JP2019078569A - Position recognition method, position recognition device, moving body for reference point installation, moving body for work, and position recognition system - Google Patents

Abstract

To provide a position recognition method capable of accurately recognizing a position of a moving body for work at a construction site, and also to provide a position recognition device, the moving body for reference point installation, the moving body for work, and a position recognition system.SOLUTION: An identification marker is installed at a reference point on the floor surface at a construction site. Then, a moving body 12 for reference point installation is made to move to the position of the installed identification marker. Then, the position of a moving body 38 for work is recognized, which is for performing working at the construction site in response to the moved moving body 12 for the reference point installation.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a position recognition method, a position recognition device, a reference point setting mobile, a work mobile, and a position recognition system.

  Conventionally, a method and system for positioning an object to be positioned at a target position are known (see, for example, Patent Document 1). In the technique described in Patent Document 1, the positioning target is moved toward the target position based on the position of the positioning target measured using a laser range finder. Then, after the positioning target is moved, the positioning target is positioned at the target position based on the position of the positioning target measured using the total station.

  Also, a method and apparatus for detecting the position of an object are known (see, for example, Patent Document 2). In the technology described in Patent Document 2, two laser beams are sequentially irradiated to a target object from a single laser light source of a laser pointer robot. Then, the barycentric position of the first laser spot and the barycentric position of the second laser spot are measured in the in-object coordinate system of the object. Thus, the position of the target object in the area coordinate system is detected.

  In addition, an autonomous traveling robot group system that controls three or more autonomous traveling robots is known (see, for example, Patent Document 3). In the technology described in Patent Document 3, each autonomous mobile robot measures geometrical information with another autonomous mobile robot, and calculates position information of the autonomous mobile robot.

Patent No. 5516204 gazette Patent No. 3731123 gazette Patent No. 3410508

  In order for the robot to perform construction work autonomously at a construction site, it is necessary to grasp the position of the robot with high accuracy. Under an environment where GPS signals can be well received, efforts are being actively made to automate various construction machines. Such an approach is remarkable in civil engineering applications where good GPS signals can be received.

  However, looking at the construction field, in the construction site, due to the influence of surrounding obstacles such as columns, beams, walls, and roofs, it is not possible to receive good GPS signals, and the position is highly accurate. It can not be recognized.

  The techniques described in Patent Document 1 and Patent Document 2 described above are limited to use in a limited area where prospects are effective, and are techniques that can stably recognize the position at a construction site where the surrounding environment changes from moment to moment. is not.

  Further, in the technology described in Patent Document 3, since the position error is accumulated when the autonomous traveling robot repeats movement, the position of the autonomous traveling robot can not be calculated with high accuracy.

  Specifically, as shown in FIG. 16A, the position of one autonomous mobile robot is (d, 0), and the position of the other autonomous mobile robot is (−d, 0). If the base angles of the triangle formed with the remaining one autonomous mobile robot are θ 1 and θ 2, calculate the position P (x, y) of the remaining autonomous mobile robot Can. Here, the angle is positive in the counterclockwise direction, and θ1 = −θ2 = θ assuming that the triangle is an isosceles triangle. In this case, the positional errors Δx and Δy of P (x, y) when the errors Δθ1 and Δθ2 are included in the base angles θ1 and θ2 of this triangle, are expressed by the following equation (1).

(1)

  In the case of Δθ1 = −Δθ2 = Δθ, as shown in FIG. 16 (b), n pieces of this isosceles triangle are stacked, and a case where the vertex of the nth triangle reaches the target position is considered. Position errors ΔΔx and ΔΔy when n triangles are stacked in this movement sequence are expressed by the following equation (2). Here, θe indicates the azimuth angle of the target position viewed from the base angle of the first triangle, as shown in FIG. 16 (a).

(2)

  As can be seen from the above equation (2), it can be seen that errors are accumulated by repeating the movement (increasing n).

  An object of the present invention is to accurately recognize the position of a working mobile body at a construction site in consideration of the above-mentioned facts.

  In order to achieve the above object, the position recognition method of the present invention comprises an installation step of installing an identification marker with respect to a reference point on a floor surface at a construction site, and a position of the identification marker installed by the installation step. Recognizing the position of the working mobile body for performing work in the construction site according to the moving step of moving the reference point setting mobile body and the position of the reference point setting mobile body moved by the moving step And a recognition process. Thereby, the position of the working mobile unit at the construction site can be recognized with high accuracy.

  The position recognition apparatus according to the present invention operates at the construction site according to the position of the reference point installation movable body moved to the position of the identification marker previously installed with respect to the reference point on the floor surface at the construction site. A position recognition unit is provided that recognizes the position of a working mobile body to be performed.

  In the position recognition device of the present invention, when the distance measuring device mounted on the reference point installation movable body is not detected by measurement processing by the position measurement unit mounted on the work mobile body, the reference point installation device It is possible to further include a control unit that controls to move the moving body. As a result, even when the reference point setting movable body is not detected from the position of the work movable body, the position of the work movable body can be recognized by moving the reference point setting movable body.

  When the control unit of the position recognition device according to the present invention does not detect the distance measuring device for the reference point installation movable body by the measurement process of the work movable body by the position measurement unit, the operation movable body Setting the reference point to a position where the reference point setting mobile body is detected by the position measurement unit, and the identification marker closest to the current position of the reference point setting mobile body is installed Control can be made to move the mobile unit. Thereby, when the reference point setting movable body is not detected from the work movable body, the position of the work movable body can be recognized in a short time.

