Position identification device, position identification system, position identification method, and position identification program

Abstract

To provide a position identification device, a position identification system, a position identification method, and a position identification program capable of identifying the position of a device.SOLUTION: A position identification device uses a first reference body having a spherical or cylindrical shape and placed at a first reference position, and a second reference body having a spherical or cylindrical shape and placed at a second reference position. The position identification device includes: an acquisition unit 311 that acquires first ranging information around a first optical ranging sensor mounted on a device that moves along a plane from the first optical ranging sensor; a determination unit 312 that determines, from the acquired first ranging information, first reference information corresponding to reflected light from the first reference body and second reference information corresponding to reflected light from the second reference body; and an identification unit 313 that identifies a position of the first optical ranging sensor on the plane based on the determined first reference information and second reference information, the first reference position, and the second reference position.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present invention relates to a position specifying device, a position specifying system, a position specifying method, and a position specifying program. [Background technology]

[0002] Managers of buildings are required to periodically inspect the walls, floors, etc. of buildings. This is because if mortar, tiles, etc. that make up the walls, etc. fall, it could lead to an accident. For example, inspectors of walls, etc. move an inspection device along the walls, etc., and check for defects in the mortar, tiles, etc. at each position (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-12428787 Summary of the Invention [Problem to be solved by the invention]

[0004] In such inspection work, it is desirable to identify the location where the inspection is being performed, i.e., the location of the inspection device on a wall, etc. By identifying the location of the device, it is possible to easily grasp, for example, the location of a tile or the like where a defect has been discovered, and use this information for accident prevention measures and repair work. However, walls, etc. often have a flat and uniform appearance, which makes it difficult to identify the location of the device by referring to features such as nearby objects or the pattern on the wall, etc.

[0005] The present invention has been made in view of the above-mentioned problems, and therefore, an object of the present invention is to provide a location identification device, a location identification system, a location identification method, and a location identification program that are capable of identifying the location of a device. [Means for solving the problem]

[0006] The above object of the present invention can be achieved by the following.

[0007] (1) A positioning device that uses a first reference body having a spherical or cylindrical shape and placed at a first reference position, and a second reference body having a spherical or cylindrical shape and placed at a second reference position, comprising: an acquisition unit that acquires first ranging information around a first optical ranging sensor from the first optical ranging sensor mounted on a device that moves along a plane; a determination unit that determines, from the acquired first ranging information, first reference information corresponding to reflected light from the first reference body and second reference information corresponding to reflected light from the second reference body; and an identification unit that identifies the position of the first optical ranging sensor on the plane based on the determined first reference information and second reference information, the first reference position, and the second reference position.

[0008] (2) The position determination device described in (1) above, wherein the acquisition unit further acquires sensor information including information regarding the implementation position of the first optical ranging sensor in the device, and the determination unit further determines the position of the device on the plane based on the sensor information and the determined position of the first optical ranging sensor.

[0009] (3) The acquisition unit further acquires second ranging information around the second optical ranging sensor from a second optical ranging sensor mounted on the device, and the determination unit determines third reference information corresponding to reflected light from the first reference body and fourth reference information corresponding to reflected light from the second reference body from the acquired second ranging information, and the identification unit identifies the position of the second optical ranging sensor on the plane based on the determined third reference information and fourth reference information, the first reference position and the second reference position. This is a position identification device described in (2) above.

[0010] (4) The position identification device according to (3) above, wherein the identification unit further identifies the position of the device on the plane based on the identified position of the second optical ranging sensor.

[0011] (5) The position identification device according to (3) or (4) above, further comprising a verification unit that verifies the identified positions of the first optical distance measuring sensor and the second optical distance measuring sensor.

[0012] (6) A position identification device as described in (5) above, wherein the sensor information includes information regarding the implementation distance between the first optical ranging sensor and the second optical ranging sensor in the device, and the verification unit verifies the positions of the identified first optical ranging sensor and the second optical ranging sensor based on the calculated distance between the first optical ranging sensor and the second optical ranging sensor, which is calculated based on the positions of the identified first optical ranging sensor and the second optical ranging sensor, and the implementation distance.

[0013] (7) A position identification device described in any of (1) to (6) above, wherein the acquisition unit further acquires reference body information including information regarding the shape of each of the first reference body and the second reference body, and the determination unit determines the first reference information and the second reference information based on the reference body information.

[0014] (8) A position identification device as described in (2) above, further comprising an output unit that outputs position information regarding the identified position of the device, wherein the acquisition unit further acquires status information regarding the state of the plane near the device, and the output unit outputs the status information in association with the position information.

[0015] (9) The position determination device according to (8) above, wherein the status information includes information regarding the presence or absence of a defect in the plane in the vicinity of the device.

[0016] (10) The position specifying device according to any one of (1) to (9) above, wherein the plane is a part of a wall surface of a structure.

[0017] (11) A location determination system comprising a location determination device described in any one of (1) to (10) above, the first optical ranging sensor mounted on the device, and a collection device that collects status information regarding the status of the plane near the device.

[0018] (12) A positioning system according to (11) above, wherein the first optical ranging sensor is mounted on the device and protrudes from the housing of the device.

[0019] (13) The position determination system according to (11) or (12) above, further comprising the device, the device having an adsorption portion for adsorbing the device to the flat surface.

[0020] (14) A position determination method using a first reference body having a spherical or cylindrical shape and arranged at a first reference position, and a second reference body having a spherical or cylindrical shape and arranged at a second reference position, the position determination method including: acquiring first ranging information around a first optical ranging sensor mounted on a device moving along a plane from the first optical ranging sensor; determining, from the acquired first ranging information, first reference information corresponding to reflected light from the first reference body and second reference information corresponding to reflected light from the second reference body; and determining the position of the first optical ranging sensor on the plane based on the determined first reference information and second reference information, the first reference position, and the second reference position.

