Autonomous mobile robot and system for controlling autonomous mobile robot

Abstract

The present invention pertains to an autonomous mobile robot (1) that moves by being guided by a plurality of marks that include a first mark and a second mark, that have a plurality of types of sizes, and that are arranged along a movement route (10). The autonomous mobile robot (1) comprises: an imaging unit (26); a storage unit (25) for storing individual identification information items of the plurality of marks and individual actual sizes of the plurality of marks; and a calculation unit (27) for calculating the distance (D1) to the first mark on the basis of the size of the first mark in image data captured by the imaging unit (26) and the individual actual size of the first mark corresponding to an individual identification information item of the first mark.

Description

Autonomous mobile robot and control system for autonomous mobile robot

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

[0002] A measuring device (digital camera) described in Patent Document 1 listed below has been known. This measuring device includes an acquisition means for moving an imaging optical system, which forms an image of a subject on a predetermined imaging plane, along an optical axis direction and acquiring image data from the subject image formed on the imaging optical system with each movement, a focus evaluation value calculation means for calculating a focus evaluation value based on the image data, an object detection means for detecting an object from the image data, a distance calculation means for calculating a distance to the object based on the size of the object, a distance measurement means for measuring the distance to the object, a peak value detection means for detecting a peak value from the calculated focus evaluation value, and an object distance determination means for determining, as the object distance, either the distance to the object calculated by the distance calculation means or the distance to the object measured by the distance measurement means based on the magnitude of the detected peak value.

[0003] Japanese Patent No. 4444927

[0004] In the above-described conventional technology, when calculating the subject distance from the size of the subject's face, if the face size is small, an error occurs between the calculated result (calculated subject distance) and the actual subject distance, making it impossible to obtain the correct subject distance. Therefore, the subject distance is determined to be either the distance calculated from image data or the distance measured by a distance sensor. However, when the above-described conventional technology is applied to an autonomous mobile robot that moves while being guided by signs placed along its travel path, the following problem occurs. That is, the autonomous mobile robot may not be close to the sign (subject). For example, if a sign is located several to several tens of meters away from the autonomous mobile robot, measuring the distance to the sign becomes difficult without a highly accurate distance sensor. Furthermore, signs placed far away are often made larger than normal so that the autonomous mobile robot can detect them. In such a case, if a normal-sized sign close to the autonomous mobile robot and a large-sized sign far from the autonomous mobile robot are captured in image data captured by the autonomous mobile robot at the same time, the two signs, which are actually different sizes, may appear to be the same size in the image data, depending on the distance. As a result, the autonomous mobile robot may mistakenly recognize that the distances from the autonomous mobile robot to the two signs are the same.

[0005] The present invention has been made in consideration of the above-mentioned problems, and aims to provide an autonomous mobile robot and a control system for the autonomous mobile robot that can accurately calculate the distance to a sign and perform guidance control, even if the sign has multiple sizes.

[0006] In order to solve the above-mentioned problems, a first aspect of the present invention is an autonomous mobile robot that moves while being guided by a plurality of markers, including a first marker and a second marker, that have a variety of sizes and are arranged along a movement path. The autonomous mobile robot includes an imaging unit that captures image data, a memory unit that stores individual identification information for each of the plurality of markers and individual actual sizes of each of the plurality of markers corresponding to the individual identification information, and a calculation unit that detects the first marker from the image data captured by the imaging unit, acquires the individual identification information for each of the first markers, and calculates a distance to the first marker based on the size of the first marker in the image data and the individual actual size of the first marker that corresponds to the individual identification information of the first marker.

[0007] A second aspect of the present invention is the autonomous mobile robot of the first aspect, which performs predetermined actions in order of preset action numbers based on the individual identification information acquired from the first marker.

[0008] A third aspect of the present invention is the autonomous mobile robot of the second aspect, which, when it approaches the first marker within a predetermined distance, switches its target of guidance to the second marker having the individual identification information set to the next action number and moves.

