Information processing device, information processing method, and mobile device

Abstract

An information processing device according to the present disclosure comprises: a ranging unit which uses infrared light to detect the distance to an end of a stage and to detect a specified pattern provided to the stage; and an estimation unit which estimates the current location of the device itself on the basis of a detection result from the distance measurement unit.

Description

[Technical Field]

[0001] The present disclosure relates to an information processing device, an information processing method, and a mobile device that estimates its own position by performing distance measurement. [Background technology]

[0002] Some information processing devices are provided in mobile devices and estimate the self-position of the mobile device. For example, Patent Document 1 discloses a technology that uses a LiDAR (light detection and ranging) device to detect the distance to surrounding objects and the direction of the objects, creates a map based on the detection results, and estimates the self-position based on the map. [Prior art documents] [Patent documents]

[0003] [Patent Document 2] International Publication No. 2020 / 183659 Summary of the Invention

[0004] Incidentally, there are cases where a mobile device moves on a stage at a concert hall, etc. In such cases, it is desirable for the mobile device to estimate its own position.

[0005] It is desirable to provide an information processing device, an information processing method, and a mobile device that can estimate its own position on a stage.

[0006] An information processing device according to an embodiment of the present disclosure includes a distance measurement unit and an estimation unit. From the device placed on the stage, The estimation unit is configured to detect the distance to the edge of the stage and to detect a predetermined pattern provided on the stage. , the position of the device itself The device is configured to estimate its own location. The predetermined pattern includes a plurality of different sub-patterns arranged side by side in a first direction along the edge of the stage, and the estimation unit estimates the self-position in the first direction based on the predetermined pattern, and estimates the self-position in a second direction intersecting with the first direction based on the distance.

[0007] An information processing method according to an embodiment of the present disclosure includes: provided in a device arranged on the stage, A distance measurement unit that measures distance using infrared light is used. From the above device Detecting the distance to the end of the stage and detecting a predetermined pattern provided on the stage, and based on the detection result of the distance measuring unit, The location of the device and estimating the self-location. The predetermined pattern includes a plurality of different sub-patterns arranged side by side at an edge of the stage in a first direction along the edge of the stage. Estimating the self-location includes estimating the self-location in the first direction based on the predetermined pattern, and estimating the self-location in a second direction intersecting the first direction based on the distance.

[0008] A mobile device according to an embodiment of the present disclosure includes a distance measurement unit, an estimation unit, and a mobile mechanism. From the device placed on the stage, The estimation unit is configured to detect the distance to the edge of the stage and to detect a predetermined pattern provided on the stage. The position of the device The movement mechanism is configured to move the device itself based on the estimation result of the estimation unit. The predetermined pattern includes a plurality of different sub-patterns arranged side by side in a first direction along the edge of the stage, and the estimation unit estimates the self-position in the first direction based on the predetermined pattern, and estimates the self-position in a second direction intersecting with the first direction based on the distance.

[0009] In an information processing device, an information processing method, and a mobile device according to an embodiment of the present disclosure, a distance measurement unit that measures distance using infrared light is used to detect the distance to the edge of a stage and to detect a predetermined pattern provided on the stage, and then the self-position is estimated based on the detection result of the distance measurement unit. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is an explanatory diagram illustrating a configuration example of a moving device provided with an information processing device according to an embodiment of the present disclosure and a stage along which the moving device moves; [Figure 2] 2 is a block diagram illustrating an example of the configuration of the mobile device illustrated in FIG. 1. FIG. [Figure 3] FIG. 3 is an explanatory diagram illustrating the arrangement of distance measuring units shown in FIG. 2. [Figure 4] 3 is an explanatory diagram illustrating an example of operation of the distance measuring sensor shown in FIG. 2. [Figure 5] 3 is an explanatory diagram illustrating an example of the operation of the three distance measuring sensors shown in FIG. 2. [Figure 6]3 is another explanatory diagram illustrating an example of the operation of the distance measuring sensor shown in FIG. 2. FIG. [Figure 7] 2 is an explanatory diagram illustrating an example of a configuration of a pattern provided on the stage shown in FIG. 1. FIG. [Figure 8] FIG. 8 is another explanatory diagram illustrating an example of the configuration of the pattern shown in FIG. 7. [Figure 9] FIG. 8 is an explanatory diagram illustrating a specific example of the sub-pattern shown in FIG. 7. [Figure 10] FIG. 8 is an explanatory diagram illustrating another specific example of the sub-pattern shown in FIG. 7. [Figure 11] 3 is a flowchart illustrating an example of an operation of the moving device shown in FIG. 2. [Figure 12] 3 is an explanatory diagram illustrating an example of the operation of the moving device shown in FIG. 2. [Figure 13] 3 is another explanatory diagram illustrating an example of the operation of the moving device shown in FIG. 2. FIG. [Figure 14] 3 is another explanatory diagram illustrating an example of the operation of the moving device shown in FIG. 2. FIG. [Figure 15] FIG. 8 is an explanatory diagram illustrating an example of parameters related to determining the thickness of the pattern shown in FIG. [Figure 16] FIG. 8 is an explanatory diagram illustrating an example of the thickness of the pattern shown in FIG. [Figure 17] FIG. 8 is another explanatory diagram showing an example of the thickness of the pattern shown in FIG. [Figure 18] FIG. 8 is another explanatory diagram showing an example of the thickness of the pattern shown in FIG. [Figure 19] FIG. 10 is an explanatory diagram illustrating an example of a configuration of a pattern according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings.

