Autonomous mobile robot and control system for autonomous mobile robot

Abstract

The present invention is an autonomous mobile robot (1) that moves by being guided by a plurality of markers including a first marker and a second marker, the autonomous mobile robot having a plurality of sizes and disposed along a movement path (10), the autonomous mobile robot (1) being provided with: an imaging unit (26); a storage unit (25) that stores individual identification information for each of the plurality of identifiers and individual actual sizes for each of the plurality of identifiers; and a calculation unit (27) that calculates the distance (D1) of the first marker on the basis of the size of the first marker in the image data captured by the imaging unit (26) and the individual actual size of the first marker corresponding to the individual identification information of the first marker.

Description

Technical Field

[0001] The present invention relates to an autonomous mobile robot and a control system for the autonomous mobile robot. This application claims priority based on Japanese Patent Application No. 2022-113975 filed in Japan on July 15, 2022, and the contents are incorporated herein by reference. Background Art

[0002] Conventionally, there is known a measuring device (digital camera) described in the following Patent Document 1. The measuring device includes: an acquisition mechanism that moves a photographing optical system that forms an image of a subject on a predetermined imaging plane along an optical axis direction, and acquires image data from the subject image formed on the photographing optical system each time the movement occurs; a focus evaluation value calculation mechanism that calculates a focus evaluation value based on the image data; an object detection mechanism that detects an object from the image data; a distance calculation mechanism that calculates the distance to the object based on the size of the object; a distance measurement mechanism that measures the distance to the object; a peak detection mechanism that detects a peak value from the calculated focus evaluation value; and an object distance determination mechanism that sets either the distance to the object calculated by the distance calculation mechanism or the distance to the object measured by the distance measurement mechanism as the object distance.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent No. 4444927 Summary of the invention

[0006] Problems to be solved by the invention

[0007] In the above-mentioned prior art, when calculating the subject distance from the size of the subject's face, when the size of the face is small, an error occurs between the calculated result (calculated subject distance) and the actual subject distance, and the correct subject distance cannot be obtained. Therefore, either the distance calculated from the image data or the distance measured by the distance measuring sensor is determined as the subject distance. However, when the above-mentioned prior art is applied to an autonomous mobile robot that moves guided by a marker arranged along a moving path, the following problems arise. That is, in the autonomous mobile robot, the marker (subject) is sometimes not nearby. For example, when the marker is several to several tens of meters in front of the autonomous mobile robot, it becomes difficult to measure the distance to the marker if a distance measuring sensor with good accuracy is not provided. In addition, in many cases, the size of the marker arranged at a distance is larger than the usual size in order to be detected by the autonomous mobile robot. In this case, when a mark of a normal size close to the autonomous mobile robot and a mark of a larger size far from the autonomous mobile robot are simultaneously reflected in the image data captured by the autonomous mobile robot, the two marks that are actually different in size may be displayed in the same size on the image data depending on the distance. As a result, the autonomous mobile robot may mistakenly recognize that the distances from the autonomous mobile robot to the two marks are the same.

[0008] The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide an autonomous mobile robot and a control system for the autonomous mobile robot that can accurately calculate the distance to the marker and guide and control the marker even if the marker has various sizes.

[0009] Means for solving problems

[0010] In order to solve the above-mentioned problems, the first scheme of the present invention is to move an autonomous mobile robot guided by a plurality of markers having various sizes and arranged along a moving path and including a first marker and a second marker. The autonomous mobile robot comprises: a photographing unit that photographs image data; a storage unit that stores individual identification information of each of the plurality of markers and individual actual sizes of each of the plurality of markers corresponding to the individual identification information; and a calculation unit that detects the first marker based on the image data photographed by the photographing unit, obtains the individual identification information of the first marker, and calculates the distance of the first marker based on the size of the first marker on the image data and the individual actual size of the first marker corresponding to the individual identification information of the first marker.

[0011] A second aspect of the present invention is the autonomous mobile robot of the first aspect, and performs a predetermined action in the order of preset action numbers based on the individual identification information obtained from the first marker.

