Work robot

Abstract

To improve the stability of travel and work efficiency.SOLUTION: A work robot includes an imaging unit 200 that is installed at least forward in an advancing direction and shoots image data of each direction, an image information acquisition unit 110 that acquires various kinds of pieces of information from the shot image data items, an image information processing unit 120 that performs image processing analysis on the acquired image data items and determines presence or absence of an image of a ridge and presence or absence of an obstacle in the advancing direction, a memory unit 140 that stores position information on a specific place, a travel route determination unit 130 that determines an advancing direction on the basis of a result of processing by the image information processing unit and the position information on the specific place, and a travel control unit 150 that implements control so that the work robot can travel along a determined travel route. Before the work robot enters a predetermined range relative to the specific place, the travel route determination unit 130 determines the advancing direction on the basis of the result of processing by the image information processing unit 120. After the work robot enters the predetermined range and before it reaches the specific place, the travel route determination unit determines the advancing direction on the basis of information obtained from a global positioning satellite system.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a working robot. [Background technology]

[0002] In recent years, autonomous mobile robots (mobile bodies) that can move autonomously within a limited area inside a building or outdoors based on the surrounding environment have been developed. Such autonomous mobile robots are expected to be used in a variety of industries, including agriculture, forestry, and transportation, as a substitute for labor or work and to make up for labor shortages.

[0003] As an example of this type of autonomous mobile robot, there is disclosed an automatic driving device that performs predetermined tasks on crops, which are detection objects arranged in the direction of travel, with the aim of automatically traveling a desired route without performing positioning, and that is equipped with a camera that photographs the crops in the direction of travel and acquires image data, a recognition unit that places multiple judgment windows at predetermined positions in the image data and recognizes the crops, including the multiple judgment windows, and an adjustment unit that adjusts the direction of travel based on the recognition results by the recognition unit (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2022 / 215416 Summary of the Invention [Problem to be solved by the invention]

[0005] The technology described in Patent Document 1 detects the direction of a work vehicle, and if the direction of the vehicle body detected by the direction detection member differs from the set driving route by more than a predetermined value, the steering member is steered in the direction that moves the work vehicle toward the set driving route.

[0006] However, the above technology determines deviations in a vehicle's travel path solely based on information obtained from a global positioning satellite system, which results in a complex configuration and the inability to ensure sufficient accuracy in areas where precision is required.

[0007] Therefore, the present invention has been made in consideration of the above-mentioned problems, and aims to provide a work robot that can automatically travel a desired route by utilizing positioning only in specific locations, thereby improving travel stability and work efficiency. [Means for solving the problem]

[0008] Form 1: One or more embodiments of the present invention propose a work robot that performs a predetermined task on travel assistance objects arranged in a direction of travel, the work robot comprising: an imaging unit that is provided at least ahead in the direction of travel and captures image data in each direction; an image information acquisition unit that acquires various information from the captured image data; an image information processing unit that performs image processing and analysis on the acquired image data to determine whether or not there are images of ridges and whether or not there are any obstacles in the direction of travel; a memory unit that stores positional information of a specific location; a travel route determination unit that determines the direction of travel based on the processing results by the image information processing unit and the positional information of the specific location; and a travel control unit that controls the work robot to travel along the travel route determined by the travel route determination unit, wherein the travel route determination unit determines the direction of travel based on the processing results by the image information processing unit until the work robot comes within a predetermined range of the specific location, and determines the direction of travel at least from the predetermined range to the specific location based on information obtained from a global positioning satellite system.

[0009] Form 2: One or more embodiments of the present invention propose a work robot in which, when there is a missing area in the arrangement of the driving assistance objects, a first specific location is set at the start point of the missing area and a second specific location is set at the end point of the missing area, and when traveling through the missing area, the driving route determination unit determines the traveling direction based on information obtained from a global positioning satellite system.

[0010] Mode 3: One or more embodiments of the present invention propose a working robot in which the image information acquisition unit acquires the various pieces of information including depth information and Euler angle information from the image data.

[0011] Form 4: One or more embodiments of the present invention propose a work robot in which the image information acquisition unit includes a calculation unit that calculates the Euler angle information from inertial data and calculates three-dimensional information for each pixel from information including the depth information and Euler angle information, and a first image information processing unit corresponding to the imaging unit ahead in the direction of travel includes a first determination processing unit that determines the presence or absence of steps or obstacles around the travel route based on the three-dimensional information for each pixel.

[0012] Form 5: One or more embodiments of the present invention propose a work robot in which the image information acquisition unit includes a calculation unit that calculates three-dimensional information for each pixel from information including the depth information and Euler angle information, and a second image information processing unit corresponding to the imaging unit to the right or left of the traveling direction includes a second determination processing unit that determines the driving assistance object based on the three-dimensional information for each pixel.

[0013] Form 6: One or more embodiments of the present invention propose a work robot in which the first judgment processing unit includes a 3D information processing unit that performs an averaging process to average the 3D information for each pixel and a compression process of the averaged 3D information for each pixel, and an information extraction unit that extracts the 3D information that exceeds a predetermined threshold based on height information included in the processed 3D information within the judgment area, and determines whether there are any steps or obstacles around the travel route based on the height information included in the processed 3D information within the judgment area.

[0014] Form 7: One or more embodiments of the present invention propose a work robot in which the second determination processing unit includes a 3D information processing unit that performs an averaging process to average the 3D information for each pixel and a compression process of the averaged 3D information for each pixel, and an information extraction unit that extracts the 3D information that exceeds a predetermined threshold based on height information included in the processed 3D information within the determination area, and determines the driving assistance object based on depth information and width information corresponding to the extracted 3D information.

[0015] Form 8: One or more embodiments of the present invention propose a work robot in which the travel route is a path along the ridges of farmland as the travel assistance object, or a path between adjacent ridges.

[0016] Form 9: One or more embodiments of the present invention propose a work robot in which, when the first judgment processing unit determines that a step that was present around the travel route has disappeared, the travel route determination unit determines the travel route such that the robot turns in the direction of the step.

[0017] Form 10: One or more embodiments of the present invention propose a work robot that, if the second determination processing unit determines that the ridges exist in both the left and right directions, further determines the direction of the travel route in which the travel assistance object extends.

[0018] Mode 11: One or more embodiments of the present invention propose a working robot in which the travel route is a path along an indoor or outdoor installed or placed object that serves as the travel assistance object.