[0021] (15) A position identification program that uses a first reference body having a spherical or cylindrical shape and placed at a first reference position, and a second reference body having a spherical or cylindrical shape and placed at a second reference position, the position identification program causing a computer to execute processing including: acquiring first ranging information around a first optical ranging sensor mounted on a device that moves along a plane from the first optical ranging sensor; determining, from the acquired first ranging information, first reference information corresponding to reflected light from the first reference body and second reference information corresponding to reflected light from the second reference body; and identifying the position of the first optical ranging sensor on the plane based on the determined first reference information and second reference information, the first reference position, and the second reference position. [Effects of the Invention]

[0022] According to the position identification device, position identification system, position identification method, and position identification program of the present invention, the position of the first optical ranging sensor on a plane is identified based on the first reference information and second reference information determined from the first ranging information and the first reference position and the second reference position. Therefore, the position of a device equipped with the first optical ranging sensor can be identified based on the identified position of the first optical ranging sensor. This makes it possible to identify the position of the device. [Brief explanation of the drawings]

[0023] [Figure 1] FIG. 1 is a schematic diagram illustrating the configuration of a location identification system according to an embodiment. [Figure 2] (a) is a front view, (b) is a rear view, and (c) is a side view of a device used in the location system shown in FIG. [Figure 3] 3 is a diagram illustrating an example of the configuration of the rolling hitting section shown in FIG. 2. [Figure 4] 3 is a diagram illustrating an example of an inspection method using the device shown in FIG. 2. [Figure 5A] FIG. 5 is a plan view for explaining an example of the orientation of the device shown in FIG. [Figure 5B] 5B is a plan view for explaining another example of the orientation of the device shown in FIG. 5A. FIG. [Figure 6] 5 is an enlarged plan view showing the vicinity of the first reference object and the second reference object shown in FIG. 4. FIG. [Figure 7] 2 is a block diagram illustrating an example of the configuration of the position specifying device illustrated in FIG. 1. FIG. [Figure 8] 2 is a block diagram illustrating an example of a functional configuration of the position specifying device illustrated in FIG. 1. FIG. [Figure 9A] 2 is a plan view illustrating an example of first distance measurement information acquired by a first optical distance measuring sensor illustrated in FIG. 1. FIG. [Figure 9B] FIG. 9B is an enlarged view of a portion B shown in FIG. 9A. [Figure 10]2 is a diagram illustrating an example of sound pressure information collected by the sound collection device shown in FIG. 1. [Figure 11] 8 is a diagram illustrating an example of position information and status information displayed on the display unit illustrated in FIG. 7. FIG. [Figure 12] 2 is a flowchart illustrating an example of a position specifying method performed by the position specifying device shown in FIG. 1. DETAILED DESCRIPTION OF THE INVENTION

[0024] Hereinafter, an embodiment of a location identification device, a location identification system, a location identification method, and a location identification program according to the present invention will be described with reference to the accompanying drawings. Note that the same reference numerals are used for the same components throughout the drawings. Also, the dimensional proportions in the drawings are exaggerated for the sake of explanation and may differ from the actual proportions.

[0025] <Embodiment> FIG. 1 shows an example of the configuration of a localization system 1 according to an embodiment of the present invention. This localization system 1 inspects the condition of a flat surface such as a wall or floor of a structure. In other words, the flat surface inspected by the localization system 1 is a part of the structure. The localization system 1 inspects the condition of the flat surface using an inspection device (for example, device 100 in FIG. 2 described below) that moves along the flat surface.

[0026] (Device 100 configuration) FIG. 2 shows an example of the configuration of device 100. FIG. 2(a) is a front view of device 100, FIG. 2(b) is a rear view of device 100, and FIG. 2(c) is a side view of device 100. Device 100 is installed so that its rear surface faces a wall, a floor, or the like. Device 100 moves along a plane while striking the plane, such as a wall or a floor. Device 100 has, for example, a rectangular planar shape (an XY plane, described below). Hereinafter, the front and rear surfaces of device 100 may be referred to as an XY plane (plane) formed by the X and Y directions, and the direction perpendicular to the XY plane may be referred to as the Z direction.

[0027] The device 100 has, for example, a plurality of striking units 101, a drive motor (not shown), a housing 110, an exhaust fan 111, a hoist 112, and tires 115. The plurality of striking units 101 are provided on the rear surface of the device 100 and strike a flat surface. The device 100 has, for example, three striking units 101. The device 100 may have one, two, four, or more striking units 101. Each of the plurality of striking units 101 includes a support shaft 103 and a striking element 105. The exhaust fan 111 is provided across the front and rear surfaces of the device 100. The tires 115 are provided on the rear surface of the device 100. For example, tires 115 are provided at four locations on the rear surface of the device 100.

[0028] 3 shows an example of the configuration of the striking unit 101. The support shaft 103 extends in a predetermined direction. A striking element 105 is rotatably supported on one end of the support shaft 103. The other end of the support shaft 103 is rotatably supported on the back surface of the device 100.

[0029] The cross-sectional shape (XZ cross section) of the striking element 105 is, for example, a polygon such as a regular hexagon, and the longitudinal cross-sectional shape (XY cross section) of the striking element 105 is, for example, a substantially circular or substantially elliptical shape. In other words, the striking element 105 is a polyhedron such as a hexahedron. The striking element 105 has, for example, six striking surfaces 105a and corners 105b between adjacent striking surfaces 105a. The striking surfaces 105a come into contact with a flat surface and strike the flat surface.

[0030] In the hitting unit 101, the hitting element 105 rolls and strikes the flat surface while the support shaft 103 rotates. The position identification system 1 checks the state of the flat surface based on the hitting sound (hereinafter simply referred to as hitting sound) of the hitting element 105 at each position. The hitting unit 101 hits the position P 100 are located at.

[0031] The housing 110 houses, for example, a drive motor and the like. The housing 110 has, for example, a rectangular planar shape. For example, the front of the device 100 is covered by the housing 110. The housing 110 has, for example, an opening, and an exhaust fan 111 is provided in this opening. The exhaust fan 111 is rotated by the drive motor, and creates an air flow from the back to the front of the device 100. This causes the device 100 to be adsorbed to the flat surface. Here, the exhaust fan 111 corresponds to a specific example of an adsorption unit of the present invention.

[0032] The suspender 112 is used when suspending the device 100. For example, a wire or the like is passed through the suspender 112. For example, two suspenders 112 are attached to one side of the housing 110. The tire 115 rotates in contact with a flat surface. This allows the device 100 to move along the flat surface. In this way, since the device 100 has the exhaust fan 111 and the tire 115, the device 100 can be moved smoothly while being stably in contact with the flat surface.

