31A to 31D as many as the number of wall surfaces 72AA to 72AD along each side of the area 2 (four surfaces), and the camera 16 is provided.
The image signal S1 supplied from the color extraction units 31A to 31
It is designed to input to D respectively.

As a result, from each of the color extracting units 31A to 31D, the portion corresponding to the pixel of the corresponding color among the pixels in the image based on the image signal S1 rises to the logic "1" level and the pixels of the other colors are displayed. The color extraction signals S10A to S1 in which the portion corresponding to
0D is output and supplied to the wall detection unit 81. In addition, each of the color extraction units 31A to 31D includes each of the wall surfaces 72A.
Only one color different from each other is extracted from the plurality of colors for identification applied to A to 72AD.

The wall detecting section 81 has the color extracting sections 31A to 31A.
Color extraction signals S10A to S10 respectively supplied from D
By overlapping and scanning the images based on D, a substantially horizontal elongated area of the same color is formed on one of the wall surfaces 72AA to 72AA.
The wall surface 72AA-72A is judged as 72AD
The color applied to D is detected, and the heights of the wall surfaces 72AA to 72AD in the image based on the image signal S1 are detected in units of pixels.
The colors of A to 72AD and the height in the image are sent to the comparison / calculation unit 82 as a wall detection signal S40.

The comparison / calculation unit 82 calculates the colors of the wall surfaces 72AA to 72AD obtained based on the wall detection signal S40 and the wall surfaces 72AA stored in advance in the first memory 83.
The IDs of the wall surfaces 72AA to 72AD are searched based on the respective colors of .about.72AD and the table relating to the IDs.

Further, the comparison / calculation unit 82 uses the wall detection signal S4.
The height (Hpic) in the image of the wall surfaces 72AA to 72AD obtained based on 0 and the reference value (the robot 71 is the wall surface 72) stored in advance in the second memory 84.
Based on the height of each wall surface 72AA to 72AD in the image at a distance of 1 [m] from AA to 72AD (Hstd),

[0102]

[Equation 2]

The distance L2 from the camera 16 to the wall surfaces 72AA to 72AD of the camera 16 is calculated by executing.

Further, in the comparison / calculation unit 82, the wall surface of the camera 16 (hereinafter referred to as the first wall surface) 72
The second wall surfaces 72AA to 72AD are directed to the wall surfaces 72A to 72AD different from AA to 72AD (hereinafter, referred to as second wall surfaces) and then the same processing is performed.
And the distance L3 from the second wall surface 72AA to 72AD.

Further, thereafter, the comparison / arithmetic unit 82 uses the I of the first wall surfaces 72AA to 72AD obtained as described above.
D and the distance L to the first wall surfaces 72AA to 72AD
2, the IDs of the second wall surfaces 72AA to 72AD and the distance L3 to the second wall surfaces 72AA to 72AD, and the wall surfaces 72AA along each side of the area 2 stored in advance in the third memory 85. Based on the map information of the area 2 including the positions of 72 AD to 72 AD, the own position in the area 2 is detected, and this is used as the position detection signal S41.
Is sent to the highest CPU 36 which controls the behavior of

Thus, in this robot 71,
The CPU 36 can recognize its own position in the area 2 based on the position detection signal S41, and can autonomously take an action according to the surrounding situation based on the recognition result.

(3-2) Operation and effects of the third embodiment With the above configuration, in the position detecting system 70,
The image signal S1 output from the camera 16 by the robot 71
Based on the first and second wall surfaces 72AA-72
The color applied to AD and the heights Hpic of the first and second wall surfaces 72AA to 72AD in the image based on the image signal S1 are detected, and the detection result and the first memory 83 are detected.
On the basis of the colors and the IDs of the wall surfaces 72AA to 72AD stored in advance, the reference value Hstd stored in the second memory 84 in advance, and the map information stored in the third memory 85 in advance. Detects its own position in the area 2.

Therefore, in this position detecting system 70, 2
The colors of the two wall surfaces 72AA to 72AD and these wall surfaces 72A
Robot 7 from height Hpic in the image of A to 72AD
1 can easily and accurately recognize its own position in the area 2.

Further, in this position detection system 70, the wall surfaces 72AA to 72AD arranged along the respective sides of the area 2 are arranged.
Since it is only necessary to apply different colors to each, it is possible to construct a system extremely easily.

Further, since the position detecting system 70 does not use a method of transmitting a special signal such as a radio wave, the position detecting system 70 can be used without considering the influence on the peripheral equipment and the radio wave regulations, and the area can be used. Since it is not necessary to install a signal generator on the floor of No. 2, there is no risk of obstructing the movement of the robot 71.

Further, in this position detecting system 70, since the system is not a system in which symbols, signs, etc. are written on the floor of the action area 2 of the robot 71, the floor can be painted for other purposes.

Further, in this position detecting system 70, the camera 16 of the robot 71 is oriented substantially horizontally so that the front wall surfaces 72AA to 7A of the robot 71 are moved.
Since 2AD can be imaged by the camera 16,
It is not necessary for the robot 71 to point the camera 16 in a predetermined direction in order to detect its own position in the area 2, and it is possible to detect its own position in the area 2 while capturing another robot 71 with the camera 16. There are also advantages.

According to the above configuration, the wall surfaces 72AA to 72AD are provided along the respective sides of the action area 2 of the robot 71.
While applying different colors to the respective wall surfaces 72AA to 72AD, the robot 71 uses at least two wall surfaces 72A imaged by the camera 16 based on the image signal S1 output from the camera 16.
The colors of A to 72AD and the heights Hpic of the wall surfaces 72AA to 72AD in the image based on the image signal S1 are respectively detected, and the detection result and the wall surfaces 72AA stored in advance in the first memory 83. ~ 72AD identification color and its ID
And the reference value Hstd stored in advance in the second memory 84.
By detecting the position of itself in the area 2 based on the map information of the area 2 stored in advance in the third memory 85, the robot 71 can accurately determine its position in the area 2. Therefore, it is possible to realize a position detection system and a robot which can detect the position well and can accurately detect the position of oneself in the area 2.

(4) Fourth Embodiment (4-1) Principle Generally, a color can be expressed by using three attributes of hue (Hue), saturation (Saturation) and lightness (Intensity).

In this case, the relationship among the hue, the saturation (also called the saturation) and the lightness is as shown in FIGS. 16A and 16B when the origin O is an arbitrary point on the plane. , Hue is the angle around the origin O in this plane, and saturation is the distance from the origin O in this plane,
In addition, the brightness can be represented by polar coordinates with the distance from the origin O in the direction perpendicular to this plane. Note that FIG.
The vertices of the hexagon shown in (B) are R (red),
It corresponds to Y (yellow), G (green), C (cyan), B (blue) and M (magenta).

By the way, an object (identifier 23 in the first embodiment, identification mark 52 in the second embodiment, and wall surface 72 in the third embodiment) as in the first to third embodiments, for example.
In a system for identifying an object based on the difference in the colors applied to AA to 72AD), the appearance of the color changes depending on the illumination conditions, the direction in which the object is viewed, and the like even with the same color. For this reason, for example, in the first to third embodiments, the change is dealt with by giving the condition for distinguishing the color a range.

However, even if such a measure is taken, depending on how to select colors to paint the object differently, when a lighting condition or the like changes, the appearance of one color visually recognized by the robot is different from that of another color. There is a possibility that it will be recognized as a different color if it falls within the judgment condition, and as a result, the object painted in that color cannot be correctly identified.

As one of the methods for preventing such a situation, for example, as a combination of colors used for identification, colors separated from each other in a predetermined color space are used in advance. The format of the output image signal may be converted into the format of the color space for color identification.

That is, as the identification color, for example, a color is a hue,
A color space expressed using three attributes of saturation and lightness (hereinafter,
This is called the HSI space), and a plurality of colors whose hues are separated by a predetermined angle (for example, 60 [°]) or more are selected, and the image format of the image signal output from the camera inside the robot is set to the hue (H) , The saturation (S) and the brightness (I) are converted into a format (hereinafter referred to as an HSI format), and the color is identified from the hue based on the image signal thus obtained. It is considered that it is possible to make it less likely to be affected by changes in lighting conditions, etc., and to avoid erroneous determination of color identification efficiently.

(4-2) Configuration of Position Detection System According to Fourth Embodiment FIG. 17 in which parts corresponding to those in FIG.
It shows the position detection system 90 according to the fourth embodiment, in which the region 2 and the wall surfaces 72AA to 72AD of the wall 72 along each side of the region 2 are painted with different unique colors.

In this case, the area 2 and the wall surfaces 72AA to 72A
As the colors to be applied to AD, five colors whose hues are separated by 60 [°] or more in the HSI space (for example, R, Y,
G, C and B) are selected.

On the other hand, in the robot 91, the position detector 80 (see FIG. 1) is provided in the robot 71 (see FIG. 14) of the third embodiment.
Instead of 5), the robot 71 has the same configuration as that of the robot 71 except that a position detecting section 92 as shown in FIG.

In this case, the position detecting section 92 is provided with an image format converting section 93 and color extracting sections 94A to 94D as many as the number of the wall surfaces 72AA to 72AD. The image signal S1 supplied from the converter is converted into an HSI format image signal S50, which is sent to each of the color extracting units 94A to 94D.

Each of the color extracting units 94A to 94D, based on the hue information of each pixel included in the image signal S50,
A pixel of a hue within a predetermined angle is detected as a pixel of a color to be extracted from the hue specified in the polar coordinates shown in FIG. 16B, and a portion corresponding to the pixel of the color to be extracted is logical based on the detection result. The color extraction signals S51A to S51D that rise to the logic "1" level and the portions corresponding to the pixels of other colors fall to the logic "0" level are generated and sent to the wall detection unit 81. Each color extraction unit 94A to 94D
Extracts pixels of different predetermined colors from the plurality of colors applied to the wall surfaces 72AA to 72AD.

As a result, as described above with reference to FIG.
Based on these color extraction signals S51A to S51D, the colors of the wall surfaces 72AA to 72AD captured by the camera 16, and
The height hpic in pixels of the wall surfaces 72AA to 72AD in units of pixels is detected by the wall detection unit 81, and based on the detection result, the comparison / calculation unit 82 performs the same operation as in the third embodiment. The position of its own in the area 2 is detected, and the detection result is sent as a position detection signal S41 to the uppermost CPU 36 which controls the action of the robot 91.

Thus, in this robot 91,
The CPU 36 can recognize its own position in the area 2 based on the position detection signal S41, and can autonomously take an action according to the surrounding situation based on the recognition result.

(4-3) Operations and Effects of Fourth Embodiment With the above-mentioned configuration, the position detecting system 90
Similar to the position detection system 70 (FIG. 14) of the third embodiment, the robot 91 uses the image signal S1 output from the camera 16 to determine the surrounding first and second wall surfaces 72AA to 72AA.
The color of 2AD and the heights Hpic of the first and second wall surfaces 72AA to 72AD in the image based on the image signal S1 are detected, and these detection results and the respective values stored in advance in the first memory 83 are detected. Color and ID of wall surfaces 72AA to 72AD
And the reference value Hstd stored in advance in the second memory 84.
And its position in the area 2 based on the map information stored in advance in the third memory 85.

Therefore, according to this position detecting system 90, the same operational effect as the position detecting system 70 of the third embodiment can be obtained.