[0019] Aspect 12: One or more embodiments of the present invention propose a working robot in which the travel route is a path along a sidewalk curb. [Effects of the Invention]

[0020] According to one or more embodiments of the present invention, by utilizing positioning only in specific locations, it is possible to automatically travel along a desired route, thereby achieving the effect of improving driving stability and work efficiency. [Brief explanation of the drawings]

[0021] [Figure 1] 1A is a left side view, FIG. 1B is a front view, and FIG. 1C is a top view of a working robot according to a first embodiment of the present invention. [Figure 2] FIG. 2 is a configuration diagram of a control unit in the working robot according to the first embodiment of the present invention. [Figure 3] FIG. 2 is a configuration diagram of a first image information acquisition unit in the working robot according to the first embodiment of the present invention. [Figure 4] FIG. 2 is a configuration diagram of a second image information acquisition unit in the working robot according to the first embodiment of the present invention. [Figure 5] FIG. 3 is a configuration diagram of a second determination processing unit in the working robot according to the first embodiment of the present invention. [Figure 6] FIG. 3 is a configuration diagram of a second determination processing unit in the working robot according to the first embodiment of the present invention. [Figure 7] FIG. 1 is a schematic diagram illustrating an image of a travel route of a working robot according to a first embodiment of the present invention. [Figure 8] FIG. 3 is a process flow diagram of an image information acquisition unit in the working robot according to the first embodiment of the present invention. [Figure 9]FIG. 3 is a process flow diagram of an image information acquisition unit in the working robot according to the first embodiment of the present invention. [Figure 10] 3 is a diagram showing a determination area for ridge determination processing using image data obtained from left and right imaging units in a working robot according to a first embodiment of the present invention. FIG. [Figure 11] FIG. 3 is a process flow diagram of an image information acquisition unit in the working robot according to the first embodiment of the present invention. [Figure 12] 3 is a diagram showing a determination region for step determination processing using image data obtained from a forward imaging unit in a working robot according to a first embodiment of the present invention. FIG. [Figure 13] 3 is a diagram showing a determination region for obstacle determination processing using image data obtained from a forward imaging unit in a working robot according to a first embodiment of the present invention. FIG. [Figure 14] FIG. 2 is a process flow diagram of a step (ridge) acquisition method for a working robot according to the first embodiment of the present invention. [Figure 15] FIG. 2 is a process flow diagram of a step (ridge) acquisition method for a working robot according to the first embodiment of the present invention. [Figure 16] FIG. 2 is a process flow diagram of a step (ridge) acquisition method for a working robot according to the first embodiment of the present invention. [Figure 17] FIG. 2 is a process flow diagram of a step (ridge) acquisition method for a working robot according to the first embodiment of the present invention. [Figure 18] FIG. 2 is a process flow diagram of a step (ridge) acquisition method for a working robot according to the first embodiment of the present invention. [Figure 19] FIG. 2 is a process flow diagram of a step (ridge) detection method for a working robot according to the first embodiment of the present invention. [Figure 20] FIG. 2 is a process flow diagram of a step (ridge) detection method for a working robot according to the first embodiment of the present invention. [Figure 21] 5A and 5B are diagrams showing the results of detection of steps (ridges) by the working robot according to the first embodiment of the present invention. [Figure 22]5A and 5B are diagrams showing the results of detection of steps (ridges) by the working robot according to the first embodiment of the present invention. [Figure 23A] 2 is a diagram illustrating an example of the furrow width and furrow-to-furrow spacing traveled by the working robot according to the first embodiment of the present invention. FIG. [Figure 23B] FIG. 2 is a diagram illustrating an example of a driving mode for each route of the working robot according to the first embodiment of the present invention. [Figure 24] FIG. 3 is a diagram schematically illustrating the processing of the travel control unit when the working robot according to the first embodiment of the present invention travels. [Figure 25] FIG. 3 is a diagram schematically illustrating the processing performed when setting the next storage point in the working robot according to the first embodiment of the present invention. [Figure 26] 3A to 3C are diagrams illustrating a process for determining each movement mode in the working robot according to the first embodiment of the present invention. [Figure 27] FIG. 2 is a diagram illustrating an example of movement in a mode in which the working robot according to the first embodiment of the present invention moves between two points. [Figure 28] FIG. 2 is a diagram illustrating a process performed by the working robot according to the first embodiment of the present invention when moving between furrows. [Figure 29] 4 is a diagram schematically illustrating the processing of the travel control unit when the working robot according to the first embodiment of the present invention travels between two furrows. FIG. [Figure 30] FIG. 2 is a diagram illustrating the process of the travel control unit when the working robot according to the first embodiment of the present invention travels along a single ridge. [Figure 31] FIG. 2 is a diagram conceptually illustrating a travel mode when a working robot according to a first embodiment of the present invention travels on ridges in farmland. [Figure 32] FIG. 4 is a configuration diagram of a control unit in a working robot according to a second embodiment of the present invention. [Figure 33] FIG. 10 is a diagram illustrating an example of a traveling image of a working robot according to a second embodiment of the present invention. [Figure 34]FIG. 10 is a diagram illustrating an example of an image of a travel control unit in a working robot according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0022] The working robot 1 will be described with reference to FIGS. 1 to 34.

[0023] First Embodiment

[0024] A working robot 1 according to this embodiment will be described with reference to FIGS. 1 to 32.

[0025] <About Work Robot 1> The working robot 1 according to this embodiment is a robot that moves along travel assistance objects that are aligned or extend in the traveling direction and performs a predetermined task. As shown in FIG. 1, the work robot 1 according to this embodiment includes a control unit 100, a first imaging unit 200A, a second imaging unit 200B, a third imaging unit 200C, and a movement mechanism 300. In this embodiment, as an example, a working robot that travels along a path along the ridges of farmland as an object to be assisted in traveling, or a path between adjacent ridges, will be described.

[0026] As shown in FIG. 1, the control unit 100 is housed in a housing and controls the movement mechanism 300 and other components based on image data obtained from the first imaging unit 200A, second imaging unit 200B, and third imaging unit 200C described below, thereby controlling the movement of the work robot 1 in accordance with the purpose and surrounding environment. The detailed configuration of the control unit 100 will be described below with reference to the drawings.

[0027] The first imaging unit 200A is provided in front of the vehicle in the direction of travel and captures image data in that direction. The second imaging unit 200B is provided on the left side of the vehicle in the direction of travel and captures image data in that direction. The third imaging unit 200C is provided on the right side of the vehicle in the direction of travel and captures image data in that direction.

[0028] The first imaging unit 200A, the second imaging unit 200B, and the third imaging unit 200C are each composed of, for example, a CCD camera, which captures images of one or more objects present in the direction of travel, and acquires image data containing various information including depth information and Euler angle information. The first imaging unit 200A, the second imaging unit 200B, and the third imaging unit 200C may be fixed in a predetermined direction, or may be mounted on a mount having three degrees of freedom, for example. The first imaging unit 200A, the second imaging unit 200B, and the third imaging unit 200C may be of visible light, infrared, or may be of both visible light and infrared. Depending on the application, a distance sensor or the like may be provided in addition to the first imaging unit 200A, the second imaging unit 200B, and the third imaging unit 200C, and imaging units may be provided in other directions (for example, behind the direction of travel) in addition to the front, right, and left sides of the direction of travel.

[0029] The moving mechanism 300 is, for example, a plurality of drive wheels provided on the bottom and crawlers attached so as to cover the outer periphery of the drive wheels. The plurality of drive wheels are driven by a plurality of motors.

[0030] <Configuration of control unit 100> The configuration of the control unit 100 according to this embodiment will be described with reference to FIGS.