[0012] <1. First embodiment> [Configuration example] 1 shows an example of the configuration of a mobile device 1 provided with an information processing device (information processing device 10) according to one embodiment, and a stage 100 along which the mobile device 1 moves. The stage 100 is installed in, for example, a concert venue, and is configured so that musicians can perform on the stage 100. The mobile device 1 is, for example, a robot that travels on the stage 100. The mobile device 1 can be applied, for example, to a dolly equipped with a camera for filming musicians while they are performing.

[0013] Between the stage 100 and the audience seats in front of the stage 100 is a stage edge 102, which is the edge of the stage 100. The mobile device 1 can move on the stage 100 in an XY plane defined by a direction along the stage edge 102 (X direction) and a direction intersecting the stage edge 102 (Y direction). At a concert, lighting emits light of various colors and produces sounds at various loud volumes. Electronic devices can also generate a large amount of electromagnetic waves. Furthermore, the environment on the stage is constantly changing, for example, with various cables arranged on the stage and lighting and equipment being changed for each performance. The mobile device 1 travels on the stage 100 while estimating its own position on the stage 100 in such a constantly changing, noisy environment.

[0014] 2 shows an example of the configuration of the moving device 1. The moving device 1 includes an information processing device 10, an actuator 21, and a moving mechanism 22.

[0015] The information processing device 10 includes a distance measurement unit 11, a self-position estimation unit 13, and a movement plan determination unit 16.

[0016] The ranging unit 11 is configured to detect the distance to an object around the mobile device 1. The ranging unit 11 has multiple ranging sensors 12 (three ranging sensors 12A, 12B, and 12C in this example). The ranging sensor 12 is a two-dimensional LiDAR device. The ranging sensor 12 detects the distance to the object within a detection surface S that intersects with a main axis A of the ranging sensor 12. The ranging sensor 12 emits infrared light pulses in various directions on the detection surface S and detects the light pulses reflected by the object. The ranging sensor 12 then detects the direction of the object based on the direction in which the light pulses are detected, and calculates the time of flight (ToF) based on the emission and detection timings of the light pulses to detect the distance to the object.

[0017] 3 shows an example of the arrangement of the distance measuring unit 11. In this example, the distance measuring unit 11 is provided on the upper part of the movable device 1. The main axis A of each of the three distance measuring sensors 12 is inclined in a direction deviated from the vertical direction V of the stage surface 101 of the stage 100.

[0018] Fig. 4 shows an example of the operation of the distance measurement sensor 12. As shown in Fig. 3, the main axis A of the distance measurement sensor 12 is tilted in a direction deviating from the vertical direction V of the stage surface 101, so that a line (straight line L) is generated where the detection surface S intersects with the stage surface 101, as shown in Fig. 4. The distance measurement sensor 12 detects the distance to each portion of the stage surface 101 that constitutes the straight line L.