  The control unit of the position recognition device according to the present invention is for setting the reference point by measurement processing by the position measurement unit from the position of the work movable body at the next time based on the position of the work movable body at the next time. Control may be performed to move the reference point setting mobile body to a position where the mobile body is detected. Thereby, when the reference point setting movable body is not detected from the work movable body, the position of the work movable body can be recognized in a short time.

  The reference point setting mobile body according to the present invention images a distance measurement device detected by measurement processing of a position measurement unit mounted on a work mobile body working in a construction site, and images the floor surface of the construction site The traveling mechanism is controlled to stop at a position of an identification marker previously installed with respect to a reference point on a floor surface at the construction site based on a camera, a traveling mechanism, and an image captured by the camera And a reference point setting movable body control unit. Thereby, according to the position of the reference point setting movable body, it is possible to accurately recognize the position of the work movable body at the construction site.

  The working mobile body according to the present invention detects the position of the distance measuring equipment mounted on the reference point installation mobile body that moves to the position of the identification marker previously installed with respect to the reference point on the floor surface at the construction site A working movable body including a position measuring unit and a position recognizing unit, wherein the position measuring unit is based on the detection result of the position of the distance measuring equipment of the reference point setting movable body. The position of the work movable body with respect to the position of the reference point installation movable body is measured, and the position recognition unit determines the position of the reference point installation movable body measured by the position measurement unit. The position of the working mobile body is recognized on the basis of the position of the identification point corresponding to the position of the reference point setting mobile body and the position of the identification marker. Thereby, according to the position of the reference point setting movable body, it is possible to accurately recognize the position of the work movable body at the construction site.

  The position recognition system of the present invention comprises the reference point setting mobile body of the present invention and the working mobile body of the present invention. Thereby, the position of the working mobile unit at the construction site can be recognized with high accuracy.

  According to the present invention, it is possible to obtain the effect that the position of the working mobile at the construction site can be recognized with high accuracy.

It is a figure showing an example of composition of a position recognition system concerning this embodiment. It is explanatory drawing for demonstrating the precondition of this embodiment. It is explanatory drawing for demonstrating the precondition of this embodiment. It is a figure showing an example of functional composition of a position recognition system concerning this embodiment. It is a figure which shows the specific structural example of the mobile body for reference point installation. It is an explanatory view for explaining parent ink and an identification marker. It is a figure which shows an example of the coordinate table stored in a coordinate database, and an example of the information stored in a position memory | storage part. It is explanatory drawing for demonstrating the recognition process of the coordinate information corresponding to the position of the working mobile body. It is an explanatory view for explaining coordinates set up in this embodiment. It is an explanatory view for explaining an operation of a position recognition system. It is a flowchart which shows the mobile body movement process for work. It is an explanatory view for explaining an operation of a position recognition system. It is a flowchart which shows server control processing. It is an explanatory view for explaining an operation of a position recognition system. It is a flowchart which shows the mobile body movement process for reference point installation. It is explanatory drawing for demonstrating a prior art.

  Hereinafter, embodiments of the present invention will be described in detail.

  The position recognition system according to the present embodiment is a system for moving a working mobile body for performing work in a construction site to a target position. FIG. 1 is a diagram showing an example of the configuration of a position recognition system 10 according to an embodiment of the present invention. As shown in FIG. 1, the position recognition system 10 includes a reference point installation movable body 12A, a reference point installation movable body 12B, a server 28, and a work movable body 38.

  In order to cause the work mobile body 38 (for example, a work robot) to perform some work at the construction site, it is necessary to detect the position of the work mobile body 38 with high accuracy. However, in a construction site, due to the influence of surrounding obstacles such as pillars, beams, walls and roofs, it may not be possible to receive good GPS signals. In this case, the position of the working mobile body 38 can not be recognized accurately.

  So, in this embodiment, an identification marker is previously installed with respect to the reference point on the floor surface in a construction site. Further, the reference point setting movable body 12A and the reference point setting movable body 12B are moved to the position of the identification marker set with respect to the reference point. The working mobile body 38 for performing work at the construction site detects the position of the reference point installation mobile body 12A and the position of the reference point installation mobile body 12B, and the position and standard of the reference point installation mobile body 12A. The position of the working movable body 38 is recognized according to the position of the point setting movable body 12B. Thereby, the position of the working movable body 38 can be recognized with high accuracy. The details will be described below.

(Prerequisite)

  In the present embodiment, the following conditions (1) to (5) are premised. FIG. 2 and FIG. 3 show explanatory diagrams for explaining the preconditions of the present embodiment.

(1) As shown in FIG. 2, at the construction site targeted in the present embodiment, the ink has already been drawn.
(2) The coordinates of the point of intersection of the two ink marks (hereinafter referred to as a reference point) are known from the drawing information and the like of the construction site.
(3) As shown in FIG. 3, an identification marker is provided at the reference point. The position of the reference point can be uniquely identified based on the information obtained from the identification marker.
(4) In the server 28, an identification marker indicating each reference point and a database of coordinate information indicating a position corresponding to the identification marker are stored.
(5) At the construction site, a wireless network in which the reference point setting movable body 12A, the reference point setting movable body 12B, the work movable body 38, and the server 28 can communicate is constructed.

  By setting the preconditions of the above (1) to (5), for example, an identification marker is read by a camera or the like mounted on the reference point installation movable body, and information obtained from the identification marker and coordinates in the server 28 The coordinate information representing the position of the reference point setting movable body can be recognized by collating it with the above database. Then, the position of the working mobile body 38 is recognized according to the coordinate information representing the position of the reference point installation mobile body.

