Position detection system of mobile unit

The present invention relates to a technique for detecting the position of a moving body, and more particularly to a technique for detecting the position of a moving body freely moving in a predetermined controlled area with high accuracy.

The following is known as a conventional technique for identifying a plurality of moving objects (here, a person) freely moving in a predetermined controlled area and detecting an existing position. FIG. 9 is an explanatory diagram showing a conventional position detection system for a moving body.

It is assumed that a person wearing a transmitter RFa such as an RFID (Radio Frequency Identification) tag is freely moving in the space 20 indicating a predetermined controlled area. At least two or more receivers RS1 and RS2 are provided in the corners of the space 20 to receive radio waves emitted by the transmitter RFa. The distance of the transmitter RFa from each of the receivers RS1 and RS2 is calculated from the electric field strength of the radio waves detected by these receivers RS1 and RS2. Then, with this distance as the radius, the intersection of the two arcs drawn around the respective receivers RS1 and RS2 is used to identify the position where the person wearing the transmitter RFa currently exists. Furthermore, if an identification number is assigned to this transmitter RFa and this identification number is also carried on the radio waves described above and received by the receivers RS1 and RS2, it can be moved by collating with a registration database (not shown). You can see who the person is (see, for example, Patent Document 1).<patcit num="1"><text>Japanese Unexamined Patent Publication No. 2002-98749 (paragraph 0053, Fig. 2)</text></patcit>

<p> However, the position detection system for a moving body in the above-mentioned prior art has the following problems. That is, since the RFID used as the transmitter RFa is inexpensive, there is no cost problem even if there are a large number of people to be detected, but since the output of the transmitted radio wave is small, the applicable space 20 Is limited to a very narrow range. On the other hand, in order to expand the range of the applicable space 20, it is necessary to use a transmitter RFa capable of transmitting a radio wave having a higher output, or to provide a plurality of receivers RS1 ... at predetermined intervals. However, when a high-power oscillator RFa is used, this transmitter RFa becomes expensive, and it is costly to install one of these expensive oscillators for each person to be detected. Problems occur. Further, if a plurality of receivers RS1 ... Are provided at predetermined intervals, the burden of infrastructure development is burdened, and there arises a problem that the place where the invention can be applied is limited. Further, if there is an obstacle in the space, the radio wave output from the transmitter RFa is attenuated by the obstacle, so that there is a problem that the accuracy of the position detection of the moving object is lowered.</p><p> The present invention has been made for the purpose of solving the above problems, and even if a transmitter having a weak radio wave output is used as a transmitter attached to a mobile body, or without special equipment being installed. It is an object of the present invention to provide a system capable of detecting the position of a moving body with high accuracy in a wide controlled area.</p>

