Movable body and movable body control system

Abstract

To obtain a movable body that facilitates acquisition of an appropriate partial floor surface image for specification of the current position of the movable body regardless of a color state of a surface of the floor, and a movable body control system that controls such a movable body.SOLUTION: A driving device 51 generates driving force for traveling. Scanners 12a, 12b optically scan a floor surface to create a partial floor surface image. A controller 54 controls the driving device so that a movable body 1 travels on a predetermined route so as to reduce the deviation between the route and the current position of the movable body 1 detected on the basis of the partial floor surface image. The controller 54 causes the scanners 12a, 12b to create the partial floor surface image in a scanning condition according to the color state of the floor surface. Here, the scanning condition includes at least one of a scanning color and resolution.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present invention relates to a moving body and a movement control system.

Background Art

[0002] A certain moving device includes moving means for moving the device itself along the surface of a structure, imaging means provided on the bottom surface of the device itself for imaging the surface of the structure, and specifying means for specifying the position of the device itself by comparing the image data output from the imaging means with reference data for each previously registered position (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] As described above, when specifying the current position of a moving body from a partial floor image obtained by imaging the floor surface, depending on the color state of the floor surface, it may not be possible to obtain an appropriate partial floor image for specifying the current position of the moving body.

[0005] The present invention has been made in view of the above problems, and an object thereof is to obtain a moving body that easily obtains an appropriate partial floor image for specifying the current position of the moving body regardless of the color state of the floor surface, and a movement control system for controlling such a moving body.

Means for Solving the Problems

[0006] The mobile body according to the present invention includes a drive device that generates a driving force for traveling, a scanner that optically scans the floor surface to generate a partial floor surface image, and a controller that controls the drive device so that the mobile body travels on the path by reducing the deviation between the current position of the mobile body detected based on the partial floor surface image and a predetermined path. And the controller causes the scanner to generate the partial floor surface image under scan conditions according to the color state of the floor surface. Here, the scan conditions include at least one of a scan color and a resolution.

[0007] The mobile body control system according to the present invention includes a mobile body that travels along a path in a predetermined area of the floor surface and a management server. The mobile body (a) scans a floor surface portion of the current position of the mobile body to generate a partial floor surface image, and (b) transmits the partial floor surface image to the management server. The management server includes a communication device that receives the partial floor surface image from the mobile body, a mobile body position specifying unit that specifies the current position of the mobile body based on the received partial floor surface image, and a mobile body control unit that controls the operation of the mobile body based on the specified current position of the mobile body. And the mobile body generates the partial floor surface image under scan conditions according to the color state of the floor surface, and the mobile body control unit sets the scan conditions for the mobile body. Here, the scan conditions include at least one of a scan color and a resolution.

Advantages of the Invention

[0008] According to the present invention, a mobile body that easily obtains an appropriate partial floor surface image for specifying the current position of the mobile body regardless of the color state of the floor surface, and a mobile body control system that controls such a mobile body can be obtained.

[0009] The above or other objects, features, and advantages of the present invention will become more apparent from the following detailed description together with the accompanying drawings.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Embodiments for Carrying Out the Invention

[0011] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0012] Embodiment 1.

[0013] FIG. 1 is a diagram showing the configuration of a movement control system according to an embodiment of the present invention. FIG. 2 is a diagram for explaining the floor surface on which the moving body 1 travels in FIG. 1. As shown in FIG. 1, the movement control system includes a moving body 1 and a management server 2.

[0014] The mobile body 1 shown in Fig. 1 is a self-propelled mobile body, such as an automatic guided vehicle (AGV) or an autonomous mobile robot (AMR). While optically scanning the floor surface 101 at the current position of the mobile body 1, the mobile body 1 travels and moves along a predetermined path on the floor surface 101 of a predetermined area. In the mobile body control system, markers physically installed as paths on the floor surface 101 are unnecessary. The management server 2 sets the path as data, searches for a location in the floor surface image of the floor surface 101 of a predetermined area that matches the partial floor surface image of the current position of the mobile body 1, identifies the actual current position of the mobile body 1 based on the matching position, and controls the operation of the mobile body 1 according to the set path and its current position.