  As the identification marker, for example, a QR code (registered trademark) as shown in FIG. 3 can be used. For example, when the surveying company pulls out the ink, the identification marker is attached to the reference point, the identification marker is stamped to the reference point, or the like, and the identification marker is placed at the reference point. For this reason, the installation work of the identification marker does not greatly increase the work load for the current work of the surveying company.

<Position Recognition System According to First Embodiment>

  FIG. 4 is a diagram showing an example of a functional configuration of the position recognition system 10 according to the first embodiment. As shown in FIG. 4, the position recognition system 10 includes a reference point installation movable body 12A, a reference point installation movable body 12B, a server 28, and a work movable body 38.

(Mobile for setting reference point)

  FIG. 5 shows a specific configuration example of the reference point setting movable body. The reference point setting movable body 12A includes a computer 14A, a traveling mechanism 20A, an illumination unit 22A, a camera 24A, and an omnidirectional measurement prism 26A. Similarly, the reference point setting movable body 12B includes a computer 14B, a traveling mechanism 20B, an illumination unit 22B, a camera 24B, and an omnidirectional measurement prism 26B. When the reference point setting movable body 12A and the reference point setting movable body 12B are collectively referred to, or when one of the reference point setting movable body 12A and the reference point setting movable body 12B is referred to, the alphabet portion is used. I will call it abbreviated. Similarly, for each component of reference point setting movable body 12A and each component of reference point setting movable body 12B, when collectively referred to or when any one of the respective constituent elements is referred to, an alphabet portion Is abbreviated and called (for example, the omnidirectional measurement prism 26).

  The computer 14 includes a central processing unit (CPU), a read only memory (ROM) storing a program for realizing each processing routine, a random access memory (RAM) temporarily storing data, and a memory as a storage unit. , And a network interface and the like. The computer 14 functionally includes a reference communication unit 16 and a reference control unit 18.

  The reference communication unit 16 transmits and receives information to and from the work mobile unit 38 and the server 28.

  The reference control unit 18 controls the traveling mechanism 20, the illumination unit 22, the camera 24, and the omnidirectional measurement prism 26. The reference control unit 18 performs image processing on the images of the frames of the moving image captured by the camera 24 and controls the traveling mechanism 20 according to the image processing result. The reference control unit 18 is an example of a reference point setting movable body control unit.

  The traveling mechanism 20 can be realized by, for example, an independent multi-wheel drive mechanism that has a plurality of wheels and drives the wheels by separate actuators (or motors) (not shown). Further, the traveling mechanism 20 can also be realized by multi-leg walking drive, and any configuration may be used as long as the reference point setting movable body 12 can be moved. As shown in FIG. 5, the traveling mechanism 20 of this embodiment is an example of an independent two-wheel drive mechanism in which the left and right wheels of the reference point setting movable body 12 are driven by separate actuators (not shown). explain. The coordinate position of the reference point installation moving body in motion can be calculated using odometry based on the wheel rotation speed (encoder information) or the IMU information mounted on the reference point installation movable body 12.

  The reference control unit 18 controls the traveling mechanism 20 to stop at the position of the identification marker based on the image captured by the camera 24. The reference control unit 18 sequentially acquires an image of the floor surface captured by the camera 24 while the reference point setting movable body 12 is traveling. When the identification marker is detected in the image of the floor and the center of the identification marker coincides with the center of the image of the floor, the reference control unit 18 stops the traveling of the reference point installation movable body 12 Control. Then, the reference control unit 18 reads the identification marker shown in the image of the floor surface, and acquires information on the identification marker.

  Incidentally, even if the center of the image of the floor and the center of the identification marker do not match, the reference control unit 18 sets the center of the image of the floor and the center of the identification marker as shown in FIG. The deviation amounts Δx and Δy between the above can be acquired from the image. For this reason, the reference control unit 18 can correct the coordinate information representing the position of the reference point setting movable body 12 by considering the shift amounts Δx and Δy of the identification markers.

  When considering the shift amounts Δx and Δy of the identification marker, as shown in FIG. 6, the center of the image of the floor surface captured by the camera 24 is the center of the reference point installation movable body 12 in the vertical direction. It is necessary to perform calibration in advance so as to coincide with the intersection of the axis and the floor surface. In addition, it is necessary to calibrate in advance so that the length corresponding to one pixel of the image when the floor surface is photographed becomes a constant value. The calibration can be performed, for example, by a method using a checker pattern.

  The reference control unit 18 also receives the coordinate table from the coordinate database 30 of the server 28 via the reference communication unit 16 and the wireless network 11. Then, the reference control unit 18 recognizes the coordinate information corresponding to the position of the reference point setting movable body 12 by collating the information on the identification marker on the floor surface with the information on the identification marker stored in the coordinate table. Do.

  Then, the reference control unit 18 transmits, to the server 28, coordinate information corresponding to the position of the reference point setting movable body 12. Coordinate information corresponding to the position of the reference point setting movable body 12 is stored in a position storage unit 34 of the server 28 described later.

  The omnidirectional measurement prism 26 is a prism serving as a measurement target of the total station 40 mounted on the working mobile body 38. Therefore, the omnidirectional measurement prism 26 is detected by measurement processing of a total station 40 mounted on a working movable body 38 described later. The omnidirectional measurement prism 26 is an example of a distance measurement device.

(server)

  The server 28 includes a coordinate database 30, a server control unit 32, and a server communication unit 36.