In addition to this, in the position detecting system 90, the hue applied to the wall surfaces 72AA to 72AD of the wall 72 and the area 2 is 60 in the HSI space.
Colors separated by [°] or more are used, and the image signal S1 output from the camera 16 is output as internal processing of the robot 91.
After the image format of the above is converted into the HSI format, color identification is performed, so that each wall 72AA
Even when the illumination condition or the like for .about.72AD is changed, it is possible to make it difficult to be influenced by the color identification inside the robot 91, and thus it is possible to efficiently avoid the erroneous determination of the color identification in the robot 91.

According to the above construction, each wall surface 72 of the wall 72 is different from that of the position detecting system 70 (FIG. 14) of the third embodiment.
As colors to be applied to the areas AA to 72AD and the area 2, colors having hues of 60 [°] or more apart in the HSI space are used, and the camera 6 is used as an internal process of the robot 91.
After the image signal S1 output from the first image signal S1 is converted into the HSI format image signal S50, the color identification is performed based on the image signal S50.
Erroneous determination of color identification in 1 can be efficiently avoided. By doing so, it is possible to avoid erroneous recognition of an object inside the robot 91, and thus to realize a position detecting system and a robot apparatus that can detect the position of the object within the area with higher accuracy.

(5) Fifth Embodiment (5-1) Configuration of Position Detection System According to Fifth Embodiment FIG. 19 in which parts corresponding to those in FIG.
It shows the position detection system 100 according to the fifth embodiment, and H is provided on each of the wall surfaces 72AA to 72AD of the wall 72.
In the SI space, different unique colors having hues of 60 ° or more are applied.

In this case, as shown in FIG. 20, the color of each wall surface 72AA to 72AD is lowest at one end in the longitudinal direction of each wall surface 72AA to 72AD, and the saturation (saturation degree) increases from one end to the other end. ) Increases linearly, that is, the saturation of the color at one end of the wall surfaces 72AA to 72AD is S _min , the saturation at the other end is S _max and the wall surface 72 thereof.
When the length in the longitudinal direction of AA to 72AD is M, the saturation S _x of the color at the position of distance x from one end of the wall surfaces 72AA to 72AD is

[0133]

[Equation 3]

It is painted so as to satisfy.

On the other hand, in the robot 101, the position detector 92 (see FIG. 1) is added to the robot 91 (see FIG. 17) of the fourth embodiment.
The robot 91 has the same configuration as that of the robot 91 except that the position detecting unit 102 as shown in FIG.

In this case, the position detection unit 102 is provided with the same number of color extraction units 94A to 94D as the number of wall surfaces 72AA to 72AD along each side of the area 2, and the image signal S1 output from the camera 16 is detected. After the image format is converted into the HSI format in the image format conversion section 93, the image signal S50 thus obtained is converted into each color extraction section S.
51A to S51D, respectively.

In each of the color extracting sections S51A to S51D, a pixel of a predetermined color is extracted from the image based on the image signal S50, and the portion corresponding to the pixel rises to the logic "1" level and the other color is extracted. The color extraction signals S51A to S51D in which the portions corresponding to the pixels fall to the logic "0" level are sent to the wall detection unit 103, respectively.

The wall detecting section 103 has the color extracting sections 94A to 94A.
Color extraction signals S51A to S5 respectively supplied from 4D
By superimposing and scanning 1D-based images,
Walls 72AA of one of the horizontally elongated narrow areas
~ 72AD, the detection result is the wall detection signal S60
Is given to the highest CPU 36 that controls the action of this robot.

At this time, the CPU 36 moves the direction of the camera 16 (that is, the head of the robot 101) in the left-right direction by driving the actuators of the corresponding joints, and the wall detection unit 103 supplies the wall detection. Based on the signal S60, the wall surface with the largest number of pixels in the image based on the image signal S50 (that is, the nearest wall surface) 7
2AA to 72AD are detected, and the wall surface 72AA is detected.
The orientation of the camera 16 is adjusted so that the upper end or the lower end in the image of the to 72AD is horizontal (that is, the optical axis of the camera 16 is vertical to the wall surfaces 72AA to 72AD).

Then, the wall surface 7 closest to the optical axis of the camera 16
In the state of being vertically aligned with 2AA to 72AD, the wall detection unit 103 detects the colors of the wall surfaces 72AA to 72AD based on the color extraction signals S51A to S51D supplied from the color extraction units 94A to 94D, respectively. At the same time, based on the image signal S50 supplied from the image format conversion unit 93, the wall surfaces 72AA to 72A at the center of the image based on the image signal S50.
The saturation S _{x of} the color applied to D is detected, and the detected colors of the wall surfaces 72AA to 72AD and the saturation S of the color applied to the wall surfaces 72AA to 72AD at the center of the image.
Comparing / calculating section 1 with _x as color and saturation detection signal S61
Send to 04.

The comparison / calculation unit 104 determines the wall surfaces 72AA to 72AD obtained based on the color and saturation detection signal S61.
Of the wall surfaces 72AA to 72AD stored in advance in the first memory 105 and a table relating to the IDs of the wall surfaces 72AA to 72AD, the IDs of the wall surfaces 72AA to 72AD are detected.

Further, the comparison / calculation unit 104 calculates the saturation S _x of the wall surfaces 72AA to 72AD in the central portion of the image obtained based on the color and saturation signal S61, and the second memory 1 in advance.
Saturation S _min , S _max at one end and the other end of each wall surface 72AA to 72AD stored in 06 and each wall surface 7
The position (3) is reversely calculated based on the length M of 2AA to 72AD to detect its own position in the direction parallel to the wall surfaces 72AA to 72AD.

Further, the comparison / arithmetic unit 105 then sends CP
Under the control of U36, the camera 16 is rotated by 90 [°] and the wall surfaces 72AA to 72AD different from the wall surfaces 72AA to 72AD (hereinafter, referred to as first wall surfaces 72AA to 72AD).
After being directed to 2AD (hereinafter, referred to as second wall surfaces 72AA to 72AD), the same processing is executed to identify the IDs of the second wall surfaces 72AA to 72AD and the second wall surfaces 72AA to 72AD. Detect your position in parallel directions.

Further, the comparison / calculation unit 104 thereafter obtains the IDs of the first wall surfaces 72AA to 72AD obtained as described above and the positions in the direction parallel to the first wall surfaces 72AA to 72AD, and the second position. I of the wall surfaces 72AA to 72AD
Within the area based on D and the position in the direction parallel to the second wall surfaces 72AA to 72AD, and the map information of the area 2 including the positions of the wall surfaces 72AA to 72AD stored in advance in the third memory 107. It detects its own position and sends the detection result to the CPU 36 as a position detection signal S62.

As a result, in the robot 101, the CPU 36 determines the area 2 based on the position detection signal S62.
It is possible to recognize one's position in the inside and autonomously take action according to the surrounding situation based on the recognition result.

(5-2) Operation and Effect of Fifth Embodiment With the above-described structure, in the position detecting system 100, the robot 101 is the first and second surroundings based on the image signal S1 output from the camera 16. Wall 72AA ~
The colors of 72AD and the saturation S _x in the central portion of the image based on the image signals S1 of these colors are detected, and these detection results and the respective wall surfaces 72A stored in the first memory 105 are detected.
Colors A to 72AD and their IDs, and the second memory 106
The length M of each wall surface 72AA to 72AD, the color saturation S _min and S _max at one end and the other end of each wall surface 72AA to 72AD, and the map information stored in the third memory 107. Based on, the position of oneself in the area 2 is detected.

Therefore, in this position detecting system 100,
The robot 101 can easily and accurately recognize its own position in the region 2 based on the colors of the two wall surfaces 72AA to 72AD and changes in the saturation of these colors.

Further, in this position detecting system 100, the wall surfaces 72AA to 72A arranged along the respective sides of the area 2 are arranged.
Since it is only necessary to apply different colors to D by changing the saturation in the horizontal direction, it is possible to construct a system extremely easily.

Further, in this position detecting system 100,
Since it does not use a method of transmitting special signals such as radio waves, it can be used without considering the influence on peripheral devices and radio regulations, and it is necessary to install a signal generator on the floor of the area. Therefore, there is no possibility of disturbing the action of the robot 101.

Further, in this position detecting system 100,
Since it is not a method of writing symbols, signs, etc. on the floor surface of the action area 2 of the robot 101, it is possible to paint the floor surface for other purposes.

Further, in this position detecting system 100,
By pointing the camera 16 of the robot 101 approximately in the horizontal direction, the front wall surface 72A of the robot 101
Since A to 72AD can be imaged by the camera 16, the robot 101 does not need to orient the camera 16 in a predetermined direction to detect its position in the area 2, and the other robots can be captured by the camera 16. There is also an advantage that the position of oneself in the area 2 can be detected.

According to the above configuration, each wall surface 72AA-7A
Different colors are applied to the 2AD while changing the saturation in the horizontal direction, and the robot 102 applies the colors of the two wall surfaces 72AA to 72AD to the robot 102 and these wall surfaces 72AA to 72AD.
The saturation S _x at the center of the image of the color when AD is imaged vertically is detected, and the detection result and the wall surfaces 72AA to 7AA stored in the first memory 105 are detected.
2AD color and its ID, the length M of each wall surface 72AA-72AD stored in the second memory 106, and the color saturation S _min , S _max at one end and the other end of each wall surface 72AA-72AD, By detecting the position of itself in the area 2 based on the map information stored in the third memory 107, the robot 101 can accurately detect the position of itself in the area 2. Thus, it is possible to realize the position detecting system and the robot which can detect the position of the user within the area 2 with high accuracy.

(6) Sixth Embodiment (6-1) Configuration of Position Detection System According to Sixth Embodiment FIG. 22 in which parts corresponding to those in FIG.
The position detection system 110 by 6th Example is shown, and H is each attached to each wall surface 72AA-72AD of the wall 72.
In the SI space, different unique colors having hues of 60 ° or more are applied.

Further, as shown in FIG. 23 , each of the wall surfaces 72AA to 72AD extends from the vicinity of the lower end of one end to the vicinity of the upper end of the other end in the HSI space.
The shaded line 102 is shown using the hues of the respective colors applied to A to 72AD and the colors that are deviated by 60 ° or more.

On the other hand, in the robot 111, the position detector 92 (see FIG. 1) is added to the robot 91 (see FIG. 17) of the fourth embodiment.
The robot 91 has the same configuration as that of the robot 91 except that the position detecting unit 113 as shown in FIG. 24, which is the same as that in FIG.

In this case, the position detecting section 113 is provided with the number of color extracting sections 94A to 94E, which is one more than the number of wall surfaces 72AA to 72AD along each side of the area 2, and is output from the camera 16. After the image format of the image signal S1 is converted into the HSI format in the image format converting section 93, the image signal S50 thus obtained is sent to each of the color extracting sections 94A to 94E.

Each of the color extracting units 94A to 94E extracts a pixel of a corresponding predetermined color from the image based on the image signal S50, and the portion corresponding to the pixel rises to the logic "1" level, and the other parts are extracted. The color extraction signals S51A to S51E in which the portions corresponding to the color pixels fall to the logic "0" level are sent to the wall detection unit 114, respectively. In addition, each color extraction unit 114 has a wall surface 72AA to 72A.
Pixels of different colors are extracted from the color applied to D and the shaded line 112.

The wall detecting section 114 has the color extracting sections 94A to 94A.
Color extraction signals S51A to S5 respectively supplied from 4E.
By superimposing and scanning images based on 1E,
Walls 72AA of one of the horizontally elongated narrow areas
~ 72AD, the detection result is the wall detection signal S60
As the highest CPU that controls the actions of this robot 111
Give to 36.

