JP7036232B2 - Mobile management device and mobile system - Google Patents

Description

The present invention relates to a mobile management device and a mobile system.

Patent Document 1 discloses a self-position correction device for a moving body. According to the self-position correction device, the self-position of the moving body can be corrected by searching for a landmark from the image of the camera unit.

Japanese Patent No. 6129981

However, in the self-position correction device described in Patent Document 1, the amount of calculation when searching for a landmark is large. Therefore, the position of the moving body cannot be managed efficiently.

The present invention has been made to solve the above-mentioned problems. An object of the present invention is to provide a mobile body management device and a mobile body system capable of efficiently managing the position of a mobile body.

The mobile body management device according to the present invention has a comparison unit that compares the self-position information of the mobile body transmitted from the mobile body with the first detection position information of the mobile body by the first position positioning device, and the comparison unit. When it is determined that the difference between the self-position information of the moving body transmitted from the moving body and the first detected position information of the moving body by the first position positioning device is large, the difference is larger than that of the first position positioning device. It includes a command unit that commands the execution of position detection by the second position positioning device with good detection accuracy, and the command unit includes the self-position information of the moving body and the first position transmitted from the moving body by the comparison unit. When it is determined by the positioning device that the difference from the first detected position information of the moving body is large, a stop command is transmitted to the moving body, and the moving body is guided based on the first detected position information. The route information is updated, and the updated guidance route information is transmitted to the moving body .

The mobile body system according to the present invention has a first positioning device that detects a moving body that exists in a preset first range, and a second that detects a moving body that exists in a second range that is narrower than the first range. 2 Positioning device, the self-position information of the moving body transmitted from the moving body and the first detected position information of the moving body by the first positioning device are compared, and the movement transmitted from the moving body. When the difference between the self-position information of the body and the first detection position information of the moving body by the first position positioning device is large, the mobile body management device that commands the execution of position detection by the second position positioning device, and The mobile body management device is determined to have a large difference between the self-position information of the mobile body transmitted from the mobile body and the first detected position information of the mobile body by the first position positioning device. In this case, a stop command is transmitted to the moving body, the guidance route information of the moving body is updated based on the first detection position information, and the updated guidance route information is transmitted to the moving body .

According to these inventions, when the difference between the self-position information and the first detection information is large, the position detection by the second position positioning device having higher detection accuracy is executed. Therefore, the position of the moving body can be efficiently managed.

It is a block diagram of the mobile body system in Embodiment 1. FIG. It is a flowchart for demonstrating the outline of the operation of the moving body of the moving body system in Embodiment 1. FIG. It is a flowchart for demonstrating the outline of operation of the mobile body management apparatus of the mobile body system in Embodiment 1. FIG. It is a flowchart for demonstrating the outline of operation of the 1st position positioning apparatus and the 2nd positioning apparatus of the mobile body system in Embodiment 1. FIG. It is a hardware block diagram of the mobile body management apparatus of the mobile body system in Embodiment 1. FIG. It is a block diagram of the mobile body system in Embodiment 2. It is a perspective view for demonstrating an example of the positional relationship between a specific area of a mobile body system and a landmark in Embodiment 2. FIG. It is a flowchart for demonstrating the outline of the operation of the moving body of the moving body system in Embodiment 2. It is a flowchart for demonstrating the outline of the operation of the moving body of the moving body system in Embodiment 3.

A mode for carrying out the present invention will be described with reference to the accompanying drawings. In each figure, the same or corresponding parts are designated by the same reference numerals. The duplicate description of the relevant part will be simplified or omitted as appropriate.

Embodiment 1.
FIG. 1 is a configuration diagram of a mobile system according to the first embodiment.

As shown in FIG. 1, the mobile system includes a first position positioning device 1, a second position positioning device 2, a mobile body management device 3, and a mobile body 4.

For example, the first positioning device 1 is provided on the ceiling of each floor of the building to which the mobile system is applied. For example, the first positioning device 1 is a radio wave transmitter. For example, the second positioning device 2 is provided on the ceiling of each floor of the building to which the mobile system is applied. For example, the second positioning device 2 is a camera. The detection accuracy of the second positioning device 2 is higher than the detection accuracy of the first positioning device 1.