[0033] 4 shows an example of a method for inspecting a plane (plane 40) using the device 100. The plane 40 is, for example, a wall surface of a building covered with a plurality of tiles. The plane 40 has a size H in the height direction H. 40 and the size W of the width direction W perpendicular to the height direction H 40 The plane 40 is provided substantially perpendicular to the ground 60. The plane 40 is, for example, at a distance D 40 For example, the size H 40 is 15m, size W 40 is 8m, distance D 40 is 0.2m.

[0034] For example, an inspector 50 suspends the device 100 from the rooftop of a building on which the flat surface 40 is installed and places the device 100 against the flat surface 40. The inspector 50 gradually moves the device 100 from bottom to top while swinging it from side to side. This allows the striking sounds of the rolling strikers 105 to be collected at each position on the flat surface 40. By using the device 100 to inspect the condition of the flat surface 40 in this manner, the inspector 50 can easily inspect the flat surface 40 even in places that are out of reach. The device 100 may be configured to be driven and controllable by a remote controller or the like. The device 100 may also be self-propelled while in contact with the flat surface 40.

[0035] 5A and 5B each show an example of the orientation of the device 100. When the device 100 moves on the plane 40 while being swung from side to side, the orientation of the device 100 changes. In other words, the mounting positions of the first optical distance measuring sensor 20A and the second optical distance measuring sensor 20B and the position P 100 The relationship between the device 100 and the ground surface 60 changes. For example, the device 100 moves on the plane 40 while swinging like a pendulum around the position where the inspector 50 is holding the device 100. This causes the orientation of the device 100 to change. For example, as shown in FIG. 5B, the angle α formed between one side of the device 100 and the ground surface 60 changes by a maximum of about 30°.

[0036] A first reference body 71 and a second reference body 72 are disposed near the plane 40. The first reference body 71 and the second reference body 72 each have an arc-shaped outer periphery. Specifically, the first reference body 71 and the second reference body 72 have a spherical shape. The first reference body 71 and the second reference body 72 have a white surface. For example, this white surface is provided with fine irregularities. This irregularity makes it possible to suppress reflection of sunlight and the like.

[0037] For example, the first reference body 71 is placed on a first support base 711, and the second reference body 72 is placed on a second support base 721. The first support base 711 and the second support base 721 are installed on the ground 60. The first reference body 71 and the second reference body 72 may have a cylindrical shape. The center of the first reference body 71 is located at a first reference position P1, and the center of the second reference body 72 is located at a second reference position P2.

[0038] FIG. 6 shows an enlarged view of the vicinity of the first reference body 71 and the second reference body 72 shown in FIG. 4. The first reference position P1 and the second reference position P2 are, for example, positions whose distances from the reference position P0 are known. For example, the position of the reference position P0 in the width direction W corresponds to one end of the plane 40, and the position of the reference position P0 in the height direction H corresponds to the ground 60. The distances between the first reference position P1 and the second reference position P2 and the reference position P0 in the height direction H are distances H 70 The distance between the first reference position P1 and the reference position P0 in the width direction W is W 71 The distance between the second reference position P2 and the reference position P0 in the width direction W is W 72 The distance W 72 For example, the distance W 71 It is larger than that.

[0039] The first reference body 71 and the second reference body 72 each have, for example, a radius R. The radius of the first reference body 71 and the radius of the second reference body 72 may be different. For example, the distance H 70 is 0.3m, distance W 71 is 1m, distance W 72 is 7m and the radius R is 0.3m.

[0040] The position identification system 1 irradiates light onto each of the first reference body 71 and the second reference body 72, receives reflected light, and collects hitting sounds of the rolling hammer 105. The position identification system 1 uses the reflected light and hitting sounds to determine whether or not there is a defect at each position on the plane 40.

[0041] (Configuration of location identification system 1) The positioning system 1 includes, for example, a sound collection device 10, a first optical distance measuring sensor 20A, a second optical distance measuring sensor 20B, and a positioning device 30 (FIG. 1). The sound collection device 10, the first optical distance measuring sensor 20A, and the second optical distance measuring sensor 20B are each connected to the positioning device 30, for example, via a network. The sound collection device 10 and the first optical distance measuring sensor 20A and the second optical distance measuring sensor 20B may be connected via a wired or wireless connection. The sound collection device 10, the first optical distance measuring sensor 20A, and the second optical distance measuring sensor 20B do not have to be connected to the positioning device 30. The positioning device 30 may acquire data from the sound collection device 10, the first optical distance measuring sensor 20A, and the second optical distance measuring sensor 20B, for example, via a recording medium or the like. Here, the sound collection device 10 corresponds to a specific example of a collection device of the present invention.

[0042] The sound collector 10 includes, for example, a microphone. The sound collector 10 collects the impact sound of the rolling striker 105 in association with the sound collection time. The sound collector 10 is mounted, for example, on the back surface of the device 100 ( FIG. 2 ). The sound collector 10 includes, for example, a monaural microphone and does not have an active noise canceling function. A sound absorbing material may be attached to the sound collection section of the sound collector 10. By attaching a sound absorbing material to the sound collection section, it becomes possible to adjust the sound pressure level to any desired level. This makes it possible to suppress distortion and other problems. The sound collector 10 may also have a recording function. The sound collector 10 generates sound pressure information related to the impact sound generated when the device 100 strikes the plane 40. The sound collector 10 transmits the sound pressure information to the position identification device 30, for example.

[0043] The first optical ranging sensor 20A and the second optical ranging sensor 20B include, for example, LiDAR (Light Detection and Ranging). The first optical ranging sensor 20A and the second optical ranging sensor 20B emit laser light L (FIG. 4) while scanning toward their surroundings and receive reflected light from the surroundings. Based on this reflected light, the first optical ranging sensor 20A and the second optical ranging sensor 20B can detect the distance to each surrounding object, the direction of the surrounding object, and the shape of the surrounding object. The first optical ranging sensor 20A generates first ranging information about the surroundings of the first optical ranging sensor 20A. The second optical ranging sensor 20B generates second ranging information about the surroundings of the second optical ranging sensor 20B.

[0044] The first optical distance measuring sensor 20A and the second optical distance measuring sensor 20B each have, for example, a rotatable head. The head is provided with a laser light source, and for example, laser light L is emitted in a direction perpendicular to the rotation axis of the head. The first optical distance measuring sensor 20A and the second optical distance measuring sensor 20B each include, for example, a fan-beam LiDAR.

[0045] It is preferable that the distance resolution dL of the first optical distance measuring sensor 20A and the second optical distance measuring sensor 20B satisfy the following formula (1).

