Mobile body positioning device and mobile body positioning system

Abstract

The present invention provides a mobile body positioning device capable of correcting the position of a mobile body with high precision. The mobile body positioning device comprises: a guidance control unit that guides the mobile body to a plurality of positions within the shooting range of a camera installed in a building; an absolute position calculation unit that calculates a plurality of absolute position information of a mark installed on the mobile body based on images of the camera when the mobile body is guided by the guidance control unit and the mobile body reaches the plurality of positions respectively; and a movement correction value calculation unit that calculates a movement correction value for the mobile body based on the plurality of absolute position information calculated by the absolute position calculation unit.

Description

Technical Field

[0001] The present invention relates to a mobile body positioning device and a mobile body positioning system. Background Art

[0002] Patent Document 1 discloses a moving object positioning device. According to this moving object positioning device, the position of the moving object can be calculated.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2010-288112 Summary of the invention

[0006] Problem that the invention aims to solve

[0007] However, the moving object positioning device described in Patent Document 1 uses the velocity of the moving object when calculating the position of the moving object. Therefore, the error in the position of the moving object may become large.

[0008] The present invention has been made to solve the above-mentioned problems and has an object to provide a mobile object positioning device and a mobile object positioning system capable of correcting the position of a mobile object with high accuracy.

[0009] Means used to solve problems

[0010] The mobile body positioning device of the present invention comprises: a guidance control unit, which guides the mobile body to multiple positions inside the shooting range of a camera set in a building; an absolute position calculation unit, which calculates multiple absolute position information of a mark set on the mobile body based on the images of the camera when the mobile body is guided by the guidance control unit and the mobile body reaches the multiple positions respectively; and a movement correction value calculation unit, which calculates the movement correction value for the mobile body based on the multiple absolute position information calculated by the absolute position calculation unit.

[0011] The mobile body positioning system of the present invention comprises: a camera, which is installed in a building; and the mobile body positioning device, which guides the mobile body to multiple positions inside the shooting range of the camera, calculates multiple absolute position information of a mark set on the mobile body based on the images of the camera when the mobile body reaches the multiple positions respectively, and calculates a movement correction value for the mobile body based on the multiple absolute position information.

[0012] Effects of the Invention

[0013] According to the present invention, the moving object positioning device calculates the movement correction value for the moving object based on a plurality of absolute position information in the image of the camera, so that the position of the moving object can be corrected with high accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a configuration diagram of the mobile object positioning system in the first embodiment.

[0015] Figure 2 This is a diagram for explaining the movement correction value calculated in the mobile object positioning system according to the first embodiment.

[0016] Figure 3 This is a timing chart for explaining a first example of control of a moving object by the moving object positioning system in the first embodiment.

[0017] Figure 4 This is a timing chart for explaining a second example of control of a moving object by the moving object positioning system in the first embodiment.

[0018] Figure 5 This is a timing chart for explaining a third example of control of a moving object by the moving object positioning system in the first embodiment.

[0019] Figure 6 This is a hardware configuration diagram of the mobile object positioning device of the mobile object positioning system in the first embodiment. DETAILED DESCRIPTION

[0020] The embodiment of the present invention will be described with reference to the accompanying drawings. In addition, in each figure, the same reference numerals are given to the same or corresponding parts, and the repeated description of the parts is appropriately simplified or omitted.

[0021] Implementation method 1.

[0022] Figure 1 This is a configuration diagram of the mobile object positioning system in the first embodiment.

[0023] exist Figure 1 In the embodiment, the moving body 1 is configured to be able to move autonomously. The mark 2 is provided on the upper surface of the moving body 1. For example, the mark 2 is a two-dimensional barcode.

[0024] The mobile object positioning system includes at least one camera 3 , a mobile object positioning device 4 , and a communication device 5 .

[0025] For example, the camera 3 is installed on the ceiling of a building.

[0026] The mobile object positioning device 4 includes a storage unit 4a, a guidance control unit 4b, a mobile object position management unit 4c, an image processing unit 4d, an identification information reading unit 4e, an absolute position calculation unit 4f, a marker tracking unit 4g, a movement correction value calculation unit 4h, and a movement prediction unit 4i.

[0027] The storage unit 4 a stores information necessary for controlling the moving object 1 .

[0028] The guide control unit 4b guides the moving object 1 to a plurality of positions within the imaging range of the camera 3. For example, the guide control unit 4b guides the moving object 1 to a first position A and a second position B within the imaging range of the camera 3.

