Identification method, moving object control method using identification method, moving object using identification method, identification system, and moving object control system

Abstract

To provide an identification method and an identification system capable of appropriately identifying a guide line by a simple method regardless of a state of a guide object, a control method of a moving body using the identification method, a control system of the moving body, and the moving body using the identification method.SOLUTION: The identification method and the identification system include a point group coordinate acquisition process 341 for acquiring point group coordinates to photographing data obtained by photographing a guide line C by a photographing means 41, and a straight line generation process 351 for generating a straight line H approximated to the point group coordinates by regarding that the guide line C is present when the number of arrays of the point group coordinates is a threshold or more.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an identification method, a method for controlling a moving body using the identification method, a moving body using the identification method, an identification system, and a system for controlling a moving body. [Background technology]

[0002] A technology for moving a moving body along a predetermined travel line is disclosed in Patent Document 1. According to this document, a guide line on the floor surface is detected by an imaging means that captures an image of the floor surface of the conveying path, and the conveying unit is controlled to travel along the guide line. By reading the running line using the photographing means, it becomes possible to use commercially available color tape, which is cheaper than magnetic tape, and the construction and modification of the conveying path can be handled flexibly and inexpensively. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2023-143029 Summary of the Invention [Problem to be solved by the invention]

[0004] The method for detecting driving lines in Patent Document 1 uses color recognition to detect the guide lines that are the target of guidance. In the case of transportation in a factory, warehouse, etc., the guide lines may be stepped on by workers or other vehicles passing by, resulting in soiling or damage. The technology in Patent Document 1 is said to allow the vehicle to run even if the guide line is soiled or damaged, but if the guide line becomes severely soiled or damaged, the guide line cannot be detected properly and the vehicle cannot continue running. Furthermore, if the floor surface, as well as the guide lines, becomes significantly soiled or damaged, it may become impossible to detect the guide lines, and the moving object may not be guided correctly. On the other hand, if detection is to be performed regardless of the condition of the guide lines and the running surface, a more advanced detection method will be required, which is likely to increase the control load.

[0005] The present invention has been made with an eye on the above-mentioned problems, and aims to provide an identification method and identification system that can appropriately identify a guide line in a simple manner regardless of the state of the guided object, a control method and control system for a moving body using the identification method, and a moving body using the identification method. [Means for solving the problem]

[0006] This invention is a point cloud coordinate acquisition step of acquiring point cloud coordinates for photographed data of the guide line photographed by a photographing means; a line generating step of determining that the guiding line exists if the number of arrangements of the point cloud coordinates is equal to or greater than a threshold value, and generating a line approximating the point cloud coordinates; an identification method comprising: relates to.

[0007] The present invention further provides: The point cloud coordinate acquiring step includes a median acquiring step of acquiring a median value from an array coordinate group acquired by scanning the point cloud coordinates in the width direction of the guide line included in the photographing data, and a line median acquiring step of acquiring a median point cloud coordinate for the width of the guide line by repeating the median acquiring step in the extension direction of the guide line. The identification method further comprising: relates to.

[0008] The present invention further provides: The line generation step generates the line by a least squares method, and obtains the slope and intercept of the line. an identification method, relates to.

[0009] The present invention further provides: a coarse-graining step of performing a coarse-graining process on the photographed data; The identification method further comprising: relates to.

[0010] This invention is a point cloud coordinate acquisition step of acquiring point cloud coordinates for photographed data of the guide line photographed by a photographing means; a line generating step of determining that the guiding line exists if the number of arrangements of the point cloud coordinates is equal to or greater than a threshold value, and generating a line approximating the point cloud coordinates; a travel control calculation step for controlling the vehicle to travel based on the straight line; A method for controlling a moving object, comprising: relates to.

[0011] The present invention further provides: The point cloud coordinate acquiring step includes a median acquiring step of acquiring a median value from an array coordinate group acquired by scanning the point cloud coordinates in the width direction of the guide line included in the photographing data, and a line median acquiring step of acquiring a median point cloud coordinate for the width of the guide line by repeating the median acquiring step in the extension direction of the guide line. a control method for a moving object, further comprising: relates to.

[0012] The present invention further provides: The straight line is generated by the least squares method, and the slope and intercept of the straight line are obtained. A method for controlling a moving object, relates to.

[0013] The present invention further provides: a coarse-graining step of performing a coarse-graining process on the photographed data; a control method for a moving object, further comprising: relates to.

[0014] This invention is a traveling unit capable of moving and traveling; An imaging means for imaging the guide line; a control unit that causes the traveling unit to travel along the guide line based on the photographing data acquired from the photographing means, The control unit acquires point cloud coordinates for the photographed data, and if the number of arrangements of the point cloud coordinates is equal to or greater than a threshold, the control unit determines that the guide line exists, generates a straight line approximating the point cloud coordinates, and controls the traveling unit to travel based on the straight line. A moving object characterized by: relates to.

[0015] The present invention further provides: The control unit performs a median value acquisition process to acquire a median value from an array coordinate group acquired by scanning the point cloud coordinates in a width direction relative to the traveling direction with respect to the photographing data, and performs a line median value acquisition process to acquire a median point cloud coordinate for the width of the guide line by repeating the median value acquisition process in an extension direction of the guide line. A moving object characterized by: relates to.

[0016] The present invention further provides: The straight line is generated by the least squares method, and the slope and intercept of the straight line are obtained. A moving object characterized by: relates to.

[0017] The present invention further provides: performing a coarse-graining process on the photographed data; A moving object characterized by: relates to.

[0018] This invention is a point cloud coordinate acquisition step of acquiring point cloud coordinates for photographed data of the guide line photographed by a photographing means; a line generating step of determining that the guiding line exists if the number of arrangements of the point cloud coordinates is equal to or greater than a threshold value, and generating a line approximating the point cloud coordinates; an identification system comprising: relates to.

[0019] The present invention further provides: The point cloud coordinate acquiring step includes a median acquiring step of acquiring a median value from an array coordinate group acquired by scanning the point cloud coordinates in the width direction of the guide line included in the photographing data, and a line median acquiring step of acquiring a median point cloud coordinate for the width of the guide line by repeating the median acquiring step in the extension direction of the guide line. an identification system further comprising: relates to.

[0020] The present invention further provides: The line generation step generates the line by a least squares method, and obtains the slope and intercept of the line. an identification system, relates to.

[0021] The present invention further provides: a coarse-graining step of performing a coarse-graining process on the photographed data; an identification system further comprising: relates to.

[0022] This invention is a point cloud coordinate acquisition step of acquiring point cloud coordinates for photographed data of the guide line photographed by a photographing means; a line generating step of determining that the guiding line exists if the number of arrangements of the point cloud coordinates is equal to or greater than a threshold value, and generating a line approximating the point cloud coordinates; a travel control calculation step for controlling the vehicle to travel based on the straight line; A control system for a moving object, comprising: relates to.

[0023] The present invention further provides: The point cloud coordinate acquiring step includes a median acquiring step of acquiring a median value from an array coordinate group acquired by scanning the point cloud coordinates in the width direction of the guide line included in the photographing data, and a line median acquiring step of acquiring a median point cloud coordinate for the width of the guide line by repeating the median acquiring step in the extension direction of the guide line. A control system for a moving object, further comprising: relates to.

[0024] The present invention further provides: The straight line is generated by the least squares method, and the slope and intercept of the straight line are obtained. A control system for a moving object, relates to.