[0012] A third aspect of the present invention is the autonomous mobile robot of the second aspect, and when the robot approaches the first marker to a predetermined distance, the robot switches the guidance target to the second marker having the individual identification information set as the next action number and moves.

[0013] A fourth solution of the present invention is based on the autonomous mobile robot of the first solution or the second solution, wherein the first marker is a square, and the storage unit stores the size of one side of the marker as the actual individual size of the first marker.

[0014] According to a fifth embodiment of the present invention, based on the autonomous mobile robot of the third embodiment, the second marker is in a square shape, and the storage unit stores the size of one side of the second marker as the individual actual size of the second marker.

[0015] The sixth scheme of the present invention is based on any one of the autonomous mobile robots in the first to fifth schemes, and the autonomous mobile robot also has a communication unit, which receives the individual identification information of each of the multiple identifiers and the information of the individual actual size of each of the multiple identifiers corresponding to the individual identification information from an external device.

[0016] The seventh scheme of the present invention is a control system for an autonomous mobile robot that moves under the guidance of a plurality of markers having various sizes and arranged along a moving path and including a first marker and a second marker. The control system of the autonomous mobile robot comprises: a photographing unit that photographs image data; a storage unit that stores individual identification information of each of the plurality of markers and individual actual sizes of each of the plurality of markers corresponding to the individual identification information; and a calculation unit that detects the first marker based on the image data photographed by the photographing unit, obtains the individual identification information of the first marker, and calculates the distance of the first marker based on the size of the first marker on the image data and the individual actual size of the first marker corresponding to the individual identification information.

[0017] Effects of the Invention

[0018] According to the present invention, an autonomous mobile robot and a control system for the autonomous mobile robot are obtained which can accurately calculate the distance to a marker and guide and control the marker even if the marker has various sizes. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram showing the movement of the autonomous mobile robot according to one embodiment of the present invention as viewed from above.

[0020] Figure 2This is a block diagram showing the structure of an autonomous mobile robot in one embodiment of the present invention.

[0021] Figure 3 This is a front view showing an example of a marking of a road sign read by a road sign detection unit in one embodiment of the present invention.

[0022] Figure 4 This is a flowchart showing the operation of the autonomous mobile robot in one embodiment of the present invention.

[0023] Figure 5 This is a diagram showing an action table of the autonomous mobile robot in one embodiment of the present invention.

[0024] Figure 6 It is shown Figure 1 Schematic diagram of image data captured by the autonomous mobile robot shown. DETAILED DESCRIPTION

[0025] The present invention can be applied to unmanned guided vehicles in factories, logistics warehouses, service robots in public facilities such as facilities, halls, and airports, and working robots in outdoor environments where GPS (Global Positioning System) is difficult to function.

[0026] Figure 1 This is a schematic diagram obtained by observing the movement of the autonomous mobile robot 1 in one embodiment of the present invention from above. Figure 1 As shown, the autonomous mobile robot 1 moves while sequentially reading a plurality of landmarks SP arranged along the movement path 10 using the imaging unit 26 mounted on the robot body 20. That is, the autonomous mobile robot 1 moves along the movement path 10 guided by the plurality of landmarks SP.

[0027] Here, a "road sign" refers to a structure having a mark (mark) and placed at a predetermined location on or near the moving path 10. The mark includes identification information (pattern ID) of the structure. Figure 3 As shown, the mark of this embodiment is formed by arranging a first mesh C1 that can reflect light and a second mesh C2 that cannot reflect light on a two-dimensional plane.

[0028] Figure 2 FIG. 1 is a block diagram showing the structure of an autonomous mobile robot 1 in one embodiment of the present invention. Figure 2 As shown, the autonomous mobile robot 1 includes a landmark detection unit 21 , a drive unit 22 , a control unit 23 , a communication unit 24 , and a storage unit 25 .

[0029] The road sign detection unit 21 includes a photographing unit 26 and a calculating unit 27. The driving unit 22 includes a motor control unit 28, two motors 29, and left and right driving wheels 20L and 20R. It should be noted that the structures of the road sign detection unit 21 and the driving unit 22 are examples, and other structures may also be used.

