JP2019133240A - Mobile body system and self-propelled device and positioning method of self-propelled device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mobile system capable of stably arranging a self-propelled device at a specific position, the self-propelled device, and a method for positioning the self-propelled device. SOLUTION: In a moving body system 10 having a self-propelled device 11 that is self-propelled and arranged at a specific position P, the self-propelled device 11 is a magnet provided at the specific position P or in the vicinity of the specific position P. The distance between the geomagnetic sensor A arranged at a height at which the magnetic fields of 12 and 12a can be detected and the magnets 12 and 12a in the height direction is longer than the distance in the height direction from the geomagnetic sensor A to the magnets 12 and 12a. From the difference between the geomagnetic sensor B arranged at a height where the magnetic fields of the magnets 12 and 12a cannot be detected, the direction switching mechanism 23 that changes the traveling direction of the self-propelled device 11, and the measured values of the geomagnetic sensors A and B. Control means for calculating the position of the self-propelled device 11 with respect to the magnets 12 and 12a based on the value obtained by subtracting the difference between the measured values of the geomagnetic sensors A and B measured in advance in a space where only the geomagnetism is detected as the magnetic field. 22 and. [Selection diagram] Fig. 4

Description

The present invention relates to a mobile system that includes a self-propelled device and places the self-propelled device at a specific position, the self-propelled device, and a positioning method of the self-propelled device.

In addition to the enhancement of sports facilities, the Ministry of Education, Culture, Sports, Science and Technology has formulated a basic plan for sports promotion with the goal of developing at least one comprehensive regional sports club in each municipality. In the promotion of sports, it is necessary not only to construct facilities, but also to train leaders and improve the exercise environment. With the increase of exercise facilities and the aging of society, the number of people who operate and manage the facilities There is concern about the shortage. On the other hand, when senior citizens worked as staff, senior citizens had to work hard.

Line drawing in an athletic field plays an important role and requires a high level of skill. Before a professional sports game, a line drawing is performed by a ground keeper, for example, using lime powder. In addition to the increase in athletic stadiums in recent years and the increase in professional sports leagues and professional sports teams, Because of the aging of the country, there is a shortage of skilled groundkeepers.

In this regard, specific examples are disclosed in Patent Documents 1 and 2 as a line drawing device for accurately drawing a line. The line drawing device described in Patent Document 1 can cancel out the deviation of the powder outlet by a gyro sensor, and the line drawing device described in Patent Document 2 includes four wheels to suppress camera shake. To improve stability when drawing straight lines.
Further, in recent years, a technology for moving a self-propelled vehicle to a predetermined position using GPS has been developed. Therefore, it is expected that line drawing is automated by providing the line drawing device with a self-propelled function.

JP 2010-240213 A JP 2006-305027 A

However, since the line drawing needs to be performed accurately, it is necessary to accurately place the line drawing device at a specific position (for example, the starting point of the line drawing is the end point of the line drawing). There is a problem that the accuracy cannot be satisfied.
And the technique which arrange | positions a self-propelled apparatus accurately in a predetermined position is widely desired not only for a line drawing apparatus but for the self-propelled apparatus in general.
The present invention has been made in view of such circumstances, and provides a mobile system having a self-propelled device and capable of stably arranging the self-propelled device at a specific position, and a self-propelled device and a positioning method for the self-propelled device. The purpose is to do.

The mobile system according to the first invention that meets the above object is a mobile system having a self-propelled device that is self-propelled and placed at a specific position, and is provided at or near the specific position. The self-propelled device is fixed to the base unit, a geomagnetic sensor A fixed to the base unit and disposed at a height capable of detecting the magnetic field generated by the magnet, and the base unit. And a direction of changing the traveling direction of the self-propelled device, and the geomagnetic sensor B disposed at a height position where the distance in the height direction to the magnet is longer than the distance in the height direction from the geomagnetic sensor A to the magnet. A switching mechanism, and a control means for controlling the direction switching mechanism by detecting the position of the self-propelled device with respect to the magnet based on the magnetic field measured by the geomagnetic sensors A and B, and B is arranged at a height at which the magnetic field generated by the magnet cannot be detected, and the control means is a space in which only the geomagnetism is detected as the magnetic field from the difference between the measured values of the geomagnetic sensors A and B. The position of the self-propelled device relative to the magnet is calculated based on the value obtained by subtracting the difference between the measured values of the geomagnetic sensors A and B measured in advance.