[0025] The present invention further provides: a coarse-graining step of performing a coarse-graining process on the photographed data; A control system for a moving object, further comprising: relates to. [Effects of the Invention]

[0026] The present invention provides an identification method and identification system that can appropriately identify a guide line in a simple manner regardless of the state of the guided object, as well as a control method and control system for a moving body using the identification method, and a moving body using the identification method. [Brief explanation of the drawings]

[0027] [Figure 1] 1 is a plan view of a moving body according to an embodiment of the present invention. [Figure 2] 1 is a front view of a moving body according to an embodiment of the present invention. [Figure 3] 1 is a diagram showing an example of a photographed image according to an embodiment of the present invention. [Figure 4] FIG. 10 is a schematic explanatory diagram showing a line detection algorithm according to an embodiment of the present invention. [Figure 5]FIG. 10 is a schematic explanatory diagram showing a line detection algorithm according to an embodiment of the present invention, illustrating a point cloud coordinate acquisition step. [Figure 6] FIG. 10 is a schematic explanatory diagram showing a line detection algorithm according to an embodiment of the present invention, illustrating a line median value acquisition step. [Figure 7] FIG. 10 is a schematic explanatory diagram showing a line detection algorithm according to an embodiment of the present invention, illustrating the line median acquisition process and an example of generating a straight line when part of the guide line is torn. [Figure 8] FIG. 2 is a schematic explanatory diagram showing a marker detection algorithm according to an embodiment of the present invention, illustrating an extraction process, a binarization process, and an update rate improvement process. [Figure 9] FIG. 10 is a schematic explanatory diagram showing a marker detection algorithm according to an embodiment of the present invention, illustrating a line generation process. [Figure 10] FIG. 2 is a schematic explanatory diagram showing a marker detection algorithm according to an embodiment of the present invention, illustrating steps from a normalization step to a sequence acquisition step. [Figure 11] FIG. 10 is a schematic explanatory diagram showing a marker detection algorithm according to an embodiment of the present invention, illustrating an address number acquisition step. [Figure 12] FIG. 1 is a block diagram according to an embodiment of the present invention. [Figure 13] FIG. 2 is a control flow (guiding line detection) diagram according to an embodiment of the present invention. [Figure 14] FIG. 2 is a control flow (control marker detection) diagram according to an embodiment of the present invention. [Figure 15] 10A and 10B are explanatory diagrams of a soiled or damaged guide line in line detection according to an embodiment of the present invention; DETAILED DESCRIPTION OF THE INVENTION

[0028] A first embodiment of the present invention will now be described. The outline of the aircraft shown in Figures 1 and 2 will be explained. A is a moving body. Moving body A is composed of a pair of traveling units 21 arranged on both sides of main body 11, a control unit 31 arranged on main body 11, and an imaging means 41 arranged in front of main body 11. Furthermore, an operation unit 51 is provided on main body 11. 1, the operation unit 51 has an operation unit (No. 1) 511, an operation unit (No. 2) 512, an operation unit (No. 3) 513, an operation unit (No. 4) 514, an operation unit (No. 5) 515, an operation unit (No. 6) 516, and an operation unit (No. 7) 517. When each of these is pressed, the mobile object A travels to the corresponding address. In the explanation, the operation unit 51 is described as being provided on the main body 11, but it may also be provided on an operation terminal that can be operated remotely by wireless or wired.

[0029] 1 and 2, the traveling section 21 has crawler belts 23, and by adjusting the rotation speed of the crawler belts 23 arranged on the left and right, the vehicle travels in a straight line including forward and backward movement, and turns. In addition to the traveling section 21 shown in the first embodiment, it may be a traveling section 21 made up of wheels, or a type including a steering wheel regardless of the specifications of the crawler belts 23 and wheels.

[0030] The traveling unit 21 is configured to drive a crawler belt 23 in a circular motion by a motor 22 driven by a battery 12 arranged on the main body 11 as a driving source. Additionally, although not shown, the moving body A may have a loading platform above the main body 11 for placing an object to be placed thereon, or the main body 11 may have a towing unit for towing an object to be towed. In the following description, the moving body A is described as having a running unit 21, but the moving body A may be an aircraft having a flying device or a steering device instead of the running unit 21.

[0031] The photographing means 41 is located at the front of the main body 11 and photographs the guide line C installed on the travel surface B. The photographing means 41 is located at a height of about 20 cm. In the first embodiment, the photographing means 41 is located at a height about the same as the top of the crawler belt 23 or at a position lower than the top of the roller belt. The angle of view photographed by the photographing means is set to form a rectangular frame of 25 to 30 cm on the travel surface. Of course, the size and shape of the angle of view can be freely changed and adjusted depending on the embodiment.

[0032] The guide line C will now be explained. B is the running surface. The guide line C is made of adhesive tape or a coating, and is attached, fixed, or painted on the travel surface B along the desired route of the moving object A. There are no limitations on the color of the guide line C, but it is preferable that it be a color different from that of the travel surface B. Specifically, the correlation between the relative hues of the guide line C and the travel surface B is sufficiently distant, and it is desirable that they are separated by more than 90° on the color wheel, or that they are complementary colors separated by about 180°. In addition to adhesive tape or a coating, the guide line C may also be a long member with a thickness that does not interfere with the travel of the moving object A. In this embodiment, an adhesive tape with a width of about 5 cm is used for the guide line C, but there are no limitations on this width. In Fig. 3, D is a control marker, and E is a position where a control marker is attached but not yet attached.

[0033] The control unit 31 will now be described. The control unit 31 for recognizing the guide line C and controlling the moving body A is composed of a color extraction calculation unit 32, a coarse-graining calculation unit 33, a point cloud coordinate calculation unit 34, a straight line generation calculation unit 35, and a driving control unit 36, as shown in Figure 12.

[0034] The explanation will be given along the control flow shown in FIG. (1) As shown in Fig. 13, the photographing means 41 photographs the traveling surface B and transmits the photographed photographed data to the control unit 31. The photographed data is image data, which is a still image, of the traveling surface B photographed by the photographing means 41 intermittently at a fixed time interval. The time interval at this time is set and adjusted as desired depending on the embodiment.

[0035] (2) About the color extraction process 321 13, when the control unit 31 acquires the photographed data from the photographing means 41 in the photographed data acquisition step 311, the color extraction calculation unit 32 executes the color extraction step 321. In the color extraction step 321, the color of the guiding line C included in the photographed data is extracted. More specifically, the image using the RGB color space included in the acquired photographed data is converted into an image format using the Lab color space. Then, the color of the guiding line C recognized in the Lab color space is determined and extracted as image data including only the guiding line C.

[0036] (3) About the coarse graining process 331 After the color extraction step 321 shown in FIG. 13 is completed, the coarse-graining calculation unit 33 performs a coarse-graining step 331. In the coarse-graining step 331, the image data of the guiding line C extracted in the color extraction step 321 is coarse-grained. In other words, the resolution or pixel size of the entire image data of the guiding line C extracted in the color extraction step 321 is roughly reduced. By performing coarse-graining, the amount of data handled by the control unit 31 can be reduced, thereby reducing the load on the calculation processing performed after coarse-graining. In the first embodiment, the calculation processing is performed so that the coarse-graining ratio is 1 / 10 pixel (px), but this coarse-graining ratio can be changed as appropriate depending on the implementation mode. The state of the schematic explanatory diagram showing the photographing data acquisition step 311, color extraction step 321, and coarse-graining step 331 of the line detection algorithm according to the embodiment of the present invention shown in Figure 4 changes to the state of the schematic explanatory diagram showing the point cloud coordinate acquisition step of the line detection algorithm according to the embodiment of the present invention shown in Figure 5. Note that the grid-like portions shown in Figures 4 to 7 are drawn to facilitate understanding, and may not be added in the actual calculation processing steps.