<p> The present invention has been devised to achieve the above-mentioned object. First, the position detection system for a moving body according to claim 1 is a position detecting system for specifying the position of a moving body moving in a controlled area. Therefore, a detection tag provided on the moving body, a detecting means for detecting the moving body position information including direction information and distance information of the detecting tag, and a detecting means for freely moving in the controlled area, and the detecting means. A base station for detecting the position information of the detecting means including the absolute position and the angle with respect to the controlled area, and detecting the position of the moving body in the controlled area from the detecting means position information and the moving body position information. It is characterized by.</p><p> According to such a configuration, even when the detection system is applied to a moving body in a wide controlled area, the distance r at which the moving body position information (direction information and distance information) transmitted from the detection tag is transmitted is , The distance between the moving body and the detecting means. Therefore, the transmission output of the detection tag may be small. Then, if the moving body position information detected by the detecting means and the detecting means position information (absolute position and angle with respect to the controlled area) of the detecting means are detected by the base station, the controlled area of the moving body is obtained from these two pieces of information. The exact position within is known.</p><p> The mobile body position detection system according to claim 2 is the mobile body position detection system according to claim 1, wherein when the detection tag receives an optical signal of a specific wavelength emitted by the detection means, the above-mentioned The position detection system for a moving body according to claim 1, wherein the reception report signal received by the detection means is transmitted, including the position information of the moving body.</p><p> According to such a configuration, when an optical signal having a specific wavelength is received by the detection tag, a reception report signal including moving body position information is transmitted from the detection tag and received by the detection means. Here, the reason why the optical signal of a specific wavelength is used is that the optical signal has a property of high directivity and therefore has directional information by itself. As a result, the distance and direction of the position where the moving body exists can be determined centering on the detecting means.</p><p> The mobile body position detection system according to claim 3 is the mobile body position detection system according to claim 2, wherein when the detection tag receives a radio wave of a specific frequency, the reception report signal is transmitted. It is characterized by.</p><p> According to such a configuration, when the moving body approaches the source of the radio wave of the specific frequency, the detection tag transmits the reception report signal. As described above, by using the highly transparent radio wave, the position detection of the moving body, which is less affected by obstacles and has less detection omission, is realized.</p><p> The mobile body position detection system according to claim 4 is the mobile body position detection system according to claim 2 or 3, wherein the detection tag further includes an identification number unique to the detection tag. It is characterized in that the reception report signal is transmitted.</p><p> According to such a configuration, even if there are a plurality of moving bodies in the controlled area, each of these moving bodies has a different identification number. Therefore, if the detecting means detects the moving body position information as well as this identification number, the moving body can be identified and the position can be detected in the controlled area.</p><p> The position detection system for a moving body according to claim 5 is the position detection system for a moving body according to any one of claims 2 to 4, wherein the detection means includes the light containing the direction information. The detection tag, which includes a light emitting means for emitting a plurality of signals in the radial direction and a radio wave transmitting / receiving means for receiving the reception report signal, receives the optical signal, and adds the direction information to the reception report signal. The electric field strength of the reception report signal received by the radio wave transmitting / receiving means is used as the distance information.</p><p> According to such a configuration, the detecting means has a light emitting means for irradiating a plurality of optical signals in the radial direction around the detecting means. Then, each optical signal includes directional information data indicating in which direction the light signal was emitted centered on the detection means. When any of these optical signals is received by the detection tag, the direction information data is added to the reception report signal and transmitted from the detection tag to the detection means. As a result, when the detection means receives the reception report signal, it can know whether the moving body that is the source of this signal exists in that direction. Further, since the electric field strength of the received report signal is proportional to the distance between the detecting means and the moving body, the distance information is given by knowing the electric field strength.</p><p> The mobile body position detection system according to claim 6 is the mobile body position detection system according to claim 5, wherein the light emitting means emits the optical signal further including an identifier unique to the detecting means. The identifier is added to the reception report signal and transmitted from the detection tag.</p><p> According to such a configuration, a plurality of detection means can be used in the controlled area. That is, even if two or more detection means detect the same moving body, the reception report signal transmitted from the detection tag provided on the moving body has an identifier of the detecting means attached to the receiving destination. Do not make a mistake.</p><p> The mobile body position detection system according to claim 7 is the mobile body position detection system according to any one of claims 3 to 6, wherein the detection means transmits radio waves of the specific frequency. It is characterized by that.</p><p> According to such a configuration, when the detection means approaches the moving body, the detection tag transmits a reception report signal. As described above, by using the highly transparent radio wave, the position detection of the moving body which is not easily affected by obstacles and has less detection omission is realized.</p><p> The position detection system for a mobile body according to claim 8 is the position detection system for a mobile body according to any one of claims 1 to 7, wherein the base station moves in the controlled area. A moving body position calculating means that receives the detecting means operating means for operating the means, the detecting means position information and the moving body position information transmitted from the detecting means, and obtains the absolute position of the moving body in the controlled area. It is characterized by having.</p><p> The mobile body position detection system according to claim 9 is the mobile body position detection system according to claim 8, wherein the base station receives the identification number transmitted from the detection means and collates it with a database. It is characterized in that the identification number collating means for identifying the moving body is provided.</p><p> According to such a configuration, in the base station, it is possible to accurately grasp the position of the moving body while identifying the moving body, and further, it is possible to move the detecting means based on the position of the moving body.</p><p> The position detection system for a moving body according to claim 10 is the position detection system for a moving body according to any one of claims 1 to 9, wherein the detection means is an autonomous mobile bipedal walking robot. It is characterized by being.</p><p> According to such a configuration, the detection means can be moved to the side of the moving body to perform multipurpose processing.</p>

<p> The position detection system for a moving body according to the present invention has the following excellent effects. That is, even if the detection tag provided on the moving body has a weak radio wave output strength, the control area where the moving body can move freely is set over a wide area without the need to newly install special equipment. be able to. Further, as the detection tag provided on the plurality of moving bodies, a tag having a weak output can be used, so that there is no problem in terms of cost and the Radio Law.</p>

(Structure of Position Detection System A) First, the overall configuration of the position detection system for a moving body according to the present invention will be described with reference to FIG. As shown in FIG. 1, the position detection system A includes a walking robot (detection means) R, a base station 1 that wirelessly communicates with the walking robot R, and a controlled area in which a mobile body D (here, a person) freely moves. It is composed of C and a detection tag T provided on the moving body D.