[0030] The imaging unit 26 is arranged in front of the autonomous mobile robot 1 in the direction of travel. The imaging unit 26 of this embodiment includes a lamp that irradiates infrared LED light forward and a camera that captures the reflected light (infrared LED light) reflected by the road sign SP. Infrared LED light is suitable for dark places such as factories and places with strong visible light. For example, a camera combined with an infrared filter is suitable. It should be noted that the imaging unit 26 may also be a structure that irradiates detection light other than infrared LED light.

[0031] The calculation unit 27 performs binarization processing based on the captured image sent from the imaging unit 26 to form binary image data composed of black and white, uses the binary image data to detect the road sign SP, and calculates the distance (distance D1) and direction (angle θ) of the road sign SP relative to the autonomous mobile robot 1.

[0032] The calculation unit 27 calculates the distance D1 and the angle θ of the road sign SP based on the size of the mark of the road sign SP on the image data captured by the shooting unit 26 and the preset size of the mark of the actual road sign SP as described later. That is, the calculation unit 27 of the present embodiment can calculate the distance D1 and the angle θ of the road sign SP using only one camera (shooting unit 26). In the present embodiment, the size of the mark of the actual road sign SP is defined by the length of one side of the mark of the square road sign SP as described later. With regard to the length, for example, if the length of one side of the mark of the road sign SP of the usual size is determined (length L), it can be set as a relative value based on the length L, or it can be set as an absolute value (numerical value) in millimeters or meters.

[0033] The driving wheel 20L is provided on the left side relative to the traveling direction of the autonomous mobile robot 1. The driving wheel 20R is provided on the right side relative to the traveling direction of the autonomous mobile robot 1. It should be noted that the autonomous mobile robot 1 may also have wheels other than the driving wheels 20L and 20R in order to stabilize the posture of the autonomous mobile robot 1. The motor 29 rotates the left and right driving wheels 20L and 20R according to the control of the motor control unit 28.

[0034] The motor control unit 28 supplies power to the left and right motors 29 based on the angular velocity command value input from the control unit 23. The left and right motors 29 rotate at an angular velocity corresponding to the power supplied from the motor control unit 28, so that the autonomous mobile robot 1 moves forward or backward. In addition, by generating a difference between the angular velocities of the left and right motors 29, the moving direction of the autonomous mobile robot 1 is changed.

[0035] The control unit 23 controls the driving unit 22 based on the information obtained from the road sign SP by the road sign detection unit 21. The communication unit 24 communicates with a higher-level system (external device) not shown. The higher-level system not shown, for example, provides the autonomous mobile robot 1 with individual identification information (pattern ID) of the road sign SP to be detected and the size of the actual sign SP corresponding to the identification information based on the current position of the autonomous mobile robot 1 in the moving path 10. The storage unit 25 stores the individual identification information of the road sign SP provided by the higher-level system and the size of the actual sign SP corresponding to the identification information.

[0036] Figure 3 1 is a front view showing a marking example of a road sign SP read by the road sign detection unit 21 in one embodiment of the present invention. Figure 3 As shown, the marking of the road sign SP is formed by arranging a first grid C1 capable of reflecting infrared LED light and a second grid C2 that cannot reflect infrared LED light on a two-dimensional plane.

[0037] The first mesh C1 is formed of a material with high reflectivity of infrared LED light, such as aluminum foil or titanium oxide thin film, while the second mesh C2 is formed of a material with low reflectivity of infrared LED light, such as infrared slice, polarizing film, infrared absorbing material, or black felt.

[0038] The first grid C1 and the second grid C2 are squares of the same size, and the entire mark formed by the first grid C1 and the second grid C2 is also a square. The mark has a recognition area 30 and a frame area 31 surrounding the recognition area 30. The recognition area 30 of this embodiment is composed of a matrix pattern of 4 rows×4 columns.