[0031] As shown in FIG. 2, the control unit 100 according to this embodiment includes an image information acquisition unit 110, an image information processing unit 120, a driving route determination unit 130, a memory unit 140, and a driving control unit 150.

[0032] The image information acquisition unit 110 acquires various types of information from image data captured by the imaging unit 200 . The image information acquisition unit 110 acquires various pieces of information including depth information and Euler angle information from image data captured by the imaging unit 200 . The image information acquisition unit 110, for example, calculates and acquires Euler angle information from inertial data. The image information acquisition unit 110 calculates and acquires three-dimensional information for each pixel from information including depth information and Euler angle information. In this embodiment, depending on the installation direction of the imaging unit 200, the image information acquisition unit 110 performs separate processes: acquiring various information from image data captured by the first imaging unit 200A located in front of the traveling direction, and acquiring various information from image data captured by the second imaging unit 200B and the third imaging unit 200C located on the right side of the traveling direction or the left side of the traveling direction. The various pieces of information acquired by the image information acquisition unit 110 are output to the image information processing unit 120 via the bus line BL and the driving control unit 150, which will be described later.

[0033] The image information processing unit 120 performs image processing and analysis on the image data acquired by the image information acquisition unit 110 to determine whether there are ridges as objects for travel assistance and whether there are any obstacles in the traveling direction. The image information processing unit 120 determines whether or not there are any steps or obstacles around the travel route based on, for example, three-dimensional information for each pixel obtained by calculation processing. The image information processing unit 120 determines the driving assistance object based on, for example, three-dimensional information for each pixel obtained by calculation processing. The image information processing unit 120 processes differently depending on the installation direction of the imaging unit 200. In this embodiment, the image information processing unit 120 is composed of a first image information processing unit 120A that performs image processing and analysis of various information acquired from image data captured by the first imaging unit 200A, which is provided in front of the traveling direction by the image information acquisition unit 110, to determine whether or not there are ridges as objects for driving assistance and whether or not there are obstacles in the traveling direction, and a second image information processing unit 120A that performs image processing and analysis of various information acquired from image data captured by the second imaging unit 200B and the third imaging unit 200C, which are provided on the right side of the traveling direction or the left side of the traveling direction, to determine whether or not there are ridges as objects for driving assistance and whether or not there are obstacles in the traveling direction. The configurations and acquisition methods of the first image information processing section 120A and the second image information processing section 120B will be described in detail below with reference to the drawings.

[0034] The travel route determination unit 130 determines the travel route of the working robot 1 according to this embodiment based on the processing results of the first image information processing unit 120A or the second image information processing unit 120B. Furthermore, once the work robot 1 according to this embodiment arrives within a predetermined range of the U-turn point stored in the memory unit 160 described later, the travel route determination unit 130 determines the direction of travel of the work robot 1 according to this embodiment based on the position information of the work robot 1 according to this embodiment obtained from the global positioning satellite system and the position information of the U-turn point. The predetermined range may be, for example, furrow-furrow. The driving route information determined by the driving route determination unit 130 is output to a driving control unit 150, which will be described later, via a bus line BL.

[0035] The memory unit 140 is composed of a ROM (Read Only Memory) or a RAM (Random Access Memory), and stores a control program used for control by the driving control unit 150 described later, various information acquired by the image information acquisition unit 110, judgment condition data used in the image information processing unit 120, position information of U-turn points, etc.

[0036] The driving control unit 150 executes control so that the vehicle travels along the driving route determined by the driving route determination unit 130 . The driving control unit 150 controls the overall operation of the control unit 100 based on a control program stored in the storage unit 140 .

[0037] <Configuration of the first image information processing unit 120A> As shown in FIG. 3, the first image information processing unit 120A includes an information input unit 121 and a first determination processing unit 122.

[0038] The information input unit 121 inputs three-dimensional information for each pixel from information including depth information and Euler angle information acquired by calculation in the image information acquisition unit 110. The three-dimensional information for each pixel input to the information input unit 121 is output to a first determination processing unit 122, which will be described later, via the bus line BL and the driving control unit 150.

[0039] <Configuration of second image information processing section 120B> As shown in FIG. 4, the second image information processing unit 120B includes an information input unit 121 and a second determination processing unit 123. It should be noted that the information input unit 121 has the same functions as those described above, and therefore a detailed description thereof will be omitted.

[0040] The second determination processing unit 123 determines whether or not a ridge exists as an object for travel assistance, based on the three-dimensional information for each pixel. The determination result of the second determination processing unit 123 is output to the driving control unit 150 via the bus line BL. The configuration and determination processing of the second determination processing unit 123 will be described in detail below with reference to the drawings.

[0041] <Configuration of the first determination processing unit 122> As shown in FIG. 5, the first determination processing unit 122 includes a three-dimensional information processing unit 1221 and an information extraction unit 1222.

[0042] The three-dimensional information processing unit 1231 performs an averaging process for averaging the three-dimensional information for each pixel, and a compression process for the averaged three-dimensional information for each pixel. The first determination processing unit 122 determines whether or not there are any steps or obstacles around the travel route based on the height information included in the processed three-dimensional information within the determination area.

[0043] The information extraction unit 1222 extracts three-dimensional information exceeding a predetermined threshold based on height information included in the processed three-dimensional information within the determination region.

[0044] <Configuration of second determination processing unit 123> As shown in FIG. 6, the second determination processing unit 123 includes a three-dimensional information processing unit 1231 and an information extraction unit 1232. It should be noted that the three-dimensional information processing unit 1231 has the same functions as the three-dimensional information processing unit 1221, and therefore detailed description thereof will be omitted.

[0045] The information extraction unit 1232 extracts three-dimensional information exceeding a predetermined threshold based on height information included in the processed three-dimensional information within the determination region. The second determination processing unit 123 determines whether or not there is a ridge as a travel assistance object based on the depth information and width information corresponding to the extracted three-dimensional information.

[0046] <Processing of the control unit 100> The processing of the control unit 100 according to this embodiment will be described as processing for each component with reference to FIGS. The processing of the control unit 100 will be explained using as an example a case where the working robot 1 travels along a travel route as shown in FIG.

[0047] <Processing of image information acquisition unit 110> As shown in FIG. 8, the image information acquisition unit 110 maintains the standby mode until the timing of data update (step S110).

[0048] When it is time to update the data, the image information acquisition unit 110 acquires RGB data, depth data, and IMU data from the image data captured by the imaging units 200A, 200B, and 200C, and calculates Euler angles from the acquired IMU data.

[0049] The image information acquisition unit 110 integrates RGB data and depth data from the image data captured by the imaging units 200A, 200B, and 200C with Euler angle data obtained by arithmetic processing. Then, the image information acquisition unit 110 calculates three-dimensional information for each pixel from the integrated data group (step S130).

[0050] The three-dimensional information for each pixel calculated by the image information acquisition unit 110 is stored in the memory unit 140 via the bus line BL and the driving control unit 150 in a manner separated for each of the imaging units 200A, 200B, and 200C (step S140).