At this time, the CPU 36 moves the direction of the camera 16 (that is, the head of the robot 111) in the left-right direction by driving the actuators of the corresponding joints, and the wall detection unit 114 supplies the wall detection. Based on the signal S60, the wall surface with the largest number of pixels in the image based on the image signal S50 (that is, the nearest wall surface) 7
2AA to 72AD are detected, and the wall surface 72AA is detected.
Camera 16 such that the upper end or the lower end in the image of ~ 72AD is horizontal (that is, the optical axis of camera 16 is perpendicular to the nearest wall surfaces 72AA to 72AD).
Adjust the orientation of.

The wall surface 7 where the optical axis of the camera 16 is the closest
In the state where the wall detection unit 114 is vertically aligned with 2AA to 72AD, the wall detection unit 114 detects the wall surface 7 at the center of the image.
The vertical length U _x of the upper part of the diagonal line 112 of 2AA to 72AD and the length L _{x of the} lower part of the diagonal line 112 are detected in units of pixels, and these detected wall surfaces 72AA to 72AD are detected. The length U _x of the upper part and the length L _{x of the} lower part of the oblique line 112 and the wall surfaces 72AA to 72
The color of AD is sent to the comparison / calculation unit 115 as a color and length detection signal S70.

The comparison / calculation unit 115 determines the wall surfaces 72AA to 72AD of the color and length detection signals S70.
Of the wall surfaces 72AA to 72AD stored in the first memory 116 in advance and a table relating to the colors and the IDs of the wall surfaces 72AA to 72AD, the IDs of the wall surfaces 72AA to 72AD are detected.

Further, the comparison / calculation unit 115 has wall surfaces 72AA to 72A obtained based on the color and length detection signal S70.
Based on the length U _x of the upper part and the length L _{x of the} lower part of the diagonal line 112 of AD,

[0163]

[Equation 4]

By performing the operation given by
Based on the image signal S50, the ratio R _x1 of the vertical length U _x of the portion above the diagonal line 112 to the height (= U _x + L _x ) of the wall surfaces 72AA to 72AD in the central portion of the image is calculated.

Then, the comparison / calculation unit 115, the calculation result, the length M of the wall surfaces 72AA to 72AD stored in advance in the second memory 117, and the wall surfaces 72AA to 72A.
Ratio R of the length in the vertical direction of the portion above the diagonal line 112 to the height of the wall surfaces 72AA to 72AD at one end of D
_{Based on a1} and the ratio R _b1 of the length of the portion above the diagonal line 112 to the height of the wall surfaces 72AA to 72AD at the other ends of the wall surfaces 72AA to 72AD,

[0166]

[Equation 5]

By executing the operation given by
The wall surface 72A from one end of the wall surface 72AA to 72AD
A distance x to a portion of the image of A to 72AD that is imaged in the central portion (from one end of the wall surface 72AA to 72AD in a direction parallel to the wall surface 72AA to 72AD, the robot 1
(Corresponding to the distance up to 11) is calculated.

It should be noted that the slanted line 1 with respect to the height of the wall surfaces 72AA to 72AD at one end of each wall surface 72AA to 72AD
As for ratio R _a1 of the length of the upper part than 12, as shown in FIG. 23, the length of the upper part of the wall surface 72AA to 72AD above the slanted line 112 of the wall surfaces 72AA to 72AD is U _a1 , respectively. Let L _{a1 be} the length below the diagonal line 112

[0169]

[Equation 6]

Given by the respective wall surfaces 72AA-72A
The ratio R _b1 of the length of the portion above the diagonal line 112 to the height of the wall surfaces 72AA to 72AD at the other end of D is the wall surface 72 at the other end of the wall surfaces 72AA to 72AD.
The length of the portion above the diagonal line 112 of AA to 72AD is U _b1.
And the length below the diagonal line is L _b1

[0171]

[Equation 7]

Given by:

Further, the comparison / arithmetic unit 115 then sends the CP
Under the control of U36, the camera 16 is rotated by 90 [°] and the wall surfaces 72AA to 72AD different from the wall surfaces 72AA to 72AD (hereinafter, referred to as first wall surfaces 72AA to 72AD).
After being directed to 2AD (hereinafter, referred to as second wall surfaces 72AA to 72AD), the same processing is executed to identify the IDs of the second wall surfaces 72AA to 72AD and the second wall surfaces 72AA to 72AD. Detect your position in parallel directions.

Further, the comparison / calculation unit 115 thereafter obtains the IDs of the first wall surfaces 72AA to 72AD obtained as described above, the positions in the direction parallel to the first wall surfaces 72AA to 72AD, and the second position. I of the wall surfaces 72AA to 72AD
Within the area 2 based on D and the position in the direction parallel to the second wall surfaces 72AA to 72AD, and the map information of the area including the positions of the wall surfaces 72AA to 72AD stored in advance in the third memory 118. It detects its own position and sends the detection result to the CPU 36 as a position detection signal S71.

As a result, in the robot 111, the CPU 36 determines the area 2 based on the position detection signal S71.
It is possible to recognize one's position in the inside and autonomously take action according to the surrounding situation based on the recognition result.

(6-2) Operations and Effects of the Sixth Embodiment With the above-described structure, in the position detecting system 110, the robot 111 uses the image signal S1 output from the camera 16 to detect the first and second surroundings. Wall 72AA ~
Each color of 72AD and the ratio R _x1 of the length U _x of the portion above the diagonal line 112 with respect to the height of these wall surfaces 72AA to 72AD in the central portion of the image based on the image signal S1 are respectively detected, and these detection results are obtained. , The first memory 116
The colors and IDs of the wall surfaces 72AA to 72AD stored in advance, the length M of the wall surfaces 72AA to 72AD stored in advance in the second memory 117, and the wall surfaces 72.
Wall surfaces 72A at one end and the other end of AA to 72AD
The ratio R _a1 , R _b1 of the lengths U _a1 , U _b1 of the portion above the diagonal line 112 to the height of A to 72 AD, and the third memory 11
Based on the map information stored in advance in 8, the position of itself in the area 2 is detected.

Therefore, in this position detection system 110,
The colors of the two wall surfaces 72AA to 72AD and these wall surfaces 72
The robot 111 can easily and accurately recognize its own position in the area 2 based on the diagonal line 112 indicated by AA to 72AD.

Further, in this position detection system 110, the wall surfaces 72AA to 72A arranged along the respective sides of the area 2 are arranged.
Apply different colors to D and shade 1
Since only 12 is required, the system can be constructed very easily.

Further, in this position detecting system 110,
Since it does not use a method of transmitting special signals such as radio waves, it can be used without considering the influence on peripheral devices and radio regulations, and a signal generator is installed on the floor of Area 2 Since it is not necessary, there is no fear of disturbing the action of the robot 111.

Furthermore, in this position detecting system 110,
Since the system is not a system in which symbols or signs are written on the floor of the action area 2 of the robot 111, it is possible to paint the floor for other purposes.

Further, in this position detecting system 110,
By pointing the camera 16 of the robot 111 approximately in the horizontal direction, the front wall surface 72A of the robot 111 is
Since A to 72AD can be imaged by the camera 16, the robot 111 does not need to point the camera 16 in a predetermined direction in order to detect its own position in the area 2, and while the other robots are captured by the camera 16. There is also an advantage that the position of oneself in the area 2 can be detected.

According to the above structure, the wall surfaces 72AA to 72AA
While applying different colors to 2AD, the diagonal lines 112 are shown on each of the wall surfaces 72AA to 72AD, while the robot 111 has the colors of the two wall surfaces 72AA to 72AD.
When these wall surfaces 72AA to 72AD are vertically imaged, the ratio R _x1 of the length U _x in the vertical direction above the diagonal line 112 in the central portion of the image is detected, and these detection results and the first memory are detected. The colors and IDs of the wall surfaces 72AA to 72AD stored in advance in 116 and the wall surfaces 72AA to 72A stored in advance in the second memory 117.
The ratio R _a1, R _b1 of length M and the length of the upper part than the hatched 112 to the height of the wall 72AA~72AD at one end and the other end of each wall 72AA~72AD of D U _a1, U _b1, the By detecting the position of itself in the area 2 based on the map information stored in advance in the memory 118 of No. 3, the robot 111 can accurately detect the position of itself in the area 2. Thus, it is possible to realize the position detecting system and the robot which can detect the position of the user within the area 2 with high accuracy.

(7) Seventh Embodiment (7-1) Configuration of Position Detection System According to Seventh Embodiment FIG. 25, in which parts corresponding to those in FIG.
It shows a position detection system 120 according to a seventh embodiment, and H is attached to each of the wall surfaces 72AA to 72AD of the wall 72.
Colors of different hues which are separated from each other by 60 degrees or more are assigned in the SI space.

That is, on each of the wall surfaces 72AA to 72AD,
As shown in FIG. 26, with a virtual line K1 extending from the vicinity of the lower end of one end in the longitudinal direction to the vicinity of the upper end of the other end as boundaries,
A color having a predetermined hue and a high saturation is applied to a portion above the virtual line K1 of each wall surface 72AA to 72AD, and a color having a low saturation and having the same hue as the upper portion is applied to a portion below the virtual line K1. There is.

On the other hand, in the robot 121, the position detector 92 (see FIG. 1) is added to the robot 91 (see FIG. 17) of the fourth embodiment.
The robot 91 has the same configuration as that of the robot 91 except that the position detecting unit 122 as shown in FIG.

In this case, the position detecting section 122 is provided with the same number of color extracting sections 94A to 94D as the number of wall surfaces 72AA to 72AD along each side of the area 2, and the image signal S1 output from the camera 16 is provided. After the image format is converted into an HSI format in the image format conversion unit 93, the image signal S50 thus obtained is sent to each of the color extraction units 94A to 94D and the wall detection unit 123.

As described above, the color extracting units 94A to 94D use the hue information of each pixel included in the image signal S50 to determine the hue within a predetermined angle from the hue designated in the polar coordinates shown in FIG. 16 (B). Pixel is detected as a pixel of the color to be extracted, and the portion corresponding to the pixel of the color to be extracted rises to the logic level “1” based on the detection result, and the portion corresponding to the pixel of the other color is logical. The color extraction signals S51A to S51D falling to the “0” level are generated,
This is sent to the wall detection unit 123.

Further, the wall detecting section 123 is provided with each color extracting section 94A.
~ Color extraction signals S51A respectively supplied from 94D ~
By scanning the images based on S51D in an overlapping manner, a substantially horizontal elongated area having the same hue is detected as one of the wall surfaces 72AA to 72AD, and the detection result is used as a wall detection signal S80, which is the highest order that controls the action of the robot 121. To the CPU 36.

At this time, the CPU 36 moves the direction of the camera (that is, the head of the robot) left and right by driving the actuators of the corresponding joints, and the wall detection signal S80 supplied from the wall detection unit 123. Based on the image signal S50, the wall surface with the largest number of pixels (that is, the nearest wall surface) 72AA-
While detecting 72AD, the wall surfaces 72AA to 72A
The orientation of the camera 16 is adjusted so that the upper end or the lower end in the image of D is horizontal (that is, the optical axis of the camera 16 is vertical to the wall surfaces 72AA to 72AD).

