Positioning system and positioning method using the same

Abstract

To provide a positioning system and a positioning method that can be used in low cost without using radio waves from an artificial satellite.SOLUTION: An information processing device 3 includes: display means that displays apparatus map information; input means that receives an input from a user; and control means that calculates a conversion coefficient based on coordination information relating to any one point on device map information and corresponding coordination information on the apparatus map information, and also on the inclination and scale of the apparatus map information, and when receiving coordination information relating to a position of the positioning device 1, converts it into coordination information on the apparatus map information by referring to the conversion coefficient, and displays the position of the positioning device 1 on the display means. The user inputs, through the input means, the coordination information relating to the position of the positioning device 1 on the apparatus map information. The control means makes the received coordination information relating to the position of the positioning device 1 on the device map information correspond to the input coordination information relating to the position of the positioning device 1 on the apparatus map information.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a positioning system for measuring a position and a positioning method using the positioning system.

Background Art

[0002] There is a need to measure the position of an object in an environment where radio waves from artificial satellites such as GPS (Global Positioning System), GNSS (Global Navigation Satellite System), and QZSS (Quasi-Zenith Satellite System) cannot be used, such as inside a building or underground.

[0003] Conventionally, various measurement methods have been devised to meet the above needs. For example, in order to ensure the accuracy of position measurement, markers for position measurement are set (installed). Mapping is performed in advance. Advanced analysis techniques are used, etc.

[0004] Regarding setting markers for position measurement among the above various measurement methods, Patent Document 1 discloses a position information distribution system that provides position information with an accuracy such as which floor one is on and further which area on which floor one is located, inside a building or underground, and the configuration of a receiving device used in the system.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

[0006] However, as shown in Patent Document 1, in an environment where GPS etc. cannot be used, such as inside a building or underground, in order to measure the position of an object, a position information distribution device or a receiving device that provides position information is separately required, etc. In many cases, another device, a certain amount of cost and labor are required.

[0007] On the other hand, regarding a simple position measurement method using only beacons and LIDAR (Light Detection And Ranging) sensors, due to reasons such as relatively low positioning accuracy and errors accumulating when used continuously, it is often regarded as not practical. In fact, there is no positioning system that can be used inexpensively and simply in an environment where GPS etc. cannot be used, such as indoors or underground.

Disclosure of the Invention

Problems to be Solved by the Invention

[0008] Thus, "ensuring and maintaining accuracy" is a major issue in obtaining (positioning) position information. However, the reason this issue has become a major one is that conditions such as "obtaining position information is only done by the device and people are not involved. Also, even if the position information deviates, it cannot be corrected" are unconsciously set. If the condition is "people intervene at any time and if the position information deviates, people correct it by hand", there is no need to be frantic about ensuring and maintaining accuracy.

[0009] Therefore, in order to address the above problems, an object of the present invention is to provide a positioning system that can be used inexpensively and simply without using radio waves from artificial satellites, and a positioning method using the positioning system.

Means for Solving the Problems

[0010] To achieve the above object, the invention according to claim 1 is A positioning method for a positioning system using a positioning device that creates a map within a moving space based on sensor data acquired by an external sensor and holds device map information that is the created map information, and an information processing device communicably connected to the positioning device, comprising: The information processing device: display means for displaying device map information that is map information stored in itself; input means for receiving an input from a user; calculating a conversion coefficient based on coordinate information related to any one point on the device map information, coordinate information on the device map information corresponding to the coordinate information, and the inclination and scale of the device map information; control means for, when receiving coordinate information related to the position of the positioning device on the device map information, referring to the conversion coefficient, converting it into coordinate information on the device map information, and displaying the position of the positioning device on the display means; The user inputs, through the input means, coordinate information related to the position of the positioning device on the device map information based on the position of the positioning device within the moving space; The control means corresponds the coordinate information related to the position of the positioning device on the received device map information with the coordinate information related to the position of the positioning device on the input device map information, and performs alignment of the two pieces of coordinate information as a positioning method.

[0011] Further, the invention according to claim 2: A positioning method for a positioning system using a positioning device that creates a map within a moving space based on sensor data acquired by an external sensor and holds device map information that is the created map information, and an information processing device communicably connected to the positioning device, comprising: The information processing device: display means for displaying device map information that is map information stored in itself; input means for receiving an input from a user; Based on the coordinate information related to an arbitrary first point on the device map information and the coordinate information on the device map corresponding to the coordinate information, and the coordinate information related to an arbitrary second point on the device map information and the coordinate information on the device map corresponding to the coordinate information, calculate a conversion coefficient. When receiving the coordinate information related to the position of the positioning device on the device map information, it has control means for referring to the conversion coefficient, converting it into the coordinate information on the device map, and displaying the position of the positioning device on the display means. Based on the position of the positioning device in the moving space, the user inputs, through the input means, the coordinate information related to the position of the positioning device on the device map information. The control means corresponds the coordinate information related to the position of the positioning device on the received device map information with the coordinate information related to the position of the positioning device on the input device map information, and performs alignment of the two coordinate information, which is a positioning method.