[0051] The image information acquisition unit 110 checks the status of the processing operation, and if it determines that the operation has been completed, it terminates the operation ("YES" in step S150), and if it determines that the operation has not been completed ("NO" in step S150), it transitions the processing step to step S110.

[0052] <Processing of the second image information processing unit 120B> As shown in FIG. 9, the second image information processing unit 120B maintains the standby mode until the timing for updating the three-dimensional information for each pixel based on the image data captured by the second imaging unit 200B and the third imaging unit 200C (step S210).

[0053] The second image information processing unit 120B executes the ridge determination process when the timing for updating data arrives (step S220). The ridge determination process uses three-dimensional information for each pixel to determine whether or not a ridge or an obstacle exists in a given area, as shown in FIG. 10, for example.

[0054] The second image information processing unit 120B stores the determination result of the ridge determination process in the storage unit 140 via the bus line BL and the travel control unit 150 (step S230).

[0055] The second image information processing unit 120B checks the status of the processing operation, and if it determines that the operation has been completed, it terminates the operation ("YES" in step S240), and if it determines that the operation has not been completed ("NO" in step S240), it transitions the processing step to step S210.

[0056] <Processing of the first image information processing unit 120A> As shown in FIG. 11, the first image information processing section 120A maintains the standby mode until the timing for updating the three-dimensional information for each pixel based on the image data captured by the first imaging section 200A (step S310).

[0057] The first image information processing unit 120A starts the obstacle determination process when the timing for data update arrives (step S320). In the obstacle determination process, as shown in FIG. 13, determination is made using three-dimensional information for each pixel. Specifically, for example, it is determined whether an object that can be determined as an obstacle (an object of a certain height and width) can be confirmed in the obstacle determination area shown in FIG.

[0058] Next, the first image information processing unit 120A executes a step determination process (step S330). In the step determination process, as shown in FIG. 12, determination is made using three-dimensional information for each pixel based on image data captured by the imaging units 200A, 200B, and 200C. The furrows are often higher than the spaces between them (hereafter referred to as furrow spaces), so there are steps between the furrows. Specifically, by utilizing the above relationship, if a step is detected in a certain area, the robot makes a gentle turn in the opposite direction to avoid hitting the ridges. Ridge determination is performed by checking for steps in the left and right regions shown in FIG.

[0059] The first image information processing unit 120A stores the determination results of the obstacle determination process and the step determination process in the storage unit 140 via the bus line BL and the traveling control unit 150 (step S340).

[0060] The first image information processing unit 120A checks the status of the processing operation, and if it determines that the operation has been completed, it terminates the operation ("YES" in step S340), and if it determines that the operation has not been completed ("NO" in step S340), it transitions the processing step to step S310.

[0061] <Processing of the first determination processing unit 122> The processing of the first determination processing unit 122 according to this embodiment will be described with reference to FIGS.

[0062] As shown in FIG. 14, the first determination processing unit 122 performs an average value compression process on the three-dimensional information (step S331). Specifically, the three-dimensional information processing unit 1221 of the first determination processing unit 122 executes a process of compressing three-dimensional information of H480×W848 to H60×W106 as shown in FIG. The compressed three-dimensional information is stored in the storage unit 140 via the bus line BL and the driving control unit 150.

[0063] As shown in FIG. 15, the first determination processing unit 122 performs a process of fitting the compressed three-dimensional information into the determination range (step S332). Specifically, as shown in FIG. 15, when the determination range is, for example, 4×4, the three-dimensional information processing unit 1221 of the first determination processing unit 122 deletes two columns, one column on each side in the width direction, from the compressed data of H60×W106 to obtain compressed data of H60×W104.

[0064] As shown in FIG. 16, the first determination processing unit 122 performs a step determination process based on height information (step S333). As shown in Figure 16, for example, the three-dimensional information processing unit 1221 of the first judgment processing unit 122 judges that if an inter-furrow judgment value and an on-furrow judgment value exist within a 4x4 judgment range of the compressed data, the result is True, and otherwise the result is False. Specifically, as shown in FIG. 16, the three-dimensional information processing unit 1221 of the first determination processing unit 122 performs determination processing on compressed data of, for example, H60×W104 by sliding a 4×4 determination range by one pixel in the width and height directions. In the above processing method, when the judgment range is adjusted, one column on each side in the width direction is deleted, for a total of two columns, so the judgment result also decreases by one pixel. Therefore, as shown in FIG. 17, the insufficient part of the judgment range is filled with False, and the judgment result of FIG. 16 and the judgment result of FIG. 17 are superimposed to perform an OR judgment.

[0065] As shown in FIG. 18, the first determination processing unit 122 performs processing to narrow down the step determination range based on the depth and width information (step S334).

[0066] <Processing of the second determination processing unit 123> The processing of the second determination processing unit 123 according to this embodiment will be described with reference to FIGS.

[0067] As shown in FIGS. 19 and 20, the second determination processing unit 123 adds, to the same data, an on-ridge determination based on depth, height, and width information for the area within the dotted line (step S335).

[0068] The second judgment processing unit 123 performs a judgment process in which, for example, if a pixel to be judged as a step and a pixel to be judged as a ridge exist within a judgment range (for example, 4x4) in the same data, the result is True, and otherwise the result is False (step S336).

[0069] The second judgment processing unit 123 determines the amount of left and right ridges (steps) obtained within the ridge (step) judgment result as the grasped amount based on the width information, and performs processing to determine the left and right ridge flags according to the grasped amount (step 337).

[0070] Then, the second determination processing unit 123 performs a restoration process, that is, restores three-dimensional information by changing H60×W104 to H60×W106 and H60×W106 to H480×W848 (step S338).

[0071] That is, the second determination processing unit 123 determines the height of the ridge region in the step determination array obtained in the same manner as the first determination processing unit 122. The processing at this time is the same convolution determination processing as that used when determining a step. The judgment condition is that the step judgment and on-ridge judgment are true. The determination result in the second determination processing unit 123 is the ridge (step) determination result in the area surrounded by the dotted lines in FIGS. Depending on the amount of this determination result, it is determined whether or not there is a gentle turn to the left or right.

[0072] 21 and 22 show the state of the demonstration experiment conducted outdoors. As shown in Figures 21 and 22, the upper left ridge, the upper right ridge, the left step determination result, the right step determination result, the left ridge determination result, and the right ridge determination result are displayed in shades of gray.

[0073] <Processing of the driving control unit 150> The processing of the driving control unit 150 will be described with reference to FIGS.

[0074] Before describing the processing of the traveling control unit 150, the prerequisites for the description will be described with reference to FIG. As shown in FIG. 23, in the following explanation, the ridge width of the farmland varies depending on the number of rows, as shown in FIG. 23(A), and therefore the explanation will be given assuming a width of, for example, 0.8 to 2.0 m. Also, although the furrow width may be extremely narrow, we will explain it assuming a typical value of 0.3 to 0.4 m. Therefore, we will assume that the distance between furrows is approximately 1.5 m.

