Autonomous Mobile Robot

Abstract

To provide an autonomous mobile robot capable of autonomously moving by avoiding obstacles in a passage even in a narrow passage surrounded by walls such as a narrow tunnel where it is difficult to use GNSS or a particle filter and the passage has no branches, and capable of reducing the cost of the device by eliminating the need for map creation and self-position estimation. The autonomous mobile robot includes a motor, a rotation measurement unit, an acceleration sensor, a gyro sensor, and a distance sensor. When the distance to an obstacle is greater than the distance to a virtual target point set in the direction of travel of the autonomous mobile robot, the control unit calculates a path for the autonomous mobile robot to avoid the obstacle based on the acquired translational and rotational speeds, and moves the autonomous mobile robot.

Description

[Technical Field]

[0001] The present invention relates to an autonomous mobile robot that travels within a passage surrounded by walls. [Background technology]

[0002] Conventionally, there is a technology for autonomous mobile robots that calculates its own position together with its reliability to create and update an environmental map. The technology disclosed in Patent Document 1 is known as an example of such an autonomous mobile robot.

[0003] The environmental improvement robot of Patent Document 1 is an environmental improvement robot for improving the environment of a target space in which a mobile robot moves autonomously, and is equipped with a movement mechanism for autonomous movement, a distance sensor that measures the distance to objects in the vicinity, and a map creation unit that creates an environmental map of the target space by dividing the target space into multiple cell spaces and assigning an evaluation value to each cell space indicating the likelihood of an object being present in each cell space based on the measurement results of the distance sensor obtained while the robot moves autonomously through the target space.

[0004] Furthermore, the environmental improvement robot of Patent Document 1 is equipped with an environment modification unit that modifies a specific cell space among multiple cell spaces that has an evaluation value in a range in which the likelihood of an object being present is judged to be low so that the likelihood of an object being present in the evaluation value is higher, or modifies the surrounding cell spaces so that the specific cell space is not subject to measurement by the distance sensor.

[0005] Incidentally, autonomous mobile robots are sometimes intended for use in narrow tunnels (passages surrounded by walls), such as waterway tunnels. Because these walled passages (narrow tunnels) are culvert-type, it is difficult to estimate their own position using GNSS (Global Navigation Satellite System, a general term for satellite positioning systems). Furthermore, the passage walls are largely uniform, making it difficult to extract features using images and AI (artificial intelligence), making it difficult to create accurate maps or estimate their own position using particle filters.

[0006] It is desirable for the autonomous mobile robot to be able to move autonomously by avoiding obstacles in a passageway, even in cases where it is difficult to use GNSS or particle filters, such as narrow passageways surrounded by walls like tunnels, or where the passageway is narrow and has no branches.

[0007] However, the environmental improvement robot of Patent Document 1 creates an environmental map of the target space by assigning the results of measurements taken by a distance sensor to each cell space in a map creation unit while autonomously moving through the target space, thereby making it an AGV (Automated Guided Vehicle) that requires SLAM (Simultaneous Localization and Mapping, simultaneous execution of self-position estimation and environmental map creation), which increases the cost of the entire device. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] Japanese Patent Publication No. 2024-46573 Summary of the Invention [Problem to be solved by the invention]

[0009] In view of the above, an object of the present invention is to provide an autonomous mobile robot that can move autonomously while avoiding obstacles in a passageway, even in cases where it is difficult to use GNSS or particle filters, such as narrow passageways surrounded by walls like tunnels, where the passageway is narrow and has no branches, and that can reduce the cost of the device by eliminating the need for map creation or self-position estimation. [Means for solving the problem]

[0010] An autonomous mobile robot that travels within a passage surrounded by walls, a main body frame, left and right wheels rotatably mounted on the main body frame, a motor mounted on the main body frame for driving the wheels, a control unit for controlling the rotation of the motor, a rotation measuring unit for measuring the number of rotations and translational speed of the motor, a gyro sensor mounted on the main body frame for measuring the rotation speed of the main body frame, and a distance sensor mounted on the main body frame for measuring the distance to surrounding obstacles; When the distance to the obstacle is greater than the distance to a virtual target point set in the traveling direction of the autonomous mobile robot, the control unit calculates a path for the autonomous mobile robot to avoid the obstacle from the acquired translational speed and rotational speed, and moves the autonomous mobile robot.