[0012] Also, the invention according to claim 3 is A positioning system using a positioning device that creates a map in a moving space based on sensor data acquired by an external sensor and holds device map information that is the created map information, and an information processing device communicably connected to the positioning device, The information processing device Has display means for displaying device map information that is the map information stored in itself, Input means for receiving input from the user, Based on the coordinate information related to an arbitrary point on the device map information and the coordinate information on the device map corresponding to the coordinate information, and the inclination and scale of the device map information, calculate a conversion coefficient. When receiving the coordinate information related to the position of the positioning device on the device map information, it has control means for referring to the conversion coefficient, converting it into the coordinate information on the device map, and displaying the position of the positioning device on the display means. The input means receives an input of coordinate information related to the position of the positioning device on the device map information based on the position of the positioning device in the moving space. The control means corresponds the coordinate information related to the position of the positioning device on the received device map information with the coordinate information related to the position of the positioning device on the input device map information, and performs alignment of both coordinate informations, thereby forming a positioning system.

[0013] Further, the invention according to claim 4 A positioning system using a positioning device that creates a map in a moving space based on sensor data acquired by an external sensor and holds device map information that is the created map information, and an information processing device communicably connected to the positioning device, wherein the information processing device has display means for displaying device map information which is map information stored in itself, input means for receiving an input from a user, calculates a conversion coefficient based on the coordinate information related to an arbitrary first point on the device map information and the coordinate information on the device map information corresponding to the coordinate information, and the coordinate information related to an arbitrary second point on the device map information and the coordinate information on the device map information corresponding to the coordinate information, when receiving the coordinate information related to the position of the positioning device on the device map information, has control means for converting it into coordinate information on the device map information with reference to the conversion coefficient and displaying the position of the positioning device on the display means, The input means receives an input of coordinate information related to the position of the positioning device on the device map information based on the position of the positioning device in the moving space. The control means corresponds the coordinate information related to the position of the positioning device on the received device map information with the coordinate information related to the position of the positioning device on the input device map information, and performs alignment of both coordinate informations, thereby forming a positioning system.

Advantages of the Invention

[0014] By using the positioning system according to the present invention and the positioning method using the positioning system, a user such as a worker can correct the positioning error at any time. Therefore, even a positioning device (positioning method) with relatively poor accuracy can be effectively used as a human-assisted positioning system that can be used inexpensively and easily, contributing to the promotion of a safe and secure working environment.

[0015] In addition, by using the positioning system according to the present invention and the positioning method using the positioning system, a positioning device with relatively poor accuracy can be attached to an ordinary moving body (for example, a trolley, etc.) and used as an inexpensive and simple "moving body with a positioning function".

Brief Description of the Drawings

[0016]

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Embodiments for Carrying Out the Invention

[0017] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the components described in this embodiment example are merely examples, and are not intended to limit the scope of the present invention thereto.

[0018] <Embodiment Example 1> FIG. 1 is a diagram showing the overall configuration of a positioning system A according to Embodiment Example 1 of the present embodiment.

[0019] As shown in FIG. 1, the positioning system A mainly creates a map in the moving space based on sensor data acquired by the external sensor 11, and has a positioning device 1 that holds device map information, which is the created map information, and an information processing device 3 that is communicably connected to the positioning device 1. Also, in the positioning system A, as shown in FIG. 1, the positioning device 1 is arranged on a trolley 5. The trolley 5 refers to a base 52 with wheels 51 for a user such as a worker to carry luggage.

[0020] <Configuration of the positioning device 1> Next, the hardware configuration of the positioning device 1 will be described with reference to FIG. 2.

[0021] In the first exemplary embodiment, the external sensor 11 is, for example, a LIDAR (laser distance sensor). The external sensor 11 measures the distance to an object based on the time difference until it receives the reflected light of the laser light irradiated from the laser scanner. The external sensor 11 irradiates laser light to acquire point cloud data in 3D (x, y, z coordinates).

[0022] The control means 12 is, for example, a CPU (= Central Processing Unit), which executes application programs (= apps), operating systems (OS), control programs, etc. stored in the storage means 13 etc., and controls to temporarily store data, files, etc. necessary for program execution in the RAM (= Random Access Memory) provided in the storage means 13 etc.

[0023] In particular, the control means 12 estimates the position of the positioning device 1 based on the point cloud data acquired by the external sensor 11 and creates device map information. Further, the control means 12 stores the created device map information in the map information storage area 131 of the storage means 13. Furthermore, the control means 12 outputs the coordinate information (actual coordinates) related to the position of the positioning device 1 on the device map information to the information processing device 3 through the communication means 17 at predetermined time intervals.

[0024] The storage means 13 is, for example, a flash memory or an SSD (= Solid State Drive), and functions as a large-capacity memory. The storage means 13 is provided with a map information storage area 131 for storing device map information, which is map information in the moving space created by the control means 12 based on the sensor data acquired by the external sensor 11.

