JP4056777B2 - Autonomous mobile object traveling system and autonomous mobile object position correction method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an autonomous mobile body traveling system in which an autonomous mobile body circulates a preset traveling course and a position correction method for an autonomous mobile body to travel.
[0002]
[Prior art]
Currently, there is an autonomous mobile body that stores data on a preset traveling course and moves along the traveling course while estimating the distance, traveling direction, and current position of the traveling course. For example, when the autonomous mobile body is configured to travel using drive wheels provided on the left and right sides of the main body, the autonomous mobile body detects the travel distance based on the number of rotations of the drive wheels. Further, for example, a gyro compass is used for detecting the traveling direction. In addition, the autonomous mobile body estimates its current position based on the detected travel distance and travel direction.
[0003]
The travel distance and travel direction detected by the autonomous mobile body include some errors due to slip of the drive wheels and measurement errors. For this reason, the current position (estimated position) estimated based on the detection result becomes inaccurate, and the autonomous mobile body cannot accurately grasp its current position, so that it may not be possible to go around the traveling course as set. There is. For this reason, various techniques for correcting the estimated position of the autonomous mobile body have been proposed.
[0004]
Conventional techniques for correcting the estimated position of the autonomous mobile body include those using image processing and those using a reflector and a laser. In the correction of the estimated position using image processing, an image of the target image taken in the traveling course is stored in advance in the autonomous mobile body. Then, a camera is mounted on the autonomous mobile body to go around the tour course, and when the same image as the stored image is taken, the target is taken at the position estimated by the autonomous mobile body. An error between the position estimated by the autonomous mobile body and the position where the autonomous mobile body actually exists is detected by comparing the captured image with the stored image. In the correction of the estimated position using image processing, a corner of a facility passage, a structure, a tree, and a sign are used as targets.
[0005]
For correction of the estimated position using the reflector and the laser, a configuration for outputting the laser beam to the autonomous mobile body is provided, and a reflector for reflecting the laser beam is provided on the traveling course. Data indicating the position of the reflector is stored in advance in the autonomous mobile body. When the autonomous mobile body circulates while outputting laser light and receives the reflected light reflected by the reflector, the position is reflected. It is determined that the position is where the plate is provided. Then, the position where the reflected light is actually received is compared with the position where it is estimated that the reflecting plate is provided, and the estimated position is corrected so that they match.
[0006]
In recent years, it has been studied to use an autonomous mobile body as a security robot that patrols a facility instead of a security guard and detects a fire or an intruder. When used as a security robot, the autonomous mobile body is equipped with an abnormality detection sensor that detects the occurrence of an abnormal situation such as a fire or an intruder. Then, when an abnormality is detected by the installed abnormality detection sensor, the autonomous mobile body is moved in the direction in which the abnormality was detected by moving off the circuit course, and after the countermeasures such as checking the state of the abnormality are completed, the patrol is resumed. Return to the course. In this way, the autonomous mobile body used as a security robot may travel outside the course assumed in advance, so if it is not always traveling with an accurate position, it travels off the traveling course. There is a risk that you will not be able to return to the tour course later. For this reason, for an autonomous mobile body used as a security robot, it is particularly important to correct the estimated position and grasp the accurate position.
[0007]
[Problems to be solved by the invention]
However, since the technique for correcting the estimated position by image processing extracts a target from a moving image taken while the autonomous mobile body travels, complicated processing is required to extract the target. In addition, since it is necessary to obtain the relative distance between the autonomous mobile object that travels and the target object after the target is extracted, or the traveling direction of the autonomous mobile object, the processing necessary for correction becomes complicated and It becomes difficult to correct the estimated position of the autonomous moving body in real time.
[0008]
In addition, the technique for correcting the estimated position using the reflector and the laser cannot confirm the current position of the autonomous mobile body other than the position where the reflector is provided. In addition, since the distance between the autonomous mobile body and the reflector cannot be detected, there is a problem that it is difficult to use other than the detection of the travel distance of the security robot that patrols the facility.
[0009]
In particular, when an autonomous mobile body is used as a security robot, the tour course is set according to the client's request. Some of these traveling courses have a high degree of freedom in traveling autonomously moving bodies such as gymnasiums and venues provided outdoors, and it is difficult to provide targets and reflectors. Therefore, when using an autonomous mobile body as a security robot, the technique for correcting the estimated position by the above-described image processing is difficult to extract the target, and the relative distance and angular displacement between the autonomous mobile body and the target are difficult. The technique of correcting the estimated position using a reflector and a laser is difficult to use in places such as gymnasiums and outdoors.
[0010]
The present invention has been made in view of the above points, and provides an autonomous mobile body traveling system and an autonomous mobile body position correction method capable of correcting the estimated position of the autonomous mobile body with simpler processing. Is the first purpose.
[0011]
In addition, a second object of the present invention is to provide an autonomous mobile body traveling system and an autonomous mobile body position correction method capable of accurately traveling according to a traveling course even if the space around the autonomous mobile body is wide. To do.
[0012]
[Means for Solving the Problems]
  In order to solve the above-described problems and achieve the object, the autonomous mobile traveling system according to the first aspect of the present invention is an autonomous mobile traveling system in which an autonomous mobile travels around a preset traveling course. An autonomous mobile body provided with a current position estimating means for estimating its current position, an imaging means for imaging the autonomous mobile body that is fixed at a position for imaging an area including the traveling course, and imaging by the imaging means An actual position for calculating an actual position where the autonomous mobile body is present based on the position of the autonomous mobile body in the image and an image position acquisition means for obtaining the position of the autonomous mobile body in the image A calculating means; and an estimated position correcting means for correcting the position estimated by the current position estimating means using the actual position;Driving means for driving the imaging means, and the autonomous mobile body includes estimated current position transmitting means for transmitting estimated current position data indicating a current position estimated by the current position estimating means to the imaging means. In addition, the imaging unit includes an estimated current position receiving unit that receives the estimated current position data, and the driving unit drives the imaging unit to an angle for capturing an image centered on a position indicated by the estimated current position data. The image position acquisition means obtains the position of the autonomous mobile body in the image centered on the position indicated by the estimated current position data, and the actual position calculation means calculates the position of the autonomous mobile body in the image and the center position of the image. To calculate the actual positionFeatures.
[0013]
  According to the first aspect of the present invention, the autonomous mobile body is imaged by the imaging means fixed at the position where the region including the traveling course is imaged, and the position of the autonomous mobile body in the captured image is obtained. Further, an actual position, which is an actual position where the autonomous mobile body exists, can be calculated based on the position of the autonomous mobile body, and the estimated position can be corrected using the calculated actual position. For this reason, it is possible to always extract only a target object such as an autonomous mobile body from an image captured at a constant position and a constant angle.
