Method, program, non-transitory computer-readable recording medium, and position determining device

Abstract

To provide a method for determining the position of a landmark that can respond to changes in the surrounding environment. [Solution] A method for determining the position of a landmark that is installed in a travel space in which a transport device equipped with a LiDAR device travels, and that reflects light emitted from the LiDAR device to enable the transport device to obtain information for estimating its own position in the travel space, determines the position of the landmark based on 3D data of the travel space and environmental information of the travel space.

Description

[Technical Field]

[0001] The present disclosure relates to a method, a program for causing a computer to execute the method, a non-transitory computer-readable recording medium having the program recorded thereon, and a position determination device. [Background technology]

[0002] Patent Document 1 discloses an automatic leveling robot that moves automatically along a set route while leveling poured concrete surfaces. In the invention of Patent Document 1, the poured concrete surface and / or fixed structures around the poured concrete surface are set as markers, and the robot's current position and the amount of correction to its direction of travel are determined based on the markers detected by a laser range finder. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-60021 Summary of the Invention [Problem to be solved by the invention]

[0004] In a space where concrete is being poured, the surrounding environment may change frequently. In the invention of Patent Document 1, fixed structures are set as markers, so it may not be possible to determine the amount of correction to the current position and direction of travel of the aircraft in accordance with changes in the surrounding environment.

[0005] An object of the present disclosure is to provide a method, a program, a non-transitory computer-readable recording medium, and a position determination device that can determine the position of a landmark that can respond to changes in the surrounding environment. [Means for solving the problem]

[0006] A method according to one aspect of the present disclosure includes: A method for determining the position of a landmark that is installed in a travel space in which a transportation device having a LiDAR device travels, and that can reflect light irradiated from the LiDAR device to allow the transportation device to estimate its own position in the travel space, 3D data of the driving space; Environmental information of the driving space; The position of the landmark is determined based on the

[0007] A program according to one embodiment of the present disclosure includes: The method of the above aspect is executed by a computer.

[0008] A non-transitory computer-readable recording medium according to one aspect of the present disclosure includes: A program for causing a computer to execute the method of the above aspect is recorded.

[0009] A position determination device according to one aspect of the present disclosure includes: An acquisition unit capable of acquiring 3D data of a travel space in which a transport device having a LiDAR device travels and environmental information of the travel space; a determination unit that can determine the position of a landmark that can reflect light irradiated from the LiDAR device and allow the transportation device to estimate its own position in the traveling space based on the acquired 3D data and the environmental information; Equipped with. [Effects of the Invention]

[0010] According to the present disclosure, it is possible to realize a method, a program, a non-transitory computer-readable recording medium, and a position determination device that can determine the position of a landmark that can respond to changes in the surrounding environment. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a block diagram illustrating a position determining device according to one aspect of the present disclosure. [Figure 2] FIG. 2 is a diagram for explaining a driving space, landmarks, and a driving route. [Figure 3]10 is a first flowchart illustrating an example of a method of the present disclosure that can be performed by the position-determining device of FIG. [Figure 4] 10 is a second flowchart illustrating an example of a method of the present disclosure that can be performed by the position-determining device of FIG. DETAILED DESCRIPTION OF THE INVENTION

[0012] An example of the present disclosure will be described below with reference to the accompanying drawings. The following description is merely exemplary in nature and does not limit the present disclosure, its applications, or uses. The accompanying drawings are schematic drawings, and the illustrated configurations and actual products may differ in dimensional ratios, etc. In the following description, terms such as "about" or "approximately" mean that the values, shapes, etc. following these terms include an acceptable range of error as determined by a person skilled in the art.

[0013] As shown in Figures 1 and 2, a positioning device 1 according to one embodiment of the present disclosure is applied to equipment for determining the position of a landmark 210 installed in a travel space 200 in which a conveying device 100 having a LiDAR device 110 travels, and is configured to be able to execute a method for determining the position of the landmark 210.

