Information processing apparatus, information processing method, and mobile apparatus

Abstract

An information processing apparatus according to the present disclosure includes a distance measuring unit that detects a distance to an end of a stage using infrared light and detects a specified pattern provided to the stage, and an estimation unit that estimates a current position of the apparatus itself based on a detection result of the distance measuring unit.

Description

Technical Field

[0001] This disclosure relates to an information processing apparatus, an information processing method, and a mobile device that estimates its own position by performing ranging. Background Technology

[0002] Some information processing devices are installed in mobile devices to estimate the mobile device's own position. For example, PTL1 discloses a technique in which the distance and orientation of surrounding objects are detected using a LiDAR (light detection and ranging) device, a map is created based on the detection results, and the mobile device's own position is estimated based on the map.

[0003] Citation List

[0004] Patent documents

[0005] PTL2: WO 2020 / 183659 Summary of the Invention

[0006] In this regard, mobile devices can move on stages in venues such as concert halls. Even in such cases, it is desirable to estimate the position of the mobile device itself.

[0007] It is desired to provide information processing devices, information processing methods, and mobile devices capable of estimating one's own position on the stage.

[0008] The information processing apparatus according to embodiments of the present disclosure includes a rangefinder and an estimator. The rangefinder is configured to detect the distance to an end of a stage using infrared light and to detect a predetermined pattern set on the stage. The estimator is configured to estimate its own position based on the detection results of the rangefinder.

[0009] The information processing method according to embodiments of the present disclosure includes: using a rangefinder that performs distance measurement using infrared light to detect the distance to the end of a stage and a predetermined pattern set on the stage; and estimating its own position based on the detection results of the rangefinder.

[0010] A mobile device according to an embodiment of the present disclosure includes a rangefinder, an estimator, and a moving mechanism. The rangefinder is configured to detect the distance to an end of a stage using infrared light and to detect a predetermined pattern set on the stage. The estimator is configured to estimate its own position based on the detection result of the rangefinder. The moving mechanism is configured to move the device based on the estimation result of the estimator.

[0011] In the information processing apparatus, information processing method, and mobile device according to embodiments of the present disclosure, a rangefinder that performs distance measurement using infrared light is used to detect the distance to the end of a stage and to detect a predetermined pattern set on the stage. Then, the user's own position is estimated based on the detection results of the rangefinder. Attached Figure Description

[0012] [ Figure 1 ] Figure 1 This is an illustration showing an example configuration of a mobile device equipped with an information processing apparatus according to an embodiment of the present disclosure and a stage on which the mobile device moves.

[0013] [ Figure 2 ] Figure 2 It is shown in Figure 1 A block diagram illustrating a configuration example of a mobile device.

[0014] [ Figure 3 ] Figure 3 It is shown in Figure 2 The diagram shows the location of the rangefinder.

[0015] [ Figure 4 ] Figure 4 It is shown in Figure 2 The illustration shows an example of the operation of the ranging sensor.

[0016] [ Figure 5 ] Figure 5 It is shown in Figure 2 The illustration shows an example of the operation of the three ranging sensors.

[0017] [ Figure 6 ] Figure 6 It is shown in Figure 2 Another illustration of an example of the operation of the ranging sensor shown.

[0018] [ Figure 7 ] Figure 7 It is shown in Figure 1 The illustration shows an example of a pattern configuration set on the stage.

[0019] [ Figure 8 ] Figure 8 It is shown in Figure 7 Another illustration of an example configuration of the pattern shown.

[0020] [ Figure 9 ] Figure 9 It is shown in Figure 7 The illustration shows a specific example of the sub-pattern.

[0021] [ Figure 10 ] Figure 10 It is shown in Figure 7 An illustration of another specific example of the subpattern shown.

[0022] [ Figure 11 ] Figure 11 It is shown in Figure 2 The flowchart shows an example of how a mobile device can be operated.

[0023] [ Figure 12 ] Figure 12 It is shown in Figure 2 The illustration shows an example of how a mobile device can be operated.

[0024] [ Figure 13 ] Figure 13 It is shown in Figure 2 Another illustration of an example of mobile device operation shown.

[0025] [ Figure 14 ] Figure 14 It is shown in Figure 2 Another illustration of an example of mobile device operation shown.