[0025] In addition, the storage means 13 is for temporarily storing various information, and has a RAM that functions as the main memory, work area, etc. of the control means 12, and a ROM (= Read Only Memory) that stores programs such as basic I / O programs and various information used in basic processing inside.

[0026] The bus 18 controls the flow of data within the positioning device 1.

[0027] The communication means 17 is a network I / F such as a LAN (=Local Area Network) card, a network adapter, or a network interface card. The positioning device 1 exchanges commands and information with the information processing device 3 via this communication means 17 and the network.

[0028] Moreover, it can also be configured as a substitute for the hardware device by software that realizes functions equivalent to those of the above devices.

[0029] <Configuration of the information processing device 3> The information processing device 3 is, for example, a tablet PC (=Personal Computer), a notebook PC, a smartphone, etc., and has a function of communicating with the positioning device 1 and receiving coordinate information (actual coordinates) related to the position of the positioning device 1. Note that the information processing device 3 may be realized by a dedicated device specialized for the functions related to this positioning system A, or the function may be incorporated into a general-purpose personal computer or server for realization.

[0030] In addition, in this first embodiment example, it will be described in a configuration realized by downloading and installing an add-in program that provides additional and extended functions to a personal computer or the like on which a drawing application program (app) such as Auto-CAD is installed.

[0031] Also, in this embodiment example, the information processing device 3 is described assuming a tablet PC. A tablet PC allows a user such as a worker to directly touch the screen with a finger to input commands and information, eliminating the need to use a keyboard or pointing device. Therefore, it is easy for a user such as a worker to input commands and information to the information processing device 3 at the site. Also, it is convenient to directly touch the screen with a finger to move the display position of the device map information displayed on the screen or change the display magnification.

[0032] Next, the hardware configuration of the information processing apparatus 3 will be described with reference to FIG. 3. FIG. 3 is a conceptual diagram schematically showing the hardware configuration of the information processing apparatus 3.

[0033] In FIG. 3, the control means 31 is realized by, for example, a CPU, and executes an application program, an operating system (OS), a control program, etc. stored in an SSD or the like included in the storage means 32 described later, and stores information, files, etc. necessary for program execution in the RAM included in the storage means 32 for temporary storage.

[0034] In particular, as shown in FIG. 4, the control means 31 calls the device map information stored in the map information storage area 321 in the storage means 32 and causes it to be displayed on the display means 34.

[0035] Further, the control means 31 performs calibration (= calibration) to associate the coordinate information (actual coordinates) related to the position of the positioning device 1 on the device map information held by the positioning device 1 with the coordinate information (drawing coordinates) related to the position of the positioning device 1 on the device map information displayed on the display means 34 of the information processing apparatus 3.

[0036] Specifically, the control means 31 associates the coordinate information (drawing coordinates) related to an arbitrary first point related to the position of the positioning device 1 on the device map information displayed on the display means 34 with the coordinate information (actual coordinates) related to an arbitrary first point related to the position of the positioning device 1 on the device map information received from the positioning device 1.

[0037] Also, when the control means 31 receives the input of the inclination and scale of the device map information through the input means 33, it stores that information in the drawing coordinate conversion coefficient information storage area 323.

[0038] Further, the control means 31 calculates a drawing coordinate conversion coefficient for converting the coordinate information (actual coordinates) related to an arbitrary first point related to the position of the positioning device 1 on the corresponding device map information into the coordinate information (drawing coordinates) related to the arbitrary first point related to the position of the positioning device 1 on the device map information, based on the coordinate information (drawing coordinates) related to the position of the positioning device 1 on the corresponding device map information, the coordinate information (actual coordinates) related to the arbitrary first point related to the position of the positioning device 1 on the device map information, the inclination of the device map information, and the scale of the device map information input by a user such as an operator through the input means 33, and stores it in the drawing coordinate conversion coefficient information storage area 323.

[0039] Further, when the control means 31 receives the current coordinate information (actual coordinates) on the device map information held by the positioning device 1 from the positioning device 1, it refers to the timing means 35 and the drawing coordinate conversion coefficient, converts it into the coordinate information (drawing coordinates) on the map information displayed on the display means 34, and stores it in the positioning device position information storage area 322 together with the current time (date and time information). Further, as shown in FIG. 4, the control means 31 causes the corresponding location (drawing coordinates) on the device map information displayed on the display means 34 to be displayed as the position of the positioning device 1.

[0040] Further, when the control means 31 recognizes through the input means 33 that the icon related to "correction" displayed on the display means 34 has been selected (designated), and then recognizes through the communication means 36 that it has received the coordinate information (actual coordinates) related to an arbitrary point, which is the position of the positioning device 1, on the device map information held by the positioning device 1 itself, it causes the display means 34 to display to that effect. Further, when the control means 31 recognizes through the input means 33 the designation (input) of the corresponding coordinate information (drawing coordinates) on the device map information displayed on the display means 34 by a user such as an operator, it associates the coordinate information (drawing coordinates) on the device map information with the received coordinate information (actual coordinates) related to an arbitrary point, and aligns the positions of both pieces of coordinate information.

