JP7013212B2 - Electronic devices, markers, control methods and programs for electronic devices - Google Patents

Description

This embodiment relates to an electronic device, a marker, a control method and a program of the electronic device.

Mobile robots have been developed for some time. Mobile robots are used in various fields. For example, there are a mobile robot for transportation, a mobile robot for monitoring, a mobile robot for inspection, a mobile robot for cleaning, and the like.

Japanese Unexamined Patent Publication No. 2006-346767

The mobile robot can travel independently. In order for the mobile robot to travel stably and independently, it is necessary for the mobile robot itself to grasp the environment around the robot and determine the direction of movement. Therefore, the mobile robot is equipped with a camera. Then, the mobile robot takes an image of a mark (landmark) installed in advance in the moving range with a camera, and recognizes its own position and posture from the map information and the mark position information of the range stored in advance. It is required that this type of mobile robot can be easily used and can be realized at low cost.

Therefore, it is an object of the present embodiment to provide an electronic device that is convenient to use, can be realized at low cost, and is excellent in variety.

According to the embodiment, it is an electronic device.
A drive unit that can move the electronic device and
It is possible to photograph the first mark and the second mark provided on the surface of an object having a three-dimensional shape, and the second mark overlaps with the first mark and has a smaller area than the first mark. A height position provided inside the first mark, which is the height direction of the object in the direction in which the electronic device stands up against the moving surface and substantially corresponds to the height position of the second mark. With the image pickup unit set to
When the first mark protrudes outside the field of view imaged by the image pickup unit and the second mark is included in the field of view to be imaged, the processing unit performs processing of the content meant by the pattern in the second mark. And
When the first mark is detected in the field of view, the movable range or movement that the pattern in the first mark means in light of the first position of the electronic device when the first mark is detected. Set the prohibited range and
When the first mark protrudes out of the field of view and the second mark is detected , the pattern in the second mark is displayed in light of the second position of the electronic device when the second mark is detected. An electronic device is provided that comprises means for setting a movable range or a non-movable range, which is meant.

FIG. 1 is an explanatory diagram schematically showing a usage example of an electronic device according to an embodiment. FIG. 2A is a flowchart showing an example of the operation procedure of the electronic device. FIG. 2B is a flowchart showing another example of the operation procedure of the electronic device. FIG. 3A is a diagram showing an example of a marker imaged by an electronic device according to an embodiment. FIG. 3B is a diagram showing another example of a marker imaged by the electronic device according to the embodiment. FIG. 3C is a diagram showing still another example of the marker imaged by the electronic device according to the embodiment. FIG. 4A is a diagram showing still another example of the marker imaged by the electronic device according to the embodiment. FIG. 4B is a diagram showing another example of the marker imaged by the electronic device according to the embodiment. FIG. 4C is a diagram showing still another example of the marker imaged by the electronic device according to the embodiment. FIG. 5A is a diagram showing an example of how to use the marker imaged by the electronic device according to the embodiment. FIG. 5B is a diagram showing an example of another usage of the marker imaged by the electronic device according to the embodiment. FIG. 6A is a diagram showing another example of a marker imaged by an electronic device according to an embodiment, an example of use, and an example of a recognition range recognized by the electronic device. FIG. 6B is a diagram showing another example of a marker imaged by the electronic device according to the embodiment, and another example of use and another example of the recognition range recognized by the electronic device. FIG. 6C is a diagram showing another example of the marker. FIG. 6D is a diagram showing another example of the marker. FIG. 6E is a diagram showing still another example of the marker. FIG. 7A is a diagram showing an example of a recognition range recognized by an electronic device according to an embodiment together with an example of using a marker. FIG. 7B is a diagram showing an example of using the marker and another example of the recognition range recognized by the electronic device according to the embodiment. FIG. 7C is a diagram showing still another example of the recognition range recognized by the electronic device according to the embodiment together with other examples of use of the marker. FIG. 8A is a diagram showing a usage example of the marker and still another example of the recognition range recognized by the electronic device according to the embodiment. FIG. 8B is a diagram showing still another example of the recognition range recognized by the electronic device according to the embodiment together with the usage example of the marker. FIG. 9 is a diagram showing a configuration example of a data processor inside an electronic device.