[0026] [ Figure 15 ] Figure 15 It is shown that in Figure 7 An illustration of an example of the parameters related to determining the thickness of the pattern shown.

[0027] [ Figure 16 ] Figure 16 It is shown in Figure 7 An illustration of an example of the thickness of the pattern shown.

[0028] [ Figure 17 ] Figure 17 It is shown in Figure 7 Another illustration of an example of the thickness of the pattern shown.

[0029] [ Figure 18 ] Figure 18 It is shown in Figure 7 Another illustration of an example of the thickness of the pattern shown.

[0030] [ Figure 19 ] Figure 19 This is an illustration showing a configuration example based on the modified example pattern. [Detailed Implementation]

[0031] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings.

[0032] <1. First Embodiment>

[0033] [Configuration Example]

[0034] Figure 1An example configuration of a mobile device 1 equipped with an information processing apparatus (information processing apparatus 10) according to an embodiment and a stage 100 on which the mobile device 1 moves is shown. The stage 100, built in, for example, a concert venue, is configured to allow musicians to perform on the stage 100. The mobile device 1 is, for example, a robot that moves on the stage 100. The mobile device 1 may be a dolly, which is, for example, equipped with a camera device for filming the musicians during their performance.

[0035] The stage edge 102, serving as the end of the stage 100, is located between the stage 100 and the audience seating area in front of it. The mobile device 1 can move on the stage 100 in an XY plane defined by a direction along the stage edge 102 (X-direction) and a direction intersecting the stage edge 102 (Y-direction). During concerts, various colors of light are used for illumination, and various loud sounds are emitted. Additionally, electronic devices may generate numerous electromagnetic waves. Furthermore, the environment is constantly changing, for example, due to the arrangement of various cables on the stage and the alteration of lighting and facilities for each performance. The mobile device 1 is designed to move on the stage 100 while simultaneously estimating its own position on the stage 100 in this potentially constantly changing and noisy environment.

[0036] Figure 2 An example configuration of mobile device 1 is shown. Mobile device 1 includes an information processing device 10, an actuator 21, and a movement mechanism 22.

[0037] The information processing device 10 includes a rangefinder 11, a self-position estimator 13, and a movement plan determiner 16.

[0038] The rangefinder 11 is configured to detect the distance to objects around the mobile device 1. The rangefinder 11 includes multiple range sensors 12 (in this example, three range sensors 12A, 12B, and 12C). Each range sensor 12 is a two-dimensional LiDAR device. Each range sensor 12 detects the distance to the object within a detection plane S intersecting the main axis A of the range sensor 12. Each range sensor 12 outputs infrared light pulses in various directions of the detection plane S and detects light pulses reflected by the object. Then, each range sensor 12 detects the direction of the object based on the direction of the detected light pulse, and calculates the time-of-flight (ToF) based on the output time and detection time of the light pulse, thereby detecting the distance to the object.

[0039] Figure 3 An example of the position of the rangefinder 11 is shown. In this example, the rangefinder 11 is located in the upper part of the mobile device 1. The main axis A of each of the three rangefinder sensors 12 is tilted in a direction deviating from the vertical direction V of the stage surface 101 of the stage 100.

[0040] Figure 4 An operational example of the ranging sensor 12 is shown. Figure 3 As shown, the main axis A of each ranging sensor 12 is tilted in a direction deviating from the vertical direction V, which results in a line (straight line L) intersecting the detection plane S with the stage surface 101, as... Figure 4 As shown in the diagram, each of the distance sensors 12 detects the distance to each segment forming the straight line L on the stage surface 101.

[0041] Figure 5 Three straight lines L (lines LA, LB, LC) are shown in relation to three range sensors 12A, 12B, and 12C. The detection plane S of range sensor 12A intersects the stage surface 101 on line LA, the detection plane S of range sensor 12B intersects the stage surface 101 on line LB, and the detection plane S of range sensor 12C intersects the stage surface 101 on line LC. In this example, lines LA, LB, and LC form an equilateral triangle. In other words, because the principal axes A of the three range sensors 12A, 12B, and 12C point in directions symmetrical about the vertical direction V, lines LA, LB, and LC form an equilateral triangle.

[0042] The three range sensors 12 are arranged at an angle in this manner. This allows the rangefinder 11 to detect the stage surface 101 of the stage 100.