[0046]

number

[0047] In equation (1), R represents the radius of the first reference body 71 and the second reference body 72 .

[0048] It is preferable that the angular resolution dX of the first optical distance measuring sensor 20A and the second optical distance measuring sensor 20B satisfy the following formula (2).

[0049]

number

[0050] In formula (2), H40 represents the size of the plane 40 in the height direction, and R represents the radius of the first reference body 71 and the second reference body 72.

[0051] The first optical distance measuring sensor 20A and the second optical distance measuring sensor 20B are mounted on the device 100 (FIG. 2). The first optical distance measuring sensor 20A and the second optical distance measuring sensor 20B are provided, for example, on the front of the device 100, protruding from the housing 110. This makes it less likely that the device 100 will obstruct the light emission and light reception by the first optical distance measuring sensor 20A and the second optical distance measuring sensor 20B. This allows for more accurate acquisition of distance measurement information. Furthermore, the device 100 has an exhaust fan 111, which makes it less likely for the device 100 to float off the flat surface 40 and moves while adhering closely to the flat surface 40. This allows for more reliable irradiation of light from the first optical distance measuring sensor 20A and the second optical distance measuring sensor 20B onto the first reference body 71 and the second reference body 72.

[0052] The first optical distance measuring sensor 20A and the second optical distance measuring sensor 20B are mounted in positions on the device 100 that prevent interference with each other. The mounting position of the first optical distance measuring sensor 20A is position P 100 Distance D in the X direction from XA , distance D in the Y direction Y The mounting position of the second optical distance measuring sensor 20B is position P 100 Distance D in the X direction from XB , distance D in the Y direction Y By aligning the positions of the first optical distance measuring sensor 20A and the second optical distance measuring sensor 20B in the Y direction, it is possible to suppress interference between them. The distance in the X direction between the first optical distance measuring sensor 20A and the second optical distance measuring sensor 20B, i.e., the distance between the first optical distance measuring sensor 20A and the second optical distance measuring sensor 20B, is the mounting distance D AB For example, the distance D XA ,D XB is 0.1m, distance D Y is 0.08m, mounting distance D AB is 0.2m.

[0053] The first optical distance measuring sensor 20A and the second optical distance measuring sensor 20B emit light, for example, along a scanning plane 20S. The scanning plane 20S is provided, for example, parallel to the XY plane. The scanning plane 20S is located, for example, at a distance D in the Z direction from the ground contact position of the tire 115. Z For example, the distance D Z is 0.18 m. When the device 100 moves along the plane 40, it is preferable that the scanning plane 20S passes through the first reference position P1 and the second reference position P2. In other words, it is preferable that the first reference position P1 and the second reference position P2 are adjusted to match the scanning plane 20S. The first optical ranging sensor 20A and the second optical ranging sensor 20B transmit the generated first ranging information and second ranging information to, for example, the position identification device 30.

[0054] The position identifying device 30 is a computer such as a PC (Personal Computer) or a tablet terminal. The position identifying device 30 determines whether or not there is a defect at each position on the plane 40 based on the sound pressure information generated by the sound collecting device 10 and the first distance measuring information and second distance measuring information generated by the first optical distance measuring sensor 20A and the second optical distance measuring sensor 20B. The position identifying device 30 may control the sound collecting device 10, the first optical distance measuring sensor 20A, and the second optical distance measuring sensor 20B.

[0055] 7 is a block diagram showing an example of a schematic configuration of the position identification device 30. The position identification device 30 has, for example, a CPU (Central Processing Unit) 31, a ROM (Read Only Memory) 32, a RAM (Random Access Memory) 33, a storage 34, a communication interface 35, a display unit 36, and an operation reception unit 37. Each component is connected to each other via a bus 38 so as to be able to communicate with each other.

[0056] The CPU 31 controls the above components and performs various arithmetic processing in accordance with programs stored in the ROM 32 and storage 34. The specific functions of the CPU 31 will be described later.

[0057] The ROM 32 stores various programs and data.

[0058] The RAM 33 serves as a working area for temporarily storing programs and data.

[0059] The storage 34 stores various programs including an operating system, and various data. The storage 34 stores, for example, reference body information relating to each of the first reference body 71 and the second reference body 72. The reference body information includes, for example, information relating to the shape of each of the first reference body 71 and the second reference body 72. The information relating to the shape of each of the first reference body 71 and the second reference body 72 includes, for example, information relating to the radius R of the first reference body 71 and the second reference body 72. The reference body information includes, for example, information relating to the first reference position P1 and the second reference position P2. The information relating to the first reference position P1 and the second reference position P2 includes, for example, the distance in the height direction H and the width direction W from the reference position P0 to each of the first reference position P1 and the second reference position P2 (distance H 70 ,W 71 ,W 72 ) information.

[0060] The storage 34 further stores, for example, sensor information relating to each of the first optical distance measuring sensor 20A and the second optical distance measuring sensor 20B. The sensor information includes, for example, information relating to the mounting positions of the first optical distance measuring sensor 20A and the second optical distance measuring sensor 20B in the device 100. The information relating to the mounting positions includes, for example, a position P 100 The distances in the X and Y directions from the first optical distance measuring sensor 20A to the second optical distance measuring sensor 20B (distance D XA ,D XB ,D Y The sensor information includes, for example, information about the mounting distance D between the first optical distance measuring sensor 20A and the second optical distance measuring sensor 20B. ABThe sensor information may include information about the performance of each of the first optical ranging sensor 20A and the second optical ranging sensor 20B. The information about the performance includes, for example, information about the distance resolution dL and the angular resolution dX of each of the first optical ranging sensor 20A and the second optical ranging sensor 20B.

[0061] The storage 34 may further store, for example, plane information regarding the plane 40. The plane information includes, for example, information regarding the size and shape of the plane 40. The storage 34 may store a drawing, such as an elevation drawing, representing the plane 40. Alternatively, the storage 34 may store sound pressure information, first distance measurement information, second distance measurement information, and inspection results of the plane 40. An application for determining whether or not there is a defect in the plane 40 from the sound pressure information, the second distance measurement information, and the second distance measurement information may be installed in the storage 34. The storage 34 may store a trained classifier for determining whether or not there is a defect in the plane 40 from the sound pressure information, the first distance measurement information, and the second distance measurement information. The storage 34 may store a trained model used as the classifier and training data used in machine learning.