[0037] When the coarse-graining step 331 is completed, the point cloud coordinate calculation unit 34 starts a point cloud coordinate acquisition step 341. The point cloud coordinate acquisition step 341 includes a median value acquisition step and a line median value acquisition step. The image data from which the coarse-grained guide line C is extracted corresponds to 1 to N columns in the X-axis direction, which corresponds to the width direction in the traveling direction, and 1 to M rows in the Y-axis direction, which corresponds to the direction parallel to the traveling direction, in coordinate W on a two-dimensional plane. In the first embodiment, the origin O of the X-axis and Y-axis of the coordinate W is set to the rear side and left side of the traveling direction.

[0038] (4) Median acquisition process When the coarse-graining step 331 shown in FIG. 13 is completed, the median value acquisition step begins. In the median value acquisition step, the coordinate W is scanned from the first row of the Y axis, which is closest to the origin of the Y axis, to the first column of the X axis, to the Nth column of the X axis, to determine whether or not there is a guide line C. An array coordinate group F shown in FIG. 5 is obtained, where it is determined that there is a guide line C (in the illustrations of FIGS. 5 to 7, these are indicated by circles for ease of understanding). That is, as shown in FIG. 5, the array coordinate group F is composed of multiple points by assigning points to parts where it is determined that there is a guide line C. Then, for the determined array coordinate group F, a coordinate G is obtained, which is the median in the X-axis direction. In this way, the coordinate G of the median value for the width of the guide line C recognized in the first row of the Y axis is obtained. G shown in Fig. 6 is the point cloud coordinates remaining after median value acquisition. Moreover, if it is determined that there is no guide line C, the coordinate G of the median value is not acquired.

[0039] About the line median acquisition process After the median value acquisition process, the line median value acquisition process begins. The line median value acquisition process is a process in which the processing performed on the first row of the Y axis is repeated sequentially up to the Mth row in the Y axis direction. Of course, if it is determined that there is no guide line C, no coordinates are acquired. Depending on the presence or absence of the guide line C, at most one coordinate indicating the median value is acquired between the 1st to the Nth columns in the X axis direction for each of the 1st to the Mth rows in the Y axis direction. As a result, a point cloud coordinate G indicating the median value for the width of the guide line C extracted from the acquired image data is acquired. In the median value acquisition step and the line median value acquisition step, acquisition of the median value corresponding to the extracted guide line C in the X-axis direction is sequentially performed in the Y-axis direction, which is the direction of travel, so that an excessive burden is not imposed on the control unit 31. Furthermore, the coarse-graining step 331 can reduce the number of guide lines C to be determined when scanning the coordinate W in the X-axis and Y-axis directions, so that the burden on the control unit 31 can also be reduced.

[0040] That is, in the point cloud coordinate acquisition process 341, the acquired image data is scanned in the width direction and the front-back direction to acquire point cloud coordinates G indicating the median value for the width of the recognized guide line C, as shown in FIG. 6 (the circle portion at the center of the width of the guide line C in FIGS. 6 and 7).

[0041] 13, in the photographing data acquisition step 311, the point cloud coordinates F corresponding to the guide line C are obtained from the acquired photographing data, and further, only the coordinate G of the median value thereof is obtained, thereby obtaining a coordinate group in which the coordinate G of the median value of the width of the guide line C is arranged along the recognized guide line C. Therefore, for example, even if the actual guide line C is missing so as to be narrow in the width direction or is covered with dust or the like, the point cloud coordinates F corresponding to the recognized guide line C can be obtained as long as it is recognized as a guide line C. As a result, regardless of the state of the guide line C, it is possible to recognize it as a guide line C and obtain the coordinate G indicating the median value of the recognized guide line C.

[0042] (5) Regarding the line generation process 351 (obtaining the line H) When the point cloud coordinate acquisition step 341 or the line median value acquisition step shown in FIG. 13 is completed, the line generation calculation unit 35 starts a line generation step 351. In the line generation process 351, if the number of point cloud coordinates G indicating the median of the guide lines C arranged in the X-axis and Y-axis directions is equal to or greater than a threshold, the guide lines C are deemed to exist on the travel surface B. Based on the point cloud coordinates G indicating the median value remaining after median acquisition, a virtual line H is generated on a virtual coordinate plane represented by the X-axis and Y-axis, as shown in Figures 6 and 7. To generate the line H, a line equation is calculated using the least squares method based on the multiple point cloud coordinates G arranged in the X-axis and Y-axis directions. In other words, this line H is calculated as a linear function expressed as y = ax + b, so the slope a and intercept b can be obtained. The generated line H is recognized by the control unit 31 as an indicator indicating the position and direction to which the moving object A should be guided. Furthermore, if the line H is not generated, the control unit 31 recognizes that there is no indicator to guide the moving object A.

[0043] If the number of arrangements of the point cloud coordinates G indicating the median of the guiding line C does not satisfy the threshold, it is considered that the guiding line C does not exist, and the generation of the straight line H is not performed. In this embodiment, the threshold for generating the straight line H is set so that if it is determined that the number of points in the point cloud coordinate G indicating the median is six or more, the straight line H is generated. This is because if the point cloud coordinate G indicating the median is less than six, noise will cause an increase in turning movements, and the desired movement along the line will often not be achieved.

[0044] The threshold value can be freely changed and can be freely changed and set according to the embodiment. For example, as shown in Figure 7, even if the guide line C is partially interrupted in the extension direction and the point cloud coordinates G are not partially acquired on the coordinates to be calculated, the straight line H can be generated. By adjusting this threshold value appropriately, it is possible to change the reference value for determining that it is a guide line C.

[0045] 7 is a schematic explanatory diagram showing a line detection algorithm according to an embodiment of the present invention, illustrating a line median value acquisition step and an example of generating a straight line when a part of the guide line is torn. As shown in FIG. 7, even if the point cloud coordinates G indicating the median value of the guide line C are not acquired partially on the coordinate system by generating a virtual straight line H on the coordinate system, the control unit 31 can determine that the guide line C exists. As a result, the control unit 31 can recognize the guide line C regardless of the state of the actual guide line C. In other words, the control unit 31 determines the presence or absence of the guide line C and its direction based on the generation of the straight line H.

[0046] (6) About the driving control calculation process 361 After the straight line generating step 351 shown in FIG. 13 is completed, the process proceeds to a driving control calculation step 361 by the driving control unit . The travel control unit 36 ​​controls the travel unit 21 so that the generated straight line H (y=ax+b) shown in Fig. 6 becomes a straight line H where x=k. In other words, the travel unit 21 is controlled so that the inclined straight line H on the image data shown in Fig. 6 becomes parallel to the Y-axis direction.

[0047] Furthermore, k is a constant that can take any value, and in the first embodiment, it corresponds to the middle position of rows 1 to N in the X-axis direction shown in Fig. 6 so as to correspond to the widthwise center position of moving body A. The rotation speed of each of the crawler belts 23 of the pair of traveling units 21 arranged on the left and right is adjusted, and the traveling units 21 are controlled so that the center of moving body A is positioned on guide line C and the front-to-rear direction of moving body A is parallel to the extension direction of guide line C. In other words, the control unit 31 operates the traveling units 21 by transmitting a signal to control the traveling units 21 so that the straight line H obtained as a result of calculation based on image data acquired from the imaging means 41 is parallel to the Y-axis direction. Then, as shown in Figure 13, in the photographing data acquisition step 311, the photographing data acquired from the photographing means 41 is used to repeat the color extraction step 321, the coarse graining step 331, the point cloud coordinate acquisition step 341, and the straight line generation step 351, thereby positioning the running unit 21 at the specified appropriate position relative to the guide line C and causing it to run.