[0011] According to this configuration, the autonomous mobile robot travels within a walled passageway and includes a main body frame, left and right wheels, a motor for driving the wheels, a control unit for controlling the motor's rotation, a rotation measurement unit for measuring the motor's rotation speed and translational speed, a gyro sensor for measuring the rotational speed (turning speed), and a distance sensor for measuring the distance to surrounding obstacles. When the distance to the obstacle is greater than the distance to a virtual target point set in the autonomous mobile robot's direction of travel, the control unit calculates a path for the autonomous mobile robot to avoid the obstacle based on the acquired translational speed and rotational speed, and moves the autonomous mobile robot accordingly, eliminating the need for map creation or self-localization. Therefore, even in narrow, walled passageways such as narrow tunnels where the use of GNSS or particle filters is difficult, the autonomous mobile robot can autonomously move around obstacles within the passageway while avoiding them, thereby reducing the cost of the device by eliminating the need for map creation or self-localization.

[0012] Preferably, the distance of the virtual target point can be freely set, The control unit causes the autonomous mobile robot to travel without recording the route traveled by the autonomous mobile robot.

[0013] With this configuration, the control unit controls the autonomous mobile robot to travel without recording the route it has taken, eliminating the need for map creation or self-location estimation. As a result, even in narrow passages with no branches, such as those found in narrow, walled passages such as tunnels where it is difficult to use GNSS or particle filters, the autonomous mobile robot can move autonomously while avoiding obstacles in the passage, and the cost of the device can be reduced by eliminating the need for map creation or self-location estimation.

[0014] Preferably, the distance sensor is a LiDAR (Light Detection And Ranging) sensor, and is provided at two locations, an upper front part and an upper rear part of the main body frame.

[0015] According to this configuration, the distance sensors are LiDAR (Light Detection And Ranging) sensors and are installed in two locations, at the upper front and upper rear of the main body frame. Therefore, even when the autonomous mobile robot is in a narrow tunnel surrounded by walls and is unable to make a U-turn at the target point and must reverse, the distance sensors are installed symmetrically in the front and rear of the main body frame, so that the distance sensors can accurately measure the distance in the direction of travel even when reverse driving, allowing smooth reverse driving.

[0016] Preferably, the control unit includes a transmitting / receiving unit for transmitting and receiving signals, and is operable by receiving an operation signal from an external mobile terminal.

[0017] According to this configuration, the control unit is equipped with a transceiver unit that transmits and receives signals, and can be operated by receiving operation signals from an external mobile terminal, allowing for remote operation.Even in cases where it is difficult to use GNSS or particle filters, such as in narrow, walled passages such as narrow tunnels, the passage is narrow and has no branches, the robot can change its travel route to avoid obstacles in the passage and move autonomously in an appropriate manner, and map creation and self-position estimation are not necessary, thereby reducing the cost of the device.

[0018] Preferably, the main body frame is provided with a light for illuminating a front of the autonomous mobile robot and a camera for photographing a front of the autonomous mobile robot, The control unit transmits the image captured by the camera to the external mobile terminal, and the image can be viewed on the mobile terminal.

[0019] According to this configuration, the main body frame is equipped with a light that illuminates the area ahead of the autonomous mobile robot and a camera that takes pictures of the area ahead of the autonomous mobile robot, and the control unit transmits the images taken by the camera to an external mobile device, where the images can be viewed on the mobile device.This allows for more accurate remote operation even in dark, walled passages such as narrow tunnels, and even in cases where it is difficult to use GNSS or particle filters and the passage is narrow and has no branches, such as in walled passages such as narrow tunnels, the robot can change its travel route to avoid obstacles in the passage and move autonomously accurately, and map creation and self-position estimation are no longer necessary, reducing the cost of the device. [Effects of the Invention]

[0020] It is possible to provide an autonomous mobile robot that can move autonomously by avoiding obstacles in a passageway, even in cases where it is difficult to use GNSS or particle filters, such as narrow passageways surrounded by walls like tunnels, where the passageway is narrow and has no branches, and that does not require map creation or self-position estimation, thereby reducing the cost of the device. [Brief explanation of the drawings]