[0039] exist Figure 3 In the example shown, when the first grid C1 (white) is represented by a binary code with “1” and the second grid C2 (black) is represented by “0 (zero)”, the identification area 30 is 16 bytes of information. The calculation unit 27 can read the identification information (pattern ID) of the road sign SP from the identification area 30 .

[0040] It should be noted that the recognition area 30 is not limited to the pattern of 4 rows×4 columns, and may be a pattern of 3 rows×3 columns or less, or may be a pattern of 5 rows×5 columns or more.

[0041] The frame area 31 is a non-reflective frame area, and is formed only by the second grid C2 (black). The frame area 31 is formed in a square frame shape that surrounds the recognition area 30 using the second grid C2. The calculation unit 27 detects, for example, corners 32 of the four corners of the frame area 31, and calculates the size of the mark from the length (length L) of any one of the four sides located between the corners 32.

[0042] The calculation unit 27 reads the size of the actual mark from the storage unit 25 based on the identification information obtained from the identification area 30, and calculates the distance D1 between the robot body 20 and the landmark SP based on the size of the mark on the image data captured by the imaging unit 26 and the stored actual size of the mark corresponding to the identification information of the mark.

[0043] The calculation unit 27 calculates the center coordinates of the marker within the viewing angle from the four corners 32 of the frame area 31. The calculation unit 27 calculates the direction (angle θ) of the landmark SP with respect to the traveling direction of the autonomous mobile robot 1 from the center coordinates.

[0044] When the distance from the autonomous mobile robot 1 to the guided landmark SP (for example, landmark SP1 ) is closer than a predetermined threshold, the autonomous mobile robot 1 switches the target to the next landmark SP (for example, landmark SP2 ) and moves.

[0045] Next, the operation of the autonomous mobile robot 1 will be described in detail. In the following description, unless otherwise specified, the calculations related to the image processing of the autonomous mobile robot 1 are performed by the calculation unit 27. In addition, the calculations related to the driving control of the autonomous mobile robot 1 are performed by the control unit 23. Figure 2 The control system shown includes the control unit 23, the storage unit 25, the calculation unit 27, and the motor control unit 28, which are divided according to the functions, but can also be a control device with the same hardware. That is, the following actions of the autonomous mobile robot 1 can also be controlled by the same control device. The control device is a computer.

[0046] Figure 4 This is a flowchart showing the operation of the autonomous mobile robot 1 in one embodiment of the present invention. Figure 5 1 is a diagram showing an operation table of the autonomous mobile robot 1 according to the embodiment of the present invention. Figure 6 It is shown Figure 1 FIG. 1 is a schematic diagram of image data 100 captured by the autonomous mobile robot 1. First, the action table of the autonomous mobile robot 1 is described. Figure 5 As shown, the action table stores a STEP input sequence for the autonomous mobile robot 1 to perform a predetermined action in the order of preset action numbers.

[0047] Users can use Figure 5 The action table is edited by using the GUI software shown (for example, by selecting parameters in each item by pulling down). It should be noted that the action table is stored in the autonomous mobile robot 1 and the host system respectively.

[0048] Figure 5 The number column on the left end of the action table shown is the column of action numbers. That is, numbers such as 0, 1, 2, ... are action numbers. The action numbers are associated with the items of "action", "parameter", and "label", respectively. The "parameter" item includes items such as "road sign size or action", "road sign No. or turning angle", "following direction", "road sign left and right distance", and "road sign front and back distance" from the left. The content of each parameter of this item will be described later in conjunction with the action of the autonomous mobile robot 1.

[0049] Next, follow Figure 4 The flowchart shown in FIG. 1 illustrates the operation of the autonomous mobile robot 1. Figure 5 The actions are executed in the order of the action numbers in the action table shown (in order of increasing numbers of the action numbers), and the identification information of the detected road sign SP is read (step S1 ).

[0050] Next, the autonomous mobile robot 1 obtains the image data 100 (see Figure 6 ), detects the specified identification information ( Figure 5 The detection of the road sign SP1 of the road sign No. “1” of the action number “1” shown in the figure (step S2 ). It should be noted that the detection of the road sign SP is performed for each frame (each image) of the image data 100 captured by the imaging unit 26 .