[0015] Here, the floor surface 101 is, for example, the floor surface of a factory, warehouse, etc. In addition to the original pattern 101a (that is, the pattern on the surface of the floor material such as tiles, concrete, etc.), it has scratches, dirt, etc. Therefore, in the floor surface image of a predetermined area with high resolution, the image pattern varies depending on the position. Thus, for example, by using pattern matching, image search using machine learning, etc., the current position of the mobile body 1 is uniquely identified.

[0016] Fig. 3 is a perspective view showing the mechanical configuration of the mobile body 1 in Fig. 1. As shown in Fig. 3, this mobile body 1 includes four casters 11 installed at the four corners of the bottom surface, scanners 12a, 12b, and a frame body 13 to which the casters 11 and the scanners 12a, 12b are fixed.

[0017] The caster 11 includes a driven wheel that contacts the floor surface 101 and is fixed to the frame body 13 so as to be rotatable in the horizontal direction.

[0018] Scanner 12a optically scans a part of the floor surface 101 to generate a partial floor surface image (first partial floor surface image). Scanner 12a is disposed at the tip portion of the moving body 1 in the traveling direction. Scanner 12b optically scans a part of the floor surface 101 to generate a partial floor surface image (second partial floor surface image). Scanner 12b is disposed at the rear end portion of the moving body 1 in the traveling direction. Each of the scanners 12a and 12b is (a) disposed on the bottom surface side of the moving body 1 facing the floor surface, and (b) repeatedly generates a line image having a predetermined width perpendicular to the traveling direction of the moving body 1 as a partial floor surface image. Scanners 12a and 12b scan the floor surface at a predetermined high resolution (for example, 600 dpi).

[0019] The frame body 13 is a body having a frame structure.

[0020] Furthermore, the moving body 1 includes drive wheel units 21a, 21b, 21c, and 21d. Each drive wheel unit 21a, 21b, 21c, 21d includes a drive wheel 31 that contacts the floor surface, a support portion 32 that rotatably supports the drive wheel 31, a wheel frame portion 33 to which the support portion 32 is fixed, a rotation support portion 34 that rotatably fixes one end of the wheel frame portion 33 to the frame body 13 (one of the beams 13a and 13b), and a spring member 35 that biases the other end of the wheel frame portion 33 to the frame body 13 (the other of the beams 13a and 13b). Thereby, the drive wheel 31 is pressed against the floor surface with a predetermined pressure by the restoring force of the spring member 35.

[0021] Furthermore, each drive wheel unit 21a, 21b, 21c, 21d includes a drive device (not shown) that generates and transmits a driving force for traveling to the drive wheel 31. The drive devices are installed independently of the drive wheel units 21a, 21b, 21c, 21d, and individually generate and transmit a driving force to the drive wheel 31. Here, the drive device generates a driving force with a motor and transmits the driving force to the drive wheel 31 with a gear or the like. The drive wheel 31 includes, for example, a drive shaft connected to the drive device, a hard wheel fixed to the drive shaft, and an elastic tire fitted outside the wheel.

[0022] FIG. 4 is a diagram showing an example of the scanner 12a in the moving body 1 shown in FIG. 3. For example, as shown in FIG. 4, each of the scanners 12a and 12b includes a light emitting unit (not shown) that irradiates light onto the floor surface, an image sensor 41, and a reduction optical system 42 (one or more lenses) that condenses the reflected light obtained by the reflection of the light from the light emitting unit on the floor surface onto the image sensor 41.

[0023] FIG. 5 is a diagram showing another example of the scanner 12a in the moving body 1 shown in FIG. 3. Also, for example, as shown in FIG. 5, the scanners 12a and 12b may include a contact image sensor. In that case, the scanners 12a and 12b are scanners of an equi-magnification optical system including a line sensor 41a including a plurality of light receiving elements and a lens array 42a.

[0024] FIG. 6 is a block diagram showing the electrical configuration of the moving body 1 in FIG. 1. As shown in FIG. 6, the moving body 1 includes, in addition to the above-described driving device 51, a power supply device 52, a communication device 53, and a controller 54.

[0025] The power supply device 52 incorporates, for example, a secondary battery and supplies power to the driving device 51, the communication device 53, and the controller 54. Note that the power supply device 52 may be connected to a commercial power supply and include a charging circuit for charging the secondary battery. Also, the secondary battery may be detachable.

