JP7184243B2 - POSITION RECOGNIZATION METHOD, POSITION RECOGNIZATION DEVICE, REFERENCE POINT SETTING MOBILE, WORK MOBILE, AND POSITION RECOGNIZATION SYSTEM - Google Patents

Description

The present invention relates to a position recognition method, a position recognition device, a reference point setting mobile body, a work mobile body, and a position recognition system.

Conventionally, a method and a system for positioning an object to be positioned at a target position are known (see, for example, Patent Document 1). The technique described in Patent Literature 1 moves a positioning object toward a target position based on the position of the positioning object measured using a laser range finder. After the positioning object is moved, the positioning object is positioned at the target position based on the position of the positioning object measured using the total station.

A method and device for detecting the position of an object are also known (see, for example, Patent Document 2). In the technique described in Patent Document 2, two laser beams are sequentially emitted from a single laser light source of a laser pointer robot to a target object. Then, the center-of-gravity position of the first laser spot and the center-of-gravity position of the second laser spot are measured in the intra-object coordinate system of the object. Thereby, the position of the target object in the area coordinate system is detected.

Also, an autonomous mobile robot group system that controls three or more autonomous mobile robots is known (see Patent Document 3, for example). In the technique described in Patent Literature 3, each autonomous mobile robot measures geometric information with other autonomous mobile robots, and calculates the position information of the autonomous mobile robot.

Japanese Patent No. 5516204 Japanese Patent No. 3731123 Japanese Patent No. 3410508

In order for a robot to perform construction work autonomously at a construction site, it is necessary to grasp the position of the robot with high accuracy. Under the environment in which GPS signals can be well received, efforts are being actively made to automate various construction machines. Such efforts are notable for application in the civil engineering field where good GPS signals can be received.

However, in the construction field, it is difficult to receive good GPS signals due to the influence of surrounding obstacles such as pillars, beams, walls, and roofs at construction sites. unable to recognize.

The technologies described in Patent Document 1 and Patent Document 2 are limited to use in limited areas where visibility is good, and there is no technology that can stably recognize the position at a construction site where the surrounding environment changes from moment to moment. is not.

In addition, in the technique described in Patent Document 3, positional errors accumulate as the autonomous mobile robot moves repeatedly, so the position of the autonomous mobile robot cannot be calculated with high accuracy.

Specifically, as shown in FIG. 16(a), the position of one autonomous mobile robot is (d, 0), and the position of another autonomous mobile robot is (-d, 0). , and the base angles of the triangle formed with the remaining autonomous mobile robot are θ1 and θ2, the position P(x, y) of the remaining autonomous mobile robot is calculated. can be done. Here, assuming that the counterclockwise rotation is positive and that the triangle is an isosceles triangle, θ1=−θ2=θ. In this case, the position errors Δx and Δy of P(x, y) when the errors Δθ1 and Δθ2 are included in the base angles θ1 and θ2 of this triangle are represented by the following equation (1).

（１）

(1)

When Δθ1=−Δθ2=Δθ, consider the case where n isosceles triangles are stacked and the vertex of the n-th triangle reaches the target position as shown in FIG. 16(b). Position errors ΣΔx and ΣΔy when n triangles are accumulated in this movement sequence are expressed by the following equation (2). Here, .theta.e indicates the azimuth angle from the base angle of the first triangle to the target position, as shown in FIG. 16(a).

（２）

(2)

As can be seen from the above formula (2), errors are accumulated by repeating the movement (increasing n).

SUMMARY OF THE INVENTION In consideration of the above facts, it is an object of the present invention to accurately recognize the position of a work vehicle at a construction site.

To achieve the above object, the position recognition method of the present invention includes an installation step of installing an identification marker with respect to a reference point on a floor surface at a construction site; a moving step of moving a reference point setting mobile body; and recognizing the position of the working mobile body for performing work at the construction site according to the position of the reference point setting mobile body moved by the moving step. and a recognition step. As a result, the position of the working vehicle at the construction site can be recognized with high accuracy.

The position recognition apparatus of the present invention performs work at a construction site according to the position of a reference point setting mobile body that has moved to the position of an identification marker that has been set in advance with respect to a reference point on a floor surface at the construction site. A position recognizing unit for recognizing the position of the work vehicle for performing the work is provided.

The position recognition device of the present invention detects the distance measuring device mounted on the reference point installation mobile body by the measurement processing by the position measuring unit mounted on the work mobile body. It is possible to further include a control unit that controls the moving body to move. Accordingly, even when the reference point installation mobile body is not detected from the position of the work mobile body, the position of the work mobile body can be recognized by moving the reference point installation mobile body.

The control unit of the position recognition device of the present invention detects the distance measurement device of the reference point setting mobile body by the measurement processing performed by the position measurement unit of the mobile work body. The reference point is installed at a position where the reference point installation moving body is detected by the position measuring unit of and where the identification marker closest to the position of the reference point installation moving body at the current time is installed. It is possible to control so as to move the moving body for use. Accordingly, when the reference point setting mobile body is not detected from the work mobile body, the position of the work mobile body can be recognized in a short time.

The control unit of the position recognition device of the present invention performs the measurement processing by the position measurement unit based on the position of the work vehicle at the next time, and the position of the work vehicle at the next time. The reference point setting moving body may be controlled to move to a position where the moving body is detected. Accordingly, when the reference point setting mobile body is not detected from the work mobile body, the position of the work mobile body can be recognized in a short time.

A reference point installation mobile body of the present invention picks up images of a distance measuring device detected by measurement processing of a position measuring unit mounted on a working mobile body that performs work at a construction site, and the floor surface of the construction site. A camera, a traveling mechanism, and controlling the traveling mechanism so as to stop at a position of an identification marker set in advance with respect to a reference point on the floor of the construction site based on the image captured by the camera. and a reference point setting moving body control unit. Accordingly, the position of the working mobile body at the construction site can be accurately recognized according to the position of the reference point setting mobile body.