[0043] Self-position estimator 13 ( Figure 2 The device is configured to estimate the position (self-position) of the mobile device 1 on the stage 100 based on the detection results of the rangefinder 11. The self-position estimator 13 has data, for example, a map indicating the stage 100 and uses the map to estimate its own position. The self-position estimator 13 includes a distance calculator 14 and a pattern analyzer 15.

[0044] Distance calculator 14 is configured to calculate the distance from mobile device 1 to stage edge 102. Distance calculator 14 calculates the distance at points such as... Figure 1 The distance from the stage edge 102 to the stage edge 102 in the direction (Y direction) intersecting with the stage edge 102 is shown.

[0045] like Figure 4 As shown, each of the distance sensors 12 detects the distance to each segment forming the straight line L on the stage surface 101. Since the rangefinder 11 includes three distance sensors 12, as... Figure 5 As shown in the diagram, two of the three straight lines L intersect the stage edge 102.

[0046] Figure 6An example is shown where a straight line L intersects with the stage edge 102. The straight line L intersects the stage edge 102 at intersection point P. In other words, one end of the straight line L is intersection point P. Each of the distance sensors 12 detects the distance to the stage surface 101 of the stage 100 in the near portion relative to intersection point P, and, for example, the distance to the ground of the audience seating area in front of the stage 100 in the far portion relative to intersection point P. Therefore, the distance values ​​obtained by each distance sensor 12 may vary across intersection point P. This allows the distance sensors 12 to detect intersection point P based on these distance values.

[0047] Since two of the three straight lines L intersect the stage edge 102, intersection point P is generated on two of the three straight lines L. The distance calculator 14 performs a predetermined calculation based on the distance from the mobile device 1 to the two intersection points P, thereby calculating the distance from the mobile device 1 to the stage edge 102 in the Y direction.

[0048] Pattern analyzer 15 is configured to analyze pattern PAT located on stage edge 102.

[0049] Figure 7 and Figure 8 An example configuration of a pattern PAT located on stage 100 is shown. In this example, the pattern PAT, as a three-dimensional structure, contacts the stage edge 102 and is arranged to project from the stage edge 102 toward the audience seating area in front of stage 100. The structure forming the pattern PAT has a thickness T in the vertical direction. The horizontal plane of the upper surface of the pattern PAT is the same as the horizontal plane of the stage surface 101 of stage 100. The pattern PAT may include materials detectable by LiDAR devices, such as plastic, metal, or wood. In other words, the pattern PAT includes materials that reflect, for example, infrared rays. The pattern PAT includes multiple sub-pattern PATS arranged along the stage edge 102 in the X direction.

[0050] Figure 9 A specific example of the subpattern PATS is shown. In this example, the subpattern PATS is a pattern representing a 4-bit binary code. The subpattern PATS consists of four parts that correspond one-to-one with the four bits. For example, the leftmost part of the subpattern PATS corresponds to the MSB (Most Significant Bit), and its rightmost part corresponds to the LSB (Least Significant Bit). In this example, the longer part in the Y direction means the higher bit. In other words, the leftmost part corresponding to the MSB is the longest in the Y direction, and the rightmost part corresponding to the LSB is the shortest in the Y direction. The width of each of the four parts in the X direction corresponds to the bit value. In this example, a larger width means "0", and a smaller width means "1". Figure 9 The binary code for the subpattern PATS shown in (A) is "0000". Figure 9The binary code for the subpattern PATS shown in (B) is "0001". Figure 9 The binary code for the subpattern PATS shown in (C) is "0010", and Figure 9 The binary code for the subpattern PATS shown in (D) is “0011”.

[0051] Multiple sub-patterns (PATS) are arranged along the stage edge 103. The sub-patterns (PATS) differ depending on their position in the X-direction. In other words, the binary code indicated by a sub-pattern (PATS) differs depending on its position in the X-direction. The binary code is an identifier (ID) indicating the position in the X-direction.

[0052] Figure 10 Another specific example of a sub-pattern PATS is shown. Sub-pattern PATS are barcode patterns. For example, Figure 10 The black areas in the barcode represent structures, while the white areas represent non-structured areas. The barcode pattern varies depending on the position of the sub-patterns (PATS) in the X-direction. In other words, the code indicated by the barcode pattern is an identifier (ID) indicating its position in the X-direction.