  The coordinate database 30 stores information on an identification marker and coordinate information corresponding to a position at a construction site in association with each other. FIG. 7A shows an example of the coordinate table stored in the coordinate database 30. As shown in FIG. For example, as shown in FIG. 7A, in the coordinate table, information on an identification marker is uniquely associated with coordinate information. Therefore, if the identification marker is detected by the reference point installation movable body 12 and information about the identification marker is obtained from the detected identification marker, the position of the reference point installation movable body 12 can be uniquely identified.

  The server control unit 32 outputs control signals for the reference point setting movable body 12A and the reference point setting movable body 12B and control signals for the work movable body 38. In addition, the server control unit 32 acquires the coordinate information transmitted from the reference point installation movable body 12A and the reference point installation movable body 12B and the coordinate information transmitted from the work movable body 38, and the position storage unit Store to 34

  The position storage unit 34 stores coordinate information of the reference point setting movable body 12A, coordinate information of the reference point setting movable body 12B, and coordinate information of the work movable body 38. FIG. 7B illustrates an example of coordinate information stored in the position storage unit 34. For example, as shown in FIG. 7 (B), coordinate information of each mobile unit is stored.

  The server communication unit 36 transmits and receives information to and from the reference point setting mobile unit 12 and the work mobile unit 38.

(Working mobile)

  The working mobile body 38 includes a total station 40, a computer 42, and a traveling mechanism 20. The working mobile body 38 is a mobile body that performs specific work at the construction site. The specific work at the construction site may be any work, for example, a red ink work.

  The total station 40 detects the position of the omnidirectional measurement prism 26 mounted on the reference point installation movable body 12 by a predetermined measurement process. Further, the total station 40 measures the position of the working movable body 38 with respect to the position of the reference point installation movable body 12 based on the detection result of the position of the omnidirectional measurement prism 26 of the reference point installation movable body 12. Then, the total station 40 measures the distance between the reference point installation movable body 12 and the direction according to the position of the omnidirectional measurement prism 26 mounted on the reference point installation movable body 12. The total station 40 is an example of a position measurement unit.

  The computer 42 includes a CPU, a ROM storing programs and the like for realizing each processing routine, a RAM temporarily storing data, a memory as storage means, and a network interface. The computer 42 functionally includes a position recognition unit 44, a reference control unit 18, and a work communication unit 48. The computer 42 is an example of a position recognition device.

  The position recognition unit 44 recognizes the position of the working movable body 38 in accordance with the position of the reference point setting movable body 12 moved to the position of the identification marker. Specifically, the position recognition unit 44 responds to the detection results of the omnidirectional measurement prism 26A of the reference point installation movable body 12A and the omnidirectional measurement prism 26B of the reference point installation movable body 12B obtained by the total station 40. The positions of the reference point setting movable body 12A and the reference point setting movable body 12B are detected.

  First, the position recognition unit 44 determines the distance between the total station 40 and the omnidirectional measurement prism 26A, the azimuth angle between the total station 40 and the omnidirectional measurement prism 26A, and the detection result according to the detection result of the omnidirectional measurement prism 26A. An elevation angle between the total station 40 and the omnidirectional measurement prism 26A is acquired. Further, the position recognition unit 44 determines the distance between the total station 40 and the omnidirectional measurement prism 26B, the azimuth angle between the total station 40 and the omnidirectional measurement prism 26B, and the detection result of the omnidirectional measurement prism 26B. An elevation angle between the total station 40 and the omnidirectional measurement prism 26B is acquired.

  Next, the position recognition unit 44 transmits the coordinate information corresponding to the positions of the reference point installation movable body 12A and the reference point installation movable body 12B stored in the position storage unit 34 of the server 28 to the work communication unit 48. To get through. Thus, the position of the reference point setting movable body 12A and the position of the reference point setting movable body 12B are recognized.

  The position recognition unit 44 then performs coordinate information corresponding to the position of the reference point installation movable body 12A, coordinate information corresponding to the position of the reference point installation movable body 12B, the reference point installation movable body 12A and the reference point The position of the working mobile body 38 is recognized from the position of the working mobile body 38 with respect to the installation mobile body 12B.

  FIG. 8 is an explanatory view for explaining recognition processing of coordinate information corresponding to the position of the working mobile body 38. As shown in FIG. As shown in FIG. 8, the reference point setting movable body 12A is stationary on the point a representing the B2 reference point, which is an intersection of B ways and two ways, and the reference point setting movable body 12B is The case where it is at rest on the point b representing the B3 reference point which is the intersection of the B and 3 ways will be described as an example.

First, the total station 40 of the working movable body 38 is mounted on the omnidirectional measurement prism 26A mounted on the reference point setting movable body 12A on the B2 reference point, and on the reference point setting movable body 12B on the B3 reference point The omnidirectional measurement prism 26B being detected is detected. The total station 40 also measures the distance r _a between the omnidirectional measurement prism 26A and the distance r _b between the omnidirectional measurement prism 26B. In addition, the total station 40 is an angle formed by three points, a point representing the position of the omnidirectional measurement prism 26A, a point c representing the position of the total station 40, and a point b representing the position of the omnidirectional measurement prism 26B. measure.

Next, position identification unit 44 of the computer 42, via the working communication unit 48, is stored in the position storage unit 34 of the server 28, the coordinate information of the reference point established for mobile 12A _{(x a, y} a And coordinate information (x _b , y _b ) of the reference point setting movable body 12B.

Then, based on the coordinate information (x _a , y _a ) of the reference point setting movable body 12A and the coordinate information (x _b , y _b ) of the reference point setting movable body 12B, the position recognition unit 44 Coordinate information (x _c , y _c ) corresponding to the position of the working mobile body 38 is calculated by the association method.