A work mobile body of the present invention detects the position of a distance measuring device mounted on a reference point installation mobile body that moves to the position of an identification marker previously installed with respect to a reference point on a floor surface at a construction site. and a position recognizing unit, wherein the position measuring unit, based on the detection result of the position of the distance measuring device of the reference point setting mobile unit, The position of the working mobile body is measured with respect to the position of the reference point setting mobile body, and the position recognition unit measures the position of the working mobile body with respect to the position of the reference point setting mobile body measured by the position measuring unit. and the position of the identification marker corresponding to the position of the reference point setting mobile body, the position of the work mobile body is recognized. Accordingly, the position of the working mobile body at the construction site can be accurately recognized according to the position of the reference point setting mobile body.

A position recognition system of the present invention includes the reference point setting mobile body of the present invention and the working mobile body of the present invention. As a result, the position of the working vehicle at the construction site can be recognized with high accuracy.

ADVANTAGE OF THE INVENTION According to this invention, the effect that the position of the mobile body for a work in a construction site can be recognized accurately is acquired.

It is a figure showing an example of composition of a position recognition system concerning this embodiment. It is an explanatory view for explaining prerequisites of this embodiment. It is an explanatory view for explaining prerequisites of this embodiment. It is a figure showing an example of functional composition of a position recognition system concerning this embodiment. FIG. 4 is a diagram showing a specific configuration example of a reference point installation moving body; FIG. 4 is an explanatory diagram for explaining the ink and the identification marker; It is a figure which shows an example of the information stored in an example of the coordinate table stored in a coordinate database, and a position storage part. FIG. 10 is an explanatory diagram for explaining processing for recognizing coordinate information corresponding to the position of the mobile body for work; It is an explanatory view for explaining coordinates set up by this embodiment. FIG. 4 is an explanatory diagram for explaining the action of the position recognition system; It is a flow chart which shows a mobile body movement processing for work. FIG. 4 is an explanatory diagram for explaining the action of the position recognition system; 6 is a flowchart showing server control processing; FIG. 4 is an explanatory diagram for explaining the action of the position recognition system; FIG. 11 is a flowchart showing reference point installation moving body movement processing; FIG. It is an explanatory view for explaining conventional technology.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail.

A position recognition system according to the present embodiment is a system for moving a working vehicle for performing work at a construction site to a target position. FIG. 1 is a diagram showing an example configuration of a position recognition system 10 according to an embodiment of the present invention. The position recognition system 10 includes a reference point installation mobile 12A, a reference point installation mobile 12B, a server 28, and a work mobile 38, as shown in FIG.

At a construction site, it is necessary to detect the position of the working mobile body 38 with high accuracy in order to cause the working mobile body 38 (for example, a working robot) to perform some work. However, at construction sites, it may not be possible to receive good GPS signals due to the influence of surrounding obstacles such as pillars, beams, walls, and roofs. In this case, the position of the work moving body 38 cannot be accurately recognized.

Therefore, in the present embodiment, identification markers are installed in advance with respect to reference points on the floor surface of the construction site. In addition, the reference point installation mobile body 12A and the reference point installation mobile body 12B are moved to the position of the identification marker installed with respect to the reference point. Then, the work moving body 38 for performing work at the construction site detects the position of the reference point setting moving body 12A and the position of the reference point setting moving body 12B, and detects the position of the reference point setting moving body 12A and the reference point. The position of the work moving body 38 is recognized according to the position of the point installation moving body 12B. Thereby, the position of the work moving body 38 can be recognized with high accuracy. A specific description will be given below.

(prerequisite)

The present embodiment assumes the following conditions (1) to (5). 2 and 3 are explanatory diagrams for explaining the preconditions of this embodiment.

(1) As shown in FIG. 2, the construction site targeted in this embodiment has already been marked.
(2) The coordinates of the points of intersection (hereinafter referred to as reference points) between the inks are known from the drawing information of the construction site.
(3) As shown in FIG. 3, identification markers are installed at the reference points. The location of the reference point can be uniquely identified based on the information obtained from the identification marker.
(4) The server 28 stores a database of identification markers indicating reference points and coordinate information indicating positions corresponding to the identification markers.
(5) At the construction site, a wireless network is constructed in which the reference point installation mobile body 12A, the reference point installation mobile body 12B, the working mobile body 38, and the server 28 can communicate with each other.

By setting the above prerequisites (1) to (5), for example, the identification marker is read by a camera or the like mounted on the reference point installation mobile body, and the information obtained from the identification marker and the coordinates in the server 28 are By collating with the database, it is possible to recognize the coordinate information representing the position of the reference point setting moving body. Then, the position of the work moving body 38 is recognized according to the coordinate information representing the position of the reference point setting moving body.

As an identification marker, for example, a QR code (registered trademark) as shown in FIG. 3 can be used. For example, when the surveyor draws the ink, the identification marker is attached to the reference point, or the identification marker is stamped on the reference point, so that the identification marker is placed at the reference point. For this reason, the installation work of the identification marker does not greatly increase the work load of the current work of the surveying company.

<Position Recognition System According to First Embodiment>

FIG. 4 is a diagram showing an example of the functional configuration of the position recognition system 10 according to the first embodiment. As shown in FIG. 4, the position recognition system 10 includes a reference point installation mobile 12A, a reference point installation mobile 12B, a server 28, and a work mobile .

