WO2024143039A1 - 移動体制御システム - Google Patents

移動体制御システム Download PDF

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Publication number
WO2024143039A1
WO2024143039A1 PCT/JP2023/045272 JP2023045272W WO2024143039A1 WO 2024143039 A1 WO2024143039 A1 WO 2024143039A1 JP 2023045272 W JP2023045272 W JP 2023045272W WO 2024143039 A1 WO2024143039 A1 WO 2024143039A1
Authority
WO
WIPO (PCT)
Prior art keywords
mobile object
image
floor image
current position
moving body
Prior art date
Application number
PCT/JP2023/045272
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
英向 小西
Original Assignee
京セラドキュメントソリューションズ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 京セラドキュメントソリューションズ株式会社 filed Critical 京セラドキュメントソリューションズ株式会社
Priority to JP2024567644A priority Critical patent/JPWO2024143039A1/ja
Publication of WO2024143039A1 publication Critical patent/WO2024143039A1/ja

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/243—Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/43—Control of position or course in two dimensions

Definitions

  • a certain mobile device is equipped with a moving means for moving the device along the surface of a structure, an imaging means provided on the bottom surface of the device for imaging the surface of the structure, and an identification means for identifying the position of the device by comparing image data output from the imaging means with matching data for each position that has been registered in advance (see, for example, Patent Document 1).
  • this mobile device compares image data output from the imaging means with matching data that corresponds to an area slightly ahead of the position of the device.
  • the mobile object position identification unit (a) acquires a partial floor image generated by scanning a floor portion of the current position of the mobile object by the mobile object, (b) searches for a partial floor image in a floor image of a local reference area corresponding to the current position identified last time, which is a part of the entire specified area, and identifies the position of the partial floor image in the floor image of the entire specified area, and (c) identifies the current position of the mobile object based on the identified position.
  • the size of the local reference area is set according to the elapsed time since the position of the partial floor image or the current position was identified last time, and is set larger the longer the elapsed time.
  • the present invention provides a mobile object control system that can accurately identify the current position of a mobile object.
  • FIG. 1 is a diagram showing a configuration of a mobile object control system according to an embodiment of the present invention.
  • FIG. 2 is a diagram for explaining the floor surface on which the moving body 1 in FIG. 1 travels.
  • FIG. 3 is a perspective view showing the mechanical configuration of the moving body 1 in FIG.
  • FIG. 4 is a diagram showing an example of the scanner 12a in the moving object 1 shown in FIG.
  • FIG. 5 is a diagram showing another example of the scanner 12a in the moving object 1 shown in FIG.
  • FIG. 6 is a block diagram showing the electrical configuration of the moving object 1 in FIG.
  • FIG. 7 is a block diagram showing the configuration of the management server 2 appearing in FIG.
  • FIG. 8 is a diagram illustrating the local reference region.
  • FIG. 9 is a flowchart illustrating the operation of the management server 2 in FIG.
  • FIG. 10 is a flowchart illustrating the details of the current position specifying process in FIG.
  • Fig. 3 is a perspective view showing the mechanical configuration of the mobile unit 1 in Fig. 1.
  • the mobile unit 1 has four casters 11 installed at the four corners of the bottom surface, scanners 12a and 12b, and a frame body 13 to which the casters 11 and scanners 12a and 12b are fixed.
  • the communication device 53 communicates data with an external device (such as a server) via wireless communication according to a specific communication protocol.
  • an external device such as a server
  • the arithmetic processing device 62 is a computer equipped with a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), etc., and operates as various processing units by loading programs from the ROM or storage device 63 into the RAM and executing them on the CPU.
  • the arithmetic processing device 62 operates as a route setting unit 71, a mobile object position identification unit 72, a mobile object control unit 73, and a floor image update unit 74.
  • the partial floor image is generated by scanning the part of the floor surface 101 facing the bottom surface of the moving body 1 with the scanners 12a and 12b arranged on the bottom side of the moving body 1.
  • the current position of the moving body 1 is expressed, for example, as a physical distance from a specified reference position on the floor surface 101.
  • the position of the partial floor image in the floor image of the entire specified area is expressed as a pixel position, etc., and the correspondence between the current position of the moving body 1 and the position of this partial floor image is known.
  • a partial floor image may be searched for in the floor image of only the area of the enlarged local reference area 112 other than the pre-enlarged local reference area 111, and the position of the partial floor image in the floor image of the entire specified area described above may be identified.
  • the moving object position identification unit 72 expands the local reference area 111 (step S20).
  • the moving object position identification unit 72 determines whether the expanded local reference area 111 covers the entire floor surface (step S21), and if the expanded local reference area 111 does not cover the entire floor surface, the process returns to step S18, where the expanded local reference area 111 is searched for the partial floor image acquired this time, and the subsequent processes are similarly performed.
  • the search for the partial floor image is performed while repeatedly expanding the local reference area 111 until the current partial floor image is found in the local reference areas 111, 112 or the expanded local reference area 111 covers the entire floor surface.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
PCT/JP2023/045272 2022-12-27 2023-12-18 移動体制御システム WO2024143039A1 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2024567644A JPWO2024143039A1 (enrdf_load_stackoverflow) 2022-12-27 2023-12-18

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2022-209672 2022-12-27
JP2022209672 2022-12-27

Publications (1)

Publication Number Publication Date
WO2024143039A1 true WO2024143039A1 (ja) 2024-07-04

Family

ID=91717613

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2023/045272 WO2024143039A1 (ja) 2022-12-27 2023-12-18 移動体制御システム

Country Status (2)

Country Link
JP (1) JPWO2024143039A1 (enrdf_load_stackoverflow)
WO (1) WO2024143039A1 (enrdf_load_stackoverflow)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004005593A (ja) * 2002-04-17 2004-01-08 Matsushita Electric Works Ltd 自律移動装置
JP2010102585A (ja) * 2008-10-24 2010-05-06 Shimizu Corp 移動体位置検出システム
JP2016162013A (ja) * 2015-02-27 2016-09-05 株式会社日立製作所 自己位置推定装置および移動体
JP2016166853A (ja) * 2015-03-04 2016-09-15 パナソニックＩｐマネジメント株式会社 位置推定装置および位置推定方法
JP2019185465A (ja) * 2018-04-12 2019-10-24 富士ゼロックス株式会社 移動装置及びプログラム

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004005593A (ja) * 2002-04-17 2004-01-08 Matsushita Electric Works Ltd 自律移動装置
JP2010102585A (ja) * 2008-10-24 2010-05-06 Shimizu Corp 移動体位置検出システム
JP2016162013A (ja) * 2015-02-27 2016-09-05 株式会社日立製作所 自己位置推定装置および移動体
JP2016166853A (ja) * 2015-03-04 2016-09-15 パナソニックＩｐマネジメント株式会社 位置推定装置および位置推定方法
JP2019185465A (ja) * 2018-04-12 2019-10-24 富士ゼロックス株式会社 移動装置及びプログラム

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JPWO2024143039A1 (enrdf_load_stackoverflow) 2024-07-04

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