According to the first aspect of the present invention, the position of the autonomous mobile body in the image centered on the position indicated by the estimated current position data is obtained, and the position of the autonomous mobile body in the image and the center position of the image are determined. Since the actual position can be calculated by comparing the two, the actual position of the autonomous mobile body can be obtained at an arbitrary position.
[0014]
The autonomous mobile circuit system according to claim 2 is provided with a correction point that is a point for correcting the position estimated by the current position estimation unit, and the imaging unit associated with the correction point is the autonomous region. A moving object is imaged.
[0015]
According to the second aspect of the present invention, since the autonomous mobile body is imaged by the imaging means associated with the correction point at the correction point, it is always used by using an image obtained by imaging the same position from a certain position and angle. The position can be calculated.
A plurality of correction points may be provided. Further, the correspondence between the correction point and the imaging unit may not be one-to-one, and one imaging unit may be associated with a plurality of correction points.
[0016]
An autonomous mobile body patrol system according to a third aspect of the present invention includes a plurality of the imaging means, and the autonomous mobile body is estimated by the current position estimation means by designating any of the plurality of imaging means. In addition to having signal output means for outputting a signal for starting or ending position correction, the imaging means has designation determination means for determining whether or not designation has been received based on the signal output by the signal output means. And when the said designation | designated judgment means judges that the designation | designated of the said autonomous mobile body was received, the data regarding the image imaged to the said image position acquisition means are provided, It is characterized by the above-mentioned.
[0017]
According to the third aspect of the present invention, the estimated position can be corrected using the image data provided by the imaging means designated as the autonomous mobile body among the plurality of imaging means. Therefore, it is possible to eliminate use of correct image data for correcting the estimated position.
[0018]
The autonomous mobile body patrol system according to the invention described in claim 4 identifies the imaging means in which each of the imaging means has unique identification information, and the autonomous mobile body takes an image based on the identification information. The position estimated by the current position estimating means is corrected using an image photographed by an arbitrary imaging means.
[0019]
According to the fourth aspect of the present invention, the autonomous mobile body identifies the imaging unit that captured the image based on the identification information, and corrects the estimated position using the image captured by the arbitrary imaging unit. can do.
[0022]
  Claim5The autonomous mobile body patrol system according to the invention described above is characterized in that the autonomous mobile body receives data indicating the actual position calculated by the actual position calculation means as a radio signal.
[0023]
  This claim5According to the invention described in (4), the autonomous mobile body can receive data indicating the actual position as a radio signal.
[0024]
  Claim6In the autonomous mobile body patrol system according to the invention, the autonomous mobile body includes the actual position calculation unit, and the autonomous mobile body stores data indicating the position of the autonomous mobile body in the image acquired by the image position acquisition unit. It is received as a radio signal.
[0025]
  This claim6According to the invention described in, data indicating the position of the autonomous mobile body in the image acquired by the image position acquisition means can be received as a radio signal by the autonomous mobile body.
[0026]
  Claim7In the autonomous mobile body patrol system according to the invention, the autonomous mobile body includes the image position acquisition unit and the actual position calculation unit, and the autonomous mobile body stores data indicating an image captured by the imaging unit. It is received as a radio signal.
[0027]
  This claim7According to the invention described in (4), the autonomous mobile body can receive data indicating an image captured by the imaging means as a radio signal.
[0028]
  Claim8The autonomous mobile patrol system according to the invention described inin frontThe image pickup means further includes a magnification change means for changing an image pickup magnification taken by the image pickup means.Alternatively, the drive unit changes the shooting direction of the imaging unit and causes the image pickup unit to pick up images at a plurality of positions.It is characterized by.
[0029]
  This claim8According to the invention described in (1), it is possible to pick up images of different places with one image pickup means, or to change the image magnification picked up by the image pickup means, so it is wider with a smaller number of cameras. An area can be imaged.
[0030]
  Claim9The autonomous mobile body patrol system according to the invention described above is characterized in that at least one of the imaging direction of the imaging unit and the imaging magnification is registered in advance.
[0031]
  This claim9According to the invention described in (1), since at least one of the shooting direction and the imaging magnification of the imaging unit can be registered in advance, for example, the camera is quickly directed to a preset correction point, or the optimum imaging magnification is obtained. An image can be taken with.
[0032]
  Claim10In the autonomous mobile patrol system according to the invention described above, the current location estimating means further estimates the traveling direction, and obtains the traveling direction for obtaining the traveling direction of the autonomous moving body in the image taken by the imaging means. And a travel direction correcting means for correcting the travel direction estimated by the current location estimating means using the travel direction obtained by the travel direction obtaining means.
[0033]
  This claim10According to the invention described in the above, it is possible to obtain the traveling direction of the autonomous mobile body from the image captured by the imaging unit, and to correct the estimated traveling direction of the autonomous mobile body based on the travel direction.
[0034]
  Claim11The position correction method of the autonomous mobile body according to the invention described inExecuted in an autonomous mobile patrol system,A method for correcting the position of an autonomous moving body that circulates a preset traveling course,The autonomous mobile body patrol system includes an imaging unit that is fixed at a position for imaging an area including the tour course, and that images the autonomous mobile body, and a driving unit that drives the imaging unit.A current position estimating step for estimating a current position of the autonomous mobile body; andImaged by the imaging meansAn image position acquisition step for obtaining the position of the autonomous mobile body in the image, and an actual position calculation step for calculating an actual position where the autonomous mobile body is present based on the position of the autonomous mobile body in the image And using the actual position, the current position is estimated.ProcessAn estimated position correction step for correcting the position estimated byAn estimated current position transmitting step of transmitting the estimated current position data indicating the current position estimated by the current position estimating step to the imaging means by the autonomous mobile body; and an estimation in which the imaging means receives the estimated current position data A current position receiving step, and a driving step of driving the imaging means at an angle at which an image centered on the position indicated by the estimated current position data is driven by the driving means, and the image position acquiring step includes: The position of the autonomous mobile body in the image centered on the position indicated by the estimated current position data is obtained, and the actual position calculating step compares the position of the autonomous mobile body in the image with the center position of the image to determine the actual position. To calculateIt is characterized by.
[0035]
  This claim11According to the invention described above, the autonomous mobile body is imaged by the imaging means fixed at the position for imaging the region including the traveling course, and the position of the autonomous mobile body in the captured image is obtained. Further, an actual position, which is an actual position where the autonomous mobile body exists, can be calculated based on the position of the autonomous mobile body, and the estimated position can be corrected using the calculated actual position.
According to the invention of claim 11, the position of the autonomous mobile body in the image centered on the position indicated by the estimated current position data is obtained, and the position of the autonomous mobile body in the image and the center position of the image are determined. Since the actual position can be calculated by comparing the two, the actual position of the autonomous mobile body can be obtained at an arbitrary position.