In the mobile system according to the first aspect of the present invention, it is preferable that there are a plurality of the geomagnetic sensors A and that the geomagnetic sensors A and B are triaxial. preferable. In the mobile system according to the first aspect of the present invention, the self-propelled device is a self-propelled vehicle for line drawing having a drive wheel whose drive is controlled by the control means and a blowout port for discharging the line material. Can do.

The self-propelled device according to the second invention that meets the above-mentioned object is a self-propelled device that self-propels to a specific position where a magnet is provided or a specific position set in the vicinity of the magnet, and includes a base unit and the base A geomagnetic sensor A fixed to the unit and disposed at a height capable of detecting the magnetic field generated by the magnet, and a height distance from the geomagnetic sensor A fixed to the base unit to the magnet. Based on the geomagnetic sensor B arranged at a height position longer than the height direction distance to the magnet, the direction switching mechanism for changing the traveling direction of the self-propelled device, and the magnetic field measured by the geomagnetic sensors A and B Control means for controlling the direction switching mechanism by detecting the position of the self-propelled device with respect to the magnet, and the geomagnetic sensor B has a height at which the magnetic field generated by the magnet cannot be detected. Arranged, The control means is based on a value obtained by subtracting a difference between the measured values of the geomagnetic sensors A and B measured in advance in a space where only the geomagnetism is detected as a magnetic field from the difference between the measured values of the geomagnetic sensors A and B. Thus, the position of the self-propelled device with respect to the magnet is calculated.

In the self-propelled device according to the second aspect of the present invention, it is preferable that there are a plurality of the geomagnetic sensors A and that the geomagnetic sensors A and B are triaxial. preferable. And in the self-propelled device concerning the 2nd invention, it can be set as the self-propelled vehicle for line drawing which has the drive wheel which a drive controls by the control means, and the blower outlet which spouts a line material.

A self-propelled device positioning method according to a third aspect of the present invention is the self-propelled device positioning method in which the self-propelled device is placed at a specific position, and a magnet is provided at or near the specific position. The geomagnetic sensor A arranged at a height at which the magnetic field being detected can be detected, and the distance in the height direction from the magnet to the magnet is longer than the distance in the height direction from the geomagnetic sensor A to the magnet. A space in which only the geomagnetism is detected as a magnetic field from the difference between the measured values of the geomagnetic sensors A and B in the self-propelled device including the geomagnetic sensor B disposed at a height where the magnetic field cannot be detected. Based on the value obtained by subtracting the difference between the measured values of the geomagnetic sensors A and B measured in advance, the position of the self-propelled device relative to the magnet is calculated, self-propelled toward the specific position, and the specific Positioned at the position It made.

The mobile system according to the first invention, the self-propelled device according to the second invention, and the positioning method of the self-propelled device according to the third invention are based on the magnetic fields measured by the geomagnetic sensors A and B, Detect the relative position of the device. This point will be described.
In a three-dimensional coordinate system (see FIG. 1) having the magnet 100 with the S and N poles arranged along the z-axis as the origin (see FIG. 1), a magnetic field vector at an arbitrary coordinate is expressed by the following Equation 1.

Therefore, if the magnetic field vector of the magnet can be measured at an arbitrary position, the relative position with respect to the magnet in the three-dimensional coordinate system can be obtained based on the measured magnetic field vector.

Here, in the space where the magnet is installed, there is a geomagnetism (a magnetic field generated by the earth) in addition to the magnetic field generated by the installation of the magnet. Therefore, the geomagnetic sensor is always in the state of detecting the geomagnetism, and the magnetic field cannot be detected excluding the geomagnetism. Therefore, in order to detect only the magnetic field generated by the installation of the magnet, it is necessary to cancel the geomagnetism from the magnetic field measured by the geomagnetic sensor.