[0053] It should be noted that Figure 9 and Figure 10 The examples provided are not limiting, and subpatterns can be structured from various shapes. For example, subpatterns may have features including... Figure 9 The examples in the text show the shapes of combinations of cuboids; however, this is not limiting. For example, subpatterns PATS can have shapes that include combinations of cylinders with circular or elliptical cross sections, or shapes that include combinations of prisms with polygonal cross sections.

[0054] The subpattern PATS, whose identifier ID is determined by its position in the X direction, is positioned on stage edge 102 in this manner. The point cloud data obtained based on the detection results of rangefinder 11 includes information about the subpattern PATS. Therefore, pattern analyzer 15 can obtain the identifier ID indicating the position of the subpattern PATS in the X direction by analyzing the subpattern PATS.

[0055] In this manner, the distance calculator 14 calculates the distance in the Y direction from the mobile device 1 to the stage edge 102, and the pattern analyzer 15 obtains an identifier ID indicating the position of the subpattern PATS in the X direction. The self-position estimator 13 estimates its own position in the Y direction based on the calculation result of the distance calculator 14, and estimates its own position in the X direction based on the analysis result of the pattern analyzer 15. In this manner, the self-position estimator 13 estimates the self-position of the mobile device 1 on the stage 100.

[0056] The mobility plan determiner 16 is configured to determine the mobility plan of the mobile device 1 based on its own location estimated by the self-location estimator 13.

[0057] Actuator 21 is configured to generate power based on a movement plan determined by movement plan determiner 16 and to drive movement mechanism 22 based on that power. Actuator 21 includes, for example, one or more motors.

[0058] The movement mechanism 22 is configured to move the mobile device 1 based on the power generated by the actuator 21. In this example, the movement mechanism 22 includes multiple wheels.

[0059] Here, rangefinder 11 corresponds to a specific example of the "rangefinder" of this disclosure. Range sensor 12 corresponds to a specific example of the "range sensor" of this disclosure. Main axis A corresponds to a specific example of the "main axis" of this disclosure. Detection plane S corresponds to a specific example of the "detection plane" of this disclosure. Pattern PAT corresponds to a specific example of the "predetermined pattern" of this disclosure. Subpattern PATS corresponds to a specific example of the "subpattern" of this disclosure. Self-position estimator 13 corresponds to a specific example of the "estimator" of this disclosure. Moving mechanism 22 corresponds to a specific example of the "moving mechanism" of this disclosure.

[0060] [Operation and Work]

[0061] The operation and function of the mobile device 1 in this embodiment will then be described.

[0062] (Overview of the overall operation)

[0063] First, refer to Figure 2 An overview of the overall operation of mobile device 1 is described. Rangefinder 11 detects the distances to objects around mobile device 1. Distance calculator 14 of self-position estimator 13 calculates the distance from mobile device 1 to stage edge 102 in the Y direction. Pattern analyzer 15 of self-position estimator 13 obtains an identifier ID indicating the position of sub-pattern PATS in the X direction by analyzing pattern PAT located at stage edge 102. Self-position estimator 13 estimates its own position on stage 100 based on the calculation results of distance calculator 14 and the analysis results of pattern analyzer 15. Movement plan determiner 16 determines the movement plan of mobile device 1 based on its own position estimated by self-position estimator 13. Movement mechanism 22 moves mobile device 1 based on the power generated by actuator 21.

[0064] (Detailed instructions)

[0065] Figure 11 An example of operation of mobile device 1 is shown.

[0066] First, the rangefinder 11 performs a scanning operation (step S101). Specifically, each of the three ranging sensors 12A, 12B, and 12C of the rangefinder 11 detects the distance to the object within the detection plane S. The information processing device 10 then generates point cloud data indicating the surrounding environment of the mobile device 1.

[0067] Next, the self-position estimator 13 converts the obtained point cloud data into 3D data (step S102). The self-position estimator 13 performs processing based on the 3D data.

[0068] Next, the distance calculator 14 performs the process of detecting the intersection point P (step S103).