[0019] 5 shows three straight lines L (lines LA, LB, and LC) relating to the three distance measuring sensors 12A, 12B, and 12C. The detection surface S of distance measuring sensor 12A intersects with the stage surface 101 at line LA, the detection surface S of distance measuring sensor 12B intersects with the stage surface 101 at line LB, and the detection surface S of distance measuring sensor 12C intersects with the stage surface 101 at line LC. In this example, the straight lines LA, LB, and LC form an equilateral triangle. That is, the main axes A of the three distance measuring sensors 12A, 12B, and 12C are oriented in directions symmetrical to each other with respect to the vertical direction V, so the straight lines LA, LB, and LC form an equilateral triangle.

[0020] The three distance measuring sensors 12 are arranged at an angle in this manner. This allows the distance measuring unit 11 to detect the stage surface 101 of the stage 100.

[0021] The self-position estimation unit 13 (FIG. 2) is configured to estimate the position (self-position) of the mobile device 1 on the stage 100 based on the detection result of the distance measurement unit 11. The self-position estimation unit 13 has, for example, data showing a map of the stage 100, and estimates the self-position using this map. The self-position estimation unit 13 has a distance calculation unit 14 and a pattern analysis unit 15.

[0022] The distance calculation unit 14 is configured to calculate the distance from the moving device 1 to the stage edge 102. As shown in FIG. 1, the distance calculation unit 14 calculates the distance to the stage edge 102 in the direction intersecting with the stage edge 102 (Y direction).

[0023] 4, the distance measurement sensor 12 detects the distance to each portion constituting the straight line L on the stage surface 101. As shown in FIG. 5, the distance measurement unit 11 has three distance measurement sensors 12, and therefore, two of the three straight lines L may intersect with the stage edge 102.

[0024] FIG. 6 shows an example of a case where a straight line L intersects with the stage edge 102. The straight line L intersects with the stage edge 102 at an intersection point P. That is, one end of the straight line L is the intersection point P. The distance measurement sensor 12 detects the distance to the stage surface 101 of the stage 100 in a portion closer to the intersection point P, and detects the distance to, for example, the floor of the audience seats in front of the stage 100 in a portion farther from the intersection point P. Therefore, the distance value obtained by the distance measurement sensor 12 can vary greatly on either side of the intersection point P. In this way, the distance measurement sensor 12 can detect the intersection point P based on the distance value.

[0025] Two of the three straight lines L intersect with the stage edge 102, so intersection points P are generated between the two of the three straight lines L. The distance calculation unit 14 calculates the distance in the Y direction from the moving device 1 to the stage edge 102 by performing a predetermined calculation based on the distances from the moving device 1 to these two intersection points P.

[0026] The pattern analysis unit 15 is configured to analyze the pattern PAT provided on the stage edge 102 .

[0027] 7 and 8 show an example of the configuration of a pattern PAT provided on the stage 100. In this example, the pattern PAT is a three-dimensional structure that is in contact with the stage edge 102 and is disposed so as to protrude from the stage edge 102 toward the audience seats in front of the stage 100. The structure that constitutes the pattern PAT has a thickness T in the vertical direction. The height position of the top surface of the pattern PAT is the same as the height position of the stage surface 101 of the stage 100. The pattern PAT can be made of a material that can be detected by a LiDAR device, such as plastic, metal, or wood. In other words, the pattern PAT is made of a material that reflects infrared rays, for example. The pattern PAT has multiple sub-patterns PATS arranged along the stage edge 102 in the X direction.

[0028] FIG. 9 shows a specific example of the subpattern PATS. In this example, the subpattern PATS is a pattern representing a 4-bit binary code. The subpattern PATS has four portions corresponding to the four bits. For example, the leftmost portion of the subpattern PATS corresponds to the MSB (Most Significant Bit), and the rightmost portion corresponds to the LSB (Least Significant Bit). In this example, the longer the Y-axis length, the more significant the bit. That is, the leftmost portion corresponding to the MSB has the longest Y-axis length, and the rightmost portion corresponding to the LSB has the shortest Y-axis length. The width of each of the four portions in the X-axis direction corresponds to the bit value. In this example, a wider width indicates a "0," and a narrower width indicates a "1." The binary code of the sub-pattern PATS shown in Figure 9(A) is "0000", the binary code of the sub-pattern PATS shown in Figure 9(B) is "0001", the binary code of the sub-pattern PATS shown in Figure 9(C) is "0010", and the binary code of the sub-pattern PATS shown in Figure 9(D) is "0011".