[0026] The communication device 53 performs data communication with an external device (such as a server) by wireless communication according to a predetermined communication protocol.

[0027] The controller 54 includes a computer or an ASIC (Application Specific Integrated Circuit) and performs data processing, control of the driving device 51, control of the communication device 53, etc. by the computer (software processing) or the ASIC (hardware processing).

[0028] In Embodiment 1, the communication device 53 transmits (a) a partial floor image or a line image (individual line images constituting the partial floor image) to the management server 2 in accordance with a request from the controller 54, and receives from the management server 2 the deviation between the current position and the route of the moving body 1 detected based on the partial floor image, or the control amount corresponding to the deviation. Then, the controller 54 controls the drive device 51 so that the moving body 1 travels on the above-described route based on the received deviation or control amount (control amount of each drive device 51), or controls the drive device 51 to stop the moving body 1.

[0029] That is, the controller 54 controls the drive device 51 so that the moving body 1 travels on its route while reducing the deviation between the current position of the moving body 1 detected based on the partial floor image and a predetermined route. At this time, the controller 54 causes the scanners 12a and 12b to generate a partial floor image under scan conditions according to the color state of the floor surface. Here, the scan conditions include at least one of the scan color and the resolution. Further, the color state may include the contrast of the floor pattern.

[0030] Specifically, the above-described color state includes at least a hue, the above-described scan color is either RGB color or a single color of RGB, and is set based on the hue in the color state. In the scanners 12a and 12b, the emission color of the light source is set to be the set scanner color. For example, the above-described scan color is set to be the complementary color of the hue in the color state. Note that scanning in a single color is performed by lighting only the light source of that color.

[0031] Note that the partial floor image is composed of a predetermined number of line images. The scanners 12a and 12b repeatedly generate line images with a predetermined width perpendicular to the traveling direction of the moving body 1, and an image conversion unit (not shown) buffers the line images and uses the predetermined number of line images as a partial floor image. This image conversion unit may be provided in the moving body 1 (controller 54) or may be provided in the management server 2.

[0032] As the partial floor image, either the first partial floor image or the second partial floor image may be used, or the current position may be derived in the same manner for each of the first partial floor image and the second partial floor image.

[0033] Alternatively, the partial floor image or the line image may be transmitted to the management server 2 after data compression in the moving body 1 and the data may be decompressed in the management server 2.

[0034] Note that when the rotational speeds of the drive wheels 31 of the drive wheel units 21a and 21b are made the same as each other and the rotational speeds of the drive wheels 31 of the drive wheel units 21c and 21d, the moving body 1 moves straight, and when the rotational speeds of the drive wheels 31 of the drive wheel units 21a and 21b are made different from each other and the rotational speeds of the drive wheels 31 of the drive wheel units 21c and 21d, the moving body 1 turns. Therefore, the drive devices 51 of the respective drive wheel units 21a, 21b, 21c, and 21d are controlled so as to reduce the above-described deviation.

[0035] Alternatively, the inclination of the traveling direction with respect to the path may be derived based on the deviation obtained from the first partial floor image and the deviation obtained from the second partial floor image.

[0036] FIG. 7 is a block diagram showing the configuration of the management server 2 in FIG. 1.

[0037] The management server 2 in FIG. 1 includes a communication device 61, an arithmetic processing device 62, and a storage device 63.

[0038] The communication device 61 conducts data communication with the mobile body 1 via a predetermined communication path 3 (wireless communication path and / or wired communication path). For example, the communication device 61 is a wireless network interface, a data communication interface for a mobile phone network, a short-range wireless communication interface, etc. Also, if the communication path 3 is equipped with a wireless station, and the communication device 61 is connected to the wireless station via a wired communication path while the mobile body 1 is connected to the wireless station via a wireless communication path, the communication device 61 may be able to conduct data communication with the mobile body 1.

[0039] The arithmetic processing device 62 is a computer equipped with a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc., and operates as various processing units by loading a program from the ROM or the storage device 63 into the RAM and executing it with the CPU. Here, the arithmetic processing device 62 operates as a path setting unit 71, a mobile body position specifying unit 72, a movement control unit 73, and a floor image updating unit 74.

[0040] The storage device 63 is a non-volatile storage device that stores programs and data. Here, floor data 63a is stored in the storage device 63 in advance.