[0029] The moving body position management unit 4c activates the camera 3 when the moving body 1 approaches the imaging range of the camera 3 based on the guidance information provided by the guidance control unit 4b, and stops the camera 3 when the marker 2 is no longer detected from the image of the camera 3.

[0030] The image processing unit 4 d predicts the direction in which the moving object 1 enters the imaging range of the camera 3 based on the guidance information from the guidance control unit 4 b and detects the mark 2 of the moving object 1 in the portion of the entering direction in the image of the camera 3 .

[0031] The identification information reading unit 4 e reads the identification information from the image of the mark 2 .

[0032] The absolute position calculation unit 4f calculates a plurality of absolute position information of the marker 2 provided on the mobile body 1 based on the images of the camera 3 when the mobile body 1 is guided by the guidance control unit 4b and reaches a plurality of positions. The absolute position calculation unit 4f adds the relative position coordinates of the marker 2 within the image of the camera 3 to the absolute position coordinates of the camera 3 relative to the building, thereby calculating the absolute position information of the marker 2 relative to the building.

[0033] The marker tracking unit 4 g tracks the position of the marker 2 provided on the moving object 1 based on the image of the camera 3 .

[0034] The movement correction value calculation unit 4 h calculates a movement correction value for the moving object 1 based on the plurality of absolute position information calculated by the absolute position calculation unit 4 f.

[0035] The movement prediction unit 4i predicts the movement direction of the marker 2 based on the trajectory tracked by the marker tracking unit and the absolute position coordinates calculated by the absolute position calculation unit 4f. When the movement prediction unit 4i predicts that the moving body 1 is moving toward a prohibited area or an obstacle, it notifies the moving body 1 of a stop instruction. In addition, the movement prediction unit 4i may also notify an external system of an alarm, and may also simultaneously implement the notification of the stop instruction to the moving body 1 and the notification of the alarm to the external system.

[0036] The communication device 5 relays the communication between the moving object 1 and the moving object positioning device 4. The communication device 5 relays the communication between the camera 3 and the moving object positioning device 4.

[0037] Next, use Figure 2 The movement correction value will be described.

[0038] Figure 2 This is a diagram for explaining the movement correction value calculated in the mobile object positioning system according to the first embodiment.

[0039] like Figure 2 As shown, the plane coordinates set the first position as the origin inside the image of the camera 3. In the plane coordinates, the x-axis and the y-axis are orthogonal to each other. The relative vector is defined by the distance between the first position and the second position and the angle of the direction of the second position relative to the x-axis.

[0040] The movement correction value calculation unit 4 h transmits information on the distance, the angle, and the absolute position of the first position, the absolute position of the second position, or both, to the moving object 1 as a movement correction value.

[0041] Next, use Figure 3 A first example of control of the mobile object 1 by the mobile object positioning system will be described.

[0042] Figure 3 This is a timing chart for explaining a first example of control of a moving object by the moving object positioning system in the first embodiment.

[0043] like Figure 3 As shown, in step S1, the mobile object positioning device 4 specifies the moving path of the mobile object 1. After step S1, the mobile object positioning device 4 notifies the mobile object 1 of the information of the moving path.

[0044] In step S2, the mobile body 1 starts moving based on the information of the moving path from the mobile body positioning device 4. After step S2, the mobile body 1 periodically notifies the mobile body positioning device 4 of the position information. In addition, the mobile body 1 may irregularly notify the mobile body positioning device 4 of the position information, or may not notify the mobile body positioning device 4 of the position information.

[0045] The mobile body positioning device 4 notifies the camera 3 of the information of the start command and the information of the arrival direction of the mobile body 1 based on the information of the moving path of the mobile body 1. In addition, when the position information of the mobile body 1 is notified from the mobile body 1, the position information notified from the mobile body 1 can also be notified to the camera 3 together with the information of the start command and the information of the arrival direction of the mobile body 1.

[0046] In step S3 , the camera 3 is activated based on the information of the activation command from the mobile object positioning device 4 .

[0047] In step S4, the moving object 1 reaches the first position within the imaging range of the camera 3. Thereafter, the moving object 1 notifies the moving object positioning device 4 of stop information. In addition to the stop information, the moving object 1 may also notify the moving object positioning device 4 of position information.

[0048] The mobile object positioning device 4 notifies the camera 3 of the information of the photographing instruction based on the stop information from the mobile object 1. Alternatively, the camera 3 may be notified of the information of the photographing instruction based on the stop information and the position information from the mobile object 1.

[0049] In step S5, the camera 3 captures one shot based on the capture instruction from the mobile object positioning device 4. Thereafter, the camera 3 transmits information of the captured image to the mobile object positioning device 4.