[0029] A plurality of sub-patterns PATS are arranged along the stage edge 103. The sub-patterns PATS differ depending on the position in the X direction where the sub-patterns PATS are arranged. In other words, the binary code indicated by the sub-patterns PATS differs depending on the position in the X direction where the sub-patterns PATS are arranged. This binary code is an identifier ID that indicates the position in the X direction.

[0030] Fig. 10 shows another specific example of the subpattern PATS. This subpattern PATS is a barcode pattern. For example, in Fig. 10, the black areas indicate areas where structures exist, and the white areas indicate areas where no structures exist. The barcode pattern differs depending on the position in the X direction where the subpattern PATS is provided. In other words, the code indicated by the barcode pattern is an identifier ID that indicates the position in the X direction.

[0031] Note that the sub-pattern PATS is not limited to the examples shown in Figures 9 and 10, and can be composed of structures of various shapes. For example, in the example shown in Figure 9, the sub-pattern PATS has a shape like a combination of rectangular parallelepipeds, but is not limited to this. For example, the sub-pattern PATS may have a shape like a combination of cylinders with circular or elliptical cross sections, or a shape like a combination of pillars with polygonal cross sections.

[0032] In this way, sub-patterns PATS indicating identifiers IDs corresponding to positions in the X direction are provided on the stage edge 102. The point cloud data obtained based on the detection results of the distance measurement unit 11 includes information on the sub-patterns PATS. Therefore, the pattern analysis unit 15 can obtain the identifiers IDs indicating the positions of the sub-patterns PATS in the X direction by analyzing the sub-patterns PATS.

[0033] In this way, the distance calculation unit 14 calculates the distance in the Y direction from the mobile device 1 to the stage edge 102, and the pattern analysis unit 15 obtains an identifier ID indicating the position of the sub-pattern PATS in the X direction. The self-position estimation unit 13 estimates its own position in the Y direction based on the calculation result of the distance calculation unit 14, and estimates its own position in the X direction based on the analysis result of the pattern analysis unit 15. In this way, the self-position estimation unit 13 estimates the self-position of the mobile device 1 on the stage 100.

[0034] The movement plan determination unit 16 is configured to determine a movement plan for the mobile device 1 based on the self-position estimated by the self-position estimation unit 13.

[0035] The actuator 21 is configured to generate power based on the movement plan determined by the movement plan determination unit 16, and to drive the movement mechanism 22 based on the power. The actuator 21 is configured to include, for example, one or more motors.

[0036] The movement mechanism 22 is configured to move the movement device 1 based on the power generated by the actuator 21. In this example, the movement mechanism 22 is configured to include a plurality of wheels.

[0037] Here, the distance measuring unit 11 corresponds to a specific example of a "distance measuring unit" in the present disclosure. The distance measuring sensor 12 corresponds to a specific example of a "distance measuring sensor" in the present disclosure. The main axis A corresponds to a specific example of a "main axis" in the present disclosure. The detection surface S corresponds to a specific example of a "detection surface" in the present disclosure. The pattern PAT corresponds to a specific example of a "predetermined pattern" in the present disclosure. The sub-pattern PATS corresponds to a specific example of a "sub-pattern" in the present disclosure. The self-position estimation unit 13 corresponds to a specific example of an "estimation unit" in the present disclosure. The moving mechanism 22 corresponds to a specific example of a "moving mechanism" in the present disclosure.

[0038] [Actions and Actions] Next, the operation and function of the moving device 1 of this embodiment will be described.

[0039] (Overview of overall operation) First, an overview of the overall operation of the mobile device 1 will be described with reference to FIG. 2. The distance measurement unit 11 detects the distance to an object around the mobile device 1. The distance calculation unit 14 of the self-position estimation unit 13 calculates the distance in the Y direction from the mobile device 1 to the stage edge 102. The pattern analysis unit 15 of the self-position estimation unit 13 analyzes the pattern PAT provided on the stage edge 102 to obtain an identifier ID indicating the position of the sub-pattern PATS in the X direction. The self-position estimation unit 13 estimates its own position on the stage 100 based on the calculation result of the distance calculation unit 14 and the analysis result of the pattern analysis unit 15. The movement plan determination unit 16 determines a movement plan for the mobile device 1 based on the self-position estimated by the self-position estimation unit 13. The movement mechanism 22 moves the mobile device 1 based on the power generated by the actuator 21.