The wall surface 7 where the optical axis of the camera 16 is the closest
2AA to 72AD, the wall detection unit 123 is configured to detect the color extraction signals S51A to S51D provided by the color extraction units 94A to 94D and the pixels included in the image signal S50 provided from the image format conversion unit 93. Based on the saturation information of the image signal S50, the portion of the wall surface 72AA to 72AD in the center of the image based on the image signal S50 to which the color with the higher saturation is applied (that is, the virtual line K).
Upper part than 1, below, this wall surface 72AA-72AD
(Referred to as the high-saturation part of) in the vertical direction H _x (Fig. 26)
And a portion of the wall surface 72AA to 72AD in the central portion of the image to which the less saturated color is applied (that is, a portion below the virtual line K1, hereinafter referred to as wall surface 72AA to 72A).
The vertical length L _x (referred to as the low saturation portion of D) (FIG. 26)
Are detected in units of pixels, and the length H _x of the high saturation part of the wall surfaces 72AA to 72AD, the length L _x of the low saturation part of the wall surfaces 72AA to 72AD, and the hue of the wall surfaces 72AA to 72AD are detected. Wall detection signal S8
It is sent to the comparison / calculation unit 124 as 1.

The comparison / calculation unit 124 uses the wall surface detection signal S8.
The hues of the wall surfaces 72AA to 72AD obtained based on 1 and each wall surface 7 stored in advance in the first memory 125.
The IDs of the wall surfaces 72AA to 72AD are detected based on the hues of 2AA to 72AD and the table related to the IDs.

Further, the comparison / calculation unit 124 detects the wall surface 7 at the center of the image obtained based on the wall surface detection signal S81.
Based on the lengths H _x and L _x of the high saturation part and the low saturation part of 2AA to 72AD, the following equation

[0193]

[Equation 8]

The ratio R _x2 of the length of the high saturation portion in the vertical direction to the height of the wall surface in the central portion of the image thus calculated is stored in advance in the second memory 126 while the calculation given by Each wall surface 72AA to 72
Ratio R _a2 of the length of the high saturation portion to the height of the wall surfaces 72AA to 72AD at one end of AD, each wall surface 72AA
Wall surface 72AA to 72AD at the other end of
Based on the ratio R _b2 of the length of the high-saturation portion to the height of R and the length M of each wall surface 72AA to 72AD,

[0195]

[Equation 9]

By performing the operation given by
The wall surface 72A from one end of the wall surface 72AA to 72AD
A distance x to a portion of the image of A to 72AD that is imaged in the central portion (from one end of the wall surface 72AA to 72AD in a direction parallel to the wall surface 72AA to 72AD, the robot 1
21) is calculated.

The ratio R _a2 of the length of the high saturation portion in the vertical direction to the height of the wall surfaces 72AA to 72AD at one end of each wall surface 72AA to 72AD is as shown in FIG. Let H _{a2 be} the length of the high saturation part and L _{a2 be} the length of the low saturation part,

[0198]

[Equation 10]

Given by: Moreover, each wall 72AA-
The ratio R _b2 of the length of the high saturation portion to the height of the wall surfaces 72AA to 72AD at the other end of 72AD is H _{b2 when} the length of the high saturation portion at the other end of the wall surfaces 72AA to 72AD is H _{b2. Let} L _b2 be the following equation

[0200]

[Equation 11]

Given by:

Further, thereafter, the comparison / calculation unit 124
Under the control of U36, the camera 16 is rotated by 90 [°] and the wall surfaces 72AA to 72AD different from the wall surfaces 72AA to 72AD (hereinafter, referred to as first wall surfaces 72AA to 72AD).
After being directed to 2AD (hereinafter, referred to as second wall surfaces 72AA to 72AD), the same processing is executed to identify the IDs of the second wall surfaces 72AA to 72AD and the second wall surfaces 72AA to 72AD. Detect your position in parallel directions.

Further, the comparison / calculation unit 124 thereafter obtains the IDs of the first wall surfaces 72AA to 72AD obtained as described above, the positions in the direction parallel to the first wall surfaces 72AA to 72AD, and the second position. I of the wall surfaces 72AA to 72AD
Within the area 2 based on D and the position in the direction parallel to the second wall surfaces 72AA to 72AD, and the map information of the area including the positions of the wall surfaces 72AA to 72AD stored in advance in the third memory 127. It detects its own position and sends the detection result to the CPU 36 as a position detection signal S82.

As a result, in the robot 121, the CPU 36 determines the area 2 based on the position detection signal S82.
It is possible to recognize one's position in the inside and autonomously take action according to the surrounding situation based on the recognition result.

(7-2) Operations and Effects of Seventh Embodiment With the above-described structure, in the position detecting system 120, the robot 121 uses the first and second surroundings based on the image signal S1 output from the camera 16. Wall 72AA ~
The color of 72AD and the ratio R _x2 of the length H _x of the high saturation part to the height of each of the wall surfaces 72AA to 72D in the central portion of the image based on the image signal S1 are detected, and these detection results and the first memory are detected. Each wall 72 stored in 125
Colors AA to 72AD and their IDs, and the second memory 12
Length M of each wall surface 72AA-72AD stored in 6
And the ratio R _a2, R _b2 length H _a2, H _b2 high saturation portion with respect to the height of the wall 72AA～72AD at one end and the other end of each wall 72AA～72AD, third memory 12
It detects its own position in the area 2 based on the map information stored in 7.

Therefore, in this position detection system 120,
Hue of two wall surfaces 72AA to 72AD and these wall surfaces 7
Robot 1 based on high saturation part of 2AA-72AD
21 can easily and accurately recognize his / her position in the area 2.

Further, in this position detection system 120, the wall surfaces 72AA to 72A arranged along the respective sides of the area 2 are arranged.
Since it is only necessary to apply two colors having different hues and greatly different saturations to D in a predetermined pattern, it is possible to construct a system extremely easily.

Further, in this position detecting system 120,
Since it does not use a method of transmitting special signals such as radio waves, it can be used without considering the influence on peripheral devices and radio regulations, and a signal generator is installed on the floor of Area 2 Since it is not necessary, there is no fear of obstructing the action of the robot 121.

Furthermore, in this position detection system 120,
Since it is not a method of writing symbols, signs, etc. on the floor surface of the action area 2 of the robot 121, it is possible to paint the floor surface for other purposes.

Further, in this position detecting system 120,
By pointing the camera 16 of the robot 121 approximately in the horizontal direction, the front wall surface 72A of the robot 121
Since A to 72AD can be imaged by the camera 16, the robot 121 does not need to orient the camera 16 in a predetermined direction in order to detect its own position in the area 2, and the other robots can be captured by the camera 16. There is also an advantage that the position of oneself in the area 2 can be detected.

According to the above construction, each wall surface 72AA-7A
By using different hues for each 2AD, these wall surfaces 7
Two colors having the same hue but different saturation are respectively applied to 2AA to 72AD in a predetermined pattern, and the robot 121 has the hues of the two wall surfaces 72AA to 72AD and these wall surfaces 72AA to 72AD.
The vertical length H _x of the high saturation portion with respect to the heights of the wall surfaces 72AA to 72AD in the central portion of the image when 72AD is vertically captured by the camera 16 is detected, and these detection results and the first memory 125 are detected. The colors and IDs of the wall surfaces 72AA to 72AD stored in
Each wall surface 72AA stored in the second memory 126
The length M of 72AD and the ratio R _a2 , R _b2 of the lengths H _a2 and H _b2 of the high saturation part to the heights of the wall faces 72AA to 72AD at one end and the other end of each wall face 72AA to 72AD,
By detecting the position of itself in the area 2 based on the map information stored in the third memory 127, the robot 121 can accurately detect the position of itself in the area 2. Thus, it is possible to realize the position detecting system and the robot which can detect the position of the user within the area 2 with high accuracy.

(8) Eighth Embodiment (8-1) Configuration of Position Detection System According to Eighth Embodiment FIG. 28 in which parts corresponding to those in FIG.
It shows the position detection system 130 according to the eighth embodiment, and each wall surface 131A provided along each side of the area 2.
The position detection system 90 (FIG. 17) of the fourth embodiment is configured in the same manner, except that each of A to 131AD is composed of a plurality of liquid crystal panels 132.

In this case, in each liquid crystal panel 132, as shown in FIG. 29, those along the same side of the area 2 have the same color, and those along different sides of the area 2 have a hue of 60 [in HSI space]. The control unit 133 controls so as to emit lights of different colors apart from each other into the area 2.

As a result, in this position detecting system 130, the position detecting system 90 of the fourth embodiment (see FIG.
In the same manner as 7), the robot 91 is attached to each wall surface 131AA-13A.
The wall surface 131AA-131AD based on the color of 1AD
Are designed to be easily identified.

(8-2) Operation and Effect of Eighth Embodiment With the above configuration, in the position detecting system 130, the robot 91 is based on the image signal S1 output from the camera 16 as described above with reference to FIG. And the colors of the surrounding first and second wall surfaces 131AA to 131AD,
Its first and second in the image based on the image signal S1
The heights of the wall surfaces 131AA to 131AD of the wall surfaces 131AA to 131AD are detected, and the detection results, the colors and the IDs of the wall surfaces 131AA to 131AD stored in advance in the first memory 83, and the second
The reference value Hstd previously stored in the memory 84 of the
It detects its own position in the area 2 based on the map information previously stored in the memory 85 of FIG.

Therefore, according to the position detecting system 130, it is possible to obtain the same operational effect as the position detecting system 90 (FIG. 17) of the fourth embodiment.

In addition to this, in the position detecting system 130, since the wall surfaces 131AA to 131AD emit light of a predetermined color by themselves, for example, the wall surfaces 72AA as in the fourth embodiment.
It is possible to make it less susceptible to the external environment such as lighting when performing color identification inside the robot 91, as compared with the case where the reflection of light at ~ 72AD is used.

Further, in the position detecting system 130, since the respective wall surfaces 131AA to 131AD are constituted by the panel surface of the liquid crystal panel 132, the robot 91
Wall surface 131AA-131 according to the type of work and work content
It also has an advantage that the color of AD can be freely switched.

According to the above construction, in the position detecting system 90 (FIG. 17) of the fourth embodiment, the wall surfaces 131AA to 131AD corresponding to the sides of the area 2 are formed by the panel surfaces of the plurality of liquid crystal panels 132, respectively. At the same time, the liquid crystal panels 132 having the same color on the same side of the area 2 are
In addition, the robots along the different sides of the area 2 are controlled so as to emit lights of different colors having hues of 60 [°] or more in the HSI space toward the area 2, so that the inside of the robot 91 is controlled. It is possible to make the color identification in the area less susceptible to the change of the external environment, and thus the area 2
It is possible to realize a position detection system and a robot capable of accurately detecting the position of oneself inside.

(9) Other Embodiments In the above first to eighth embodiments, the present invention is applied to the autonomous mobile robots 3A to 3C, 51A to 51C, 71.
Although the case where the present invention is applied to 91, 101, 111, 121 has been described, the present invention is not limited to this, and can be applied to various other robots or other moving bodies.

Further, in the above-mentioned first embodiment, FIG.
As described in (A), the case where the identification body 23 is attached to each of the robots 3A to 3C via the support rod 22 has been described, but the present invention is not limited to this, and the identification body 23 is, for example, as shown in FIG. It may be arranged on the head 12 of the robot 140. The point is that the identifier 23 is located at a position easily visible from the other robots 3A to 3C with respect to the robots 3A to 3C.
If is attached, various other positions can be applied as the attachment position of the identification body 23.