[0021] [Figure 1] 1 is a perspective view of an autonomous mobile robot according to an embodiment. [Figure 2] Fig. 2(A) is a front view of the autonomous mobile robot according to the embodiment, Fig. 2(B) is a right side view (a side view of the left side of the vehicle) of the autonomous mobile robot according to the embodiment, and Fig. 2(C) is a plan view of the autonomous mobile robot according to the embodiment. [Figure 3] 1 is a diagram illustrating the operation of an autonomous mobile robot according to an embodiment. [Figure 4] FIG. 10 is an explanatory diagram of a setting screen of the mobile terminal according to the embodiment. [Figure 5] FIG. 2 is an explanatory diagram of an operation screen of the mobile terminal according to the embodiment. [Figure 6] FIG. 2 is an explanatory diagram of a control flow of the autonomous mobile robot according to the embodiment. [Figure 7] FIG. 2 is an explanatory diagram of a trajectory path of the autonomous mobile robot according to the embodiment. [Figure 8] Fig. 8(A) is an explanatory diagram of an example of a passageway along which an autonomous mobile robot according to an embodiment of the present invention moves. Fig. 8(B) is an explanatory diagram of an autonomous mobile robot according to an embodiment of the present invention moving along a passageway. Fig. 8(C) is an explanatory diagram of repair work being carried out by a worker. [Figure 9] Figure 9(A) is an explanatory diagram of an autonomous mobile robot moving through a waterway, and Figure 9(B) is an explanatory diagram of an autonomous mobile robot moving through a narrow tunnel. [Figure 10] FIG. 10 is a diagram illustrating the passageway in relation to the map. DETAILED DESCRIPTION OF THE INVENTION

[0022] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The following describes an embodiment of the present invention with reference to the accompanying drawings, which conceptually (schematically) illustrate an autonomous mobile robot. [Example]

[0023] As shown in Figures 1 and 2, the autonomous mobile robot 10 is a robot (vehicle) that travels within a passage 60 surrounded by walls 62, and is equipped with a main body frame 11, a wheel frame 12 that forms part of the main body frame 11, an axle 13 provided on the wheel frame 12, left and right wheels 14 that are rotatably mounted on the main body frame 11 via the wheel frame 12 and the axle 13, a motor 15 that is provided on the wheel frame 12 that forms the main body frame 11 and drives the wheels 14, and a battery 19 that supplies power to the motor 15, etc.

[0024] In this embodiment, the motors 15 are so-called in-wheel motors, and the four motors 15 are driven independently, so that the motors also function as steering devices that allow the autonomous mobile robot 10 to turn and rotate while traveling. The type of motor 15 is not limited to this, and the driving force of the motors 15 may be used to drive the wheels 14 via a reduction gear or a branched shaft, and a separate steering device may be provided to control the direction of travel.

[0025] The autonomous mobile robot 10 also includes a control unit 20 that controls the rotation of the motor 15, a rotation measurement unit 16 that measures the rotation speed and translational speed of the motor 15, an acceleration sensor 17 that is provided on the main body frame 11 and measures the translational acceleration of the main body frame 11, a gyro sensor 18 that is provided on the main body frame 11 and measures the rotational speed (turning speed, angular velocity) of the main body frame 11, and a distance sensor 21 that is provided on the main body frame 11 and measures the distance to surrounding obstacles.

[0026] The distance sensors 21 are LiDAR (Light Detection And Ranging) sensors, and are provided at two locations, one on the upper front side and one on the upper rear side of the main body frame 11. As a result, even if the autonomous mobile robot 10 is unable to make a U-turn at the destination point 64 (see FIG. 3) and must travel in reverse, the distance sensors 21 are provided symmetrically in the front and rear of the main body frame 11, so that the distance sensors 21 can accurately measure the distance in the forward direction even when traveling in reverse, allowing for smooth reverse traveling.

[0027] The autonomous mobile robot 10 also has a light 22 mounted on the front of the main body frame 11 to illuminate the area in front of the autonomous mobile robot 10, a camera 23 mounted on the front of the main body frame 11 to photograph the area in front of the autonomous mobile robot 10, a microphone speaker 24 mounted on the main body frame 11 to collect and produce sound, and a stop button 25 to stop the operation of the autonomous mobile robot 10.