[0041] The storage means 32 is for temporarily storing various types of information, and functions as the main memory, work area, etc. of the control means 31, and has a RAM that functions as such, and a ROM that stores programs such as a basic I / O program and various types of information used in basic processing inside.

[0042] The storage means 32 has an SSD that functions as a large-capacity memory. In this SSD, a map information storage area 321, a positioning device position information storage area 322, a drawing coordinate conversion coefficient information storage area 323, and a check result information storage area 324 are provided.

[0043] In this map information storage area 321, device map information related to the movement space for moving the positioning device 1 is stored. For example, the device map information is stored in the "tfx." and "tfs." formats saved by the application "CADWe’ll", or in the "dwg." format that can be opened by the application "AutoCAD". However, the format of the device map information is not limited as long as it can represent the position on the map displayed on the display means 34 in coordinate information.

[0044] Also, in the positioning device position information storage area 322, the coordinate information (drawing coordinates) on the device map information displayed on the display means 34 related to the current position of the positioning device 1 is stored together with the date and time information.

[0045] Also, in the drawing coordinate conversion coefficient information storage area 323, the inclination of the device map information and the scale of the device map information input by a user such as an operator are stored. Also, the drawing coordinate conversion coefficient calculated by the control means 31 is stored.

[0046] In addition, in the check result information storage area 324, each check result input by a user such as an operator is stored in association with the coordinate information (drawing coordinates) related to the position of each outlet on the device map information of the information processing device 3. The check results are, for example, the connection of each outlet (= "2P": without ground, "3P": with ground, etc., the type of outlet), voltage value (V), terminal polarity (= whether the L terminal, N terminal, and E terminal are properly connected), ground resistance value (Ω, or ohm), etc.

[0047] The input means 33 receives input of information and commands from a user such as an operator to the information processing device 3, and is, for example, a touch panel, keyboard, pointing device, or button provided on the display means 34 or the like.

[0048] The display means 34 is, for example, a liquid crystal display, an organic EL display, or a dot matrix type display, and displays commands input through the input means 33, response outputs of the information processing device 3 to the commands, and the like. In particular, the display means 34 displays the device map information.

[0049] The timing means 35 is, for example, a real-time clock, and measures the current time.

[0050] The bus 37 controls the flow of information within the information processing device 3. The communication means 36 is an interface (I / F), and the information processing device 3 is connected via this communication means 36 by a wireless LAN or the like to exchange information with the positioning device 1 and the like.

[0051] Note that it can also be configured as an alternative to the hardware device by software that realizes functions equivalent to those of each of the above devices.

[0052] Next, the operation flow of the positioning system A will be described with reference to FIGS. 5 to 7. Here, as shown in FIG. 1, it is assumed that a user for workers checks each indoor outlet in turn using an outlet checker 6 placed on a cart 5 while pushing the cart 5. Then, the user such as a worker inputs each check result through the input means 33 in association with the coordinate information (drawing coordinates) related to the position of each outlet on the device map information of the information processing device 3, and stores it in the check result information storage area 324.

[0053] First, the user such as a worker performs calibration. The calibration will be described with reference to FIGS. 5 and 8.

[0054] Specifically, the user such as a worker places the positioning device 1 at an arbitrary point inside or underground in a building in a specific direction (for example, "north direction") (step S501). The positioning device 1 outputs, at predetermined time intervals (for example, every 30 seconds), the coordinate information (actual coordinates) related to a first arbitrary point, which is the position of the positioning device 1, on the device map information held by the positioning device 1 itself, to the information processing device 3 (step S502). When the control means 31 of the information processing device 3 recognizes that it has received the coordinate information (actual coordinates) through the communication means 36, it causes the display means 34 to display that fact (step S503). The user such as a worker who sees the display designates (inputs) the corresponding coordinate information (drawing coordinates) on the device map information displayed on the display means 34 related to the information processing device 3 through the input means 33 (step S504).

[0055] The control means 31 of the information processing device 3 associates the coordinate information (drawing coordinates) on the device map information displayed on the display means 34 designated by the user such as a worker with the coordinate information (actual coordinates) related to a first arbitrary point, which is the position of the positioning device 1, on the device map information held by the positioning device 1 itself received from the positioning device 1 (step S505).

[0056] Also, a user such as an operator inputs the inclination (e.g., the north direction) of the device map information displayed on the display means 34 through the input means 33 (step S506). Also, a user such as an operator inputs the scale of the device map information displayed on the display means 34 through the input means 33 (step S507). Specifically, the user such as an operator directly inputs a numerical value related to the magnification, or inputs the distance in the real space corresponding to a specific distance on the device map information (for example, "0.03 m" on the device map information is "3 m" in the real space. In this case, the magnification of the device map information is 1 / 100). Note that the input inclination and scale of the device map information are stored in the drawing coordinate conversion coefficient information storage area 323.