[0075] As shown in Figure 23(B), the travel mode during each route is such that when the work robot 1 comes within 1.5 m (predetermined range; distance between furrows) of a memorized point (target position), it transitions to point-to-point movement mode and stops at the memorized point. The method of transitioning to each driving mode will be explained in detail below. Although not shown in FIG. 23B, after moving to memory point 12, it returns to memory point 1 in a straight line.

[0076] As shown in Figure 24, the traveling control unit 150 acquires status information (e.g., obstacle determination results, step determination results, ridge determination results, imaging data from the imaging unit 200, Euler angle information, information obtained from the global positioning satellite system, etc.) from the image information processing unit 120 and a motor control unit (not shown), and processes the status information of the work robot (step S410).

[0077] The traveling control unit 150 determines whether or not an obstacle exists from the results of the state information processing of the working robot in step S410, for example, from the obstacle determination results (step S420).

[0078] When it is determined from the obstacle determination result that an obstacle is present ("NO" in step S430), the traveling control unit 150 transitions the process to step S490 to issue a forced stop instruction (step S430). On the other hand, if the traveling control unit 150 determines from the obstacle determination result that there is no obstacle ("YES" in step S430), the processing proceeds to step S440.

[0079] The traveling control unit 150 executes a process of calculating the azimuth angle with respect to the memory point (goal) to be targeted and the distance to the memory point to be targeted (step S440).

[0080] The travel control unit 150 determines whether or not the setting of the next memory point to be aimed at (next goal) and the ridge determination process have been completed (step S450). If the travel control unit 150 determines that the setting of the next memory point to be targeted (next goal) and the ridge determination process have been completed ("YES" in step S450), it transitions the process to step S460 and executes the travel mode determination process. The travel mode determination process will be described in detail later.

[0081] On the other hand, if the traveling control unit 150 determines that the setting of the next memory point to be targeted (next goal) and the ridge determination process have been completed ("YES" in step S450), it transitions the processing to step S470, executes the next goal setting process (step S470), executes the ridge determination process, and transitions the processing step to step S490. The next goal setting process will be described in detail later. Moreover, the ridge determination process is the same as the process in step S220 described above, and therefore a detailed description thereof will be omitted.

[0082] In step S490, the traveling control unit 150 transmits the traveling mode of the working robot 1 to the motor control unit.

[0083] The traveling control unit 150 determines whether the traveling operation of the working robot 1 has ended (step S500), and if it determines that the traveling operation of the working robot 1 has ended ("YES" in step S500), it ends the control process. On the other hand, if the traveling control unit 150 determines that the traveling operation of the working robot 1 has not ended ("NO" in step S500), it transitions the process to step S410. FIG. 32 shows the relationship between the travel locations and travel modes of the working robot 1.

[0084] <Next goal setting process> The next goal setting process in the working robot 1 according to this embodiment will be described with reference to FIG.

[0085] The traveling control unit 150 determines whether the next goal setting has not been completed (step S471). If the traveling control unit 150 determines that the next goal setting has been completed ("NO" in step S471), the processing ends.

[0086] On the other hand, if the traveling control unit 150 determines that the setting of the next goal is incomplete ("YES" in step S471), it determines whether the reception of the state information has stopped (step S472). When it is determined that the reception of the state information has stopped ("YES" in step S472), the traveling control unit 150 sets the goal position to the next goal (step S476).

[0087] Then, the traveling control unit 150 calculates the turning angle (step S477), sends a turning instruction (step S478), and ends the process.

[0088] On the other hand, if the traveling control unit 150 determines that the reception of status information has not stopped ("NO" in step S472), it determines whether the angle at which the work robot 1 is currently facing is within a range of ±α degrees with respect to the assumed rotation angle (step S473). If the traveling control unit 150 determines that the current angle at which the working robot 1 is facing is not within the range of ±α degrees with respect to the assumed turning angle ("NO" in step S473), the processing returns to step S472.

[0089] Furthermore, if the traveling control unit 150 determines that the angle at which the work robot 1 is currently facing is within a range of ±α degrees with respect to the assumed turning angle ("YES" in step S473), it sends a stop instruction (step S475), completes the setting of the next goal (step S475), and ends the processing.

[0090] <Movement mode determination process> The movement mode determination process in the working robot 1 according to this embodiment will be described with reference to FIG.

[0091] The traveling control unit 150 determines whether the distance between two points (the current position and the next stored point (next goal) to be reached) is a predetermined distance (step S461). Here, if the traveling control unit 150 determines that the distance between the two points is a predetermined distance ("YES" in step S461), it transitions the processing to step S462, executes the point-to-point movement mode processing (step S462) described below, executes the goal determination processing (step S463), and ends the processing.

[0092] Here, the "point-to-point movement mode processing" is processing as shown in FIG. In FIG. 27, the solid line indicates the ideal driving route, and the dotted line indicates the actual driving route. The actual driving route is meandering because the ideal route cannot be taken due to road conditions, etc. As shown in Figure 27, in the "point-to-point movement mode processing," the direction in which the work robot 1 is facing at its current position and the angle difference between the direction it should face from its current position toward the goal position are determined, and control is performed to move along a path as close as possible to the ideal path by combining forward movement, gentle right turns, and gentle left turns. Specifically, for example, in Figure 27(b) t seconds after Figure 27(a), the angle difference between the direction the work robot 1 is facing at its current position and the direction it should face from its current position towards the goal position is grasped, and by combining forward movement, a gentle right turn, and a gentle left turn, the work robot 1 can be controlled to travel along a path as close as possible to the ideal path.Furthermore, in Figure 27(c) t seconds after, the work robot 1 can be made to travel along the intended path.

[0093] On the other hand, if the traveling control unit 150 determines that the distance between the two points is not the specified distance ("NO" in step S461), it determines whether the current traveling route is between both furrows or one furrow based on the results of the ridge determination process (step S464). Then, if the traveling control unit 150 determines based on the results of the furrow determination process that the current traveling route is between both furrows ("YES" in step S464), it executes traveling control in furrow mode (both furrows) (step S465) and terminates the processing. Furthermore, if the traveling control unit 150 determines based on the results of the ridge determination process that the current traveling route is one-sided ("NO" in step S464), it executes traveling control in inter-ridge mode (one-sided ridge) (step S466) and terminates the processing.

[0094] Here, the "U-turn mode" used to transition from furrow mode (one furrow) to furrow mode (double furrows) and from furrow mode (double furrows) to furrow mode (one furrow) is a process as shown in FIG.

[0095] Specifically, for example, as shown in FIG. 28(1), when the working robot 1 approaches stored point (1) while traveling, the traveling control unit 150 causes the working robot 1 to stop. Next, after stopping at the memory point (1), it turns towards the memory point (2) (Figure 28(2)). At this time, the turning angle is calculated from the azimuth calculated using information obtained from each global positioning satellite system (current value and memory point (2)) and the Euler angles from the IMU. If the azimuth angle can be calculated from the IMU, it may be used. As shown in Figure 28(3), after turning and stopping in Figure 28(2), the next goal (memory point (2)) is set, and a movement mode determination process is performed.For example, if the distance from the start to the goal is within the furrow-to-furrow width, the mode transitions to two-point movement mode, and the same process as in Figure 28(1) is performed. Also, as in Figure 28(2), it turns towards memory point (3). Furthermore, as shown in FIG. 28(4), a ridge determination is performed in the movement mode determination process, and the mode transitions to the inter-furrow mode according to the determination result. That is, in the case of FIG. 28, the mode transitions to the inter-furrow mode (both furrows).