[0051] When the road sign SP1 cannot be detected (step S2 is No), the autonomous mobile robot 1 determines whether the detection failure of the road sign SP1 is more than a certain number of times (step S7). If step S7 is Yes, the autonomous mobile robot 1 considers (determines) that an abnormality such as a failure of the imaging unit 26 or disappearance of the road sign SP has occurred and terminates the operation.

[0052] When the road sign SP1 can be detected (if the answer is yes in step S2 ), the autonomous mobile robot 1 reads the size ( ) of the actual mark (first marker) of the road sign SP1 from the identification information of the road sign SP1 . Figure 5 Then, the autonomous mobile robot 1 calculates the distance D1 to the road sign SP1 based on the size of the mark (first marker) of the road sign SP1 on the image data 100 and the size of the mark (first marker) of the actual road sign SP1 read in (step S4).

[0053] Next, the autonomous mobile robot 1 performs Figure 5 The driving control of the action number "1" shown (step S5). In the driving control set to the action number "1", the "following direction" is "right", the "road sign left and right distance" is "0.5", and the "road sign front and back distance" is "1". That is, the driving control set to the action number "1" is executed based on selecting (setting) the "following direction" of "right", selecting (setting) the "road sign left and right distance" of "0.5", and selecting (setting) the "road sign front and back distance" of "1". Specifically, the autonomous mobile robot 1 is separated from the road sign SP1 by a distance of "0.5" meters to the "right" side (D2 = D1 × sinθ (refer to Figure 1 )) and move forward (follow).

[0054] Then, the autonomous mobile robot 1 determines whether it has approached the road sign SP1 to a distance of 1 meter (D3 = D1 × cosθ (refer to Figure 1 ) (Step S6). If step S6 is no, return to step S2 and repeat the above actions. If the autonomous mobile robot 1 approaches a distance of 1 meter relative to the signpost SP1, it is considered (determined) to have reached the destination of action number "1", and the action of action number "1" is ended, and the next action of action number "2" is executed. Based on the action of action number "2", the guidance object (the object guiding the autonomous mobile robot 1) is switched to the next signpost SP2.

[0055] The action of action number "2" is also the same as the action of action number "1" described above. First, the autonomous mobile robot 1 reads the identification information of the road sign SP2 to be detected next (step S1). Next, the autonomous mobile robot 1 reads the image data 100 (see Figure 6 ), detects the specified identification information ( Figure 5 The action number "2" shown is the road sign No. "2"), the road sign SP2 (step S2).

[0056] When the road sign SP2 can be detected (if the answer is yes in step S2), the autonomous mobile robot 1 reads the size ( Figure 5 The signpost size "2L" (=2×L) of the action number "2" shown (step S3). Moreover, the autonomous mobile robot 1 calculates the distance D1 to the signpost SP2 based on the size of the mark (second marker) of the signpost SP2 on the image data 100 and the size of the actual signpost SP2 mark (second marker) read in (step S4).

[0057] Next, the autonomous mobile robot 1 performs the driving control of the action number "2" (step S5). In the driving control set to the action number "2", the "following direction" is "front", the "road sign left and right distance" is "0", and the "road sign front and back distance" is "1". That is, the driving control set to the action number "2" is performed based on the selection (setting) of the "following direction" of "front", the selection (setting) of the "road sign left and right distance" of "0", and the selection (setting) of the "road sign front and back distance" of "1". Specifically, the autonomous mobile robot 1 moves forward (follows) toward the "front" of the road sign SP2 with a left and right distance of "0" meters.

[0058] When the autonomous mobile robot 1 approaches the destination landmark SP2 to a distance of 1 meter in the traveling direction (if YES in step S6 ), the autonomous mobile robot 1 ends the action of action number “ 2 ” and executes the next action of action number “ 3 ”.