[0048] In the travel control calculation step 361, it is not necessary to immediately correct the travel unit 21 to the line H expressed by x = k so as to follow the gradient a of the line H generated by the calculation. The path of the moving body A can also be corrected by adjusting the left and right travel units 21 while combining straight travel and turning so that the gradient a of the generated line H gradually follows the line H expressed by x = k. For example, the travel mode can be determined such as moving straight until the value of intercept b reaches a specified value and turning when the specified position is reached, or turning until the value of intercept b reaches a specified value and moving straight when the specified position is reached, and the travel unit 21 can be controlled accordingly.

[0049] If the guide line C is offset from the width center position of the moving object A, this can be achieved by adjusting the value of the constant k.

[0050] Since the guide line C is identified by the identification method described above, the control unit 31 can properly identify the guide line C regardless of the actual state of the guide line C. Furthermore, by using this identification method, the moving object A can be properly guided along the guide line C regardless of the actual state of the guide line C.

[0051] The effects of the first embodiment of the present invention will be described. Since the guide line C is merely an adhesive tape that can be attached to the floor, anyone can change or modify it. In other words, even after it has been installed on the floor, the guide route can be easily changed by simply reattaching the adhesive tape that is the guide line C.

[0052] The adhesive tape that will become the guide line C does not have to be the same color as the floor, but rather must be a color that the control unit 31 can recognize as the guide line C when photographed by the photographing means 41. In other words, the running surface B and the guide line C should have different hues. Commercially available adhesive tape is usually readily available in multiple colors, so even if the floor has multiple colors, it is sufficient to prepare a color that does not overlap with those colors. Therefore, the probability that the floor and the adhesive tape will be similar colors is low.

[0053] The guide line C photographed by the photographing means 41 and recognized in the control unit 31 generates a straight line H indicating the guiding direction of the moving object A using the least squares method based on the central point cloud obtained from the recognized width direction. Therefore, even if the adhesive tape that is the guide line C is turned up, missing, soiled, or damaged, it is possible to generate the straight line H indicating the guiding direction as long as the control unit 31 is not unable to recognize it, such as there being no information about the guide line C in the photographed image. As shown in FIG. 15, even if the adhesive tape serving as the guide line C is turned up, missing, soiled, or damaged, it is possible to generate a straight line H indicating the guide direction. That is, regardless of the damage state of the guide line C, as long as the guide line C is recognized, the moving body A can generate the straight line H and run along this generated straight line H. In the first embodiment, the guide line C is run so as to be positioned in the center of the moving body A in the width direction, but the moving body A can also be run so that the guide line C is positioned on the outside in the width direction.

[0054] The color of the guide line C recognized in the control unit 31 is extracted after converting the RGB image of the acquired video into the Lab color space. By using this method, it is possible to extract the color appropriately without being greatly influenced by the illuminance environment and the shooting environment, such as the brightness of the shooting environment, the presence or absence of shadows due to the direction of the lighting, and changes in the degree of dimming due to changes in the environment. Therefore, even if, for example, light enters the shooting device due to the position of the sun or lighting device, or light reflected from the floor enters the shooting device, the control unit 31 can correctly extract the guide line C and recognize it as the guide line C.

[0055] From the acquisition of the point cloud coordinates to the generation of the straight line H, a simple calculation is used, that is, the method of generating the straight line H by the least squares method shown in the first embodiment. This reduces the processing load related to the calculations in the control unit 31. Therefore, even if a control unit 31 with low processing power is used, the moving object A can be sufficiently guided and controlled.

[0056] The imaging data captured by the guide line C is coarse-grained. In other words, the imaging data is converted to a larger, coarser scale. By using the coarse-grained imaging data, subsequent calculations can be performed with a small amount of calculation time while maintaining the original angle of view when the imaging data was acquired, and the control unit 31 can be simplified.

[0057] In the first embodiment of the present invention, after the coarse-graining shown in FIG. 5 , the process includes acquiring an array coordinate group F, acquiring an array coordinate group F in one column direction, acquiring a median point cloud coordinate G for the array coordinate group F, and repeating this process in the direction of progression, followed by the process of generating a straight line H from the acquired median point cloud coordinate G shown in FIG. 6 . Coarse-graining reduces the number of array coordinate groups F to be acquired, thereby reducing the computational load required for processing. Furthermore, because the number of array coordinate groups F is reduced, the computational load required to acquire the median point cloud coordinate G from the array coordinate group F can also be reduced. Furthermore, because the above process is repeated in the direction of progression, the computational load required to repeatedly acquire the median point cloud coordinate G in the direction of progression can also be reduced.

[0058] The line H is generated by using the least squares method from the median point group G obtained from the array coordinate group F. In other words, the line H that most closely resembles the array coordinate group F of the guide line C obtained from the imaging data is generated. As described above, the number of array coordinate groups F to be handled is also reduced, so the calculation load required to generate the line H can also be reduced.

[0059] By acquiring the array coordinate group G, which is the point cloud coordinates of the median of the guide line C, the control unit 31 can recognize the guide line C even if the arrangement state of the guide line C has deteriorated due to damage, breakage, accumulation of foreign matter, etc. For example, the guide line C can be properly guided even in an environment where other moving bodies A or workers may step on and cross the guide line C in addition to the moving body A, or in an environment where foreign matter such as dirt or dust is likely to be generated and cover part of the guide line C.

[0060] In the first embodiment, coarse-graining is performed after the color of the guiding line C is extracted, and is performed so that the image data is 1 / 10 pixel, but this is not limited to this. The coarse-graining can also be performed before the color of the guiding line C is extracted, and the coarse-graining rate can be set to a value other than 1 / 10 pixel. The optimal processing order and method can be selected depending on the implementation mode.

[0061] The photographing means 41 is positioned so as to be approximately 20 cm above the guide line C. In the first embodiment, the photographing means 41 is positioned below the upper end of the outer periphery of the crawler belt 23, which is the upper end of the traveling section 21, and photographs the guide line C from a relatively close position. Since the photographing means 41 does not need to photograph distant objects, it does not need to be a telephoto device or one that can photograph with high image quality. As a result, the photographing means 41 can adequately photograph and calculate the guide line C without requiring advanced performance.

[0062] Furthermore, since the photographing means 41 mainly photographs the traveling surface B and the guide line C, there is no need to perform extra calculation processes such as image masking, image classification, and segmentation. In other words, the control unit 31 can control the moving object A while reducing the load on the calculation processes.

[0063] The mobile body A of the first embodiment does not require sensing devices such as feedback from the running unit 21 or an inertia control device, so it is possible to reduce the manufacturing costs of the mobile body A and make it an inexpensive mobile body A that is guided using a guide line C.

[0064] Although an electric motor is used to drive the traveling unit 21, a hydraulic motor may also be used. Also, an internal combustion engine may be used as the driving source, and the traveling steering of the moving body A may be performed by connecting and disconnecting the transmission of power with a clutch.

[0065] Therefore, in an embodiment of the present invention, as shown in Figure 7, which is a schematic explanatory diagram showing the line detection algorithm according to an embodiment of the present invention, and which is a diagram showing the line median acquisition process and an example of generating a straight line H when a part of the guide line is torn, as shown in the actual diagram of the explanatory diagram of the soiled or damaged guide line C in line detection according to an embodiment of the present invention shown in Figure 15, even if the guide line C becomes thin or chipped, the position of the original guide line C can be estimated, so it is possible to guide the moving body A along the original guide line C. As specifically illustrated in FIG. 15, even if the guide line C has damaged and broken or missing portions along the way, the control unit 31 can be made to properly recognize the guide line C as existing. In FIG. 15, the guide line C is covered by a foreign object (black portion) C1 by about 20 cm. Although a colored portion representing the guide line C remains partially near the attachment portion of the foreign object C1, the guide line C is essentially broken. However, by using the identification method shown in the present invention, the control unit 31 can be made to properly recognize it as the guide line C. Then, it becomes possible to move the moving object A along the generated straight line H.