Then, the mobile body system which concerns on 1st invention, the self-propelled apparatus which concerns on 2nd invention, and the positioning method of the self-propelled apparatus which concerns on 3rd invention are the self-propelled apparatus arrange | positioned in the vicinity of a specific position or a specific position The geomagnetic sensor A capable of detecting the magnetic field generated by the magnet and the geomagnetic sensor disposed at a height position where the magnetic field generated by the magnet cannot be detected (meaning that it cannot be detected substantially) B, the difference between the measured values of the geomagnetic sensors A and B is obtained, the geomagnetism is canceled, and only the magnetic field generated by the installation of the magnet is detected.

In addition, individual geomagnetic sensors have individual differences, and since individual geomagnetic sensors may include different offsets in output values, the difference between the measured values of the geomagnetic sensors A and B affects the individual differences of the geomagnetic sensors. It is the value that received. Therefore, the relative position of the self-propelled device with respect to the magnet, which is obtained based only on the difference between the measured values of the geomagnetic sensors A and B, may not be accurate.

Therefore, in the mobile body system according to the first invention, the self-propelled device according to the second invention, and the self-propelled device positioning method according to the third invention, the magnetic field is calculated from the difference between the measured values of the geomagnetic sensors A and B. The position of the self-propelled device relative to the magnet is calculated based on the value obtained by subtracting the difference between the measured values of the geomagnetic sensors A and B measured in advance in a space where only the geomagnetism is detected. The effect of the difference is excluded.

In the mobile body system according to the first invention, the self-propelled device according to the second invention, and the self-propelled device positioning method according to the third invention, the geomagnetic sensor A can detect the magnetic field generated by the magnet. Arranged at the height position, the geomagnetic sensor B is located at a height position where the magnetic field generated by the magnet cannot be detected, and only the geomagnetism exists as the magnetic field from the difference between the measured values of the geomagnetic sensors A and B Since the position of the self-propelled device with respect to the magnet is calculated based on the value obtained by subtracting the difference between the measured values of the geomagnetic sensors A and B measured in advance in the space to be affected, the influence of geomagnetism and the individual differences of the geomagnetic sensors A and B The relative position of the self-propelled device with respect to the magnet can be detected in a state where the influence of the self-propelled device is excluded, and the self-propelled device can be stabilized in a state where it is arranged at a specific position.

It is explanatory drawing of the three-dimensional coordinate system provided with the magnet. (A), (B) is the side view and top view of the mobile body system which concern on one embodiment of this invention, respectively. It is a block diagram which shows the connection of a control means. (A), (B), (C) is explanatory drawing which shows a mode until a self-propelled apparatus is arrange | positioned in a specific position, respectively. (A), (B) is explanatory drawing which respectively shows the result of having calculated the relative position of the permanent magnet with respect to the geomagnetic sensor A based on the measured value of the geomagnetic sensors A and B by simulation. It is explanatory drawing which shows the result of having calculated the relative position of the permanent magnet with respect to the geomagnetic sensor A based on the measured value of the geomagnetic sensors A and B by an actual machine. It is explanatory drawing which shows the result of having calculated the relative position of the permanent magnet with respect to the geomagnetic sensor A based on the measured value of the geomagnetic sensors A and B by an actual machine.

Next, embodiments of the present invention will be described with reference to the accompanying drawings for understanding of the present invention.
As shown in FIGS. 2A, 2B, and 4, the mobile system 10 according to an embodiment of the present invention is self-propelled and is in a state of being placed at a specific position P. And the magnets 12 and 12a provided in the vicinity of the specific position P or the specific position P. Details will be described below.

As shown in FIGS. 2A and 2B, the self-propelled device 11 includes a base unit 13, a container 14 that stores a line material (for example, lime powder), driven wheels 15 and 15 a, and a driving wheel. A self-propelled vehicle for line drawing having 16, 16a. The base unit 13 is long in the front-rear direction, and the container 14 is attached to the rear side of the base unit 13. The container 14 is open at the top and has a blowout port 17 that discharges the line material at the bottom (that is, the self-propelled device 11 has the blowout port 17).

The driven wheels 15 and 15 a are provided on the rear side of the self-propelled device 11, and the drive wheels 16 and 16 a are provided on the front side of the self-propelled device 11. The driven wheels 15 and 15a are rotatably connected to both ends of the rotating shaft 18, respectively. The driving wheels 16 and 16a rotatably attached to the rotating part of the axle member 20 are given driving force from the motors 19 and 21 shown in FIG. The self-propelled device 11 controls the traveling speed and the traveling direction by making the rotational speeds of the drive wheels 16 and 16a differential.