[0014] The transport device 100 is a transport robot configured to autonomously travel a specified travel route 220 while estimating its own position based on, for example, global information and local information. The global information includes, for example, map information of the entire travel route 220 of the transport device 100, and is created in advance. The local information includes information about the current position of the transport device 100 acquired by the LiDAR device 110. The LiDAR device 110 is a type of sensor that uses laser light and is configured to detect, for example, the distance from the transport device 100 to an object, the position of the object relative to the transport device 100, and the shape of the transport device 100.

[0015] As an example, the travel space 200 is inside a building under construction, and multiple landmarks 210 are installed therein. Each landmark 210 is configured to reflect light emitted from the LiDAR device 110 so that the transport device 100 can acquire information (i.e., local information) for estimating its own position in the travel space 200. For example, the own position of the transport device 100 is estimated by the LiDAR device 110 recognizing light emitted from the LiDAR device 110 and reflected by each landmark 210.

[0016] In this embodiment, each landmark 210 is provided with high-intensity reflective tape and is adjacent to the travel path 220. The position of each landmark 210 is added to the global information as a "fixed feature point." For example, if the transport device 100 can perform self-localization using not only the landmarks 210 but also information about the surrounding environment other than the landmarks 210 detected by the LiDAR device 110, the execution of self-localization using the landmarks 210 is prioritized. If the transport device 100 cannot recognize light reflected by a predetermined number (e.g., three) or more of the landmarks 210 (i.e., if it cannot detect the predetermined number or more of the landmarks 210), it does not perform self-localization using the landmarks 210. In this case, the transport device 100 performs self-localization using information about the surrounding environment other than the landmarks 210. In a travel space 200 where the surrounding environment may change frequently, such as in a building under construction, self-localization using the landmarks 210 often has higher accuracy than self-localization using information about the surrounding environment other than the landmarks 210.

[0017] 1, the positioning device 1 includes a processor 11, a storage unit 12, a communication unit 13, an acquisition unit 14, and a determination unit 15. In this embodiment, the positioning device 1 further includes a proposal unit 16.

[0018] The processor 11 includes, for example, a CPU, an MPU, a GPU, a DSP, an FPGA, or an ASIC. The storage unit 12 is configured, for example, by an internal recording medium or an external recording medium. The internal recording medium includes a non-volatile memory, etc. The external recording medium includes a hard disk (HDD), a solid state drive (SSD), an optical disk device, etc. The communication unit 13 is configured, for example, by a communication circuit or a communication module for transmitting and receiving data to and from an external device 300 (see FIG. 1) such as a server.

[0019] The acquiring unit 14, the deciding unit 15 and the proposing unit 16 are realized by the processor 11 executing a predetermined program stored in the storage unit 12, for example.

[0020] The acquisition unit 14 is configured to acquire, for example, via the communication unit 13, 3D data of the travel space 200 in which the conveyance device 100 travels and environmental information about the travel space 200. In this embodiment, the 3D data of the travel space 200 and the environmental information about the travel space 200 are stored in the external device 300 and acquired via the communication unit 13. In addition to the 3D data and environmental information about the travel space 200, the acquisition unit 14 is configured to acquire other information necessary to determine the position of the landmark 210 (for example, information about the set travel route 220 of the conveyance device 100, information about the construction work process, information possessed only by construction workers). Data including the information acquired by the acquisition unit 14 is stored, for example, in the memory unit 12.

[0021] The 3D data of the travel space 200 includes, for example, Building Information Modeling (BIM) data or point cloud data. BIM data includes, for example, three-dimensional shape information of the building including the travel space 200, and attribute information of the building such as the names and areas of rooms, specifications and performance of materials and components, and finishes. The point cloud data includes three-dimensional information of the building including the travel space 200, acquired, for example, from a fixed camera installed in the travel space 200, or the LiDAR device 110 of a transport device 100 that has previously traveled the travel space 200, or a LiDAR device mounted on another moving body, or a LiDAR device carried by a person.

