Autonomous mobile device and autonomous mobile system

Abstract

The present invention comprises: a reception unit 110 that serves as an antenna unit for receiving output information; an angle estimation unit 134 that estimates the direction of arrival of the output information; a reception strength assessment unit 132 that assesses the reception strength of the output information in the estimated direction of arrival; an operation control unit 135 that generates movement direction information including a movement direction for moving an autonomous movement device 100 in accordance with the estimated direction of arrival as well as the magnitude of or a change in the reception strength; and a drive unit 160 that generates drive information corresponding to the movement direction information.

Description

[[Technical Field]]

[0001] The present invention relates to an autonomous mobile device and an autonomous mobile system that autonomously reach a target object based on output information output from the target object. [[Background Art]]

[0002] Conventionally, autonomous vehicles adopting SLAM (Simultaneous Localization And Mapping) have been known. For example, by using both external sensors such as cameras and laser sensors and internal sensors such as encoders and gyroscopes in an autonomous vehicle, the autonomous vehicle estimates its own position and automatically generates a travel route, so it is not bound by fixed routes and can automatically avoid obstacles. These autonomous vehicles eliminate the need for infrastructure such as embedding electric wires in the floor or marking the floor. SLAM using a camera may be referred to as Visual SLAM, and SLAM using a laser sensor may be referred to as LiDAR SLAM. [[Prior Art Documents]] [[Patent Documents]]

[0003] [[Patent Document 1]] Japanese Unexamined Patent Publication No. 2020-181485 [[Summary of the Invention]] [[Problem to be Solved by the Invention]]

[0004] For example, the automated guided robot system disclosed in Patent Document 1 includes an automated guided vehicle capable of traveling on a road surface between a plurality of work stations, a robot mounted on the automated guided vehicle, and a sensor mounted on the robot for detecting the condition of the road surface. The automated guided robot system also includes a control unit that controls the robot and the automated guided vehicle, and the robot arranges the sensor at a position where the condition of the road surface around the automated guided vehicle can be detected. Furthermore, it is disclosed that the control unit controls the automated guided vehicle based on the road surface condition acquired by the sensor.

[0005] However, the conventional technology described above requires sensors, a robot, and a control unit to manage the robot and the automated guided vehicle, resulting in a complex configuration and increased costs. In particular, since the sensors in the conventional technology are cameras that acquire 2D images, the configuration of the automated guided vehicle becomes even more complex, leading to even greater costs.

[0006] This invention has been made in view of the problems of the prior art described above. The object of this invention is to provide an autonomous mobile device and an autonomous mobile system that can autonomously reach a target object while employing a simple configuration and reducing costs in a mobile device such as an automated guided vehicle. [Means for solving the problem]

[0007] To solve the above-mentioned problems, an autonomous mobile device according to one aspect of the present invention, which receives output information output from a target object and moves autonomously to the target object, comprises an antenna unit for receiving output information, an angle estimation unit for estimating the direction of arrival of the output information, a reception intensity determination unit for determining the reception intensity of the output information in the estimated direction of arrival, an operation control unit for generating movement direction information including a movement direction for moving the autonomous mobile device in accordance with the magnitude or change of the reception intensity and the estimated direction of arrival, and a drive unit for generating drive information corresponding to the movement direction information.

[0008] To solve the above-mentioned problems, an autonomous mobile system according to another aspect of the present invention comprises an autonomous mobile device as described above, and a target object, wherein output information is output periodically or irregularly, and the autonomous mobile device includes a receiving unit which includes a plurality of receiving elements that receive the output information. [Effects of the Invention]

[0009] According to the present invention, mobile devices such as automated guided vehicles can adopt a simple configuration, reduce costs, and autonomously reach their target object. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is a schematic diagram illustrating the operation overview of an autonomous mobile system including autonomous mobile devices according to multiple embodiments. [Figure 2] Figure 2 is a block diagram showing an example of the configuration of an autonomous mobile device according to multiple embodiments. [Figure 3] Figure 3 is a flowchart showing an example of the operation of an autonomous mobile system using the autonomous mobile device shown in Figure 2. [Figure 4] Figure 4 is a flowchart showing an example of the details of step S500 in the flowchart shown in Figure 3. [Figure 5] Figure 5 is a flowchart showing an example of additional details for step S500 of the flowchart shown in Figure 3. [Figure 6] Figure 6 is a flowchart showing another example of detail for step S500 of the flowchart shown in Figure 3. [Modes for carrying out the invention]

[0011] Hereinafter, an example of an autonomous mobile device and autonomous mobile system according to this embodiment will be described in detail with reference to the drawings. The embodiments described below are comprehensive or specific examples. The numerical values, shapes, materials, components, installation positions and connection configurations of components, steps, and the order of steps shown in the following embodiments are examples and are not intended to limit the scope of this disclosure. Furthermore, among the components in the following embodiments, components not described in the independent claim representing the highest-level concept will be described as optional components. In addition, the dimensional ratios in the drawings are exaggerated for illustrative purposes and may differ from the actual ratios.

[0012] Furthermore, the following embodiments and their modifications may include similar components, and similar components are given common reference numerals, and redundant descriptions are omitted.

[0013] (Overview of autonomous mobile devices and autonomous mobile systems) The autonomous mobile device according to this embodiment has a configuration that allows it to autonomously reach a target object in the internal space of a structure such as a factory. Furthermore, by using, for example, a propeller that can move through the air in the mobile mechanism, it is also possible to configure it so that an aircraft such as a drone can autonomously reach a target object. In addition, it can be used in the internal space of vehicles such as passenger cars and buses, aircraft, spacecraft, ships, submarines and other mobile objects, as well as in the internal space of buildings such as houses and offices, and structures such as factories, or in some cases, in the external space. The autonomous mobile device is characterized by reaching a target object while avoiding obstacles by using information output by the target object, without using imaging devices such as cameras and radar. The information output by the target object is not particularly limited, but examples include radio waves or high-frequency electromagnetic waves. The autonomous mobile device can receive beacons etc. with multiple antennas, use direction estimation technology to estimate the direction of the target object emitting the beacon etc., and move in the estimated direction. If an obstacle exists outside the line of sight between the target object and the autonomous mobile device, the autonomous mobile device may move in the direction of the beacon reflected by the obstacle. However, it may also receive a beacon directly from the target object during its movement. In this case, the autonomous mobile device can change its direction of movement towards the target object while moving towards the obstacle, thereby enabling it to avoid the obstacle and reach the target object. Furthermore, if an obstacle exists within the line of sight between the target object and the autonomous mobile device, the beacon reception strength will fluctuate as the autonomous mobile device moves towards the obstacle, allowing the autonomous mobile device to detect the presence of the obstacle. In this way, by estimating the direction of the beacon's arrival and continuing to move in the direction of the strongest beacon reception strength, the autonomous mobile device may be able to reach the target object while avoiding obstacles.

[0014] As described above, the autonomous mobile device of this disclosure does not require the installation of imaging devices such as CCD cameras or radar systems for pathfinding, as employed in conventional technologies. In other words, the autonomous mobile device of this disclosure may be able to reach a target object that outputs information by equipping multiple antennas and a control unit and drive unit that measure the intensity of information and move in the direction from which the information is coming. That is, the autonomous mobile device may be able to autonomously reach its target object while employing a simple configuration and reducing costs.

[0015] Next, with reference to Figure 1, the operating principles of the autonomous mobile device 100 and the autonomous mobile system 1000 including the autonomous mobile device 100 according to multiple embodiments will be outlined. First, the autonomous mobile device 100 receives radio waves from a beacon transmitted from a transmitter 200 located at the target position. Since the line of sight between the autonomous mobile device 100 and the transmitter 200 is blocked, the beacon radio waves are received by the autonomous mobile device 100 via route K3 → route K2 → route K1. Although the autonomous mobile device 100 may also receive the beacon from the line of sight direction depending on the size of the obstacle J2 and the frequency of the beacon, it is assumed that the beacon received via route K1 has the strongest signal strength. The autonomous mobile device 100 estimates the direction of the radio wave with the strongest signal strength using multiple antennas mounted on the autonomous mobile device 100 and moves in the estimated direction of the radio wave.

[0016] As the autonomous mobile device 100 moves along path K1 toward obstacle J1, the beacon reception strength increases as it approaches obstacle J1, so it continues to move along path K1 toward obstacle J1. However, upon reaching position x1, the transmitter 200 appears in the line of sight of the autonomous mobile device 100, making it possible for the autonomous mobile device 100 to directly receive beacon TS3. Therefore, at position x1, the reception strength of beacon TS3 is greater than that of beacon TS2, so the autonomous mobile device 100 attempts to change its direction of movement to the direction from which beacon TS3 is coming. The autonomous mobile device 100 could also move along the line of arrival of beacon TS3, but in that case there is a possibility that the autonomous mobile device 100 will collide with obstacle J2. Therefore, the autonomous mobile device 100 recognizes the presence of obstacle J2 based on the fact that it could not receive beacon TS3 up to position x1 on path K1, the strong beacon TS3 received at position x1, and the estimated direction of arrival, and moves toward path K2. As the autonomous mobile device 100 moves in the direction of path K2, it recognizes the presence of obstacle J1 from the fact that the direction of arrival of the beacon output from the transmitter 200 is gradually expanding, and from the fact that it changed its direction of movement at position x1, it becomes possible to estimate path K3. Therefore, at position x2, the autonomous mobile device 100 can change its direction of travel toward the transmitter 200 and reach the transmitter 200.