The mobile body management device 3 includes a communication unit 3a, a comparison unit 3b, and a command unit 3c.

The moving body 4 includes a self-position calculation unit 4a and a control unit 4b.

When the moving body 4 is autonomously traveling, the self-position calculation unit 4a generates self-position information as the position of the moving body 4. For example, the self-position calculation unit 4a generates self-position information based on the amount of rotation of the wheels of the moving body 4. The control unit 4b wirelessly transmits the self-position information generated by the self-position calculation unit 4a.

The first position positioning device 1 transmits the first detection position information when the moving body 4 is detected.

In the mobile body management device 3, the communication unit 3a receives the self-position information from the control unit 4b of the mobile body 4 and the first detected position information from the first position positioning device 1. The comparison unit 3b compares the self-position information received by the communication unit 3a with the first detected position information. For example, the comparison unit 3b determines whether or not the difference between the self-position information and the first detection position information is larger than the threshold value. The command unit 3c determines whether or not to command the execution of position detection by the second position positioning device 2 based on the comparison result between the self-position information by the comparison unit 3b and the first detection position information. For example, when it is determined that the difference between the self-position information and the first detection position information is larger than the threshold value, the command unit 3c commands the execution of position detection by the second position positioning device 2 via the communication unit 3a. ..

Further, as another operation example, if the command unit 3c is preset to indicate that the position accuracy of the moving body 4 is required at the installation position of the first position positioning device 1, the command unit 3c will perform the first position positioning. When the mobile body 4 is positioned by the device 1, the second position positioning device 2 commands the execution of position detection.

The second positioning device 2 starts operation based on a command from the command unit 3c of the mobile body management device 3. The second position positioning device 2 transmits the second detection position information when the moving body 4 is detected.

In the mobile body management device 3, the communication unit 3a receives the self-position information from the control unit 4b of the mobile body 4 and the second detected position information from the second position positioning device 2. The comparison unit 3b compares the self-position information received by the communication unit 3a with the second detected position information. The command unit 3c commands the execution of the self-position correction based on the difference between the self-position information and the second detected position information via the communication unit 3a.

The mobile body 4 corrects its own position based on a command from the command unit 3c of the mobile body management device 3.

Next, the outline of the operation of the moving body 4 will be described with reference to FIG.
FIG. 2 is a flowchart for explaining an outline of the operation of the mobile body of the mobile body system according to the first embodiment.

In step S1, the moving body 4 starts moving. After that, the moving body 4 performs the operation of step S2. In step S2, the moving body 4 determines whether or not there is a stop command.

If there is no stop command in step S2, the moving body 4 performs the operation of step S3. In step S3, the moving body 4 determines whether or not a preset T second has elapsed. If T seconds have not elapsed in step S3, the moving body 4 performs the operation of step S2. When T seconds have elapsed in step S3, the moving body 4 performs the operation of step S4.

In step S4, the mobile body 4 transmits self-position information. After that, the moving body 4 performs the operation of step S2.

When there is a stop command in step S2, the moving body 4 performs the operation of step S5. In step S5, the moving body 4 stops moving. After that, the moving body 4 performs the operation of step S6. In step S6, the moving body 4 determines whether or not there is a self-position correction command.

When there is a self-position correction command in step S6, the moving body 4 performs the operation of step S7. In step S7, the moving body 4 corrects its own position. After that, the moving body 4 performs the operation of step S1.

If there is no self-position correction command in step S6, the moving body 4 performs the operation of step S8. In step S8, the mobile body 4 determines whether or not there is a notification of an abnormal signal. If there is no notification of the abnormal signal in step S8, the moving body 4 performs the operation of step S1. If there is a notification of an abnormal signal in step S8, the operation of step S9 is performed. In step S9, the moving body 4 switches the operation mode to the abnormal mode.

Next, the outline of the operation of the mobile body management device 3 will be described with reference to FIG.
FIG. 3 is a flowchart for explaining an outline of the operation of the mobile body management device of the mobile body system according to the first embodiment.

In step S11, the mobile body management device 3 starts operation. After that, the mobile body management device 3 performs the operation of step S12. In step S12, the mobile body management device 3 determines whether or not there is a response from the first positioning device 1. If there is no response from the first positioning device 1 in step S12, the mobile body management device 3 performs the operation of step S12. When there is a response from the first positioning device 1 in step S12, the mobile body management device 3 performs the operation of step S13.