[0062] The communication interface 35 is an interface for communicating with other devices. A wired or wireless communication interface conforming to various standards is used as the communication interface 35. The communication interface 35 is used, for example, when receiving data from the sound collection device 10, the first optical distance measuring sensor 20A, and the second optical distance measuring sensor 20B.

[0063] The display unit 36 is configured, for example, by an LCD (liquid crystal display) or an organic EL display, etc., and displays various information. The display unit 36 may also be configured by viewer software, a printer, etc.

[0064] The operation reception unit 37 is configured, for example, by a pointing device such as a mouse, a keyboard, or the like. The operation reception unit 37 may be configured by a touch sensor. The display unit 36 and the operation reception unit 37 may be configured by a touch panel. An inspector or the like may input device information, plane information, and the like to the position identification device 30 via the operation reception unit 37.

[0065] (Functions of the location identification device 30) 8 is a block diagram showing the functional configuration of the position identification device 30. The position identification device 30 functions as an acquisition unit 311, a determination unit 312, an identification unit 313, a verification unit 314, and an output unit 315 by the CPU 31 reading a program stored in the storage 34 and executing the process.

[0066] The acquisition unit 311 acquires first ranging information, second ranging information, reference object information, and sensor information. As described above, the first ranging information and second ranging information are information generated by the first optical ranging sensor 20A and the second optical ranging sensor 20B mounted on the device 100, respectively. The acquisition unit 311 acquires the first ranging information and the second ranging information from the first optical ranging sensor 20A and the second optical ranging sensor 20B, and acquires the reference object information and sensor information from the storage 34, for example. The acquisition unit 311 may acquire the first ranging information, the second ranging information, the reference object information, and the sensor information from the storage 34. The acquisition unit 311 may acquire the first ranging information, the second ranging information, the reference object information, and the sensor information from an external storage device or the like.

[0067] Fig. 9A shows an example of the first ranging information, and Fig. 9B shows an enlarged view of part B of Fig. 9A. The first ranging information can be represented, for example, by a cloud of points plotting the scanning angle θ of the first optical ranging sensor 20A and the distance D to the object being measured. The second ranging information can be represented, for example, by a cloud of points plotting the scanning angle of the second optical ranging sensor 20B and the distance to the object being measured.

[0068] The acquisition unit 311 further acquires, for example, status information regarding the status of the plane 40 near the device 100. The status information includes, for example, information regarding the presence or absence of defects at each position on the plane 40. Defects on the plane 40 include, for example, peeling, deterioration, expansion, and inclusion of foreign matter in mortar or tiles. The position identification device 30 determines the presence or absence of defects at each position on the plane 40 based on, for example, sound pressure information generated by the sound collection device 10. The status information may be, for example, sound pressure information.

[0069] FIG. 10 shows an example of sound pressure information generated by the sound collection device 10. The sound pressure information includes, for example, information about the change in amplitude of continuous hitting sounds over time. The sound pressure information includes, for example, information about the time of sound collection. The position identification device 30, for example, estimates a single-hit sound area based on this sound pressure information and performs frequency analysis of this single-hit sound area to determine whether or not there is a defect at each position on the plane 40. The position identification device 30 may also use a machine learning model to determine whether or not there is a defect at each position on the plane 40.

[0070] The determination unit 312 determines, from the first ranging information acquired by the acquisition unit 311, first reference information corresponding to the reflected light from the first reference object 71 and second reference information corresponding to the reflected light from the second reference object 72. For example, the determination unit 312 determines the first reference information and the second reference information as follows.

[0071] The determination unit 312 first selects a data array of a scan angle θ within a predetermined range from the first ranging information based on the first reference position P1 and the second reference position P2. For example, when the scan angle θ=0° in the height direction H is the direction toward the ground 60, i.e., the downward direction, the first reference position P1 and the second reference position P2 correspond to the downward direction of the plane 40. Furthermore, when the device 100 moves along the plane 40, it rotates clockwise and counterclockwise by, for example, up to 30°. Therefore, the determination unit 312 can select a data array that includes the first reference position P1 and the second reference position P2 as the range to be scanned by selecting, for example, a data array of 0°≦θ≦120° and 240°≦θ≦360°.

[0072] Next, the determining unit 312 extracts a point cloud spanning a predetermined length from the selected data sequence. The predetermined length is, for example, equal to or greater than ¼ and less than ½ of the circumference 2πR of the first reference body 71 and the second reference body 72.

[0073] Next, the determination unit 312 determines whether the extracted point cloud forms an arc corresponding to the first reference body 71 or the second reference body 72. For example, when the extracted point cloud is arranged in an arc shape and the size of the radius of this arc is appropriate for the size of the first reference body 71 or the second reference body 72, the determination unit 312 determines that the extracted point cloud forms an arc corresponding to the first reference body 71 or the second reference body 72.

[0074] For example, the determination unit 312 first creates perpendicular bisectors for each of multiple line segments connecting any two points that make up the point cloud. When the distances from the intersections of these multiple perpendicular bisectors to each of the points that make up the point cloud are approximately equal, the determination unit 312 determines that the extracted point cloud is arranged in an arc shape. The distances from the intersections of the multiple perpendicular bisectors to each of the points that make up the point cloud are candidate radiuses of the arc. For example, the determination unit 312 determines that the extracted point cloud is arranged in an arc shape when the standard deviation of the candidate radiuses of the arc is less than or equal to 1 / 5 of the radius R. For example, the determination unit 312 determines that the radius of the arc is appropriate for the size of the first reference body 71 or the second reference body 72 when the size of the candidate radius of the arc is between 0.5 and 1.5 times the radius R.

[0075] When it is determined that the extracted point cloud forms an arc corresponding to the first reference body 71 or the second reference body 72, the determination unit 312 continues this determination by gradually extending the length of the extracted point cloud until the length does not exceed 1 / 2 of the circumference 2πR. In this way, the determination unit 312 determines the start point (n=7) and end point (n=15) of the arc and determines the first reference information ( FIG. 9B ). At this time, the position identification device 30 associates the point (−2.096, −9.056) in FIG. 9B with the center of the arc, i.e., the first reference position P1, and can calculate the distance from the first reference position P1 to the first optical ranging sensor 20A as 9.371 m.