[0009] A fourth aspect of the present invention is the autonomous mobile robot of the first or second aspect, wherein the first marker is a square, and the memory unit stores the size of one side of the marker as the individual actual size of the actual first marker.

[0010] A fifth aspect of the present invention is the autonomous mobile robot of the third aspect, wherein the shape of the second marker is square, and the memory unit stores the size of one side of the second marker as the individual actual size of the second marker.

[0011] A sixth aspect of the present invention is an autonomous mobile robot according to any one of the first to fifth aspects, further comprising a communication unit that receives, from an external device, the individual identification information of each of the plurality of markers and information on the individual actual size of each of the plurality of markers corresponding to the individual identification information.

[0012] A seventh aspect of the present invention is a control system for an autonomous mobile robot that moves while being guided by a plurality of markers, including a first marker and a second marker, that have a variety of sizes and are arranged along a movement path. The control system for the autonomous mobile robot includes an imaging unit that captures image data, a memory unit that stores individual identification information for each of the plurality of markers and individual actual sizes of each of the plurality of markers corresponding to the individual identification information, and a calculation unit that detects the first marker from the image data captured by the imaging unit, acquires the individual identification information for each of the first markers, and calculates a distance to the first marker based on the size of the first marker in the image data and the individual actual size of the first marker corresponding to the individual identification information.

[0013] According to the present invention, an autonomous mobile robot and a control system for the autonomous mobile robot can be obtained that can accurately calculate the distance to a sign and perform guidance control even when the sign has a variety of sizes.

[0014] FIG. 1 is a schematic diagram showing an autonomous mobile robot according to an embodiment of the present invention moving, viewed from above. FIG. 2 is a block diagram showing the configuration of an autonomous mobile robot according to an embodiment of the present invention. FIG. 3 is a front view showing an example of a signpost marker read by a signpost detection unit according to an embodiment of the present invention. FIG. 4 is a flow diagram showing the operation of an autonomous mobile robot according to an embodiment of the present invention. FIG. 5 is a diagram showing an operation table for an autonomous mobile robot according to an embodiment of the present invention. FIG. 6 is an image diagram showing image data captured by the autonomous mobile robot shown in FIG.

[0015] The present invention can be applied to, for example, automated guided vehicles in factories, warehouses, and other locations, service robots in public facilities such as buildings, halls, and airports, and work robots in outdoor environments where GPS (Global Positioning System) functions poorly.

[0016] 1 is a schematic diagram showing the movement of an autonomous mobile robot 1 according to one embodiment of the present invention, viewed from above. As shown in Fig. 1, the autonomous mobile robot 1 moves while sequentially reading the images of a number of sign posts SP placed along a movement route 10 using an imaging unit 26 mounted on the robot body 20. In other words, the autonomous mobile robot 1 moves along the movement route 10 while being guided by the number of sign posts SP.

[0017] Here, the term "signpost" refers to a structure having a marker (sign) placed at a predetermined location on or near the travel route 10. The marker includes identification information (pattern ID) of the structure. As shown in FIG. 3 (described later), the marker of this embodiment is formed by arranging a first cell C1 capable of reflecting light and a second cell C2 not capable of reflecting light on a two-dimensional plane.

[0018] 2 is a block diagram showing the configuration of an autonomous mobile robot 1 according to one embodiment of the present invention. As shown in FIG. 2, the autonomous mobile robot 1 includes a signpost detection unit 21, a drive unit 22, a control unit 23, a communication unit 24, and a memory unit 25.

[0019] The signpost detection unit 21 has an imaging unit 26 and a calculation unit 27. The drive unit 22 has a motor control unit 28, two motors 29, and left and right drive wheels 20L, 20R. Note that the configurations of the signpost detection unit 21 and the drive unit 22 are merely examples, and other configurations may also be used.