The base station 1 has a function of controlling the operation of the walking robot R that freely moves inside the controlled area C and detecting the absolute position (position vector p) of the walking robot R. The walking robot R detects the relative position (relative vector s) of the moving body D with respect to the walking robot R as a base point. Then, the position detection system A identifies the absolute position (position vector q) of the moving body D from the two vectors obtained in this way, and if necessary, who is the moving body D (here, a person). It is for personal identification as to whether or not there is one. Hereinafter, the configurations of the walking robot R and the moving body D will be described in detail.

[Walking robot R]

The walking robot R, which is a detection means in the moving body position detection system A according to the present invention, is an autonomously moving bipedal walking robot.

This walking robot R transmits a radio wave w of a specific frequency to a peripheral region and irradiates an optical signal B of a specific wavelength (here, infrared ray B) toward the surrounding region. Then, when the detection tag T provided on the moving body D receives the radio wave w and the optical signal B emitted from the walking robot R, a signal (reception report signal J) to that effect is received from the detection tag T. Reply to robot R. From the electric field strength of this reception report signal J, the distance r from the walking robot R to the moving body D can be obtained, and the direction θ in which the moving body D exists is derived from the direction in which the optical signal B received by the moving body D emits light. Then, the relative vector s (r, θ) indicating the relative position of the moving body D is specified.

As shown in FIG. 1, this walking robot R has a head portion R1, an arm portion R2, and a leg portion R3, and the head portion R1, the arm portion R2, and the leg portion R3 are each driven by an actuator. It is possible to walk freely on two legs in the controlled area C. Details of this bipedal walking are disclosed in, for example, Japanese Patent Application Laid-Open No. 2001-62760.

[Robot position detector]

The walking robot R includes a robot position detection unit (not shown) that detects an absolute position (position vector p (x, y)) and an angle φ inside the controlled area C. This absolute position detection is realized by a known method in addition to the GPS (Global Positioning System) receiver. The detection of the angle φ is realized by a known method in addition to the gyro sensor.

[Wireless communication unit]

The walking robot R includes a wireless communication unit (not shown) that transmits / receives information to / from the management computer 3 arranged at the base station 1. The information referred to here refers to the relative vector s (moving body position information), the position vector p and the angle φ (detection means position information), the tag identification number described later, and the operation command of the walking robot R. This wireless communication unit is a wireless communication means using a public line such as a mobile phone line or a PHS (Personal Handyphone System) line, or wireless communication by short-range wireless communication such as a wireless LAN compliant with the IEEE802.11b standard. It is realized by means.

[Tag detector]

Further, the walking robot R detects whether or not a moving body D having a detection tag T is present around the walking robot R, and if the presence of the moving body D is detected, the moving body D of the moving body D is detected. It is provided with a tag detection unit that specifies the relative vector s. This tag detection unit will be described in detail with reference to FIG. As shown in the figure, the tag detection unit 70 includes a control means 80, a radio wave transmission / reception means 90, a light emitting means 100, and a storage means 110.

(Control means 80) The control means 80 generates a search signal F wirelessly transmitted from the radio wave transmitting / receiving means 90 described later and a direction inspection signal H output as infrared rays (optical signal) B from the light emitting means 100 described later. It is a thing. Further, it receives the reception report signal J transmitted from the detection tag T that has received the search signal F, and determines the relative vector s (see FIG. 1) which is the moving body position information of the moving body D.

The control means 80 includes a data processing unit 81, an encryption unit 82, a time division unit 83, a decoding unit 84, and an electric field strength detection unit 85. The data processing unit 81 generates the search signal F and the direction inspection signal H, and determines the moving body position information (relative vector s (see FIG. 1)) from the reception report signal J. , And the position identification unit 81b are included.

(Signal Generation Unit 81a) The signal generation unit 81a acquires a unique identifier (hereinafter, referred to as a robot ID) of the walking robot R stored in the storage means 110 at predetermined time intervals. Then, the signal generation unit 81a generates a search signal F including the robot ID.

Further, when the signal generation unit 81a generates the search signal F, the signal generation unit 81a also generates the direction inspection signal H included in the infrared ray B emitted from the light emitting means 100 described later. This direction inspection signal H is generated individually for all the light emitting parts (LED1 to LED8) provided in the light emitting means 100, and the robot ID described above and these light emitting parts (LED1 to LED8) are generated. It is configured to include a light emitting unit ID to be specified. As will be described later, this light emitting unit ID defines the direction θ in which the moving body D exists and indicates direction information.