[0076] The determining unit 312 determines the second reference information in the same manner. At this time, the position identifying device 30 can associate the point (3.867, -8.575) in Fig. 9A with the center of the arc, i.e., the second reference position P2, and determine the distance from the second reference position P2 to the first optical ranging sensor 20A as 9.406 m.

[0077] When the determining unit 312 determines that the extracted points do not form an arc, it extracts another point group from the selected data array and determines whether or not it forms an arc.

[0078] Similarly, the determination unit 312 determines, for example, from the second ranging information, third reference information corresponding to reflected light from the first reference object 71 and fourth reference information corresponding to reflected light from the second reference object 72.

[0079] The identification unit 313 first identifies the position of the first optical ranging sensor 20A on the plane 40 based on the first reference information and second reference information determined by the determination unit 312 and the first reference position P1 and second reference position P2. For example, the identification unit 313 identifies a position 3.964 m in the width direction W and 8.890 m in the height direction H from the reference position P0 as the position of the first optical ranging sensor 20A.

[0080] The identification unit 313 further identifies the position of the second optical ranging sensor 20B on the plane 40 based on the third reference information and fourth reference information determined by the determination unit 312 and the first reference position P1 and second reference position P2. For example, the identification unit 313 identifies a position 4.171 m in the width direction W and 8.906 m in the height direction H from the reference position P0 as the position of the second optical ranging sensor 20B.

[0081] The determination unit 313 determines the positions of the first optical distance measuring sensor 20A and the second optical distance measuring sensor 20B thus determined, and the distance D XA ,D XB ,D Y and the position P of the device 100 in the plane 40 100 For example, the identification unit 313 identifies a position 4.064 m in the width direction W and 8.987 m in the height direction H from the reference position P0 as the position P 100 Identify as:

[0082] The verification unit 314 verifies the positions of the first optical distance measuring sensor 20A and the second optical distance measuring sensor 20B identified by the identification unit 313. Specifically, the verification unit 314 first obtains a calculated distance between the first optical distance measuring sensor 20A and the second optical distance measuring sensor 20B based on the positions of the first optical distance measuring sensor 20A and the second optical distance measuring sensor 20B identified by the identification unit 313. For example, the calculated distance is 0.207 m. Next, the verification unit 314 compares this calculated distance with the mounting distance D AB For example, the calculated distance is compared with the mounting distance D AB If the difference is within a predetermined range, the verification unit 314 determines that the verification is successful.

[0083] The output unit 315 outputs the position P of the device 100 identified by the identification unit 313. 100 The output unit 315 outputs position information relating to, for example, the position P 100 The position information is output by displaying the direction and distance to the device 100 on the display unit 36. The output unit 315 may output the position information by voice, or may output the position information to a printer or the like. The output unit 315 may output status information relating to the state of the plane 40 near the device 100 in association with the position information. This makes it easier for the inspector to understand whether there is a defect at each position on the plane 40. The output unit 315 associates the position information with the status information, for example, using the light reception times of the first optical ranging sensor 20A and the second optical ranging sensor 20B and the sound collection time of the sound collection device 10.

[0084] 11 shows an example of the position information and status information displayed on the display unit 36. Here, the position P of the device 100 at a given time is 100 is represented by a black circle. 100 indicates that no defect was found on the plane 40 when the position was 1.5 m in the width direction W and 5.0 m in the height direction H from the reference position P0.

[0085] The output unit 315 may output the position information in association with a drawing corresponding to the plane 40. The output unit 315 may, for example, map the position of the device 100 on an elevation or plan view representing the plane 40. This allows the inspector to confirm the position of the device 100 on the drawing, making it easier for the inspector to intuitively grasp the position of the device 100.

[0086] (Processing Overview of Position Identification Device 30) The process executed by the location determination apparatus 30, i.e., the method for determining the location of the device 100 executed by the location determination apparatus 30, will be described in detail below.

[0087] Fig. 12 is a flowchart showing the procedure of the position identification process executed by the position identification device 30. The process of the position identification device 30 shown in the flowchart of Fig. 12 is stored as a program in the storage 34 of the position identification device 30, and is executed by the CPU 31 controlling each unit.

[0088] (Step S101) The position identifying device 30 first acquires first ranging information, second ranging information, reference object information, sensor information, and status information. The position identifying device 30 acquires the first ranging information and the second ranging information from, for example, the first optical ranging sensor 20A and the second optical ranging sensor 20B. The position identifying device 30 acquires the reference object information and the sensor information from, for example, the storage 34. The position identifying device 30 acquires the status information from, for example, the sound collection device 10.

[0089] (Step S102) The position specifying device 30 sequentially extracts point clouds over a predetermined length from each of the first distance measurement information and the second distance measurement information acquired in the process of step S101.

[0090] (Step S103) The position identifying device 30 determines whether the first reference information, the second reference information, the third reference information, and the fourth reference information can be determined using the point clouds sequentially extracted in the processing of step S102. For example, the position identifying device 30 determines whether the sequentially extracted point clouds form arcs corresponding to the reflected light from each of the first reference body 71 and the second reference body 72.

[0091] (Step S104) In the processing of step S103, when it is determined that the first reference information, the second reference information, the third reference information, and the fourth reference information can be determined (step S103: YES), the position identification device 30 identifies the positions of each of the first optical ranging sensor 20A and the second optical ranging sensor 20B on the plane 40.

[0092] (Step S105) The position specifying device 30 verifies the positions of the first optical distance measuring sensor 20A and the second optical distance measuring sensor 20B specified in the process of step S104. For example, the position specifying device 30 compares the calculated distance between the first optical distance measuring sensor 20A and the second optical distance measuring sensor 20B with the mounting distance D AB By comparing the measured values, the positions of the first optical distance measuring sensor 20A and the second optical distance measuring sensor 20B are verified.

[0093] (Step S106) The position identification device 30 determines the position P of the device 100 on the plane 40 based on the positions of the first optical distance measuring sensor 20A and the second optical distance measuring sensor 20B identified in the process of step S104. 100 Identify.

[0094] (Step S107) The position determination device 30 determines the position P of the device 100 determined in the process of step S106. 100 The position information relating to the state information is output in association with the state information, and the process ends.