[0020] The imaging unit 26 is disposed in front of the autonomous mobile robot 1 in the direction of travel. In this embodiment, the imaging unit 26 includes a light that emits infrared LED light forward and a camera that captures the light (infrared LED light) reflected by the signpost SP. Infrared LED light is suitable for dark places such as factories, places with strong visible light, etc. A suitable camera is, for example, one that incorporates an infrared filter. Note that the imaging unit 26 may be configured to emit detection light other than infrared LED light.

[0021] The calculation unit 27 performs binarization processing based on the captured image transmitted from the imaging unit 26 to form binary image data consisting of black and white, and uses the binary image data to detect the sign post SP and calculates the distance (distance D1) and direction (angle θ) at which the sign post SP is located relative to the autonomous mobile robot 1.

[0022] As described below, the calculation unit 27 calculates the distance D1 and the angle θ to the sign post SP based on the size of the sign post SP marker on the image data captured by the imaging unit 26 and the preset size of the actual sign post SP marker. That is, the calculation unit 27 of this embodiment can calculate the distance D1 and the angle θ to the sign post SP using only one camera (imaging unit 26). In this embodiment, the size of the actual sign post SP marker is defined as the length of one side of the square sign post SP marker, as described below. For example, if the length of one side of a normal-sized sign post SP marker (length L) is determined, this length may be set as a relative value based on this length L, or may be set as an absolute value (numerical value) in millimeters or meters.

[0023] Drive wheel 20L is provided on the left side of the direction of travel of autonomous mobile robot 1. Drive wheel 20R is provided on the right side of the direction of travel of autonomous mobile robot 1. Note that autonomous mobile robot 1 may have wheels other than drive wheels 20L, 20R in order to stabilize the posture of autonomous mobile robot 1. Motor 29 rotates the left and right drive wheels 20L, 20R in accordance with the control of motor control unit 28.

[0024] Motor control unit 28 supplies power to left and right motors 29 based on the angular velocity command value input from control unit 23. Autonomous mobile robot 1 moves forward or backward as left and right motors 29 rotate at angular velocities according to the power supplied from motor control unit 28. Furthermore, the direction of travel of autonomous mobile robot 1 can be changed by creating a difference between the angular velocities of left and right motors 29.

[0025] The control unit 23 controls the drive unit 22 based on information obtained from the signpost SP by the signpost detection unit 21. The communication unit 24 communicates with a higher-level system (external device) not shown. The higher-level system not shown provides the autonomous mobile robot 1 with individual identification information (pattern ID) of the signpost SP to be detected and the size of the marker on the actual signpost SP corresponding to that identification information, for example, based on the current position of the autonomous mobile robot 1 on the travel route 10. The memory unit 25 stores the individual identification information of the signpost SP and the size of the marker on the actual signpost SP corresponding to that identification information provided by the higher-level system.

[0026] 3 is a front view showing an example of a sign post SP marker that is read by the sign post detection unit 21 in one embodiment of the present invention. As shown in Fig. 3, the sign post SP marker is formed by arranging a first cell C1 that can reflect infrared LED light and a second cell C2 that cannot reflect infrared LED light on a two-dimensional plane.

[0027] The first cell C1 is made of a material with high reflectance to infrared LED light, such as aluminum foil, a thin film of titanium oxide, etc. The second cell C2 is made of a material with low reflectance to infrared LED light, such as an infrared cut film, a polarizing film, an infrared absorbing material, or black felt.

[0028] The first cell C1 and the second cell C2 are squares of the same size, and the entire marker formed by the first cell C1 and the second cell C2 is also square. The marker has an identification region 30 and a frame region 31 that surrounds the identification region 30. In this embodiment, the identification region 30 is formed in a matrix pattern of 4 rows and 4 columns.

[0029] 3, when expressed in binary code with the first cell C1 (white) representing "1" and the second cell C2 (black) representing "0 (zero)," the identification area 30 is 16-bit information. The calculation unit 27 can read the identification information (pattern ID) of the signpost SP from the identification area 30.

[0030] The identification region 30 is not limited to a pattern of 4 rows x 4 columns, but may be a pattern of 3 rows x 3 columns or less, or a pattern of 5 rows x 5 columns or more.