[0028] 1 to 3, the autonomous mobile robot 10 further includes a platform frame 26 that is provided on the top of the main frame 11 and protrudes above the distance sensor 21, and a platform plate 31 that is provided on the top of the platform frame 26 and on which cargo 32 is placed. Because the platform frame 26 protrudes above the distance sensor 21, the platform plate 31 does not interfere with the distance sensor 21 even when the platform plate 31 and cargo 32 are placed on the platform frame 26. Therefore, even when the cargo 32 is placed on the platform frame 26, the platform plate 31 can be provided on the top of the main frame 11, where the sensor sensitivity is good, and the autonomous mobile robot 10 can be moved appropriately.

[0029] The control unit 20 is equipped with a transmitter / receiver unit (not shown) that transmits and receives signals to and from the outside, and is connected to a rotation measurement unit 16, an acceleration sensor 17, a gyro sensor 18, a distance sensor 21, a light 22, a camera 23, a microphone / speaker 24, and a stop button 25 in addition to the motor 15.

[0030] The control unit 20 receives signals from the rotation measurement unit 16, acceleration sensor 17, gyro sensor 18, and distance sensor 21, and calculates the path of the autonomous mobile robot 10 based on the values ​​of these signals. The control unit 20 also performs general control such as turning on and off the light 22, transmitting video data captured by the camera 23 to the outside via the transmitter / receiver unit, controlling the sound pickup and emission of sound by the microphone / speaker 24, and stopping the motor 15 in response to an ON signal from the stop button 25.

[0031] The control unit 20 (autonomous mobile robot 10) can also be operated by receiving an operation signal from an external mobile terminal 40 via the transmitting / receiving unit.

[0032] Next, operation of the autonomous mobile robot 10 using the portable terminal 40 will be described. As shown in Figures 3 and 4, the operation screen of the mobile terminal 40 is equipped with a camera screen 41 on which the camera image captured by the camera 23 of the autonomous mobile robot 10 can be viewed, a display unit 42 that displays the remaining battery level (%), travel speed (km / h), and distance (m) from the platform, a target distance setting unit 43 for setting the target distance, travel position operation buttons 44 for controlling the travel position on the left, center, or right side of the aisle, and an autonomous walking operation button 45 for controlling the autonomous walking (autonomous movement) of the autonomous mobile robot 10, including starting movement, ending movement, moving forward, pausing, and turning around.

[0033] As shown in Figures 3 to 5, the operation screen of the mobile terminal 40 can be switched to a robot operation stick 46, which can perform various operations on the autonomous mobile robot 10 using a joystick displayed on the screen, instead of the target distance setting section 43, running position operation button 44, and autonomous walking operation button 45.

[0034] In the procedure for using the autonomous mobile robot 10 of this embodiment, there are basically no forks in the passage (e.g., a water tunnel) 60, and since there is likely to be a worker 51 at the goal who will be unloading luggage (e.g., mortar) 32, a partition 53 is installed at the very end. The portable terminal (controller) 40 cannot be used from inside or outside the tunnel. The portable terminal (controller) 40 is provided with three buttons for forward, stop, and reverse (reverse), and when a button is pressed, the robot starts autonomous traveling.

[0035] Next, the control flow of the control unit 20 will be described. As shown in FIG. 6, in STEP 1 (STEP is indicated as S in the figure), the control unit 20 acquires the current translational velocity from the rotation measurement unit (wheel odometry) 16 and the turning velocity (rotational velocity, angular velocity) from the gyro sensor 18.

[0036] In STEP 2, a virtual target point is set, for example, 1.0 m ahead in the traveling direction. In STEP 3, the control unit 20 acquires data on the distance from the distance sensor 21 to the wall 62 and the obstacle 63 as point cloud data.

[0037] In STEP 4, the control unit 20 determines whether the distance to the obstacle 63 in front is less than 1.0 m from the virtual target point; if No, proceed to STEP 5; if Yes, proceed to STEP 6, where the movement of the autonomous mobile robot 10 is stopped and the process ends.

[0038] In STEP 5, the control unit 20 uses a DWA (Dynamic Window Approach) algorithm to determine whether there is a route that allows the autonomous mobile robot 10 to avoid the wall 62 or obstacle 63. If the answer is No, the control unit 20 proceeds to STEP 6, where the movement of the autonomous mobile robot 10 is stopped and the process ends; if the answer is Yes, the control unit 20 proceeds to STEP 7, where the autonomous mobile robot 10 continues moving, and then returns to STEP 1.

[0039] In other words, when the distance to the obstacle is greater than the distance to a virtual target point set in the direction of travel of the autonomous mobile robot 10, the control unit 20 calculates a path for the autonomous mobile robot 10 to avoid the obstacle from the acquired translational speed and rotational speed, and moves the autonomous mobile robot 10.