In the case of the present embodiment, since a total of eight light emitting units are provided, the data processing unit 81 generates a total of eight direction inspection signals H composed of the robot ID and the light emitting unit ID (direction information). .. For example, the robot ID is "02" and the light emitting part ID of the light emitting part (LED1 to LED8) is "θ".₁~ θ₈The direction inspection signal H generated for the light emitting unit LED1 is robot ID = "02" and the light emitting unit ID = "θ".₁, And the direction inspection signal H generated for the light emitting unit LED2 is the robot ID = "02" and the light emitting unit ID = "θ".₂Will be included.

(Encryption unit 82) The encryption unit 82 encrypts the direction inspection signal H input from the signal generation unit 81a and then outputs it. Then, the encryption unit 82 uses the search signal F (encrypted search signal F) obtained by encrypting the search signal F._c) Is output to the radio wave transmitting / receiving means 90 described later. As a result, the encrypted search signal F_cWill be transmitted wirelessly from the radio wave transmitting / receiving means 90 after being modulated.

Further, the encryption unit 82 encrypts the direction inspection signal H input from the data processing unit 81 in the same manner. Then, the encryption unit 82 receives the encryption direction inspection signal H obtained by encrypting the direction inspection signal H._cIs output to the time division unit 83 described later.

In the case of the present embodiment, the direction inspection signal H is generated one by one in the data processing unit 81 described above for each light emitting unit of the light emitting means 100. Therefore, as shown in FIG. 2, since the light emitting means 100 is provided with a total of eight light emitting units, the encryption unit 82 has a total of eight direction inspection signals H (H).₁, H₂, ... H₈) Is input from the data processing unit 81. As a result, a total of eight encryption direction inspection signals H_c(H_C1, H_C2, ... H_C8) Is generated in this encryption unit 82 and output to the time division unit 83.

(Time division unit 83) The time division unit 83 sets the light emission order and the light emission timing of each light emitting unit (LED1 to LED8) of the light emitting means 100. Specifically, the encryption direction inspection signal H from the encryption unit 82_cIs input, the time division unit 83 determines the light emission order and the light emission timing of each light emitting unit (LED1 to LED8). Then, at the determined emission order and emission timing, the encryption direction inspection signal H_c(H_C1, H_C2, ... H_C8) Are output to the light emitting units (LED1 to LED8) of the light emitting means 100.

(Light emitting means 100) In the light emitting means 100, a plurality of light emitting parts (LED1 to LED8) are arranged around the head of the walking robot R at predetermined intervals, and the light emitting means 100 is directed toward a preset area around the walking robot R. It irradiates the infrared signal B (not shown). As shown in FIG. 3, this region is formed by dividing the circumference of the walking robot R into a plurality (8 in the figure) in the radial direction. Then, a plurality of light emitting units, specifically, a light emitting diode that emits infrared rays B, circulate around the head of the walking robot R so that the irradiation area corresponds to each of the first to eighth regions. It is arranged so as to surround it.

(Radio wave transmitting / receiving means 90) As shown in FIG. 2, the radio wave transmitting / receiving means 90 is composed of a modulation unit 91, a demodulation unit 92, and a transmission / reception antenna 93, and transmits a radio wave w toward the peripheral region of the walking robot R. At the same time, the reception report signal J transmitted from the detection tag T (see FIG. 1) that has received this radio wave w is received.

The modulation unit 91 is a search signal F (actually, an encrypted search signal F) input from the data processing unit 81._c) Is modulated by a predetermined modulation method to obtain a modulated signal, which is then wirelessly transmitted via the transmission / reception antenna 93. Further, the demodulation unit 92 receives the modulation signal wirelessly transmitted from the detection tag T of the moving body D via the transmission / reception antenna 93, and demodulates the received modulation signal to receive the reception report signal J (actually, the reception report signal J (actually, Encrypted reception report signal J_c) Is acquired. Then, the demodulation unit 92 outputs the acquired reception report signal J to the decoding unit 84 of the control means 80 and the electric field strength detection unit 85.

(Decryption unit 84) The decryption unit 84 is an encrypted reception report signal J._cIs decoded, the reception report signal J is acquired, and is output to the data processing unit 81. As will be described in detail later, this reception report signal J includes at least a light emitting unit ID (direction information), a robot ID, and a tag identification number, and the decoding unit 84 transmits these to the data processing unit 81. Output.