[0066] In a first embodiment of the present invention, a point cloud coordinate acquisition step 341 for acquiring point cloud coordinates for photographed data of the guide line C photographed by the photographing means 41; a line generating step 351 in which, if the number of arrangements of the point cloud coordinates is equal to or greater than a threshold, it is deemed that the guiding line C exists and a line H approximating the point cloud coordinates is generated; The present invention comprises an identification method and an identification system comprising:

[0067] In the first embodiment of the present invention, The point cloud coordinate acquisition process 341 includes a median value acquisition process for acquiring a median value from an array coordinate group F acquired by scanning the point cloud coordinates in the width direction of the guide line C included in the photographing data, and a line median value acquisition process for acquiring a median point cloud coordinate for the width of the guide line C by repeating the median value acquisition process in the extension direction of the guide line C. The identification method and system further comprise:

[0068] In the first embodiment of the present invention, The line generation step 351 generates the line H by the least squares method, and obtains the slope and intercept of the line H. The present invention comprises an identification method and an identification system.

[0069] In the first embodiment of the present invention, a coarse-graining step of performing a coarse-graining process on the photographed data; The identification method and system further comprise:

[0070] In the first embodiment of the present invention, a point cloud coordinate acquisition step 341 for acquiring point cloud coordinates for photographed data of the guide line C photographed by the photographing means 41; a line generating step 351 in which, if the number of arrangements of the point cloud coordinates is equal to or greater than a threshold, it is deemed that the guiding line C exists and a line H approximating the point cloud coordinates is generated; a travel control calculation step 361 for controlling travel based on the straight line H; The present invention comprises a control method and a control system for a moving object A, which include the steps of:

[0071] In the first embodiment of the present invention, The point cloud coordinate acquisition process 341 includes a median value acquisition process for acquiring a median value from an array coordinate group F acquired by scanning the point cloud coordinates in the width direction of the guide line C included in the photographing data, and a line median value acquisition process for acquiring a median point cloud coordinate for the width of the guide line C by repeating the median value acquisition process in the extension direction of the guide line C. The control method and control system for the moving body A further include:

[0072] In the first embodiment of the present invention, The straight line H is generated by the least squares method, and the slope and intercept of the straight line H are obtained. The present invention comprises a control method and a control system for a moving body A, characterized in that

[0073] In the first embodiment of the present invention, a coarse-graining step of performing a coarse-graining process on the photographed data; The control method and control system for the moving body A further include:

[0074] In a first embodiment of the present invention, a movable traveling unit 21; An imaging means 41 for imaging the guide line C; a control unit (31) that causes the traveling unit (21) to travel along the guide line (C) based on the photographing data acquired from the photographing means (41), The control unit 31 acquires point cloud coordinates for the photographed data, and if the number of arrangements of the point cloud coordinates is equal to or greater than a threshold, it determines that the guide line C exists, generates a straight line H that approximates the point cloud coordinates, and controls the traveling unit 21 to travel based on the straight line H. The mobile unit A comprises:

[0075] In the first embodiment of the present invention, The control unit 31 performs a median value acquisition process to acquire a median value from the array coordinate group F acquired by scanning the point cloud coordinates in the width direction relative to the traveling direction with respect to the photographing data, and performs a line median value acquisition process to acquire the point cloud coordinates of the median value for the width of the guide line C by repeating the median value acquisition process in the extension direction of the guide line C. The mobile unit A comprises:

[0076] In the first embodiment of the present invention, The straight line H is generated by the least squares method, and the slope and intercept of the straight line H are obtained. The mobile unit A comprises:

[0077] In the first embodiment of the present invention, performing a coarse-graining process on the photographed data; The mobile unit A comprises:

[0078] A second embodiment of the present invention will now be described. The outline of the aircraft and the guide line C are the same as those in the first embodiment.

[0079] Control marker D will now be described. As shown in Figures 10 and 11, control marker D is an address identification marker that, when read by mobile unit A, recognizes an address number, which is position information specified on traveling surface B. By reading control marker D, the address number at the read position is recognized, and mobile unit A is caused to perform a specified operation. D1 is the detection range of the control marker.

[0080] As shown in Figures 8 to 10, the control markers D are attached, fixed, or painted on the travel surface B parallel to and adjacent to the guide line C. In the embodiment, the control markers D are made of adhesive tape with a certain width, and are placed on one side of the width direction adjacent to the guide line C at one or more locations parallel to the guide line C, and are attached to the travel surface B for a set distance in the direction of travel. The number of control markers D placed in the width direction of the moving body A varies depending on the control content of the moving body A. In the embodiment, the control markers are placed at intervals of about 50 cm, but a spacing of about 10 cm to 100 cm is generally sufficient. Depending on the state of the moving object A, the state of the calculation processing, and the surrounding environment, it may be possible to place the control marker D beyond the above distance range. For example, the length of the control marker D is determined based on the braking performance of the moving object A and the susceptibility of the traveling surface B to dirt. In addition to adhesive tape or a coating, the control marker D may also be a long member with a thickness that does not interfere with the traveling of the moving object A. In the embodiment, the control marker D is described as being placed adjacent to the right side of the guide line C in the traveling direction, but it may also be placed on the left side.

[0081] There is no limitation on the color of the control marker D, but it is preferable that it be a color different from the running surface B and a hue different from the guide line C. There is no limitation on the width, but any width that is normally available will suffice and is selected appropriately according to the running surface B on which it will be installed. In this embodiment, a control marker D having a width of approximately 1.5 to 2 cm is used. In addition, the control markers D will be described as being arranged in three rows to the right of the guide line C in the width direction when viewed from above.

[0082] The control unit 31 in the second embodiment will be described. The control unit 31 for recognizing the control marker D and controlling the moving object A comprises a color extraction calculation unit 32, a binarization calculation unit 3210, a sequence acquisition calculation unit 3510, an address number acquisition calculation unit 3513, and a travel control unit 36. It may further comprise a normalization calculation unit 3220 and an update rate improvement control unit 3215. The control markers D will be described as being provided at three adjacent locations parallel to the guide line C.

[0083] The control flow will be explained with reference to FIG. (1) The photographing means 41 performs a photographing data acquisition step 311 in which the photographing means 41 photographs the traveling surface B. In the photographing data acquisition step 311, the photographed photographing data is transmitted to the control unit 31. The photographing data is image data that is a still image, and is acquired by the photographing means 41 intermittently at a fixed time interval. This time interval can be changed or adjusted as appropriate.

[0084] (2) When the control unit 31 acquires the photographic data from the photographing means, it executes a color extraction step 321. In the color extraction step 321, the control marker D is extracted from the guide line C indicating the guide direction and the control marker D indicating the control content, both of which are included in the photographic data acquired by the color extraction calculation unit 32. At this time, the color of the set control marker D is recognized and extracted.

[0085] (3) Once the control marker D is extracted, the process enters a binarization step 3211 by a binarization calculation unit 3210, as shown in Figures 8 and 14. In the binarization step 3211, an arithmetic process is performed to binarize the image containing the control marker D obtained in the color extraction step 321. In other words, an arithmetic process is performed to express the types of colors contained in the image using only two colors, black and white. The threshold value used in this calculation can be freely changed, and by changing it as appropriate depending on the embodiment, binarization can be performed appropriately.