Hereinafter, embodiments will be described with reference to the drawings. In the following description, in order to make the description clearer, the width, thickness, shape, etc. of each part may be schematically shown as compared with the actual embodiment, but the drawings are merely examples. It does not limit the interpretation of the present invention. Further, in the present specification and each figure, the same reference reference numerals may be given to the components exhibiting the same or similar functions as those described above with respect to the above-mentioned figures, and the overlapping detailed description may be omitted as appropriate. ..

FIG. 1 schematically shows an example of using the electronic device 100 according to the embodiment. The electronic device 100 includes a camera 101 and can run on its own. In order to self-propell, the electronic device 100 includes a drive device for self-propelling. Various types of self-propelled drive devices are possible, such as wheels and rollers driven by a motor. In the embodiment, the electronic device 100 will be described as functioning as, for example, a mobile robot for cleaning.

The electronic device 100 has a built-in storage device, and stores, for example, map data 400 regarding a self-propelled range (or a self-propelled area). Various embodiments are possible as the storage method and storage means of the map data 400. There are a method of acquiring image data and creating map data by self-propelling the electronic device 100 itself, or a method of writing the map data to the storage device of the electronic device 100 from a personal computer that holds the map data in advance. ..

The map data corresponds to the environment and range (or area) in which the electronic device 100 is used. If the electronic device 100 is a device for cleaning the home, it is map data representing the floor plan of each room such as the first floor and the second floor of the house, and if it is a device for cleaning the inside of the factory. Map data showing the area to be cleaned in the factory.

The map data 400 is home map data 100, and includes a first room 401 and a second room 402.

The electronic device 100 has now completed cleaning of the first room 401, moved to the second room 402, completed cleaning of a part of the area, turned around and cleaned the other area of the second room 402. Suppose you are trying to do. On the map data 400, the partition of the room is shown by a thick black line, the range where cleaning is completed is shown by a diagonal line in the upper right and lower left, and the range to be cleaned is shown by a diagonal line in the lower right and upper left.

Here, the electronic device 100 can take an image of the markers 201 and 202 arranged inside the left and right walls of the second room 402 by the camera 101.

Here, the object is referred to as a marker, and the identification printed or described on the object is referred to as a mark.

When the electronic device 100 recognizes each mark of the marker 201 and 202, it determines that the range connecting the marker 201 and the marker 202 is the intrusion prohibition range 403. Strictly speaking, it refers to a range beyond the line connecting the mark of the marker 201 to the mark of the marker 202.

When the electronic device 100 detects the mark, it updates the map data and sets the intrusion prohibition range 403. As a result, the range 402 to be cleaned is clarified on the map data 400, and the electronic device 100 starts cleaning the range 402.

In the map data 400, 100P means the position of the electronic device 100, and 201P and 202P mean the positions of the markers 201 and 202. The map data 400 is data stored in advance in the memory of the electronic device 100.

By using the portable markers 201 and 202 as described above, the moving range of the mobile electronic device 100 can be easily controlled (restricted). The markers 201 and 202 can be in various forms, the embodiments of which will be described in detail later.

2A and 2B are flowcharts showing an example and another example of the operation procedure of the electronic device 100, respectively. The example of FIG. 2A is an example of an electronic device 100 including one camera. When there is an input to the camera (step S1), it is detected whether or not a mark candidate exists in the captured image (step S2). The mark candidate is detected by, for example, whether or not there is a black square frame on a white background. At this time, marks may be shown at the top and bottom of the marker. For example, if one of them cannot be detected as a candidate, the other mark is determined.

When the mark candidate is detected, the mark candidate image is analyzed to identify the mark (step S3). When the mark is identified, the mark position is calculated based on the parameters of the camera, the coordinates of the mark in the image, the map data 400, and the own position 100P information (step S4). At this time, the meaning and content of the mark can also be determined by referring to the preset meaning content database.

The database of meaning contents may be provided in the electronic device 100, may be stored in a home, a factory, or a general cloud server.

Now, it is assumed that the electronic device 100 has identified the marks of the markers 201 and 202 shown in FIG. In this example, since the range connecting the mark of the marker 201 to the mark of the marker 202 is arranged as an intrusion prohibition, the electronic device 100 determines that it is an intrusion prohibition range 403.