[0059] The "Action" of action number "3" is set to "Turn". The parameters of the "Action" of this turn are "Right Turn" and the parameters of the "Turn Angle" are "90" degrees. That is, Figure 1 As shown, the autonomous mobile robot 1 turns right 90 degrees before the road sign SP2. Figure 5 The actions are executed in the order of the action numbers in the action table shown, and the user moves from a specified starting point to a specified end point.

[0060] As described above, the autonomous mobile robot 1 detects the landmarks SP arranged along the moving path 10 using the mounted camera 26, and moves guided by the landmarks SP. The moving path 10 of the autonomous mobile robot 1 is specified by setting the relative position with respect to the landmarks SP, and a plurality of landmarks SP are arranged along the path, so that a long-distance path can be created. In addition, the landmarks SP detected during the movement of the autonomous mobile robot 1 are switched sequentially along the path, so that the autonomous mobile robot 1 can continue to travel.

[0061] At this time, depending on the location, when the installation interval of the road sign SP is widened and the size of the road sign SP is increased, on the contrary, in order to make the autonomous mobile robot 1 approach the road sign SP, the size of the road sign SP is sometimes changed to be smaller in a manner that enters the angle of view of the image data captured by the imaging unit (angle of view of the camera) even if the autonomous mobile robot 1 approaches the road sign SP. In this embodiment, the size of the mark of the road sign SP on the image data is set for each road sign SP detected by the imaging unit 26, and the actual size of the mark of the road sign SP is associated with the identification information of the road sign SP when setting the path, and it can also be registered. In addition, the actual size of the mark of the road sign SP is used when calculating the distance between the autonomous mobile robot 1 and the road sign SP.

[0062] Therefore, if Figure 6 As shown, even if a mark (first mark) of a normal-sized road sign SP1 close to the autonomous mobile robot 1 and a mark (second mark) of a larger-sized road sign SP2 far from the autonomous mobile robot 1 are simultaneously reflected in the image data 100 captured by the autonomous mobile robot 1, and the marks of the two road signs SP (SP1, SP2) are displayed in the image data 100 with the same size, the autonomous mobile robot 1 can accurately calculate the distance to the two road signs SP (SP1, SP2) and guide the control. In addition, on the contrary, even if a mark of a smaller-sized road sign SP close to the autonomous mobile robot 1 and a mark of a normal-sized road sign SP far from the autonomous mobile robot 1 are simultaneously reflected in the image data 100, and the two road signs SP are displayed in the same size on the image data 100, the autonomous mobile robot 1 can approach the smaller-sized road sign SP close to the autonomous mobile robot 1.

[0063] Thus, according to the present embodiment described above, an autonomous mobile robot 1 detects a road sign SP arranged along a moving path 10 using a mounted photographing unit 26, and moves guided by the road sign SP, wherein the marking of the road sign SP has a variety of sizes, and the autonomous mobile robot 1 comprises: a storage unit 25, which stores individual identification information of the road sign SP and the size of the marking of the actual road sign SP corresponding to the identification information; and a calculation unit 27, which detects the road sign SP from the image data photographed by the photographing unit 26, obtains the identification information of the road sign SP, and calculates the distance to the road sign SP based on the size of the marking of the road sign SP on the image data and the size of the marking of the actual road sign SP corresponding to the identification information. According to this structure, even if the marking of the road sign SP has a variety of sizes, the distance to the road sign SP can be accurately calculated to guide and control the autonomous mobile robot 1.

[0064] In addition, according to the autonomous mobile robot 1 of this embodiment, based on the identification information obtained from the road sign SP, the prescribed action is performed in the order of the pre-set action numbers. According to this structure, the prescribed action is performed in the order of the action numbers, so the setting of the action does not consume a high degree of knowledge and complicated work.

[0065] In addition, according to the autonomous mobile robot 1 of this embodiment, when approaching the marker to a predetermined distance, the guide object is switched to the next marker having the identification information set as the next action number and moves. According to this structure, a plurality of road signs SP are set along the path, so that a long distance path can be created.