The angle of the axle member 20 with respect to the base unit 13 is changed by the differential of the motors 19 and 21 shown in FIG. As the angle of the axle member 20 with respect to the base unit 13 changes, the traveling direction of the self-propelled device 11 is switched. As shown in FIG. 3, the motors 19 and 21 are connected with control means 22 that transmits command signals to the motors 19 and 21. In the present embodiment, the control means 22 is attached to the base unit 13 and has a microcomputer. In FIGS. 2A and 2B, the description of the control means 22 is omitted.

In the present embodiment, a direction switching mechanism 23 that changes the traveling direction of the self-propelled device 11 is mainly configured by the motors 19 and 21, the drive wheels 16 and 16 a, and the axle member 20, and the control unit 22 controls the direction switching mechanism 23. Then, the traveling direction of the self-propelled device 11 is changed.
An actuator 24 that opens and closes the outlet 17 of the container 14 is connected to the control means 22, and the control means 22 can transmit a command signal that controls the operation of the actuator 24. The line material in the container 14 comes out of the air outlet 17 in a state where the air outlet 17 is opened, and adheres to the traveling surface G (see FIG. 2A) on which the self-propelled device 11 travels.

Further, as shown in FIG. 2A, the magnet 12, 12 a is partly installed on the traveling surface G in a state where it is exposed from the traveling surface G. In the present embodiment, the magnets 12 and 12 a are permanent magnets, and the magnet 12 a generates a magnetic field stronger than the magnet 12.
As shown in FIGS. 2A and 2B, a triaxial geomagnetic sensor 25 (geomagnetic sensor A) and a triaxial geomagnetic sensor 26 (geomagnetic sensor A) are fixed before and after the base unit 13, respectively. (That is, there are a plurality of geomagnetic sensors A arranged at intervals). In the present embodiment, the distance between the geomagnetic sensors 25 and 26 is equal to the distance between the magnets 12 and 12a.

A support member 27 is attached to the base unit 13, and a triaxial geomagnetic sensor 28 (geomagnetic sensor B) is provided at the upper end portion of the support member 27 (that is, the support member 27 is attached to the base unit 13. The geomagnetic sensor 28 is fixed by Further, an omnidirectional camera 29 is attached to the upper side of the base unit 13.
As shown in FIG. 2A, the geomagnetic sensors 25 and 26 are disposed at the same height position (in this embodiment, a position higher than the installation position of the magnets 12 and 12a), and the geomagnetic sensor 28 is the geomagnetic sensor 25. , 26 is arranged at a position higher than 26. Therefore, the geomagnetic sensor 28 is disposed at a height position where the distance in the height direction from the geomagnetic sensor 28 to the magnets 12 and 12a is longer than the distance in the height direction from the geomagnetic sensors 25 and 26 to the magnets 12 and 12a. Yes.

The geomagnetic sensors 25 and 26 are arranged at heights at which the magnetic fields generated by the magnets 12 and 12a can be detected by the geomagnetic sensors 25 and 26 (in this embodiment, a height of 10 to 30 cm from the running surface G). The geomagnetic sensor 28 is disposed at a height (50 to 150 cm from the running surface G in the present embodiment) at which the geomagnetic sensor 28 cannot substantially detect the magnetic field generated by the magnets 12 and 12a. Yes.

As shown in FIG. 3, the geomagnetic sensors 25, 26, 28 and the omnidirectional camera 29 are connected to the control means 22, and the control means 22 measures the measured values of the geomagnetic sensors 25, 26, 28 and the omnidirectional camera 29. Can be obtained.
The site where the self-propelled device 11 tries to draw a line L (see FIG. 4) on the traveling surface G is provided with a plurality of landmarks, and the control means 22 is an image recognition function capable of identifying the landmarks. have. In the present embodiment, as shown in FIGS. 4A, 4B, and 4C, a line L is drawn along an imaginary straight line that passes through the magnets 12 and 12a.