[0086] (4) After the binarization step 3211 is completed, an update rate improvement step 3212 is performed by an update rate improvement control unit 3215, as shown in Fig. 8 and Fig. 14. In the update rate improvement step 3212, if the area of ​​the control marker D recognized on the binarized image is equal to or greater than a threshold, the update rate of the continuously acquired photographic data is improved. In the second embodiment, the update rate of the photographed data is improved by slowing down the traveling speed of the moving object A. That is, to determine whether the marker is a control marker D, the traveling speed of the moving object A is slowed down, and the traveling surface B where the control marker D is estimated to exist is photographed again carefully to obtain a photographed image. The update rate improvement step 3212 can also be said to cause the photographing means 41 moving above the control marker D to increase the number of photographs taken per unit distance. The update rate improvement step 3212 improves reliability by re-measuring whether what was once estimated to be a control marker D is really a control marker D. This makes it possible to prevent the estimated control marker D from being mistakenly recognized as simply being formed by a foreign object or the like.

[0087] In the update rate improvement step 3212, the traveling surface B is photographed by the photographing means while the traveling speed of the moving object A is reduced, thereby improving the coincidence rate between the estimated control marker D and the actual control marker D within a set finite distance of the control marker D. Since the control marker D is arranged parallel to the adjacent guide line C at a finite distance, it is possible to prevent erroneous recognition caused by foreign objects, etc.

[0088] In the second embodiment of the present invention, the traveling speed of the moving object A is normally 3 km / h, but is reduced to approximately 1 km / h in the update rate improvement step 3212. By reducing the traveling speed, the update rate, which is the image capture frequency of the image capture means 41, is increased, so there is no need to improve the image quality in order to increase the update rate. In other words, even if the image capture means 41 is simple, it can ensure that the control unit 31 is able to recognize the control marker D sufficiently. In addition, because the image capture means 41 is placed at a low position, approximately 20 cm above the control marker D, it is possible to obtain image quality of the acquired image data that is sufficient for judgment, even if the image capture means does not have high performance.

[0089] The update rate improvement step 3212 is also a step for identifying the control marker D included in the captured data as the control marker D through calculation. In addition, in the update rate improvement step 3212, if the area of ​​the control marker D recognized on the binarized image does not meet the threshold value, it is treated as if the control marker D does not exist, and the acquisition of shooting data from the shooting means is continued again.

[0090] (5) After the update rate improving step 3212 is completed, the line generating step 351 shown in FIGS. 9 and 14 is performed. 9, a straight line H pointing in the traveling direction is generated by converting the center of the width of the guide line C contained in the photographed data captured by the photographing means into a point cloud. In this case, binarized photographed data may be used. The process is the same as the process up to obtaining the straight line H of the guide line C in the first embodiment, so the details are omitted.

[0091] (6) Once the straight line H is generated in the straight line generation step 351 shown in FIGS. 9 and 14, the process proceeds to the standardization step 3221 shown in FIGS. 10 and 14. The standardization step 3221 is performed by the standardization calculation unit 3220. The standardization step 3221 aligns the angle and position of the image in the binarized shooting data with the generated straight line H as a reference. In the binarized shooting data, if the front-to-back direction with respect to the moving object A is the Y axis and the width direction is the X axis, the angle of the image is adjusted so that the straight line H is parallel to the Y axis. In other words, the control marker D positioned parallel to the guide line C is recognized in the calculation, and is therefore approximately parallel to the straight line H obtained in the calculation. Therefore, the angle of the control marker D in the image after the angle adjustment is also adjusted to follow the line H.

[0092] The reference position P is determined by rotating the generated straight line H as shown in Figure 10, so even if the boundary of the guide line C is damaged and not linear, the extension direction of the guide line C can be made parallel to the Y axis, which is the vertical axis, on the calculated coordinate system. As a result, the control marker D, which is generally installed parallel to the guide line C, can also be made parallel to the Y axis, which is the vertical axis.

[0093] Then, for the angle-adjusted image, the reference position P is determined so that the boundary between the guide line C and the control marker D becomes the origin of the X-axis. If there is no control marker D next to the guide line C, the boundary in the width direction of the guide line C in the direction where the control marker D is assumed to be located is set as the reference position P.

[0094] (7) After the scaling operation unit 3220 completes the scaling process 3221, the process proceeds to the array acquisition process 3511 shown in FIGS. 10 and 14. In the array acquisition process 3511, the array acquisition operation unit 3510 compresses the image in the binarized image data after the scaling process 3221 in the direction of travel to acquire the array of the control markers D. Specifically, the image of the control markers D adjusted in the scaling process 3221 is compressed in the direction that compresses the longitudinal direction of the control markers D (the vertical direction in the drawing). When the control markers D whose longitudinal direction has been compressed on the image are viewed in order in the width direction, an array of one row of control markers D can be obtained. This array is read in a process described later. In this embodiment, the image is compressed to 1 / 10 of a pixel, but the compression rate can be freely changed depending on the application form. It is also possible to compress to a specified pixel unit. For example, even if the control marker D is damaged and broken or has missing parts, the density of the control marker D per unit area can be improved, and the control marker D can be properly recognized.

[0095] (8) Once the arrangement of the control markers D in the image is obtained in the arrangement obtaining step 3511, an address number obtaining operation unit 3513 performs an address number obtaining step 3512, as shown in Figures 10, 11 and 14. The address number obtaining operation unit 3513 is provided in the control unit 31. In the address number acquisition process 3512, the array of control markers D is divided for each set marker width. That is, as shown on the right side of FIG. 10, an image including control markers D compressed in the longitudinal direction on the image is divided into arrays for each set width of control markers D. By dividing, bit positions J corresponding to the control markers D are obtained. As shown in FIG. 10, by dividing the control markers D, from the left adjacent to the guide line C, they can be recognized as 1-bit position J1 (first bit), 2-bit position J2 (second bit), 3-bit position J3 (third bit), and so on. The illustration shows a state in which control markers D are recognized in 1-bit position J1 and 3-bit position J3, and no control marker D is recognized in 2-bit position J2.

[0096] In each area of ​​the control marker D divided into each bit position, if it is recognized that the control marker D is present, a binary number 1 is assigned, and if it is recognized that the control marker D is not present, a binary number 0 is assigned. Specifically, in accordance with the embodiment, if it is determined that the control marker D is present at 1 bit position J1, a 1 is assigned to the first bit, which is the first digit corresponding to the binary number, and if it is determined that the control marker D is not present at 1 bit position J1, a 0 is assigned to the first bit, which is the first digit corresponding to the binary number. Similarly, if it is determined that a control marker D is present at the 2-bit position J2, a 1 is assigned to the 2nd bit, which is the second digit corresponding to the binary number, and if it is determined that a control marker D is not present at the 2-bit position J2, a 0 is assigned to the 1st bit, which is the first digit corresponding to the binary number. If it is determined that a control marker D is present at the 3-bit position J3, a 1 is assigned to the 3rd bit, which is the third digit corresponding to the binary number, and if it is determined that a control marker D is not present at the 3-bit position J3, a 0 is assigned to the 3rd bit, which is the third digit corresponding to the binary number.

[0097] The control markers D correspond to the first bit, which is the first digit of the binary number, in order starting from the side closest to the guide line C. In other words, the presence or absence of a control marker D at each bit position J can be said to correspond to each bit, which is a digit in the binary number. It can also be said that the control marker D installed adjacent to the guide line C on the running surface B indicates the address number at that position. 11 shows the arrangement of the control markers D and the correlation between the corresponding binary numbers and the corresponding decimal numbers. In the example, the control markers D are three digits, and are recognized as follows, starting from the guide line C: the control marker D is at the 1-bit position J1, there is no control marker D at the 2-bit position J2, and there is a control marker D at the 1-bit position J1. Therefore, the address number acquisition calculation unit 3513 acquires the address number (binary number) K1, 101, in binary representation, as shown in FIG.

[0098] Since binary representation is difficult to understand in a real work environment, it may be converted to a decimal address of 5. As shown in FIG. 11, the address number (decimal number) K2 converted to decimal can be displayed on the display unit to make it easier for workers to recognize. In the example, address 101, which is binary address number K1, corresponds to decimal address number K2, which is 5. Other binary address numbers K1 are also made to correspond to decimal address numbers K2 following this example.