FIG. 2B is an example of an electronic device 100 including two cameras. In the case of the electronic device 100, the electronic device 100 can be operated so that the processing efficiency and / or processing speed from the camera input (step S1) to the mark identification (step) to the mark position detection (step) is increased. For example, in the first cycle, the first mark candidate (each mark of 201 and 202) is detected in the image of the left camera (step S2L), and in the second cycle, the second mark candidate is detected in the image of the right camera. (Step S2R), there is a usage method. As another usage method, the first mark candidate (201) is detected in the image of the left camera (step S2L), and the second mark candidate (202) is simultaneously detected in the image of the right camera (step S2R). There is a way to use it. Mark identification and position calculation are performed in parallel with the processing of each camera image. With such a processing method, processing efficiency and processing speed can be improved.

The above-mentioned embodiments of the markers and marks will be further described.

FIG. 3A shows an example of the marker 221 imaged by the electronic device according to the embodiment. The marker 221 is, for example, a quadrangular prism, and marks 501 and 502 are displayed above and below the side surface 221a. As the marker 221, for example, synthetic resin, aluminum plate, cardboard, hard cloth, ceramics, wood, or the like may be used. Each mark 501, 502 has, for example, a square black frame around it, and 4 × 4 blocks (16 blocks) inside the black frame, and white and black are assigned to these 16 blocks to form a meaningful pattern. ing. Here, an example of 4 × 4 blocks (16 blocks) is shown, but m × n (m × n (20 blocks) such as 3 × 3 (9 blocks), 5 × 5 (25 blocks), or 4 × 5 (20 blocks). The pattern may be composed of blocks (m and n are arbitrary integers).

The electronic device 100 interprets the meaning by reading and analyzing the marks 501 and / or 502. For example, in the example of FIG. 1, the mark of the marker 201 indicates that the right side when viewed from the front is prohibited from entering, and the mark of the marker 202 indicates that the mark on the left side when viewed from the front is prohibited from entering. The electronic device 100 can interpret the meaning of the mark in this way and set a meaningful range on the map data, and also performs an action based on the meaning when moving.

The 16-block pattern is subjected to a simple error check process by the electronic device 100 or its related equipment, and the presence or absence of an error is determined.

Marks 501 and 502 are provided above and below the side surface 221a of the marker 221. The reason for providing the top and bottom in this way is that even if one of them cannot shoot accurately with the camera due to the influence of light reflection or the influence of a shield, the meaning can be judged by the mark of the other. Because I made it. Further, since the mark display unit 221 is a quadrangular prism, it has a relatively wide range on the upper surface 221b. Therefore, in this range, the usage of the marker 221, the meaning of the mark, and the like can be described to improve the usability of the user.

FIG. 3B is an example of another marker 222 imaged by the electronic device according to the embodiment. In the previous example, the marker 221 is a quadrangular prism. When the camera 101 of the electronic device 100 looks from the front with respect to the side surface 221a, the marks 501 and 502 can be clearly captured. However, when the camera 101 of the electronic device 100 looks into the side surface 221a from an angle of, for example, 45 degrees, the marks 501 and 502 may not be clearly captured.

Therefore, by using the cylindrical marker 222 as shown in FIG. 3B, the marks 503 and 504 can be captured regardless of the angle at which the camera 101 of the electronic device 100 looks at the side surface. Further, by shifting the positions of the upper marks 503, 504, ... And the lower marks 505, 506, 507, ... In the rotation direction, for example, 45 degrees, the relationship between the upper arrangement and the lower arrangement is all. It is possible to easily recognize the mark of the marker 222 from the orientation. The number of marks in the rotation direction may be four or more, but if the number is too large, the size of one mark becomes smaller, so we want to detect the thickness of the marker 222, the appropriate size of the mark, and the performance of the camera. The number in the rotation direction is determined according to the distance and the like.

FIG. 3C is an example of still another marker 223 imaged by the electronic device according to the embodiment. This marker 223 is a pentagonal prism. Therefore, it has five sides, and each side has marks 511, 512, and 513. In the figure, a one-stage mark row is shown, but as in the previous example, a two-stage or three-stage mark row may be provided.

According to this embodiment, the marks on the side surfaces can be read and the reading accuracy can be improved even if the faces of the camera 101 of the electronic device 100 do not necessarily face any one of the five faces. That is, as compared with the example of FIG. 3A, the mark reading rate is higher even if the electronic device 100 does not accurately face one surface.