In the present embodiment, the control means 22 continuously acquires images taken by the omnidirectional camera 29, detects the position of the self-propelled device 11 with respect to the landmark from the position of the landmark in the image. The position of the self-propelled device 11 with respect to the specific position P is detected, and command signals are appropriately transmitted to the motors 19 and 21 to travel toward the specific position P. As a result, the self-propelled device 11 self-propels to near the specific position P. Instead of obtaining an image from an omnidirectional camera (or in addition to obtaining an image from an omnidirectional camera), the control means receives a GPS signal to detect the current position of the self-propelled carriage, and You may be allowed to self-run to near P.

As shown in FIG. 4A, the self-propelled device 11 is self-propelled and close to a specific position P (in this embodiment, any one of the geomagnetic sensors 25 and 26 applies any magnetic field of the magnets 12 and 12a). After the self-propelled state until it is arranged at a position where it can be detected), the control means 22 is based on the magnetic field measured by the geomagnetic sensors 25, 26, and 28, and the relative position of the self-propelled device 11 relative to the magnets 12 and 12a. Is detected. The relative position of the self-propelled device 11 with respect to the magnets 12 and 12a by the control means 22 is substantially measured by the geomagnetic sensors 25 and 28 when only the geomagnetic sensor 25 can detect the magnetic fields of the magnets 12 and 12a. In a state where only the geomagnetic sensor 26 can detect the magnetic field of the magnets 12 and 12a, the magnetic field is measured substantially based on the magnetic field measured by the geomagnetic sensors 26 and 28.

Here, the self-propelled device 11 allows the control unit 22 to detect the relative position of the self-propelled device 11 with respect to the magnets 12 and 12a from the measured values of the geomagnetic sensors 25, 26, and 28 in advance. ) To 4) are performed.
1) The self-propelled device 11 is a space in which any magnet including the magnets 12 and 12a does not exist in the magnetic field detection range of the geomagnetic sensors 25, 26 and 28 (a space where the geomagnetic sensors 25, 26 and 28 can detect only the geomagnetism as a magnetic field). Magnetic fields are measured by the geomagnetic sensors 25, 26, and 28 respectively. Hereinafter, the magnetic field values measured in advance by the geomagnetic sensors 25, 26, and 28 are m25, m26, and m28, respectively.

2) Then, the control means 22 determines the value of the magnetic field obtained by subtracting m28 from m25 (hereinafter referred to as “difference between m25 and m28”) and the value of the magnetic field obtained by subtracting m28 from m26 (hereinafter referred to as “m26 and m28”). “Difference”).
3) Next, while changing the relative position of the self-propelled device 11 (the geomagnetic sensors 25, 26, 28) with respect to the magnets 12, 12a, the magnetic field is measured by the geomagnetic sensors 25, 26, 28 at each position. Hereinafter, the coordinates of the self-propelled device 11 in the three-dimensional coordinate system with respect to the position of the magnet 12 are x, y, and z, and the magnetic field values measured by the geomagnetic sensors 25, 26, and 28 are respectively M25 (x, y, z), M26 (x, y, z), and M28 (x, y, z).

4) The control means 22 includes a magnetic field value obtained by subtracting a difference between m25 and m28 from a magnetic field value obtained by subtracting M28 (x, y, z) from M25 (x, y, z), and M26 (x, y, z). z) and the magnetic field value obtained by subtracting the difference between m26 and m28 from the magnetic field value obtained by subtracting M28 (x, y, z) from the coordinate (x, y, z) of the self-propelled device 11 in the three-dimensional coordinate system. ) And memorize it.
As a result, the control means 22 calculates the difference between the measured values of the geomagnetic sensors 25, 28 by subtracting the difference of m25, m28 and the difference of the measured values of the geomagnetic sensors 26, 28 from the difference of m26, m28. Based on the subtracted value, the coordinates of the self-propelled device 11 in the three-dimensional coordinate system, that is, the relative position of the self-propelled device 11 with respect to the magnets 12 and 12a can be calculated.

In the present embodiment, after the self-propelled device 11 is disposed near the specific position P, as shown in FIG. 4A, the control means 22 detects the magnetic field measured by the geomagnetic sensors 25, 26, and 28. Value (specifically, the difference between m25 and m28 is subtracted from the difference between the measured values of the geomagnetic sensors 25 and 28, and the difference between m26 and m28 is subtracted from the difference between the measured values of the geomagnetic sensors 26 and 28. The motors 19 and 21 are controlled while detecting the relative positions of the self-propelled device 11 with respect to the magnets 12 and 12a based on the values. As a result, the self-propelled device 11 moves to a position where the geomagnetic sensor 26 is disposed directly above the magnet 12a, as shown in FIG.