[0057] In this way, the coordinate information (real coordinates) related to the first arbitrary point, which is the position of the positioning device 1 on the device map information held by the positioning device 1 itself, received from the positioning device 1, and the coordinate information (drawing coordinates) on the device map information displayed on the display means 34 specified by a user such as an operator are made to correspond (step S505), and by receiving the input of the inclination (step S506) and scale (step S507) of the device map information displayed on the display means 34, the control means 31 calculates the drawing coordinate conversion coefficient for converting the coordinate information (real coordinates) related to the position of the positioning device 1 itself recognized by the positioning device 1 into the coordinate information (drawing coordinates) on the device map information displayed on the display means 34 (step S508). Note that the calculated drawing coordinate conversion coefficient is stored in the drawing coordinate conversion coefficient information storage area 323.

[0058] In other words, by performing the procedures of steps S505 to S507, the control means 31 can detect the difference in inclination and the difference in scale between the device map information displayed on the display means 34 and the device map information held by the positioning device 1, and can convert the coordinate information (real coordinates) on the device map information held by the positioning device 1 into the coordinate information (drawing coordinates) on the device map information displayed on the display means 34. This is the flow of the calibration process so far.

[0059] Next, as shown in FIGS. 6 and 8, when the control means 31 receives the current coordinate information (actual coordinates) on the device map information held by the positioning device 1 from the positioning device 1 (S601), it refers to the timing means 35 and the drawing coordinate conversion coefficient, converts it into the coordinate information (drawing coordinates) on the map information displayed on the display means 34, and stores it in the positioning device position information storage area 322 together with the current time (date and time information) (step S602). Further, as shown in FIG. 4, the control means 31 causes the corresponding location (drawing coordinates) on the device map information displayed on the display means 34 to be displayed as the position of the positioning device 1 (step S603).

[0060] Next, the procedure when a user such as an operator determines that the difference (error) between the actual position (actual coordinates) of the positioning device 1 and the position (drawing coordinates) of the positioning device 1 displayed on the display means 34 has become large while continuing to use it will be described with reference to FIGS. 7 and 9.

[0061] The user such as an operator moves (places) the positioning device 1 to a location where the coordinate information (actual coordinates) is known, such as a corner of the room. Also, the user such as an operator clicks or otherwise selects (designates) the icon related to "correction" displayed on the display means 34. The control means 12 of the positioning device 1 outputs the coordinate information (actual coordinates) related to the position of the positioning device 1 on the device map information to the information processing device 3 at predetermined time intervals through the communication means 17. When the control means 31 of the information processing device 3 recognizes through the communication means 36 that it has received the coordinate information (actual coordinates) related to an arbitrary point that is the position of the positioning device 1 on the device map information held by the positioning device 1 itself, it causes the display means 34 to display that fact (step S701). The user such as an operator who sees the display on the display means 34 designates (inputs) the corresponding coordinate information (drawing coordinates) on the device map information displayed on the display means 34 through the input means 33 (step S702).

[0062] The control means 31 of the information processing apparatus 3 associates the coordinate information (drawing coordinates) on the apparatus map information displayed on the display means 34, specified by a user such as a worker, with the coordinate information (actual coordinates) of any one point that is the position of the positioning device 1 on the device map information held by the positioning device 1 itself, which is received from the positioning device 1, and aligns (associates) the positions of both coordinates (drawing coordinates and actual coordinates) (step S703).

[0063] Note that since the correction of the angle and scale for converting "actual coordinates" to "drawing coordinates" has already been completed in steps S506 and S507, the re-linking (re-alignment) of the "drawing coordinates" and "actual coordinates" by the user operation in this step S703 is only the "offset in the vertical and horizontal directions (correction of the coordinate information in the vertical and horizontal directions)".

[0064] Note that in the above procedure, it has been described in the flow that after the user moves the positioning device 1 to a location where the coordinate information (actual coordinates) is known, the user clicks the icon related to "correction". However, the present invention is not limited to this configuration, and it may be configured such that the positioning device 1 is moved after the icon related to "correction" is clicked. Further, the above procedure includes a procedure in which when the information processing apparatus 3 receives the coordinate information (actual coordinates) of any one point from the positioning device 1, the information processing apparatus 3 displays a notice to that effect on the display means 34. However, this procedure is for the convenience of the user such as a worker and is not an essential procedure. Furthermore, in the above procedure, it has been described in the flow that after the user such as a worker recognizes the reception of the actual coordinates, the user inputs the corresponding drawing coordinates. However, the present invention is not limited to this configuration, and the user such as a worker may input the corresponding drawing coordinates before receiving the actual coordinates. In other words, the order of receiving the actual coordinates and inputting the drawing coordinates may be either first, or at the same time. The main point is that the control means 31 can associate the actual coordinates with the drawing coordinates.

[0065] As described above, by using the positioning system A according to the present invention, a user such as a worker can correct the positioning error at any time. Therefore, even a positioning device (positioning method) with relatively poor accuracy can be effectively functioned as a human-assisted positioning system that can be used inexpensively and easily.