[0096] The furrow mode will be explained with reference to Figures 29 and 30. (1) The traveling control unit 150 continues the inter-furrow mode until a ridge is confirmed in the inter-furrow determination area based on the image data obtained from the second imaging unit 200B and the third imaging unit 200C. Then, the travel control unit 150 stops the work robot 1 when no ridges are detected in the furrow spacing determination area based on the image data obtained from the second imaging unit 200B and the third imaging unit 200C. (2) If the previous mode was the inter-furrow mode (one furrow to the right), the travel control unit 150 controls the work robot 1 to make a 90-degree pivot turn to the right (hereinafter referred to as a right turn). If the previous mode was the furrow mode (one furrow left), the travel control unit 150 performs control to make a 90 degree pivot turn to the left (hereinafter referred to as a left turn). The travel control unit 150 performs control so that if the previous mode was the furrow mode (both furrows) and a turn was made the previous time, the travel control unit 150 makes a 90 degree pivot turn in the opposite direction. If the previous mode was the furrow mode (both furrows) and there was no turning the previous time, the traveling control unit 150 performs control so as to make a 90 degree pivot turn to the right. (3) When the controlled operation mode is a right turn, the traveling control unit 150 controls the work robot 1 to move straight in the furrow determination area based on the image data obtained from the imaging unit 200C until the traveling area is determined to be a furrow. When the traveling control unit 150 determines that the traveling area is between rows, it controls the working robot 1 to turn 90 degrees to the right. On the other hand, when the controlled operation mode is a left turn, the traveling control unit 150 controls the work robot 1 to move straight in the furrow determination area based on the image data obtained from the second imaging unit 200B until the traveling area is determined to be a furrow. When the traveling control unit 150 determines that the traveling area is between rows, it controls the working robot 1 to turn 90 degrees left. (4) During a pivot turn of the work robot 1, the travel control unit 150 determines the furrows in the furrow determination area based on the image data obtained from the first imaging unit 200A, transitions to furrow mode according to the determination result, and performs control.

[0097] As shown in Figures 29 and 30, in the case of double ridges, the travel control unit 150 determines that there are ridges on both sides, and if no ridges are found on the left or right in the step determination area, it controls the work robot 1 to move straight ahead. When a step is detected on the right side in the step detection area, the travel control unit 150 controls the working robot 1 to make a gentle turn to the left until the step is no longer detected, and then to move straight ahead. When a step is detected on the left side in the step detection area, the travel control unit 150 controls the working robot 1 to make a gentle turn to the right until the step is no longer detected, and then to move straight ahead.

[0098] In the case of a single ridge, the travel control unit 150 determines that there are ridges on both sides and controls the working robot 1 to basically move in a straight line. When a step is detected on the right side in the step detection area, the travel control unit 150 controls the working robot 1 to make a gentle turn to the left until the step is no longer detected, and then to move straight ahead. When a step is detected on the left side in the step detection area, the travel control unit 150 controls the working robot 1 to make a gentle turn to the right until the step is no longer detected, and then to move straight ahead.

[0099] As shown in Figure 31, the travel control unit 150 controls the work robot 1 in inter-furrow mode (one furrow, right) from the starting point, transitions to U-turn processing mode at the memory point, repeats inter-furrow mode (both furrows) and U-turn mode several times, and performs control in inter-furrow mode (one furrow, right), thereby executing a series of controls.

[0100] <Actions and Effects> As described above, the working robot 1 according to this embodiment is a working robot that performs predetermined tasks on travel assistance objects that are arranged in its direction of travel, and is equipped with an imaging unit 200 that is provided at least ahead in the direction of travel and captures image data in each direction; an image information acquisition unit 110 that acquires various information from the captured image data; an image information processing unit 120 that performs image processing and analysis on the acquired image data to determine whether or not there are images of ridges and whether or not there are any obstacles in the direction of travel; a memory unit 140 that stores positional information of specific locations; a travel route determination unit 130 that determines the direction of travel based on the processing results by the image information processing unit 120 and the positional information of the specific location; and a travel control unit 150 that controls the robot to travel along the travel route determined by the travel route determination unit 130. The travel route determination unit 130 determines the direction of travel based on the processing results by the image information processing unit 120 until the robot comes within a predetermined range of the specific location, and determines the direction of travel at least from within the predetermined range to the specific location based on information obtained from a global positioning satellite system. In other words, in the work robot 1 according to this embodiment, the image information acquisition unit 110 acquires various information from captured image data, the image information processing unit 120 processes and analyzes the acquired image data to determine whether there are any driving assistance objects and whether there are any obstacles in the direction of travel, the driving route determination unit 130 determines the direction of travel based on the processing results, and the driving control unit 150 executes control to drive along the determined driving route. Furthermore, the driving route determination unit 130 determines the direction of travel based on the processing results by the image information processing unit 120 until the vehicle arrives within a predetermined range of the specific location stored in the memory unit 140, and determines the direction of travel based on information obtained from the global positioning satellite system until the vehicle arrives at the specific location from at least within the predetermined range. Therefore, by utilizing positioning only in specific locations, it is possible to automatically travel along the desired route, thereby improving driving stability and work efficiency.

[0101] The image information acquisition unit 110 of the working robot 1 according to this embodiment acquires various types of information, including depth information and Euler angle information, from the image data. In other words, control is performed based on various information including depth information and Euler angle information, so that objects requiring driving assistance can be accurately captured. Therefore, by utilizing positioning only in specific locations, it is possible to automatically travel along the desired route, thereby improving driving stability and work efficiency.

[0102] The image information acquisition unit 110 of the work robot 1 according to this embodiment includes a calculation unit that calculates Euler angle information from inertial data and calculates three-dimensional information for each pixel from information including depth information and Euler angle information, and the first image information processing unit 120A corresponding to the imaging unit 200A in front of the direction of travel includes a first determination processing unit 122 that determines the presence or absence of steps or obstacles around the travel route based on the three-dimensional information for each pixel. In other words, the image information acquisition unit 110 calculates Euler angle information from the inertial data and calculates three-dimensional information (height, width, depth) for each pixel from information including depth information and Euler angle information, and the first judgment processing unit 122 corresponding to the imaging unit 200A in front of the traveling direction judges whether there are any steps or obstacles around the traveling route based on the three-dimensional information for each pixel. Therefore, it is possible to accurately detect whether there are any steps or obstacles around the travel route. Furthermore, by utilizing positioning only in specific locations, it is possible to automatically travel along a desired route, thereby improving driving stability and work efficiency. Furthermore, even if the crops cannot be recognized, the robot can automatically travel along the desired route.