[0040] (Detailed operation) FIG. 11 shows an example of the operation of the mobile device 1.

[0041] First, the distance measuring unit 11 performs a scanning operation (step S101). Specifically, each of the three distance measuring sensors 12A, 12B, and 12C of the distance measuring unit 11 detects the distance to an object within the detection plane S. As a result, the information processing device 10 generates point cloud data indicating the surroundings of the mobile device 1.

[0042] Next, the self-position estimation unit 13 converts the obtained point cloud data into three-dimensional data (step S102). The self-position estimation unit 13 performs processing based on this three-dimensional data.

[0043] Next, the distance calculation unit 14 performs a process of detecting the intersection point P (step S103).

[0044] 12 and 13 show an example of the operation of the movable device 1. In these figures, the specific shape of the pattern PAT is not shown, and only the area of ​​the pattern PAT is shown. Two of the three straight lines L associated with the three distance measuring sensors 12A, 12B, and 12C intersect with the stage edge 102. This results in two intersection points P. In the example of FIG. 12, the movable device 1 is somewhat distant from the stage edge 102, so the two intersection points P occur outside the equilateral triangle formed by the three straight lines L. In the example of FIG. 13, the movable device 1 is close to the stage edge 102, so the two intersection points P occur on the sides of the equilateral triangle formed by the three straight lines L.

[0045] Next, the pattern analysis unit 15 checks whether the sub-pattern PATS is detected (step S104).

[0046] FIG. 14 shows an example of the operation of the moving device 1. Two straight lines L intersect with the stage edge 102. Therefore, an extension of these two straight lines L crosses a portion B, which is part of the pattern PAT. This portion B includes the sub-pattern PATS. The point cloud data obtained based on the detection results of the distance measurement unit 11 includes information about this sub-pattern PATS. Therefore, the pattern analysis unit 15 can detect the sub-pattern PATS based on the three-dimensional data converted from this point cloud data.

[0047] In step S104, if the sub-pattern PATS cannot be detected ("N" in step S104), the process returns to step S101.

[0048] In step S104, if the sub-pattern PATS is detected ("Y" in step S104), the distance calculation unit 14 calculates the distance in the Y direction from the moving device 1 to the stage edge 102 (step S105). Specifically, the distance calculation unit 14 calculates the distance in the Y direction from the moving device 1 to the stage edge 102 by performing a predetermined calculation based on the distances from the moving device 1 to these two intersection points P.

[0049] Next, the pattern analysis unit 15 analyzes the sub-pattern PATS detected in step S104 to obtain an identifier ID indicating the position of this sub-pattern PATS in the X direction (step S106).

[0050] Next, the self-position estimation unit 13 estimates the self-position of the mobile device 1 based on the analysis results of the distance calculation unit 14 and the pattern analysis unit 15, and updates the self-position on the map (step S107). Specifically, the self-position estimation unit 13 estimates the self-position in the Y direction based on the calculation result of the distance calculation unit 14 in step S105, and estimates the self-position in the X direction based on the analysis result of the pattern analysis unit 15 in step S106, thereby estimating the self-position of the mobile device 1 on the stage 100. Then, the self-position estimation unit 13 updates the self-position on the map.

[0051] Next, the mobile device 1 checks whether or not to end the operation (step S108). If the operation is not to be ended ("N" in step S108), the process returns to step S101, and steps S101 to S108 are repeated until the operation is ended. If the operation is to be ended ("Y" in step S108), this flow ends.

[0052] In this way, the self-position estimation unit 13 estimates the self-position of the mobile device 1 on the stage 100. The movement plan determination unit 16 determines a movement plan for the mobile device 1 based on the self-position estimated by the self-position estimation unit 13. The actuator 21 generates power based on the movement plan determined by the movement plan determination unit 16, and the movement mechanism 22 moves the mobile device 1 based on the power generated by the actuator 21.

[0053] (About the thickness of the pattern PAT) Next, the thickness T in the vertical direction of the structure that constitutes the pattern PAT will be described.

[0054] 15 shows the parameters used to determine the thickness T. The thickness T of the pattern PAT is determined by the minimum width Wmin of the pattern PAT, the height position (height H) of the distance measuring sensor 12, and the maximum distance measurement range Rmax of the distance measuring sensor 12.