[0050] In step S6, the mobile body positioning device 4 detects the marker 2 based on the information of the image from the camera 3. Then, in step S7, the mobile body positioning device 4 performs presence determination. Then, in step S8, the mobile body positioning device 4 calculates the absolute position of the marker 2. Then, the mobile body positioning device 4 notifies the mobile body 1 of the information of the movement start instruction to move to the second position.

[0051] In step S9, the mobile body 1 reaches the second position based on the movement start command from the mobile body positioning device 4. Thereafter, the mobile body 1 notifies the mobile body positioning device 4 of stop information. In addition to the stop information, the mobile body 1 may also notify the mobile body positioning device 4 of position information.

[0052] The mobile object positioning device 4 notifies the camera 3 of the information of the photographing instruction based on the stop information from the mobile object 1. Alternatively, the camera 3 may be notified of the information of the photographing instruction based on the stop information and the position information from the mobile object 1.

[0053] In step S10, the camera 3 captures one shot based on the capture instruction from the mobile object positioning device 4. Thereafter, the camera 3 transmits information of the captured image to the mobile object positioning device 4.

[0054] In step S11, the mobile body positioning device 4 detects the marker 2 based on the information of the image from the camera 3. Then, in step S12, the mobile body positioning device 4 performs presence determination. Then, in step S13, the mobile body positioning device 4 calculates the absolute position of the marker 2. Then, in step S14, the mobile body positioning device 4 calculates the movement correction value. Then, the mobile body positioning device 4 notifies the mobile body 1 of the information of the movement correction value.

[0055] In step S15, the moving body 1 performs movement correction. Thereafter, the moving body 1 periodically notifies the moving body positioning device 4 of the position information. Alternatively, the moving body 1 may irregularly notify the moving body positioning device 4 of the position information, or may not notify the moving body positioning device 4 of the position information.

[0056] In step S16, the mobile body positioning device 4 detects that the marker 2 has moved outside the imaging range of the camera 3. Thereafter, the mobile body positioning device 4 notifies the stop command information. Alternatively, the stop command information may be notified based on the information of the moving path of the mobile body 1.

[0057] In step S17 , the camera 3 stops based on the stop command from the mobile object positioning device 4 .

[0058] Next, use Figure 4 A second example of the control of the mobile object 1 by the mobile object positioning system will be described.

[0059] Figure 4 is a timing chart for explaining a second example of control of a moving object by the moving object positioning system in the first embodiment. Figure 3 The same or corresponding parts are denoted by the same step numbers, and the description of those parts is omitted.

[0060] like Figure 4 As shown, in step S21, the camera 3 continues to shoot after starting. At this time, in step S22, the mobile body positioning device 4 continues to detect the mark 2 and calculate the absolute position to track the mark 2. The mobile body positioning device 4 notifies the information for assisting the control of the mobile body 1 based on the tracking result of the mark 2. In addition, the mobile body positioning device 4 can also directly control the mobile body 1 based on the tracking result of the mark 2.

[0061] Next, use Figure 5 A third example of the control of the mobile object 1 by the mobile object positioning system will be described.

[0062] Figure 5 This is a timing chart for explaining a third example of control of a moving object by the moving object positioning system in the first embodiment.

[0063] like Figure 5 As shown, in step S31, the camera 3 is activated. Then, in step S32, the camera 3 takes an image. Then, the camera 3 transmits information of the image taken to the mobile object positioning device 4.

[0064] In step S33, the mobile body positioning device 4 detects the mark 2 based on the image of the camera 3. Then, in step S34, the mobile body positioning device 4 calculates the absolute position of the mark 2. Then, in step S35, the mobile body positioning device 4 performs processing such as registration, verification, issuance, and approval of the identification information. Then, the mobile body positioning device 4 notifies the movement instruction to move to another position within the field of view of the camera 3.

[0065] In step S36, the moving body 1 reaches the stop position. Thereafter, the moving body 1 notifies the moving body positioning device 4 of the stop information. In addition to the stop information, the moving body 1 may also notify the moving body positioning device 4 of the position information.

[0066] The mobile object positioning device 4 notifies the camera 3 of information on the image transmission instruction based on the stop information from the mobile object 1. Alternatively, the mobile object positioning device 4 may notify the camera 3 of information on the image capture instruction based on the stop information and position information from the mobile object 1.

[0067] The camera 3 transmits image information based on a transmission command from the mobile object positioning device 4 .