[0069] Figure 12 and Figure 13 An operational example of mobile device 1 is shown. These figures only show the area of ​​pattern PAT and not the specific shape of pattern PAT. Two of the three straight lines L related to the three ranging sensors 12A, 12B, and 12C intersect the stage edge 102. This results in two intersection points P. Figure 12 In the example, the mobile device 1 is slightly away from the stage edge 102; therefore, the two intersection points P are generated outside the equilateral triangle formed by the three straight lines L. Figure 13 In the example, the mobile device 1 is close to the stage edge 102; therefore, the two intersection points P are generated on the sides of the equilateral triangle formed by the three straight lines L.

[0070] Next, the pattern analyzer 15 checks whether the sub-pattern PATS is detected (step S104).

[0071] Figure 14 An operational example of mobile device 1 is shown. Two straight lines L intersect the stage edge 102. Therefore, the extensions of the two straight lines L pass through a portion or portion B of pattern PAT. Portion B includes subpattern PATS. Point cloud data obtained based on the detection results of rangefinder 11 includes information about subpattern PATS. Therefore, pattern analyzer 15 can detect subpattern PATS based on 3D data converted from point cloud data.

[0072] If no sub-pattern PATS is detected in step S104 (in step S104, "No"), the process returns to step S101.

[0073] If the subpattern PATS can be detected in step S104 (in step S104, "Yes"), the distance calculator 14 calculates the distance from the mobile device 1 to the stage edge 102 in the Y direction (step S105). Specifically, the distance calculator 14 performs a predetermined calculation based on the distance from the mobile device 1 to the two intersection points P, thereby calculating the distance from the mobile device 1 to the stage edge 102 in the Y direction.

[0074] Next, the pattern analyzer 15 analyzes the sub-pattern PATS detected in step S104 to obtain an identifier ID indicating the position of the sub-pattern PATS in the X direction (step S106).

[0075] Next, the self-position estimator 13 estimates the self-position of the mobile device 1 based on the analysis results of the distance calculator 14 and the pattern analyzer 15, and updates its self-position on the map (step S107). Specifically, the self-position estimator 13 estimates its self-position in the Y direction based on the calculation result of the distance calculator 14 in step S105, and estimates its self-position in the X direction based on the analysis result of the pattern analyzer 15 in step S106, thereby estimating the self-position of the mobile device 1 on the stage 100. Then, the self-position estimator 13 updates its self-position on the map.

[0076] Next, mobile device 1 checks whether to terminate the operation (step S108). If the operation is not terminated (in step S108, "No"), the process returns to step S101 and repeats the process from S101 to S108 until the operation is terminated. In contrast, if the operation is to be terminated (in step S108, "Yes"), the process terminates.

[0077] In this manner, the self-position estimator 13 estimates the self-position of the mobile device 1 on the stage 100. The movement plan determiner 16 determines the movement plan of the mobile device 1 based on the self-position estimated by the self-position estimator 13. The actuator 21 generates power based on the movement plan determined by the movement plan determiner 16, and the movement mechanism 22 moves the mobile device 1 based on the power generated by the actuator 21.

[0078] (Regarding the thickness of the patterned PAT)

[0079] Next, the thickness T of the structure forming the pattern PAT in the vertical direction will be described.

[0080] Figure 15 The parameters used to determine the thickness T are shown. The thickness T of the pattern PAT is determined by the minimum width Wmin of the pattern PAT, the horizontal plane (height H) of the range sensor 12, and the maximum ranging range Rmax of the range sensor 12.

[0081] The minimum width Wmin of pattern PAT is the minimum width of pattern PAT in the X direction. For example, the minimum width Wmin corresponds to Figure 9 The example in the text indicates the narrow width of the bit value "1". Meanwhile, the minimum width Wmin corresponds to... Figure 10 The thinnest line in the example.

[0082] The height H of the distance sensor 12 is the distance between the distance sensor 12 and the stage surface 101.

[0083] The maximum ranging range Rmax of the ranging sensor 12 is the maximum distance that the ranging sensor 12 can detect in pattern PAT with the smallest width.