[0036]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, Embodiments 1 to 3 of the present invention will be described with reference to the drawings. The first to third embodiments describe the present invention as a robot security system or a position correction method for a security robot when an autonomous mobile body is used as a security robot.
[0037]
(Embodiment 1)
The autonomous mobile body patrol system according to the first embodiment is configured as a patrol system in which an autonomous mobile body (hereinafter referred to as a security robot) configured as a security robot visits a preset tour course. FIG. 1 is a diagram for explaining the autonomous mobile body patrol system according to the first embodiment, and is an area including a guard robot 101 that patrols while estimating its current position, and a patrol course of the guard robot 101. A camera 103 is shown which is fixed at a position where the photographing range 1 can be photographed and photographs the security robot 101.
[0038]
FIG. 2 is a diagram illustrating a state in which FIG. 1 is viewed from the top of the camera 103. The camera 103 is provided at a position where a portion where a passage where a detection error of the travel distance and the travel direction detected by the security robot 101 is likely to occur is crossed is captured. Since the estimated position of the security robot 101 is corrected based on the captured image, a point where the camera 103 captures the security robot 101 is described as a correction point in the embodiment of the present invention. The position of the correction point is registered in the security robot 101 in advance.
[0039]
In the autonomous mobile patrol system of the first embodiment, the camera 103 is provided on the ceiling of the facility when patroling the passage in the facility. If it is assumed that the entire passage is photographed with a passage width of 2 m, the passage position information can be obtained in units of 2 cm if the camera 103 having a resolution of 100 × 100 is used. The accuracy of this position information is sufficient to detect the position of the security robot 101. In addition, a camera having a resolution of 100 × 100 is not currently a high-performance camera, and the autonomous mobile tour system according to the first embodiment can be configured using an inexpensive camera.
[0040]
In recent years, there are image sensors that can perform relatively simple image processing such as detecting a moving body in a captured image. The autonomous mobile body traveling system according to the first embodiment can use such an image sensor instead of the camera 103.
[0041]
FIG. 3 is a diagram for explaining cooperation between the camera 103 and the security robot 101 according to the first embodiment. In the first embodiment, the patrol system is described as connecting the security robot 101 and the camera 103 via the monitoring computer 400 that manages a plurality of security robots 101 and the control computer 105 that controls the camera. Further, a configuration including the camera 103 and the control computer 105 may be referred to as a camera side for convenience, and a configuration including the security robot 101 and the control computer 105 may be referred to as a security robot side for convenience.
[0042]
4 and 5 are block diagrams for explaining the autonomous mobile body patrol system according to the first embodiment. FIG. 4 is a diagram for explaining the configuration of the security robot, and FIG. It is a figure for demonstrating the structure of the side. In FIG. 5, for simplicity of explanation, one camera 103 is connected to the control computer 105. However, as shown in FIG. 3, the autonomous mobile tour system according to the first embodiment controls one camera 103. A computer 105 is connected to a plurality of cameras 103 and controls the plurality of cameras 103.
[0043]
As shown in FIGS. 4 and 5, the autonomous mobile tour system of Embodiment 1 includes a security robot 101 having a current position estimation unit 406 that estimates its current position, and a monitoring computer 400 of the security robot 101. Yes. In addition, the autonomous mobile tour system according to the first embodiment includes a camera 103 that captures the security robot 101 and a control computer 105 for the camera 103 that are fixed at a position where a region including a tour course can be captured. Then, the control computer 105 acquires the position of the security robot 101 in the image taken by the camera 103, and the actual position where the security robot 101 exists based on the position of the security robot 101 in the image. A coordinate calculation unit 507 that calculates the actual position, and an estimated position correction unit 407 that corrects the position estimated by the current position estimation unit 406 using the actual position.
[0044]
As shown in FIG. 3, in the first embodiment, the camera 103 and the security robot 101 are connected via the control computer 105 and the control computer 105. The image processing unit 506 and the coordinate calculation unit 507 according to the first embodiment are provided in the control computer 105, and the estimated position correction unit 407 is provided in the security robot 101. In the configuration shown in FIGS. 4 and 5, the data indicating the actual position calculated by the coordinate calculation unit 507 is transmitted to the security robot 101 as a radio signal via the monitoring computer 400.
[0045]
The coordinate calculation unit 507 is configured to calculate the actual position as coordinates, and data indicating the actual position is transmitted to the security robot 101 as data representing the coordinates. A specific method for expressing the actual position by coordinates will be described in detail later.
[0046]
In addition to the above-described configuration, the security robot 101 includes a movement distance detection unit 409 that detects a movement distance of the security robot 101 and a movement direction detection unit 410 that detects a movement direction. The current position estimation unit 406 estimates the current position based on the movement distance and the movement direction detected by the movement distance detection unit 409 and the movement direction detection unit 410. The movement distance detection unit 409 is configured to detect, for example, the number of rotations of the wheels of the security robot 101 and to detect the distance traveled based on the detected number of rotations. Moreover, the moving direction detection part 410 is the structure which detects the direction which the security robot 101 is facing, for example with a gyro sensor, and estimates a running direction.
[0047]
The security robot 101 includes an environment recognition unit 411 that grasps the situation around the security robot, a human body detection sensor 412 that detects a human body, a fire detection sensor 413, a water leakage detection sensor 414, and a camera / microphone that records the state of an abnormal situation. 415. An abnormality detection unit 408 that detects occurrence of an abnormal situation using any one of the human body detection sensor 412, the fire detection sensor 413, and the water leakage detection sensor 414 is provided.
[0048]
The environment recognition unit 411 is configured to grasp the situation around the security robot. For example, the environment recognition unit 411 detects the distance between the wall surface and the security robot 101 using an ultrasonic sensor or the like. The human body detection sensor 412 is a sensor for detecting an intruder or the like, and an infrared detection sensor, an ultrasonic sensor, or the like is used. The fire detection sensor 413 is a sensor for detecting a fire, and is a sensor for detecting flame and smoke. The water leakage detection sensor 414 is provided on the bottom surface of the security robot 101 and detects whether there is water on the traveling floor surface.
[0049]
The security robot 101 includes a control unit 401 that controls the security robot 101 as a whole, a program and data necessary for control of the control unit 401, and a storage unit 402 that stores map data of a tour course that the security robot 101 circulates. A communication unit 403 that exchanges signals with the computer 400, a drive unit 404 that drives the security robot 101 in accordance with control by the control unit 401, and an input / output unit (I / O) 405 that controls data input and output in the above configuration. ing.
[0050]
The communication unit 403 is configured to perform wireless communication with the monitoring computer 400 and receive commands and information from the monitoring computer 400. In addition, the current position and status of the security robot 101 are notified to the monitoring computer 400. Further, when the abnormality detection unit 408 detects an abnormality, it transmits to the monitoring computer 400 that the abnormality has been detected. At this time, the communication unit 403 can also send an image captured by the camera / microphone 415 and collected sound.