[0031] The frame region 31 is a non-reflective frame region formed only by the second cells C2 (black). The frame region 31 is formed in the shape of a square frame that surrounds the identification region 30 with the second cells C2. The calculation unit 27, for example, detects the four corners 32 of the frame region 31 and calculates the size of the marker from the length (length L) of one of the four sides located between the corners 32.

[0032] The calculation unit 27 reads the actual marker size from the memory unit 25 based on the identification information obtained from the identification area 30, and calculates the distance D1 between the robot body 20 and the signpost SP based on the size of the marker on the image data captured by the imaging unit 26 and the stored actual marker size corresponding to the identification information of the marker.

[0033] The calculation unit 27 also calculates the central coordinates of the marker within the angle of view from the four corners 32 of the frame area 31. From the central coordinates, the calculation unit 27 calculates the direction (angle θ) of the sign post SP relative to the traveling direction of the autonomous mobile robot 1.

[0034] When the distance to a signpost SP (e.g., signpost SP1) guided by the autonomous mobile robot 1 becomes closer than a predetermined threshold, the autonomous mobile robot 1 switches its target to the next signpost SP (e.g., signpost SP2) and moves on.

[0035] Next, the operation of the autonomous mobile robot 1 described above will be explained in detail. In the following explanation, unless otherwise specified, calculations related to image processing of the autonomous mobile robot 1 are performed by the calculation unit 27. Calculations related to driving control of the autonomous mobile robot 1 are performed by the control unit 23. Note that the control system including the control unit 23, memory unit 25, calculation unit 27, and motor control unit 28 shown in FIG. 2 above is separated by function, but may be the same control device in terms of hardware. In other words, the following operations of the autonomous mobile robot 1 may be controlled by the same control device. The control device is a computer.

[0036] Figure 4 is a flow diagram showing the operation of the autonomous mobile robot 1 in one embodiment of the present invention. Figure 5 is a diagram showing an operation table for the autonomous mobile robot 1 in one embodiment of the present invention. Figure 6 is an image diagram showing image data 100 captured by the autonomous mobile robot 1 shown in Figure 1. First, the operation table for the autonomous mobile robot 1 will be described. As shown in Figure 5, the operation table stores STEP input sequences in which the autonomous mobile robot 1 performs predetermined operations in the order of preset operation numbers.

[0037] The user can edit the operation table by using the GUI software shown in Fig. 5 (for example, by selecting parameters for each item using a pull-down menu). The operation table is stored in both the autonomous mobile robot 1 and the host system.

[0038] The string of numbers on the left side of the action table shown in FIG. 5 is the action number string. In other words, the numbers 0, 1, 2, ... are action numbers. Each of the items "action," "parameter," and "label" is linked to the action number. The "parameter" item includes, from left to right, the following items: "signpost size or action," "signpost number or rotation angle," "following direction," "left-right distance of signpost," and "fore-and-aft distance of signpost." The content of each parameter in these items will be described later along with the actions of the autonomous mobile robot 1.

[0039] Next, the operation of the autonomous mobile robot 1 will be described with reference to the flowchart shown in Fig. 4. The autonomous mobile robot 1 executes operations in the order of the operation numbers (in order of increasing operation numbers) in the operation table shown in Fig. 5, and reads the identification information of the signpost SP to be detected (step S1).

[0040] Next, the autonomous mobile robot 1 detects the signpost SP1 having the specified identification information (signpost No. "1" of action number "1" shown in FIG. 5) from the image data 100 (see FIG. 6) captured by the imaging unit 26 (step S2). Note that the detection of the signpost SP is performed for each frame (each image) of the image data 100 captured by the imaging unit 26.

[0041] If the sign post SP1 cannot be detected (if step S2 is NO), the autonomous mobile robot 1 determines whether or not it has failed to detect the sign post SP1 a certain number of times (step S7). If step S7 is YES, the autonomous mobile robot 1 determines that an abnormality has occurred, such as a malfunction of the imaging unit 26 or the disappearance of the sign post SP, and terminates operation.