[0041] The floor data 63a includes the image data of the entire floor image of the floor in the above-mentioned predetermined area and the position data indicating the correspondence between the position (pixel position) in the floor image and the position on the actual floor. With this image data, the position of the partial floor image within the floor image (i.e., the position of the part in the floor image that is closest to the partial floor image) is specified, and with this position data, the position of the partial floor image within the floor image is converted to the position on the actual floor.

[0042] The route setting unit 71 sets the route of the mobile body 1 within a predetermined area of the floor surface 101 as route data. For example, the route is composed of one or more links, and the route data includes the coordinate values of the start point and the end point of each link. For example, the route setting unit 71 may be connected to a manufacturing execution system (MES) and set the route of the mobile body 1 according to the operation of the mobile body 1 (such as transporting parts, etc.) required by the manufacturing execution system.

[0043] The mobile body position specifying unit 72 specifies the current position of the mobile body 1 traveling along the route in a predetermined area of the floor surface 101. Specifically, the mobile body position specifying unit 72 (a) acquires a partial floor surface image generated by scanning the floor surface portion of the current position of the mobile body 1 by the traveling mobile body 1, (b) specifies the position of the partial floor surface image in the floor surface image of the entire predetermined area, and (c) based on the specified position, specifies the current position (the actual position on the floor surface 101) of the mobile body 1. Here, the partial floor surface image is generated by scanning the portion of the floor surface 101 facing the bottom surface of the mobile body 1 with the scanners 12a and 12b arranged on the bottom surface side of the mobile body 1. Note that the current position of the mobile body 1 is expressed, for example, as a physical distance from a predetermined reference position on the floor surface 101. Also, the position of the partial floor surface image in the floor surface image of the entire predetermined area is expressed by pixel positions in the floor surface image of the entire predetermined area, and the correspondence relationship between the current position of the mobile body 1 and the position of this partial floor surface image is known.

[0044] In the first embodiment, the mobile body position specifying unit 72 uses the communication device 61 to acquire the partial floor surface image. Note that the floor surface image and the partial floor surface image may be color image data generated by color scanners 12a and 12b, or grayscale image data generated by monochrome scanners 12a and 12b.

[0045] In addition, the moving body position specifying unit 72 specifies the position of the partial floor surface image in the floor surface image of the entire predetermined area by, for example, image search using pattern matching or machine learning. At this time, even if a part of the floor surface image of the entire predetermined area and the partial floor surface image do not completely match, the position with the highest accuracy in the floor surface image of the entire predetermined area is specified as the position of the partial floor surface image.

[0046] The movement control unit 73 controls the operation of the moving body 1 based on the specified current position of the moving body 1. In the first embodiment, the movement control unit 73 uses the communication device 61 to control the operation of the moving body 1 by transmitting an operation command based on the specified current position of the moving body 1 to the moving body.

[0047] Specifically, the movement control unit 73 (a) specifies the deviation between the path set by the path setting unit 71 and the current position of the moving body 1, and runs the moving body 1 so as to reduce the deviation (for example, turns the moving body 1 according to the deviation), and (b) when the specified current position is the stop position, stops the moving body 1.

[0048] The floor surface image updating unit 74 updates the part of the partial floor surface image specified in the floor surface image of the entire predetermined area described above with the acquired partial floor surface image. As a result, even if there are changes in the floor surface 101 (such as changes over time, adhesion of dirt, etc.), in the floor surface image of the entire predetermined area, the part passed by the moving body 1 is updated to the latest floor surface image, so that the detection error of the current position in the moving body position specifying unit 72 is suppressed.

[0049] Furthermore, the movement control unit 73 sets the above-described scan conditions for the moving body 1. Specifically, the communication device 61 transmits the scan conditions to the moving body 1 to set the scan conditions for the moving body 1.

[0050] Specifically, the movement control unit 73 (a) specifies the scan conditions corresponding to the color state of the current position of the moving body 1, and (b) sets the specified scan conditions for the moving body 1.

[0051] For example, based on the partial floor image received from the moving body 1, the movement control unit 73 identifies the color state of the current position of the moving body 1 and sets the scan conditions corresponding to the identified color state for the moving body 1. That is, in that case, the color state of the current position of the moving body 1 is dynamically identified, and the scan conditions corresponding to the dynamically identified color state are set for the moving body 1.