Next, the control means 22 makes the motors 19 and 21 differential to change the angle of the axle member 20 with respect to the base unit 13, the self-propelled device 11 fixes the position of the geomagnetic sensor 26, and the geomagnetic sensor 25 becomes the magnet 12. After being brought close to each other, as shown in FIG. 4C, the motors 19 and 21 are driven to be differentially driven until the geomagnetic sensors 25 and 26 are arranged directly above the magnets 12 and 12a, respectively. The wheels 16 and 16a are driven to rotate. As a result, the self-propelled device 11 is arranged to start drawing the line L (a state where it is arranged in a predetermined direction at a predetermined position).

In the present embodiment, the magnets 12 and 12a are provided at the specific position P. However, one or both of the magnets 12 and 12a may be provided near the specific position P (outside the specific position P). . However, when the magnets 12 and 12a are provided in the vicinity of the specific position P, the magnets 12 and 12a have at least one of the geomagnetic sensors 25 and 26 with the magnets 12 and 12 in a state where the self-propelled device 11 is disposed at the specific position P. It is necessary to be arranged at a position where at least one of the magnetic fields can be detected.

Next, two experiments conducted for confirming the effects of the present invention will be described.
The first experiment is to calculate the relative position of the permanent magnet with respect to the geomagnetic sensor from the magnetic field measured by the geomagnetic sensor each time the magnet is moved 0.2 m vertically and horizontally with the geomagnetic sensor fixed, by a computer simulation. Then, the calculated relative position of the permanent magnet and the relative position of the permanent magnet with respect to the geomagnetic sensor in the simulation are plotted in a two-dimensional coordinate system. The simulation results are shown in FIGS.

Although not shown in FIGS. 5A and 5B, the geomagnetic sensor is used for canceling the geomagnetic field and for canceling the solid difference of the geomagnetic sensor in any of the simulations of FIGS. 5A and 5B. (Corresponding to the geomagnetic sensor B, hereinafter also referred to as “geomagnetic sensor B”). In FIG. 5A, the square indicates the geomagnetic sensor 50 (corresponding to the geomagnetic sensor A), and the circle indicates the measured value of the geomagnetic sensor 50 and the measured value of the geomagnetic sensor B (specifically, each of the geomagnetic sensors A and B). Indicates the position of the permanent magnet obtained from the difference between the measured values from the value obtained by subtracting the difference between the measured values of the geomagnetic sensors A and B measured in advance in a space where only the geomagnetism is detected as a magnetic field (hereinafter the same). Indicates the position of the permanent magnet in the simulation. In FIG. 5B, three squares indicate the geomagnetic sensors 51, 52, and 53 (corresponding to the geomagnetic sensor A), respectively, and the circles are obtained from the measured values of the geomagnetic sensors 51, 52, and 53 and the measured values of the geomagnetic sensor B. Indicates the position of the permanent magnet, and plus indicates the position of the permanent magnet in the simulation.

In the two-dimensional coordinate system shown in FIGS. 5A and 5B, the positions of the geomagnetic sensors 50 and 51 are the origins. In both simulations, as shown in FIGS. 5A and 5B, there is no significant difference between the circle position and the plus position, and the geomagnetic sensor A and the magnet are based on the magnetic fields measured by the geomagnetic sensors A and B. It can be confirmed that the relative position can be stably measured, and that the range in which the relative position between the geomagnetic sensor A and the magnet can be detected increases as the number of magnets increases.

In the second experiment, a diameter of 10 mm and a thickness was measured on a floor on which a traveling device including a magnetic sensor B provided at a height of 1.2 m from the floor and a geomagnetic sensor A provided at a height of 0.17 m from the floor was arranged. A 10 mm-long neodymium magnet (an example of a permanent magnet) is placed, and from the difference between the measured values of the geomagnetic sensors A and B, the measured values of the geomagnetic sensors A and B measured in advance in a space where only the geomagnetism is detected as a magnetic field. The relative position of the neodymium magnet with respect to the geomagnetic sensor A is obtained based on the value obtained by subtracting the difference.