[0042] If signpost SP1 is detected (YES in step S2), the autonomous mobile robot 1 reads the size of the actual marker (first marker) of signpost SP1 from the identification information of signpost SP1 (step S3) (signpost size "L" for action number "1" in FIG. 5). Then, the autonomous mobile robot 1 calculates the distance D1 to signpost SP1 based on the size of the marker (first marker) of signpost SP1 in the image data 100 and the read size of the actual marker (first marker) of signpost SP1 (step S4).

[0043] Next, the autonomous mobile robot 1 performs the travel control of operation number "1" shown in Figure 5 (step S5). In the travel control set for operation number "1," the "following direction" is "right," the "distance to the left or right of the signpost" is "0.5," and the "distance in front or behind the signpost" is "1." That is, the travel control set for operation number "1" is executed based on the "following direction" being selected (set) as "right," the "distance to the left or right of the signpost" being selected (set) as "0.5," and the "distance in front or behind the signpost" being selected (set) as "1." Specifically, the autonomous mobile robot 1 moves forward (follows) signpost SP1 to the "right," keeping a distance of 0.5 meters (D2 = D1 × sin θ (see Figure 1)) from the signpost SP1.

[0044] The autonomous mobile robot 1 then determines whether it has approached signpost SP1 to a distance of 1 meter (D3 = D1 x cos θ (see Figure 1)) in the direction of travel (step S6). If step S6 is NO, the process returns to step S2 and the above-mentioned operations are repeated. When the autonomous mobile robot 1 has approached to a distance of 1 meter from signpost SP1, it determines that it has reached the destination of operation number 1, terminates operation number 1, and executes the next operation number 2. Based on operation number 2, the guidance target (the target to which the autonomous mobile robot 1 is being guided) is switched to the next signpost SP2.

[0045] The operation for operation number "2" is the same as the operation for operation number "1" described above. First, the autonomous mobile robot 1 reads the identification information of the signpost SP2 to be detected next (step S1). Next, the autonomous mobile robot 1 detects the signpost SP2 having the specified identification information (signpost No. "2" for operation number "2" shown in FIG. 5) from the image data 100 captured by the imaging unit 26 (see FIG. 6) (step S2).

[0046] If signpost SP2 is detected (YES in step S2), the autonomous mobile robot 1 reads the size of the actual marker (second sign) for signpost SP2 (signpost size "2L" (=2×L) for action number "2" shown in FIG. 5) from the identification information of signpost SP2 (step S3). The autonomous mobile robot 1 then calculates the distance D1 to signpost SP2 based on the size of the marker (second sign) for signpost SP2 in the image data 100 and the read size of the actual marker (second sign) for signpost SP2 (step S4).

[0047] Next, the autonomous mobile robot 1 performs travel control for operation number "2" (step S5). In the travel control set for operation number "2," the "following direction" is "forward," the "distance to the left or right of the signpost" is "0," and the "distance to the front or rear of the signpost" is "1." In other words, the travel control set for operation number "2" is executed based on the "following direction" being selected (set) as "forward," the "distance to the left or right of the signpost" being selected (set) as "0," and the "distance to the front or rear of the signpost" being selected (set) as "1." Specifically, the autonomous mobile robot 1 moves forward (follows) toward the "front" of signpost SP2, with a distance to the left or right of "0" meters.

[0048] Then, when the autonomous mobile robot 1 approaches the destination signpost SP2 to within a distance of "1" meter in the direction of travel (if step S6 is YES), it ends operation number "2" and executes the next operation number "3".

[0049] The "action" set for action number "3" is "rotation." The "action" parameter for this rotation is "rotate right," and the "rotation angle" parameter is "90" degrees. In other words, the autonomous mobile robot 1 rotates 90 degrees to the right in front of signpost SP2, as shown in FIG. 1. In this way, the autonomous mobile robot 1 performs the actions in the order of the action numbers in the action table shown in FIG. 5, and moves from a predetermined start point to a predetermined goal point.