[0095] (Step S108) In the process of step S103, when it is determined that the first reference information, the second reference information, the third reference information, and the fourth reference information cannot be determined (step S103: NO), the position identifying device 30 outputs error information and ends the process. For example, when the first ranging information or the second ranging information has only one arc-shaped point cloud, or when it has three or more arc-shaped point clouds, the position identifying device 30 determines that the first reference information, the second reference information, the third reference information, and the fourth reference information cannot be determined. When the first ranging information or the second ranging information does not have an arc-shaped point cloud, the position identifying device 30 may determine that the first reference information, the second reference information, the third reference information, and the fourth reference information cannot be determined.

[0096] (Operations and Effects of the Position Identification Device 30 and the Position Identification System 1) In the position identification device 30 and the position identification system 1 of this embodiment, first reference information corresponding to the reflected light from the first reference body 71 and second reference information corresponding to the reflected light from the second reference body 72 are determined from the first distance measurement information acquired from the first optical distance measurement sensor 20A. Furthermore, third reference information corresponding to the reflected light from the first reference body 71 and fourth reference information corresponding to the reflected light from the second reference body 72 are determined from the second distance measurement information acquired from the second optical distance measurement sensor 20B. The first reference body 71 is disposed at a first reference position P1, and the second reference body 72 is disposed at a second reference position P2. This allows the positions of the first optical distance measurement sensor 20A and the second optical distance measurement sensor 20B on the plane 40 to be identified. Therefore, the position P of the device 100 on the plane 40 can be determined based on the mounting positions of the first optical distance measurement sensor 20A and the second optical distance measurement sensor 20B on the device 100. 100 This effect will be described in detail below.

[0097] When inspecting a flat surface such as a wall or floor using an inspection device (e.g., device 100), the inspector may visually check the position of the device while inspecting the flat surface for defects. However, walls and floors often have a continuous pattern of the same thing, leaving few landmarks. This makes it difficult for the inspector to accurately record the position of the device.

[0098] Instead of visual inspection, it is also possible to identify the location of the device from a captured image. However, it can be difficult to install an image capture device in an appropriate position relative to a flat surface. This is particularly true when inspecting the exterior surface of a building, such as an exterior wall.

[0099] In contrast to this, the position identifying device 30 can identify the position of the device 100 without using an image. Therefore, it can be suitably used for inspecting exterior walls and the like where it is difficult to install an imaging device.

[0100] Furthermore, the position identifying device 30 identifies the positions of the first optical ranging sensor 20A and the second optical ranging sensor 20B on the plane 40 using the first reference body 71 and the second reference body 72. This makes it possible to identify the positions of the first optical ranging sensor 20A and the second optical ranging sensor 20B on the plane 40 regardless of the presence or absence of features that can serve as landmarks. Therefore, the position identifying device 30 can be used to inspect the plane 40 in various environments.

[0101] Furthermore, since the first reference body 71 and the second reference body 72 have a spherical or cylindrical shape, it is possible to easily detect the reflected light from the first reference body 71 and the second reference body 72, distinguishing them from objects that may exist near the plane 40. Objects that may exist on the plane 40 often have a rectangular shape, such as a bay window or an outdoor unit.

[0102] It may be possible to more precisely distinguish the first reference body 71 and the second reference body 72 from objects that may exist near the plane 40 by making the shapes of the first reference body 71 and the second reference body 72 more complex. However, in this case, a large number of point clouds corresponding to the shapes of the first reference body 71 and the second reference body 72 would be required, making it difficult to apply to planes 40 in various environments. By using the first reference body 71 and the second reference body 72 that are spherical or cylindrical, it becomes possible to use the position identification system 1 to inspect planes 40 in various environments.

[0103] Additionally, the position identification device 30 identifies the position of the device 100 using distance measurement information acquired from multiple optical distance measurement sensors (first optical distance measurement sensor 20A and second optical distance measurement sensor 20B). Therefore, regardless of whether the orientation of the device 100 changes during inspection, the position identification device 30 can identify the position of the device 100 with high accuracy. Furthermore, since the positions of the first optical distance measurement sensor 20A and the second optical distance measurement sensor 20B on the plane 40 can be verified, the position of the device 100 can be identified with even higher accuracy.

[0104] As described above, in the position identifying device 30 and the position identifying system 1 of this embodiment, the position of the first optical ranging sensor 20A on the plane 40 is identified based on the first reference information, the second reference information, and the first reference position P1 and the second reference position P2. Also, the position of the second optical ranging sensor 20B on the plane 40 is identified based on the third reference information, the fourth reference information, and the first reference position P1 and the second reference position P2. Therefore, the position P of the device 100 is identified based on the third reference information, the fourth reference information, and the first reference position P1 and the second reference position P2. 100 It becomes possible to identify the

[0105] The configurations of the position specifying device 30 and the position specifying system 1 described above are the main configurations described in order to explain the features of the above-mentioned embodiment, but are not limited to the above configurations and may be modified in various ways within the scope of the claims. Furthermore, configurations provided in general position specifying devices 30 and position specifying systems 1, etc. are not excluded.

[0106] For example, in the above embodiment, an example has been described in which the position determination system 1 has two optical ranging sensors (the first optical ranging sensor 20A and the second optical ranging sensor 20B), but the position determination system 1 may have one optical ranging sensor (for example, the first optical ranging sensor 20A). For example, when the orientation of the device 100 does not change during inspection, the position of the device 100 can be determined with sufficiently high accuracy.

[0107] In the above embodiment, the position identification device 30 determines the position P 100 However, the position determination device 30 may output information about the position of the first optical ranging sensor 20A or the second optical ranging sensor 20B on the plane 40. The position of the device 100 determined by the position determination device 30 may be any position within the device 100, and may be a position approximately at the center of the device 100 (position P 100 ) may be in a different position.

[0108] Furthermore, in the above embodiment, an example has been described in which the positioning system 1 inspects the state of the plane 40 using sound pressure information collected by the sound collection device 10, but the positioning system 1 may also inspect the state of the plane 40 using other information. For example, the positioning system 1 may inspect the state of the plane 40 using a visible light image or an infrared image of the plane 40.

[0109] Furthermore, plane 40 on which device 100 moves may be a plane perpendicular to the ground, such as a wall surface, or a plane horizontal to the ground, such as a floor surface. Alternatively, plane 40 may be a plane provided obliquely with respect to the ground.

[0110] In the above embodiment, an example has been described in which the first reference body 71 and the second reference body 72 are placed on the ground 60 via the support stands 711 and 721, but the first reference body 71 and the second reference body 72 may be placed in other positions. For example, the first reference body 71 and the second reference body 72 may be placed using a bay window or the like provided in an exterior wall.