[0017] Furthermore, according to the method described above, the autonomous mobile device 100 will be able to reach a target object while avoiding obstacles in three-dimensional space. Therefore, the autonomous mobile device 100 may be used in spatial mobile vehicles such as drones, helicopters and aircraft, mobile vehicles such as spacecraft and submarines, and transport vehicles in the internal or external spaces of buildings such as houses and offices, and structures such as factories.

[0018] Furthermore, some functions of the autonomous mobile device 100 excluding the moving mechanism and the antenna mechanism can be incorporated into ground moving objects such as vehicles, space moving objects, and transport moving objects. It is also possible to configure functions of the autonomous mobile device 100 excluding the moving mechanism and the antenna mechanism separately from the above various moving objects. Further, the autonomous mobile system 1000 includes the aforementioned autonomous mobile device 100 and the transmitting device 200. It is also possible to attach an imaging device that is not related to a movement control mechanism to the autonomous mobile device 100, transmit movement information of the autonomous mobile device 100 to an unillustrated electronic device used by a user, and allow the user to monitor the movement status from the electronic device. The electronic device may be a user-used electronic device such as a computer arranged on a cloud, a mobile phone carried by a user, a PHS phone, a smartphone, or a personal digital assistant.

[0019] (Details of Autonomous Mobile Device) With reference to Figure 2, the detailed configuration of the autonomous mobile device 100 according to a plurality of embodiments will be described. The autonomous mobile device 100 includes a receiving unit 110 having a plurality of antennas or the like, a switch unit 120 that selects a receiving element of the receiving unit 110, a control unit 130, a storage unit 140, and a driving unit 160. Note that the information acquisition unit 150, the moving unit 170, and the display unit 180 may be included in the autonomous mobile device 100 as described later. Further, basically, the moving unit 170 such as wheels, a belt, a caterpillar, or a propeller is driven by drive information output from the driving unit 160 shown in Figure 2, and the autonomous mobile device 100 moves. Although a plurality of information acquisition units 150 may be provided in the autonomous mobile device 100, basically the information acquisition unit 150 does not need to be used for route search. Basically, a plurality of receiving elements are provided in the receiving unit 110.

[0020] The receiving unit 110 is configured to be capable of receiving any output information output from an information output device (not shown). When the output information output from the information output device is radio waves or high-frequency electromagnetic waves, the receiving unit 110 may be an antenna. For example, the receiving unit 110 may be an array antenna composed of a plurality of antenna elements. When the receiving unit 110 is an array antenna, the arrangement of the antenna elements constituting the array antenna may be any arbitrary arrangement. For example, the antenna elements may be arranged in a line in the traveling direction of the autonomous mobile device 100 or in a direction intersecting the traveling direction such as orthogonal to the traveling direction. Further, the antenna elements may be arranged so as to form a rectangular shape or an annular shape on a plane that does not intersect the traveling direction of the autonomous mobile device 100 or a plane that intersects the traveling direction. Furthermore, the antenna elements may be arranged in a curved shape. In addition, it is not necessary to provide only one array antenna; a plurality of array antennas may be arranged to improve the estimation accuracy of the direction of arrival of radio waves or the like. Further, the receiving unit 110 may be configured by a plurality of antennas having directivity in mutually different directions. In this case, the plurality of antennas can also be arranged in the same manner as the antenna elements of the array antenna. Further, at least one non-directional antenna may be provided with a partition plate made of metal or the like, and configured to be capable of detecting the intensity of radio waves or high-frequency electromagnetic waves in the direction surrounded by the partition plate.

[0021] The switch unit 120 is a switch configured to select any one receiving element of the receiving unit 110 and output information such as radio waves received by the receiving element. Therefore, the number of switches of the switch unit 120 corresponds to the number of receiving elements provided in the receiving unit 110, and the switch unit 120 may be configured such that one switch corresponds to one receiving element. For example, when the receiving unit 110 is an array antenna, the switch unit 120 selects a plurality of antenna elements, and outputs information such as the intensity and phase of radio waves received by the plurality of antenna elements to a phase difference determination unit 131 and a reception intensity determination unit 132 which will be described later. Further, although the switch unit 120 is preferably a semiconductor switch, it is not limited to this, and a switch capable of opening and closing an electrical connection with any configuration can be adopted.

[0022] The control unit 130 can be implemented using a microcomputer equipped with a CPU (Central Processing Unit), etc. A computer program (autonomous movement program) for enabling the microcomputer to function as the control unit 130 is installed on the microcomputer and executed. As a result, the microcomputer functions as one of the multiple information processing units provided by the control unit 130. In this specification, an example of implementing the control unit 130 using software is shown, but of course, it is also possible to configure the control unit 130 by preparing dedicated hardware for executing each information processing. Dedicated hardware includes devices such as application-specific integrated circuits (ASICs) or conventional circuit components arranged to perform the functions described in the embodiment. Furthermore, the multiple information processing units included in the control unit 130 may be configured with separate hardware. In addition, the control unit 130 may also be used as an electronic control device for controlling the mobile object that is the target of autonomous movement.

[0023] For example, when the autonomous mobile device 100 is installed on a mobile body, the function of the electronic control unit that controls configurations unrelated to the movement of the mobile body may include the movement control function of the autonomous mobile device 100. In this case, an autonomous movement program that realizes the autonomous movement function of the autonomous mobile device 100 may be added to the electronic control program of the electronic control unit. Alternatively, hardware that realizes the autonomous movement function of the autonomous mobile device 100 may be added to the hardware of the electronic control unit. Furthermore, at least a part of the electronic control program of the electronic control unit may be configured to include at least a part of the autonomous movement program of the autonomous mobile device 100. Furthermore, at least a part of the hardware of the electronic control unit may be configured to include at least a part of the hardware of the autonomous mobile device 100. In addition, as described above, the autonomous movement function of the autonomous mobile device 100 may be included in the function of an electronic control unit that has any function of moving within the internal space of buildings such as houses and offices, structures such as factories, or, in some cases, within the external space.

[0024] The control unit 130 includes, as a plurality of information processing units, a phase difference determination unit 131, a reception strength determination unit 132, a reception element selection unit 133, an angle estimation unit 134, an operation control unit 135, and a contact determination unit 136.

[0025] The phase difference determination unit 131 analyzes the received signals from multiple receiving elements of the receiving unit 110 selected by the receiving element selection unit 133, and determines the phase difference between the received signals based on the difference in arrival times between the received signals. The determined phase difference is output to the angle estimation unit 134. Furthermore, when the autonomous mobile device 100 is stopped or moving, the phase difference determination unit 131 can also determine multiple phase differences between multiple received signals.

[0026] The reception strength determination unit 132 determines the reception strength from multiple receiving elements of the receiving unit 110 selected by the receiving element selection unit 133. The estimated reception strength is output to the angle estimation unit 134. The estimated reception strength may also be output to the receiving element selection unit 133. The reception strength can be expressed in any unit related to reception strength, and may be expressed as relative information. The reception strength can be output as reception strength information in any format to the angle estimation unit 134 and the receiving element selection unit 133.

[0027] The receiving element selection unit 133 selects an element for receiving radio waves, etc., from a plurality of receiving elements provided in the receiving unit 110. Preferably, one or more receiving elements are selected. In order for the phase difference determination unit 131 to determine the phase difference, the receiving element selection unit 133 selects a plurality of receiving elements. Alternatively, the receiving elements can be selected sequentially, and the reception strength determination unit 132 can select one or more receiving elements that are determined to have a strong reception strength, and the angle estimation unit 134 can estimate the direction of arrival of radio waves, etc., via the phase difference determination unit 131.

[0028] The angle estimation unit 134 can employ any direction of arrival estimation method, such as using several pairs of antenna elements to pre-determine the complex reception response to the incoming wave from the phase difference of the antenna elements, introducing an evaluation function, and setting the angle at which the evaluation function value is maximized as the direction of arrival. Furthermore, the angle estimation unit 134 can also estimate the direction of arrival from the phase difference of multiple antenna elements. For example, it is possible to employ the MUSIC (Multiple Signal Classification) or Root-MUSIC method using eigenvalues ​​and eigenvectors of the correlation matrix. In addition, it is possible to employ the ESPRIT (Estimation of Signal Parameters via Rotational Invariance Techniques) method. The angles estimated in this way are stored in the angle information storage unit 141 of the storage unit 140 as angle information from an arbitrary reference axis. In addition, the estimated angle information may also be stored in the angle information storage unit 141 in association with the received intensity determined by the received intensity determination unit 132. Furthermore, the estimated angle information may also be stored in the angle information storage unit 141 in association with the determined received signal strength and time information. The time information can be received by the receiving unit 110 from outside the autonomous mobile device 100, and the autonomous mobile device 100 can also measure the time using a timing unit (not shown).