[0084] Figure 16 and Figure 17 The thickness T of the pattern PAT is shown in the figure. Figure 16 and Figure 17 Two structures S1 and S2, adjacent to each other and forming a pattern PAT, are shown. Structures S1 and S2 are located at positions compatible with the maximum ranging range Rmax of the ranging sensor 12. Figure 16 As shown by the diagonal line, the light pulse output from the range sensor 12 passes between the two structures S1 and S2, allowing the range sensor 12 to distinguish adjacent structures S1 and S2 for accurate detection. In other words, for example, if the thickness T of the pattern PAT is the same as the thickness Tmax, the light pulse output from the range sensor 12 cannot pass between the two structures S1 and S2. In this case, the difference in distance between the range sensor 12 and the structures S1 and S2 is small, making it difficult to distinguish structures S1 and S2 for accurate detection. In contrast, in this example, the thickness T of the pattern PAT is half the thickness Tmax. This allows the light pulse output from the range sensor 12 to pass between the two structures S1 and S2. Therefore, structures S1 and S2 can be distinguished from each other for accurate detection.

[0085] exist Figure 17 In the example, the interval between structures S1 and S2 is the minimum width Wmin of pattern PAT. In this case, the thickness T of pattern PAT can be represented by the following expression.

[0086] [Mathematical Expression 1]

[0087]

[0088] Figure 18 An example of the thickness T of the pattern PAT is shown. For example, the maximum ranging range Rmax can be increased by reducing the thickness T of the pattern PAT. This makes it possible to use the mobile device 1 on, for example, a large stage 100.

[0089] In this manner, the mobile device 1 includes a rangefinder 11 and a self-position estimator 13. The rangefinder 11 uses infrared light to detect the distance to the end of the stage 100 (stage edge 102) and detects the pattern PAT located on the stage 100. The self-position estimator 13 estimates its own position based on the detection results of the rangefinder 11. This allows the mobile device 1 to estimate its own position on the stage 100.

[0090] In other words, during a concert, various colors of light are used for illumination, and a variety of loud sounds are emitted. Additionally, electronic devices may generate numerous electromagnetic waves. Furthermore, the environment is constantly changing, for example, with various cables laid out on the stage and lighting and facilities altered for each performance. In such a potentially constantly changing and noisy environment, it is difficult to estimate one's position using technologies such as radar, LiDAR SLAM (simultaneous localization and mapping), wheel odometers, visual odometers, or Alvar.

[0091] Although the environment may change constantly as described above, the stage edge 102 typically remains constant. Therefore, the mobile device 1 detects its own position by using the stage edge 102. This allows the mobile device 1 to estimate its position even in noisy environments that may be constantly changing, as described above.

[0092] Additionally, the pattern PAT includes multiple distinct sub-patterns PATS arranged side-by-side along the X-direction of the stage edge 102. This allows the mobile device 1 to detect its position in the X-direction based on the sub-patterns PATS and thus estimate its own position.

[0093] Additionally, each of the three range sensors 12 measures the distance to the object within a detection plane S intersecting the main axis A. Furthermore, the direction of the main axis A of each of the three range sensors 12 is different from the perpendicular direction of the stage surface 101 of the stage 100. This allows the three range sensors 12 to detect the stage surface 101 of the stage 100, and thus detect the distance to the stage edge 102 and the pattern PAT located on the stage 100. Therefore, the mobile device 1 can estimate its own position.

[0094] Furthermore, the mobile device 1 includes three ranging sensors 12, and the lines intersecting the detection planes S of each of the three ranging sensors 12 with the stage surface 101 form an equilateral triangle. This allows the mobile device 1 to perform computational processing based on point cloud data utilizing symmetry. Therefore, computational processing can be simplified.

[0095] [Effect]

[0096] As described above, this embodiment provides a rangefinder and a self-position estimator. The rangefinder uses infrared light to detect the distance to the end of the stage and detects patterns set on the stage. The self-position estimator estimates its own position based on the detection results of the rangefinder. This allows for the estimation of one's own position on the stage.

[0097] In this embodiment, the pattern includes multiple distinct sub-patterns arranged side-by-side along the edge of the stage. This allows for estimation of their own positions.

[0098] [Modification Example 1]

[0099] In the above embodiment, three range sensors 12 are provided, but this is not limiting. Instead, for example, four or more range sensors 12 can be provided. Even in this case, for example, the lines intersecting the stage surface 101 with the detection planes S of the multiple range sensors 12 can form regular polygons. Specifically, in the case of, for example, four range sensors 12, the lines intersecting the stage surface 101 with the detection planes S of the four range sensors 12 can form squares. Furthermore, in the case of, for example, six range sensors 12, the lines intersecting the stage surface 101 with the detection planes S of the six range sensors 12 can form regular hexagons.