Then, the control unit 46 transmits the coordinate information (x _c , y _c ) obtained by the position recognition unit 44 to the server 28 via the work communication unit 48 and the wireless network 11. The server control unit 32 of the server 28 acquires coordinate information (x _c , y _c ) via the server communication unit 36 and stores the coordinate information (x _c , y _c ) in the position storage unit 34.

The control unit 46 performs work based on the coordinate information (x _c , y _c ) of the working mobile body 38 calculated by the position recognition unit 44 and the coordinate information (x _t , y _t ) corresponding to the target position. The traveling mechanism 20 is controlled so that the mobile unit 38 approaches coordinate information (x _t , y _t ) corresponding to the target position. The moving position of the working movable body 38 can be calculated by tracking the omnidirectional measurement prism 26 mounted on the reference point installation movable body 12 by the total station 40. Coordinate information (x _t , y _t ) corresponding to the target position is stored in advance in, for example, a storage unit (not shown) of the computer 42. The control unit 46 may sequentially acquire coordinate information (x _t , y _t ) corresponding to the target position via the work communication unit 48.

  Here, for example, as shown in FIG. 9A, when the working mobile body 38 moves to a region surrounded by the A2 reference point, the A3 reference point, the B2 reference point, and the B3 reference point, the operation is performed. The point b at the position of the reference point setting movable body 12B viewed from the point c which is the position of the movable body 38 is a shade of a pillar. Therefore, the omnidirectional measurement prism 26B of the reference point installation movable body 12B can not be detected from the total station 40 of the work movable body 38, and the position of the work movable body 38 can not be recognized.

  Therefore, the control unit 46 moves the reference point installation movable body when the omnidirectional measurement prism of the reference point installation movable body is not detected by the measurement processing by the total station 40 mounted on the work movable body 38. Control.

  Specifically, the position recognition unit 44 detects at least one of the omnidirectional measurement prism 26A of the reference point installation movable body 12A and the omnidirectional measurement prism 26B of the reference point installation movable body 12B by measurement processing by the total station 40. If not, it outputs an undetected control signal indicating that the reference point setting mobile body is not detected. Then, the control unit 46 transmits the non-detection control signal output by the position recognition unit 44 to the server 28.

The server control unit 32 of the server 28 acquires the undetected control signal transmitted from the work mobile unit 38 via the server communication unit 36. Then, based on the coordinate information (x _c , y _c ) of the working mobile unit 38 stored in the position storage unit 34, the server control unit 32 uses the total station 40 of the working mobile unit 38 to measure the omnidirectional measurement prism 26. Reference point installation mobile body to the position where the identification marker is installed from the coordinate information (x _c , y _c ) corresponding to the detected position and the position of the reference point installation mobile body 12 at the current time A control signal relating to a movement instruction is output to move 12.

  For example, as shown in FIG. 9B, the server control unit 32 controls the movement instruction so as to move from the total station 40 mounted on the working mobile body 38 to the A3 reference point which is a detectable reference point. Output a signal.

  Then, the server control unit 32 transmits a control signal related to the movement instruction to the reference point setting movable body 12B via the server communication unit 36.

  The reference control unit 18 of the computer 14 of the reference point setting mobile unit 12B moves to the A3 reference point, as shown in FIG. 9B, for example, based on the control signal related to the movement instruction transmitted from the server 28. Control the traveling mechanism 20B so that When the reference point setting movable body 12B detects the identification marker set at the A3 reference point, it stops at the A3 reference point.

When the reference point established for mobile 12B is stopped at the A3 reference point, the distance _{r a} and the distance _{r b} by the total station 40 in the work moving body 38, omnidirectional measurement prism 26A, the total station 40, and the third omnidirectional measurement prism 26B The angle ∠acb of the angle formed by the points is measured. Then, the position recognition unit 44 of the computer of the working mobile body 38 calculates the coordinates (x _c , y _c ) of the working mobile body 38 according to the above equations (1) and (2).

<Operation of position recognition system>

  Next, the operation of the position recognition system 10 will be described with reference to FIG. 10, FIG. 11, FIG. 12, FIG. 13, FIG. 14, and FIG. As shown in FIG. 10A, an identification marker that can know the coordinates of the reference point is stamped or attached to the reference point on the floor surface. Further, as shown in FIG. 10B, the reference point setting movable body 12A and the reference point setting movable body 12B are disposed on the reference point where the identification marker is set. Then, for example, when the person in charge at the construction site activates the reference point setting movable body 12A of the position recognition system 10, the reference point setting movable body 12B, the work movable body 38, and the server 28, the work movable body 38 The computer 42 executes the working mobile body moving process shown in FIG.

(Function of work mobile)

  First, in step S100, the position recognition unit 44 of the computer 42 controls the total station 40 to execute the detection process of the omnidirectional measurement prism 26. Then, as shown in FIG. 10C, the detection process of the omnidirectional measurement prism 26 is executed by the total station 40, and the omnidirectional measurement prism 26A of the reference point installation movable body 12A and the reference point installation movable body 12B. The distance, azimuth angle, and elevation angle to the omnidirectional measurement prism 26B are measured. The position recognition unit 44 acquires the detection results of the omnidirectional measurement prism 26A and the omnidirectional measurement prism 26B obtained by the total station 40.