In step S13, the mobile object management device 3 calculates the difference between the self-position information and the first detected position information. After that, the mobile body management device 3 performs the operation of step S14. In step S14, the mobile body management device 3 determines whether or not position accuracy is required. For example, the mobile body management device 3 determines whether or not position accuracy is required based on the comparison result between the calculated difference in position information and the preset threshold value.

When the position accuracy is not required in step S14, the mobile body management device 3 performs the operation of step S15. In step S15, the mobile body management device 3 transmits a self-position correction command to the mobile body 4. If position accuracy is not required at all, the mobile body management device 3 does not transmit a self-position correction command to the mobile body 4.

When the position accuracy is required in step S14, the mobile body management device 3 performs the operation of step S16. In step S16, the mobile object management device 3 transmits a drive command for the second positioning device 2. After that, the mobile body management device 3 performs the operation of step S17.

In step S17, the mobile body management device 3 determines whether or not there is a response from the second positioning device 2. If there is no response from the second positioning device 2 in step S17, the mobile body management device 3 performs the operation of step S17. When there is a response from the second positioning device 2 in step S17, the mobile body management device 3 performs the operation of step S18.

In step S18, the mobile object management device 3 calculates the difference between the self-position information and the second detected position information. After that, the mobile body management device 3 performs the operation of step S15. In step S15, the mobile body management device 3 transmits a self-position correction command to the mobile body 4.

Next, the outline of the operation of the first position positioning device 1 and the second position positioning device 2 will be described with reference to FIG.
FIG. 4 is a flowchart for explaining an outline of the operation of the first position positioning device and the second position positioning device of the mobile system according to the first embodiment.

In step S21, the first positioning device 1 starts operation. After that, the first positioning device 1 performs the operation of step S22. In step S22, the first positioning device 1 determines whether or not the moving body 4 has been detected.

If the mobile body 4 is not detected in step S22, the first positioning device 1 performs the operation of step S22. When the moving body 4 is detected in step S22, the first positioning device 1 performs the operation of step S23. In step S23, the first position positioning device 1 transmits the first detection position information.

After that, the second positioning device 2 performs the operation of step S24. In step S24, the second positioning device 2 determines whether or not there is a drive command.

If there is no drive command from the mobile body management device 3 in step S24, the first positioning device 1 operates in step S22. When there is a drive command from the mobile body management device 3 in step S24, the second positioning device 2 performs the operation of step S25.

In step S25, the second positioning device 2 starts operation. After that, the second positioning device 2 performs the operation of step S26. In step S26, the second position positioning device 2 transmits the second detection position information. After that, the first positioning device 1 performs the operation of step S22.

According to the first embodiment described above, when it is determined that the difference between the self-position information and the first detection position information is large, the mobile body management device 3 has a detection accuracy higher than that of the first position positioning device 1. It commands the execution of position detection by a good second position positioning device 2. Therefore, the position of the moving body 4 can be efficiently managed.

Further, the first detection position information is obtained by the first position positioning device 1 detecting the moving body 4 using radio waves. Therefore, the first detection position information can be obtained with a simple configuration.

Further, the second detection position information is obtained by the second position positioning device 2 detecting the moving body 4 using the landmark. Therefore, the second detection position information can be obtained with a simple configuration.

The threshold value used in determining whether or not to drive the second positioning device 2 may be changed according to the situation around the moving body 4. For example, when the density of other mobile bodies 4 and people existing in the vicinity of the mobile body 4 is high, the threshold value may be reduced. For example, when the density of other moving bodies 4 and people existing in the traveling direction or the destination direction of the moving body 4 is high, the threshold value may be reduced. For example, when the moving body 4 is traveling in a narrow passage or traveling toward a narrow passage, the threshold value may be reduced. For example, when the moving body 4 is traveling in front of a corner, the threshold value may be reduced. For example, when the moving body 4 is a moving body having a large error generated by the movement, the threshold value may be reduced.

Further, when it is determined that the difference between the self-position information and the first detected position information is large, a stop command is transmitted to the moving body 4, and the guidance route information of the moving body is transmitted based on the first detected position information. It may be updated and the updated guidance route information may be transmitted to the moving body. In this case, the mobile body 4 can be reliably guided to the second positioning device 2.