[0051]
The drive unit 404 is configured to cause the security robot 101 to travel according to an instruction from the control unit 401. The control unit 401 determines an instruction to be issued to the driving unit 404 based on information output from the current position estimation unit 406 and the estimated position correction unit 407.
[0052]
Furthermore, the security robot 101 includes a trigger signal transmission unit 416 that transmits a trigger signal for notifying the camera 103 that the security robot 101 enters the imaging range. On the other hand, the camera 103 includes a signal receiving unit 508 that receives a trigger signal. The trigger signal may use any one of optical signals such as laser light and infrared light, sound waves, and radio waves.
[0053]
In addition to the configuration described above, the control computer 105 stores a communication unit 503 that exchanges signals with the camera 103, a control unit 501 that controls the entire control computer 105, and programs and data used to control the control unit 501. The storage unit 502, a motor (not shown) of the camera 103, and the like are driven in accordance with the control of the control unit 501, the drive unit 504 that operates the camera as a pan / tilt camera, and the input / output unit (I / O) 505. Note that the operation of the camera 103 as a pan / tilt camera will be described in Embodiment 2.
[0054]
The configuration described above operates as follows. That is, the security robot 101 determines whether the distance from the correction point is equal to or less than a predetermined distance based on the estimated position. When it is determined that the correction point has been approached to a predetermined distance, a trigger signal is transmitted from the trigger signal transmission unit 416 to the camera 103 to notify that the correction point has been approached.
[0055]
The transmitted trigger signal is received by the signal receiving unit 508 of the camera 103. Information indicating that the trigger signal has been received is input to the control unit 501 via the communication unit 503 and the I / O 505. The control unit 501 controls the communication unit 403 so as to capture image data of an image captured by the camera 103. The image data captured by the communication unit 403 is input to the image processing unit 506. The image processing unit 506 processes the image data to obtain the position of the security robot 101 in the image, and the coordinate calculation unit 507 calculates the actual position of the security robot 101 based on the position of the security robot 101 in the image.
[0056]
FIGS. 6A to 6D are diagrams for explaining processing performed by the image processing unit 506 and the coordinate calculation unit 507. As shown in FIG. 6A, the image processing unit 506 extracts the security robot 101 from the image a by processing the image data, and obtains the position of the security robot 101 in the image a. As for the image of the moving security robot 101, for example, the security robot 101 passing through the imaging range is continuously captured by the camera 103, and the difference between the images of the security robot 101 in each image is obtained. The moving object other than the security robot 101 can be extracted by removing the image a from the image a. The position P of the security robot 101 in the image a is obtained by a method such as obtaining the center of gravity of the detected security robot 101. Since the method for obtaining the position of the security robot 101 is well known, further explanation is omitted.
[0057]
Note that when the position of the security robot 101 is obtained from the difference between consecutively captured images, the traveling direction of the security robot 101 may be obtained. In this case, after obtaining the traveling direction in the captured image, the traveling direction of the autonomous mobile body is obtained by converting the actual traveling direction in consideration of the direction of the camera 103 and the like. The obtained traveling direction can be used to correct the estimated traveling direction of the autonomous mobile body.
[0058]
The coordinate calculation unit 507 has, for example, a conversion table shown in FIG. The conversion table shown in FIG. 6C is a table in which coordinates are determined with a certain correction point C as a reference point. When the point P shown in (b) is superimposed on the table shown in (c), the coordinates (−25, 25) of P with reference to the correction position C are obtained as shown in FIG. Information on the position of the security robot 101 thus obtained is transmitted to the security robot 101 via the monitoring computer 400. The estimated position correction unit 407 of the security robot 101 corrects the estimated position based on the transmitted information.
[0059]
7 and 8 are diagrams for explaining the estimated position correction processing of the estimated position correction unit 407. FIG. FIG. 7 is a diagram showing the map data of the traveling course stored in the storage unit 402 of the security robot 101. The map data is data in which a traveling course 701 indicated by a broken line and coordinates of correction points A to F on the traveling course 701 are recorded. According to the illustrated map data, the security robot 101 circulates in the order of passing through the correction points B, C, D... With the correction point A as the start position, and returns to the correction point A. The security robot 101 corrects the estimated position based on the actual position calculated at each correction point.
[0060]
In the first embodiment, a plurality of correction points A to F are provided. Each of the correction points A to F is photographed by the camera 103 associated therewith. Therefore, the autonomous mobile body patrol system according to Embodiment 1 includes a plurality of cameras 103 and correction points. The shooting ranges of the camera 103 respectively associated with the correction points A to F are shown in the figure as 702 to 707, respectively.
[0061]
FIGS. 8A and 8B are diagrams for explaining the procedure for correcting the estimated position at the correction point C. FIGS. 8A and 8B respectively convert the position in the image into the actual position. The conversion table is shown. (A) is a conversion table showing the coordinates obtained at the correction point with reference to the correction point, and (b) is a conversion table in which the coordinates with the correction point A as the starting point as the origin are assigned to the area to be circulated. is there.
[0062]
When correcting the estimated position using the conversion table shown in (a), the estimated position correcting unit 407 recognizes from the map data that the coordinates of the correction point C are (1000, 800). When the coordinates (−25, 25) are obtained by the procedure described with reference to FIG. 6, the coordinates (−975, 825) are indicated by indicating the coordinates (−25, 25) with reference to the coordinates (1000, 800). Get. The coordinates (975, 825) are the actual position of the security robot 101 with the correction point A, that is, the start point of the security robot 101 as a reference. The estimated position estimated by the current position estimation unit 406 is corrected by the obtained actual position.
[0063]
Further, when the estimated position is corrected using the conversion table (b) shown in FIG. 8, mapping data is used by assigning the coordinates calculated in the procedure described in FIG. 6 to the corresponding coordinates in the conversion table. The actual position can be obtained directly as coordinates.
[0064]
FIG. 9 is a flowchart for explaining a position correction method of the guard robot (autonomous mobile body) 101 performed in the traveling system for the autonomous mobile body of the first embodiment described above. The flowchart shown in FIG. 9 is a process performed by the control computer 105 in the first embodiment.
[0065]
The control computer 105 determines whether or not the signal receiving unit 508 of the camera 103 has received a trigger signal (step S901). If it is determined that the trigger signal has not been received (step S901: No), it waits until the trigger signal is received. If it is determined that the trigger signal has been received (step S901: Yes), the image data of the image captured by the camera 103 is captured (step S902).
[0066]
Next, as described with reference to FIG. 6, the control computer 105 extracts only the image of the security robot 101 from the image data. Then, the center of gravity of the extracted image is taken, and the position in the image of the security robot 101 is acquired (step S903). Further, based on the position of the security robot 101 in the image, the coordinates of the actual position of the security robot 101 with respect to the correction point are calculated (step S904). The coordinate data regarding the calculated coordinates is transmitted to the security robot 101 as a radio signal via the monitoring computer 400 (step S905).