[0029] Furthermore, there may be multiple angles estimated by the angle estimation unit 134. When there are multiple estimated angles, the angle estimation unit 134 can receive the received signal strength at each angle from the received signal strength determination unit 132 and store the received signal strength in the angle information storage unit 141, associating each angle with the received signal strength. For example, if there is an obstacle, the radio waves reflected by the obstacle and the radio waves propagating along the line of sight may be received by the autonomous mobile device 100 at different angles. Also, radio waves reflected by one obstacle may be reflected again by another obstacle and received by the autonomous mobile device 100 at yet another different angle. In this way, reflected waves from an obstacle may reach the autonomous mobile device 100 after being reflected multiple times. Basically, the autonomous mobile device 100 moves in the direction of the highest received signal strength, but there is a possibility that it may not be able to move in the direction of the highest received signal strength due to an obstacle, or that it may take the wrong path. Thus, there may be cases where the autonomous mobile device 100 is forced to move in the direction of other reflected waves. Therefore, if multiple angles are estimated, the autonomous mobile device 100 can store this information in the angle information storage unit 141 in association with the received signal strength.

[0030] The motion control unit 135 primarily moves the autonomous mobile device 100 in the direction estimated by the angle estimation unit 134. However, if the received signal strength determined by the received signal strength determination unit 132 fluctuates periodically in the estimated direction, it may determine that an obstacle exists in the estimated direction after moving a predetermined distance or time. For example, this may occur when the autonomous mobile device 100 approaches the back side of an obstacle between it and the target object. In such cases, the autonomous mobile device 100 may receive diffracted waves, causing the received signal strength of the diffracted waves to fluctuate periodically.

[0031] Furthermore, the motion control unit 135 can calculate the past movement history of the autonomous mobile device 100 from the movement information stored in the movement direction information storage unit 142 and generate map information. For example, if it can be determined that the autonomous mobile device 100 has moved in the past in a direction estimated from its current location, the motion control unit 135 can move the autonomous mobile device 100 in the direction estimated by the angle estimation unit 134 with the next received signal strength. Also, if a direction of radio wave arrival with a higher received signal strength is estimated during movement, the motion control unit 135 may change the movement direction of the autonomous mobile device 100 based on the determination of the contact determination unit 136, which will be described later. The motion control unit 135 can associate the movement direction with the movement time or distance traveled in that movement direction and store it in the movement direction information storage unit 142. As described above, the motion control unit 135 can also calculate the past movement history from the information stored in the movement direction information storage unit 142 and generate map information, making it possible to avoid following failed paths. Furthermore, if time information is associated with the direction of movement information, the operation control unit 135 may select a past movement path if a predetermined time has elapsed. For example, if the obstacle is a moving object, if the obstacle moves from the past path or from the vicinity of that path, it may overlap with the newly estimated direction of radio wave arrival due to the movement of the moving object.

[0032] Furthermore, the motion control unit 135 may maintain its current direction of movement and move if the radio wave intensity is very weak, or if the angle estimation unit 134 cannot estimate the direction of arrival of the radio wave. For example, if the emitted radio wave and the reflected radio wave interfere and a null point is generated, the autonomous mobile device 100 may be able to re-estimate the direction of arrival of the radio wave by moving to another point.

[0033] Furthermore, if the motion control unit 135 receives contact prediction information or contact information from the contact determination unit 136, it can also change its direction of movement to avoid an obstacle. In this case, the changed direction may be maintained temporarily or for a predetermined period of time. Note that the changed direction may not be the estimated direction of the radio wave with the strongest received signal. Furthermore, the motion control unit 135 can use information such as movement history information, angle information, and estimated radio wave direction information to perform machine learning or deep learning, and store the machine learning results or deep learning results in the memory unit 140. In addition, the machine learning results or deep learning results can also be stored in the memory unit 140 in association with information such as movement direction information, angle information, and estimated radio wave direction information.

[0034] The contact determination unit 136 may optionally determine whether the autonomous mobile device 100 is likely to come into contact with an obstacle based on the information acquired by the information acquisition unit 150. Figure 2 shows the case where the information acquisition unit 150 is present, but it is also possible to determine whether the autonomous mobile device 100 is likely to come into contact with an obstacle without relying on the information acquired by the information acquisition unit 150. For example, if the received signal strength in the direction of movement fluctuates periodically, it is possible to determine that there is an obstacle in the direction of movement. However, taking into account the effects of fading and other factors, the contact determination unit 136 can also determine that there is an obstacle in the direction of movement if the received signal strength in the direction of movement fluctuates periodically after moving for a predetermined time or distance. Furthermore, if a direction of incoming radio waves with a stronger received signal strength than the direction of movement is estimated, the contact determination unit 136 can determine that an obstacle exists between the direction of movement and the direction of incoming radio waves with a stronger received signal strength, on the past direction of movement side. Furthermore, if the autonomous mobile device 100 immediately changes direction to the direction of arrival of a radio wave with stronger reception strength, it is possible to determine that the width of the autonomous mobile device 100 may come into contact with an obstacle. Also, if there is no change in reception strength, the contact determination unit 136 can determine that the autonomous mobile device 100 has already come into contact with an obstacle and is unable to change direction, such as moving forward or backward. In addition, if it is estimated that the direction of arrival of the radio wave will change in a rotating manner, the contact determination unit 136 can determine that the autonomous mobile device 100 is in contact with an obstacle and rotating. This determination information can be notified by the contact determination unit 136 to the operation control unit 135.

[0035] If an optional information acquisition unit 150 is present, the contact determination unit 136 may determine, based on the acquired information, whether or not the autonomous mobile device 100 is likely to come into contact with an obstacle. For example, the information acquisition unit 150 may be a sensor capable of detecting obstacles around the autonomous mobile device 100, such as an infrared sensor or an ultrasonic sensor. When the information acquisition unit 150 detects an obstacle, it transmits information about the detected obstacle to the contact determination unit 136. Based on the direction and size of movement of the autonomous mobile device 100 and the obtained information about the obstacle, the contact determination unit 136 transmits contact prediction information to the operation control unit 135 if it is expected that the autonomous mobile device 100 will come into contact with the obstacle. In addition, if the contact determination unit 136 determines that the autonomous mobile device 100 is in contact with an obstacle, it transmits contact information to the operation control unit 135.

[0036] Furthermore, the information acquisition unit 150 may be an image sensor such as a CCD camera. If the information acquisition unit 150 is an image sensor, it is configured so that the imaging part of the image sensor faces the direction of movement of the autonomous mobile device 100. It is also possible to configure the system so that the contact determination unit 136 determines whether or not there is an obstacle in the image information captured by the image sensor and outputs the determination result to the operation control unit 135. With this configuration, the contact determination unit 136 can also analyze obstacle information such as the position, direction, distance, and size of the obstacle from the image information, so that the operation control unit 135 can select an appropriate direction of incoming radio waves based on the obstacle information. Alternatively, the information acquisition unit 150 may be provided simply to provide image information to the user.

[0037] The storage unit 140 is a computer-readable storage medium. For example, the storage unit 140 may be a ROM (Read Only Memory), an EPROM (Erasable Programmable ROM), an EEPROM (Electrically Erasable Programmable ROM), a RAM (Random Access Memory), a hard disk, etc. The storage unit 140 may also be called a register, cache, main memory, etc. The storage unit 140 can store executable programs (program code), software modules, etc., for carrying out autonomous movement according to one embodiment of this disclosure.

[0038] The memory unit 140 includes an angle information memory unit 141, a movement direction information memory unit 142, and a reception strength information memory unit 143.

[0039] The angle information storage unit 141 stores the angle information of the radio waves whose direction of arrival has been estimated by the angle estimation unit 134. The angle information may be information from a predetermined reference axis, and this reference axis may be based on the physical contour of the autonomous mobile device 100. For example, it is possible to represent this contour with a two-dimensional relative coordinate system separate from the space in which the autonomous mobile device 100 is moving, and to use the line represented by this relative coordinate system as the reference axis. The angle information may also be stored in association with the estimated radio wave reception strength information and the time information in which the angle information was estimated. This is because, in the predetermined cases described above, angle information other than the angle information with the strongest reception strength may be used, and it may be necessary to compare it with past angle information. Furthermore, the angle information may be stored to represent the angle that has been changed from the initially determined angle, making it easier to create map information.

[0040] The movement direction information storage unit 142 can store movement direction information determined by the motion control unit 135 and actually used by the autonomous mobile device 100, associated with the time information when movement in that direction began and the time information when movement in that direction ended. Alternatively, the time information when movement in that direction began or ended, along with the time information spent moving in that direction, may be stored in the movement direction information storage unit 142, associated with the movement direction information. The motion control unit 135 can also reproduce the past movement paths of the autonomous mobile device 100 based on this information. The motion control unit 135 can also select a path that does not follow the same path twice, by referring to past movement paths, in order to reach a target object. Furthermore, the contact determination unit 136 can estimate the position of obstacles by referring to past movement paths. In addition, the control unit 130 can perform machine learning or deep learning, and the machine learning results or deep learning results can be stored in the storage unit 140, including the movement direction information storage unit 142. Furthermore, machine learning results and deep learning results may be stored in association with information such as movement direction information, angle information, and radio wave direction estimation information.