[0066] Also, by using the positioning system A (positioning method) according to the present invention, a positioning device with relatively poor accuracy can be installed on a normal moving body such as the carriage 5 shown in the first embodiment example, and can be used as an inexpensive and simple "moving body with a positioning function".

[0067] <Modification Example 1> In the above-described first embodiment example, the coordinate information (actual coordinates) related to the first arbitrary point, which is the position of the positioning device 1 on the device map information held by the positioning device 1 received from the positioning device 1, and the coordinate information (drawing coordinates) on the device map information displayed on the display means 34 designated by a user such as a worker are corresponded, and by receiving the input of the inclination and scale of the drawing map information displayed on the display means 34, the control means 31 converts the coordinate information (actual coordinates) related to the position of the positioning device 1 recognized by the positioning device 1 into the coordinate information (drawing coordinates) on the device map information displayed on the display means 34. Although the configuration for calculating the drawing coordinate conversion coefficient has been shown, the present invention is not limited to this configuration.

[0068] For example, the control means 31 may be configured to perform calibration (i.e., calibration) for corresponding the coordinate information (actual coordinates) on the device map information held by the positioning device 1 and the coordinate information (drawing coordinates) on the device map information displayed on the display means 34 of the information processing device 3 for any two points.

[0069] Specifically, the control means 31 associates the coordinate information (actual coordinates) related to the first arbitrary point, which is the position of the positioning device 1 on the device map information held by the positioning device 1 itself and received from the positioning device 1, with the coordinate information (drawing coordinates) on the device map information displayed on the display means 34 and specified by a user such as an operator. Further, the control means 31 associates the coordinate information (actual coordinates) related to the second arbitrary point, which is the position of the positioning device 1 on the device map information held by the positioning device 1 itself and received from the positioning device 1, with the coordinate information (drawing coordinates) on the device map information displayed on the display means 34 and specified by a user such as an operator.

[0070] Note that by associating the coordinate information at these two points in this way, the control means 31 can detect the difference in inclination and the difference in scale between the device map information displayed on the display means 34 and the device map information held by the positioning device 1. In other words, the drawing coordinate conversion coefficient can be calculated. As a result, when the control means 31 receives the current coordinate information (actual coordinates) on the device map information held by the positioning device 1 from the positioning device 1, it can refer to the drawing coordinate conversion coefficient and convert it into the coordinate information (drawing coordinates) on the device map information displayed on the display means 34.

[0071] <Modification Example 2> In addition, in the first embodiment, a configuration using a LIDAR (laser distance sensor) as the external sensor 11 is shown, but the configuration is not limited thereto. For example, the external sensor 11 may be a laser range finder, a camera (or image sensor), a millimeter wave radar, a magnetic sensor, or the like. The main point is that the external sensor 11 only needs to be able to acquire sensor data so that the positioning device 1 can create a map of the movement space based on the sensor data and hold the device map information, which is the created map information.

[0072] <Second Embodiment> In the above Embodiment Example 1, the configuration in which the positioning device 1 is arranged on the carriage 5 was shown. However, in Embodiment Example 2, instead of these, a configuration using a moving body 7 that can autonomously travel by control means 72 such as a microprocessor will be described.

[0073] Hereinafter, Embodiment Example 2 according to the present invention will be described in detail with reference to the accompanying drawings. However, the components described in this Embodiment Example are merely examples, and are not intended to limit the scope of the present invention thereto. Note that descriptions of configurations similar to those in the above Embodiment Example 1, Modification Example 1, and Modification Example 2 will be omitted.

[0074] <Configuration of the positioning system B> As shown in FIG. 10, the positioning system B mainly includes a moving body 7, an environmental information acquisition device 8 provided on the moving body 7, and an information processing device 3. The moving body 7 and the information processing device 3 are connected to be communicable with each other using a wireless LAN or the like. Further, the environmental information acquisition device 8 and the information processing device 3 are connected to be able to communicate information with each other using BLE (= Bluetooth (registered trademark) Low Energy) or the like.

[0075] <Configuration of the moving body 7> The moving body 7 is a device that carries people or luggage such as an AGV (= Automatic Guided Vehicle) or a mobile robot and moves. As shown in FIG. 11, the moving body 7 has driving means 71 such as wheels, a biped walking device, a multi-legged direction device, and a propeller that generate driving force for movement. Therefore, the moving body 7 is, for example, an automated guided vehicle, a mobile robot, a mobile robot, or a drone. However, the moving body 7 is not limited to these, and any device that can receive coordinate information from the information processing device 3 and travel with the coordinate information as a destination may be used. In this Embodiment Example 2, an AGV is used as the moving body 7.

[0076] The mobile body 7 can also travel based on commands received from the information processing devices 3 that are communicably connected to each other, or can autonomously travel by means of control means 72 such as a microprocessor that the mobile body 7 has.