[0067]
The autonomous mobile body patrol system according to the first embodiment described above detects the position of the guard robot 101 using data of an image obtained by photographing the guard robot 101 that is moved by the fixed camera 103. For this reason, the position of the security robot 101 in the image can be acquired by extracting only the security robot 101 from the image and obtaining the center of gravity of the security robot 101. Such processing according to the first embodiment is simpler than extracting a target provided for each position for correcting the estimated position, such as a structure or a sign, from an image photographed by a camera attached to the security robot 101. is there. For this reason, the first embodiment can correct the current position estimated by the security robot 101 in a shorter time than the prior art and can cope with the traveling of the security robot 101 in real time.
[0068]
Further, the present invention is not limited to the first embodiment described above. That is, the autonomous mobile body patrol system of the present invention may output a signal for designating any one of the cameras 103 having the security robot 101 to start or end the correction of the estimated position. For example, the camera 103 can be specified by adding unique information to each of the cameras 103 to the trigger signal transmitted by the security robot 101.
[0069]
Information unique to each camera 103 can be given to a trigger signal which is an optical signal, for example, by a blinking pattern of light. In addition, a trigger signal that is a sound wave signal can be given by setting a sound wave frequency for each camera 103. Furthermore, an ID code may be superimposed on the radio signal for a trigger signal that is a radio wave.
[0070]
Information unique to each camera 103 is stored in advance in the storage unit 502 of the control computer 105. When the signal reception unit 508 receives the trigger signal, the control computer 105 determines which camera 103 has been designated based on which information given to the trigger signal matches information unique to which camera 103. Then, the image processing unit 506 is provided with data related to the image captured by the designated camera 103.
[0071]
According to the configuration described above, the trigger signal transmitted by the security robot 101 is received by the cameras 103 other than the camera 103 corresponding to the imaging range in which the security robot 101 is located, and this camera 103 prevents an erroneous operation of imaging its own imaging range. be able to.
[0072]
In the autonomous mobile tour system according to the first embodiment, each of the plurality of cameras 103 can be given an address as unique identification information. The control unit 501 identifies the camera 103 that captured the image based on the address. Then, image data of an image captured by the camera 103 is given to the image processing unit 506. At this time, if information related to shooting conditions such as the direction (angle) of each camera 103 and the shooting range corresponding to the address is stored in the storage unit 502 of the control computer 105, the image processing unit 506, the coordinate calculation unit, and the like. In 507, the imaging condition of the camera 103 can be taken into consideration in the process of acquiring the position of the security robot 101 in the image or calculating the coordinates of the actual position.
[0073]
According to the above configuration, the coordinates of the actual position of the guard robot 101 can be calculated with higher accuracy, and the estimated position of the guard robot 101 can be corrected to an accurate position.
[0074]
In the autonomous mobile body patrol system according to the first embodiment, the image processing unit 506 and the coordinate calculation unit 507 are both provided in the control computer 105 to acquire the position of the security robot 101 in the image and return to the actual position of the acquired position. The coordinate conversion is performed on the camera side. However, the present invention is not limited to such an embodiment, and coordinate conversion to an actual position may be performed on the guard robot side. The distribution of processing to the camera side and the security robot side will be described later.
[0075]
(Embodiment 2)
Next, a second embodiment of the present invention will be described. Of the configurations of the second embodiment, configurations similar to those of the first embodiment are denoted by the same reference numerals, and a part of the description is omitted.
[0076]
In the autonomous mobile body patrol system according to the second embodiment, the drive unit 504 changes the angle of the camera 103 and causes one camera 103 to capture images from a plurality of angles, and the control unit 501 controls the camera 103. The magnification of the image captured by the camera 103 is changed. In the second embodiment, the function of photographing an image from a plurality of angles by changing the angle is called a pan / tilt function, and the function of changing the image magnification is called a zoom function. Setting the shooting angle and the shooting magnification in advance is called a preset.
[0077]
FIG. 10 is a diagram for explaining a configuration in which the pan / tilt function is used in the autonomous mobile tour system according to the second embodiment. In the illustrated configuration, a plurality of correction points G to I are provided along the traveling course, and the storage unit 502 of the control computer 105 stores the angle of the camera 103 when photographing each correction point.
[0078]
Also in the second embodiment, the correction performed at each of the correction points G to I is started when the camera 103 receives a trigger signal transmitted from the security robot 101. The camera 103 receives a trigger signal by the signal receiving unit 508 every time the security robot 101 enters the respective shooting ranges of the correction points G to I, and the control computer 105 controls the camera 103 to point at a preset angle. To do. The control signal when the control computer 105 controls the camera 103 to change the angle is set as follows, for example.
(1) Correction point G: Camera direction X axis; x1, Y axis: y1
(2) Correction point H: Camera orientation X axis; x2, Y axis: y2
(3) Correction point I: Camera direction X axis; x3, Y axis: y3
The above angle may be either a vertical angle or a rotation angle.
[0079]
In addition, when the estimated position is corrected using the pan / tilt function of the camera 103, identification information for specifying each of the correction points G to I may be added to the trigger signal transmitted by the security robot 101. When information for identifying a correction point is given to the trigger signal, the control computer 105 determines an angle at which the camera 103 is directed based on the identification information given to the signal received by the signal receiving unit 508.
[0080]
FIG. 11 is a diagram for explaining a configuration in which a zoom function is used in the autonomous mobile tour system according to the second embodiment. In the configuration shown in the drawing, a plurality of correction points J to L are provided along the traveling course, and the shooting magnification of the camera 103 when shooting each correction point is stored in the storage unit 502 of the control computer 105. .
[0081]
The camera 103 receives a trigger signal by the signal receiving unit 508 every time the security robot 101 enters the respective shooting ranges of the correction points J to L, and the control computer 105 sets the shooting magnification of the camera 103 to a preset magnification. Control. For example, the control signal when the control computer 105 controls the camera 103 to change the photographing magnification is set as follows.
(1) Correction point J: Magnification zzz1
(2) Correction point K: Magnification zzz2
(3) Correction point L: magnification zzz3
[0082]
Further, when the estimated position is corrected using the zoom function of the camera 103, identification information for specifying each of the correction points J to L may be added to the trigger signal transmitted by the security robot 101. When the information for identifying the correction point is given to the trigger signal, the control computer 105 identifies the correction point based on the identification information given to the signal received by the signal receiving unit 508, and the camera at a magnification corresponding to the correction point. 103 causes an image to be taken.
[0083]
The configuration using the zoom function of the camera 103 is that, for example, when the estimated position is corrected by photographing the security robot 101 outdoors from a relatively long distance, the position of the security robot 101 is gradually increased by zooming in on the approaching security robot 101. This is advantageous in increasing the detection accuracy of the error and reducing the error.
