ARTIFICIAL MARK GENERATING METHOD, ESTIMATION METHOD FOR OWN POSITION AND DIRECTION ANGLE OF MOVING ROBOT, ESTIMATION DEVICE FOR OWN POSITION AND DIRECTION ANGLE OF MOVING ROBOT, MOVING ROBOT, AND ESTIMATION PROGRAM

摘要

PROBLEM TO BE SOLVED: To provide an artificial mark generating method applied to an environment where lighting is poor or lighting brightness heavily changes, an estimation method for an own position and a direction angle of a moving robot, an estimation device, and an estimation program.;SOLUTION: This estimation device for an own position and a direction angle of the moving robot is equipped with a ceiling image acquisition part, a mark detection part, and a position and direction angle estimation part. The image acquisition part acquires a ceiling image of a place where the moving robot travels while the detection part detects the position of an artificial mark from the ceiling image. The estimation part estimates the position and direction angle of the moving robot based either on information on the position of the artificial mark or on information acquired by an encoder sensor. The artificial mark comprises first and second marks, the second mark being spaced apart from the first mark by a prescribed distance. The first and second marks each have a non-reflection portion and an infrared reflection portion, the reflection portion recursively reflecting infrared rays.;COPYRIGHT: (C)2005,JPO&NCIPI