  In step S102, based on the detection result of the omnidirectional measurement prism acquired in step S102, the position recognition unit 44 performs all of the omnidirectional measurement prism 26A of the reference point installation movable body 12A and the reference point installation movable body 12B. It is determined whether the direction measurement prism 26B has been detected. If the omnidirectional measurement prism 26A of the reference point installation movable body 12A and the omnidirectional measurement prism 26B of the reference point installation movable body 12B are detected, the process proceeds to step S104. On the other hand, when at least one of the omnidirectional measurement prism 26A of the reference point installation movable body 12A and the omnidirectional measurement prism 26B of the reference point installation movable body 12B is not detected, the process proceeds to step S110.

In step S104, the position recognition unit 44 stores coordinate information (x _a , y _a ) corresponding to the position of the reference point installation movable body 12A stored in the position storage unit 34 of the server 28 and the reference point installation movable body Coordinate information (x _b , y _b ) corresponding to the position of 12 B is acquired via the work communication unit 48.

In step S106, the position identification unit 44 has been obtained in step S104, coordinate information corresponding to the position of the reference point established for mobile 12A _{(x a, y} a) to the position of and the reference point established for mobile 12B From the corresponding coordinate information (x _b , y _b ) and the detection results of the omnidirectional measurement prism 26A and the omnidirectional measurement prism 26B, coordinate information (x _c , y _c ) corresponding to the current position of the working mobile body 38 Recognize

In step S107, the control unit 46 transmits the coordinate information (x _c , y _c ) obtained in step S106 to the server 28 via the work communication unit 48 and the wireless network 11.

In step S108, the control unit 46 is based on the coordinate information (x _c , y _c ) of the working mobile body 38 recognized in the above step S106 and the coordinate information (x _t , y _t ) corresponding to the target position. As shown in FIG. 10D, the traveling mechanism 20 is controlled so that the working mobile body 38 approaches the target position T. When the working mobile body 38 reaches the vicinity of the target position T, the control unit 46 stops. Specifically, if the error from the target position is equal to or less than a preset threshold, the operation is stopped.

  In step S110, the position recognition unit 44 outputs an undetected control signal indicating that the reference point setting movable body 12 is not detected. Then, the control unit 46 transmits the non-detection control signal output by the position recognition unit 44 to the server 28. For example, when the positional relationship as shown in FIG. 12 (a) is obtained until the previous time, and the positional relationship as shown in FIG. 12 (b) is obtained by the movement control at the current time, the position recognition unit 44 An undetected control signal indicating that the reference point setting movable body 12 is not detected is output.

In step S112, the control unit 46 determines between the coordinate information (x _c , y _c ) corresponding to the current position obtained in step S106 and the coordinate information (x _t , y _t ) corresponding to the target position. It is determined whether the difference is equal to or less than a threshold. If the difference between the coordinate information (x _c , y _c ) corresponding to the current position and the coordinate information (x _t , y _t ) corresponding to the target position is equal to or less than the threshold, the process proceeds to step S114. On the other hand, when the difference between the coordinate information (x _c , y _c ) corresponding to the current position and the coordinate information (x _t , y _t ) corresponding to the target position is larger than the threshold, the process returns to step S100.

  In step S114, the control unit 46 controls the traveling mechanism 20 to stop.

(Function of server)

  The server 28 executes server control processing shown in FIG.

In step S200, the server control unit 32 of the server 28 acquires coordinate information (x _c , y _c ) via the server communication unit 36, and stores the acquired coordinate information (x _c , y _c ) in the position storage unit 34.

  In step S202, the server control unit 32 of the server 28 determines whether an undetected signal indicating that the reference point installation movable body 12 is not detected is acquired. If an undetected signal is obtained, the process proceeds to step S204. On the other hand, when the undetected signal is not obtained, the process returns to step S200.

In step S 204, the server control unit 32 performs an omnidirectional measurement prism by the total station 40 of the working movable body 38 based on the coordinate information (x _c , y _c ) of the working movable body 38 stored in the position storage unit 34. 26 for setting a reference point to the position where the identification marker is located from the coordinate information (x _c , y _c ) corresponding to the position of the reference point setting mobile body 12 at the current time. A control signal relating to a movement instruction is transmitted to move the mobile unit 12. For example, in the case of the positional relationship as shown in FIG. 14A, the server control unit 32 moves the control signal for moving the reference point setting movable body 12 to the identification marker N as the reference point setting movement. Send to body 12

(Function of mobile for setting reference point)

  The reference control unit 18 of the computer 14 of the reference point setting mobile unit 12 executes the reference point setting mobile unit movement process shown in FIG. 15 when acquiring the control signal related to the movement instruction transmitted from the server 28. In addition, the camera 24 captures an image of the floor surface in the downward direction of the reference point setting movable body 12.

  In step S300, the reference control unit 18 acquires a control signal related to the movement instruction transmitted from the server 28. The control signal related to the movement instruction includes information on the movement direction of the reference point setting movable body 12.

  In step S302, the reference control unit 18 acquires an image of the floor surface captured by the camera 24.

  In step S304, the reference control unit 18 displays the identification marker in the image of the floor obtained in step S302, and the difference between the center of the identification marker and the center of the image of the floor is equal to or less than the threshold. It is determined whether the If the difference between the center of the identification marker and the center of the image of the floor is equal to or less than the threshold, the process proceeds to step S308. On the other hand, if the difference between the center of the identification marker and the center of the image of the floor surface is larger than the threshold, the process proceeds to step S306.

  In step S306, as shown in FIG. 14 (b), the reference control unit 18 uses odometry based on the wheel rotation speed (encoder information) and the IMU information mounted on the reference point installation movable body 12. The coordinate position and the attitude of the reference point setting movable body are calculated, and the traveling mechanism 20 is controlled to reach the target identification marker.