Next, an example of the mobile body management device 3 will be described with reference to FIG.
FIG. 5 is a hardware configuration diagram of the mobile management device of the mobile system according to the first embodiment.

Each function of the mobile body management device 3 can be realized by a processing circuit. For example, the processing circuit comprises at least one processor 100a and at least one memory 100b. For example, the processing circuit comprises at least one dedicated hardware 200.

When the processing circuit includes at least one processor 100a and at least one memory 100b, each function of the mobile management device 3 is realized by software, firmware, or a combination of software and firmware. At least one of the software and firmware is written as a program. At least one of the software and firmware is stored in at least one memory 100b. At least one processor 100a realizes each function of the mobile management device 3 by reading and executing a program stored in at least one memory 100b. At least one processor 100a is also referred to as a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, and a DSP. For example, at least one memory 100b is a non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD, or the like.

If the processing circuit comprises at least one dedicated hardware 200, the processing circuit may be implemented, for example, as a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. To. For example, each function of the mobile body management device 3 is realized by a processing circuit. For example, each function of the mobile body management device 3 is collectively realized by a processing circuit.

For each function of the mobile management device 3, a part may be realized by the dedicated hardware 200, and the other part may be realized by software or firmware. For example, the function of the communication unit 3a is realized by a processing circuit as dedicated hardware 200, and for functions other than the function of the communication unit 3a, at least one processor 100a reads a program stored in at least one memory 100b. It may be realized by executing the above.

As described above, the processing circuit realizes each function of the mobile management device 3 by the hardware 200, the software, the firmware, or a combination thereof.

Embodiment 2.
FIG. 6 is a block diagram of the mobile system according to the second embodiment. The same or corresponding parts as those of the first embodiment are designated by the same reference numerals. The explanation of the relevant part is omitted.

As shown in FIG. 6, the mobile system includes a transmitter 5.

For example, the transmitter 5 is provided on the ceiling of each floor of the building to which the mobile system is applied. For example, the transmitter 5 is a radio wave transmitter.

The mobile body 4 includes a self-position correction device 6. For example, the self-position correction device 6 includes a camera unit 6a, a detection unit 6b, a landmark search unit 6c, a measurement unit 6d, a direction calculation unit 6e, and a command transmission unit 6f.

The camera unit 6a is provided so as to be able to photograph the surroundings of the moving body 4. The detection unit 6b is provided so as to be able to detect that the moving body 4 has entered a specific region. Specifically, the detection unit 6b is provided so as to be able to detect that the mobile body 4 has entered a specific region by receiving radio waves from the transmission device 5. The landmark search unit 6c is provided so that when the detection unit 6b detects that the moving body 4 has entered a specific area, the landmark can be searched from the image of the camera unit 6a.

The measuring unit 6d is provided so as to be able to measure an ambient electric field or a magnetic field. The orientation calculation unit 6e is provided so that the orientation of the moving body 4 can be calculated based on the comparison result between the preset electric field or magnetic field and the electric field or magnetic field measured by the measurement unit 6d.

When the detection unit 6b detects that the moving body 4 has entered a specific area, the command transmission unit 6f is concerned based on the direction calculated by the direction calculation unit 6e and the position information of the landmark set in advance. It is provided so that a turning command for the moving body 4 can be transmitted. The command transmission unit 6f is provided so as to be able to transmit a self-position correction command to the moving body 4 based on the position of the landmark searched by the landmark search unit 6c.

Next, an example of the positional relationship between the specific area and the landmark will be described with reference to FIG. 7.
FIG. 7 is a perspective view for explaining an example of the positional relationship between a specific region of the mobile system and a landmark in the second embodiment.

As shown in FIG. 7, the landmark is provided on the ceiling. The camera unit 6a is set so that the ceiling can be photographed. The detection unit 6b is set so that the camera unit 6a captures a landmark even when the moving body 4 enters a specific area from an arbitrary direction in consideration of the angle of view of the camera unit 6a.

In this case, when the moving body 4 enters a specific area from an arbitrary direction, the landmark always enters the shooting range of the camera unit 6a.