[0040] Furthermore, the distance to the virtual target point can be set freely, and the control unit 20 can run the autonomous mobile robot 10 without recording the route that the autonomous mobile robot 10 has taken.

[0041] Next, the movement of the autonomous mobile robot 10 according to the DWA algorithm will be described. As shown in Figure 7, the autonomous mobile robot 10 moves forward, backward, and stops in response to instructions from a mobile terminal (controller) 40. The mobile terminal (controller) 40 is a smartphone or a physical switch. A partition 53 is placed at the destination, and the autonomous mobile robot 10 autonomously travels to the partition 53. If an obstacle is present, the control unit 20 causes the autonomous mobile robot 10 to move autonomously to avoid a collision.

[0042] Without using mapping or self-localization, the robot moves autonomously by taking advantage of the narrow width and branchless nature of the passage (e.g., waterway) 60. An obstacle such as a partition 53 is installed at the destination, and the robot is considered to have arrived when it stops.

[0043] FIG. 8(A) is an explanatory diagram of an example of a passageway along which the autonomous mobile robot according to the embodiment moves, and passageway 60 is a water tunnel.

[0044] FIG. 8B is an explanatory diagram of an autonomous mobile robot moving through a passage according to an embodiment, in which the autonomous mobile robot 10 moves autonomously through a passage (water tunnel) 60 with a load 32 on board.

[0045] FIG. 8(C) is an explanatory diagram of repair work by a worker, in which a worker 52 at the goal point receives a load (mortar) 32 from the autonomous mobile robot 10 and performs wall repair work.

[0046] Next, different examples of paths will be described. FIG. 9(A) is an explanatory diagram of an autonomous mobile robot moving through a waterway, and passage 60 is a waterway, which is a waterway tunnel consisting of a bottom 61 and walls 62 on both sides.

[0047] FIG. 9(B) is an explanatory diagram of an autonomous mobile robot moving through a narrow tunnel. The passage 60 is a narrow tunnel, a water tunnel consisting of a bottom 61, walls 62 on both sides, and a ceiling. The luggage 32 of the autonomous mobile robot 10 does not contact the ceiling.

[0048] As shown in FIG. 10, the autonomous mobile robot 10 does not map its own position on a map 70, but moves along a path 71 from point a to point b.

[0049] The effects of the autonomous mobile robot 10 described above will now be described. As described above, when the distance to the obstacle 63 is greater than the distance to the virtual target point set in the traveling direction of the autonomous mobile robot 10, the control unit 20 simply calculates a path for the autonomous mobile robot 10 to avoid the obstacle from the acquired translational speed and rotational speed, and moves the autonomous mobile robot 10, eliminating the need for map creation or self-location estimation. Therefore, even in cases where the use of GNSS or particle filters is difficult, such as in a narrow passage 60 surrounded by walls like a narrow tunnel, and the passage 60 is narrow and has no branches, the autonomous mobile robot can move while avoiding obstacles in the passage 60, and the cost of the device can be reduced by not requiring map creation or self-location estimation.

[0050] Furthermore, the control unit 20 allows the autonomous mobile robot 10 to travel without recording the route traveled by the autonomous mobile robot 10, eliminating the need for map creation or self-location estimation. Therefore, even in cases where the use of GNSS or particle filters is difficult, such as in narrow passages 60 surrounded by walls like narrow tunnels, and the passages 60 are not branched, the autonomous mobile robot 10 can move autonomously while avoiding obstacles 62 in the passages 60, and the cost of the device can be reduced by eliminating the need for map creation or self-location estimation.

[0051] Furthermore, the distance sensor 21 is a LiDAR (Light Detection And Ranging) sensor and is provided at two locations, one at the front upper part and one at the rear upper part of the main frame 11. Therefore, even when the autonomous mobile robot 10 is traveling in a narrow tunnel surrounded by walls 62 and is unable to make a U-turn at the target point and must travel in reverse, the distance sensor 21 is provided symmetrically in the front and rear of the main frame 11, so that the distance sensor 21 can accurately measure the distance in the direction of travel even when traveling in reverse, allowing smooth reverse traveling.