  In step S308, the reference control unit 18 controls the traveling of the reference point setting movable body 12 to stop, as shown in FIG. 14 (c). Thereby, the omnidirectional measurement prism 26 of the reference point installation movable body 12 is detected from the work movable body 38.

  In step S310, the reference control unit 18 receives the coordinate table from the coordinate database 30 of the server 28 via the reference communication unit 16 and the wireless network 11. Then, the reference control unit 18 recognizes the coordinate information corresponding to the position of the reference point setting movable body 12 by collating the information on the identification marker on the floor surface with the information on the identification marker stored in the coordinate table. Do. Then, the reference control unit 18 transmits, to the server 28, coordinate information corresponding to the position of the reference point setting movable body 12. Coordinate information corresponding to the position of the reference point setting movable body 12 is stored in a position storage unit 34 of the server 28 described later.

  As described above, in the present embodiment, the identification marker is set to the reference point on the floor surface at the construction site, and the reference point setting movable body is moved to the position of the set identification marker. Then, in accordance with the position of the reference point setting movable body, the position of the work movable body for performing work in the construction site is recognized. Thereby, the position of the working mobile unit at the construction site can be recognized with high accuracy.

  Moreover, in the past, a marker for total station measurement was attached to a column surface of a construction site, and there was a case used for detection of the position of an object. However, in this case, the marker on the pillar surface is hidden due to fireproof coating spraying or finishing work, and the marker on the pillar surface can not be used in the early stage of the construction work. On the other hand, according to the present embodiment, by moving the reference point setting movable body 12 provided with the omnidirectional measurement prism 26 for total station measurement, the measurement target of the total station is not hidden by the progress of the construction work. For this reason, the position of the mobile unit for work can be recognized over the entire construction period of the construction work.

  Also in the conventional method, by sticking a marker for total station measurement all over the construction site, it is possible to reduce the out-of-sight area of total station measurement. In this case, The cost of positioning work increases. On the other hand, according to the present embodiment, it is only necessary to install the identification marker at the intersection point of the pelvic ink in the flow of drawing the pelvic ink, which is the normal work of the surveying trader. The position of the working mobile body can be recognized.

  Further, for example, when the conventional method as disclosed in Patent Document 3 is used, an error is accumulated when detecting the position of the working mobile body. On the other hand, in the present embodiment, the reference point setting movable body 12 provided with the omnidirectional measurement prism 26 always moves on the reference point. For this reason, accumulation of errors does not occur even if the movements of the work mobile unit and the reference point installation mobile unit are repeated. Therefore, the position of the working mobile unit can be recognized with high accuracy.

<Position Recognition System According to Second Embodiment>

  Next, a position recognition system according to a second embodiment will be described. The configuration of the position recognition system according to the second embodiment is the same as that of the first embodiment, so the same reference numerals are given and the description is omitted.

  In the second embodiment, the reference point installation movable body 12 is detected by measurement processing by the total station 40 from the position of the work movable body 38 at the next time based on the position of the work movable body 38 at the next time. The point of controlling to move the reference point setting movable body 12 to the position is different from the first embodiment.

  In the first embodiment, when the omnidirectional measurement prism 26 of the reference point installation movable body 12 is not detected by the measurement processing of the total station 40 of the work movable body 38, the reference point installation movable body 12 is detected. The case where the movement instruction is output is described as an example. However, if the total station 40 of the working mobile unit 38 detects that the reference point setting mobile unit 12 is not detected, the loss of time is large if the movement instruction is output.

  Therefore, in the second embodiment, it is predicted that the omnidirectional measurement prism 26 of the reference point installation movable body 12 will not be detected by the measurement processing of the total station 40 of the work movable body 38, and the reference point installation movable body is made in advance. The movement instruction is output to 12.

  The server control unit 32 of the server 28 according to the second embodiment acquires coordinate information corresponding to the position of the work mobile unit 38 at the next time from the work mobile unit 38, and the position of the work mobile unit 38 at the next time It controls so that the reference point installation movable body 12 is moved to the position where the reference point installation movable body 12 is detected by the measurement processing by the total station 40 from the above.

  For example, in the case where the destination at the next time of the working mobile body 38 is an area surrounded by the A2 reference point, the A3 reference point, the B2 reference point, and the B3 reference point from the situation of positional relationship as shown in FIG. think of. In this case, the working mobile unit 38 transmits coordinate information of the next destination to the server 28 via the wireless network 11. As a result, when the working mobile body 38 moves to a region surrounded by the A2 reference point, the A3 reference point, the B2 reference point, and the B3 reference point, the server 28 detects the work mobile body 38 by the influence of the pillar. From this, it can be detected in advance that the omnidirectional measurement prism 26 mounted on the reference point installation movable body 12 can not be detected.

  Therefore, the server 28 instructs the working mobile unit 38 to start moving from the current location to the next destination, and to move the reference point setting mobile unit 12 to the A3 reference point.

  As described above, in the second embodiment, the reference point installation movable body is detected by the measurement processing by the total station from the position of the work movable body at the next time based on the position of the work movable body at the next time. Control to move the reference point setting mobile body to the target position. Thereby, when the reference point setting movable body is not detected from the work movable body, the position of the work movable body can be recognized in a short time. Specifically, the time when the omnidirectional measurement prism can not be detected is reduced, and the loss of time can be reduced.

  The present invention is not limited to the above-described embodiment, and various modifications and applications can be made without departing from the scope of the present invention.