(Moving body for setting reference point)

FIG. 5 shows a specific configuration example of the reference point setting moving body. The reference point installation moving body 12A includes a computer 14A, a traveling mechanism 20A, an illumination section 22A, a camera 24A, and an omnidirectional measurement prism 26A. Similarly, the reference point installation moving body 12B includes a computer 14B, a travel mechanism 20B, an illumination section 22B, a camera 24B, and an omnidirectional measurement prism 26B. When referring to the reference point installation mobile body 12A and the reference point installation mobile body 12B collectively, or when referring to either the reference point installation mobile body 12A or the reference point installation mobile body 12B, the alphabetical part is Omit and name. Similarly, when referring to each component of the reference point installation mobile body 12A and each component of the reference point installation mobile body 12B collectively, or when referring to either one of the components, the alphabet part is is abbreviated (for example, the omnidirectional measurement prism 26).

The computer 14 includes a CPU (Central Processing Unit), a ROM (Read Only Memory) that stores programs and the like for realizing each processing routine, a RAM (Random Access Memory) that temporarily stores data, and a memory as storage means. , and a network interface. The computer 14 functionally includes a reference communication section 16 and a reference control section 18 .

The reference communication unit 16 transmits and receives information to and from the mobile body for work 38 and the server 28 .

The reference control unit 18 controls the travel mechanism 20 , illumination unit 22 , camera 24 and omnidirectional measurement prism 26 . The reference control unit 18 also performs image processing on images of each frame of the moving image captured by the camera 24, and controls the traveling mechanism 20 according to the image processing results. The reference control unit 18 is an example of a reference point setting moving body control unit.

The traveling mechanism 20 can be implemented by, for example, an independent multi-wheel drive mechanism that has a plurality of wheels and drives the wheels by separate actuators (or motors) (not shown). Further, the traveling mechanism 20 can also be realized by multi-legged walking driving, and may have any configuration as long as it can move the reference point setting moving body 12 . As shown in FIG. 5, the traveling mechanism 20 of the present embodiment is an independent two-wheel drive mechanism in which the left and right wheels of the reference point setting moving body 12 are driven by separate actuators (not shown). explain. The coordinate position of the moving reference point installation mobile body can be calculated using odometry based on wheel rotation speed (encoder information) or IMU information mounted on the reference point installation mobile body 12 .

Based on the image captured by the camera 24, the reference control unit 18 controls the traveling mechanism 20 to stop at the position of the identification marker. The reference control unit 18 sequentially acquires images of the floor captured by the camera 24 while the reference point installation moving body 12 is traveling. When the identification marker is detected in the image of the floor surface and the center of the identification marker coincides with the center of the image of the floor surface, the reference control unit 18 causes the reference point installation moving body 12 to stop traveling. to control. Then, the reference control unit 18 reads the identification marker appearing in the image of the floor surface and acquires information about the identification marker.

Note that even when the center of the floor surface image and the center of the identification marker do not match, the reference control unit 18 aligns the center of the floor surface image with the center of the identification marker as shown in FIG. can be obtained from the image. Therefore, the reference control unit 18 can correct the coordinate information representing the position of the reference point installation moving body 12 by taking into consideration the displacement amounts Δx and Δy of the identification markers.

When considering the displacement amounts Δx and Δy of the identification markers, as shown in FIG. It is necessary to calibrate in advance so that it coincides with the intersection of the axis and the floor surface. Further, it is necessary to perform calibration in advance so that the length corresponding to one pixel of the image of the floor surface is a constant value. Calibration can be performed, for example, by a method using a checker pattern.

The reference control unit 18 also receives the coordinate table from the coordinate database 30 of the server 28 via the reference communication unit 16 and the wireless network 11 . Then, the reference control unit 18 collates the information about the identification marker on the floor with the information about the identification marker stored in the coordinate table, thereby recognizing the coordinate information corresponding to the position of the reference point installation moving body 12. do.

Then, the reference control unit 18 transmits coordinate information corresponding to the position of the reference point installation moving body 12 to the server 28 . Coordinate information corresponding to the position of the reference point setting mobile body 12 is stored in the position storage unit 34 of the server 28, which will be described later.

The omnidirectional measurement prism 26 is a prism that serves as a measurement target of the total station 40 mounted on the work moving body 38 . Therefore, the omnidirectional measurement prism 26 is detected by the measurement processing of the total station 40 mounted on the work moving body 38, which will be described later. The omnidirectional measurement prism 26 is an example of a distance measuring device.

(server)

The server 28 includes a coordinate database 30 , a server control section 32 and a server communication section 36 .

The coordinate database 30 stores information related to the identification marker and coordinate information corresponding to the position on the construction site in association with each other. FIG. 7A shows an example of a coordinate table stored in the coordinate database 30. As shown in FIG. For example, as shown in FIG. 7A, the coordinate table uniquely associates information about identification markers with coordinate information. Therefore, if the identification marker is detected by the reference point installation mobile body 12 and information about the identification marker is obtained from the detected identification marker, the position of the reference point installation mobile body 12 can be uniquely identified.

The server control unit 32 outputs a control signal for the reference point installation mobile body 12A and the reference point installation mobile body 12B and a control signal for the work mobile body 38 . Further, the server control unit 32 acquires the coordinate information transmitted from the reference point installation mobile body 12A and the reference point installation mobile body 12B and the coordinate information transmitted from the work mobile body 38, and stores the position storage unit 34.

The position storage unit 34 stores coordinate information of the reference point installation mobile body 12A, coordinate information of the reference point installation mobile body 12B, and coordinate information of the work mobile body 38 . FIG. 7B shows an example of coordinate information stored in the position storage unit 34. As shown in FIG. For example, as shown in FIG. 7B, coordinate information of each moving body is stored.

The server communication unit 36 transmits and receives information to and from the reference point installation mobile unit 12 and the work mobile unit 38 .

(Moving body for work)

The working vehicle 38 includes a total station 40 , a computer 42 and a traveling mechanism 20 . The working mobile body 38 is a mobile body that performs specific work at a construction site. The specific work at the construction site may be any work, for example, marking work.