[0052] Furthermore, the control unit 20 is equipped with a transceiver unit for transmitting and receiving signals, and can be operated by receiving an operation signal from an external mobile terminal 40, so remote operation is possible.Even in cases where it is difficult to use GNSS or particle filters and the passage 60 is narrow and has no branches, such as in a narrow tunnel-like passage 60 surrounded by walls 62, the travel route can be changed to avoid obstacles 63 in the passage 60 and move autonomously in an appropriate manner, and map creation and self-position estimation are not necessary, thereby reducing the cost of the device.

[0053] Furthermore, the main body frame 11 is equipped with a light 22 that illuminates the area ahead of the autonomous mobile robot 10 and a camera 23 that takes an image of the area ahead of the autonomous mobile robot 10, and the control unit 20 transmits the image taken by the camera 23 to an external mobile terminal 40, where the image can be viewed on the mobile terminal 40. This allows for more accurate remote operation even in a passage 60 surrounded by dark walls 62, such as a narrow tunnel. Even in cases where it is difficult to use GNSS or particle filters and the passage is narrow and has no branches, such as in a passage surrounded by walls 62, such as a narrow tunnel, the robot can change its travel route to avoid obstacles in the passage and move autonomously accurately, and map creation and self-position estimation are not required, thereby reducing the cost of the device.

[0054] In the embodiment, the autonomous mobile robot 10 uses a LiDAR (Light Detection and Ranging) sensor as the distance sensor, but this is not limited to this and any other general distance sensor may be used as long as it is capable of measuring the distance to the target object.

[0055] Furthermore, in the embodiment, the control unit 20 uses the DWA algorithm, but is not limited to this, and other general algorithms may be used as long as they are capable of performing calculations to avoid obstacles.

[0056] That is, the present invention is not limited to the examples as long as the functions and effects of the present invention are exhibited. [Industrial Applicability]

[0057] The present invention is suitable for an autonomous mobile robot that travels within a passage surrounded by walls. [Explanation of symbols]

[0058] 10...Autonomous mobile robot 11... Main frame 12... Wheel frame 13... Axis 14…wheel 15... Motor (wheel-in motor, steering device) 16... Rotation measurement unit (Hall odometry) 17... Acceleration sensor (IMU, inertial measurement unit) 18... Gyro sensor (IMU, inertial measurement unit) 20... Battery 21... Distance sensor (LiDAR sensor) 22... Light 23... Camera 26... Cargo frame 26 32... Luggage (mortar) 40... Mobile terminal (controller, smartphone) 41... Camera screen 42…Display section 43... Target distance setting section 44... Travel position control button 45… Autonomous walking control button 46... Robot control stick 50, 51, 52... Workers 53... Folding screen 60... Passage (water tunnel) 61…bottom 62... Wall 63... Obstacle 64…Target point

Claims

1. An autonomous mobile robot that travels within a passage surrounded by walls, a main body frame, left and right wheels rotatably mounted on the main body frame, a motor mounted on the main body frame for driving the wheels, a control unit for controlling the rotation of the motor, a rotation measuring unit for measuring the number of rotations and translational speed of the motor, a gyro sensor mounted on the main body frame for measuring the rotation speed of the main body frame, and a distance sensor mounted on the main body frame for measuring the distance to surrounding obstacles; When the distance to an obstacle is greater than the distance to a virtual target point set in the direction of travel of the autonomous mobile robot, the control unit calculates a path for the autonomous mobile robot to avoid the obstacle from the acquired translational speed and rotational speed, and moves the autonomous mobile robot.

2. 3. The autonomous mobile robot according to claim 1 or 2, The distance of the virtual target point can be freely set, The control unit causes the autonomous mobile robot to travel without recording the path traveled by the autonomous mobile robot.

3. 2. The autonomous mobile robot according to claim 1, The distance sensor is a LiDAR (Light Detection and Ranging) sensor, and is provided at two locations, the upper front and upper rear of the main body frame.

4. 3. The autonomous mobile robot according to claim 1 or 2, The control unit is equipped with a transceiver unit for transmitting and receiving signals, and is operable by receiving operation signals from an external mobile terminal.

5. 5. The autonomous mobile robot according to claim 4, the main body frame is provided with a light for illuminating a front of the autonomous mobile robot and a camera for photographing a front of the autonomous mobile robot; The control unit transmits the image captured by the camera to the external mobile terminal, and the image can be viewed on the mobile terminal.

Images