[0084]
Further, the zoom function can photograph the security robot 101 at the same size at each correction point even when the distance between the security robot 101 and the camera 103 changes at each correction point. By photographing the security robot 101 to the same size regardless of the correction point, the position of the security robot 101 can be obtained with the same accuracy at each correction point. Further, when the security robot 101 is photographed largely using the zoom function, the position of the security robot 101 can be acquired with high accuracy.
[0085]
FIG. 12 is a diagram for explaining a configuration in which the pan / tilt function and the zoom function are used in the autonomous mobile patrol system according to the second embodiment. In the illustrated configuration, a plurality of correction points M to O are provided along the traveling course, and the storage unit 502 of the control computer 105 stores the angle of the camera 103 and the shooting magnification when shooting each correction point. Has been.
[0086]
The camera 103 receives a trigger signal by the signal receiving unit 508 every time the security robot 101 enters each of the correction ranges M to O, and the control computer 105 points the camera 103 at a preset angle, Set the preset shooting magnification. For example, the control signal when the control computer 105 controls the camera 103 to change the angle and the photographing magnification is set as follows.
(1) Correction point G: Camera direction X axis; x1, Y axis: y1 Magnification zzz1
(2) Correction point H: Camera orientation X axis; x2, Y axis: y2 Magnification zzz2
(3) Correction point I: Camera orientation X axis; x3, Y axis: y3 Magnification zzz3
[0087]
FIG. 13 is a flowchart for explaining the process of controlling the camera 103 performed in the second embodiment described above. The flowchart shown in the figure describes a process in which one camera 103 corrects an estimated position at three correction points using a pan / tilt function and a zoom function.
[0088]
As shown in the figure, in the second embodiment, the control computer 105 determines whether or not the signal receiving unit 508 has received the first trigger signal (1) among the correction points photographed by one camera 103. (Step S1301). As a result, if the trigger signal {circle around (1)} is not received, it waits until it is received (step S1301: No).
[0089]
If it is determined in step S1301 that the trigger signal (1) has been received (step S1301: Yes), the control computer 105 determines the camera angle data (1) corresponding to the first correction point and the shooting magnification data. (1) is read from the storage unit 502 (step S1302) and (step S1303). Then, the camera 103 is controlled according to the camera angle data (1) and the magnification data (1) (step S1304).
[0090]
Next, the control computer 105 determines whether or not the signal receiving unit 508 has received the second trigger signal (2) (step S1305). As a result, if the trigger signal {circle around (2)} is not received, it waits until it is received (step S1305: No).
[0091]
If it is determined in step S1305 that the trigger signal (2) has been received (step S1305: Yes), the control computer 105 determines the camera angle data (2) corresponding to the second correction point and the shooting magnification data. (2) is read from the storage unit 502 (step S1306) and (step S1307). Then, the camera 103 is controlled according to the camera angle data (2) and the magnification data (2) (step S1308).
[0092]
Further, the control computer 105 determines whether or not the signal receiving unit 508 has received the third trigger signal (3) (step S1309). As a result, if the trigger signal {circle around (3)} is not received, it waits until it is received (step S1309: No).
[0093]
If it is determined in step S1309 that the trigger signal (3) has been received (step S1309: Yes), the control computer 105 determines the camera angle data (3) corresponding to the third correction point and the shooting magnification data. (3) is read from the storage unit 502 (step S1310) and (step S1311). Then, the camera 103 is controlled in accordance with the camera angle data (3) and the magnification data (3) (step S1312).
[0094]
After the above processing is completed, the control computer 105 sets the camera 103 to the initial position (step S1313) and prepares for the next shooting of the security robot 101.
[0095]
Since the autonomous mobile patrol system according to the second embodiment described above can capture a plurality of correction points with one camera 103, it can monitor a wide space or outdoors with a small number of cameras. For this reason, the cost of an autonomous mobile body patrol system can be held down. When a plurality of correction points are photographed by one camera 103, it is desirable to add the photographed correction points, angles, and photographing magnifications to the photographed image data. Some general surveillance cameras also have a pan / tilt function and a zoom function. The autonomous mobile object patrol system according to the second embodiment temporarily positions the surveillance camera used in the security system temporarily as an autonomous mobile object. Even if it is used for correction, it can be realized.
[0096]
(Embodiment 3)
Next, a third embodiment of the present invention will be described. Note that, in the configuration of the third embodiment, the same configuration as that of the first embodiment is denoted by the same reference numeral, and a part of the description is omitted.
[0097]
In the autonomous mobile body patrol system according to the third embodiment, the security robot 101 transmits estimated position data indicating the estimated position to the camera 103 by the communication unit 403. The camera 103 receives the estimated position data using, for example, the signal receiving unit 508. The estimated position data is input to the control unit 501 via the communication unit 503, and the control unit 401 controls the drive unit 504 to point the camera 103 at an angle for capturing an image centered on the position indicated by the estimated position data. Then, the image processing unit 506 obtains the position of the security robot 101 in the image around the position indicated by the estimated position data, and the coordinate calculation unit 507 calculates the position of the security robot 101 in the image and the center position of the image. The actual position is calculated by comparison.
[0098]
FIGS. 14A and 14B are diagrams for explaining the process of calculating the coordinates of the actual position using the estimated position of the security robot 101 according to the third embodiment. FIG. 14A is a diagram illustrating an image centered on the point P that is captured by changing the angle of the camera 103 when the security robot 101 outputs the coordinates (1000, 1000) of the point P as the estimated position. is there. Moreover, (b) is a figure which shows the security robot 101 in the image shown to (a). As shown in the figure, the security robot 101 is at a point P ′ deviated from the point P of the image.
[0099]
When the image data shown in (b) is processed and converted into coordinates, the coordinates of the point P 'are obtained. If the coordinates of the point P ′ are (950, 1050), for example, the estimated position estimated by the security robot 101 is shifted (−50, 50) from the actual position. The coordinates of the actual position are transmitted from the control computer 105 to the security robot 101 via the monitoring computer 400, and the estimated position is corrected.
[0100]
Since the autonomous mobile patrol system of the third embodiment described above determines the imaging position of the camera 103 using the estimated position transmitted by the security robot side, there is no need to predetermine a correction point, and the autonomous mobile patrol system is It can be set easily. Moreover, it is advantageous when a relatively wide space or outdoors is used as a traveling course.
[0101]
In the third embodiment, the camera angle is determined by the control computer 105. However, the present invention is not limited to such an embodiment, and can be performed on the security robot side.
[0102]
In addition, each of the autonomous mobile tour systems of the present invention described above includes the image processing unit 506 and the coordinate calculation unit 507 on the camera side, and transmits the coordinate data of the actual position to the security robot side. When acquisition of the position of the security robot 101 in the image and coordinate conversion of the acquired position to the actual position are performed on the camera side, the patrol system should be set on the spot when the camera 103 is installed on the tour course. There is an advantage that can be.