The total station 40 detects the position of the omnidirectional measurement prism 26 mounted on the reference point setting moving body 12 by a predetermined measurement process. Further, the total station 40 measures the position of the work moving body 38 with respect to the position of the reference point setting moving body 12 based on the detection result of the position of the omnidirectional measurement prism 26 of the reference point setting moving body 12 . Then, the total station 40 measures the distance and azimuth to the reference point installation mobile 12 according to the position of the omnidirectional measurement prism 26 mounted on the reference point installation mobile 12 . The total station 40 is an example of a position measuring section.

The computer 42 includes a CPU, a ROM that stores programs and the like for implementing each processing routine, a RAM that temporarily stores data, a memory as storage means, a network interface, and the like. The computer 42 functionally includes a position recognition section 44 , a reference control section 18 and a work communication section 48 . Computer 42 is an example of a position recognition device.

The position recognition unit 44 recognizes the position of the work moving body 38 according to the position of the reference point setting moving body 12 that has moved to the position of the identification marker. Specifically, the position recognition unit 44 detects the omnidirectional measurement prism 26A of the reference point installation moving body 12A and the omnidirectional measurement prism 26B of the reference point installation moving body 12B obtained by the total station 40. to detect the positions of the reference point setting moving body 12A and the reference point setting moving body 12B.

First, the position recognition unit 44 determines the distance between the total station 40 and the omnidirectional measurement prism 26A, the azimuth angle between the total station 40 and the omnidirectional measurement prism 26A, and the distance between the total station 40 and the omnidirectional measurement prism 26A. The elevation angle between the total station 40 and the omnidirectional measurement prism 26A is obtained. In addition, the position recognizing unit 44 determines the distance between the total station 40 and the omnidirectional measurement prism 26B, the azimuth angle between the total station 40 and the omnidirectional measurement prism 26B, and the distance between the total station 40 and the omnidirectional measurement prism 26B, and The elevation angle between the total station 40 and the omnidirectional measurement prism 26B is obtained.

Next, the position recognition unit 44 transmits the coordinate information corresponding to the positions of the reference point installation moving bodies 12A and 12B stored in the position storage unit 34 of the server 28 to the work communication unit 48. to get through. As a result, the position of the reference point installation moving body 12A and the position of the reference point installation moving body 12B are recognized.

Then, the position recognizing unit 44 recognizes the coordinate information corresponding to the position of the reference point installation mobile body 12A, the coordinate information corresponding to the position of the reference point installation mobile body 12B, the reference point installation mobile body 12A and the reference point. The position of the work moving body 38 is recognized from the position of the work moving body 38 with respect to the installation moving body 12B.

FIG. 8 shows an explanatory diagram for explaining the process of recognizing coordinate information corresponding to the position of the working mobile body 38. As shown in FIG. As shown in FIG. 8, the reference point installation moving body 12A is stationary on a point a representing the B2 reference point, which is the intersection of B and 2, and the reference point installation moving body 12B An example will be described in which the object is stationary on the point b representing the B3 reference point, which is the intersection of the B pattern and the 3 pattern.

First, the total station 40 of the work moving body 38 is mounted on the omnidirectional measurement prism 26A mounted on the reference point setting moving body 12A on the B2 reference point and on the reference point setting moving body 12B on the B3 reference point. The omnidirectional measurement prism 26B that is being used is detected. The total station 40 also measures the distance _ra to the omnidirectional measurement prism 26A and the distance _rb to the omnidirectional measurement prism 26B. In addition, the total station 40 determines the angle ∠acb formed by three points: point a representing the position of the omnidirectional measurement prism 26A, point c representing the position of the total station 40, and point b representing the position of the omnidirectional measurement prism 26B. measure.

Next, the position recognition unit 44 of the computer 42 receives the coordinate information (x _a , y _a ) and the coordinate information (x _b , y _b ) of the reference point installation moving body 12B.

Based on the coordinate information (x _a , _ya ) of the reference point installation mobile body 12A and the coordinate information (x _b , y _b ) of the reference point installation mobile body 12B, the position recognition unit 44 detects the rearward position. Coordinate information (x _c , y _c ) corresponding to the position of the working body 38 is calculated by the resection method.

The control unit 46 then transmits the coordinate information (x _c , y _c ) obtained by the position recognition unit 44 to the server 28 via the work communication unit 48 and the wireless network 11 . The server control unit 32 of the server 28 acquires the coordinate information (x _c , y _c ) via the server communication unit 36 and stores it in the position storage unit 34 .

Based on the coordinate information (x _c , y _c ) of the working body 38 calculated by the position recognition unit 44 and the coordinate information (x _t , y _t ) corresponding to the target position, the control unit 46 performs the work. The traveling mechanism 20 is controlled so that the moving body 38 approaches the coordinate information (x _t , y _t ) corresponding to the target position. The position of the work moving body 38 during movement can be calculated by tracking the omnidirectional measurement prism 26 mounted on the reference point setting moving body 12 by the total station 40 . Coordinate information (x _t , y _t ) corresponding to the target position is stored in advance in a storage unit (not shown) of the computer 42, for example. Note that the control unit 46 may sequentially acquire the coordinate information (x _t , y _t ) corresponding to the target position via the work communication unit 48 .

Here, for example, as shown in FIG. The point b at the position of the reference point setting moving body 12B viewed from the point c at the position of the moving body 38 is behind the pillar. Therefore, the omnidirectional measurement prism 26B of the reference point setting mobile 12B cannot be detected from the total station 40 of the mobile working body 38, and the position of the mobile working body 38 cannot be recognized.

Therefore, when the omnidirectional measurement prism of the reference point installation moving body is not detected by the measurement processing by the total station 40 mounted on the work moving body 38, the control unit 46 moves the reference point installation moving body. to control.