[0077] The mobile body 7 has external sensors 73 such as a laser range finder, a camera (or image sensor), LIDAR, a millimeter-wave radar, and a magnetic sensor. In the second exemplary embodiment, the external sensor 73 is, for example, LIDAR. The external sensor 73 measures the distance to an object based on the time difference until it receives the reflected light of the laser light emitted from the laser scanner. The external sensor 73 irradiates laser light to acquire point cloud data in 3D (x, y, z coordinates).

[0078] The control means 72 is, for example, a CPU (= Central Processing Unit), and executes application programs (= apps), an operating system (OS), control programs, etc. stored in the storage means 74, etc., and controls to temporarily store data, files, etc. necessary for program execution in a RAM (= Random Access Memory) provided in the storage means 74, etc.

[0079] In particular, the control means 72 estimates the position of the mobile body 7 based on the point cloud data acquired by the external sensor 73 and creates device map information. Further, the control means 72 stores the created device map information in the map information storage area 741 of the storage means 74. Furthermore, the control means 72 outputs the coordinate information (actual coordinates) related to the position of the mobile body 7 on the device map information to the information processing device 3 at predetermined time intervals through the communication means 77.

[0080] The control means 72 estimates the position and orientation of the mobile body 7 based on the sensor data received from the external sensor 73, compares the position information with the device map information related to the moving space called from the map information storage area 741, and travels the mobile body 7 while estimating its own position in the moving space.

[0081] The memory means 74 is, for example, a flash memory or an SSD (= Solid State Drive), and functions as a large-capacity memory. The memory means 74 is provided with a map information storage area 741 for storing device map information, which is map information in the moving space created by the control means 72 based on the sensor data acquired by the external sensor 73.

[0082] Further, the memory means 74 is for temporarily storing various information, and includes a RAM that functions as a main memory, a work area, etc. of the control means 72, and a ROM (= Read Only Memory) that stores programs such as a basic I / O program and various information used in basic processing inside.

[0083] The bus 78 controls the flow of data in the moving body 7.

[0084] The communication means 77 is a network I / F such as a LAN (= Local Area Network) card, a network adapter, or a network interface card. The moving body 7 exchanges commands and information with the information processing device 3 via this communication means 77 through a network.

[0085] Also, it can be configured as a substitute for the hardware device by software that realizes functions equivalent to those of the above devices.

[0086] <Configuration of the environmental information acquisition device 8> The environmental information acquisition device 8 may be any device that acquires information related to the environment in the space. For example, an illuminometer that acquires illuminance information, an air volume meter that acquires air volume information, a temperature and humidity meter that acquires temperature and humidity information, a dust meter that acquires dust concentration information, a magnetic meter that acquires magnetic environment information, a radio sensitivity meter that acquires sensitivity information such as indoor wireless LAN, or cameras such as a 360° camera that acquires 360° appearance information, a normal camera that photographs the space, and a video camera that records the space. In the second exemplary embodiment of the present implementation, an illuminometer is used as the environmental information acquisition device 8.

[0087] The environmental information acquisition device 8 is connected to the information processing device 3 so as to be capable of mutually communicating information. When receiving an instruction to acquire environmental information from the information processing device 3, in response to this instruction, it measures the illuminance in the vicinity and outputs the measurement result to the information processing device 3.

[0088] Also, the environmental information acquisition device 8 is provided on the moving body 7. The meaning of "being provided" here may, for example, be that it is placed on the moving body 7, or it may be fixed to the outer surface of the moving body 7 using screws, tools, etc. That is, as long as the environmental information acquisition device 8 moves together with the moving body 7 and can acquire environmental information. Therefore, in the second exemplary embodiment, the moving body 7 and the environmental information acquisition device 8 are described as separate entities. However, for example, a configuration in which the moving body 7 and the environmental information acquisition device 8 are integrated, such as a moving body 7 having the function of the environmental information acquisition device 8, may also be adopted.

[0089] Next, the operation flow of the positioning system B will be described. It is assumed that when the moving body 7 travels within the moving space and arrives at any one of a plurality of destinations, the environmental information acquisition device 8 measures the illuminance in the vicinity and outputs the measurement result to the information processing device 3.

[0090] First, a user such as a worker performs calibration.

[0091] Specifically, a user such as a worker places the moving body 7 at an arbitrary point inside a building or underground, facing a specific direction (for example, the "north direction"). The moving body 7 outputs, to the information processing device 3, at predetermined intervals (for example, every 30 seconds), the coordinate information (actual coordinates) related to a first arbitrary point that is the position of the moving body 7 on the device map information held by the moving body 7 itself. The subsequent process is the same as that of the positioning system A according to the first exemplary embodiment, so the description is omitted.

[0092] Next, a procedure will be described for the case where, while a user such as an operator is monitoring the operation status of the positioning system B, it is determined that the difference (error) between the actual position (actual coordinates) of the moving body 7 and the position (drawing coordinates) of the moving body 7 displayed on the display means 34 has become large.