Further, in the above-mentioned first embodiment, the case where the identification body 23 is formed in a spherical shape has been described, but the present invention is not limited to this, and for example, an elliptical rotary body as shown in FIG. 31 (A). Other shapes such as the shape and the columnar shape as shown in FIG. 31B may be used. However, the shape of the discriminating body 23 is selected as a rotating body having a central axis perpendicular to the moving directions of the robots 3A to 3C, and the surface thereof is divided into a plurality of strip-shaped regions parallel to the moving direction of the robots 3A to 3C, and predetermined. By coloring each strip-shaped area in a predetermined color with the color pattern of No. 3, the identifier can be seen with the same shape and the same color pattern when viewed from any direction when the area 2 is flat. The individual identification of the identifier can be facilitated.

Further, in the above-described first embodiment, the case where the surface of the identification body 23 is color-coded into three colors has been described, but the present invention is not limited to this, and color coding may be performed into other numbers. May be. Further, in the above-described first embodiment, a case has been described in which 16 colors are prepared as the colors for identification, but the present invention is not limited to this, and other numbers may be used.

Further, in the above-mentioned first embodiment, the camera 16 is applied as the image pickup means for picking up the image of the identifying body 23 having a different color pattern for each of the robots 3A to 3C arranged in the other robots 3A to 3C. However, the present invention is not limited to this, and various other imaging means can be applied.

Further, in the above-described first embodiment, the color pattern detecting means for detecting the color pattern of the identification body 23 imaged by the camera 16 is provided based on the image information (image signal S1) supplied from the camera 16. , The case where the color pattern detecting unit 32 and the plurality of color extracting units 31A to 31U configured as shown in FIG. 6 are configured has been described, but the present invention is not limited to this, and various other configurations are possible. Applicable.

Further, in the above-described first embodiment, the color pattern of the discriminator 23 detected by the color pattern detecting section 32 and the color pattern information of the discriminator 23 for each of the robots 3A to 3C stored in advance. Based on the camera 16
Robots 3A to 3C having the identification body 23 imaged by
The identification / means for identifying the individual
Although the case has been described in which the memory 34 is used for configuration, the present invention is not limited to this, and various other configurations can be applied. In this case, various other storage means can be applied instead of the first memory 34.

Further, in the above-mentioned first embodiment, the size detecting means for detecting the diameter (or the size of another portion) of the identifying body 23 in the image based on the image signal S1 supplied from the camera 16. To a plurality of color extraction units 31
Although the case where the color pattern detection unit 32 is configured by A to 31U has been described, the present invention is not limited to this and various other configurations can be applied.

Further, in the above-described first embodiment, the camera 16 is based on the size of the identifying body 23 detected by the color pattern detecting section 32 and the reference value stored in advance.
A calculation means for calculating the distance L1 from the identification object 23 to
The case where the comparison / calculation unit 33 and the second memory 35 are used has been described, but the present invention is not limited to this, and various other structures can be applied. In this case, various other storage means can be applied instead of the second memory 35.

Further, in the above-mentioned first embodiment, the reference value for calculating the distance L1 from the camera 16 to the discriminator 23 is the discriminator when the camera 16 and the discriminator 23 are 1 [m] apart. The case where the diameter is selected with 23 pixels as a unit has been described, but the present invention is not limited to this, and various other values can be applied.

Further, in the above-described first embodiment, the case where each identification body 23 is simply colored in a unique color pattern with a plurality of colors has been described, but the present invention is not limited to this, and each identification body is, for example, Each of the 23 color patterns has a predetermined color space (for example, the HSI space described with reference to FIG. 16 or
RGB space that expresses colors in red, green and blue levels,
Alternatively, a color is formed by a combination of a plurality of colors that are separated by a predetermined first distance in a luminance level and a YUV space that represents first and second color difference levels (that is, in a predetermined color space as a color for identification). Colors separated by a first distance may be used).

In this case, in the individual identification section 30 of each of the robots 3A to 3C, instead of the color extraction sections 31A to 31U, the image signal S1 supplied from the camera 16 is converted into the image signal of the image format corresponding to the color space. A conversion means for converting (for example, the image format conversion section 93 of the fourth embodiment) and a plurality of color extractions for extracting pixels of different designated colors from the image based on the image signal output from the conversion means. Means (for example, each color extraction unit 94 of the fourth embodiment)
A to 94D), and the color of the identifying body 23 imaged by the camera 16 by the color pattern detecting means including the converting means, the plurality of color extracting means, and the color pattern detecting section 32 (FIG. 4). The pattern may be detected. By doing this, the robot 3
It is possible to avoid erroneous determination of the color colored on the identification body 23 in A to 3C, and the robots 3A to 3C can be more accurately compared with that.
An individual identification system and a robot capable of identifying the individual C can be realized. In this case, if the image format of the image signal S1 output from the camera 16 corresponds to the above-mentioned color space, the conversion means can be omitted.

Furthermore, in this case, the combination of colors applied to the identifying body 23 may be selected so that adjacent colors are separated by a second distance larger than the first distance in the above-mentioned color space. By doing so, an individual identification system and a robot that can identify the individuals of the robots 3A to 3C with higher accuracy can be realized.

Further, in the above-described first embodiment, the case where the one that does not emit light is applied as the discriminator 23 is described, but the present invention is not limited to this, and the discriminator 23 is not limited thereto.
For example, a light emitting means such as a light bulb is housed inside a transparent spherical shell, and the surface of the spherical shell is colored with a corresponding color pattern so that the identifying body 23 emits light with a corresponding color pattern. By doing so, it is possible to reduce the probability of erroneous identification in the color identification by the identification means, and the robots 3A ...
An individual identification system and a robot capable of identifying the 3C individual can be realized.

Further, in the above-mentioned second embodiment, FIG.
Although the case where the color pattern is formed by color-coding the surface of the identification sticker 52 as described above, the present invention is not limited to this, and the surface of the identification sticker 52 is color-coded as shown in FIG. The point is that if the surface of the identification seal 52 is color-coded with a plurality of colors,
As the shape of the color pattern, various other shapes can be applied.

In this case, for example, as shown in FIG. 33, a color pattern is formed by coloring a plurality of concentric annular regions 141A to 141C using a predetermined number of colors from a plurality of types of identification colors. You can

In addition to this, for example, FIG.
As shown in (C), a linear region 141D colored in a predetermined color extending in a predetermined radial direction of each annular region 141A to 141C.
Alternatively, an uncolored rectangular area 141E or a fan-shaped area 141F may be provided. In this case, areas of a predetermined shape such as the linear area 141D, the rectangular area 141E or the fan-shaped area 141F are the robots 51A to 51A.
The robot 51 is set in advance so as to face the front direction or the rear direction of C.
It is also possible to detect the orientations of A to 51C.

Further, in the above-described second embodiment, the case where the identification sticker 52 whose surface is color-coded by a predetermined color pattern is attached as means for giving different color patterns to the respective robots 51A to 51C will be described. However, the present invention is not limited to this, for example, the robot 51A.
Each robot 5 by directly painting the upper surface of 51C (or another predetermined position that can be imaged by the camera 53).
1A to 51C may be given different predetermined color patterns, and various other methods may be applied as means for giving different predetermined color patterns to the respective robots 51A to 51C.

In this case, for example, each of the robots 51A to 51C
Even if a light emitting means for emitting light of different color patterns (for example, a light emitting body such as a light bulb is provided below the transparent film and the transparent film is colored with a color pattern corresponding to the transparent film) Well, by doing so, it is possible to reduce the probability that erroneous identification occurs in the color identification by the identification means, and the robot 3 can be more accurately correspondingly.
An individual identification system and a robot capable of identifying the individual A to 3C can be realized.

Further, in the above-described second embodiment, each area in the area 2 is based on the position of the color pattern of each of the robots 51A to 51C in the image based on the image information (image signal S1) supplied from the camera 53. Robot 51
The case where the position detecting means for detecting the positions of A to 51C is configured by the comparing / calculating unit 56 and the memory 57 has been described, but the present invention is not limited to this, and various other configurations can be applied. In this case, various other storage means can be applied instead of the memory 57.

Further, in the above-mentioned second embodiment, the case where the position of each of the robots 51A to 51C detected by the individual identifying section 54 is transmitted to each of the robots 51A to 51C by a radio wave has been described. The present invention is not limited to this, and other wireless means such as infrared rays or various other transmission means such as wires can be applied.

Further, in the above-described second embodiment, the case where each identification seal 52 is simply color-coded into a unique color pattern with a plurality of colors has been described, but the present invention is not limited to this, and for example, each identification sticker. Each of the 52 color patterns is formed by a combination of a plurality of colors that are separated by a predetermined first distance in a predetermined color space (for example, HSI space, RGB space, or YUV space) (that is, a predetermined color for identification. Colors separated by a first distance in the color space may be used).

In this case, the individual identification section 54 includes the color extraction section 3
Instead of 1A to 31U, a conversion unit (for example, the image format conversion unit 93 of the fourth embodiment) for converting the image signal S30 supplied from the camera 53 into an image signal of an image format corresponding to the color space, and the conversion. A plurality of color extraction means (for example, each color extraction section 94A to 94D of the fourth embodiment) for extracting pixels of designated colors different from each other in the image based on the image signal output from the means are provided, and these conversions are performed. Means, a plurality of color extracting means, and a color pattern detecting section 55 (FIG. 11), each identification seal 5 imaged by the camera 53 by the color pattern detecting section.
The two color patterns may be detected. By doing so, an individual identification system capable of avoiding erroneous determination of the color colored on the identification sticker 52 in the individual identification unit 54 and identifying the individuals of the robots 51A to 51C more accurately accordingly. realizable. Even in this case, if the image format of the image signal S1 output from the camera 16 corresponds to the above-mentioned color space, the conversion means can be omitted.

Further, in this case, the combination of colors applied to the identification seal 52 may be selected so that the adjacent colors are separated from each other by the second distance larger than the first distance in the above-mentioned color space. By doing so, it is possible to realize an individual identification system capable of more accurately identifying the individuals of the robots 51A to 51C.

Further, in the above-mentioned third embodiment, the case where the color to be applied is changed for each of the wall surfaces 72AA to 72AD along each side of the area 2 has been described, but the present invention is not limited to this. Each wall surface 72A along each side of region 2
A to 72AD may be divided into a plurality of regions parallel to the Z direction, and the applied color may be changed for each region.

Furthermore, in the above-mentioned first to third embodiments, the case where the color extracting portions 31A to 31U are configured as shown in FIG. 6 has been described, but the present invention is not limited to this, and the point is that Separation means for separating the supplied image signal into a luminance signal and a color difference signal (a separation circuit 41 in the embodiment, and a luminance level and a color difference level for each pixel in the image based on the image signal based on the luminance signal and the color difference signal. Level detection means for sequentially detecting (analog / digital conversion circuits 42, 43A, 43B in the embodiment), luminance levels and color difference levels of pixels detected by the level detection means, and color difference levels for each luminance level stored in advance. Determination means for determining whether each pixel has a predetermined color based on the upper limit value and the lower limit value (in the embodiment, the first to fourth memories 44A to 44).
D, the first to fourth comparison circuits 45A to 45D, and the determination circuit 48) are provided, various other configurations can be applied as the configuration of the color extraction unit.

Furthermore, in the above-mentioned third to eighth embodiments, a plurality of wall surfaces 72AA to 72AD, 131AA to 131A provided along the periphery of the region 2 and having different colors.
Of D, corresponding predetermined wall surfaces 72AA to 72AD, 1
31AA to 131AD (that is, the front wall surface 72AA to
The case where the camera 16 is applied as the image pickup means for picking up images 72AD, 131AA to 131AD) has been described, but the present invention is not limited to this, and various other image pickup means can be applied.