[0022] The environmental information of the travel space 200 includes at least one of information about sunlight in the travel space 200, information about objects placed in the travel space 200, and information about goods to be transported by the conveyance device 100. The information about sunlight in the travel space 200 includes, for example, information about the range of direct light and reflected light in the travel space 200. The information about the objects placed in the travel space 200 includes, for example, information about the shape, size, color, and mobility of the objects placed in the travel space 200. The information about goods to be transported by the conveyance device 100 includes, for example, information about the type, size, shape, and number of the goods.

[0023] The determination unit 15 is configured to be able to determine the positions of the landmarks 210 based on the acquired 3D data and environmental information of the travel space 200. For example, the determination unit 15 determines the positions of the landmarks 210 so that they are "explicit and immovable" with respect to the conveyance device 100. "Explicit" means that a predetermined number or more of the landmarks 210 can be detected regardless of the position of the conveyance device 100 on the travel path 220. "Immovable" means that the landmarks 210 do not move (in other words, there is no need to move them) while the conveyance device 100 is traveling autonomously.

[0024] In this embodiment, the determination unit 15 includes a simulation unit 151. The simulation unit 151 is configured to execute, for example, the method shown in Fig. 3. The method of Fig. 3 is implemented, for example, by the processor 11 executing a predetermined program.

[0025] The simulation unit 151 sets tentative positions of the landmarks 210 based on the 3D data of the travel space 200, environmental information about the travel space 200, and information about the travel path 220 of the conveyance device 100 (step S1). In step S1, the simulation unit 151 generates a virtual space (hereinafter referred to as a simulation space) that reproduces the travel space 200 from the 3D data and environmental information about the travel space 200. The tentative positions of the landmarks 210 are set along the travel path 220 of the conveyance device 100 in the generated simulation space, for example, by user specification, or are automatically set based on predetermined conditions. The predetermined conditions in step S1 include, for example, the number of landmarks to be installed and the installation intervals.

[0026] Once the tentative position of the landmark 210 has been set, the simulation unit 151 executes a simulation of the conveyance device 100 traveling along the travel path 220 of the conveyance device 100 (step S2). In step S2, using the generated simulation space, it is verified whether the tentative position of the landmark 210 that has been set is "explicit and immovable" with respect to the conveyance device 100. The verification in step S2 may be performed taking into consideration the information shown below in addition to the 3D data and environmental information of the travel space 200. Information about actions that may be performed simultaneously with the autonomous travel of the transport device 100 in the travel space 200 (for example, information about the construction work process) Information about the travel space 200 that is not included in the 3D data and environmental information of the travel space 200 (for example, information that is possessed only by workers working on construction work in the travel space 200)

[0027] When the simulation is executed, the simulation unit 151 determines whether the result of the executed simulation satisfies a predetermined condition (step S3). The predetermined condition in step S3 includes, for example, that the temporary position of the set landmark 210 is “explicit and immovable” with respect to the transport device 100.

[0028] If it is determined that the result of the executed simulation satisfies the predetermined condition (step S3=YES), the simulation unit 151 determines the set tentative position of the landmark 210 as the optimal position of the landmark 210 (step S4). The determined position of the landmark 210 is displayed, for example, on a display provided in the positioning device 1, or via an external device (for example, a portable device such as a smartphone, a wearable device such as smart glasses or a smart watch, or a display) connected to the positioning device 1 via wired or wireless communication.

[0029] If it is determined that the results of the executed simulation do not satisfy the predetermined conditions (step S3=NO), the process returns to step S1, and the temporary positions of the landmarks 210 are reset. The resetting of the temporary positions of the landmarks 210 includes moving or deleting the temporary positions of the landmarks 210 that do not satisfy the predetermined conditions, and / or setting new temporary positions of the landmarks 210.

[0030] The proposing unit 16 is configured to verify whether the environment of the tentative position of the landmark 210 is a halation environment based on the environmental information of the travel route 220. This verification is performed (step S5) when it is not determined that the result of the executed simulation satisfies a predetermined condition (step S3=NO), as shown in Fig. 4, for example. The method of Fig. 4 is implemented by the processor 11 executing a predetermined program, for example.