[0103]
However, the present invention is not limited to such a configuration, and can be configured as shown in FIGS. 15A and 15B, for example. FIG. 15 is a diagram for explaining allocation of image processing and coordinate conversion processing between the camera side and the security robot side. For this purpose, configurations other than the image processing unit 506 and the coordinate calculation unit 507 are illustrated. Not. However, the camera side 1501 and the security robot side 1502 both have configurations other than the image processing unit 506 and the coordinate calculation unit 507 shown in FIGS.
[0104]
In the configuration illustrated in FIG. 15A, the camera side includes an image processing unit 506, and the security robot side 1502 includes a coordinate calculation unit 507. Data d1 indicating the position of the autonomous mobile body in the image acquired by the image processing unit 506 is transmitted to the monitoring computer 400 as a radio signal. The security robot 1502 receives the data d1 via the monitoring computer 400. Such a configuration has an advantage that the amount of data transmitted from the camera side to the security robot side can be reduced.
[0105]
In the configuration shown in FIG. 15B, the security robot side 1502 includes an image processing unit 506 and a coordinate calculation unit 507. Data d2 indicating an image captured by the camera 103 is transmitted to the monitoring computer 400 as a wireless signal. The security robot 101 receives the data d2 via the monitoring computer 400. Such a configuration has an advantage that data related to the correction of the estimated position can be collectively managed on the security robot side.
[0106]
Furthermore, the autonomous mobile body patrol system of the present invention is not limited to the one that connects the camera 103 and the security robot 101 via the control computer 105 and the monitoring computer 400 as in the first to third embodiments. FIG. 16 is a diagram illustrating an example of connection between a camera and a security robot. FIG. 16A shows a configuration in which the camera 1601 and the security robot 1602 directly exchange information. In such a configuration, the camera 1601 is provided with a part of the function of the control computer 105 in addition to the camera 103, and the security robot 101 is provided with at least the communication unit of the monitoring computer 400.
[0107]
FIG. 16B shows a configuration in which the control computer 105 of the camera 103 and the security robot 1602 are connected. Further, FIG. 16C shows a configuration in which the camera 1601 and the security robot 101 are connected via the monitoring computer 400.
[0108]
In the first to third embodiments, the image processing unit 506 acquires only the position in the image of the security robot. However, the present invention is not limited to such an example and is continuously shot. The moving direction of the security robot 101 can also be specified using a plurality of images.
[0109]
Furthermore, the autonomous mobile tour system of the present invention can be combined with the tour system cited as the prior art. In other words, if the present invention is applied only to a position where an error is likely to occur in the estimated position such as a slippery passage or a corner, or to a place where it is difficult to correct the estimated position in a conventional patrol system such as a wide space or outdoors, it is necessary to implement the present invention. It is possible to reduce the number of cameras and to construct a low-cost patrol system as a whole.
[0110]
【The invention's effect】
  As described above, the invention according to claim 1 can extract only the target object, which is an autonomous moving body, from an image captured at a constant position and a constant angle at all times. There is an effect that it is possible to provide an autonomous moving body traveling system that can acquire the position of the autonomous moving body and thus correct the estimated position of the autonomous moving body by simple processing.
In addition, the invention according to claim 1 can provide an autonomous mobile traveling system that does not need to provide a correction point in advance and can travel around a wide area around the autonomous mobile according to a traveling course. There is an effect.
[0111]
In the invention according to claim 2, since the actual position can be calculated using an image obtained by imaging the same position from the constant position and angle at all times, the autonomous mobile vehicle patrol capable of obtaining a more accurate actual position The system can be provided.
[0112]
The invention according to claim 3 can provide an autonomous mobile tour system that can eliminate inappropriate image data from being used for correcting an estimated position and obtain a more reliable actual position. There is an effect.
[0113]
In the invention according to the fourth aspect, since the autonomous mobile body can identify the imaging unit that has captured the image based on the identification information, the image captured by the arbitrary imaging unit based on the identification information is more accurate. There exists an effect that the autonomous mobile body patrol system which can acquire an actual position can be provided.
[0115]
  Claim5In the invention described in, since the autonomous mobile body can receive data indicating the actual position as a wireless signal, the process up to the actual position calculation can be set on the camera side, and the autonomous mobile body that is easy to set at the site of the traveling course There is an effect that a patrol system can be provided.
[0116]
  Claim6In the invention described in, since the data indicating the position of the autonomous mobile body in the image acquired by the image position acquisition means can be received as a wireless signal, the amount of data transmitted to the autonomous mobile body is small There exists an effect that an autonomous mobile body patrol system can be provided.
[0117]
  Claim7In the invention described in, since the autonomous mobile body can receive data indicating an image captured by the imaging means as a radio signal, the autonomous mobile body collectively manages data necessary for correcting the estimated current position. It is possible to provide an autonomous mobile patrol system that can be used.
[0118]
  Claim8Since the invention described in 1 can capture a wider area with a smaller number of cameras, an autonomous mobile patrol system capable of reducing the number of cameras can be provided.
[0119]
  Claim9The invention described in 1 can accurately point the camera at a preset correction point or take an image at an optimum imaging magnification even when the imaging direction or imaging magnification of the imaging means is changed. It is possible to provide an autonomous mobile patrol system that can obtain a real position.
[0120]
  Claim10The invention described in (1) has an effect that the traveling direction of the autonomous mobile body can be obtained from the image taken by the imaging means, and the estimated traveling direction of the autonomous mobile body can be corrected based on the travel direction. In addition to the position of the autonomous mobile body, errors in the traveling direction can also be corrected, so that it is possible to provide an autonomous mobile body traveling system capable of more accurate traveling.
[0121]
  Claim11Since the invention described in the above can extract only the target of an autonomous mobile body from an image captured at a constant position and at a constant angle, the position of the autonomous mobile body is acquired with simpler image processing, As a result, the autonomous mobile body position correction method capable of correcting the estimated position of the autonomous mobile body by simple processing can be provided.
In addition, the invention according to claim 11 can provide an autonomous mobile traveling system that does not need to provide a correction point in advance and can travel around a wide area around the autonomous mobile according to a traveling course. There is an effect.
[Brief description of the drawings]
FIG. 1 is a diagram for explaining an autonomous mobile tour system according to a first embodiment of the present invention.
FIG. 2 is a diagram illustrating a state in which FIG. 1 is viewed from the top of the camera.
3 is a diagram for explaining cooperation between the camera 103 and the security robot 101 according to Embodiment 1. FIG.
FIG. 4 is a block diagram for explaining the autonomous mobile tour system according to the first embodiment.
FIG. 5 is another block diagram for explaining the autonomous mobile tour system according to the first embodiment.