(Electric Field Strength Detection Unit 85) The electric field strength detection unit 85 obtains the strength of the modulated signal transmitted from the detection tag T of the moving body D and received by the radio wave transmitting / receiving means 90. Specifically, the electric field strength detection unit 85 uses the encrypted reception report signal J input from the demodulation unit 92 of the radio wave transmitting / receiving means 90._cThe electric power of the above is detected, the average value of the detected electric power is obtained as the electric field strength, and is output to the data processing unit 81.

(Positioning unit 81b) The positioning unit 81b extracts the robot ID from the reception report signal J input from the decoding unit 84, compares this robot ID with the robot ID stored in the storage means 110, and both robots. When the IDs match, the moving body position information (relative vector s) is determined.

First, the position identification unit 81b receives the reception report signal J (actually, the encrypted reception report signal J) from the electric field strength detection unit 85._c) Is input, and the distance table (not shown) stored in the storage means 110 is referred to. In this distance table, the correspondence between the electric field strength and the distance r of the walking robot R and the moving body D is described. Therefore, if the electric field strength of the reception report signal J is detected, the distance indicating which of the concentric areas (areas 1 to 4) shown in FIG. 3 the moving body D of the source is located in. Information (corresponding to distance r) can be obtained.

Further, the position specifying unit 81b inputs the light emitting unit ID (direction information) included in the reception report signal J decoded by the decoding unit 84. Then, from this light emitting unit ID, it is determined which of the light emitting units LEDs 1 to 8 of the light emitting means 100 has received the infrared ray B emitted by the detection tag T. That is, "θ" corresponding to the light emitting unit ID.₁~ θ₈By acquiring the direction information of any one of the above, the region where the moving body D exists is specified as one of the eight regions (first region to eighth region) shown in FIG. ..

In this way, the position specifying unit 81b indicates the relative position of the moving body D from the acquired distance information (corresponding to the distance r) and the direction information (corresponding to the direction θ). Hereinafter, the moving body position information (also referred to as s (r, θ))) is generated.

Then, the position specifying unit 81b uses the moving body position information (s (r, θ)) together with the tag identification number included in the reception report signal J input from the decoding unit 84, and the control unit 40 of the walking robot R. Output to.

Then, the control unit 40 uses the tag identification number, the moving body position information (s (r, θ)), the detecting means position information (p (x, y)) indicating the absolute position of the management area C of the walking robot R, and the angle. φ) is transmitted to the management computer 3 from the wireless communication unit (not shown) described above. As a result, the management computer 3 refers to the storage means (not shown) based on the tag identification number, and identifies the mobile body D (person) provided with the detection tag T including the tag identification number. At the same time, it sends necessary motion commands to the walking robot R based on the information of the specified moving body D (person). Therefore, according to this operation command, the control unit 40 of the walking robot R controls each part of the walking robot R.

[Detection tag]

As shown in FIG. 4, the detection tag T includes a radio wave transmission / reception means 140, a light receiving means 150, a reception report signal generation means 160, and a storage means 170. The detection tag T receives the radio wave w transmitted from the walking robot R and the irradiated infrared rays B, and transmits a reception report signal J indicating that these have been received to the walking robot R. ..

(Radio wave transmission / reception means 140) The radio wave transmission / reception means 140 includes a transmission / reception antenna 141, a demodulation unit 142, and a modulation unit 143, and receives a modulation signal wirelessly transmitted from the walking robot R, and also receives a modulation signal described later. The reception report signal J generated by the report signal generation means 160 is modulated and then wirelessly transmitted to the walking robot R.

The demodulation unit 142 demodulates the modulated signal transmitted from the walking robot R and received via the transmission / reception antenna 141, and the search signal F (actually, the encrypted search signal F)._c) Is acquired, and this search signal F is output to the reception report signal generation means 160 described later.

The modulation unit 143 is the encrypted reception report signal J (encrypted reception report signal J) input from the encryption unit 163 of the reception report signal generation means 160 described later._c) Is modulated to generate a modulated signal, and this modulated signal is wirelessly transmitted via the transmission / reception antenna 141.

(Light-receiving means 150) The light-receiving means 150 is composed of a light-receiving unit 151 and a light demodulation unit 152, and receives infrared rays B emitted from the walking robot R. The light receiving unit 151 directly receives infrared rays B (optical signal B) emitted from the walking robot R. The optical demodulation unit 152 demodulates the optical signal B received by the light receiving unit 151, and the direction inspection signal H (actually, the encryption direction inspection signal H)._c) Is acquired and output to the reception report signal generation means 160.