[0041] The reception strength information storage unit 143 can store reception strength information of radio waves emitted by multiple receiving elements determined by the reception strength determination unit 132. Furthermore, the reception strength of radio waves in the estimated direction of arrival formed by the multiple receiving elements can be stored in the reception strength information storage unit 143. Additionally, the reception strength information can be stored in the reception strength information storage unit 143 in association with the time information at which the reception strength was determined.

[0042] The drive unit 160 includes a mechanism for driving the moving unit 170 in order to move the autonomous mobile device 100 in a direction determined by the motion control unit 135. For example, if the moving unit 170 is a tire, the drive unit 160 includes a mechanism for rotating the tire; if the moving unit 170 is a caterpillar, it includes a mechanism for rotating the caterpillar; and if the moving unit 170 is a propeller, it includes a mechanism for rotating the propeller. However, the drive unit 160 is not limited to the above configurations and can include any drive configuration that drives the configuration of the moving unit 170.

[0043] The moving part 170 is a component that constitutes the means for moving the autonomous mobile device 100. If the autonomous mobile device 100 is a vehicle, the moving part 170 may be wheels including tires, or caterpillar tracks, etc. If the autonomous mobile device 100 is a flying object such as a drone or helicopter, the moving part 170 may be a propeller. However, the moving part 170 is not limited to the above embodiments and can be equipped with any moving mechanism capable of moving the autonomous mobile device 100.

[0044] The display unit 180 is optional and can be attached to the autonomous mobile device 100 or installed in a monitor space separate from the autonomous mobile device 100, allowing for the confirmation of image information regarding the direction of movement of the autonomous mobile device 100. In this way, by checking the image information output to the display unit 180, it is possible to confirm whether or not the autonomous mobile device 100 is moving normally.

[0045] The transmitting device 200 can be positioned around a target object or attached to a target object. The transmitting device 200 may also be the target object itself. The information output by the transmitting device 200 must be receivable by the receiving unit 110 of the autonomous mobile device 100. Examples of information output by the transmitting device 200 include, as mentioned above, radio waves and high-frequency electromagnetic waves, but are not limited to these; they could also be electromagnetic waves or vibration waves of any frequency. Furthermore, the frequency of radio waves or vibration waves does not need to be fixed; it can be changed periodically or randomly. The transmitting device 200 can also be configured to repeatedly sweep a predetermined frequency range. The fluctuation of the frequency may make it easier for the autonomous mobile device 100 to determine the presence of obstacles, even without an information acquisition unit 150. The transmitting device 200 may also be a user-owned electronic device such as a mobile phone, PHS phone, smartphone, or personal digital assistant.

[0046] The autonomous mobile device 100 according to this embodiment may further include a transmitting unit (not shown) that transmits arrival information or abnormal information during movement to an external device wirelessly or via a wired connection. The transmitting unit can transmit arrival information or abnormal information wirelessly to an external electronic device using so-called mobile communication. Alternatively, it may perform wireless communication based on at least one short-range wireless communication standard such as wireless LAN or Bluetooth®. Or, the transmitting unit may communicate with the outside by connecting via a cable (e.g., USB cable, optical cable). With such a configuration, other devices can perform the following processing in response to the reception of arrival information or abnormal information.

[0047] The destination of the transmitting unit may be, for example, a computer located on the cloud, a mobile phone carried by the user, a PHS phone, a smartphone, a personal digital assistant, or other user-use electronic device.

[0048] According to the above configuration, it becomes possible to autonomously reach the target object in mobile devices such as automated guided vehicles (AGVs) while adopting a simple configuration and reducing costs.

[0049] (Examples of operation of self-diagnostic devices and self-diagnostic systems) Next, referring to Figure 3, an example of the basic operation overview of the autonomous mobile device 100 and autonomous mobile system 1000 shown in Figure 2 will be explained using a flowchart. Furthermore, referring to Figure 4, an example of the details of step S500 in Figure 3 will be explained. In addition, referring to Figure 5, another example of the details of step S500 in Figure 3 will be explained. Finally, referring to Figure 6, yet another example of the details of step S500 in Figure 3 will be explained. Note that the following explanation will focus on the case where the output information is radio waves.

[0050] In step S100, the reception strength determination unit 132 determines whether the receiving element of the receiving unit 110 has received output information that exceeds a predetermined threshold. The predetermined threshold is any value that can be predetermined in the autonomous mobile device 100 or autonomous mobile system 1000. The receiving element that searches for reception strength may be predetermined or may be randomly selected. If the receiving element receives output information that exceeds the predetermined threshold (step S100: YES), the autonomous mobile device 100 proceeds to step S200. If the receiving element does not exceed the predetermined threshold (step S100: NO), the autonomous mobile device 100 repeats step S100.

[0051] In step S200, the reception strength determination unit 132 measures and determines the reception strength for each receiving element and controls the receiving element selection unit 133 to select the receiving element with the highest reception strength of the output information. The number of receiving elements selected can be any number. Next, the autonomous mobile device 100 proceeds to step S300.

[0052] In step S300, the phase difference determination unit 131 measures and determines the phase difference of the received radio waves between the receiving elements and outputs the phase difference to the angle estimation unit 134. The angle estimation unit 134, having received the phase difference, estimates the direction of arrival of the radio waves by referring to the distance between the receiving elements and, if necessary, the received signal strength. The estimated direction of arrival of the radio waves can also be shown using the coordinates of the space in which the receiving elements are located. The estimated direction of arrival of the radio waves is output from the angle estimation unit 134 to the operation control unit 135. Next, the autonomous mobile device 100 proceeds to step S400.

[0053] In step S400, the motion control unit 135 calculates the difference between the direction in which the autonomous mobile device 100 is moving or the direction of travel at the stopping position of the autonomous mobile device 100 and the direction from which the radio waves are coming. Next, the autonomous mobile device 100 proceeds to step S500.

[0054] In step S500, the motion control unit 135 determines the direction of movement of the autonomous mobile device 100 and controls the drive unit 160 and the movement unit 170 to move in the determined direction. Several specific examples of step 500 will be explained using Figures 4 to 6. Next, the autonomous mobile device 100 proceeds to step S600.

[0055] In step S600, the operation control unit 135 determines whether the autonomous mobile device 100 has reached the target object. The radio waves may be configured to be emitted by the target object, or they may be configured to be emitted from a transmitting device 200 arranged around the target object. If the autonomous mobile device 100 has reached the target object (step S600: YES), the autonomous mobile device 100 terminates processing. If the autonomous mobile device 100 has not reached the target object (step S600: NO), the autonomous mobile device 100 returns to step S100.

[0056] According to the above configuration, mobile devices such as automated guided vehicles (AGVs) can adopt a simple configuration, reduce costs, and autonomously reach their target object.

[0057] Next, with reference to Figure 4, an example of the details of step S500 in Figure 3 will be explained. Figure 4 shows an operation in which, when the estimated direction of radio wave arrival and the direction of movement of the autonomous mobile device 100 are large, the decision is postponed for a predetermined time in order to determine whether the estimated direction of radio wave arrival is correct, taking into account the effects of radio wave interference, etc.

[0058] In step S501, the operation control unit 135 determines whether the difference between the estimated direction of radio wave arrival and the direction of movement of the autonomous mobile device 100 exceeds a predetermined threshold. The predetermined threshold can be determined to any value in the autonomous mobile device 100 or the autonomous mobile system 1000. If the difference between the estimated direction of radio wave arrival and the direction of movement of the autonomous mobile device 100 exceeds the predetermined threshold (step S501: YES), the operation control unit 135 proceeds to step S502. If the difference between the estimated direction of radio wave arrival and the direction of movement of the autonomous mobile device 100 is less than or equal to the predetermined threshold (step S501: NO), the operation control unit 135 proceeds to step S505.

[0059] In step S502, the motion control unit 135 decrements the variable N. The value of variable N can be determined to any value in the autonomous mobile device 100 or the autonomous mobile system 1000. Next, the autonomous mobile device 100 proceeds to step S503.

[0060] In step S503, the operation control unit 135 determines whether or not the variable N has become zero. If the variable N has become zero (step S503: YES), the operation control unit 135 proceeds to step S504. If the variable N has not become zero (step S503: NO), the operation control unit 135 returns to step S100.

[0061] In step S504, the motion control unit 135 sets the variable N to an arbitrary value determined in the autonomous mobile device 100 or the autonomous mobile system 1000. Next, the autonomous mobile device 100 proceeds to step S505.

[0062] In step S505, the motion control unit 135 determines the estimated direction of radio wave arrival as the direction of movement of the autonomous mobile device 100 and generates movement direction information. Next, the autonomous mobile device 100 proceeds to step S600.