As described above, the electronic device 100 includes a drive unit that can move the electronic device 100, and also includes an image pickup unit. Then, of the surface of the object (marker) having a three-dimensional shape, at least one of the first mark on the surface facing the first direction and the second mark on the surface facing the second direction different from the first direction. To shoot. Further, a processing unit is provided, and when the first mark is detected, the processing unit provides a first movable range or a first movement in light of the first position of the electronic device 100 when the first mark is detected. Set the prohibited range. Further, when the second mark is detected, the second movable range different from the first movable range or the said is said in light of the second position of the electronic device 100 when the second mark is detected. A second movement prohibition range different from the first movement prohibition range is set.

FIG. 4A shows an example of yet another marker 224 imaged by the electronic device according to the embodiment. The electronic device 100 includes a self-propelled drive device and can move to various ranges based on map data. For this reason, he may turn a corner and suddenly encounter Marker 224. The previous marker 221-223 was not particular about the size (area) of the mark. However, when the electronic device 100 turns a corner and suddenly encounters the marker 224, the mark may not fit in the imaging field of view of the camera 101 if it is a large mark.

Therefore, the marker 224 in FIG. 4A is provided with a mark 515 having a large area and a mark 516 having a small area on the same side surface 224a. If the marker 224 is provided with such a mark 515 (usually a large mark) and 516 (small mark), the position is close to the electronic device 100 when the electronic device 100 turns a corner and immediately faces it, or when the direction is changed or turned around. The mark can be read stably even when faced with. It is preferable that the arrangement position (height H) of the small mark 516 in the marker 224 substantially corresponds to the vicinity of the camera 101 position (height H) of the electronic device 100.

FIG. 4B shows an example of another marker 225 imaged by the electronic device according to the embodiment. The marker 225 in FIG. 4B is provided with a mark 517 having a small area in a mark 515 having a large area on its side surface 225a. In FIG. 4B, the mark 515 is enlarged and shown so that the mark 517 in the mark 515 can be seen. Even the marker 225 having such a mark 515 (usually a large mark) and 517 (small mark) is close to the marker 225 when the electronic device 100 turns a corner and immediately faces it, or when it changes direction or turns around. The mark can be read stably even when faced in a position. It is preferable that the arrangement position (height H) of the small mark 517 on the marker 225 substantially corresponds to the vicinity of the camera 101 position (height H) of the electronic device 100.

It is desirable that the small mark 517 has a high luminance as a whole so as not to impair the readability of the large mark 515 as a high-luminance portion. In the small mark 517, the difference in brightness between white and black is smaller than that in the large mark 515, but in the first place, the small mark is detected at a position close to the camera 101 and the marker 225, so the difference in brightness is small. Even if is small, the mark reading rate is high.

In FIG. 4B, only one small mark 517 is shown in the large mark 515, but two or three or more small marks may be provided.

FIG. 4C is an example of markers 225 and 226 showing still another example imaged by the electronic device according to the embodiment.

In this example, the marker 226, which is devised so that the electronic device 100 can acquire the mark information of a farther distance from the normal distance (the distance determined by the roughened product specifications as the average used distance). This is an example of 227. The marker 226 is equivalent to that described in the previous embodiment (FIGS. 3A-3C, 4A, 4B). However, as the marker 227, for example, the wall in front of the corridor is used. And a mark much larger than the mark of the marker 226 is drawn. If the mark 227 is large, the electronic device 100 can recognize the mark 227 from a distance and can determine the movement after the mark recognition at an early stage.

By using marks of different sizes in this way, there is an advantage that usability, range of use, and usage are further expanded.

FIG. 5A shows an example of how to use the marker imaged by the electronic device according to the embodiment. This marker 221 is shown in FIG. 3A above. In the standing state on the left side of FIG. 5A, the upper and lower marks 501 and 502 together form the first meaning (or the first meaning and the second meaning, respectively). However, when the standing state on the left side of FIG. 5A is turned upside down and the standing state on the right side of FIG. 5A is set, the upper and lower marks 501 and 502 can be combined to form the second meaning (or the third meaning). Such realization can be realized by the mark position calculation of the electronic device 100, the data analysis, and the function of determining the meaning and content of the analyzed data. According to this idea, an object, that is, at least one mark of the marker 221 can have a different meaning depending on how the marker 221 is placed.