Specifically, the position recognition unit 44 detects at least one of the omnidirectional measurement prism 26A of the reference point installation moving body 12A and the omnidirectional measurement prism 26B of the reference point installation moving body 12B by the measurement processing by the total station 40. If not detected, it outputs a non-detection control signal indicating that the reference point installation moving body is not detected. The control unit 46 then transmits the undetected control signal output by the position recognition unit 44 to the server 28 .

The server control unit 32 of the server 28 acquires the undetected control signal transmitted from the working vehicle 38 via the server communication unit 36 . Based on the coordinate information (x _c , y _c ) of the work vehicle 38 stored in the position storage unit 34 , the server control unit 32 causes the total station 40 of the work vehicle 38 to move the omnidirectional measurement prism 26 . The reference point installation moving body 12 moves to the position where the identification marker closest to the detected position and the coordinate information (x _c , y _c ) corresponding to the position of the reference point installation moving body 12 at the current time is installed. 12 is moved, a control signal relating to a movement instruction is output.

For example, as shown in FIG. 9B, the server control unit 32 performs control related to the movement instruction so as to move to the A3 reference point, which is a reference point that can be detected from the total station 40 mounted on the work vehicle 38. Output a signal.

Then, the server control unit 32 transmits a control signal regarding a movement instruction to the reference point installation moving body 12B via the server communication unit 36 .

The reference control unit 18 of the computer 14 of the reference point installation moving body 12B moves to the A3 reference point, for example, as shown in FIG. The traveling mechanism 20B is controlled so as to do so. When the reference point installation moving body 12B detects the identification marker installed at the A3 reference point, it stops at the A3 reference point.

When the reference point installation moving body 12B stops at the A3 reference point, the total station 40 of the work moving body 38 determines the distances ra _{and rb} , and the omnidirectional measurement prism 26A, the total station 40, and the omnidirectional measurement prism 26B. The angle ∠acb of the angle between the points is measured. Then, the position recognition unit 44 of the computer of the work mobile 38 calculates the coordinates (x _c , y _c ) of the work mobile 38 according to the above equations (1) and (2).

<Action of Position Recognition System>

Next, the operation of the position recognition system 10 will be described with reference to FIGS. 10, 11, 12, 13, 14 and 15. FIG. As shown in FIG. 10(a), an identification marker is stamped or affixed to a reference point on the floor so that the coordinates of the reference point can be known. Further, as shown in FIG. 10(b), a reference point installation moving body 12A and a reference point installation moving body 12B are arranged on the reference point on which the identification marker is installed. Then, for example, when a person in charge of a construction site activates the reference point installation mobile body 12A, the reference point installation mobile body 12B, the work mobile body 38, and the server 28 of the position recognition system 10, the work mobile body 38 The computer 42 of 1 executes the work moving body movement processing shown in FIG. 11 .

(Action of mobile body for work)

First, in step S<b>100 , the position recognition section 44 of the computer 42 controls the total station 40 so as to execute detection processing of the omnidirectional measurement prism 26 . Then, as shown in FIG. 10(c), detection processing of the omnidirectional measurement prism 26 is executed by the total station 40, and the omnidirectional measurement prism 26A of the reference point installation moving body 12A and the reference point installation moving body 12B are detected. The distance, azimuth angle, and elevation angle are measured to the omnidirectional measurement prism 26B. The position recognition unit 44 acquires the detection results of the omnidirectional measurement prism 26A and the omnidirectional measurement prism 26B obtained by the total station 40 .

In step S102, the position recognizing unit 44 detects the omnidirectional measurement prism 26A of the reference point installation moving body 12A and all of the reference point installation moving body 12B based on the detection result of the omnidirectional measurement prism acquired in step S102. It is determined whether or not the direction measuring prism 26B has been detected. When the omnidirectional measurement prism 26A of the reference point installation moving body 12A and the omnidirectional measurement prism 26B of the reference point installation moving body 12B are detected, the process proceeds to step S104. On the other hand, if at least one of the omnidirectional measurement prism 26A of the reference point installation moving body 12A and the omnidirectional measurement prism 26B of the reference point installation moving body 12B is not detected, the process proceeds to step S110.

In step S104, the position recognizing unit 44 stores the coordinate information (x _a , _ya ) corresponding to the position of the reference point installation moving body 12A stored in the position storage unit 34 of the server 28 and the reference point installation moving body Coordinate information (x _b , y _b ) corresponding to the position of 12B is acquired via the work communication unit 48 .

In step S106, the position recognition unit 44 recognizes the coordinate information (x _a , y _a ) corresponding to the position of the reference point installation moving body 12A and the position of the reference point installation moving body 12B acquired in step S104. Coordinate information ( _xc , _yc ) corresponding to the current position of the work moving body 38 from the corresponding coordinate information ( _xb , yb) and the detection results of the omnidirectional measurement prism 26A and the omnidirectional measurement prism _26B to recognize

In step S<b>107 , the control unit 46 transmits the coordinate information (x _c , y _c ) obtained in step S<b>106 to the server 28 via the work communication unit 48 and the wireless network 11 .

In step S108, the control unit 46 controls the coordinate information (x _c , y _c ) of the working body 38 recognized in step S106 and the coordinate information (x _t , y _t ) corresponding to the target position. 10(d), the travel mechanism 20 is controlled so that the work vehicle 38 approaches the target position T. As shown in FIG. It should be noted that the control unit 46 stops when the work moving body 38 reaches the vicinity of the target position T. As shown in FIG. Specifically, if the error from the target position is equal to or less than a preset threshold value, the operation is stopped.

In step S110, the position recognition unit 44 outputs a non-detection control signal indicating that the reference point installation moving body 12 is not detected. The control unit 46 then transmits the undetected control signal output by the position recognition unit 44 to the server 28 . For example, if the positional relationship until the previous time is as shown in FIG. 12(a), and the positional relationship is changed to that shown in FIG. A non-detection control signal indicating that the reference point installation moving body 12 is not detected is output.