[0063] According to the above configuration, when the estimated direction of radio wave arrival and the direction of movement of the autonomous mobile device 100 are large, it may be possible to determine the validity of the estimated direction of radio wave arrival without changing the direction of movement of the autonomous mobile device 100 for a predetermined time, taking into account the effects of radio wave interference, etc.

[0064] Next, with reference to Figure 5, another example of the details of step S500 in Figure 3 will be described. In addition to the operation in Figure 4, Figure 5 shows an operation that avoids previously traveled directions to prevent the travel path from looping.

[0065] In step S511, the operation control unit 135 determines whether the difference between the estimated direction of radio wave arrival and the direction of movement of the autonomous mobile device 100 exceeds a predetermined threshold. If the difference between the estimated direction of radio wave arrival and the direction of movement of the autonomous mobile device 100 exceeds a predetermined threshold (step S511: YES), the operation control unit 135 proceeds to step S512. If the difference between the estimated direction of radio wave arrival and the direction of movement of the autonomous mobile device 100 is less than or equal to a predetermined threshold (step S511: NO), the operation control unit 135 proceeds to step S517.

[0066] In step S512, the motion control unit 135 decrements the variable N. The value of variable N can be determined to any value in the autonomous mobile device 100 or the autonomous mobile system 1000. Next, the autonomous mobile device 100 proceeds to step S513.

[0067] In step S513, the operation control unit 135 determines whether the variable N has become zero. If the variable N has become zero (step S513: YES), the operation control unit 135 proceeds to step S514. If the variable N has not become zero (step S513: NO), the operation control unit 135 returns to step S100.

[0068] In step S514, the motion control unit 135 sets the variable N to an arbitrary value determined in the autonomous mobile device 100 or the autonomous mobile system 1000. Next, the autonomous mobile device 100 proceeds to step S515.

[0069] In step S515, the operation control unit 135 determines whether the estimated direction of arrival of the radio wave matches the past travel path. If the estimated direction of arrival of the radio wave matches the past travel path (step S515: YES), the operation control unit 135 proceeds to step S516. If the estimated direction of arrival of the radio wave does not match the past travel path (step S515: NO), the operation control unit 135 proceeds to step S517.

[0070] In step S516, the operation control unit 135 determines whether there is a radio wave direction with the following order of increasing received signal strength. If there is a radio wave direction with the following order of increasing received signal strength (step S516: YES), the operation control unit 135 proceeds to step S515. If there is no radio wave direction with the following order of increasing received signal strength (step S516: NO), the operation control unit 135 proceeds to step S518.

[0071] In step S517, the motion control unit 135 determines the estimated direction of radio wave arrival as the direction of movement for the autonomous mobile device 100 and generates movement direction information. If the process proceeds from step S522 or step S523 to step S517, the current direction of movement is maintained. Next, the autonomous mobile device 100 proceeds to step S600.

[0072] In step S518, the motion control unit 135 discards the estimated direction of radio wave arrival and maintains the current direction of movement of the autonomous mobile device 100. Next, the autonomous mobile device 100 proceeds to step S519.

[0073] In step S519, the motion control unit 135 decrements the variable N. The value of variable N can be determined to any value in the autonomous mobile device 100 or the autonomous mobile system 1000. Next, the autonomous mobile device 100 proceeds to step S520.

[0074] In step S520, the operation control unit 135 determines whether the variable N has become zero. If the variable N has become zero (step S520: YES), the operation control unit 135 proceeds to step S521. If the variable N has not become zero (step S520: NO), the operation control unit 135 returns to step S100.

[0075] In step S521, the motion control unit 135 sets the variable N to an arbitrary value determined in the autonomous mobile device 100 or the autonomous mobile system 1000. Next, the autonomous mobile device 100 proceeds to step S522.

[0076] In step S522, the operation control unit 135 determines whether the received signal strength of the received radio waves has changed. If the received signal strength has not changed, it is assumed that the autonomous mobile device 100 is in contact with an obstacle and unable to move. If the received signal strength of the received radio waves has changed (step S522: YES), the operation control unit 135 proceeds to step S517. If the received signal strength of the received radio waves has not changed (step S522: NO), the operation control unit 135 proceeds to step S523.

[0077] In step S523, the motion control unit 135 moves the autonomous mobile device 100 so that the radio wave reception strength changes and the direction of radio wave arrival changes, such as by moving backward. It is also possible to search for the direction in which the direction of radio wave arrival changes by combining the receiving elements of the receiving unit 110. Next, the motion control unit 135 proceeds to step S517.

[0078] According to the above operation, in addition to the operation shown in Figure 4, it becomes possible to perform an operation that avoids previously traveled directions to prevent the travel path from looping. Furthermore, if the autonomous mobile device 100 is unable to move forward due to an obstacle, it becomes possible to autonomously change the direction of movement and search for a new direction of movement.

[0079] Next, with reference to Figure 6, another example of the details of step S500 in Figure 3 will be described. In addition to the operation in Figure 4, Figure 6 shows the operation to avoid contact with an obstacle if there is one in the direction of movement.

[0080] In step S530, the operation control unit 135 determines whether the difference between the estimated direction of radio wave arrival and the direction of movement of the autonomous mobile device 100 exceeds a predetermined threshold. If the difference between the estimated direction of radio wave arrival and the direction of movement of the autonomous mobile device 100 exceeds a predetermined threshold (step S530: YES), the operation control unit 135 proceeds to step S531. If the difference between the estimated direction of radio wave arrival and the direction of movement of the autonomous mobile device 100 is less than or equal to a predetermined threshold (step S530: NO), the operation control unit 135 proceeds to step S534.

[0081] In step S531, the motion control unit 135 decrements the variable N. The value of variable N can be determined to any value in the autonomous mobile device 100 or the autonomous mobile system 1000. Next, the autonomous mobile device 100 proceeds to step S532.

[0082] In step S532, the operation control unit 135 determines whether the variable N has become zero. If the variable N has become zero (step S532: YES), the operation control unit 135 proceeds to step S533. If the variable N has not become zero (step S532: NO), the operation control unit 135 returns to step S100.

[0083] In step S533, the motion control unit 135 sets the variable N to an arbitrary value determined in the autonomous mobile device 100 or the autonomous mobile system 1000. Next, the autonomous mobile device 100 proceeds to step S534.

[0084] In step S534, the operation control unit 135 determines whether there is a possibility that the autonomous mobile device 100 will come into contact with an obstacle if it moves in the estimated direction of incoming radio waves. As described above, whether there is a possibility of contact with an obstacle can sometimes be determined by the information received by the receiving unit 110 of the autonomous mobile device 100. In addition, the operation control unit 135 can sometimes make this determination based on the acquired information acquired by the information acquisition unit 150. If there is no possibility that the autonomous mobile device 100 will come into contact with an obstacle (step S534: YES), the operation control unit 135 proceeds to step S535. If there is a possibility that the autonomous mobile device 100 will come into contact with an obstacle (step S534: NO), the operation control unit 135 proceeds to step S536.

[0085] In step S535, the motion control unit 135 determines the estimated direction of radio wave arrival as the direction of movement of the autonomous mobile device 100 and generates movement direction information. If the process proceeds from step S537 or step S540 to step S535, the movement direction determined in each step is maintained. Next, the autonomous mobile device 100 proceeds to step S600.

[0086] In step S536, the motion control unit 135 determines whether there is a direction of movement in which the autonomous mobile device 100 can move forward without contacting an obstacle, on the side of the estimated direction of radio wave arrival, based on a straight line perpendicular to the estimated direction of radio wave arrival. If there is a direction of movement in which the autonomous mobile device 100 can move forward without contacting an obstacle (step S536: YES), the motion control unit 135 proceeds to step S537. If there is no direction of movement in which the autonomous mobile device 100 can move forward without contacting an obstacle (step S536: NO), the motion control unit 135 proceeds to step S538.

[0087] In step S537, the motion control unit 135 changes the direction of movement of the autonomous mobile device 100 to a direction that allows the autonomous mobile device 100 to move forward without coming into contact with an obstacle, on the side of the estimated direction of radio wave arrival that is perpendicular to the estimated direction of radio wave arrival. Next, the motion control unit 135 proceeds to step S535.

[0088] In step S538, the operation control unit 135 determines whether there is a radio wave direction with the following order of increasing received signal strength. If there is a radio wave direction with the following order of increasing received signal strength (step S538: YES), the operation control unit 135 proceeds to step S534. If there is no radio wave direction with the following order of increasing received signal strength (step S538: NO), the operation control unit 135 proceeds to step S539.

[0089] In step S539, the motion control unit 135 reverses the autonomous mobile device 100. Next, the motion control unit 135 proceeds to step S540.

[0090] In step S540, the motion control unit 135 estimates the radio wave source in the direction of arrival of the radio wave based on the rate attenuation of the radio wave intensity in the direction of arrival of the radio wave due to reverse movement, estimates the radius in the direction of arrival of the radio wave, and moves along an arc with the radius in the direction of arrival of the radio wave as the arc, moving to avoid obstacles. Next, the motion control unit 135 proceeds to step S535.