FIG. 5B is a diagram showing an example of another usage of the marker imaged by the electronic device according to the embodiment. The marker 228 is, for example, a quadrangular prism, and the upper portion 228a and the lower tier portion 228b can independently rotate in the rotation direction about the axis of the quadrangular prism. For this reason, the marks 501 provided on the upper portion 228a and the marks 502 provided on the lower portion 228b can be oriented in different directions from each other. As described above, the marker 228 capable of changing the direction of the mark in an arbitrary rotation direction can be effectively used according to the range of use of the electronic device 100 and the movement mode / tendency of the electronic device 100. The rotation angles of the upper and lower stages of the marker 228 can be arbitrarily changed according to the environment and position of use. As a result, the transfer angle may be set as follows according to the movable range of the electronic device 100. That is, by changing the relative positional relationship of the plurality of marks of the marker 228, each of the plurality of marks (or a combination thereof) can have a different meaning.

In this example, the marker 228 is a combination of square columns, but a pentagonal column, a cylinder, a triangular pyramid, or the like may be combined. Further, the upper and lower shapes may be different. FIG. 6A shows another example of the marker imaged by the electronic device 100 according to the embodiment, an example of using the marker, and an example of the recognition range recognized by the electronic device 100. In this example, the rope 600 is used as the marker. It is assumed that the rope 600 surrounds a plurality of cups 6a-6f collected in one place, for example.

Now, it is assumed that the electronic device 100 has taken an image of an uncleaned area in the second room 402. At this time, it is assumed that the electronic device 100 recognizes the rope 600 as a marker via the camera 101. A mark is written on the rope 600, and for example, the meaning of the mark means that the range surrounded by the mark is an intrusion prohibition range.

Then, the electronic device 100 edits the map data 400 with the range surrounded by the rope 600 as the intrusion prohibition range. 100P on the map data 400 is the position of the electronic device 100, and 600P is the position of the rope 600. By using the flexible rope 600 as the marker in this way, it is easy to operate the electronic device 100 to instruct the intrusion prohibition range. For example, in a situation where laundry or a cup containing water is temporarily placed in the second room 402, this rope 600 is extremely convenient. Further, if there is a dangerous substance or a puddle when the electronic device 100 invades, it is convenient to use this rope 600.

FIG. 6B shows another example of the marker imaged by the electronic device according to the embodiment, and another example of use and another example of the recognition range recognized by the electronic device. This example is also an example in which the rope 600 is used as a marker. The rope 600 surrounds, for example, a plurality of cups 6a-6f collected in one place, and both ends of the rope 600 are abutted against the wall 402a of the second room 402. The wall 402a and the rope 600 surround the plurality of cups 6a-6f. In this case as well, the electronic device 100 determines that the range surrounded by the rope 600 and the wall 402a is the intrusion prohibition range in the map data 400. 100P on the map data 400 is the position of the electronic device 100, and 600P is the position of the rope 600. Such a method of using the rope 600 is effective when the length of the rope 600 is insufficient to surround the plurality of cups 6a-6f.

The above-mentioned rope 600 is a rope that can take an arbitrary shape by bending, and may be provided with a plurality of marks on the surface in the longitudinal direction of the rope.

FIG. 6C (a) shows an example of a plurality of marks 541, 542, 543, 544, 545, 546 provided on the surface (one surface) of the rope 600 described above. The mark spacing does not have to be constant. Further, a portion having a wide mark spacing and a portion having a narrow mark spacing may be provided at arbitrary positions in the mark arrangement direction. Here, the patterns of the blocks of marks 541-546 are the same, but blocks of different patterns may be configured.

By changing the mark spacing periodically or intentionally according to the rule, the amount of information indicated by the rope can be increased by the difference in the mark meaning (ID) and the spacing. In addition, the existence of the rope can be easily understood by providing a plurality of marks side by side. Alternatively, even if the mark detection is insufficient, the meaning and content of the rope as a whole can be easily read.

FIG. 6C (b) shows an example of a plurality of marks 551, 552, 552, 554 provided on the back surface (the other surface) of the rope 600 described above. In this rope 600, large and small marks are arranged side by side on the back surface. In the case of this rope 600, for example, depending on the position of the small mark, the direction of one end of the rope is the intrusion prohibition range, and the direction of the other end is the cleaning range (progressable range). Can be done.

In this example, by properly using the front surface and the back surface of the rope 600, it can be used as a mark having different meanings. For example, the front can be used to set the intrusion prohibition range as described above in FIGS. 6A and 6B, and the back can be used, for example, for a direction change command. As described above, a plurality of marks are provided on the longitudinal surface of the rope, and the intervals and / or sizes of the plurality of marks are different, so that various uses are possible. Also, the mark spacing has a relatively wide range. Therefore, in this range, the meaning of the rope and the like can be described to improve the usability of the user.