Every time the neodymium magnet is moved by 0.05 m, the relative position of the neodymium magnet with respect to the geomagnetic sensor A (described as “estimated position” in FIGS. 6 and 7) is obtained, and the obtained relative position is plotted with a circle. Comparison was made with the position of the neodymium magnet (plotted with a + sign). The experimental results are shown in FIGS. 6 and 7, the squares indicate the position of the geomagnetic sensor A, and FIGS. 6 and 7 show the 300 mm range and the 350 mm range from the geomagnetic sensor A, respectively. From the experimental results, it was confirmed that the difference between the calculated position of the neodymium magnet and the actual position of the neodymium magnet can be suppressed to an error of about 50 mm or less within the range of 200 mm from the geomagnetic sensor A. In addition, although the error is relatively large in the range of 350 mm, the accuracy is at a level that does not cause any problem when used for the purpose of guiding the self-propelled device 11 to a specific position.

Moreover, the positioning method of the self-propelled device according to the embodiment of the present invention employed in the mobile system 10 is a method of setting the self-propelled device 11 at the specific position P, and the specific position P Alternatively, the distance between the geomagnetic sensors 25 and 26 disposed at a height at which the magnetic field generated by the magnets 12 and 12a provided in the vicinity of the specific position P can be detected and the height direction distance to the magnets 12 and 12a is the geomagnetic sensor. A self-propelled device 11 including a geomagnetic sensor 28 that is longer than the distance in the height direction from 25 and 26 to the magnets 12 and 12a and disposed at a height at which the magnetic field generated by the magnets 12 and 12a cannot be detected. However, the value obtained by subtracting the difference between the measured values of the geomagnetic sensors 25 and 28 previously measured in the space where only the geomagnetism is detected as the magnetic field from the difference between the measured values of the geomagnetic sensors 25 and 28 and / or the geomagnetic sensor. Based on the value obtained by subtracting the difference between the measured values of the geomagnetic sensors 26 and 28 measured in advance in a space where only the geomagnetism is detected as a magnetic field from the difference between the measured values of 26 and 28, the magnet of the self-propelled device 11. The position with respect to 12 and 12a is calculated, self-propelled toward the specific position P, and is placed at the specific position P.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and all changes in conditions and the like that do not depart from the gist are within the scope of the present invention.
For example, the self-propelled device is not limited to a self-propelled vehicle for line drawing, and may be a self-propelled vehicle that conveys an object. And a self-propelled device does not need to have a wheel, for example, it may be a device which moves with a sphere to rotate, and may be an unmanned aerial vehicle.
Moreover, when providing the some geomagnetic sensor A, you may arrange | position the local magnetic sensors A in a different height position. There may be one geomagnetic sensor A, and the geomagnetic sensors A and B may be biaxial. Note that when the biaxial geomagnetic sensors A and B are used, the relative position detection accuracy with respect to the magnet of the self-propelled device is lowered as compared with the triaxial geomagnetic sensors A and B.

The magnet can be installed at a position higher than the traveling surface G. Further, the magnets and the geomagnetic sensors A and B may be arranged so that the height positions thereof become lower in the order of the magnet, the geomagnetic sensor A, and the geomagnetic sensor B, or lower in the order of the geomagnetic sensor A, the magnet, and the geomagnetic sensor B. You may arrange | position so that it may become.
Further, the magnet need not be a permanent magnet, but may be an electromagnet, and there may be only one magnet provided near a specific position where the self-propelled device is disposed.

10: mobile system, 11: self-propelled device, 12, 12a: magnet, 13: base unit, 14: container, 15, 15a: driven wheel, 16, 16a: driving wheel, 17: outlet, 18: rotation Axis, 19: motor, 20: axle member, 21: motor, 22: control means, 23: direction switching mechanism, 24: actuator, 25, 26: geomagnetic sensor, 27: support material, 28: geomagnetic sensor, 29: all Azimuth camera, 50, 51, 52, 53: Geomagnetic sensor, 100: Magnet, G: Running surface, L: Line, P: Specific position

However, since the line pull is required to be made precisely, the specific position of the line pull device (e.g., the start point of the line pull or end point of the line pull) must be located accurately, in a system using a GPS, There was a problem that the required accuracy could not be satisfied.
And the technique which arrange | positions a self-propelled apparatus accurately in a predetermined position is widely desired not only for a line drawing apparatus but for the self-propelled apparatus in general.
The present invention has been made in view of such circumstances, and provides a mobile system having a self-propelled device and capable of stably arranging the self-propelled device at a specific position, and a self-propelled device and a positioning method for the self-propelled device. The purpose is to do.