[0031] A halation environment refers to an environment that may have an adverse effect on estimation of the self-position of the transport device 100. For example, a halation environment includes an environment in which the LiDAR device 110 cannot recognize or has difficulty recognizing light reflected by the landmark 210 due to the influence of sunlight or lighting (for example, an environment in which the brightness of the light reflected by the landmark 210 and the brightness of the light reflected in the surrounding environment other than the landmark 210 are approximately the same).

[0032] If the environment of the tentative position of the landmark 210 is determined to be a halation environment (step S5=YES), the suggestion unit 16 is configured to suggest a method for improving the halation environment based on the result of the verification (step S6). The suggestion includes, for example, adding lighting with predetermined performance to a predetermined position and taking measures for a certain period of time to prevent structures (e.g., white walls) that may cause the halation environment. The suggestion is displayed, for example, on a display provided in the positioning device 1 or via an external device (e.g., a mobile device such as a smartphone, a wearable device such as smart glasses or a smart watch, or a display) connected to the positioning device 1 by wired or wireless communication.

[0033] If it is not determined in step S5 that the environment of the temporary position of the landmark 210 is a halation environment (step S5=NO), and if a method for improving the halation environment is proposed in step S6, the process returns to step S1, and the temporary position of the landmark 210 is reset. In this case, step 1 may not be started until a command is received from the user.

[0034] The method illustrated in Figures 3 and 4 is an example of a method of the present disclosure, and in the description of Figures 3 and 4, "when" may be interpreted to mean "when" or "in response to."

[0035] The method of the present disclosure can achieve the following effects.

[0036] The method disclosed herein is a method for determining the position of a landmark 210 that is installed in a travel space 200 in which a transportation device 100 having a LiDAR device 110 travels, and that reflects light emitted from the LiDAR device 110 to enable the transportation device 100 to acquire information for estimating its own position in the travel space 200, and determines the position of the landmark 210 based on 3D data of the travel space 200 and environmental information of the travel space 200. With this configuration, a method can be realized that can determine the position of the landmark 210 in a manner that can respond to changes in the surrounding environment.

[0037] The environmental information includes at least one of information about sunlight in the travel space 200, information about objects placed in the travel space 200, and information about objects to be transported by the transport device 100. With this configuration, a method can be realized that can determine the position of the landmark 210 in a way that can reliably respond to changes in the surrounding environment.

[0038] The travel space 200 is a space inside a building, and the 3D data of the travel space 200 includes building information modeling data or point cloud data. With this configuration, a method can be realized that can determine the position of the landmark 210 in a way that can more reliably respond to changes in the surrounding environment.

[0039] The method of the present disclosure has the following configuration: With such a configuration, it is possible to realize a method capable of determining the position of the landmark 210 that can more reliably respond to changes in the surrounding environment. A tentative position of the landmark 210 is set based on the 3D data of the travel space 200, environmental information of the travel space 200, and information about the travel path 220 of the conveyance device 100. A simulation is performed in which the conveyance device 100 travels along the travel path 220. Based on the results of the simulation, the optimum position of the landmark 210 for the travel of the transport device 100 is determined.

[0040] The method of the present disclosure has the following configuration: With such a configuration, it is possible to realize a method for determining the position of the landmark 210 that can more reliably respond to changes in the surrounding environment. The running space 200 is inside a building under construction. The location of the landmark 210 that is optimal for the travel of the conveying device 100 is determined based on the 3D data of the travel space 200, environmental information of the travel space 200, and other information including information about the construction work process or information possessed only by construction workers.

[0041] The method of the present disclosure has the following configuration: With such a configuration, it is possible to realize a method capable of determining the position of the landmark 210 that can more reliably respond to changes in the surrounding environment. Based on the environmental information of the travel space 200, it is verified whether the environment of the tentative position of the landmark 210 is a halation environment that may adversely affect the estimation of the self-position of the transport device 100. If the environment of the provisional position of the landmark 210 is a halation environment, a method for improving the halation environment is proposed based on the result of verification of whether or not it is a halation environment.