FIG. 6D is a diagram showing another example of the marker (rope). In the case of this rope 600, for example, it has a semi-cylindrical shape (D-shaped cross section). In the case of this rope 600, the marking on the inclined surface makes it easier for the electronic device 100 to read the mark. The shape of the rope 600 is not limited to the semi-cylindrical shape, and may have a triangular cross section. That is, any rope may be used as long as it has a facing surface that is inclined with respect to the direction in which the camera faces.
FIG. 6E shows yet another example of the marker. Marker 610 on a short rope, not a long rope. On the marker 610, for example, one mark 561 can be seen on the left side, and marks 562 and 563 can be seen on the right side. Such a marker 610 can be given the meaning that intrusion is prohibited on the left side and progress is possible on the right side. As described above, this embodiment is a rope that can take any shape by bending, and may have an extended semi-cylindrical shape, a triangular pyramid shape, a shape having a slope forming an angle with the bottom surface, or the like. Or it is carried out by a combination of these.

FIG. 7A is a diagram showing an example of a recognition range recognized by an electronic device according to an embodiment together with an example of using a marker. In the previous example (FIGS. 6A-6D), the marker shows an example of a rope 600. Then, the intrusion prohibition range was set by the rope. However, not limited to such an embodiment, the three-dimensional marker 701 may be able to recognize the intrusion prohibition range 403 based on the logic determination function of the electronic device 100. For example, one meter around the marker 701 can be configured to be recognized as an intrusion prohibition range 403. As described above, according to the present embodiment, it is possible to determine that a range of a certain distance around the marker 701 is prohibited from entering, but the operating means of the electronic device 100 allows the user to arbitrarily set the distance ahead. May be good.

FIG. 7B is a diagram showing an example of using the marker and another example of the recognition range recognized by the electronic device according to the embodiment. In this example, for example, when a three-dimensional marker 701 is found on the left wall side of the room 400, the area from the marker 701 to the right wall can be recognized as being inaccessible (that is, impassable). This is an example.

FIG. 7C is a diagram showing still another example of the recognition range recognized by the electronic device according to the embodiment together with other examples of use of the marker. In this example, the space between the three-dimensional markers 701a and 701b is configured so that it can be recognized as an intrusion prohibited (that is, impassable) range. In this case, the electronic device 100 can pass through, for example, between the marker 701b on the right side and the wall on the right side.

The above FIGS. 7A, 7B, and 7C are effective when setting an intrusion prohibition range or the like in a large room, a corridor, or the like.

FIG. 8A is a diagram showing a usage example of the marker and still another example of the recognition range recognized by the electronic device according to the embodiment. In this example, when the electronic device 100 checks the mark 571 of one marker 711, it is an example of checking the mark 571 a plurality of times, for example, twice by changing the angle in the imaging direction. The electronic device 100 does not always face the mark 571 of the marker 711. The camera 101 does not always face the mark 571 of the marker 711 depending on how the mark 571 is placed and the direction in which the electronic device 100 approaches the mark 571.

If the camera 101 does not face the mark 571 of the marker 711, there is a possibility that a reading error or the mark cannot be seen well. Therefore, in this embodiment, the electronic device 100 faces the mark 571 at different angles and checks the mark twice or more times to improve the reading (recognition) accuracy. This method is also effective when the mark is reflected by the illumination and is difficult for the electronic device 100 to read, or when there is a shield in front of the mark that interferes with some reading.

Further, it is not necessary that the horizontal line (or vertical line) of the mark 571 of the marker 711 coincide with the horizontal direction (or vertical direction) of the camera at the time of capturing the mark. For example, the horizontal line is the horizontal direction. It may be inclined with respect to.

FIG. 8B is a diagram showing a usage example of the marker and still another example of the recognition range recognized by the electronic device according to the embodiment. For example, in this example, 712a is a cylinder and the lower portion 712b is a quadrangular prism. When the electronic device 100 checks the mark 571 of the marker 712, it is an example of reading the auxiliary marks 572a-572d in the upper portion 712a. Since the auxiliary marks 572a-572d are provided on the cylindrical portion, the electronic device 100 can read the auxiliary marks 572a-572c when the marker 712 is read from the left side.