6 is a diagram for explaining processing performed by an image processing unit and a coordinate calculation unit illustrated in FIG. 5;
7 is a diagram for explaining an estimated position correction process of an estimated position correction unit shown in FIG. 4; FIG.
FIG. 8 is another diagram for explaining an estimated position correction process of the estimated position correction unit shown in FIG. 4;
9 is a flowchart for explaining an autonomous mobile body position correction method performed in the autonomous mobile body patrol system of Embodiment 1. FIG.
FIG. 10 is a diagram for explaining a configuration in which a pan / tilt function is used in the autonomous mobile tour system according to the second embodiment.
FIG. 11 is a diagram for explaining a configuration in which a zoom function is used in the autonomous mobile tour system according to the second embodiment.
12 is a diagram for explaining a configuration in which a pan / tilt function and a zoom function are used in the autonomous mobile circuit tour system according to Embodiment 2. FIG.
FIG. 13 is a flowchart for explaining processing for controlling the camera according to the second embodiment;
14 is a diagram for explaining processing for calculating coordinates of an actual position according to Embodiment 3. FIG.
FIG. 15 is a diagram for explaining allocation to image processing and coordinate conversion processing on the camera side and the security robot side;
FIG. 16 is a diagram illustrating an example of connection between a camera and a security robot.
[Explanation of symbols]
101,1602 Security robot
103,1601 camera
105 Control computer
400 monitoring computer
401 control unit
402 storage unit
403 communication unit
404 Drive unit
406 Current position estimation unit
407 Estimated position correction unit
408 Anomaly detection unit
409 Moving distance detector
410 Movement direction detector
411 Environment Recognition Department
412 Human body detection sensor
413 Fire detection sensor
414 Water leakage detection sensor
415 Camera microphone
416 Trigger signal transmitter
501 Control unit
502 storage unit
503 Communication Department
504 Drive unit
506 Image processing unit
507 Coordinate calculation unit
508 Signal receiver
701 patrol course

Claims (11)

An autonomous mobile patrol system in which an autonomous mobile patrols a preset tour course,
An autonomous mobile body equipped with current position estimating means for estimating its current position;
An imaging unit that is fixed at a position where the region including the traveling course is imaged and that images the autonomous mobile body;
Image position obtaining means for obtaining the position of the autonomous mobile body in the image imaged by the imaging means;
Based on the position of the autonomous mobile body in the image, an actual position calculating means for calculating an actual position that is an actual position where the autonomous mobile body exists;
Estimated position correcting means for correcting the position estimated by the current position estimating means using the actual position;
Driving means for driving the imaging means,
The autonomous mobile body includes estimated current position transmitting means for transmitting estimated current position data indicating the current position estimated by the current position estimating means to the imaging means, and the imaging means receives the estimated current position data. An estimated current position receiving means;
The driving means drives the imaging means at an angle for capturing an image centered on the position indicated by the estimated current position data, and the image position acquiring means is configured to display an image in the image centered on the position indicated by the estimated current position data. An autonomous mobile patrol system , wherein a position of an autonomous mobile body is obtained, and the actual position calculation means calculates an actual position by comparing a position of the autonomous mobile body in the image with a center position of the image .   The correction point that is a point for correcting the position estimated by the current position estimation unit is provided, and the imaging unit associated with the correction point images the autonomous mobile body. Autonomous mobile patrol system.   A signal output unit that includes a plurality of the imaging units, and that outputs a signal for starting or ending correction of the position estimated by the current position estimation unit by designating any of the plurality of imaging units by the autonomous mobile body And the imaging means has a designation determining means for determining whether or not a designation is received based on the signal output by the signal output means, and the designation judging means receives the designation of the autonomous mobile body. 3. The autonomous mobile patrol system according to claim 1, wherein, when determined, the image position acquisition unit provides data related to the captured image. 4.   Each of the imaging means has unique identification information, and the autonomous mobile body identifies the imaging means that has taken an image based on the identification information, and uses the image taken by any imaging means to The autonomous mobile patrol system according to claim 1 or 2, wherein the position estimated by the current position estimating means is corrected. The autonomous mobile body traveling system according to any one of claims 1 to 4 , wherein the autonomous mobile body receives data indicating the actual position calculated by the actual position calculation unit as a radio signal. The said autonomous mobile body is provided with the said actual position calculation means, and the autonomous mobile body receives the data which show the position of the autonomous mobile body in the image which the said image position acquisition means acquired as a radio signal. The autonomous mobile patrol system according to any one of to 4 . 2. The autonomous mobile body includes the image position acquisition unit and the actual position calculation unit, and the autonomous mobile body receives data indicating an image captured by the imaging unit as a wireless signal. The autonomous mobile patrol system according to any one of to 4 . Further comprise or magnification changing means before Symbol imaging means changes the imaging magnification of the imaging, or the driving means causes the captured images of a plurality of positions by a single imaging unit by changing the imaging direction of the imaging means autonomous mobile patrol system according to any one of claims 1-7, characterized in that. The autonomous mobile patrol system according to claim 8 , wherein at least one of an imaging direction of the imaging unit and the imaging magnification is registered in advance. The current location estimating means further estimates the traveling direction,
A travel direction obtaining means for obtaining a travel direction of the autonomous mobile body in the image photographed by the imaging means;
Claim 1-9, characterized in that the traveling using the traveling direction obtained by the direction obtaining means, provided said further traveling direction correction means for current location corrected traveling direction estimated by the estimating means Autonomous mobile patrol system described in 1. An autonomous mobile position correction method that is executed in an autonomous mobile body patrol system and patrols a preset tour course,
The autonomous mobile body traveling system includes an imaging unit that is fixed at a position for imaging an area including the traveling course, and that images the autonomous mobile body, and a driving unit that drives the imaging unit,
A current position estimating step for estimating a current position of the autonomous mobile body;
In the traveling course, an image position acquisition step for obtaining a position of the autonomous mobile body in an image obtained by capturing the autonomous mobile body by the imaging means ;
Based on the position of the autonomous mobile body in the image, an actual position calculating step of calculating an actual position that is an actual position where the autonomous mobile body exists;
An estimated position correcting step of correcting the position estimated by the current position estimating step using the actual position;
An estimated current position transmitting step of transmitting estimated current position data indicating the current position estimated by the current position estimating step to the imaging means by the autonomous mobile body;
An estimated current position receiving step in which the imaging means receives the estimated current position data;
A driving step of driving the imaging unit at an angle for capturing an image centered on the position indicated by the estimated current position data by the driving unit;
The image position acquisition step obtains the position of the autonomous mobile body in the image centered on the position indicated by the estimated current position data,
The actual position calculating step compares the position of the autonomous mobile body in the image with the center position of the image to calculate the actual position, and calculates the position of the autonomous mobile body.

Images