Claims (9)

In a mobile system having a self-propelled device that is self-propelled and placed at a specific position,
A magnet provided near the specific position or the specific position;
The self-propelled device includes a base unit, a geomagnetic sensor A fixed to the base unit and disposed at a height capable of detecting a magnetic field generated by the magnet, and fixed to the base unit. A geomagnetic sensor B disposed at a height position where the distance in the height direction is longer than the distance in the height direction from the geomagnetic sensor A to the magnet, a direction switching mechanism for changing the traveling direction of the self-propelled device, Control means for detecting the position of the self-propelled device with respect to the magnet based on the magnetic field measured by the geomagnetic sensors A and B and controlling the direction switching mechanism;
The geomagnetic sensor B is disposed at a height at which the magnetic field generated by the magnet cannot be detected, and the control means detects only the geomagnetism as a magnetic field from the difference between the measured values of the geomagnetic sensors A and B. A position of the self-propelled device relative to the magnet is calculated based on a value obtained by subtracting a difference between the measured values of the geomagnetic sensors A and B measured in advance in a space to be measured. 2. The mobile system according to claim 1, wherein there are a plurality of the geomagnetic sensors A and they are arranged at intervals. 3. The mobile system according to claim 1 or 2, wherein the geomagnetic sensors A and B are three-axis type. The mobile body system according to any one of claims 1 to 3, wherein the self-propelled device is a self-propelled device for line drawing having a drive wheel whose drive is controlled by the control means and a blower outlet for discharging the line material. A mobile system characterized by being a running vehicle. A self-propelled device that self-propels to a specific position where a magnet is provided or a specific position set in the vicinity of the magnet,
A base unit, a geomagnetic sensor A fixed to the base unit and disposed at a height capable of detecting a magnetic field generated by the magnet, and a distance in a height direction fixed to the base unit and to the magnet Are arranged at a height position longer than the distance in the height direction from the geomagnetic sensor A to the magnet, a direction switching mechanism for changing the traveling direction of the self-propelled device, and the geomagnetic sensors A and B. Detecting a position of the self-propelled device with respect to the magnet based on a magnetic field to be measured, and comprising a control means for controlling the direction switching mechanism,
The geomagnetic sensor B is disposed at a height at which the magnetic field generated by the magnet cannot be detected, and the control means detects only the geomagnetism as a magnetic field from the difference between the measured values of the geomagnetic sensors A and B. A self-propelled device that calculates a position of the self-propelled device with respect to the magnet based on a value obtained by subtracting a difference between measured values of the geomagnetic sensors A and B measured in advance in a space. 6. The self-propelled device according to claim 5, wherein there are a plurality of the geomagnetic sensors A and are arranged at intervals. The self-propelled device according to claim 5 or 6, wherein the geomagnetic sensors A and B are triaxial. The self-propelled device according to any one of claims 5 to 7, wherein the self-propelled vehicle is a line-drawing self-propelled vehicle having a drive wheel whose drive is controlled by the control means and a blowout port for discharging the line material. Features a self-propelled device. In the positioning method of the self-propelled device in a state where the self-propelled device is arranged at a specific position,
A geomagnetic sensor A disposed at a height at which a magnetic field generated by a magnet provided near the specific position or in the vicinity of the specific position can be detected, and a distance in the height direction from the geomagnetic sensor A to the magnet. The self-propelled device having a geomagnetic sensor B that is longer than the distance in the height direction to the magnet and disposed at a height at which the magnetic field generated by the magnet cannot be detected is The position of the self-propelled device relative to the magnet based on a value obtained by subtracting the difference between the measured values of the geomagnetic sensors A and B measured in advance in a space where only the geomagnetism is detected as the magnetic field from the difference between the measured values. A self-propelled device positioning method, wherein the self-propelled device is self-propelled toward the specific position and is placed at the specific position.

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