[0068] In step S37, the mobile object positioning device 4 detects the marker 2 based on the information of the image from the camera 3. Then, in step S38, the mobile object positioning device 4 calculates the absolute position of the marker 2. Then, in step S39, the mobile object positioning device 4 registers the initial position of the mobile object 1. Then, in step S40, the mobile object positioning device 4 completes the initial authentication and re-authentication of the mobile object 1.

[0069] According to the first embodiment described above, the moving object positioning device 4 calculates the movement correction value for the moving object 1 based on the plurality of absolute position information in the image of the camera 3. Therefore, the position of the moving object 1 can be corrected with high accuracy.

[0070] Furthermore, the moving object positioning device 4 calculates the absolute position information of the marker 2 relative to the building. Therefore, the position of the moving object 1 can be accurately grasped.

[0071] The storage unit 4a may store the identification information read by the identification information reading unit 4e and the absolute position information calculated by the absolute position calculating unit 4f in association with each other. In this case, even when a plurality of moving bodies 1 are controlled simultaneously, the positions of the plurality of moving bodies 1 can be accurately grasped.

[0072] In addition, in the moving body 1, a plurality of marks 2 may be provided at locations detectable by the camera 3. For example, the marks 2 may be provided on the front side and the rear side of the upper surface of the moving body 1. In this case, in the image of the camera 3 provided near the entrance of the elevator or the like, the moving body 1 can be identified before and after passing through the entrance.

[0073] Furthermore, when predicting that the moving object 1 is traveling toward a prohibited area or an obstacle, the moving object positioning device 4 notifies the moving object 1 of a stop command. Therefore, the moving object 1 can be safely controlled.

[0074] Furthermore, the camera 3 captures one shot based on the capture command from the mobile object positioning device 4. Therefore, the power consumption of the camera 3 can be suppressed.

[0075] Furthermore, the moving object positioning device 4 performs processing when detecting the mark 2 of the moving object 1 in the portion of the moving object 1 in the approaching direction of the moving object 1 in the image of the camera 3. Therefore, the mark 2 can be detected efficiently.

[0076] Furthermore, the mobile body positioning device 4 manages the mobile body 1 based on the identification information read from the marker 2. Therefore, for example, if the camera 3 is installed outside the entrance of a building or inside the entrance, the mobile body 1 can be used while maintaining the safety of the building. In another example, if the camera 3 is installed in a wide place where there are no obstacles or a place with a small amount of features, when the mobile body 1 loses its position in the above-mentioned place, the absolute position of the mobile body 1 relative to the building can be taught to the mobile body 1, so that the autonomous movement of the mobile body 1 can be easily restarted.

[0077] In addition, Figure 3 After step S2, the mobile body 1 may also notify the mobile body positioning device 4 of the position information at irregular intervals. For example, the position accuracy of the mobile body 1 that can travel autonomously is high. In this case, the mobile body positioning device 4 requests notification to grasp the position of the mobile body 1. In an emergency such as a case where the mobile body 1 loses its position, the mobile body positioning device 4 guides the mobile body 1. In contrast, the position accuracy of the mobile body 1 that has conditions for autonomous driving is low. For example, the position accuracy of the mobile body 1 that can only travel autonomously for a few meters is low. In this case, the position of the mobile body 1 is sometimes impossible to grasp. Therefore, the mobile body positioning device 4 actively guides the mobile body.

[0078] Next, use Figure 6 An example of the mobile object positioning device 4 will be described.

[0079] Figure 6 This is a hardware configuration diagram of the mobile object positioning device of the mobile object positioning system in the first embodiment.

[0080] Each function of the mobile object positioning device 4 can be realized by a processing circuit. For example, the processing circuit includes at least one processor 100 a and at least one memory 100 b. For example, the processing circuit includes at least one dedicated hardware 200 .

[0081] When the processing circuit has at least one processor 100a and at least one memory 100b, each function of the mobile body positioning device 4 is implemented by software, firmware, or a combination of software and firmware. At least one of the software and firmware is described in the form of a program. At least one of the software and firmware is stored in at least one memory 100b. At least one processor 100a implements each function of the mobile body positioning device 4 by reading and executing the program stored in at least one memory 100b. At least one processor 100a is also called a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, or a DSP. For example, at least one memory 100b is a non-volatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM, or an EEPROM, a magnetic disk, a floppy disk, an optical disk, a high-density disk, a mini disk, a DVD, or the like.

[0082] When the processing circuit has at least one dedicated hardware 200, the processing circuit is implemented by, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. For example, each function of the mobile body positioning device 4 is implemented by the processing circuit. For example, each function of the mobile body positioning device 4 is implemented uniformly by the processing circuit.