[0052] Alternatively, for example, scan conditions corresponding to the color state of each position on the floor are pre-registered in the floor data 63a, and the movement control unit 73 refers to the floor data 63a to identify the scan conditions corresponding to the current position of the moving body 1 identified based on the partial floor image received from the moving body 1, and sets the scan conditions for the moving body 1. That is, in that case, the color state of the current position of the moving body 1 is statically pre-identified, and the scan conditions corresponding to the statically identified color state are set for the moving body 1. Also, in this case, for example, the color state of the floor is identified from a partial floor image taken by the moving body 1 at the highest resolution and full color (RGB color) of the scanners 12a, 12b by previously driving the moving body 1 on the floor, and the scan conditions corresponding to the color state of the floor thus identified are registered in the floor data 63a.

[0053] Next, the operation of the above movement control system will be described. FIG. 8 is a flowchart for explaining the operation of the management server 2 in FIG. 1.

[0054] The route setting unit 71 of the management server 2 sets the route of the moving body 1 according to a user operation or the like (step S1). For example, route data indicating the route is previously stored in the storage device 63, and the route setting unit 71 reads out the route data and sets it as the route of the moving body 1.

[0055] Thereafter, the movement control unit 73 uses the communication device 61 to transmit an operation command to start the running of the moving body 1 to the moving body 1. In the moving body 1, the controller 54 uses the communication device 53 to receive the operation command and controls the driving device 51 to start the running of the moving body 1.

[0056] In the mobile body 1, when it receives (a) an operation command and scanning conditions, it controls the drive device 51 to adjust the travel of the mobile body 1 (for example, turns the mobile body 1 to the right or left so as to approach the path), and (b) at this time, the controller 54 operates the scanners 12a and 12b under the scanning conditions during travel to repeatedly acquire line images, and uses the communication device 53 to transmit the line images or partial floor images (image data thereof) to the management server 2.

[0057] In the management server 2, when the mobile body position specifying unit 72 receives a line image or a partial floor image using the communication device 61 (step S2), it searches for the partial floor image in the entire floor image by pattern matching or the like, specifies the position of the partial floor image in the entire floor image, and specifies the actual current position of the mobile body 1 corresponding to that position (step S3). When a line image is received, a predetermined number of line images are buffered and used as a partial floor image. When the position of the partial floor image in the entire floor image is specified, the floor image update unit 74 updates the corresponding part of the entire floor image in the floor data 63a with the received partial floor image (step S4).

[0058] Then, the movement control unit 73 determines whether the specified current position is the stop position (step S5). If the specified current position is not the stop position, the movement control unit 73 identifies the deviation between the above-mentioned path and the current position of the moving body 1 (step S6), and transmits, as an operation command, the deviation amount of the deviation or the corresponding control amount of the moving body 1 to reduce the deviation to the moving body 1, and also identifies the scan condition corresponding to the current position of the moving body 1 and transmits it to the moving body 1 (step S7). In the moving body 1, when the scan condition is received, the scan condition set in the moving body 1 is updated with the received scan condition. Then, it returns to step S2, and for the next partial floor image, the processes after step S3 are executed. Note that when there is no deviation, the moving body 1 may be maintained to travel at the current direction and speed without transmitting an operation command. Also, when the scan condition has not changed from the previous transmission, the current scan condition may be maintained for the moving body 1 without transmitting the scan condition.

[0059] On the other hand, when the specified current position is the stop position, the movement control unit 73 uses the communication device 61 to transmit a stop command to the moving body 1 (step S8). Then, the movement control unit 73 determines whether the specified current position (or this stop position) is the end of the path (step S9). If the specified current position (or this stop position) is the end of the path, the travel of the moving body 1 on the path is terminated.

[0060] On the other hand, when the specified current position (or this stop position) is not the end of the path, when a predetermined condition (such as the end of a predetermined operation by the moving body 1 at that position, reception of a travel restart command from the management server 2, etc.) is satisfied, the moving body 1 resumes traveling on the path. Then, it returns to step S2, and for the next partial floor image, the processes after step S3 are executed.