[0099] (9) When the address number is acquired by the address number acquisition calculation unit 3513, the process enters into a travel control calculation step 361 by the travel control unit 36. In the travel control calculation step 361, the travel mode of the travel unit 21 of the moving body A is determined based on the acquired address number. Specifically, the moving body A is made to take a predetermined travel mode such as stopping, continuing to travel, or turning, for the current address number obtained by photographing the travel surface B. For example, let us assume that addresses 1 to 7, in decimal notation, are located at intervals along guide line C from the travel start position, and that the vehicle travels back and forth between addresses 1 to 7. Furthermore, mobile object A is provided with a plurality of address number setting switches 511 to 517 corresponding to the address numbers, and mobile object A is located at address 1. 518 is an emergency stop switch (not shown in FIG. 1).

[0100] When the worker operates the address number setting switch 517 corresponding to number 7 among the address number setting switches 511 to 517 shown in Fig. 1, the moving object A starts traveling on the outbound route along the guide line C. On the way, when it passes numbers 2 to 6, it compares them with the address numbers acquired by the photographing means 41. Since the target address number and the address number acquired when it passed are different, moving body A continues moving without stopping. After that, when it approaches number 7, it determines that the address number acquired through the above process matches the target address number, and stops traveling unit 21 of moving body A. In other words, moving body A stops.

[0101] Thereafter, when the worker operates the address number setting switch 516 corresponding to No. 6 while the mobile unit A is located at No. 7, the mobile unit A performs a turning movement, including turning on the spot, and travels back along the guide line C toward No. 6. When traveling back, the position of the control marker D relative to the guide line C is reversed left and right compared to when traveling outward, but even if the left and right are reversed, the left and right reversed control can be performed based on the procedure explained above. In this way, when the mobile object A approaches the destination address 6, it is determined that the target address number matches the address number obtained by the photographing means, and the mobile object A is stopped.

[0102] Although the invention has been described above in the second embodiment, the information and control contents recognized by the control marker D are not necessarily limited to those indicating an address number. For example, the information and control contents may include control that simply indicates a driving mode including driving, stopping, and turning, or a driving mode indicating a turning direction and angle. Furthermore, the control unit 31 may include control contents, such as a warning signal or flag, for smoothly transitioning to the next driving mode while driving. Furthermore, the control contents may include control contents that indicate the behavior that the moving object A should take when the guide line C includes a branch point.

[0103] In the example, the mobile object A is shown to travel back and forth between addresses along the guide line C, but the guide line C may be provided in a circular shape, and the mobile object A may travel in one direction along the guide line C. Furthermore, the guide line C may include a branch.

[0104] In the explanation, the decimal number is an address number, but it does not necessarily have to be an address number. By reading the control marker D, it may also be an instruction content that the moving body A should perform at the time of reading. For example, if the read control marker D is the specified content, it may be configured to operate a movable part of the moving body A.

[0105] The effects of the second embodiment will be explained. Since the control marker D is made of adhesive tape, it is possible to easily change its position or the control content indicated by the control marker D by reattaching it. The binarization step 3211 simplifies the image to be handled in the subsequent steps, thereby reducing the load on the control.

[0106] The update rate improvement step 3212 improves the reliability of the recognition of the control marker D. In other words, since it is possible to suppress erroneous recognition due to foreign objects or damage to the control marker D, it is possible to properly control the moving object A even in poor environmental conditions or when the state of the control marker D deteriorates. The angle and position of the image of the control marker D in the imaging data are adjusted based on the guide line C (generated straight line H), which facilitates subsequent calculations. In other words, the control marker D is positioned along the X-axis, which is the horizontal axis, and the Y-axis, which is the vertical axis, which simplifies the calculations related to analysis and simplifies the configuration of the control unit 31.

[0107] The compression process in the sequence acquisition step 3511 allows the control marker D to be properly recognized as a control marker D even if it has damaged or broken parts or missing parts, as shown in Figure 15. In the second embodiment, as in the first embodiment, even if the control marker D cannot be photographed in an appropriate state, it can be properly recognized. Fig. 15 shows a state in which the guide line C is covered by a foreign object (black portion) C1 by about 20 cm, but this can also be applied to the control marker D. Even if the control marker D is partially missing or cut and is essentially broken, the compression process in the sequence acquisition step 3511 allows the control unit 31 to properly recognize it as a control marker D. In the sequence acquisition process 3511, the control markers D are associated in order from the side closest to the guide line C, starting from the first bit, which is the first digit corresponding to the binary number, making it easy to understand the control syntax. Also, because the control markers D directly represent binary numbers depending on the attachment position, the control content indicated by the control markers D can be easily read. Even if the worker does not understand binary numbers, the control content can be understood simply by whether or not the control markers D are attached at the bit positions at the installation point.

[0108] Therefore, in a second embodiment of the present invention, an imaging data acquisition step 311 of photographing the road surface and obtaining imaging data; a color extraction step 321 for extracting a control marker D from a guide line C indicating a guide direction and a control marker D indicating a control content included in the acquired photographic data; a binarization step 3211 for binarizing an image including the extracted control marker D; an array acquisition step 3511 for compressing the binarized image of the control marker D in the extension direction of the guide line C on the image to acquire the array of the control marker D; an address number acquisition step 3512 for dividing the array of the binarized control markers D into set marker widths and acquiring corresponding address numbers; The present invention comprises a recognition method and a recognition system comprising:

[0109] In a second embodiment of the present invention, a standardization step 3221 for adjusting the angle and position of the image in the binarized photographing data based on the guide line C included in the photographing data; The recognition method and system further include:

[0110] In a second embodiment of the present invention, The standardization step 3221 includes a line generation step 351 for generating a line H extending in the traveling direction by converting the central portion of the width of the guide line C into a point cloud. The present invention comprises a recognition method and a recognition system.

[0111] In a second embodiment of the present invention, an update rate improvement step 3212 for improving the update rate of the acquired photographic data when the area of ​​the control marker D recognized on the binarized image is equal to or greater than a threshold; The recognition method and system further include:

[0112] In a second embodiment of the present invention, an imaging data acquisition step 311 of photographing the road surface and obtaining imaging data; a color extraction step 321 for extracting a control marker D from a guide line C indicating a guide direction and a control marker D indicating a control content included in the acquired photographic data; a binarization step 3211 for binarizing an image including the extracted control marker D; an array acquisition step 3511 for compressing the binarized image of the control marker D in the extension direction of the guide line C on the image to acquire the array of the control marker D; an address number acquisition step 3512 for dividing the array of the binarized control markers D into set marker widths and acquiring corresponding address numbers; a travel control calculation step 361 for issuing a corresponding travel control command when the recognized address number is recognized for a specified time or longer; The present invention comprises a control method and a control system for a moving object A, which include the steps of:

[0113] In a second embodiment of the present invention, a standardization step 3221 for adjusting the angle and position of the image in the binarized photographed data based on the guide line C included in the acquired photographed data; The control method and system for moving body A further include:

[0114] In a second embodiment of the present invention, The standardization step 3221 includes generating a line H in the direction of travel by converting the center of the width of the guide line C into a point cloud, and adjusting the angle and position of the image in the binarized photographed data based on the generated line H. The present invention comprises a control method and a control system for a moving object A, characterized in that

[0115] In a second embodiment of the present invention, an update rate improvement step 3212 for improving the update rate of the acquired photographic data when the area of ​​the control marker D recognized on the binarized image is equal to or greater than a threshold; The control method and system for moving body A further include:

[0116] In a second embodiment of the present invention, The update rate improving step 3212 includes a speed reducing step of reducing the traveling speed of the moving object A, The control method and system for moving body A further include:

[0117] In a second embodiment of the present invention, a movable traveling unit 21; An imaging means for imaging the road surface; a control unit (31) that controls the traveling of the traveling unit (21) based on the photographing data acquired from the photographing means, The control unit 31 is configured to extract the control marker D from the guide line C indicating the guide direction and the control marker D indicating the control content, which are included in the photographed data of the road surface photographed by the photographing means, and to extract the control marker D from the color of the guide line C and the control marker D, and to extract the control marker D from the color of the control marker D and to a binarization calculation unit 3210 that binarizes the image including the control marker D extracted by the color extraction calculation unit 32; an array acquisition calculation unit 3510 that compresses the binarized image of the control marker D in the extension direction of the guide line C on the image to acquire the array of the control marker D; an address number acquisition calculation unit 3513 that divides the array of the binarized control markers D into set marker widths and acquires corresponding address numbers; a travel control unit 36 ​​that issues a corresponding travel control command when the recognized address number is recognized for a specified time or longer; The mobile unit A is characterized by comprising:

[0118] In a second embodiment of the present invention, The control unit 31 includes a standardization calculation unit 3220 that aligns the angle and position of the image in the binarized photographing data with a reference position P based on the guide line C included in the photographing data; The mobile unit A is characterized by comprising:

[0119] In a second embodiment of the present invention, The normalization calculation unit 3220 generates a straight line H extending in the direction of travel by converting the central portion of the width of the guide line C into a point cloud, and adjusts the angle and position of the image in the binarized photographed data based on the generated straight line H. The mobile unit A comprises:

[0120] In a second embodiment of the present invention, an update rate improvement control unit 3215 that improves the update rate of the acquired photographic data when the area of ​​the control marker D recognized on the binarized image is equal to or larger than a threshold; The mobile unit A further includes:

[0121] In a second embodiment of the present invention, The update rate is improved by decreasing the traveling speed of the moving object. The mobile unit A comprises: [Explanation of symbols]

[0122] 11 Main body 21 Running part 31 Control Unit 311 Shooting data acquisition process 32 Color extraction calculation section 321 Color extraction process 3211 Binarization process 3212 Update rate improvement process 341 Point cloud coordinate acquisition process 351 Line generation process 3511 Sequence acquisition process 3512 Address number acquisition process 36 Travel control unit 361 Driving control calculation process 41 Filming Method 51 Operation section A Mobile C Guidance line D Control Marker F array coordinate group G Point cloud coordinates indicating the median value remaining after median value acquisition (point cloud remaining after median value acquisition, point cloud coordinates indicating the median value of the guide line C, array coordinate group which is the point cloud coordinate of the median value of the guide line C) H straight line P reference position W coordinate

Claims

1. a point cloud coordinate acquisition step of acquiring point cloud coordinates for photographed data of the guide line photographed by a photographing means; a line generating step of determining that the guiding line exists if the number of arrangements of the point cloud coordinates is equal to or greater than a threshold value, and generating a line approximating the point cloud coordinates; 10. A method for identifying a target object, comprising:

2. The point cloud coordinate acquiring step includes a median acquiring step of acquiring a median value from an array coordinate group acquired by scanning the point cloud coordinates in the width direction of the guide line included in the photographing data, and a line median acquiring step of acquiring a median point cloud coordinate for the width of the guide line by repeating the median acquiring step in the extension direction of the guide line. The method of claim 1 further comprising:

3. The line generation step generates the line by a least squares method, and obtains the slope and intercept of the line.

3. The method according to claim 1, wherein the first and second electrodes are electrically connected to each other.

4. a coarse-graining step of performing a coarse-graining process on the photographed data; The method of claim 1 or 2, further comprising:

5. a point cloud coordinate acquisition step of acquiring point cloud coordinates for photographed data of the guide line photographed by a photographing means; a line generating step of determining that the guiding line exists if the number of arrangements of the point cloud coordinates is equal to or greater than a threshold value, and generating a line approximating the point cloud coordinates; a travel control calculation step for controlling the vehicle to travel based on the straight line; A method for controlling a moving object, comprising:

6. The point cloud coordinate acquiring step includes a median acquiring step of acquiring a median value from an array coordinate group acquired by scanning the point cloud coordinates in the width direction of the guide line included in the photographing data, and a line median acquiring step of acquiring a median point cloud coordinate for the width of the guide line by repeating the median acquiring step in the extension direction of the guide line. The method for controlling a moving body according to claim 5, further comprising:

7. The straight line is generated by the least squares method, and the slope and intercept of the straight line are obtained.

7. The method for controlling a moving body according to claim 5 or 6.

8. a coarse-graining step of performing a coarse-graining process on the photographed data; 7. The method for controlling a moving body according to claim 5, further comprising:

9. a traveling unit capable of moving and traveling; An imaging means for imaging the guide line; a control unit that causes the traveling unit to travel along the guide line based on the photographing data acquired from the photographing means, The control unit acquires point cloud coordinates for the photographed data, and if the number of arrangements of the point cloud coordinates is equal to or greater than a threshold, the control unit determines that the guide line exists, generates a straight line approximating the point cloud coordinates, and controls the traveling unit to travel based on the straight line. A moving object characterized by:

10. The control unit performs a median value acquisition process to acquire a median value from an array coordinate group acquired by scanning the point cloud coordinates in a width direction relative to the traveling direction with respect to the photographing data, and performs a line median value acquisition process to acquire a median point cloud coordinate for the width of the guide line by repeating the median value acquisition process in an extension direction of the guide line.

10. The moving body according to claim 9.

11. The straight line is generated by the least squares method, and the slope and intercept of the straight line are obtained.

11. The moving body according to claim 9 or 10.

12. performing a coarse-graining process on the photographed data; 11. The moving body according to claim 9 or 10.

13. a point cloud coordinate acquisition step of acquiring point cloud coordinates for photographed data of the guide line photographed by a photographing means; a line generating step of determining that the guiding line exists if the number of arrangements of the point cloud coordinates is equal to or greater than a threshold value, and generating a line approximating the point cloud coordinates; An identification system comprising:

14. The point cloud coordinate acquiring step includes a median acquiring step of acquiring a median value from an array coordinate group acquired by scanning the point cloud coordinates in the width direction of the guide line included in the photographing data, and a line median acquiring step of acquiring a median point cloud coordinate for the width of the guide line by repeating the median acquiring step in the extension direction of the guide line. The identification system of claim 13 further comprising:

15. The line generation step generates the line by a least squares method, and obtains the slope and intercept of the line.

15. An identification system according to claim 13 or 14.

16. a coarse-graining step of performing a coarse-graining process on the photographed data; 15. The identification system according to claim 13 or 14, further comprising:

17. a point cloud coordinate acquisition step of acquiring point cloud coordinates for photographed data of the guide line photographed by a photographing means; a line generating step of determining that the guiding line exists if the number of arrangements of the point cloud coordinates is equal to or greater than a threshold value, and generating a line approximating the point cloud coordinates; a travel control calculation step for controlling the vehicle to travel based on the straight line; A control system for a moving object comprising:

18. The point cloud coordinate acquiring step includes a median acquiring step of acquiring a median value from an array coordinate group acquired by scanning the point cloud coordinates in the width direction of the guide line included in the photographing data, and a line median acquiring step of acquiring a median point cloud coordinate for the width of the guide line by repeating the median acquiring step in the extension direction of the guide line. The control system for a moving object according to claim 17, further comprising:

19. The straight line is generated by the least squares method, and the slope and intercept of the straight line are obtained.

19. A control system for a moving body according to claim 17 or 18.

20. a coarse-graining step of performing a coarse-graining process on the photographed data; The control system for a moving object according to claim 17 or 18, further comprising:

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