[0111] In the above embodiment, an example has been described in which the position identification device 30 is mounted on the device 100, but the position identification device 30 may be installed in a location remote from the device 100. Alternatively, the position identification device 30 may be provided on the cloud.

[0112] Furthermore, the position identification device 30 described in the above embodiment may be configured with multiple devices. For example, some of the functions of the position identification device 30 described in the above embodiment may be configured on-premise, and other functions may be provided on the cloud. A device that performs some of the functions of the position identification device 30 may be mounted on the device 100, the sound collection device 10, the first optical ranging sensor 20A, or the second optical ranging sensor 20B, etc.

[0113] Furthermore, the processing units of the flowcharts in the above embodiments are divided according to the main processing content to facilitate understanding of each process. The classification of the processing steps does not limit the present invention. Each process can be divided into more processing steps. Furthermore, one processing step may execute more processes. Furthermore, the position identification device 30 may perform processes in an order different from that described in the above embodiments and modifications.

[0114] The means and methods for performing various processes in the systems according to the above-described embodiments can be realized by either dedicated hardware circuits or a programmed computer. The programs may be provided, for example, on a computer-readable recording medium such as a flexible disk or CD-ROM, or online via a network such as the Internet. In this case, the programs recorded on the computer-readable recording medium are typically transferred to and stored in a storage unit such as a hard disk. The programs may also be provided as standalone application software or may be incorporated into the software of the device as a function of the system. [Explanation of symbols]

[0115] 1 location system, 10 Sound collection device, 20A First optical distance measuring sensor, 20B second optical distance measuring sensor, 30 inspection equipment, 31 CPUs, 311 Acquisition Department; 312 Decision Section, 313 Specific Department; 314 Verification Department, 315 output section, 32 ROM, 33 RAM, 34 storage, 35 communication interface, 36 Display section, 37 Operation reception unit, 40 planes, 71 1st reference body, 72 Second referent, 100 devices.

Claims

1. A position specifying device using a first reference body having a spherical or cylindrical shape and disposed at a first reference position, and a second reference body having a spherical or cylindrical shape and disposed at a second reference position, an acquisition unit that acquires, from a first optical distance measuring sensor mounted on a device that moves along a plane, first distance measurement information of a surrounding area of the first optical distance measuring sensor; a determination unit that determines, from the acquired first ranging information, first reference information corresponding to the reflected light from the first reference object and second reference information corresponding to the reflected light from the second reference object; an identification unit that identifies a position of the first optical distance measuring sensor on the plane based on the determined first reference information and second reference information, and the first reference position and the second reference position; A location determination device comprising:

2. the acquisition unit further acquires sensor information including information regarding a mounting position of the first optical ranging sensor in the device; The position identifying device according to claim 1 , wherein the identifying unit further identifies the position of the device on the plane based on the sensor information and the identified position of the first optical ranging sensor.

3. the acquisition unit further acquires, from a second optical ranging sensor mounted on the device, second ranging information of a surrounding area of the second optical ranging sensor; the determiner determines, from the acquired second ranging information, third reference information corresponding to the reflected light from the first reference object and fourth reference information corresponding to the reflected light from the second reference object; The position identification device according to claim 2 , wherein the identification unit identifies the position of the second optical ranging sensor on the plane based on the determined third reference information and fourth reference information, the first reference position and the second reference position.

4. The position identifying device according to claim 3 , wherein the identifying unit further identifies the position of the device on the plane based on the identified position of the second optical ranging sensor.

5. The position specifying device according to claim 3 , further comprising a verification unit that verifies the specified positions of the first optical distance measuring sensor and the second optical distance measuring sensor.

6. the sensor information includes information about an implementation distance between the first optical ranging sensor and the second optical ranging sensor in the device; The position identification device described in claim 5, wherein the verification unit verifies the positions of the identified first optical ranging sensor and the identified second optical ranging sensor based on the calculated distance between the first optical ranging sensor and the second optical ranging sensor, which is calculated based on the positions of the identified first optical ranging sensor and the identified second optical ranging sensor, and the implementation distance.

7. the acquisition unit further acquires reference body information including information regarding the shapes of the first reference body and the second reference body; The position specifying device according to claim 1 , wherein the determining unit determines the first reference information and the second reference information based on the reference object information.

8. an output unit that outputs location information relating to the identified location of the device; the acquisition unit further acquires state information regarding a state of the plane near the device; The position specifying device according to claim 2 , wherein the output unit outputs the state information in association with the position information.

9. The position determination device according to claim 8 , wherein the state information includes information regarding the presence or absence of a defect in the plane near the device.

10. The position specifying device according to claim 1 , wherein the plane is a part of a wall surface of a structure.

11. A position specifying device according to any one of claims 1 to 10; the first optical distance measuring sensor mounted on the device; a collector for collecting status information regarding the status of the plane proximate the device; A location system comprising:

12. The position determination system of claim 11 , wherein the first optical ranging sensor is mounted on the device and protrudes from a housing of the device.

13. The device further comprises: The position determination system according to claim 11 , wherein the device has an adhesive portion that allows the device to be attached to the flat surface.

14. A position identification method using a first reference body having a spherical or cylindrical shape and disposed at a first reference position, and a second reference body having a spherical or cylindrical shape and disposed at a second reference position, acquiring, from a first optical distance measuring sensor mounted on a device moving along a plane, first distance measurement information of a surrounding area of the first optical distance measuring sensor; determining, from the acquired first distance measurement information, first reference information corresponding to the reflected light from the first reference object and second reference information corresponding to the reflected light from the second reference object; identifying a position of the first optical distance measuring sensor on the plane based on the determined first reference information and second reference information, and the determined first reference position and second reference position; A location determination method comprising:

15. A position specifying program using a first reference body having a spherical or cylindrical shape and disposed at a first reference position, and a second reference body having a spherical or cylindrical shape and disposed at a second reference position, acquiring, from a first optical distance measuring sensor mounted on a device moving along a plane, first distance measurement information of a surrounding area of the first optical distance measuring sensor; determining, from the acquired first distance measurement information, first reference information corresponding to the reflected light from the first reference object and second reference information corresponding to the reflected light from the second reference object; identifying a position of the first optical distance measuring sensor on the plane based on the determined first reference information and second reference information, and the determined first reference position and second reference position; A location identification program that causes a computer to execute a process including the steps of:

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