[0042] The method of the present disclosure comprises the following configuration: With such a configuration, the landmark 210 can be easily placed at the determined position. The determined positions of the landmarks 210 are displayed via the wearable device.

[0043] The method of the present disclosure can be executed by a computer. The present disclosure includes a program for causing a computer to execute the method of the present disclosure, and a computer-readable storage medium storing a program for causing a computer to execute the method of the present disclosure.

[0044] The positioning device 1 includes an acquisition unit 14 and a determination unit 15. The acquisition unit 14 is configured to be able to acquire 3D data of a travel space 200 in which a transportation device 100 equipped with a LiDAR device 110 travels, and environmental information of the travel space 200. The determination unit 15 is configured to be able to determine the position of a landmark 210 that reflects light emitted from the LiDAR device 110 and from which information for the transportation device 100 to estimate its own position in the travel space 200 can be acquired, based on the acquired 3D data of the travel space 200 and the environmental information of the travel space 200. With this configuration, a positioning device that can determine the position of a landmark 210 that can respond to changes in the surrounding environment can be realized.

[0045] The method and position determination device 1 of the present disclosure can be configured as follows.

[0046] The 3D data of the travel space 200 is not limited to including Building Information Modeling (BIM) data and point cloud data. The 3D data of the travel space 200 does not have to include these data, or may include other data in addition to these data. The environmental information of the travel space 200 is not limited to including at least any of information regarding sunlight in the travel space 200, information regarding objects placed in the travel space 200, and information regarding objects transported by the transport device 100. The environmental information of the travel space 200 does not have to include these information, or may include other information in addition to these information.

[0047] The determination unit 15 is not limited to including the simulation unit 151. When the position of the landmark 210 is determined without executing a simulation of traveling the conveyance device 100 along the traveling path 220, the simulation unit 151 can be omitted.

[0048] The proposal unit 16 can be omitted.

[0049] The position determining device 1 may have an input device (not shown), in which case the acquiring unit 14 is configured to acquire information input via the input device.

[0050] The components constituting the position determination device 1 do not all need to be provided in a single device, but may be distributed, for example, across any number of networked computers, each of which may be provided with all of the components constituting the position determination device 1.

[0051] Various aspects of the disclosure are described below.

[0052] The method of the first aspect of the present disclosure comprises: A method for determining the position of a landmark that is installed in a travel space in which a transportation device having a LiDAR device travels, and that reflects light irradiated from the LiDAR device and can acquire information for the transportation device to estimate its own position in the travel space, comprising: 3D data of the driving space; Environmental information of the driving space; The position of the landmark is determined based on the

[0053] The method of the second aspect of the present disclosure is the method of the first aspect, further comprising: The environmental information includes at least one of information about sunlight in the travel space, information about objects placed in the travel space, and information about objects transported by the transport device.

[0054] The method of the third aspect of the present disclosure is the method of the first or second aspect, further comprising: The travel space is a space inside a building, The 3D data includes building information modeling data or point cloud data.

[0055] The method of the fourth aspect of the present disclosure is the method of any one of the first to third aspects, further comprising: setting a tentative position of the landmark based on the 3D data, the environmental information, and information about the travel route of the conveyance device; running a simulation of the transport device traveling along the travel path; From the results of the simulation, the optimum position of the landmark for the travel of the transport device is determined.

[0056] A method according to a fifth aspect of the present disclosure is the method according to the fourth aspect, further comprising: The travel space is inside a building under construction, The location of the landmark is determined based on the 3D data, the environmental information, and information about the construction process or other information, including information only possessed by construction workers.

[0057] The method of the sixth aspect of the present disclosure is the method of the fourth or fifth aspect, further comprising: verifying whether or not the environment of the provisional position is a halation environment that may adversely affect estimation of the self-position of the transport device based on the environmental information; If the environment of the provisional position is the halation environment, a method for improving the halation environment is proposed based on the result of the verification.