[0091] The above operation may make it possible to avoid contact with obstacles in the direction of movement.

[0092] (modified version) Since the autonomous mobile device 100 can detect multiple incoming radio wave directions, it can be inferred that a radio wave source consisting of a virtual or real image exists at the intersection of these directions. Furthermore, since a radio wave source consisting of a virtual image is formed by interference such as reflection and diffraction, it is unlikely that it will be in the same location. In addition, if the mobile device 100 changes its direction of movement considering a radio wave source consisting of a virtual or real image, and can identify a radio wave source consisting of a virtual image, it may be possible to discard the virtual radio wave source and narrow down the focus to a radio wave source consisting of a real image. Therefore, it may be advantageous for the autonomous mobile device 100 to change its direction of movement considering a radio wave source consisting of a virtual or real image.

[0093] In other words, if the received signal strength determination unit 132 of the autonomous mobile device 100 determines that the output information has a received signal strength exceeding a predetermined threshold, it may be preferable for the autonomous mobile device 100 to move a predetermined distance. In this case, it is preferable for the angle estimation unit 134 to estimate the direction of arrival of the output information while it is moving. Then, it is preferable for the motion control unit 135 to estimate the output position of the real or virtual image of the output information from the angle of the direction of arrival of the output information and the distance traveled, and to correct the estimated direction of arrival of the output information based on the output position. Furthermore, if multiple output positions are estimated based on real or virtual images, it may be possible to estimate the output position with the most strip widths as the output position based on the real image. If the autonomous mobile device 100 moves in a changed direction and an output position based on a virtual image is estimated, it may be possible to determine the direction of movement without considering the output position based on the virtual image from the next determination onward, by treating that position as the output position based on the virtual image.

[0094] (Features and effects according to the embodiment) The features and effects of the autonomous mobile device 100 and autonomous mobile system 1000 according to this embodiment are described below.

[0095] The autonomous mobile device 100 according to a first aspect of this disclosure, which receives output information output from a target object and moves autonomously to the target object, preferably comprises an antenna unit for receiving the output information and an angle estimation unit 134 for estimating the direction of arrival of the output information. The antenna unit corresponds to a receiving unit 110. The autonomous mobile device 100 also preferably comprises a reception intensity determination unit 132 for determining the reception intensity of the output information in the estimated direction of arrival. Furthermore, the autonomous mobile device 100 preferably comprises an operation control unit 135 that generates movement direction information, including the direction of movement for moving the autonomous mobile device, corresponding to the magnitude or change in reception intensity and the estimated direction of arrival. Furthermore, the autonomous mobile device 100 preferably comprises a drive unit 160 that generates drive information corresponding to the direction of movement information.

[0096] According to the above configuration, mobile devices such as automated guided vehicles (AGVs) can adopt a simple configuration, reduce costs, and autonomously reach their target object.

[0097] In the operation control unit 135 of the autonomous mobile device 100 according to a second aspect of this disclosure, it is preferable that the direction of arrival of the output information with the greatest received signal strength is set as the direction of movement.

[0098] According to the above configuration, the autonomous mobile device 100 always moves in the direction of the strongest received signal, thereby reducing costs while maintaining a simple configuration and enabling it to autonomously reach its target object.

[0099] In a third aspect of the present disclosure, if the motion control unit 135 estimates a new direction of arrival of output information having a reception intensity greater than the reception intensity in the direction of movement while the autonomous mobile device 100 is moving, it is preferable to change the direction of movement of the autonomous mobile device to the new direction of arrival.

[0100] According to the above configuration, the autonomous mobile device 100 always moves in the direction of the strongest received signal, thereby reducing costs while maintaining a simple configuration and enabling it to autonomously reach its target object.

[0101] In a fourth aspect of the present disclosure, the operation control unit 135 of the autonomous mobile device 100 preferably performs the following processing when it estimates a new direction of arrival of output information having a received signal strength greater than the received signal strength in the direction of movement while the autonomous mobile device 100 is moving. That is, it is preferable for the operation control unit 135 to change the direction of movement of the autonomous mobile device 100 to an angle between the new direction of arrival and the direction of movement of the autonomous mobile device 100.

[0102] With the above configuration, even when multiple received signal strengths fluctuate significantly from one another, it becomes possible to smoothly change the direction of movement without drastically altering the direction of movement, thereby saving power.

[0103] In the fifth aspect of this disclosure, the angle between the new direction of arrival of the autonomous mobile device 100 and the direction of movement of the autonomous mobile device 100 is preferably an angle that is weighted by the difference in reception intensity to approach the new direction of arrival or the direction of movement of the autonomous mobile device.

[0104] According to the above configuration, the autonomous mobile device 100 changes its direction of movement based on the magnitude of the received signal strength. Therefore, even when there are variations in the received signal strength, it is possible to smoothly change the direction of movement without significantly altering it, thereby saving power.

[0105] In the autonomous mobile device 100 according to the sixth aspect of this disclosure, if it is estimated that the autonomous mobile device 100 will come into contact with an obstacle when it moves in a changed direction of movement, it is preferable to perform the following actions. That is, it is preferable that the motion control unit 135 does not allow the autonomous mobile device to change its direction of movement until it reaches a position where it is estimated that contact with the obstacle will be avoided.

[0106] According to the above configuration, if there is a risk of the autonomous mobile device 100 coming into contact with an obstacle even if it immediately turns and moves in the direction of a new approach, it may be possible for the autonomous mobile device 100 to select a route that avoids contact with the obstacle.

[0107] In the seventh aspect of this disclosure, the operation control unit 135 of the autonomous mobile device 100 preferably moves a distance longer than the radius of the maximum arc formed by the outer shape of the autonomous mobile device 100 when the autonomous mobile device 100 turns in the new incoming direction. Thereafter, the operation control unit 135 preferably changes the direction of movement of the autonomous mobile device 100 to the new incoming direction.

[0108] According to the above configuration, even if the autonomous mobile device 100 immediately turns and moves in the direction of a new incoming object, there is a high risk that the width of the autonomous mobile device 100 will come into contact with an obstacle. Therefore, it may be possible to select a path so that the outer shape of the autonomous mobile device 100 does not come into contact with an obstacle.

[0109] In the eighth aspect of this disclosure, the operation control unit 135 preferably changes the direction of movement of the autonomous mobile device 100 from the direction of movement in which the received signal strength fluctuates to another direction of movement when the received signal strength determined by the received signal strength determination unit 132 fluctuates periodically.

[0110] With the above configuration, even if the autonomous mobile device 100 moves to the back of an obstacle from which the output information is diffracted, it becomes possible to detect this situation and, in some cases, autonomously bypass the obstacle.

[0111] In the ninth aspect of this disclosure, the operation control unit 135 of the autonomous mobile device 100 preferably sets the direction in which the reception strength is constant to another direction of movement.

[0112] According to the above configuration, even if the autonomous mobile device 100 moves to the back of an obstacle from which the output information is diffracted, it may still be possible for the autonomous mobile device 100 to move in a direction that bypasses the obstacle.

[0113] In the operation control unit 135 of the autonomous mobile device 100 according to the tenth aspect of this disclosure, it is preferable that if the output information determined by the reception strength determination unit 132 falls below a predetermined threshold, the device travels a predetermined distance without changing its direction of movement.

[0114] According to the above configuration, even when the output information is interfered with by reflection, diffraction, etc., it may be possible to select the correct path regardless of the interference conditions.

[0115] In the eleventh aspect of this disclosure, the motion control unit 135 preferably generates movement direction information by setting the direction of arrival of the next strongest received output information as the new movement direction when the movement direction is the direction in which the autonomous mobile device 100 has moved in the past.

[0116] With the above configuration, the autonomous mobile device 100 becomes capable of moving based on its past movement history, and in some cases, it may even be able to autonomously select the correct path even when the signal strength is low.

[0117] In the twelfth aspect of this disclosure, the operation control unit 135 of the autonomous mobile device 100 preferably performs the following processing if the direction of movement indicated by the direction of movement information is the same direction in which the autonomous mobile device 100 has moved in the past. That is, the operation control unit 135 preferably generates direction of movement information in which a new direction of movement is different from the direction of movement indicated by the direction of movement information and is not the same direction in which the autonomous mobile device 100 has moved in the past.

[0118] According to the above configuration, the autonomous mobile device 100 can move based on its past movement history, which may reduce the probability of failing to move along the same route.

[0119] The new direction of movement of the autonomous mobile device 100 according to the 13th aspect of this disclosure is preferably a direction in which the received intensity of the output information of the direction of movement indicated by the direction of movement information is estimated to decrease. Alternatively, the new direction of movement is preferably a direction in which the received intensity of the output information of the direction of movement indicated by the direction of movement information is estimated to increase.

[0120] According to the above configuration, in a mobile device such as an automated guided vehicle (AGV), if output information is received from the direction of past movement, it becomes possible to determine the direction of movement in accordance with changes in the received intensity of the output information. This may make it possible to avoid contact with obstacles.