In step S112, the control unit 46 calculates the difference between the coordinate information ( _xc , _yc ) corresponding to the current position obtained in step S106 and the coordinate information ( _xt , _yt ) corresponding to the target position. It is determined whether or not the difference is equal to or less than the threshold. If the difference between the coordinate information (x _c , y _c ) corresponding to the current position and the coordinate information (x _t , y _t ) corresponding to the target position is equal to or less than the threshold, the process proceeds to step S114. On the other hand, if the difference between the coordinate information (x _c , y _c ) corresponding to the current position and the coordinate information (x _t , y _t ) corresponding to the target position is greater than the threshold, the process returns to step S100.

In step S114, the controller 46 controls the traveling mechanism 20 to stop.

(Server action)

The server 28 executes server control processing shown in FIG.

In step S<b>200 , the server control unit 32 of the server 28 acquires coordinate information (x _c , y _c ) via the server communication unit 36 and stores it in the position storage unit 34 .

In step S202, the server control unit 32 of the server 28 determines whether or not a non-detection signal indicating that the reference point installation moving body 12 has not been detected has been acquired. If an undetected signal is acquired, the process proceeds to step S204. On the other hand, if the undetected signal has not been acquired, the process returns to step S200.

In step S204, based on the coordinate information ( _xc , _yc ) of the mobile working body 38 stored in the position storage part 34, the server control unit 32 causes the total station 40 of the mobile working body 38 to perform an omnidirectional measurement prism. 26 is detected, and from the coordinate information (x _c , y _c ) corresponding to the position of the reference point installation moving body 12 at the current time, the nearest identification marker is installed. A control signal regarding a movement instruction is transmitted so that the mobile body 12 is moved. For example, when the positional relationship is as shown in FIG. 14A, the server control unit 32 outputs a control signal for moving the reference point installation moving body 12 to the identification marker N. transmit to body 12;

(Action of moving body for setting reference point)

When the reference control unit 18 of the computer 14 of the reference point installation mobile body 12 acquires the control signal related to the movement instruction transmitted from the server 28, the reference point installation mobile body movement processing shown in FIG. 15 is executed. In addition, the camera 24 captures an image of the floor surface in the downward direction of the reference point installation moving body 12 .

In step S<b>300 , the reference control unit 18 acquires the control signal regarding the movement instruction transmitted from the server 28 . The control signal related to the movement instruction includes information related to the movement direction of the reference point installation moving body 12 .

In step S<b>302 , the reference control unit 18 acquires an image of the floor captured by the camera 24 .

In step S304, the reference control unit 18 determines that the identification marker is reflected in the image of the floor surface acquired in step S302, and the difference between the center of the identification marker and the center of the image of the floor surface is equal to or less than a threshold. It is determined whether or not. If the difference between the center of the identification marker and the center of the floor image is equal to or less than the threshold, the process proceeds to step S308. On the other hand, if the difference between the center of the identification marker and the center of the image of the floor surface is greater than the threshold, the process proceeds to step S306.

In step S306, as shown in FIG. 14B, the reference control unit 18 uses odometry based on the wheel rotation speed (encoder information) and IMU information mounted on the reference point installation moving body 12. , calculates the coordinate position and attitude of the reference point installation moving body, and controls the traveling mechanism 20 so as to reach the target identification marker.

In step S308, the reference control unit 18 controls the movement of the reference point installation moving body 12 to stop, as shown in FIG. 14(c). As a result, the omnidirectional measurement prism 26 of the reference point setting moving body 12 is detected from the work moving body 38 .

In step S<b>310 , the reference control unit 18 receives the coordinate table from the coordinate database 30 of the server 28 via the reference communication unit 16 and the wireless network 11 . Then, the reference control unit 18 collates the information about the identification marker on the floor with the information about the identification marker stored in the coordinate table, thereby recognizing the coordinate information corresponding to the position of the reference point installation moving body 12. do. Then, the reference control unit 18 transmits coordinate information corresponding to the position of the reference point installation moving body 12 to the server 28 . Coordinate information corresponding to the position of the reference point setting mobile body 12 is stored in the position storage unit 34 of the server 28, which will be described later.

As described above, in the present embodiment, an identification marker is installed with respect to a reference point on the floor surface of a construction site, and the reference point installation moving body is moved to the position of the installed identification marker. Then, the position of the working mobile body for performing work at the construction site is recognized according to the position of the reference point setting mobile body. As a result, the position of the working vehicle at the construction site can be recognized with high accuracy.

Conventionally, there have been cases where markers for total station measurement are affixed to column surfaces of construction sites and used to detect the positions of objects. However, in this case, the markers on the column face are hidden by fireproof coating spraying or finishing work, etc., making it impossible to use the marker on the column face at the initial stage of the construction work. On the other hand, according to the present embodiment, by moving the reference point installation moving body 12 having the omnidirectional measurement prism 26 for total station measurement, the measurement target of the total station will not be hidden by the progress of the construction work. Therefore, it is possible to recognize the position of the working vehicle throughout the construction period.

Also, in the conventional method, it is possible to reduce the non-line-of-sight area for total station measurement by sticking markers for total station measurement all over the construction site. The cost of the positioning work will increase. On the other hand, according to the present embodiment, it is only necessary to set the identification marker at the crossing point of the ink in the flow of drawing the ink, which is the normal work of the surveying company, without significantly increasing the work load of the surveying company. In addition, the position of the work vehicle can be recognized.

Further, for example, when the conventional method as disclosed in Patent Document 3 is used, errors are accumulated when detecting the position of the working mobile body. On the other hand, in this embodiment, the reference point installation moving body 12 having the omnidirectional measurement prism 26 always moves onto the reference point. Therefore, even if the movement of the working mobile body and the reference point setting mobile body is repeated, accumulation of errors does not occur. Therefore, the position of the working mobile body can be recognized with high accuracy.