[0066] In addition, according to the autonomous mobile robot 1 of the present embodiment, the sign of the road sign SP is a square, and the storage unit 25 stores the size of one side of the sign of the road sign SP as the actual size of the sign of the road sign SP. According to this structure, the information related to the size of the sign of the road sign SP is less, and the storage capacity and the amount of calculation processing are less.

[0067] In addition, the autonomous mobile robot 1 according to the present embodiment is provided with a communication unit for receiving identification information and information on the size of the actual road sign SP corresponding to the identification information from the host system. Figure 5 The setting can be completed by editing the action table shown, so that the setting change of the movement path 10 does not require a high degree of knowledge or complicated work.

[0068] Furthermore, according to the control system of the autonomous mobile robot 1 described above, the same effects as those described above can be obtained.

[0069] It should be noted that the autonomous mobile robot 1 and the control system of the autonomous mobile robot 1 described above can also be described as follows. The autonomous mobile robot 1 and the control system of the autonomous mobile robot 1 described below can also obtain the same effects as the above-mentioned effects in the same manner as the above-mentioned autonomous mobile robot 1 and the control system of the autonomous mobile robot 1.

[0070] An autonomous mobile robot moves guided by multiple markers having multiple sizes and arranged along a moving path and including a first marker and a second marker, wherein the autonomous mobile robot comprises: a shooting unit that shoots image data; a storage unit that stores individual identification information of each of the multiple markers and individual actual sizes of each of the multiple markers corresponding to the individual identification information; and a calculation unit that detects the first marker based on the image data shot by the shooting unit, obtains the individual identification information of the first marker, and calculates the distance of the first marker based on the size of the first marker on the image data and the individual actual size of the first marker corresponding to the individual identification information of the first marker.

[0071] In the autonomous mobile robot, a predetermined action is performed in the order of preset action numbers based on the individual identification information obtained from the first marker.

[0072] In the autonomous mobile robot, when the first marker approaches to a predetermined distance, the guiding object is switched to the second marker having the individual identification information set as the next action number and the robot moves.

[0073] In the autonomous mobile robot, the shape of the first marker is a square, and the storage unit stores the size of one side of the first marker as the individual actual size of the first marker.

[0074] In the autonomous mobile robot, the second marker is in a square shape, and the storage unit stores a size of one side of the second marker as the individual actual size of the second marker.

[0075] The autonomous mobile robot further includes a communication unit that receives the individual identification information of each of the plurality of markers and information on the individual actual sizes of each of the plurality of markers corresponding to the individual identification information from an external device.

[0076] The control system of an autonomous mobile robot is a control system of an autonomous mobile robot that moves guided by multiple markers having multiple sizes and arranged along a moving path and including a first marker and a second marker, wherein the control system of the autonomous mobile robot comprises: a shooting unit that shoots image data; a storage unit that stores individual identification information of each of the multiple markers and individual actual sizes of each of the multiple markers corresponding to the individual identification information; and a calculation unit that detects the first marker based on the image data shot by the shooting unit, obtains the individual identification information of the first marker, and calculates the distance to the first marker based on the size of the first marker on the image data and the individual actual size of the first marker corresponding to the individual identification information of the first marker.

[0077] The preferred embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. The shapes and combinations of the various structural members shown in the above embodiments are examples, and various changes can be made based on design requirements, etc. within the scope of the present invention.

[0078] For example, the size of the mark of the road sign SP registered (stored) can be set at a ratio larger than the normal individual difference of a person's face in a ratio based on the mark of a normal road sign SP. That is, the size of the mark of the road sign SP registered (stored) in the storage unit 25 can also be set in a manner that the ratio of the smaller size in the mark of the road sign SP to the normal size is smaller than the ratio of the smaller size in the face of a person (within the range of normal individual differences) to the normal size. In addition, the size of the mark of the road sign SP registered (stored) in the storage unit 25 can also be set in a manner that the ratio of the larger size in the mark of the road sign SP to the normal size is larger than the ratio of the larger size in the face of a person (within the range of normal individual differences) to the normal size. For example, when the size of the mark of the road sign SP registered in the storage unit 25 is set to "L", the size of the mark of the usual road sign SP can be set to less than 1 / 2 times (0.5L) or more than 2 times (2L), can be set to less than 1 / 5 times (0.2L) or more than 5 times (5L), and can also be set to less than 1 / 10 times (0.1L) or more than 10 times (10L).