(Reception Report Signal Generation Means 160) As shown in FIG. 4, the reception report signal generation means 160 includes a decoding unit 161, a data processing unit 162, and an encryption unit 163, and is composed of a search signal F or The direction inspection signal H is input to generate and output a reception report signal J to be transmitted to the tag detection unit 70 of the walking robot R.

The decryption unit 161 is the encrypted search signal F input from the radio wave transmitting / receiving means 140._cAnd the encryption direction inspection signal H input from the light receiving means 150._cIs decoded to generate a search signal F and a direction inspection signal H, respectively, and output to the data processing unit 162.

When the search signal F or the direction inspection signal H is input, the data processing unit 162 refers to the storage means 170 and acquires a unique tag identification number (identification number) assigned to the detection tag T. Here, the input search signal F includes a robot ID that can identify the walking robot R that transmitted the search signal F. Further, in the direction inspection signal H, a robot ID capable of identifying the walking robot R that transmitted the direction inspection signal H and a light emitting unit (any one of LEDs 1 to LED 8) that transmitted the direction inspection signal H can be specified. The light emitting unit ID (direction information) is included. Then, the data processing unit 162 generates a reception report signal J including the input tag identification number, robot ID, and light emitting unit ID, and outputs the reception report signal J to the encryption unit 163.

The encryption unit 163 encrypts the input reception report signal J and encrypts the reception report signal J._cThen, this is output to the radio wave transmitting / receiving means 140. As a result, the encrypted reception report signal J_cIs modulated by the modulation unit 143 of the radio wave transmission / reception means 140, and then wirelessly transmitted via the transmission / reception antenna 141.

[base station]

FIG. 5 is a block diagram showing the basic configuration of base station 1. The base station 1 includes the management computer 3, the mobile information database 210 in which the attribute information of the mobile body D is stored, the map information database 220 in which the map information of the controlled area C is stored, and the mobile body D. It is composed of a data storage device 230 that stores attribute information and position information in association with each other.

(Management computer 3) The management computer 3 is composed of a radio wave transmitting / receiving means 240, a tag identification number collating means 250, a moving body position calculating means 260, and a robot operating means (detecting means operating means) 270. , It processes information (moving body position information, detection means position information, etc.) transmitted and received to and from the wireless communication unit of the walking robot R.

The radio wave transmitting / receiving means 240 is a tag identification number, a moving body position information (s (r, θ)), and a detecting means position information (p (x, y), angle φ) transmitted from the wireless communication unit of the walking robot R. The data signal including the above is received by the receiving unit 242 and output to the tag identification number collating means 250 and the moving body position calculating means 260. Further, the radio wave transmitting / receiving means 240 inputs a command (or program) for operating the walking robot R from the robot operating means 270 and transmits the command (or program) from the transmitting unit 243 to the wireless communication unit (not shown) of the walking robot R. ..

The tag identification number collating means 250 extracts the tag identification number from the signal input by the receiving unit 242, collates it with the mobile information database 210, and among the stored information, the attribute information (personal name) related to the mobile D. Etc.) are extracted to identify the moving body D.

The moving body position calculating means 260 is in the control area C from the moving body position information (s (r, θ)) input from the receiving unit 242 and the detecting means position information (p (x, y), angle φ). The absolute position of the moving body D (position vector q (see Fig. 1)) is calculated and output. FIG. 6 is a diagram illustrating a method of calculating the absolute position (position vector q) of the moving body D in the controlled area C (see FIG. 1 as appropriate). As shown in FIG. 6, it is assumed that the controlled area C is displayed in plane coordinates α and the position vector of the walking robot R is displayed in Cartesian coordinates with p (x, y). Then, it is assumed that the position of the moving body D in the plane coordinates β centered on the walking robot R is displayed in polar coordinates as s (r, θ). Then, the position vector q (X, Y) in the plane coordinates α of this moving body D is shown by the following equation. Here, φ indicates the absolute angle of the walking robot R with respect to the controlled area C.

q (X, Y) = (x + r cos (θ + φ), y + r sin (θ + φ)) (1)

As is clear from Eq. (1), the position vector q (X, Y) in the controlled area C of the moving body D is the position vector p (x, y) of the walking robot R and this position vector p (x, y). ) Is the distance r to the moving body D and the direction θ. Therefore, since the walking robot R moves closer to the moving body D, it is not necessary to improve the transmission output of the detection tag T provided in the moving body D even if the control area C is expanded and the position detection system is operated. Applicable.

The data storage device 230 includes the absolute position (position vector q) of the mobile body D calculated as described above in the control area C, the attribute information of the mobile body D extracted from the mobile body information database 210, and the time information. Is associated with and accumulated.