[0058] A method according to a seventh aspect of the present disclosure is any one of the methods according to the first to sixth aspects, The determined positions of the landmarks are displayed via the wearable device.

[0059] The program according to the eighth aspect of the present disclosure includes: The method according to any one of the first to seventh aspects is executed by a computer.

[0060] A non-transitory computer-readable recording medium according to a ninth aspect of the present disclosure includes: A program for causing a computer to execute the method of any one of the first to seventh aspects is recorded.

[0061] The position determination device 1 according to the tenth aspect of the present disclosure includes: An acquisition unit capable of acquiring 3D data of a travel space in which a transport device having a LiDAR device travels and environmental information of the travel space; a determination unit that can determine the position of a landmark that reflects light irradiated from the LiDAR device and can acquire information for the transportation device to estimate its own position in the travel space, based on the acquired 3D data and the environmental information; Equipped with.

[0062] Any of the various embodiments or modifications described above can be combined appropriately to achieve the effects of each. In addition, combinations of embodiments, combinations of examples, or combinations of embodiments and examples are possible, and combinations of features from different embodiments or examples are also possible.

[0063] Although the present disclosure has been described in each embodiment with a certain degree of detail, the disclosed contents of these embodiments may vary in structural details, and changes in the combination and order of elements in each embodiment may be made without departing from the scope and spirit of the claimed disclosure. [Industrial Applicability]

[0064] The present disclosure can be applied, for example, to determining the positions of landmarks for autonomous navigation of patrol robots or material transport robots used on construction sites. [Explanation of symbols]

[0065] 1 Positioning device 11 processors 12 Storage section 13 Communications Department 14 Acquisition Department 15 Decision Section 151 Simulation Department 16 Proposal Department 100 conveying device 110 LiDAR device 200 Running space 210 Landmark 220 Travel Route

Claims

1. A method for determining the position of a landmark that is installed in a travel space in which a transportation device having a LiDAR device travels, and that reflects light irradiated from the LiDAR device and can acquire information for the transportation device to estimate its own position in the travel space, comprising: 3D data of the driving space; Environmental information of the driving space; and determining the location of the landmark based on the

2. The method according to claim 1 , wherein the environmental information includes at least one of information about sunlight in the travel space, information about objects placed in the travel space, and information about objects transported by the transport device.

3. The travel space is a space inside a building, The method of claim 1 , wherein the 3D data comprises building information modeling data or point cloud data.

4. setting a tentative position of the landmark based on the 3D data, the environmental information, and information regarding a travel route of the conveyance device; running a simulation of the transport device traveling along the travel path; The method according to claim 1 , further comprising determining an optimum position of the landmark for travelling of the transport device from the results of the simulation.

5. The travel space is inside a building under construction, 5. The method of claim 4, wherein the location of the landmark is determined based on the 3D data, the environmental information, and information about the construction process or other information, including information possessed only by construction workers.

6. verifying whether or not the environment of the provisional position is a halation environment that may adversely affect estimation of the self-position of the transport device based on the environmental information; The method according to claim 4 , further comprising: if the environment of the provisional position is the halation environment, suggesting a method for improving the halation environment based on a result of the verification.

7. The method according to any one of claims 1 to 6, wherein the determined positions of the landmarks are displayed via a wearable device.

8. A program that causes a computer to execute the method according to any one of claims 1 to 6.

9. A non-transitory computer-readable recording medium having recorded thereon a program for causing a computer to execute the method according to any one of claims 1 to 6.

10. An acquisition unit capable of acquiring 3D data of a travel space in which a transport device having a LiDAR device travels and environmental information of the travel space; a determination unit that can determine the position of a landmark that reflects light irradiated from the LiDAR device and can acquire information for the transportation device to estimate its own position in the traveling space based on the acquired 3D data and the environmental information; A position determination device comprising:

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