[0055] The minimum width Wmin of the pattern PAT is the minimum width of the pattern PAT in the X direction. For example, in the example of Fig. 9, it corresponds to the narrowest width indicating the bit value "1". In the example of Fig. 10, it corresponds to the thinnest line.

[0056] The height H of the distance measuring sensor 12 is the height of the distance measuring sensor 12 from the stage surface 101 .

[0057] The maximum distance measurement range Rmax of the distance measurement sensor 12 is the maximum distance at which the distance measurement sensor 12 can detect a pattern with the minimum width in the pattern PAT.

[0058] 16 and 17 show the thickness T of the pattern PAT. These figures show two adjacent structures S1 and S2 that make up the pattern PAT, positioned at a position corresponding to the maximum distance measurement range Rmax of the distance measurement sensor 12. As indicated by the diagonal lines in FIG. 16, the distance measurement sensor 12 can accurately detect the adjacent structures S1 and S2 by allowing the light pulse emitted from the distance measurement sensor 12 to pass between the two structures S1 and S2. That is, for example, when the thickness T of the pattern PAT is Tmax, the light pulse emitted from the distance measurement sensor 12 cannot pass between the two structures S1 and S2. In this case, the difference in distance between the distance measurement sensor 12 and the structures S1 and S2 is small, making it difficult to accurately detect the structures S1 and S2. Meanwhile, in this example, the thickness T of the pattern PAT is set to half of this thickness Tmax. This allows the light pulse emitted from the distance measuring sensor 12 to pass between the two structures S1 and S2, thereby enabling the structures S1 and S2 to be distinguished and detected with high accuracy.

[0059] 17, the distance between the structures S1 and S2 is set to the minimum width Wmin of the pattern PAT. In this case, the thickness T of the pattern PAT can be expressed using the following equation.

number

[0060] 18 shows an example of the thickness T of the pattern PAT. For example, by reducing the thickness T of the pattern PAT, the maximum distance measurement range Rmax can be widened. This allows the moving device 1 to be used with a wide stage 100, for example.

[0061] In this way, the mobile device 1 is provided with a distance measuring unit 11 that uses infrared light to detect the distance to the end of the stage 100 (stage edge 102), and detects the pattern PAT provided on the stage 100, and a self-position estimation unit 13 that estimates its own position based on the detection result of the distance measuring unit 11. This allows the mobile device 1 to estimate its own position on the stage 100.

[0062] At a concert, lighting can emit a variety of colors and loud sounds can be heard. Electronic devices can also generate a large amount of electromagnetic waves. Furthermore, the stage is constantly changing, with various cables and lighting and equipment being changed for each performance. In such a constantly changing, noisy environment, it is difficult to estimate one's own position using technologies such as radar, LiDAR SLAM (Simultaneous Localization and Mapping), wheel odometry, visual odometry, and Alvar.

[0063] In this way, the environment can constantly change, but the stage edge 102 usually does not change. Therefore, the mobile device 1 uses the stage edge 102 to detect the self-position of the mobile device 1. This allows the mobile device 1 to estimate its own position even in such a noisy environment that can constantly change.

[0064] Furthermore, the pattern PAT includes a plurality of mutually different sub-patterns PATS arranged side by side in the X direction along the stage edge 102. This allows the mobile device 1 to detect its position in the X direction based on the sub-patterns PATS, and therefore to estimate its own position.

[0065] Furthermore, each of the three distance measuring sensors 12 measures the distance to an object within the plane of the detection surface S that intersects with the main axis A. The direction of the main axis A of each of the three distance measuring sensors 12 is set to be different from the vertical direction of the stage surface 101 of the stage 100. This allows the three distance measuring sensors 12 to detect the stage surface 101 of the stage 100, and therefore to detect the distance to the stage edge 102 and the pattern PAT provided on the stage 100. As a result, the mobile device 1 can estimate its own position.

[0066] Furthermore, the mobile device 1 is provided with three distance measurement sensors 12, and the lines where the detection surfaces S of the three distance measurement sensors 12 intersect with the stage surface 101 form an equilateral triangle. This allows the mobile device 1 to perform arithmetic processing based on point cloud data by utilizing symmetry, thereby simplifying the arithmetic processing.