Next, the outline of the operation of the moving body 4 will be described with reference to FIG.
FIG. 8 is a flowchart for explaining an outline of the operation of the mobile body of the mobile body system according to the second embodiment.

In step S31, the moving body 4 starts the operation. After that, the moving body 4 performs the operation of step S32. In step S32, the mobile body 4 determines whether or not a specific region has been detected.

If the specific area is not detected in step S31, the moving body 4 performs the operation of step S32. When a specific area is detected in step S32, the moving body 4 performs the operation of step S33.

In step S33, the moving body 4 activates the camera unit 6a. After that, the moving body 4 performs the operation of step S34. In step S34, the moving body 4 searches for a landmark. After that, the moving body 4 performs the operation of step S35. In step S35, the second positioning device 2 calculates its own position.

After that, the moving body 4 performs the operation of step S36. In step S36, the mobile body 4 transmits self-position information. After that, the moving body 4 performs the operation of step S32.

According to the second embodiment described above, the landmark search unit 6c searches for a landmark from the image of the camera unit 6a when the detection unit 6b detects that the moving body 4 has entered a specific area. .. Therefore, the amount of calculation when searching for landmarks can be reduced.

Further, the command transmission unit 6f transmits a self-position correction command for the moving body 4 based on the position of the landmark searched by the landmark search unit 6c. Therefore, the self-position of the moving body 4 can be efficiently corrected.

The camera unit 6a may be activated when the detection unit 6b detects that the moving body 4 has entered a specific area. In this case, the power consumption of the camera unit 6a can be reduced.

Further, the detection unit 6b is set so that the camera unit 6a captures a landmark even when the moving body 4 enters a specific area from an arbitrary direction in consideration of the angle of view of the camera unit 6a. Therefore, the amount of calculation when searching for a landmark can be reduced more reliably.

Further, the detection unit 6b detects that the mobile body 4 has entered a specific area by receiving the radio wave from the transmission device 5. Therefore, with a simple configuration, the amount of calculation when searching for landmarks can be reduced.

It should be noted that the moving body 4 may be detected as having entered a specific region by receiving the sound wave or the ultrasonic wave by the detection unit 6b. In this case as well, the amount of calculation when searching for landmarks can be reduced with a simple configuration.

Further, the detection unit 6b receives any one of the radio waves, sounds, and ultrasonic waves emitted when the load sensor detects the load of the moving body 4, thereby indicating that the moving body 4 has entered a specific region. It may be detected. Further, when the load sensor detects the load of the moving body 4, the moving body management device 3 may give a command to the moving body 4 to activate the camera unit 6a. In these cases as well, the amount of calculation when searching for landmarks can be reduced with a simple configuration.

Further, the command transmission unit 6f is based on the direction calculated by the direction calculation unit 6e and the position information of the preset landmark when the detection unit 6b detects that the moving body 4 has entered a specific area. And sends a turning command to the moving body 4. Therefore, the amount of calculation when searching for a landmark can be reduced more reliably.

The direction of the moving body 4 may be calculated by the direction calculation unit 6e based on the temporal change in the intensity of the radio wave received from the transmitting device 5. In this case as well, the amount of calculation when searching for landmarks can be reduced more reliably.

The direction of the moving body 4 may be calculated by the direction calculation unit 6e based on the difference in the intensity of the radio waves received from each of the plurality of transmission devices 5. In this case as well, the amount of calculation when searching for landmarks can be reduced more reliably.

Embodiment 3.
FIG. 9 is a flowchart for explaining an outline of the operation of the mobile body of the mobile body system according to the third embodiment. The same or corresponding parts as those of the first embodiment are designated by the same reference numerals. The explanation of the relevant part is omitted.

In the third embodiment, the moving body 4 performs self-position correction without stopping. Specifically, in step S41, the moving body 4 starts moving. After that, the moving body 4 performs the operation of step S42. In step S42, the moving body 4 determines whether or not there is a self-position correction command.

If there is no self-position correction command in step S42, the moving body 4 performs the operation of step S43. In step S43, the moving body 4 determines whether or not a preset T second has elapsed. If T seconds have not elapsed in step S43, the moving body 4 performs the operation of step S42. When T seconds have elapsed in step S43, the moving body 4 performs the operation of step S44.