When the marker 712 is read from the front, the electronic device 100 can read the auxiliary marks 572a-572d. Further, when the marker 712 is read from the right side, the electronic device 100 can read the auxiliary marks 572d-572b. By using the auxiliary marks 572a-572d together in this way, the orientation of the mark 571 can be accurately read. When the range of no entry is recognized by the direction of the marker as in the marker 701 of FIG. 7B, this method is effective for accurately recognizing the direction of the marker.

FIG. 9 shows a configuration example of the data processor 130 inside the electronic device 100. The electronic device 100 includes a self-propelled drive device 121. A camera 101 is mounted in front of the camera. When the camera 101 captures the front mark 801, the captured image is once captured by the image data acquisition unit 132 in the data processor 130. The operation of the data processing unit 132 is controlled by the control unit 131. The captured image data is formatted into image data of frames having a predetermined number of bits. Various embodiments of the drive device 121 are possible, and there are a device using wheels, a device using rollers, a device using caterpillars, and the like.

The image data of this frame is input to the pattern detection unit 133, and a black-and-white pattern (black-and-white pattern) is detected. The pattern detection unit 133 compares the detected detection pattern with the reference pattern stored in the memory 134, and determines which pattern the captured pattern is.

In the memory 134, each pattern 1, 3, 3, 4, ... And the meaning (control content) of each pattern are recorded as information. There may be multiple patterns to be determined. When the detection pattern is determined, the control data is sent to the control unit 131. Based on the control unit 131, the map data 400 is updated as described above, and the intrusion possible range and the intrusion prohibition range are determined. The map data 400 is stored in the memory 134.

Further, the control unit 131 controls the drive unit 121 of the electronic device 100 through the drive control unit 135, and controls the movement direction, movement range, movement pattern, and the like of the electronic device 100.

Although the electronic device 100 explains that the mark pattern is recognized as a black-and-white pattern, the mark itself does not have to be a black-and-white pan-turn. That is, if the camera can distinguish between the high-luminance portion and the low-luminance portion, the mark may be displayed by color, for example, yellow and brown. Further, the mark may be a pattern that can be recognized by other than visible light such as an infrared camera, and may be configured by superimposing a black-and-white pattern and an infrared pattern. Further, the electronic device 100 may be equipped with an illuminator.

Further, the data table for determining the meaning content described above may be exchangeable depending on the purpose of use of the movable electronic device. As a result, the movement control mode of the electronic device can be changed all at once. Further, the data table may be provided from an external server, or the storage medium of the data table may be exchangeable.

In the above description, the electronic device 100 has been described, but the name is an example, and various names are possible, such as an autonomous mobile robot, a transport robot, a cleaning robot, and a pet robot. Further, the mark may be any mark as long as it can notify information about the movable range or the non-movable range of the electronic device 100 when it is captured and detected by the camera. For example, a specific pattern, a floral pattern, light, an arrangement of reflectors (glass, aluminum foil, etc.), an arrangement of mirrors, and the like may be used. It is preferable that an inexpensive camera can be used. Further, as the marking tool, a figurine, a decoration, a wall, a pillar, a table leg, a bookshelf, or the like may be used.

Further, the rope may have an elongated shape and may have any shape as long as it can draw a substantially free curve, and it is preferable that the rope can have an arbitrary shape. For example, ropes, tapes, strings, elongated triangular pyramids, elongated semi-cylindrical shapes, etc. are possible. Further, the rope may be one, or may be composed of two or three or more ropes. As the material, a natural resin (rubber), a chemically synthesized resin, a material having flexibility or flexibility with multiple joints can be used. Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other embodiments, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and variations thereof are included in the scope and gist of the invention, and are also included in the scope of the invention described in the claims and the equivalent scope thereof. Furthermore, in each of the constituent elements of the claim, even if the constituent elements are divided and expressed, or a plurality of the constituent elements are expressed together, or even if they are expressed in combination, it is within the scope of the present invention. Further, a plurality of embodiments may be combined, and an example composed of these combinations is also within the scope of the invention.

Further, in the present specification and each figure, the same reference reference numerals may be given to the components exhibiting the same or similar functions as those described above with respect to the above-mentioned figures, and the overlapping detailed description may be omitted as appropriate. .. Further, the apparatus of the present invention is applied even when the claim is expressed as a control logic, when it is expressed as a program including an instruction for executing a computer, and when it is expressed as a computer-readable recording medium in which the instruction is described. be. Further, the names and terms used are not limited, and other expressions are included in the present invention as long as they have substantially the same content and the same meaning.