[0100] [Modified Example 2]

[0101] In the above embodiment, a two-dimensional LiDAR device is used to set up the ranging sensor 12, but this is not limiting. Instead, for example, a three-dimensional LiDAR device can be used to set up the ranging sensor 12. In this case, the number of ranging sensors 12 can be one or more.

[0102] [Modified Example 3]

[0103] In the above embodiments, a three-dimensional structure is used to set the pattern PAT, but this is not limiting. Instead, for example, printed material on the stage surface 101 of the stage 100 or stickers affixed to the stage 100 can be used to set the pattern PAT. Figure 19 The illustrated pattern PAT is in the form of a planar pattern. In this example, the pattern PAT is located on the stage surface 101 of stage 100 near the stage edge 102. The pattern PAT may include a material detectable by a LiDAR device. For example, if the stage surface 101 includes a material that reflects infrared rays, the pattern PAT may include, for example, a material that does not reflect infrared rays. Vantablack may be used as a material that does not reflect infrared rays. The pattern PAT includes a plurality of sub-patterns PATS arranged along the stage edge 102 in the X direction.

[0104] It should be noted that in this example, the pattern PAT is located near the stage edge 102, but this is not limiting. The pattern PAT can be located slightly away from the stage edge 102. In this case, the pattern PAT similarly includes multiple sub-patterns PATS arranged along the stage edge 102 in the X direction. This allows the mobile device 1 to detect its own position in the X direction based on the pattern PAT.

[0105] [Other modification examples]

[0106] Additionally, two or more modified examples can be combined.

[0107] In the foregoing, the present technology has been described with reference to embodiments and modified examples; however, the present technology is not limited to these embodiments, and various modifications are possible.

[0108] For example, in the above embodiment, a three-dimensional structure is used to set the pattern PAT, but this is not limiting. For example, a mat with the pattern PAT can be placed on stage 100.

[0109] It should be noted that the effects described in this article are merely illustrative and not restrictive, and other effects are possible.

[0110] It should be noted that this technique can be implemented with the following configuration. With the following configuration, this technique is able to estimate its own position on the stage. (1)

[0112] An information processing device, comprising:

[0113] A rangefinder that uses infrared light to detect the distance to the ends of a stage and to detect a predetermined pattern set on the stage; and

[0114] An estimator that estimates its own position based on the detection results of the rangefinder. (2)

[0116] According to the information processing apparatus described in (1), wherein,

[0117] The predetermined pattern includes multiple sub-patterns that are different from each other and are arranged side by side on the end of the stage in a first direction along the end of the stage. (3)

[0119] According to the information processing device described in (2), wherein,

[0120] The estimator

[0121] Based on the predetermined pattern, estimate its own position in the first direction, and

[0122] Based on the distance estimate, the position of itself in a second direction intersecting the first direction is determined. (4)

[0124] According to the information processing apparatus described in (2) or (3), wherein,

[0125] Each of the plurality of sub-patterns includes a pattern indicating binary code. (5)

[0127] The information processing apparatus according to any one of (2) to (4), wherein,

[0128] Each of the plurality of sub-patterns includes a barcode pattern. (6)

[0130] The information processing apparatus according to any one of (1) to (5), wherein,

[0131] The predetermined pattern is a planar pattern, which includes portions that have different reflective properties relative to the infrared light. (7)

[0133] The information processing apparatus according to any one of (1) to (5), wherein,

[0134] The predetermined pattern is a pattern in the form of a three-dimensional structure. (8)

[0136] The information processing apparatus according to any one of (1) to (7), wherein,

[0137] The rangefinder includes multiple range sensors positioned at different orientations. (9)

[0139] According to the information processing apparatus described in (8), wherein,

[0140] Each of the plurality of ranging sensors measures the distance to the object in a detection plane intersecting the principal axis, and

[0141] The direction of the main axis of each of the plurality of ranging sensors is different from the vertical direction of the stage surface. (10)

[0143] According to the information processing apparatus described in (9), wherein,