In step S44, the mobile body 4 transmits self-position information. After that, the moving body 4 performs the operation of step S42.

When there is a self-position correction command in step S42, the moving body 4 performs the operation of step S45. In step S45, the moving body 4 corrects its own position. After that, the moving body 4 performs the operation of step S46.

In step S46, the mobile body 4 determines whether or not there is a notification of an abnormal signal. If there is no notification of the abnormal signal in step S46, the moving body 4 performs the operation of step S41. If there is a notification of an abnormal signal in step S46, the operation of step S47 is performed. In step S47, the moving body 4 switches the operation mode to the abnormal mode.

According to the third embodiment described above, the moving body 4 corrects its own position without stopping. Therefore, it is possible to improve the movement efficiency of the moving body 4 while correcting the self-position of the moving body 4.

As described above, the mobile body management device and the mobile body system according to the present invention can be used for the system for managing the mobile body.

1 1st position positioning device, 2 2nd position positioning device, 3 mobile body management device, 3a communication unit, 3b comparison unit, 3c command unit, 4 mobile unit, 4a self-position calculation unit, 4b control unit, 5 transmitter, 6 Self-position correction device, 6a camera unit, 6b detection unit, 6c landmark search unit, 6d measurement unit, 6e direction calculation unit, 6f command transmission unit, 100a processor, 100b memory, 200 hardware

Claims (8)

A comparison unit that compares the self-position information of the moving body transmitted from the moving body with the first detected position information of the moving body by the first position positioning device.
When it is determined by the comparison unit that the difference between the self-position information of the moving body transmitted from the moving body and the first detected position information of the moving body by the first position positioning device is large, the first position positioning is performed. A command unit that commands the execution of position detection by the second positioning device, which has better detection accuracy than the device,
Equipped with
When the command unit determines that the difference between the self-position information of the mobile body transmitted from the mobile body by the comparison unit and the first detection position information of the mobile body by the first position positioning device is large, the command unit determines. A mobile body management device that transmits a stop command to the moving body, updates the guidance route information of the moving body based on the first detection position information, and transmits the updated guidance route information to the moving body. The command unit sets a threshold value for determining that the difference between the self-position information of the mobile body transmitted from the mobile body by the comparison unit and the first detection position information of the mobile body by the first position positioning device is large. The mobile body management device according to claim 1, which is changed according to the surrounding conditions of the mobile body. The comparison unit according to claim 1 or 2, wherein the comparison unit compares the self-position information of the mobile body transmitted from the mobile body with the first detection position information of the mobile body using the radio wave by the first position positioning device. The mobile management device described. When the command unit determines that the difference between the self-position information of the mobile body transmitted from the mobile body by the comparison unit and the first detection position information of the mobile body by the first position positioning device is large, the command unit determines. The moving object according to any one of claims 1 to 3, which commands the execution of position detection and direction detection using a landmark by the second position positioning device having higher detection accuracy than the first position positioning device. Management device. A first positioning device that detects a moving object existing in a preset first range, and a first positioning device.
A second positioning device that detects a moving object existing in a second range narrower than the first range, and a second positioning device.
The self-position information of the moving body transmitted from the moving body is compared with the first detected position information of the moving body by the first positioning device, and the self-position information of the moving body transmitted from the moving body is compared with the self-position information of the moving body transmitted from the moving body. When the difference from the first detection position information of the moving body by the first positioning device is large, the moving body management device that commands the execution of the position detection by the second positioning device and the moving body management device.
Equipped with
When the mobile body management device determines that the difference between the self-position information of the mobile body transmitted from the mobile body and the first detected position information of the mobile body by the first position positioning device is large, the mobile body management device determines. A mobile body system that transmits a stop command to the moving body, updates the guidance route information of the moving body based on the first detection position information, and transmits the updated guidance route information to the moving body. The mobile body management device sets a threshold value for determining that the difference between the self-position information of the mobile body transmitted from the mobile body and the first detected position information of the mobile body by the first position positioning device is large. The mobile system according to claim 5 , which is changed according to the surrounding conditions of the mobile. The mobile system according to claim 5 or 6 , wherein the first positioning device detects the position of the moving object using radio waves. The mobile system according to any one of claims 5 to 7 , wherein the second positioning device detects the position and orientation of the moving object using landmarks.

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