[0050] As described above, the autonomous mobile robot 1 detects signposts SP placed along its travel route 10 using the onboard imaging unit 26 and moves while being guided by the signposts SP. The travel route 10 of the autonomous mobile robot 1 is specified by setting the relative position of the signposts SP, and by placing multiple signposts SP along the route, it is possible to create a long-distance route. Furthermore, by sequentially switching the signposts SP detected while the autonomous mobile robot 1 is moving along the route, the autonomous mobile robot 1 can continue to move.

[0051] In some locations, the spacing between signposts SP may be increased and the size of the signposts SP may be increased. Conversely, in order to bring the autonomous mobile robot 1 closer to the signpost SP, the size of the signpost SP may be reduced so that the signpost SP remains within the field of view (camera field of view) of the image data captured by the imaging unit even when the autonomous mobile robot 1 approaches the signpost SP. In this embodiment, the size of the signpost SP marker on the image data is set for each signpost SP detected by the imaging unit 26, and is linked to the identification information of the signpost SP when setting a route, so that the actual size of the signpost SP marker can also be registered. The actual size of the signpost SP marker is then used when calculating the distance between the autonomous mobile robot 1 and the signpost SP.

[0052] 6 , even if the image data 100 captured by the autonomous mobile robot 1 simultaneously captures a marker (first marker) for a normal-sized sign post SP1 that is close to the autonomous mobile robot 1 and a marker (second marker) for a large-sized sign post SP2 that is far from the autonomous mobile robot 1, and the markers for the two sign posts SP (SP1, SP2) are displayed as similar sizes in the image data 100, the autonomous mobile robot 1 can accurately calculate the distance to the two sign posts SP (SP1, SP2) and perform guidance control. Conversely, even if the image data 100 simultaneously captures a marker for a small-sized sign post SP that is close to the autonomous mobile robot 1 and a marker for a normal-sized sign post SP that is far from the autonomous mobile robot 1, and the two sign posts SP are displayed as similar sizes in the image data 100, the autonomous mobile robot 1 can approach the small-sized sign post SP that is closer to the autonomous mobile robot 1.

[0053] As described above, according to the present embodiment, the autonomous mobile robot 1 detects sign posts SP placed along the travel route 10 using the onboard imaging unit 26 and moves while being guided by the sign posts SP, the markers for the sign posts SP coming in a variety of sizes, and includes a memory unit 25 that stores individual identification information for the sign posts SP and the size of the actual sign post SP marker corresponding to the identification information, and a calculation unit 27 that detects the sign posts SP from image data captured by the imaging unit 26, acquires the identification information for the sign posts SP, and calculates the distance to the sign post SP based on the size of the sign post SP marker in the image data and the size of the actual sign post SP marker corresponding to the identification information. With this configuration, even if the sign post SP markers come in a variety of sizes, the distance to the sign post SP can be accurately calculated and the autonomous mobile robot 1 can be guided and controlled.

[0054] Furthermore, the autonomous mobile robot 1 of this embodiment performs predetermined actions in the order of preset action numbers based on the identification information acquired from the signpost SP. With this configuration, the predetermined actions are performed in the order of the action numbers, so setting the actions does not require advanced knowledge or complicated work.

[0055] Furthermore, according to the autonomous mobile robot 1 of this embodiment, when it approaches the sign within a predetermined distance, it switches its target to the next sign having the identification information set in the next operation number and moves on. With this configuration, it is possible to create a long-distance route by placing multiple signposts SP along the route.

[0056] Furthermore, according to the autonomous mobile robot 1 of this embodiment, the sign post SP marker is square, and the memory unit 25 stores the size of one side of the sign post SP marker as the actual size of the sign post SP marker. This configuration reduces the amount of information regarding the size of the sign post SP marker, thereby reducing the memory capacity and the amount of calculation required.