[0061] As described above, according to the first embodiment, the driving device 51 generates a driving force for traveling. The scanners 12a and 12b optically scan the floor surface to generate a partial floor surface image. The controller 54 controls the driving device so that the moving body 1 travels on its path by reducing the deviation between the current position of the moving body 1 detected based on the partial floor surface image and a predetermined path. Then, the controller 54 causes the scanners 12a and 12b to generate a partial floor surface image under scan conditions according to the color state of the floor surface. Here, the scan conditions include at least one of the scan color and the resolution.

[0062] Thereby, since the scan conditions are set corresponding to the color state of the floor surface, it becomes easier to obtain an appropriate partial floor surface image for specifying the current position of the moving body 1 regardless of the color state of the floor surface.

[0063] Second Embodiment.

[0064] In the second embodiment, the management server 2 is not provided, and the moving body 1 includes a storage device 63 (floor surface data 63a), a route setting unit 71, a moving body position specifying unit 72, a movement control unit 73, and a floor surface image update unit 74. That is, without using the above-described management server 2, the moving body 1 stores a floor surface image of the entire area of the floor surface 101 (that is, the moving range of the moving body 1), and similarly specifies the position of the partial floor surface image in the floor surface image, specifies the actual current position corresponding to the position, and autonomously controls traveling and stopping. Also, in the second embodiment, the moving body 1 autonomously sets the scan conditions as described above.

[0065] Note that the other configurations and operations of the moving body 1 according to the second embodiment are the same as those of the first embodiment, and thus the description thereof is omitted.

[0066] It should be noted that various changes and modifications to the above-described embodiments will be apparent to those skilled in the art. Such changes and modifications may be made without departing from the spirit and scope of the subject matter and without diminishing the intended advantages. That is, it is intended that such changes and modifications be included within the scope of the claims.

[0067] For example, in the above-described Embodiments 1 and 2, the route setting unit 71 may similarly set route data for a plurality of moving bodies 1, the moving body position specifying unit 72 may similarly specify the current positions of the plurality of moving bodies 1, and the movement control unit 73 may similarly control the operations of the plurality of moving bodies 1.

[0068] Also, in the above-described Embodiments 1 and 2, it is not necessary to provide the scanner 12b on the moving body 1.

Industrial Applicability

[0069] The present invention is applicable to, for example, AGVs and the like.

Explanation of Reference Numerals

[0070] 1 Moving body 2 Management server 12a, 12b Scanner 51 Driving device 54 Controller 72 Moving body position specifying unit 73 Movement control unit

Claims

1. In a moving body, a driving device that generates a driving force for traveling, a scanner that optically scans a floor surface to generate a partial floor surface image, and a controller that controls the driving device so that the moving body travels on the path by reducing the deviation between the current position of the moving body detected based on the partial floor surface image and a predetermined path. The controller causes the scanner to generate the partial floor surface image under scan conditions corresponding to the color state of the floor surface. The scan conditions include at least one of a scan color and a resolution. A moving body characterized by the above.

2. The color state includes at least a hue. The scan color is either an RGB color or a single color of RGB. The scan color is set based on the hue in the color state. The moving body according to claim 1, characterized by the above.

3. The moving body according to claim 2, characterized in that the scan color is set to be a complementary color of the hue in the color state.

4. The moving body according to claim 1, characterized in that the color state includes at least the contrast of the pattern of the floor surface.

5. A moving body that travels along a path in a predetermined area of the floor surface, and a management server. The moving body: (a) scans a floor surface portion at the current position of the moving body to generate a partial floor surface image, and (b) transmits the partial floor surface image to the management server. The management server includes a communication device that receives the partial floor surface image from the moving body, a moving body position specifying unit that specifies the current position of the moving body based on the received partial floor surface image, and a moving body control unit that controls the operation of the moving body based on the specified current position of the moving body. The moving body generates the partial floor surface image under scan conditions corresponding to the color state of the floor surface. The moving body control unit sets the scan conditions for the moving body. The scan conditions include at least one of a scan color and a resolution. A moving body control system characterized by the above.

6. The moving body control system according to claim 5, characterized in that the moving body control unit: (a) specifies the scan conditions corresponding to the color state at the current position of the moving body, and (b) sets the specified scan conditions for the moving body.

7. The moving body control system according to claim 5 or claim 6, characterized in that the color state of the floor surface is specified from the partial floor surface image photographed by the moving body in advance with the highest resolution and in full color.

Images