[0083] The functions of the mobile object positioning device 4 may be partially implemented by the dedicated hardware 200, and the other parts may be implemented by software or firmware. For example, the functions of the image processing unit 4d may be implemented by a processing circuit as the dedicated hardware 200, and the functions other than the functions of the image processing unit 4d may be implemented by at least one processor 100a reading and executing a program stored in at least one memory 100b.

[0084] In this way, the processing circuit realizes each function of the mobile object positioning device 4 through hardware 200, software, firmware, or a combination thereof.

[0085] Industrial Applicability

[0086] As described above, the monitoring device for an elevator according to the present invention can be used in a system.

[0087] Description of symbols

[0088] 1 moving body, 2 mark, 3 camera, 4 moving body positioning device, 4a storage unit, 4b guidance control unit, 4c moving body position management unit, 4d image processing unit, 4e identification information reading unit, 4f absolute position calculation unit, 4g mark tracking unit, 4h movement correction value calculation unit, 4i movement prediction unit, 5 communication device, 100a processor, 100b memory, 200 hardware.

Claims

1. A mobile body positioning device, wherein: The mobile body positioning device comprises: a guide control unit that guides the moving body to a plurality of positions within a shooting range of a camera installed in the building; an absolute position calculation unit that calculates a plurality of absolute position information of a marker provided on the moving body based on the images of the camera when the moving body is guided by the guidance control unit and reaches the plurality of positions respectively; as well as a movement correction value calculation unit that calculates a movement correction value for the moving object based on the plurality of absolute position information calculated by the absolute position calculation unit, The absolute position calculation unit calculates the absolute position information of the first position of the marker based on the image of the camera when the moving body stops at a first position among the plurality of positions, and calculates the absolute position information of the second position of the marker based on the image of the camera when the moving body stops at a second position different from the first position. The movement correction value calculation unit calculates the movement correction value based on at least one of the absolute coordinate information of the first position and the absolute coordinate information of the second position and information of a relative vector formed by the absolute coordinate information of the first position and the second position.

2. The mobile object positioning device according to claim 1, wherein: The absolute position calculation unit calculates absolute position information of the marker relative to the building by adding relative position coordinates of the marker provided on the moving object within the image of the camera to the absolute position coordinates of the camera relative to the building.

3. The mobile object positioning device according to claim 2, wherein: The mobile body positioning device comprises: an identification information reading unit that reads identification information from the tag; and A storage unit stores the identification information read by the identification information reading unit and the absolute position information calculated by the absolute position calculation unit in association with each other.

4. The mobile object positioning device according to any one of claims 1 to 3, wherein: The mobile body positioning device comprises: a marker tracking unit that tracks a trajectory of a position of a marker provided on the moving object based on the image of the camera; and A movement prediction unit predicts the movement direction of the marker based on the trajectory tracked by the marker tracking unit and the absolute position coordinates calculated by the absolute position calculation unit, and notifies the moving body of a stop instruction when it is predicted that the moving body is moving toward a prohibited area or an obstacle.

5. The mobile object positioning device according to any one of claims 1 to 3, wherein: The mobile body positioning device comprises: a marker tracking unit that tracks a trajectory of a position of a marker provided on the moving object based on the image of the camera; and A movement prediction unit predicts the movement direction of the marker based on the trajectory tracked by the marker tracking unit and the absolute position coordinates calculated by the absolute position calculation unit, and notifies an external system of an alarm when it is predicted that the moving object is moving toward a prohibited area or an obstacle.

6. The mobile object positioning device according to any one of claims 1 to 3, wherein: The mobile body positioning device includes a mobile body position management unit that starts the camera when the mobile body approaches the imaging range of the camera based on the guidance information provided by the guidance control unit, and stops the camera when the mark is not detected in the image of the camera.

7. The mobile object positioning device according to any one of claims 1 to 3, wherein: The mobile object positioning device includes an image processing unit that predicts an entry direction of the mobile object into the imaging range of the camera based on the guidance information of the guidance control unit and detects a mark of the mobile object in a portion of the camera image in the entry direction.

8. The mobile object positioning device according to any one of claims 1 to 3, wherein: The moving object positioning device includes a moving object position management unit that manages the moving object based on the identification information and absolute position information when a camera installed near an entrance of the building reads identification information from a tag of the moving object.

9. A mobile body positioning system, wherein: The mobile body positioning system comprises: A camera is installed in a building; and The mobile object positioning device according to any one of claims 1 to 8.

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