[0067] [effect] As described above, in this embodiment, infrared light is used to detect the distance to the edge of the stage, and a distance measurement unit is provided that detects patterns provided on the stage, and a self-position estimation unit is provided that estimates the self-position based on the detection results of the distance measurement unit, so that the self-position on the stage can be estimated.

[0068] In this embodiment, the pattern includes a plurality of mutually different sub-patterns arranged side by side along the stage edge, so that the self-position can be estimated.

[0069] [Variation 1] In the above embodiment, three distance measurement sensors 12 are provided, but this is not limiting. Alternatively, for example, four or more distance measurement sensors 12 may be provided. Even in this case, for example, the lines where the detection surfaces S of the respective distance measurement sensors 12 intersect with the stage surface 101 can form a regular polygon. Specifically, for example, if four distance measurement sensors 12 are provided, the lines where the detection surfaces S of the respective distance measurement sensors 12 intersect with the stage surface 101 can form a square. Furthermore, for example, if six distance measurement sensors 12 are provided, the lines where the detection surfaces S of the respective distance measurement sensors 12 intersect with the stage surface 101 can form a regular hexagon.

[0070] [Variation 2] In the above embodiment, the distance measurement sensor 12 is configured using a two-dimensional LiDAR device, but this is not limited thereto, and instead, for example, a three-dimensional LiDAR device may be used to configure the distance measurement sensor 12. In this case, the number of distance measurement sensors 12 may be one or more.

[0071] [Variation 3] In the above embodiment, the pattern PAT is formed using a three-dimensional structure, but this is not limiting. Alternatively, for example, as shown in FIG. 19 , the pattern PAT, which is a planar pattern, may be formed using a printed material printed on the stage surface 101 of the stage 100 or a sticker attached to the stage 100. In this example, the pattern PAT is disposed near the stage edge 102 on the stage surface 101 of the stage 100. The pattern PAT may be formed of a material detectable by a LiDAR device. For example, if the stage surface 101 is formed of a material that reflects infrared rays, the pattern PAT may be formed of a material that does not reflect infrared rays. For example, Vantablack may be used as the material that does not reflect infrared rays. The pattern PAT has a plurality of sub-patterns PATS disposed along the stage edge 102 in the X direction.

[0072] In this example, the pattern PAT is placed near the stage edge 102, but this is not limiting and the pattern PAT may be placed slightly away from the stage edge 102. Even in this case, the pattern PAT has a plurality of sub-patterns PATS placed along the stage edge 102 in the X direction. This allows the mobile device 1 to detect its own position in the X direction based on this pattern PAT.

[0073] [Other variations] Two or more of these variations may also be combined.

[0074] Although the present technology has been described above by giving embodiments and modifications thereof, the present technology is not limited to these embodiments and can be modified in various ways.

[0075] For example, in the above embodiment, the pattern PAT is configured using a three-dimensional structure, but this is not limiting, and for example, a mat on which the pattern PAT is formed may be placed on the stage 100.

[0076] The effects described in this specification are merely examples and are not limiting, and other effects may also be present.

[0077] The present technology can be configured as follows: According to the present technology configured as follows, it is possible to estimate a self-position on a stage.

[0078] (1) a distance measuring unit that uses infrared light to detect the distance to an end of the stage and detects a predetermined pattern provided on the stage; an estimation unit that estimates its own position based on the detection result of the distance measurement unit; An information processing device comprising: (2) The predetermined pattern includes a plurality of different sub-patterns arranged side by side at the edge of the stage in a first direction along the edge of the stage. The information processing device according to (1) above. (3) The estimation unit estimating the self-location in the first direction based on the predetermined pattern; and estimating the self-location in a second direction intersecting the first direction based on the distance. The information processing device according to (2) above. (4) Each of the plurality of sub-patterns includes a pattern representing a binary code. The information processing device according to (2) or (3). (5) Each of the plurality of sub-patterns includes a barcode pattern. The information processing device according to any one of (2) to (4). (6) The predetermined pattern is a planar pattern including portions with different reflection characteristics for infrared light. The information processing device according to any one of (1) to (5). (7) The predetermined pattern is a pattern of a three-dimensional structure. The information processing device according to any one of (1) to (5). (8) The distance measurement unit has a plurality of distance measurement sensors arranged in different directions. The information processing device according to any one of (1) to (7). (9) each of the plurality of distance measuring sensors measures a distance to an object within a detection surface that intersects with the principal axis; The direction of each of the main axes of the plurality of distance measuring sensors is different from the vertical direction of the stage surface of the stage. The information processing device according to (8). (10) the number of the plurality of distance measuring sensors is three or more; The lines at which the detection surfaces of the plurality of distance measuring sensors intersect with the stage surface form a regular polygon. The information processing device according to (9) above. (11) The information processing device is provided in a mobile device. The information processing device according to any one of (1) to (10). (12) using a distance measuring unit that measures distance using infrared light to detect the distance to an end of the stage and to detect a predetermined pattern provided on the stage; estimating a self-position based on the detection result of the distance measuring unit; An information processing method including: (13) a distance measuring unit that uses infrared light to detect the distance to an end of the stage and detects a predetermined pattern provided on the stage; an estimation unit that estimates its own position based on the detection result of the distance measurement unit; a movement mechanism that moves the device itself based on the estimation result of the estimation unit; A mobile device comprising:

[0079] This application claims priority based on Japanese Patent Application No. 2021-054322, filed on March 26, 2021, with the Japan Patent Office, the entire contents of which are incorporated herein by reference.

[0080] Those skilled in the art will recognize that various modifications, combinations, subcombinations, and variations may occur depending on design requirements and other factors, and are intended to be within the scope of the appended claims and their equivalents.

Claims

1. a distance measuring unit that uses infrared light to detect a distance from the device itself placed on a stage to an end of the stage and detects a predetermined pattern provided on the stage; an estimation unit that estimates a self-position, which is a position of the device itself, based on a detection result of the distance measurement unit; Equipped with the predetermined pattern includes a plurality of sub-patterns, which are different from one another, arranged side by side at an end of the stage in a first direction along the end of the stage; The estimation unit estimating the self-location in the first direction based on the predetermined pattern; and estimating the self-location in a second direction intersecting the first direction based on the distance. Information processing device.

2. Each of the plurality of sub-patterns includes a pattern representing a binary code. The information processing device according to claim 1 .

3. Each of the plurality of sub-patterns includes a barcode pattern. The information processing device according to claim 1 .

4. The predetermined pattern is a planar pattern including portions with different reflection characteristics for infrared light. The information processing device according to claim 1 .

5. The predetermined pattern is a pattern of a three-dimensional structure. The information processing device according to claim 1 .

6. The distance measurement unit has a plurality of distance measurement sensors arranged in different directions. The information processing device according to claim 1 .

7. each of the plurality of distance measuring sensors measures a distance to an object within a detection surface that intersects with the principal axis; The direction of each of the main axes of the plurality of distance measuring sensors is different from the vertical direction of the stage surface of the stage. The information processing device according to claim 6 .

8. the number of the plurality of distance measuring sensors is three or more; The lines at which the detection surfaces of the plurality of distance measuring sensors intersect with the stage surface form a regular polygon. The information processing device according to claim 7 .

9. The information processing device is provided in a mobile device. The information processing device according to claim 1 .

10. Using a distance measuring unit provided in a device placed on a stage and performing distance measurement using infrared light, the distance from the device to an end of the stage is detected, and a predetermined pattern provided on the stage is detected; estimating a self-location, which is the location of the device, based on the detection result of the distance measurement unit; Including, the predetermined pattern includes a plurality of sub-patterns, which are different from one another, arranged side by side at an end of the stage in a first direction along the end of the stage; The estimating of the self-location includes: estimating the self-location in the first direction based on the predetermined pattern; estimating the self-location in a second direction intersecting the first direction based on the distance; Contains Information processing methods.

11. a distance measuring unit that uses infrared light to detect a distance from the device itself placed on a stage to an end of the stage and detects a predetermined pattern provided on the stage; an estimation unit that estimates a self-position, which is a position of the device itself, based on a detection result of the distance measurement unit; a movement mechanism that moves the device itself based on the estimation result of the estimation unit; Equipped with the predetermined pattern includes a plurality of sub-patterns, which are different from one another, arranged side by side at an end of the stage in a first direction along the end of the stage; The estimation unit estimating the self-location in the first direction based on the predetermined pattern; and estimating the self-location in a second direction intersecting the first direction based on the distance. Mobile device.

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