The robot operating means 270 generates an instruction (program) that determines the moving locus of the walking robot R inside the controlled area C. The locus of this robot is given an operation command so as to avoid the position of an obstacle registered in the map information database 280. Further, the movement of the walking robot R may be traced to a predetermined route, or the position vector (q (X, Y)) of the moving body D described above may be fed back to trace the locus of the moving body D. May be tracked. Further, in the presence of a plurality of moving bodies, an operation command of the walking robot R may be programmed so that a specific moving body D is set as a search target and some action is taken when this target is detected.

Next, the operation of the position detection system for the moving body will be described with reference to FIGS. 7 and 8 (see FIG. 1 as appropriate). (First Example) FIG. 7 is a flowchart showing the operation of the moving object detection system according to the present invention as the first embodiment. In the first embodiment, the walking robot (detection means) R moves on a predetermined route inside the controlled area C and collects information on an arbitrary moving body D in the vicinity of the walking robot R. For example, you can store information about who was at what time and where.

First, an operation program in which the walking robot (detecting means) R traces a predetermined route all over the inside of the controlled area C is input to the management computer 3 (step S11). .. Multiple walking robots R (R) inside controlled area C₁, R₂When arranging ...), a different operation program for each of these walking robots R is sent from the management computer 3 to the corresponding walking robot R (R).₁, R₂...) is sent (step S12). Each walking robot R (R) that received these operation programs₁, R₂...) moves inside the controlled area C according to the operation program (step S13), and from the light emitting means 100 (LED1 to LED8) arranged around the head, the direction inspection signal H (H)_C1, H_C2, ... H_C8) Is transmitted (step S14).

If the moving body D provided with the detection tag T exists in the range irradiated with the infrared rays B, the detection tag T will be the direction inspection signal H (H)._C1, H_C2, ... H_C8) Is detected (step S15), and the direction information θ is extracted from the light emitting unit ID included in this signal (step S16). In addition, multiple walking robots R (R)₁, R₂When ...) is arranged, at the same time, the robot ID for discriminating these walking robots R is also extracted from the direction inspection signal H. Then, a reception report signal J composed of the extracted direction information θ, a tag identification number unique to the detection tag T, and a robot ID if necessary is transmitted to the walking robot R (step S17).

Then, in the walking robot R, unless the reception report signal J is received (step S18: No), the walking robot continues to move according to the operation program. If the walking robot R receives the reception report signal J transmitted from the detection tag T (step S18: Yes), the distance r between the walking robot R and the moving body D is derived from the electric field strength of this signal. (Step S19). In this way, the walking robot R has the tag identification number and the moving body position information (relative vector s (r, θ)) obtained from the detection tag T and the detection obtained from the robot position detection unit (not shown). Means position information (p (x, y), angle φ) is transmitted to base station 1 (step S20).

The base station 1 receives these information transmitted from the walking robot R (step S21), and based on the above equation (1), the absolute position (position vector q (position vector q)) of the moving body D in the controlled area C. X, Y)) is calculated (step S22). The absolute position information of the mobile body D in the control area C of the mobile body D obtained in this manner, the attribute information of the mobile body D corresponding to the tag identification number (for example, a person's name, etc.), and the time information are combined into one. By accumulating as data (step S23), it is possible to collect information such as who, when, and where in the controlled area C. Then, the processes from step S11 to step S23 are repeated until the operation program is completed (step S24: Yes, No).

(Second Example) FIG. 8 is a flowchart showing the operation of the moving object detection system according to the present invention as the second embodiment. In this second embodiment, a walking robot (detecting means) R tracks a specific moving body D located in the controlled area C, and when the moving body D is detected, the walking robot (detecting means) R approaches and takes a predetermined action. It is an embodiment to execute. This action is, for example, delivering a message or handing over something.

First, the moving body D to be searched in the base station 1 is specified (step S51). Then, a predetermined mobile program is transmitted from the base station 1 (step S52), and the walking robot R that receives this is moving in the controlled area C according to this program (step S53), and the radio wave transmitting / receiving means 90 (FIG. 2). From (see), the search signal F is transmitted on the radio wave w (step S54).

If the moving body D provided with the detection tag T exists within the reach of the radio wave w, the detection tag T will receive the radio wave w (step S55), and the detection tag T will be received. A tag identification number unique to the robot R is transmitted to the walking robot R (step S56).