[0121] In the 14th aspect of this disclosure, the motion control unit 135 preferably generates motion direction information with the direction in which the autonomous mobile device moves backward as the new motion direction if the received intensity of the output information of the motion direction indicated by the motion direction information remains unchanged.

[0122] According to the above configuration, if the autonomous mobile device 100 collides with an obstacle and is unable to move forward, it may be possible to receive new output information by moving backward.

[0123] Preferably, the autonomous mobile device 100 according to the 15th aspect of this disclosure is further provided with a movement direction information storage unit that stores movement direction information associated with the time the autonomous mobile device 100 has moved in the direction of movement, and the movement direction information associated with the time the autonomous mobile device 100 has moved in the direction of movement. Preferably, the motion control unit 135 creates movement history information of the autonomous mobile device from past movement direction information, estimates the presence of an obstacle from the movement history information, and modifies the movement direction information to move the autonomous mobile device 100 to avoid the obstacle.

[0124] According to the above configuration, mobile devices such as automated guided vehicles (AGVs) can adopt a simple configuration, reduce costs, and autonomously reach their target object using movement history information created from past movement direction information.

[0125] The autonomous mobile device 100 according to the 16th aspect of this disclosure preferably includes an information acquisition unit 150 that acquires information about obstacles around the autonomous mobile device. Furthermore, the autonomous mobile device 100 preferably includes a contact determination unit 136 that estimates and determines contact between the autonomous mobile device and an obstacle based on the acquired information and movement direction information acquired by the information acquisition unit 150. The contact determination unit 136 preferably outputs contact prediction information or contact information between the autonomous mobile device 100 and an obstacle to the operation control unit 135.

[0126] According to the above configuration, the autonomous mobile device 100 can estimate and determine contact between the autonomous mobile device 100 and an obstacle based on the information acquired from the information acquisition unit 150 and the direction of movement information.

[0127] In the 17th aspect of this disclosure, the operation control unit 135 of the autonomous mobile device 100 preferably changes the direction of movement information in a direction that avoids obstacles based on contact prediction information or the contact information.

[0128] According to the above configuration, the autonomous mobile device 100 can change its direction of movement information when contact with an obstacle is expected or has already come into contact with an obstacle.

[0129] In the autonomous mobile device 100 according to the 18th aspect of this disclosure, if the reception strength determination unit 132 determines that the output information has a reception strength exceeding a predetermined threshold, it is preferable that the autonomous mobile device 100 moves a predetermined distance. The angle estimation unit 134 is preferable to estimate the direction of arrival of the output information while it is moving. The operation control unit 135 is preferable to estimate the output position of the output information as a real or virtual image from the angle of the direction of arrival of the output information and the distance traveled, and to correct the estimated direction of arrival of the output information based on the output position.

[0130] According to the above configuration, the autonomous mobile device 100 can move autonomously, thereby estimating the output position based on the real or virtual image of the output information. By trial and error in adjusting the direction of arrival of radio waves relative to the output position, it becomes possible to reach the target object.

[0131] In the autonomous mobile device 100 according to the 19th aspect of this disclosure, if multiple output positions are estimated, it is preferable to estimate the output position with the most overlapping values ​​as the output position based on the real image, and to correct the direction of arrival of the estimated output information based on the output position based on the real image.

[0132] With the above configuration, the actual position of the target object can be estimated, and by adjusting the direction of arrival to approach the actual position, it becomes possible to autonomously reach the target object with a simple configuration and reduced costs.

[0133] An autonomous mobile system 1000 according to a 20th aspect of this disclosure preferably comprises an autonomous mobile device 100 of any of the first to 19 aspects, and a target object. The autonomous mobile device 100 preferably includes an antenna section that includes a plurality of receiving elements that receive output information that is output periodically or irregularly. The antenna section corresponds to a receiving unit 110.

[0134] According to the above configuration, mobile devices such as automated guided vehicles (AGVs) can adopt a simple configuration, reduce costs, and autonomously reach their target object.

[0135] The output information of the autonomous mobile system 1000 according to the 21st aspect of this disclosure is preferably at least one or both of electromagnetic waves, including radio waves, microwaves, visible light and infrared rays, and sound waves.

[0136] According to the above configuration, the autonomous mobile device 100 may be able to select output information from a variety of output information according to the surrounding conditions.

[0137] In the 22nd aspect of this disclosure, the frequency of the output information of the autonomous mobile system 1000 changes, and it is preferable that the frequency change pattern information is stored in the autonomous mobile device 100.

[0138] With the above configuration, by changing the frequency, it may be possible to receive output information even when the autonomous mobile device 100 is located far away. Furthermore, it may be possible to receive output information even when the autonomous mobile device 100 is hidden behind an obstacle.

[0139] An autonomous mobile system 1000 according to a 23rd aspect of the present disclosure further comprises a mobile unit 170 driven by a drive unit 160, wherein the mobile unit 170 is preferably configured to move on the ground, in the air, or underwater.

[0140] According to the above configuration, the autonomous mobile device 100 will be able to move on the ground, in the air, or underwater.

[0141] (Supplement to the embodiment) While embodiments of the present invention have been described above, the disclosed invention is not limited to such embodiments, and those skilled in the art will understand various modifications, alterations, alternatives, substitutions, etc. Specific numerical examples have been used to facilitate understanding of the invention, but unless otherwise specified, these numerical values ​​are merely examples, and any appropriate values ​​may be used. The division of items in the above description is not essential to the present invention, and matters described in two or more items may be combined as needed, and matters described in one item may be applied to matters described in another item (as long as they do not contradict each other). The boundaries of functional units or processing units in the functional block diagram do not necessarily correspond to the boundaries of physical parts. The operation of multiple functional units may be physically performed by one part, or the operation of one functional unit may be physically performed by multiple parts. Regarding the processing procedures described in the embodiments, the order of processing may be changed as long as it does not contradict each other. For the convenience of explaining the processing, the autonomous mobile device 100 has been described using a functional block diagram, but such a device may be realized in hardware, software, or a combination thereof. The software operated by the processor of the autonomous mobile device 100 according to this embodiment may be stored in random access memory (RAM), flash memory, read-only memory (ROM), EPROM, EEPROM, or registers. Alternatively, the software operated by the processor of the autonomous mobile device 100 according to this embodiment may be stored in a hard disk drive (HDD), removable disk, CD-ROM, database, server, or any other suitable storage medium.

[0142] Furthermore, notification of information is not limited to the embodiments / models described herein and may be carried out by other means, such as physical layer signaling, higher layer signaling, other signals, or combinations thereof. Also, notification of predetermined information (e.g., notification that "X is") is not limited to explicit notification but may be carried out implicitly (e.g., by not providing notification of the predetermined information).

[0143] Each aspect / embodiment described herein may be applied in combination with multiple systems.

[0144] The processing procedures, sequences, flowcharts, etc., in each aspect / embodiment described herein may be rearranged in order to the extent that they do not contradict each other. For example, the description of the method in this disclosure presents elements of various steps in an exemplary order, but is not limited to the specific order presented.

[0145] Input and output information may be stored in a specific location, such as memory, or managed using a management table, and may be overwritten, updated, or appended to. Output information may be deleted. Input information may be sent to other devices.

[0146] The determination in this disclosure may be made by numerical comparison, such as comparison with a predetermined value, by a value represented by 1 bit (0 or 1), or by a boolean value (true or false).

[0147] Each aspect / embodiment described herein may be used individually, in combination, or switched between as needed during execution.

[0148] Software should be broadly interpreted to include code, code segments, program code, programs, subprograms, software modules, applications, software applications, software packages, routines, subroutines, objects, executable files, execution threads, procedures, functions, etc. Furthermore, software is not limited to firmware, middleware, microcode, hardware description languages, or any other designation.

[0149] Furthermore, software, information, etc., may be transmitted and received via a transmission medium. For example, if software is transmitted from a website, server, or other remote source using wired technology, such wired technology is included in the definition of a transmission medium. Wired technologies include coaxial cables, fiber optic cables, twisted pair cables, digital subscriber lines, etc. Also, if software, information, etc., is transmitted from a website, server, or other remote source using wireless technology such as infrared or microwave, such wireless technology is also included in the definition of a transmission medium.

[0150] The information, signals, bits, etc. described in this disclosure may be represented using any of the various different techniques, such as voltage, current, electromagnetic waves, magnetic fields or magnetic particles, optical fields or photons, or any combination thereof.

[0151] In addition, terms used in this disclosure and terms necessary for understanding this disclosure may be replaced with terms having the same or similar meaning.

[0152] Furthermore, the information, parameters, etc., described in this disclosure may be expressed using relative or absolute values ​​from a predetermined value, or using corresponding other information.

[0153] The names used for the parameters described above are not restrictive in any way. Since various information elements can be identified by any suitable name, the various names assigned to these various information elements are not restrictive in any way.