[0144] The number of the plurality of ranging sensors is three or more, and

[0145] The lines formed by the intersection of the detection planes of the multiple ranging sensors and the stage surface create regular polygons. (11)

[0147] The information processing apparatus according to any one of (1) to (10), wherein,

[0148] The information processing device is installed in a mobile device that can be moved. (12)

[0150] An information processing method, comprising:

[0151] A rangefinder that uses infrared light to perform distance measurement is used to detect the distance to the end of the stage and a predetermined pattern set on the stage; and

[0152] The rangefinder estimates its own position based on the detection results. (13)

[0154] A mobile device, comprising:

[0155] A rangefinder that uses infrared light to detect the distance to the end of the stage and to detect a predetermined pattern set on the stage;

[0156] An estimator that estimates its own position based on the detection results of the rangefinder; and

[0157] A moving mechanism that moves the device based on the estimation result of the estimator.

[0158] This application claims the benefit of Japanese Patent Application No. 2021-054322, filed with the Japan Patent Office on March 26, 2021, the entire contents of which are incorporated herein by reference.

[0159] Those skilled in the art will understand that various modifications, combinations, sub-combinations, and alterations can be made according to design requirements and other factors, as long as they are within the scope of the appended claims or their equivalents.

Claims

1. An information processing apparatus, comprising: The rangefinder is configured as follows: A first distance to the end of the stage is detected using infrared light, and a predetermined pattern set on the stage is also detected. The rangefinder includes multiple range sensors positioned at different orientations. Each of the plurality of ranging sensors measures a second distance to the object within a detection plane intersecting the principal axis. The direction of the principal axis of each of the plurality of ranging sensors is different from the vertical direction of the stage surface. The number of the plurality of ranging sensors is three or more, and The lines where the detection planes of the plurality of ranging sensors intersect the stage surface form regular polygons; and The processor is configured to: Estimate its own position based on the detection results of the rangefinder; and The movement plan of the mobile device, including the information processing device, is determined based on its estimated location.

2. The information processing apparatus according to claim 1, wherein, The predetermined pattern includes multiple sub-patterns that are different from each other and are arranged side by side on the end of the stage in a first direction along the end of the stage.

3. The information processing apparatus according to claim 2, wherein, The processor is also configured to: Estimate its own position in the first direction based on the predetermined pattern; and Based on the first distance, estimate its own position in the second direction intersecting the first direction.

4. The information processing apparatus according to claim 2, wherein, Each of the plurality of sub-patterns includes a pattern indicating binary code.

5. The information processing apparatus according to claim 2, wherein, Each of the plurality of sub-patterns includes a barcode pattern.

6. The information processing apparatus according to claim 1, wherein, The predetermined pattern is a planar pattern, which includes portions that have different reflective properties relative to the infrared light.

7. The information processing apparatus according to claim 1, wherein, The predetermined pattern is a pattern in the form of a three-dimensional structure.

8. An information processing method, comprising: A first distance to the end of the stage and a predetermined pattern set on the stage are detected by a rangefinder that uses infrared light to perform distance measurement, wherein... The rangefinder includes multiple range sensors positioned at different orientations, and The number of the plurality of ranging sensors is three or more; The second distance to the object is measured by each of the plurality of ranging sensors within a detection plane intersecting the principal axis. In this configuration, the direction of the principal axis of each of the plurality of ranging sensors is different from the vertical direction of the stage surface, and The lines where the detection planes of the multiple ranging sensors intersect the stage surface form regular polygons; The processor estimates its own position based on the detection results of the rangefinder; and The processor determines a movement plan to move the mobile device based on its estimated location.

9. A mobile device, comprising: The rangefinder is configured as follows: A first distance to the end of the stage is detected using infrared light, and a predetermined pattern set on the stage is also detected. The rangefinder includes multiple range sensors positioned at different orientations. Each of the plurality of ranging sensors measures a second distance to the object within a detection plane intersecting the principal axis. The direction of the principal axis of each of the plurality of ranging sensors is different from the vertical direction of the stage surface. The number of the plurality of ranging sensors is three or more, and The lines where the detection planes of the plurality of ranging sensors intersect the stage surface form regular polygons; and A processor configured to estimate its own position based on the detection results of the rangefinder; and A moving mechanism configured to move the device based on the result of the estimation.

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