Then, in the walking robot R, unless the tag identification number is received (step S57: No), the walking robot R continues to move according to the operation program. If the walking robot R receives the tag identification number transmitted from the detection tag T (step S57: Yes), the distance r between the walking robot R and the detection tag T is obtained from the electric field strength of the received signal. , When this distance r is smaller than the threshold value a (step S58: Yes), the walking robot R transfers the tag identification number obtained from the detection tag T and the unique robot ID of the walking robot R to the base station 1. Send to (step S59). When this distance r is larger than the threshold value a (step S58: No), the walking robot R determines that the target to be searched is still far away, and continues to move according to the operation program. It is desirable that the threshold value a be set to a distance that the infrared ray B can sufficiently reach.

When the base station 1 receives the tag identification number transmitted from the walking robot R (step S60), it queries the mobile information database (see FIG. 5) and confirms whether it is the mobile D to be searched. (Step S61). Then, if it is not the target target (step S62: No), the movement program is continued as it is (step S52), and if it is the target target (step S62: Yes), the direction inspection signal is sent to the walking robot R. H (H_C1, H_C2, ... H_C8) Is ordered to emit infrared rays (optical signal) B (step S63). Hereinafter, the processing flow from step S63 to step S71 to derive the position vector q (X, Y) of the moving body D is the same as the processing flow from step S14 to step S22 described above, and thus the description thereof will be omitted.

Since the exact position vector q (X, Y) in which the moving object D to be searched exists has been clarified, the base station 1 moves to this position vector q (X, Y) with respect to the walking robot R. Instruct to do so (step S72). As a result, the walking robot R moves in the vicinity of the moving body D to be searched (step S73), and performs a predetermined action such as transmitting a message (step S74). Then, if the next search target is specified in the program (step S75: No, S53), the processes from step S51 to step S74 are repeated again, and if the next search target is not specified, the program ends (step S75: No, S53). Step S75: Yes).

In the second embodiment, the reason why the search stage of the moving body D is separated into the first stage (step S54 to step S59) by the radio wave w and the second stage (step S63 to step S69) by the infrared ray B is as follows. It is as follows. That is, since the radio wave w has high transparency due to diffraction and reflection, it is unlikely that the detection tag T will be erroneously leaked. Therefore, in the first stage, the presence or absence of the search target is detected by searching with the radio wave w, and after the rough position is detected, the position is detected with high accuracy by the highly directional optical signal (infrared B) in the second stage. As a result, detection accuracy and speedup are achieved at the same time.

In the above description, the detection means is assumed to be a walking robot R capable of bipedal walking, but the description is not limited to this, and the moving body position information (s (r, θ)) ) And the detection means position information (p (x, y), angle φ) may be detected, and may be, for example, a radio-controlled car.

In the above description, of the moving body position information (s (r, θ)), the direction information θ is given by the light emitting unit ID transmitted by the walking robot R, and the distance information r is transmitted by the detection tag T. It was obtained from the electric field strength of the received report signal J. However, the moving body position information (s (r, θ)) given in the present invention is not limited to the above-mentioned method, and is, for example, an image recognition means using a stereo imaging means mounted on the robot R (FIG. (Not shown) may be used. Further, even in the method of identifying the moving body D, the tag identification number is used in the above description, but the method is not limited to this method, and the moving body D may be identified by the image recognition means. Good.

<figref num="1">It is a system block diagram of the position detection system of a moving body which concerns on this invention.</figref><figref num="2">It is a block diagram of the tag detection part of the walking robot.</figref><figref num="3">It is explanatory drawing explaining the method of specifying the relative vector s of a moving body from the acquired distance information and direction information.</figref><figref num="4">It is a block diagram which shows the basic structure of the detection tag.</figref><figref num="5">It is a block diagram which shows the basic structure of a base station.</figref><figref num="6">It is a figure explaining the method of calculating the position in the control area of a moving body.</figref><figref num="7">It is a flowchart which shows the process at the time of collecting the position information of a plurality of moving bodies located in a controlled area.</figref><figref num="8">It is a flowchart which shows the process at the time of searching for a specific moving body among a plurality of moving bodies located in a controlled area.</figref><figref num="9">It is a conceptual diagram which shows the detection device of the conventional moving body.</figref>

Code description

1 Base station 70 Tag detector 100 Light emitting means 150 Light receiving means 250 Tag identification number collating means (identification number collating means) 260 Mobile position calculation means 270 Robot operating means (detecting means operating means) A Position detection system B Infrared (optical signal) ) C Controlled area D Mobile F Search signal H Direction inspection signal J Reception report signal R Walking robot (detection means) T Detection tag w Radio wave θ Direction information r Distance information s Mobile position information p Detection means position information φ angle