100 ... Electronic device, 101 ... Camera, 201,202,221-228,701,701a, 701b, 711,712 ... Markers, 501-507, 511-513, 515-517, 541-546 , 551-554, 561-563, 571 ... mark, 600 ... rope.

Claims (5)

It ’s an electronic device.
A drive unit that can move the electronic device and
It is possible to photograph the first mark and the second mark provided on the surface of an object having a three-dimensional shape, and the second mark overlaps with the first mark and has a smaller area than the first mark. A height position provided inside the first mark, which is the height direction of the object in the direction in which the electronic device stands up against the moving surface and substantially corresponds to the height position of the second mark. With the image pickup unit set to
When the first mark protrudes outside the field of view imaged by the image pickup unit and the second mark is included in the field of view to be imaged, the processing unit performs processing of the content meant by the pattern in the second mark. And
When the first mark is detected in the field of view, the movable range or movement that the pattern in the first mark means in light of the first position of the electronic device when the first mark is detected. Set the prohibited range and
When the first mark protrudes out of the field of view and the second mark is detected , the pattern in the second mark is displayed in light of the second position of the electronic device when the second mark is detected. An electronic device comprising means for setting a movable range or a prohibited range, which means. The electronic device according to claim 1, wherein a plurality of the second marks are provided on the object. A mark detected by an image pickup unit of an autonomously movable electronic device and capable of indicating the range of movement of the electronic device, the first mark on the surface facing the first direction and the second mark on the surface. With a mark,
When the first mark is detected within the field of view of the electronic device, the movable range indicated by the pattern of the first mark in light of the first position of the electronic device that has detected the first mark. Or it is for specifying the movement prohibited range,
The second mark overlaps with the first mark and has a smaller area than the first mark and is provided inside the first mark. The second mark is provided in a direction in which the electronic device stands up against a moving surface. It is in the height direction of the image pickup unit and is at a height position substantially corresponding to the height position of the second mark.
Further, when the first mark protrudes out of the field of view and the second mark is detected by the electronic device, the second mark is compared with the second position of the electronic device that has detected the second mark. A marker that is used to identify the movable range or the prohibited range that the pattern of is meant. It is a control method of a self-moving electronic device that has a drive unit and an image pickup unit and processes the video data captured by the image pickup unit in the processing unit.
The image pickup unit can photograph the first mark and the second mark provided on the surface of the object having a three-dimensional shape, and the second mark overlaps with the first mark and is more than the first mark . The area is small and is provided inside the first mark, and the image pickup unit is further in the height direction of the object in the direction in which the electronic device stands up with respect to the moving surface, and is the height of the second mark. It is set to a height position that almost corresponds to the position of
When the first mark protrudes outside the field of view imaged by the image pickup unit and the second mark is included in the field of view to be imaged, the processing unit performs processing of the content indicated by the pattern of the second mark. Do,
When the first mark is detected in the field of view, the movable range or movement prohibition that the pattern of the first mark means in light of the first position of the electronic device when the first mark is detected. Set the range and
When the first mark protrudes out of the field of view and the second mark is detected, the pattern of the second mark means in light of the second position of the electronic device when the second mark is detected. A method of controlling an electronic device that sets a movable range or a movable prohibited range. A program that is executed by a computer that has a drive unit and an image pickup unit, processes video data captured by the image pickup unit, and controls an electronic device that can move independently.
The image pickup unit is instructed to take a picture of the first mark and the second mark provided on the surface of an object having a three-dimensional shape, and the second mark is the same as the first mark . It overlaps and has a smaller area than the first mark and is provided inside the first mark. The image pickup unit is further in the height direction of the object in the direction in which the electronic device stands up against the moving surface. The height position is set to almost correspond to the height position of the second mark.
When the first mark protrudes outside the field of view imaged by the image pickup unit and the second mark is included in the field of view to be imaged, the processing unit performs processing of the content indicated by the pattern of the second mark. It is a command to make
When the first mark is detected in the field of view, the movable range or movement prohibition that the pattern of the first mark means in light of the first position of the electronic device when the first mark is detected. Instructions to set the range and
When the first mark protrudes out of the field of view and the second mark is detected, the pattern of the second mark means in light of the second position of the electronic device when the second mark is detected. Instructions to set the movable range or prohibited range, and
Program with.

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