<Position Recognition System According to Second Embodiment>

Next, a position recognition system according to a second embodiment will be described. Note that the configuration of the position recognition system according to the second embodiment is the same as that of the first embodiment, so the same reference numerals are given and the description is omitted.

In the second embodiment, based on the position of the work moving body 38 at the next time, the reference point setting moving body 12 is detected by the measurement processing by the total station 40 from the position of the work moving body 38 at the next time. This differs from the first embodiment in that control is performed to move the reference point setting moving body 12 to a position.

In the first embodiment, when the omnidirectional measurement prism 26 of the reference point installation moving body 12 is not detected by the measurement processing of the total station 40 of the work moving body 38, the reference point installation moving body 12 is A case in which a movement instruction is output by pressing is described as an example. However, if the movement instruction is output after the total station 40 of the work moving body 38 detects that the reference point setting moving body 12 is not detected, a large amount of time is lost.

Therefore, in the second embodiment, it is predicted that the omnidirectional measurement prism 26 of the reference point installation moving body 12 will not be detected by the measurement processing of the total station 40 of the work moving body 38, and the reference point installation moving body 12 to output a movement instruction.

The server control unit 32 of the server 28 of the second embodiment acquires the coordinate information corresponding to the position of the mobile working body 38 at the next time from the mobile working body 38, and calculates the position of the mobile working body 38 at the next time. Control is performed so that the reference point installation moving body 12 is moved to a position where the reference point installation moving body 12 is detected by the measurement processing by the total station 40 from .

For example, when the next destination of the work vehicle 38 is an area surrounded by the A2 reference point, the A3 reference point, the B2 reference point, and the B3 reference point from the positional relationship shown in FIG. think of. In this case, the working vehicle 38 transmits the coordinate information of the next destination to the server 28 via the wireless network 11 . As a result, when the mobile work 38 moves to the area surrounded by the A2 reference point, the A3 reference point, the B2 reference point, and the B3 reference point, the server 28 causes the work mobile 38 to move due to the influence of the pillars. Therefore, it is possible to detect in advance that the omnidirectional measurement prism 26 mounted on the reference point setting moving body 12 cannot be detected.

Therefore, the server 28 starts moving the working mobile body 38 from the current location to the next destination, and issues an instruction to move the reference point setting mobile body 12 to the A3 reference point.

As described above, in the second embodiment, the reference point setting mobile body is detected by the measurement processing by the total station from the position of the mobile work body at the next time based on the position of the mobile work body at the next time. control to move the reference point installation moving body to the position where Accordingly, when the reference point setting mobile body is not detected from the work mobile body, the position of the work mobile body can be recognized in a short time. Specifically, the time during which the omnidirectional measurement prism cannot be detected is reduced, and time loss can be reduced.

The present invention is not limited to the above-described embodiments, and various modifications and applications are possible without departing from the gist of the present invention.

For example, in each of the above embodiments, the computer 42 of the work mobile 38 executes the processing shown in FIG. 11, the server 28 executes the processing shown in FIG. 15 has been described as an example, but the present invention is not limited to this. For example, the computer 42 of the work vehicle 38 may execute the processing shown in FIG.

Further, in each of the above-described embodiments, the case where information is exchanged via the server 28 has been described as an example, but the present invention is not limited to this. The computer 14 on the body 12 may communicate directly with the computer 14 .

Further, each computer of the position recognition system may acquire various information by communicating information with an external server. For example, the target position information of the work mobile 38 is stored in the external server, and the target position information of the work mobile 38 may be sequentially acquired from the external server.

In addition, the position of the reference point installation mobile body 12 during movement is calculated based on odometry based on the number of wheel rotations (encoder information) or IMU information mounted on the work mobile body. Based on the image picked up by the camera 24 mounted on the reference point setting moving body 12, the ink may be recognized, and movement control may be performed such that the ink is traced.

Further, although the position of the work moving body 38 during movement is calculated by tracking the omnidirectional measuring prism 26 mounted on the reference point setting moving body 12 by the total station 40 as an example, the present invention is not limited to this. not something. For example, the position of the work vehicle 38 during movement may be calculated based on odometry based on wheel rotation speed (encoder information), IMU information mounted on the work vehicle, or the like.

Further, in this embodiment, the total station 40 is the position measuring unit mounted on the work moving body, and the omnidirectional measuring prism 26 is the distance measuring device mounted on the reference point setting moving body. Illustrated, but not limited to. As long as the position of the reference point setting mobile body can be measured from the working mobile body, the position measuring unit and the distance measuring device may have any configuration. For example, a three-dimensional laser surveying instrument capable of measuring the position of the reference point installation mobile body is mounted as a position measurement unit on the working mobile body, and a predetermined three-dimensional laser light receiving means is used as a distance measurement device for reference point installation movement. It may be mounted on a body to measure the position of the reference point setting mobile body from the working mobile body. In this case, the position of the reference point setting moving body can be measured from the work moving body without using an omnidirectional measurement prism.

In the above description, the program is pre-stored (installed) in a storage unit (not shown), but the program may be recorded on any recording medium such as a CD-ROM, DVD-ROM, micro SD card, or the like. It is also possible to provide it in the form provided.