[0079] In addition, for example, in the above embodiment, the autonomous mobile robot 1 is described as a vehicle, but the autonomous mobile robot 1 may be a flying object generally known as a drone, etc. In addition, for example, in the above embodiment, a structure in which a plurality of landmarks SP are arranged along the moving path 10 is described, but the landmark SP may be arranged with only one.

[0080] Industrial Applicability

[0081] According to the present invention, an autonomous mobile robot and a control system for the autonomous mobile robot are obtained which can accurately calculate the distance to a marker and guide and control the marker even if the marker has various sizes.

[0082] Description of Reference Numerals

[0083] 1 Autonomous Mobile Robot

[0084] 10 Movement Path

[0085] 20 Robot body

[0086] 20L drive wheel

[0087] 20R drive wheel

[0088] 21 Road Sign Detection Department

[0089] 22. Drive unit

[0090] 23 Control Department

[0091] 24 Ministry of Communications

[0092] 25 Storage

[0093] 26 Photography Department

[0094] 27 Calculation Department

[0095] 28 Motor control unit

[0096] 29 Motor

[0097] 30 Identification Area

[0098] 31 Frame area

[0099] 32 corner

[0100] 100 Image Data

[0101] C1 First Grid

[0102] C2 Second Grid

[0103] D1 Distance

[0104] SP Road Sign

[0105] SP1 Road Signs

[0106] SP2 Roadmap

[0107] θ angle.

Claims

1. An autonomous mobile robot, which moves under the guidance of a plurality of markers having various sizes and arranged along a moving path and including a first marker and a second marker, wherein: The autonomous mobile robot has: a photographing unit that photographs image data; a storage unit storing individual identification information of each of the plurality of markers and individual actual sizes of each of the plurality of markers corresponding to the individual identification information; and A calculation unit detects the first marker based on the image data captured by the shooting unit, obtains the individual identification information of the first marker, and calculates the distance to the first marker based on the size of the first marker on the image data and the individual actual size of the first marker corresponding to the individual identification information of the first marker.

2. The autonomous mobile robot according to claim 1, wherein: The autonomous mobile robot performs a predetermined action in the order of preset action numbers based on the individual identification information obtained from the first marker.

3. The autonomous mobile robot according to claim 2, wherein: When the autonomous mobile robot approaches the first marker to a predetermined distance, the autonomous mobile robot switches the guidance object to the second marker having the individual identification information set as the next action number and moves.

4. The autonomous mobile robot according to claim 1 or 2, wherein: The first mark is in the shape of a square. The storage unit stores the size of one side of the first marker as the individual actual size of the first marker.

5. The autonomous mobile robot according to claim 3, wherein: The second mark is in the shape of a square. The storage unit stores the size of one side of the second marker as the individual actual size of the second marker.

6. The autonomous mobile robot according to any one of claims 1 to 5, wherein: The autonomous mobile robot further includes a communication unit that receives, from an external device, the individual identification information of each of the plurality of markers and information on the individual actual size of each of the plurality of markers corresponding to the individual identification information.

7. A control system for an autonomous mobile robot, the control system being a control system for an autonomous mobile robot that moves guided by a plurality of markers having a plurality of sizes and arranged along a moving path and including a first marker and a second marker, wherein: The control system of the autonomous mobile robot has: a photographing unit that photographs image data; a storage unit storing individual identification information of each of the plurality of markers and individual actual sizes of each of the plurality of markers corresponding to the individual identification information; and A calculation unit detects the first marker based on the image data captured by the shooting unit, obtains the individual identification information of the first marker, and calculates the distance to the first marker based on the size of the first marker on the image data and the individual actual size of the first marker corresponding to the individual identification information of the first marker.

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