[0103] The image information acquisition unit 110 of the work robot 1 according to this embodiment includes a calculation unit that calculates three-dimensional information for each pixel from information including depth information and Euler angle information, and the second image information processing unit 120B corresponding to the second imaging unit 200B or third imaging unit 200C to the right or left of the traveling direction includes a second determination processing unit 123 that determines the object of driving assistance based on the three-dimensional information for each pixel. In other words, the image information acquisition unit 110 calculates three-dimensional information for each pixel from information including depth information and Euler angle information, and the second judgment processing unit 123 of the second image information processing unit 120B corresponding to the second imaging unit 200B or third imaging unit 200C to the right or left of the direction of travel judges the driving assistance object based on the three-dimensional information for each pixel. Therefore, the object of travel assistance can be accurately captured. Furthermore, by utilizing positioning only in specific locations, it is possible to automatically travel along a desired route, thereby improving driving stability and work efficiency. Furthermore, even if the crops cannot be recognized, the robot can automatically travel along the desired route.

[0104] The first judgment processing unit 122 of the working robot 1 according to this embodiment includes a 3D information processing unit 1221 that performs averaging processing to average the 3D information for each pixel and compressing the averaged 3D information for each pixel, and an information extraction unit 1222 that extracts 3D information that exceeds a predetermined threshold based on height information contained in the processed 3D information within the judgment area, and judges whether there are any steps or obstacles around the travel route based on the height information contained in the processed 3D information within the judgment area. In other words, the three-dimensional information processing unit 1221 performs an averaging process to average the three-dimensional information for each pixel and a compression process on the averaged three-dimensional information for each pixel, the information extraction unit 1222 extracts three-dimensional information that exceeds a predetermined threshold based on the height information contained in the processed three-dimensional information within the judgment area, and the first judgment processing unit 122 judges whether there are any steps or obstacles around the driving route based on the height information contained in the processed three-dimensional information within the judgment area. Therefore, it is possible to accurately detect whether there are any steps or obstacles around the travel route. Furthermore, by utilizing positioning only in specific locations, it is possible to automatically travel along a desired route, thereby improving driving stability and work efficiency. Furthermore, even if the crops cannot be recognized, the robot can automatically travel along the desired route.

[0105] The second determination processing unit 123 of the working robot 1 according to this embodiment includes a three-dimensional information processing unit 1231 that performs an averaging process to average the three-dimensional information for each pixel and a compression process of the averaged three-dimensional information for each pixel, and an information extraction unit 1232 that extracts the three-dimensional information that exceeds a predetermined threshold based on height information included in the processed three-dimensional information within the determination area, and determines the traveling assistance object based on depth information and width information corresponding to the extracted three-dimensional information. In other words, the three-dimensional information processing unit 1231 performs an averaging process to average the three-dimensional information for each pixel and a compression process on the averaged three-dimensional information for each pixel, the information extraction unit 1232 extracts three-dimensional information that exceeds a predetermined threshold based on height information contained in the processed three-dimensional information within the judgment area, and the second judgment processing unit 123 judges the driving assistance object based on depth information and width information corresponding to the extracted three-dimensional information. Therefore, the object of travel assistance can be accurately captured. Furthermore, by utilizing positioning only in specific locations, it is possible to automatically travel along a desired route, thereby improving driving stability and work efficiency. Furthermore, even if the crops cannot be recognized, the robot can automatically travel along the desired route.

[0106] When the first determination processing unit 122 of the work robot 1 according to this embodiment determines that the steps that were present around the travel route have disappeared, the travel route determination unit 130 determines a travel route that changes direction in the direction of the steps, and when the second determination processing unit 123 determines that the ridges exist in both the left and right directions, it further determines the travel route to be oriented in the direction in which the travel assistance object extends. Therefore, even in cases where rows of ridges are formed, such as in farmland, the robot can automatically travel accurately and smoothly along the shortest route.

[0107] <Variation 1> In this embodiment, the ridges of farmland are used as an example of the object of travel assistance, but even if the object of travel assistance is a path along an indoor or outdoor installation or placement, it is possible to control the work robot 1 by performing control similar to that described above.

[0108] <Variation 2> In this embodiment, an example has been described in which depth information and Euler angle information are obtained from image data from the first imaging unit 200A, the second imaging unit 200B, and the third imaging unit 200C, but in addition to this information, color information may also be obtained. By acquiring color information, it is possible to remotely monitor the image of the surrounding area in which the working robot 1 is traveling, for example.

[0109] <Second embodiment> A working robot 1A according to this embodiment will be described with reference to FIGS.

[0110] <Configuration of control unit 100A> As shown in FIG. 31, the control unit 100A according to this embodiment includes an image information acquisition unit 110, an image information processing unit 120, a driving route determination unit 130A, a memory unit 140A, and a driving control unit 150A. Note that components with the same reference numerals as those in the first embodiment have the same functions, and therefore detailed descriptions thereof will be omitted.

[0111] The travel route determination unit 130A determines the travel route of the working robot 1A according to this embodiment based on the processing results of the first image information processing unit 120A or the second image information processing unit 120B. The work robot 1A according to this embodiment travels along the curbstones of a sidewalk, for example, as shown in FIG. 33, where there is a missing area in the arrangement of the travel assistance objects (curbstones), a first specific point P1 is set at the start of the missing area, and a second specific point P2 is set at the end of the missing area, and when proceeding through the missing area, the travel route determination unit 130A determines the direction of travel based on information obtained from a global positioning satellite system. The driving route information determined by the driving route determination unit 130A is output to a driving control unit 150A, which will be described later, via a bus line BL.

[0112] The memory unit 140A is composed of a ROM (Read Only Memory) or a RAM (Random Access Memory), and stores a control program used for control by the driving control unit 150A described later, various information acquired by the image information acquisition unit 110, judgment condition data used in the image information processing unit 120, position information of the U-turn point, position information of the first specific point P1 at the start of the missing area and the second specific point P2 at the end of the missing area, position information at the corner of the curb, etc.

[0113] The driving control unit 150A executes control so that the vehicle travels along the driving route determined by the driving route determination unit 130A. Specifically, as shown in FIG. 33, the travel control unit 150A uses the inter-furrow (single furrow) mode in the first embodiment to perform travel control from the starting position of the work robot 1A until the work robot 1A comes within a predetermined range of the first specific location P1. When the work robot 1A enters within a predetermined range of the first specific location P1, the travel control unit 150A transitions the control mode to the point-to-point movement mode in the first embodiment, and executes control until the work robot 1A reaches the second specific location P2.When the work robot 1A leaves the predetermined range of the second specific location P2, the travel control unit 150A transitions the control mode back to the furrow (single furrow) mode in the first embodiment, and executes travel control to the goal through the specific location PC corresponding to the corner of the curb. FIG. 34 shows the behavior of working robot 1A according to this embodiment when working robot 1A uses the inter-furrow (single furrow) mode in the first embodiment. The traveling control section 150A controls the overall operation of the control unit 100A based on a control program stored in the storage section 140A.