[0093] The user such as an operator moves (places) the moving body 7 to a location where the coordinate information (actual coordinates) is known, such as a corner of the room. Also, the user such as an operator clicks or otherwise selects (designates) the icon related to "correction" displayed on the display means 34. Since the subsequent flow is the same as that of the positioning system A according to the first embodiment example, the description is omitted.

Explanation of Reference Numerals

[0094] 1: Positioning device, 11: External sensor, 12: Control means, 13: Storage means, 17: Communication means, 18: Bus, 3: Information processing device, 31: Control means, 32: Storage means, 321: Map information storage area, 322: Positioning device position information storage area, 323: Drawing coordinate conversion coefficient information storage area, 324: Check result information storage area, 33: Input means, 34: Display means, 35: Timing means, 36: Communication means, 37: Bus, 5: Cart, 51: Wheels, 52: Base, 6: Outlet checker, 7: Moving body, 71: Driving means, 72: Control means, 73: External sensor, 74: Storage means, 741: Map information storage area, 77: Communication means, 78: Bus, 8: Environmental information acquisition device

Claims

1. A positioning method for a positioning system using a positioning device that creates a map within a moving space based on sensor data acquired by an external sensor and holds device map information that is the created map information, and an information processing device communicably connected to the positioning device, comprising: The information processing device: display means for displaying device map information that is map information stored in itself; input means for receiving an input from a user; calculating a conversion coefficient based on coordinate information related to an arbitrary point on the device map information, coordinate information on the device map information corresponding to the coordinate information, and the inclination and scale of the device map information; when receiving coordinate information related to the position of the positioning device on the device map information, having control means for converting the coordinate information into coordinate information on the device map information with reference to the conversion coefficient and displaying the position of the positioning device on the display means; Based on the position of the positioning device within the moving space, the user inputs, through the input means, coordinate information related to the position of the positioning device on the device map information; The control means corresponds the coordinate information related to the position of the positioning device on the received device map information with the coordinate information related to the position of the positioning device on the input device map information, and performs alignment of the two pieces of coordinate information. A positioning method characterized by this.

2. A positioning method for a positioning system using a positioning device that creates a map within a moving space based on sensor data acquired by an external sensor and holds device map information that is the created map information, and an information processing device communicably connected to the positioning device, comprising: The information processing device: display means for displaying device map information that is map information stored in itself; input means for receiving an input from a user; calculating a conversion coefficient based on coordinate information related to a first arbitrary point on the device map information, coordinate information on the device map information corresponding to the coordinate information, coordinate information related to a second arbitrary point on the device map information, and coordinate information on the device map information corresponding to the coordinate information; when receiving coordinate information related to the position of the positioning device on the device map information, having control means for converting the coordinate information into coordinate information on the device map information with reference to the conversion coefficient and displaying the position of the positioning device on the display means; Based on the position of the positioning device in the moving space, the user inputs, through the input means, the coordinate information related to the position of the positioning device on the device map information. The control means corresponds the coordinate information related to the position of the positioning device on the received device map information with the coordinate information related to the position of the positioning device on the input device map information, and performs alignment of the two coordinate informations. A positioning method characterized by this.

3. A positioning system using a positioning device that creates a map in a moving space based on sensor data acquired by an external sensor and holds device map information that is the created map information, and an information processing device communicably connected to the positioning device. The information processing device Display means for displaying device map information which is map information stored in itself, Input means for receiving an input from a user, Based on the coordinate information related to any one point on the device map information, the coordinate information on the device map corresponding to the coordinate information, the inclination and scale of the device map information, a conversion coefficient is calculated. When receiving the coordinate information related to the position of the positioning device on the device map information, with reference to the conversion coefficient, it converts to the coordinate information on the device map information, and has control means for displaying the position of the positioning device on the display means. The input means receives an input of the coordinate information related to the position of the positioning device on the device map information based on the position of the positioning device in the moving space. The control means corresponds the coordinate information related to the position of the positioning device on the received device map information with the coordinate information related to the position of the positioning device on the input device map information, and performs alignment of the two coordinate informations. A positioning system characterized by this.

4. A positioning system using a positioning device that creates a map in a moving space based on sensor data acquired by an external sensor and holds device map information that is the created map information, and an information processing device communicably connected to the positioning device. The information processing device Display means for displaying device map information which is map information stored in itself, Input means for receiving an input from a user, Based on the coordinate information related to an arbitrary first point on the device map information and the coordinate information on the device map corresponding to the coordinate information, and the coordinate information related to an arbitrary second point on the device map information and the coordinate information on the device map corresponding to the coordinate information, calculate a conversion coefficient. When receiving the coordinate information related to the position of the positioning device on the device map information, it has control means for converting it into the coordinate information on the device map with reference to the conversion coefficient and displaying the position of the positioning device on the display means. The input means receives an input of the coordinate information related to the position of the positioning device on the device map information based on the position of the positioning device in the moving space. The positioning system is characterized in that the control means correlates the received coordinate information related to the position of the positioning device on the device map information with the input coordinate information related to the position of the positioning device on the device map information and aligns the positions of both pieces of coordinate information.

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