Furthermore, in the above-mentioned third to eighth embodiments, the image information (image signal S
Based on 1), the colors of the wall surfaces 72AA to 72AD, 131AA to 131AD imaged by the camera 16 and the wall surfaces 72AA to 72AD, 131AA to 131AD.
Relative position (the wall surfaces 72AA to 72AD, 13
Distance L2 from 1AA to 131AD or its wall surface 72A
A-72AD, 131AA-131AD, the wall surfaces 72AA-72AD, 131AA-13 in the direction parallel to
The color and relative position detecting means for detecting the distance x) from one end of 1AD is composed of a plurality of color extracting units 31A to 31D, 94A to.
94E, wall detectors 8, 103, 114, 123, comparison /
Arithmetic units 82, 104, 115, 124 and first and second memories 83, 84, 105, 106, 116, 11
Although a case has been described in which it is configured by 7, 125, 126, the present invention is not limited to this, and various other configurations can be applied. In this case, the first and second memories 83,
84, 105, 106, 116, 117, 125, 12
Instead of 6, various other storage means can be applied.

Furthermore, in the above-mentioned third to eighth embodiments, the wall surfaces 72AA to 72A taken by the camera 16 are taken.
D, 131AA to 131AD colors and the wall surface 72AA
To 72AD, 131AA to 131AD, and all wall surfaces 72AA to 72A stored in advance.
D, 131AA to 131AD colors and all wall surfaces 72A
The comparison / calculation units 82 and 10 are position detecting means for detecting one's own position in the area 2 based on the map information of the area 2 including the positions of A to 72AD and 131AA to 131AD.
4, 115, 124 and the third memories 85, 107, 1
Although the case where the memory is configured by 18, 127 has been described, the present invention is not limited to this, and the third memory 85, 1
Instead of 07, 118, 127, various other storage means can be applied.

Further, in the above-mentioned third to eighth embodiments, the robots 71, 91, 101, 111, 121 are two.
Wall surfaces 72AA-72AD, 131AA-131AD
However, the present invention is not limited to this, and the position of one's own position in the region 2 is detected from three or more wall surfaces 72AA to 72AD, 131AA to 131AD. You may do it.

Further, in the above-mentioned fourth to eighth embodiments, the color for identification is shown in FIG. 16 in the HSI space.
The angle around the origin O in polar coordinates shown in (B) is 60 °.
Although the case where the distant colors are selected has been described above, the present invention is not limited to this, and the color around the origin O in polar coordinates shown in FIG. You can Also, as a color for identification, H
Colors apart from each other by a predetermined distance may be used in a color space other than the SI space (RGB space, YUV space, etc.).

Furthermore, in the above-mentioned fourth to eighth embodiments, the color for the purpose of identification is simply shown in the HSI space in FIG.
The angle around the origin O in polar coordinates shown in 6 (B) is 60.
Although the case where the colors separated by [°] or more are selected has been described, the present invention is not limited to this. For example, the adjacent wall surfaces are separated by 60 ° or more in the HSI space (or another color space). Colors are assigned (for example, in FIG. 16B, the wall surface 72AA is yellow (Y), the wall surface 72AB is cyan (C), the wall surface 72AC is red (R), and the wall surface 72AD).
Alternatively, blue (B) may be applied). By doing this, the robots 91, 101, 11
Wall surfaces 72AA to 72AD131 inside the inside of 1, 121
Erroneous discrimination at the time of discriminating the colors of AA to 131AD can be avoided in advance, and a position detection system and a robot device that can detect the position of oneself within the region 2 with higher accuracy can be constructed.

Further, in the fifth embodiment described above, the case where the saturation (saturation) of the color applied to each of the wall surfaces 72AA to 72AD is changed linearly has been described, but the present invention is not limited to this. , May be changed non-linearly. However, in this case, one wall surface 72AA-72A
It is necessary to ensure that there is no part of D with the same saturation.

Further, in the above-mentioned fifth embodiment, as the predetermined data regarding the change in the saturation of the wall surfaces 72AA to 72AD, the length M of each wall surface 72AA to 72AD and one end and the other end of each wall surface 72AA to 72AD are set. Although the saturation levels S _min and S _max in the above are stored in the second memory 106, the present invention is not limited to this.
In short, the comparison / calculation unit 104 determines whether the data and the saturation S _{x of the} color applied to the wall surfaces 72AA to 72AD in the central portion of the image based on the image signal S50 detected by the wall detection unit 103 are used. If the data can detect the position of oneself in the area 2, the second
Other data can be applied to the data stored in the memory 106.

Further, in the above-described sixth embodiment, the diagonal lines 112 are formed on the wall surfaces 72AA to 72AD so as to extend from the vicinity of the lower end of one end of the wall surfaces 72AA to 72AD to the vicinity of the upper end of the other end.
However, the present invention is not limited to this. For example, as shown in FIG.
The diagonal lines 112 may be drawn on the wall surfaces 72AA to 72AD so as to extend from the lower end of one end of A to 72AD to the upper end of the other end, and the diagonal line may be drawn in other forms.

Further, in the above-described sixth embodiment, the wall surfaces 72AA to 72AD of the respective wall surfaces 72AA to 72AD.
As the predetermined data regarding the change in the ratio of the portion above the diagonal line 112 to the height of the wall surface, the length M of each wall surface 72AA to 72AD and the upper and lower portions above the diagonal line 112 at one end and the other end of each wall surface 72AA to 72AD. The length of U _a1 ,
The case where U _b1 , L _a1 , and L _b1 are stored in the second memory 117 has been described, but the present invention is not limited to this, and the point is that the data and the wall detection unit 115 detect the data. Based on the image signal S50, the comparison / calculation unit 115 determines whether or not the comparison / calculation unit 115 within the area 2 is based on the ratio R _{x of the} upper part (or the lower part) of the oblique line 112 to the height of the wall surfaces 72AA to 72AD in the central part of the image. Other data can be applied to the data stored in the second memory 117 as long as the data can detect the position.

Further, in the above-described seventh embodiment, the virtual line K1 separating the upper and lower portions of the wall surfaces 72AA to 72AD passes through the vicinity of the lower end of one end of the wall surfaces 72AA to 72AD and the vicinity of the upper end of the other end thereof. When I did,
The present invention is not limited to this, and, for example, as shown in FIG. 36, the virtual line K1 (or a diagonal line may be used) has wall surfaces 72AA to 72A.
Each wall surface 7 passes through the lower end of one end of D and the upper end of the other end.
The 2AA to 72AD may be divided into an upper part and a lower part, and the virtual line K1 or the diagonal line may be selected or described in another form.

Further, in the above-described seventh embodiment, the length H of the high saturation portion with respect to the height of the wall surfaces 72AA to 72AD is set.
_Although the case has been described where the ratio R _{x of x} changes linearly, the present invention is not limited to this, and may change non-linearly. However, even in this case, the wall surfaces 72AA to 72AD are formed on one wall surface 72AA to 72AD.
It is necessary to make sure that there is no portion where the ratio R _x of the length H _x of the high saturation portion to the height of is the same.

Further, in the above-described seventh embodiment, the wall surfaces 72AA to 72AD of the respective wall surfaces 72AA to 72AD.
As the predetermined data regarding the change of the ratio R _x of the length H _x of the high saturation portion to the height of the wall surfaces 72AA to 72AD
And the lengths H _a2 and L _a2 of the high saturation portion and the low saturation portion at one end and the other end of each wall surface 72AA to 72AD, respectively.
The case where H _b2 and L _b2 are stored in the second memory 126 has been described, but the present invention is not limited to this, and the point is that the data and the image signal S50 detected by the wall detection unit 123 are used. Wall 7 at the center of the image based on
The length H _x of the high saturation part with respect to the height of 2AA to 72AD
If the comparison / calculation unit 124 can detect its own position in the area 2 based on the ratio R _x of R, the other data is stored as the data in the second memory 126. Applicable.

Further, in the above-mentioned third and eighth embodiments, inside the robot 91, the wall surfaces 72AA to 72A are formed.
The distances from the wall surfaces 72AA to 72AD and 131AA to 131AD are detected as relative positions with respect to D and 131AA to 131AD. In the fourth to eighth embodiments, the wall surfaces 72A are inside the robots 101, 111 and 121.
The wall surface 72AA as a relative position with respect to A to 72AD
~ 72AD the wall surface 72AA in the direction parallel to 7 ~ 7
The case where the distance from one end of the 2AD is detected has been described, but the present invention is not limited to this, and other relative positions may be detected.

Further, in the above-described eighth embodiment, each wall surface 131AA to 131AD is connected to the liquid crystal panel display 1.
Although the case where it is configured by 32 panel surfaces has been described, the present invention is not limited to this, and each wall surface 131AA.
131AD may be configured by a display surface of a display (for example, CRT (Cathode Ray Tube)) other than the liquid crystal panel display 132. In addition, for example, the normal wall surfaces 72AA to 72AD (FIG. 13) are provided with concave portions, a film of a predetermined color is attached so as to cover the concave portions, and the light source is arranged in the concave portions, so that the wall surface 7 is formed.
The light of the colors assigned to 2AA to 72AD may be emitted toward the area 2, and in short, the wall surface is configured by the light emitting means that emits the light 2 of the color assigned to the wall toward the area. Alternatively, if the light emitting means is provided on the wall surface, various other configurations can be applied as the configuration of the light emitting means.

Further, in the above-described eighth embodiment, each liquid crystal panel display 132 is simply attached to each wall surface 131AA.
Although a case has been described in which light of different colors is emitted for each 131AD, the present invention is not limited to this, and for example, colors and diagonal lines assigned to each liquid crystal panel display 132 as in the fifth to seventh embodiments. May be displayed, and the robot 91 may be configured as in the fifth to seventh embodiments.

Further, in the above fourth to seventh embodiments, the image format conversion section 93 is provided for converting the image format of the image signal S1 output from the camera 16 into the image format corresponding to the HSI space. Although the case has been described, the present invention is not limited to this, and for example, the image format of the image signal S1 output from the camera 16 is an image format corresponding to the color space used when selecting the colors of the wall surfaces 72AA to 72AD. In some cases, the image format conversion unit 93 may be omitted.

[0263]

As described above, according to the present invention, in the position detection system, the position detection device and the position detection method, the robot device and the control method thereof, a plurality of different colors provided along the periphery of the area are provided. Among the wall surfaces, the corresponding wall surface is imaged by the image pickup means arranged in the moving body or the robot device, and based on the obtained first image information, the color of the wall surface imaged by the image pickup means and the relative to the wall surface While detecting the relative position, the area based on the detected color of the wall surface and the relative position with respect to the wall surface, and the map information of the area including the colors of all the wall surfaces and the positions of all the wall surfaces stored in advance The position of the moving body or the robot device in the interior is detected, and at this time, each wall surface is colored so that the saturation of the color changes in the longitudinal direction of the wall surface. As the relative position of the moving body or the robot device with respect to the wall surface, from the one end of the wall face in the direction parallel to the wall surface to the moving body or the robot device based on the saturation degree of the color of the wall surface in the image based on the first image information. By detecting the distance of, it is possible to easily and reliably detect the position of the moving body or the robot device in the area, and thus a simple position detecting system capable of surely identifying the moving body or the robot device, The position detecting device, the position detecting method, the robot device and the control method thereof can be realized.