10 Position Recognition System 11 Wireless Networks 12, 12A, 12B Reference Point Setting Mobile Objects 14, 14A, 14B Computer 16 Reference Communication Unit 18 Reference Control Units 20, 20A, 20B Traveling Mechanisms 22, 22A, 22B Lighting Unit 24, 24A, 24B Cameras 26, 26A, 26B Omnidirectional measurement prism 28 Server 30 Coordinate database 32 Server control unit 34 Position storage unit 36 Server communication unit 38 Mobile body for work 40 Total station 42 Computer 44 Position recognition unit 46 Control unit 48 Communication for work Department

Claims (4)

Measuring the positional relationship between a reference point setting mobile body comprising a position recognition unit realized by a computer, a camera for imaging the floor surface of a construction site, a distance measuring device, and a computer, and the distance measuring device. A position recognition method executed by a position recognition system including a working mobile body provided with a position measurement unit that performs a position measurement, and a control unit realized by a computer ,
The computer of the reference point installation mobile body receives an image of the floor surface captured by the camera of the reference point installation mobile body, and an identification marker preliminarily installed with respect to the reference point on the floor surface at the construction site. Coordinate information corresponding to the identification marker appearing in the image of the floor surface is acquired based on a coordinate table in which the information about the reference point and the coordinate information are associated with each other, and the identification information and the coordinate information of the reference point installation moving body are acquired. are associated with and stored in the position storage unit,
a positional relationship between the work mobile body and the reference point installation mobile body when the position measuring unit of the work mobile body detects the distance measuring device of the reference point installation mobile body to measure
The position recognition unit, based on the coordinate information of the reference point installation mobile body stored in the position storage unit and the positional relationship between the work mobile body and the reference point installation mobile body, recognizing the position of the working mobile body ;
When the distance measuring device of the reference point setting mobile body is not detected by the measurement processing by the position measuring section of the working mobile body, the control section causes the position measuring section of the working mobile body to The reference point installation moving body is moved to a position where the reference point installation moving body is detected and where the identification marker closest to the position of the reference point installation moving body at the current time is installed. control to
Location awareness method. Measuring the positional relationship between a reference point setting mobile body comprising a position recognition unit realized by a computer, a camera for imaging the floor surface of a construction site, a distance measuring device, and a computer, and the distance measuring device. A position recognition method executed by a position recognition system including a working mobile body provided with a position measurement unit that performs a position measurement, and a control unit realized by a computer ,
The computer of the reference point installation mobile body receives an image of the floor surface captured by the camera of the reference point installation mobile body, and an identification marker preliminarily installed with respect to the reference point on the floor surface at the construction site. Coordinate information corresponding to the identification marker appearing in the image of the floor surface is acquired based on a coordinate table in which the information about the reference point and the coordinate information are associated with each other, and the identification information and the coordinate information of the reference point installation moving body are acquired. are associated with and stored in the position storage unit,
a positional relationship between the work mobile body and the reference point installation mobile body when the position measuring unit of the work mobile body detects the distance measuring device of the reference point installation mobile body to measure
The position recognition unit, based on the coordinate information of the reference point installation mobile body stored in the position storage unit and the positional relationship between the work mobile body and the reference point installation mobile body, recognizing the position of the working mobile body ;
The control unit moves the reference point installation moving body when the distance measuring device of the reference point installation moving body is not detected by the measurement processing by the position measuring unit of the work moving body. control and
The control unit detects the reference point setting mobile object from the position of the mobile object for work at the next time by the measurement processing by the position measuring unit based on the position of the mobile object for work scheduled at the next time. control to move the reference point installation moving body to the position where
Location awareness method. Measuring the positional relationship between a reference point setting mobile body comprising a position recognition unit realized by a computer, a camera for imaging the floor surface of a construction site, a distance measuring device, and a computer, and the distance measuring device. A position recognition system including a working mobile body having a position measuring unit that
The computer of the reference point installation mobile body receives an image of the floor surface captured by the camera of the reference point installation mobile body, and an identification marker preliminarily installed with respect to the reference point on the floor surface at the construction site. Coordinate information corresponding to the identification marker appearing in the image of the floor surface is acquired based on a coordinate table in which the information about the reference point and the coordinate information are associated with each other, and the identification information and the coordinate information of the reference point installation moving body are acquired. are associated with and stored in the position storage unit,
a positional relationship between the work mobile body and the reference point installation mobile body when the position measuring unit of the work mobile body detects the distance measuring device of the reference point installation mobile body to measure
The position recognition unit, based on the coordinate information of the reference point installation mobile body stored in the position storage unit and the positional relationship between the work mobile body and the reference point installation mobile body, recognizing the position of the working mobile body;
When the distance measuring device of the reference point setting mobile body is not detected by the measurement processing by the position measuring section of the working mobile body, the control section causes the position measuring section of the working mobile body to The reference point installation moving body is moved to a position where the reference point installation moving body is detected and where the identification marker closest to the position of the reference point installation moving body at the current time is installed. control to
location-aware system. Measuring the positional relationship between a reference point setting mobile body comprising a position recognition unit realized by a computer, a camera for imaging the floor surface of a construction site, a distance measuring device, and a computer, and the distance measuring device. A position recognition system including a working mobile body having a position measuring unit that
The computer of the reference point installation mobile body receives an image of the floor surface captured by the camera of the reference point installation mobile body, and an identification marker preliminarily installed with respect to the reference point on the floor surface at the construction site. Coordinate information corresponding to the identification marker appearing in the image of the floor surface is acquired based on a coordinate table in which the information about the reference point and the coordinate information are associated with each other, and the identification information and the coordinate information of the reference point installation moving body are acquired. are associated with and stored in the position storage unit,
a positional relationship between the work mobile body and the reference point installation mobile body when the position measuring unit of the work mobile body detects the distance measuring device of the reference point installation mobile body to measure
The position recognition unit, based on the coordinate information of the reference point installation mobile body stored in the position storage unit and the positional relationship between the work mobile body and the reference point installation mobile body, recognizing the position of the working mobile body;
The control unit moves the reference point installation mobile body when the distance measurement device of the reference point installation mobile body is not detected by the measurement processing by the position measurement unit of the work mobile body. control and
The control unit detects the reference point setting mobile object from the position of the mobile object for work at the next time through the measurement processing by the position measuring unit based on the position of the mobile object for work scheduled at the next time. control to move the reference point installation moving body to the position where
location-aware system.

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