[0154] The terms “determining” and “decision” as used in this disclosure may encompass a wide variety of actions, such as judging, calculating, computing, processing, and deriving. Furthermore, “determining” and “decision” may include, for example, investigating, searching, or ascertaining tables or databases. They may also include receiving (e.g., receiving information), transmitting (e.g., sending information), inputting, and outputting. In addition, “determining” and “decision” may include, for example, accessing data in memory. They may also include resolving, selecting, choosing, establishing, and comparing. In other words, "judgment" and "decision" can include the act of "judging" or "deciding" on some action. Also, "judgment (decision)" can be reinterpreted as "assuming," "expecting," or "considering."

[0155] The term “connected,” or any variation thereof, means any direct or indirect connection between two or more elements. This may include the presence of one or more intermediate elements between two elements that are “connected” to each other. As used in this disclosure, two elements may be considered to be “connected” to each other by at least one of one or more wires, cables, and printed electrical connections. In some non-limiting and non-exclusive examples, they may also be considered to be “connected” to each other by electromagnetic energy having wavelengths in the radio frequency domain, the microwave domain, and the optical (both visible and invisible) domain.

[0156] In this disclosure, the phrase "based on" does not mean "based solely on" unless otherwise specified. In other words, the phrase "based on" means both "based solely on" and "based at least on."

[0157] In the above-described configuration of each device, the term "part" may be replaced with "means," "circuit," "device," etc.

[0158] The terms “include,” “including,” and their variations as used in this disclosure are intended to be inclusive, as is the term “comprising.” Furthermore, the term “or” as used in this disclosure is not intended to be exclusive OR.

[0159] In this disclosure, if articles are added through translation, such as a, an, and the in English, this disclosure may include the fact that the noun following these articles is plural.

[0160] In this disclosure, the term "A and B are different" may mean "A and B are different from each other." Furthermore, the term may also mean "A and B are each different from C."

[0161] Although the present disclosure has been described in detail above, it will be clear to those skilled in the art that the present disclosure is not limited to the embodiments described herein. The present disclosure can be implemented in modified and altered forms without departing from the intent and scope of the present disclosure as defined by the claims. Therefore, the descriptions in the present disclosure are illustrative and not intended to be restrictive in any way. [Explanation of Symbols]

[0162] 100 Autonomous Mobile Devices 110 Receiver 132 Received signal strength determination unit 134 Angle estimation part 135 Operation Control Unit 136 Contact determination section 142 Movement direction information storage unit 150 Information Acquisition Department 160 Drive unit 170 Mobile Unit 1000 Autonomous Mobile Systems

Claims

1. An autonomous mobile device that receives output information from a target object and autonomously moves to the target object, An antenna unit that receives the aforementioned output information, An angle estimation unit for estimating the direction of arrival of the output information, A reception strength determination unit that determines the reception strength of the output information in the estimated direction of arrival, A motion control unit that generates movement direction information including a movement direction for moving the autonomous mobile device in response to the magnitude or change of the received signal strength and the estimated direction of arrival, A drive unit that generates drive information corresponding to the aforementioned movement direction information, Equipped with, If the motion control unit estimates a new direction of arrival of output information having a reception intensity greater than the reception intensity in the direction of movement while the autonomous mobile device is moving, it changes the direction of movement of the autonomous mobile device to the new direction of arrival. If it is estimated that the autonomous mobile device will come into contact with an obstacle when it moves in the changed direction of movement, the motion control unit will not change the direction of movement of the autonomous mobile device until it reaches a position where contact with the obstacle is estimated to be avoided. Autonomous mobile device.

2. An autonomous mobile device that receives output information from a target object and autonomously moves to the target object, An antenna unit that receives the aforementioned output information, An angle estimation unit for estimating the direction of arrival of the output information, A reception strength determination unit that determines the reception strength of the output information in the estimated direction of arrival, A motion control unit that generates movement direction information including a movement direction for moving the autonomous mobile device in response to the magnitude or change of the received signal strength and the estimated direction of arrival, A drive unit that generates drive information corresponding to the aforementioned movement direction information, Equipped with, If the motion control unit estimates a new direction of arrival of output information having a received intensity greater than the received intensity in the direction of movement while the autonomous mobile device is moving, it changes the direction of movement of the autonomous mobile device to an angle between the new direction of arrival and the direction of movement of the autonomous mobile device. If it is estimated that the autonomous mobile device will come into contact with an obstacle when it moves in the changed direction of movement, the motion control unit will not change the direction of movement of the autonomous mobile device until it reaches a position where contact with the obstacle is estimated to be avoided. Autonomous mobile device.

3. The autonomous mobile device according to claim 2, wherein the angle between the new direction of arrival and the direction of movement of the autonomous mobile device is an angle obtained by weighting the difference in reception intensity to approach the new direction of arrival or the direction of movement of the autonomous mobile device.

4. The autonomous mobile device according to any one of claims 1 to 3, wherein the motion control unit moves the autonomous mobile device from its position when the new direction of arrival was estimated by moving it a distance longer than the radius of the maximum arc formed by the external shape of the autonomous mobile device when the autonomous mobile device turns in the new direction of arrival, and then changes the direction of movement of the autonomous mobile device in the new direction of arrival.

5. The autonomous mobile device according to any one of claims 1 to 4, wherein the operation control unit changes the direction of movement of the autonomous mobile device from the direction of movement in which the received intensity of the output information determined by the received intensity determination unit oscillates periodically to another direction of movement.

6. The autonomous mobile device according to claim 5, wherein the operation control unit sets the direction in which the reception strength becomes constant as the other direction of movement.

7. The autonomous mobile device according to any one of claims 1 to 6, wherein the operation control unit travels a predetermined distance without changing the direction of movement indicated by the direction of movement information when the output information determined by the received strength determination unit falls below a predetermined threshold.

8. The autonomous mobile device according to any one of claims 1 to 7, wherein the motion control unit generates movement direction information as the direction of arrival of the next strongest received output information when the movement direction indicated by the movement direction information is the direction in which the autonomous mobile device has moved in the past.

9. The autonomous mobile device according to any one of claims 1 to 8, wherein the motion control unit generates new movement direction information in which the movement direction indicated by the movement direction information is different from the movement direction and is not the direction in which the autonomous mobile device has moved in the past.

10. The autonomous mobile device according to claim 9, wherein the new direction of movement is a direction in which it is estimated that the received intensity of the output information for the direction of movement indicated by the direction of movement information will decrease, or in which it is estimated that the received intensity of the output information for the direction of movement indicated by the direction of movement information will increase.

11. The autonomous mobile device according to any one of claims 1 to 10, wherein the operation control unit generates movement direction information with the direction in which the autonomous mobile device moves backward as the new movement direction if the reception intensity of the output information of the movement direction indicated by the movement direction information remains unchanged.

12. The aforementioned direction of movement information is associated with the time the autonomous mobile device moved in the direction of movement, and the system further includes a direction of movement information storage unit that stores the direction of movement information associated with the time the device moved in the direction of movement. The autonomous mobile device according to any one of claims 1 to 11, wherein the motion control unit creates movement history information of the autonomous mobile device from past movement direction information, estimates the presence of an obstacle from the movement history information, and modifies the movement direction information to move the autonomous mobile device to avoid the obstacle.

13. An information acquisition unit that acquires information about obstacles around the autonomous mobile device, The system includes a contact determination unit that estimates and determines contact between the autonomous mobile device and the obstacle based on the acquired information and movement direction information acquired by the information acquisition unit, The autonomous mobile device according to claim 1, wherein the contact determination unit outputs contact prediction information or contact information between the autonomous mobile device and the obstacle to the motion control unit.

14. The autonomous mobile device according to claim 13, wherein the motion control unit changes the movement direction information in a direction that avoids the obstacle based on the contact prediction information or the contact information.

15. The autonomous mobile device according to claim 1, wherein if the reception strength determination unit determines that the output information has a reception strength exceeding a predetermined threshold, the autonomous mobile device moves a predetermined distance, the angle estimation unit estimates the direction of arrival of the output information while it is moving, the motion control unit estimates the output position of the output information as a real or virtual image from the angle of the direction of arrival of the output information and the distance traveled, and corrects the estimated direction of arrival of the output information based on the output position.

16. The autonomous mobile device according to claim 15, wherein, if multiple output positions are estimated, the output position with the most overlapping values ​​is estimated as the output position based on the real image, and the direction of arrival of the estimated output information is corrected based on the output position based on the real image.

17. An autonomous mobile device according to any one of claims 1 to 16, The aforementioned target object comprises, The aforementioned output information is output periodically or irregularly. An autonomous mobile system comprising an antenna section including a plurality of receiving elements for receiving the output information.

18. The autonomous mobile system according to claim 17, wherein the output information comprises at least one or both of electromagnetic waves, including radio waves, microwaves, visible light, and infrared rays, and sound waves.

19. The autonomous mobile system according to claim 18, wherein the frequency of the output information changes, and the frequency change pattern information is stored in the autonomous mobile device.

20. The system further comprises a movable part driven by the aforementioned drive unit, The autonomous mobile system according to any one of claims 17 to 19, wherein the mobile unit is configured to move on the ground, in the air, or underwater.

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