Further, according to the present invention, a position detection system,
In the position detecting device, the position detecting method, the robot device and the control method thereof, the corresponding wall surface among the plurality of wall surfaces of different colors provided along the periphery of the area is imaged by the moving object or the robot device. The color of the wall surface imaged by the image capturing means and the relative position with respect to the wall surface are detected based on the obtained first image information, and the detected color of the wall surface and the relative position with respect to the wall surface are detected. And the position of the moving body or the robot device in the area is detected based on the map information of the area including the colors of all the wall surfaces and the positions of all the wall surfaces stored in advance. In addition, the diagonal lines are drawn so as to extend from one end to the other end in the longitudinal direction of the wall surface, respectively, and as the relative position of the moving body or the robot device with respect to the wall surface, Based on the ratio of the length of the upper part or the lower part of the wall surface to the height of the wall surface in the image based on the image information of 1, from one end of the wall surface of the moving body or the robot device in the direction parallel to the wall surface. By detecting the distance of, it is possible to easily and reliably detect the position of the moving body or the robot device in the area, and thus a simple position detecting system capable of surely identifying the moving body or the robot device, The position detecting device, the position detecting method, the robot device and the control method thereof can be realized.

Further, according to the present invention, in the position detection system, the position detection device and the position detection method, the robot device and the control method thereof, among the plurality of wall surfaces of different colors provided along the periphery of the area, The wall surface to be imaged is imaged by the imaging means arranged in the moving body or the robot device, and the color of the wall surface imaged by the imaging means and the relative position to the wall surface are detected based on the obtained first image information. Together with the detected color of the wall surface and the relative position with respect to the wall surface, and the mobile object in the area based on the map information of the area including the colors of all the wall surfaces and the positions of all the wall surfaces stored in advance, The position of the robot device is detected. At this time, each of the wall surfaces is separated by a diagonal line or an imaginary line extending from one end to the other end in the longitudinal direction of the wall face. Together with Coloring in different colors saturation respectively the same hue upper part and lower part of the virtual line, as the relative position of the moving body with respect to such wall, first
From the one end of the wall surface of the moving body in the direction parallel to the wall surface based on the ratio of the length of the upper part or the lower part of the oblique line or virtual line of the wall surface to the height of the wall surface in the image based on the image information of By detecting the distance of, it is possible to easily and reliably detect the position of the moving body or the robot device in the area, and thus a simple position detecting system capable of surely identifying the moving body or the robot device, The position detecting device, the position detecting method, the robot device and the control method thereof can be realized.

[0266]

[Brief description of drawings]

FIG. 1 is a plan view showing the overall configuration of an individual identification system according to a first embodiment.

FIG. 2 is a schematic side view showing a structure of a robot and a structure of an identification body according to the first embodiment.

FIG. 3 is a schematic block diagram showing the configuration of a robot according to the first embodiment.

FIG. 4 is a block diagram showing a configuration of an individual identification unit according to the first embodiment.

FIG. 5 is a schematic diagram used to describe a configuration of a color extraction unit.

FIG. 6 is a block diagram showing a configuration of a color extraction unit.

FIG. 7 is a plan view showing the overall configuration of an individual identification system according to a second embodiment.

FIG. 8 is a plan view showing the overall configuration of an individual identification system according to a second embodiment.

FIG. 9 is a schematic perspective view showing the structure of a robot according to a second embodiment.

FIG. 10 is a plan view for explaining an identification sticker.

FIG. 11 is a block diagram showing the configuration of an individual identification unit according to the second embodiment.

FIG. 12 is a schematic block diagram showing a configuration of a robot according to a second embodiment.

FIG. 13 is a perspective view showing the overall configuration of a position identification system according to a third embodiment.

FIG. 14 is a plan view showing the overall configuration of a position identification system according to a third embodiment.

FIG. 15 is a block diagram showing a configuration of a position detection unit according to a third embodiment.

FIG. 16 is a schematic diagram for explaining an HSI space.

FIG. 17 is a plan view showing the overall configuration of the position identification system according to the fourth embodiment.

FIG. 18 is a block diagram showing a configuration of a position detection unit according to a fourth example.

FIG. 19 is a plan view showing the overall configuration of the position identification system according to the fifth embodiment.

FIG. 20 is a schematic diagram showing the appearance of each wall surface in the fifth embodiment.

FIG. 21 is a block diagram showing the configuration of a position detection unit according to the fifth embodiment.

FIG. 22 is a plan view showing the overall configuration of the position identification system according to the sixth embodiment.

FIG. 23 is a schematic diagram showing the appearance of each wall surface in the sixth embodiment.

FIG. 24 is a block diagram showing the configuration of a position detection unit according to a sixth embodiment.

FIG. 25 is a plan view showing the overall configuration of the position identification system according to the seventh embodiment.

FIG. 26 is a schematic diagram showing the appearance of each wall surface in the seventh embodiment.

FIG. 27 is a block diagram showing the configuration of a position detection unit according to a seventh embodiment.

FIG. 28 is a plan view showing the overall configuration of the position identification system according to the eighth embodiment.

FIG. 29 is a plan view for explaining the configuration of the position identification system according to the eighth example.

FIG. 30 is a schematic side view showing another embodiment.

FIG. 31 is a side view and a perspective view showing another embodiment.

FIG. 32 is a plan view showing another embodiment.

FIG. 33 is a plan view showing another embodiment.

FIG. 34 is a plan view showing another embodiment.

FIG. 35 is a plan view showing another embodiment.

FIG. 36 is a plan view showing another embodiment.

[Explanation of symbols]

1, 50 ... Individual identification system, 2 ... Area, 3A to 3
C, 51A to 51C, 71, 91, 101, 111, 1
21 ... Robot, 16, 53 ... Camera, 23 ... Identification body, 30, 54 ... Individual identification section, 31A to 31U, 9
4A to 94E ... Color extraction unit, 32, 55 ... Color pattern extraction unit, 33, 56, 82, 104, 115, 124 ...
... Comparison / arithmetic unit, 34, 35, 44A to 44D, 57,
83-85, 105-107, 116-118, 125
~ 127 ... memory, 36 ... CPU, 41 ... separation circuit, 42, 43A, 43B ... analog / digital conversion circuit, 45A to 45D ... comparison circuit, 48 ... determination circuit, 49 ... frame memory, 52 …… Identification sticker, 5
8 ... Transmission unit, 70 ... Wall, 72AA to 72AD, 13
1AA to 131AD ... wall surface, 80, 102, 113,
122 ... Position detection unit, 81, 103, 114, 123
... Wall detection unit, 93 ... Image format conversion unit, 13
2 ... Liquid crystal panel 133 ... Control unit, D1 ... Luminance data, D2A, D2B ... Color difference data, S1, S30,
S50 ... Image signal, S10A to S10U, S51A to
S51D ... Color extraction signal, S11 ... Identification object information signal,
S12 ... Identifier detection signal, S20 ... luminance signal, S2
1A, S21B ... Color difference signal, S31 ... Identification sticker detection signal, S32 ... Robot position detection signal, S40 ...
Wall detection signal, S41, S62, S71, S82 ... Position detection signal.

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Makoto Inoue 6-7-35 Kitashinagawa, Shinagawa-ku, Tokyo Sony Corporation (56) Reference JP-A-61-277010 (JP, A) JP-A 4-21106 (JP, A) JP-A-5-46242 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) B25J 13/00-13/08 B25J 9/10-9 / 22 B25J 5/00 G05D 1/00 G06T 1/00

Claims (15)