  For example, in the above embodiments, the computer 42 of the working mobile unit 38 executes the processing shown in FIG. 11, the server 28 executes the processing shown in FIG. 13, and the computer 14 of the reference point setting mobile unit 12 is shown in FIG. Although the case where the process shown in 15 is executed has been described as an example, the present invention is not limited to this. For example, the computer 42 of the working mobile unit 38 may execute the process shown in FIG.

  In each of the above-described embodiments, the information is exchanged via the server 28. However, the present invention is not limited to this. The computer 14 of the body 12 may directly exchange information.

  In addition, each computer of the position recognition system may acquire various information by communicating information with an external server. For example, target position information of the work mobile unit 38 may be stored in the external server, and target position information of the work mobile unit 38 may be sequentially acquired from the external server.

  In addition, although the position during movement of the reference point setting movable body 12 is calculated using odometry based on the wheel rotation speed (encoder information) or IMU information mounted on the work movable body, the case has been described as an example. Based on the image captured by the camera 24 mounted on the reference point setting movable body 12, the top of the ink may be recognized, and movement control may be performed to trace the top of the ink.

  In addition, although the case where the position during movement of the working movable body 38 is calculated by tracking of the omnidirectional measurement prism 26 mounted on the reference point installation movable body 12 by the total station 40 has been described as an example, it is limited thereto It is not a thing. For example, the position during movement of the working mobile body 38 may be calculated by odometry based on the wheel rotation speed (encoder information), IMU information mounted on the working mobile body, or the like.

  Further, in the present embodiment, the position measurement unit mounted on the working movable body is the total station 40, and the distance measuring device mounted on the reference point installation movable body is the omnidirectional measurement prism 26 as an example. Although explained, it is not limited to this. The position measuring unit and the distance measuring device may have any configuration as long as the position of the reference point setting movable body can be measured from the work movable body. For example, a three-dimensional laser surveying instrument capable of measuring the position of a reference point setting movable body is mounted on a working movable body as a position measuring unit, and a predetermined three dimensional laser light receiving unit is moved as a distance measuring instrument It may be mounted on the body, and the position of the reference point setting movable body may be measured from the working movable body. In this case, the position of the reference point installation movable body can be measured from the working movable body without using the omnidirectional measurement prism.

  In the above, the embodiment has been described in which the program is stored (installed) in a storage unit (not shown) in advance. However, the program is recorded in any of recording media such as CD-ROM, DVD-ROM, and micro SD card. It is also possible to provide in the form which is being

10 Position recognition system 11 Wireless network 12, 12A, 12B Reference point installation mobile body 14, 14A, 14B Computer 16 Reference communication unit 18 Reference control unit 20, 20A, 20B Travel mechanism 22, 22A, 22B Lighting unit 24, 24A, 24B cameras 26, 26A, 26B omnidirectional measurement prism 28 server 30 coordinate database 32 server control unit 34 position storage unit 36 server communication unit 38 working mobile unit 40 total station 42 computer 44 position recognition unit 46 control unit 48 work communication Department

Claims (8)

An installation process for installing an identification marker with respect to a reference point on a floor surface at a construction site;
A moving step of moving a reference point setting movable body to the position of the identification marker set in the setting step;
A recognition step of recognizing a position of a working mobile body for performing work at the construction site according to the position of the reference point setting mobile body moved by the moving step;
Location recognition method comprising: According to the position of the reference point setting movable body, which has moved to the position of the identification marker previously installed with respect to the reference point on the floor surface at the construction site, a working mobile body for performing work at the construction site A position recognition device comprising a position recognition unit that recognizes a position. Control is performed to move the reference point installation movable body when the distance measurement device mounted on the reference point installation movable body is not detected by measurement processing by the position measurement unit mounted on the work movable body Further comprising a control unit
The position recognition device according to claim 2. The control unit is configured to use the position measurement unit of the work movable body when the distance measurement equipment of the reference point installation movable body is not detected by the measurement process of the work movable body by the position measurement unit. The reference point setting movable body is moved to a position where the reference point setting movable body is detected and the identification marker is installed closest to the position of the reference point setting movable body at the current time. To control
The position recognition device according to claim 3. The control unit is a position at which the reference point setting movable body is detected by the position measurement unit from the position of the work movable body at the next time based on the position of the work movable body at the next time. Control to move the reference point setting mobile body to
The position recognition device according to claim 3 or 4. An apparatus for measuring a distance detected by measurement processing of a position measurement unit mounted on a working mobile body performing work at a construction site;
A camera for imaging the floor of the construction site;
Running mechanism,
Reference point setting mobile body for controlling the traveling mechanism to stop at a position of an identification marker previously installed with respect to a reference point on a floor surface at the construction site based on an image captured by the camera A control unit,
Mobile body for reference point setting equipped with. A position measurement unit that detects the position of a distance measurement device mounted on a reference point installation movable body that moves to the position of an identification marker previously installed with respect to a reference point on a floor surface at a construction site;
A position recognition unit,
A working mobile equipped with
The position measurement unit measures the position of the work mobile relative to the position of the reference point installation mobile based on the detection result of the position of the distance measurement device of the reference point installation mobile.
The position recognition unit detects the position of the work movable body with respect to the position of the reference point installation movable body measured by the position measurement unit and the position of the identification marker corresponding to the position of the reference point installation movable body. And recognize the position of the working mobile based on
Mobile for work. The reference point setting mobile body according to claim 6,
The working mobile body according to claim 7;
Location recognition system.