[0114] <Actions and Effects> As described above, when the work robot 1A according to this embodiment has a missing area in the arrangement of travel assistance objects, a first specific point P1 is set at the start of the missing area and a second specific point P2 is set at the end of the missing area, and when traveling through the missing area, the travel route determination unit 130A determines the direction of travel based on information obtained from the global positioning satellite system. In other words, when the work robot 1A enters within a predetermined range of the first specific location P1, the travel control unit 150A transitions the control mode to the point-to-point movement mode in the first embodiment, and executes control until the work robot 1A reaches the second specific location P2, and when the work robot 1A goes out of the predetermined range of the second specific location P2, the control mode is again transitioned to the furrow (single furrow) mode in the first embodiment, and travel control is executed to pass through the specific location PC corresponding to the corner of the curb and to the goal. Therefore, by utilizing positioning only in specific locations, it is possible to automatically travel along the desired route, thereby improving driving stability and work efficiency.

[0115] The working robots 1, 1A of the present invention can be realized by recording the processing of the driving control units 150, 150A on a computer-readable recording medium, and having the driving control units 150, 150A read and execute the program recorded on this recording medium. The computer system here includes hardware such as an OS and peripheral devices.

[0116] Furthermore, if a WWW (World Wide Web) system is used, the "computer system" also includes the homepage provision environment (or display environment). The above program may be transmitted from a computer system that stores the program in a storage device or the like to another computer system via a transmission medium or by transmission waves in the transmission medium. Here, the "transmission medium" that transmits the program refers to a medium that has the function of transmitting information, such as a network (communication network) like the Internet or a communication line (communication line) like a telephone line.

[0117] The program may also be a program for implementing some of the functions described above, or may be a so-called differential file (differential program) that can implement the functions described above in combination with a program already stored in the computer system.

[0118] The above has described in detail an embodiment of the present invention with reference to the drawings. However, all working robots that can be implemented by a person skilled in the art by making appropriate design modifications based on the working robots 1 and 1A described above as embodiments of the present invention also fall within the technical scope of the present invention, as long as they include the gist of the present invention. Within the scope of the concept of the present invention, a person skilled in the art may conceive of various modifications and alterations, and it is understood that these modifications and alterations also fall within the technical scope of the present invention. For example, any embodiment in which a person skilled in the art has appropriately added or deleted components or modified the design, or added or omitted steps or modified conditions, is included within the technical scope of the present invention as long as it contains the gist of the present invention.

[0119] Furthermore, other effects and advantages brought about by the aspects described in this embodiment that are clear from the description in this specification or that can be appropriately thought of by a person skilled in the art are naturally understood to be brought about by the present invention. Various inventions can be formed by appropriately combining the multiple components disclosed in the above embodiments. For example, some components may be omitted from all the components shown in the embodiment. Furthermore, components from different embodiments may be combined as appropriate. [Explanation of symbols]

[0120] 1. Work robot 100;Control unit 110: Image information acquisition unit 120; Image information processing section 120A: First image information processing section 120B: Second image information processing section 121; Information input section 122: First determination processing unit 1221;3D information processing section 1222;Information extraction part 123: Second determination processing unit 1231;3D information processing section 1232;Information extraction part 130: Driving route determination unit 130A: Driving route determination unit 140;Memory part 140A;Storage section 150: Travel control unit 150A: Travel control unit 200A: First imaging unit 200B: Second imaging unit 200C: Third imaging unit 300;Movement mechanism

Claims

1. A working robot that performs a predetermined task on travel assistance objects arranged in a traveling direction, an imaging unit provided at least forward in the traveling direction and configured to capture image data in each direction; an image information acquisition unit that acquires various information from the captured image data; an image information processing unit that performs image processing and analysis on the acquired image data to determine whether or not there is an image of a ridge and whether or not there is an obstacle in the traveling direction; a storage unit that stores position information of a specific location; a travel route determination unit that determines the traveling direction based on the processing result by the image information processing unit and the position information of the specific location; a travel control unit that executes control so that the vehicle travels along the travel route determined by the travel route determination unit; Equipped with the travel route determination unit determines the traveling direction based on the processing results by the image information processing unit until the robot reaches within a predetermined range of the specific location, and determines the traveling direction based on information obtained from a global positioning satellite system at least from within the predetermined range to the specific location.

2. If there is a missing area in the arrangement of the driving assistance object, a first specific point is set at the start point of the missing area, and a second specific point is set at the end point of the missing area; 2. The working robot according to claim 1, wherein the travel route determination unit determines the travel direction based on information obtained from a global positioning satellite system when traveling through the missing area.

3. The working robot according to claim 2 , wherein the image information acquisition unit acquires the various pieces of information including depth information and Euler angle information from the image data.

4. The image information acquisition unit a calculation unit that calculates the Euler angle information from the inertial data and calculates three-dimensional information for each pixel from information including the depth information and the Euler angle information; a first image information processing unit corresponding to the imaging unit located forward in the traveling direction, 4. The working robot according to claim 3, further comprising a first determination processing unit that determines the presence or absence of steps or obstacles around the travel route based on the three-dimensional information for each pixel.

5. The image information acquisition unit a calculation unit that calculates three-dimensional information for each pixel from information including the depth information and Euler angle information; a second image information processing unit corresponding to the imaging unit on the right or left side of the traveling direction, The working robot according to claim 3 , further comprising a second determination processing unit that determines the driving assistance object based on the three-dimensional information for each pixel.

6. The first determination processing unit a three-dimensional information processing unit that performs an averaging process to average the three-dimensional information for each pixel and a compression process to the averaged three-dimensional information for each pixel; an information extraction unit that extracts the three-dimensional information exceeding a predetermined threshold based on height information included in the processed three-dimensional information within a determination region; Including, 5. The working robot according to claim 4, wherein the presence or absence of steps or obstacles around the travel route is determined based on height information contained in the processed three-dimensional information within the determination area.

7. The second determination processing unit a three-dimensional information processing unit that performs an averaging process to average the three-dimensional information for each pixel and a compression process to the averaged three-dimensional information for each pixel; an information extraction unit that extracts the three-dimensional information exceeding a predetermined threshold based on height information included in the processed three-dimensional information within a determination region; Including, The working robot according to claim 5, wherein the driving assistance object is determined based on depth information and width information corresponding to the extracted three-dimensional information.

8. 8. The working robot according to claim 7, wherein the travel route is a path along ridges of farmland as the travel assistance object, or a path between adjacent ridges.

9. 5. The working robot according to claim 4, wherein, when the first determination processing unit determines that a step that was present around the travel route has disappeared, the travel route determination unit determines the travel route such that the robot turns in the direction of the step.

10. 6. The working robot according to claim 5, wherein, when the second determination processing unit determines that the ridges exist in both the left and right directions, the direction of the travel route is further determined to be in the direction in which the travel assistance object extends.

11. 8. The working robot according to claim 7, wherein the travel route is a path along an indoor or outdoor installed or placed object that serves as the travel assistance object.

12. 8. The working robot according to claim 7, wherein the travel route is a path along a curb of a sidewalk.

Images