(57) [Claims] 1. A region of a moving body that moves within a predetermined region.
The position detecting system for detecting a position on the inner, different color double of each other provided along connexion around the area
Number of wall surfaces and the corresponding predetermined tops provided on the moving body
An image pickup means for picking up an image of the wall surface, and based on the first image information output from the image pickup means.
The color of the wall surface captured by the image capturing means and
A color for detecting the relative position of the moving body with respect to the wall surface, and
Relative position detection means, the detection results of the color and relative position detection means, previously stored
Of each of the above wall surfaces and all of the above wall surfaces
Within the area based on the map information of the area including the position
Position detecting means for detecting the position of the moving body in , each of the wall surface of the color of the color in the longitudinal direction of the wall surface.
Coloring is performed so that the degree of saturation changes, and the color and relative position detecting means adds to the first image information.
Based on the saturation of the wall color in the image
The relative position of the moving body with respect to the wall surface.
The wall of the moving body in a direction parallel to the wall surface.
Position detection characterized by detecting the distance from one end of the surface
Out system . 2. A region of a moving body that moves within a predetermined region.
The position detecting system for detecting a position on the inner, different color double of each other provided along connexion around the area
Number of wall surfaces and the corresponding predetermined tops provided on the moving body
An image pickup means for picking up an image of the wall surface, and based on the first image information output from the image pickup means.
The color of the wall surface captured by the image capturing means and
A color for detecting the relative position of the moving body with respect to the wall surface, and
Relative position detection means, the detection results of the color and relative position detection means, previously stored
Of each of the above wall surfaces and all of the above wall surfaces
Within the area based on the map information of the area including the position
Position detecting means for detecting the position of the moving body in
Comprising, in each said wall, the other end from the one longitudinal end of the wall
Diagonal lines are drawn so that the color and relative position detection means are added to the first image information.
The wall surface relative to the height of the wall surface in the image based
Based on the ratio of the length of the upper part or the lower part of the above
The relative position of the moving body with respect to the wall surface.
The wall of the moving body in a direction parallel to the wall surface.
Position detection characterized by detecting the distance from one end of the surface
Out system . 3. An area of a moving body that moves within a predetermined area.
The position detecting system for detecting a position on the inner, different color double of each other provided along connexion around the area
Number of wall surfaces and the corresponding predetermined tops provided on the moving body
An image pickup means for picking up an image of the wall surface, and based on the first image information output from the image pickup means.
The color of the wall surface captured by the image capturing means and
A color for detecting the relative position of the moving body with respect to the wall surface, and
Relative position detection means, the detection results of the color and relative position detection means, previously stored
Of each of the above wall surfaces and all of the above wall surfaces
Within the area based on the map information of the area including the position
Position detecting means for detecting the position of the moving body in
From the one end of the wall surface in the longitudinal direction,
As a shaded or border to an imaginary line extending on the other end, the hatched or temporary
Saturated with the same hue above and below the line
The color and the relative position detecting means are colored in different colors, and the color and the relative position detecting means are added to the first image information.
The wall surface relative to the height of the wall surface in the image based
Above the above or below the above-mentioned diagonal line or above virtual line
Based on the ratio of the length of the parts,
The relative position of the moving body is in the direction parallel to the wall surface.
Detect the distance from one end of the wall surface of the moving body
A position detection system characterized by the above . 4. A region of a moving body that moves within a predetermined region.
In the position detecting device for detecting the position within the moving body , the position detecting device is provided on the moving body and is provided along the periphery of the area.
Of the wall surfaces of different colors
Imaging means for imaging the above wall, based on the first image information outputted from said image pickup means
The color of the wall surface captured by the image capturing means and
A color for detecting the relative position of the moving body with respect to the wall surface, and
Relative position detection means, the detection results of the color and relative position detection means, previously stored
Of each of the above wall surfaces and all of the above wall surfaces
Within the area based on the map information of the area including the position
Position detecting means for detecting the position of the moving body in
Comprising, each said wall, each being colored so that the color saturation in the longitudinal direction of the wall surface is changed, the color and relative position detection means, of the wall surface in an image based on the first image information A position detecting device that detects, as the relative position of the moving body with respect to the wall surface, a distance from one end of the wall surface of the moving body in a direction parallel to the wall surface, based on color saturation. 5. An area of a moving body that moves within a predetermined area.
In the position detecting device for detecting the position within the moving body , the position detecting device is provided on the moving body and is provided along the periphery of the area.
Of the wall surfaces of different colors
Imaging means for imaging the above wall, based on the first image information outputted from said image pickup means
The color of the wall surface captured by the image capturing means and
A color for detecting the relative position of the moving body with respect to the wall surface, and
Relative position detection means, the detection results of the color and relative position detection means, previously stored
Of each of the above wall surfaces and all of the above wall surfaces
Within the area based on the map information of the area including the position
Position detecting means for detecting the position of the moving body in
The diagonal lines are drawn on each of the wall surfaces so as to extend from one end to the other end in the longitudinal direction of the wall surface, and the color and relative position detecting means are arranged on the wall surface in the image based on the first image information. Based on the ratio of the length of the upper part or the lower part of the wall surface with respect to the height to the height, as the relative position of the moving body with respect to the wall surface, the wall surface of the moving body in the direction parallel to the wall surface A position detecting device that detects a distance from one end. 6. A region of a moving body that moves within a predetermined region.
In the position detecting device for detecting the position within the moving body , the position detecting device is provided on the moving body and is provided along the periphery of the area.
Of the wall surfaces of different colors
Imaging means for imaging the above wall, based on the first image information outputted from said image pickup means
The color of the wall surface captured by the image capturing means and
A color for detecting the relative position of the moving body with respect to the wall surface, and
Means leaving a relative position detection, and the detection result of the color and the relative position detection unit, previously stored
Of each of the above wall surfaces and all of the above wall surfaces
Within the area based on the map information of the area including the position
Position detecting means for detecting the position of the moving body in
In each of the wall surfaces, a diagonal line or an imaginary line extending from one end to the other end in the longitudinal direction of the wall face is used as a boundary, and the upper and lower parts of the diagonal line or the phantom line have the same hue and different degrees of saturation. The color and the relative position detecting means are arranged on the upper portion or the lower portion of the wall surface with respect to the height of the wall surface in the image based on the first image information. A position detecting device that detects, as the relative position of the moving body with respect to the wall surface, a distance from one end of the wall surface of the moving body in a direction parallel to the wall surface based on a length ratio. 7. A region of a moving body that moves within a predetermined region.
In the position detecting method for detecting a position on the inner, different color double of each other provided along connexion around the area
Among the number of wall surfaces, the corresponding wall surface is provided on the moving body.
First image information obtained by imaging by the image capturing means
Of the wall surface imaged by the imaging means based on
The first step for detecting the color and the relative position to the wall surface.
And the color of the wall surface detected in the first step and
Relative position with respect to the wall surface and all of the previously stored
The above including the color of each wall surface and the position of each wall surface
Based on the map information of the area,
A second step for detecting the position of a moving body, wherein each of the wall surfaces is colored so that the degree of saturation of the color changes in the longitudinal direction of the wall surface, and in the first step, the first step is performed. Based on the degree of saturation of the color of the wall surface in the image based on the image information,
As a relative position of the moving body to the wall surface, a position detecting method is characterized by detecting a distance from one end of the wall surface to the moving body in a direction parallel to the wall surface. 8. A region of a moving body that moves within a predetermined region.
In the position detecting method for detecting a position on the inner, different color double of each other provided along connexion around the area
Among the number of wall surfaces, the corresponding wall surface is provided on the moving body.
First image information obtained by imaging by the image capturing means
Of the wall surface imaged by the imaging means based on
The first step for detecting the color and the relative position to the wall surface.
And the color of the wall surface detected in the first step and
Relative position with respect to the wall surface and all of the previously stored
The above including the color of each wall surface and the position of each wall surface
Based on the map information of the area,
A second step for detecting the position of the moving body, and diagonal lines are drawn on each of the wall surfaces so as to extend from one end to the other end in the longitudinal direction of the wall surface. In the first step, the first step is used. Based on the ratio of the length of the upper part or the lower part of the wall surface to the height of the wall surface in the image based on the image information of
A position detecting method characterized by detecting a distance from one end of the wall surface of the moving body in a direction parallel to the wall surface as the relative position of the moving body with respect to the wall surface. 9. A region of a moving body that moves within a predetermined region.
Position have contact to the position detecting method for detecting the inner, different color double of each other provided along connexion around the area
Among the number of wall surfaces, the corresponding wall surface is provided on the moving body.
First image information obtained by imaging by the image capturing means
Of the wall surface imaged by the imaging means based on
The first step for detecting the color and the relative position to the wall surface.
And the color of the wall surface detected in the first step and
Relative position with respect to the wall surface and all of the previously stored
The above including the color of each wall surface and the position of each wall surface
Based on the map information of the area,
A second step for detecting the position of the moving body, wherein each of the wall surfaces has a diagonal line or an imaginary line extending from one end to the other end in the longitudinal direction of the wall face as a boundary, and a portion above the diagonal line or the imaginary line. The lower portions are colored with the same hue and different in saturation, and in the first step, the oblique line or the virtual line of the wall surface with respect to the height of the wall surface in the image based on the first image information is used. Also detects the distance from one end of the wall surface of the moving body in the direction parallel to the wall surface as the relative position of the moving body with respect to the wall surface, based on the length ratio of the upper portion or the lower portion. A position detection method characterized by the above. 10. A robot device movable in a predetermined area.
In the above , the colors of different colors provided around the area are
Of the wall surface of the specified number
Based on the image means and the first image information output from the image pickup means
The color of the wall surface captured by the image capturing means and
Color for detecting relative position with respect to the wall surface and relative position detection
Means and each detection result of the color and relative position detection means, and stored in advance.
Of each of the above wall surfaces and all of the above wall surfaces
Within the area based on the map information of the area including the position
Position detecting means for detecting the position of the moving body in
Comprising, each said wall, each being colored so that the color saturation in the longitudinal direction of the wall surface is changed, the color and relative position detection means, of the wall surface in an image based on the first image information based on the color saturation, as the relative position of the robot apparatus with respect to the wall, the robot instrumentation in the wall parallel to the direction
Robot apparatus characterized by detecting the distance from one end of the wall surface of the location. 11. A robot device which is movable within a predetermined area.
In the above , the colors of different colors provided around the area are
Of the wall surface of the specified number
Based on the image means and the first image information output from the image pickup means
The color of the wall surface captured by the image capturing means and
Color for detecting relative position with respect to the wall surface and relative position detection
Means and each detection result of the color and relative position detection means, and stored in advance.
Of each of the above wall surfaces and all of the above wall surfaces
Within the area based on the map information of the area including the position
Position detecting means for detecting the position of the moving body in
The diagonal lines are drawn on each of the wall surfaces so as to extend from one end to the other end in the longitudinal direction of the wall surface, and the color and relative position detecting means are arranged on the wall surface in the image based on the first image information. Based on the ratio of the length of the upper part or the lower part of the wall surface to the height relative to the height, the relative position of the robot device to the wall surface is set as the relative position of the robot in the direction parallel to the wall surface.
Robot apparatus characterized by detecting the distance from one end of the wall surface of the device. 12. A robot device movable in a predetermined area.
In the above , the colors of different colors provided around the area are
Of the wall surface of the specified number
Based on the image means and the first image information output from the image pickup means
The color of the wall surface captured by the image capturing means and
Color for detecting relative position with respect to the wall surface and relative position detection
Means and each detection result of the color and relative position detection means, and stored in advance.
Of each of the above wall surfaces and all of the above wall surfaces
Within the area based on the map information of the area including the position
Position detecting means for detecting the position of the moving body in
In each of the wall surfaces, a diagonal line or an imaginary line extending from one end to the other end in the longitudinal direction of the wall face is used as a boundary, and the upper and lower parts of the diagonal line or the phantom line have the same hue and different degrees of saturation. The color and the relative position detecting means are arranged on the upper portion or the lower portion of the wall surface with respect to the height of the wall surface in the image based on the first image information. based on the ratio of length, the respect to the wall surface b
A robot device , wherein a distance from one end of the wall surface of the robot device in a direction parallel to the wall surface is detected as the relative position of the robot device. 13. A robot device movable in a predetermined area.
The control method of a different color double of each other provided along connexion around the area
Of the wall surfaces, the corresponding wall surface is replaced with the robot device.
It is obtained by taking an image with the image pickup means arranged in
Imaged by the image pickup means based on the first image information
The color of the above-mentioned wall surface and its relative position to the wall surface.
And the color of the wall surface detected in the first step and
Relative position with respect to the wall surface and all of the previously stored
The above including the color of each wall surface and the position of each wall surface
Based on the map information of the area,
Based on the second step for detecting the position of the robot device and the detection result, the robot device is in the surrounding state.
The robot device described above to autonomously take action according to the situation
And a third step for controlling the behavior of the wall surface , wherein each of the wall surfaces has a color in the longitudinal direction of the wall surface.
Coloring is performed so that the degree of saturation changes, and the first step is based on the first image information.
Based on the saturation of the color of the wall in the image,
As the relative position of the robot device with respect to the wall surface
From one end of the wall in the direction parallel to the wall
Characterized by detecting the distance to the robot device
Robot device control method. 14. A robot device which is movable within a predetermined area.
The control method of a different color double of each other provided along connexion around the area
Of the wall surfaces, the corresponding wall surface is replaced with the robot device.
It is obtained by taking an image with the image pickup means arranged in
Imaged by the image pickup means based on the first image information
The color of the above-mentioned wall surface and its relative position to the wall surface.
And the color of the wall surface detected in the first step and
Relative position with respect to the wall surface and all of the previously stored
The above including the color of each wall surface and the position of each wall surface
Based on the map information of the area,
Based on the second step for detecting the position of the robot device and the detection result, the robot device is in the surrounding state.
The robot device described above to autonomously take action according to the situation
And a third step for controlling the behavior of the wall surface.
A diagonal line is drawn from the other end to the other end, and in the first step, based on the first image information,
The above of the wall surface with respect to the height of the wall surface in the image
Based on the ratio of the length above or below the diagonal,
As the relative position of the robot device with respect to the wall surface
The robot device in the direction parallel to the wall surface.
Characterized by detecting the distance from one end of the wall surface
Robot device control method. 15. A robot device movable in a predetermined area.
The control method of a different color double of each other provided along connexion around the area
Of the wall surfaces, the corresponding wall surface is replaced with the robot device.
It is obtained by taking an image with the image pickup means arranged in
Imaged by the image pickup means based on the first image information
The color of the above-mentioned wall surface and its relative position to the wall surface.
And the color of the wall surface detected in the first step and
Relative position with respect to the wall surface and all of the previously stored
The above including the color of each wall surface and the position of each wall surface
Based on the map information of the area,
Based on the second step for detecting the position of the robot device and the detection result, the robot device is in the surrounding state.
The robot device described above to autonomously take action according to the situation
And a third step for controlling the behavior of each of the wall surfaces, each wall surface from one end in the longitudinal direction of the wall surface.
With the diagonal line or virtual line reaching the other end as a boundary, the diagonal line or temporary line
Saturated with the same hue above and below the line
Are colored in different degrees, and the first step is based on the first image information.
The above of the wall surface with respect to the height of the wall surface in the image
Of the upper part or the lower part above the diagonal line or the above virtual line
Based on the length ratio, the robot for the wall
As the relative position of the device, in the direction parallel to the wall surface.
Check the distance from one end of the wall surface of the robot device.
A method for controlling a robot device, which is characterized by issuing.