[0057] Furthermore, the autonomous mobile robot 1 of this embodiment is equipped with a communication unit that receives, from a host system, the identification information and information on the size of the marker on the actual signpost SP that corresponds to the identification information. With this configuration, the setting can be completed by editing the operation table shown in Figure 5 using input from a PC or the like, so changing the setting of the travel route 10 does not require advanced knowledge or complicated work.

[0058] Furthermore, the control system for the autonomous mobile robot 1 described above provides the same effects as those described above.

[0059] The autonomous mobile robot 1 and control system for autonomous mobile robot 1 described above can also be explained as follows: The autonomous mobile robot 1 and control system for autonomous mobile robot 1 described below can also provide the same effects as those described above, just like the autonomous mobile robot 1 and control system for autonomous mobile robot 1 described above.

[0060] The autonomous mobile robot has a plurality of sizes, is arranged along a movement path, and moves while being guided by a plurality of signs including a first sign and a second sign. The autonomous mobile robot is equipped with an imaging unit that captures image data, a memory unit that stores individual identification information for each of the plurality of signs and the individual actual size of each of the plurality of signs corresponding to the individual identification information, and a calculation unit that detects the first sign from the image data captured by the imaging unit, acquires the individual identification information of the first sign, and calculates the distance to the first sign based on the size of the first sign in the image data and the individual actual size of the first sign corresponding to the individual identification information of the first sign.

[0061] The autonomous mobile robot performs predetermined actions in the order of pre-set action numbers based on the individual identification information acquired from the first marker.

[0062] When the autonomous mobile robot approaches the first marker within a predetermined distance, it switches its target of guidance to the second marker having the individual identification information set in the next operation number and moves there.

[0063] In the autonomous mobile robot, the shape of the first marker is a square, and the memory unit stores the size of one side of the first marker as the actual size of each of the first markers.

[0064] In the autonomous mobile robot, the second marker has a square shape, and the memory unit stores the size of one side of the second marker as the actual size of each of the second markers.

[0065] The autonomous mobile robot further includes a communication unit that receives, from an external device, the individual identification information of each of the plurality of markers and the individual actual size information of each of the plurality of markers corresponding to the individual identification information.

[0066] The control system for an autonomous mobile robot is a control system for an autonomous mobile robot that has multiple sizes, is arranged along a movement path, and moves while being guided by multiple signs including a first sign and a second sign, and includes an imaging unit that captures image data, a memory unit that stores individual identification information for each of the multiple signs and the individual actual size of each of the multiple signs corresponding to the individual identification information, and a calculation unit that detects the first sign from the image data captured by the imaging unit, obtains the individual identification information of the first sign, and calculates the distance to the first sign based on the size of the first sign on the image data and the individual actual size of the first sign corresponding to the individual identification information of the first sign.

[0067] While the preferred embodiments of the present invention have been described above with reference to the drawings, the present invention is not limited to the above-described embodiments. The shapes and combinations of the components shown in the above-described embodiments are merely examples, and various modifications can be made based on design requirements, etc., without departing from the spirit of the present invention.

[0068] For example, the size of the markers on the signpost SP to be registered (stored) can be set to a ratio greater than the normal individual variation in a human face, relative to the ratio of a normal marker on the signpost SP. That is, the size of the markers on the signpost SP to be registered (stored) in the memory unit 25 may be set so that the ratio of the small size of the markers on the signpost SP to the normal size is smaller than the ratio of the small size of the markers on the signpost SP to the normal size (within the range of normal individual variation) of a human face. Also, the size of the markers on the signpost SP to be registered (stored) in the memory unit 25 may be set so that the ratio of the large size of the markers on the signpost SP to the normal size is greater than the ratio of the large size of the markers on the signpost SP to the normal size (within the range of normal individual variation) of a human face. For example, if the size of a marker on a normal signpost SP is "L," the size of the marker on the signpost SP registered in the memory unit 25 can be set to 1 / 2 (0.5L) or less, or 2 (2L) or more, or 1 / 5 (0.2L) or less, or 5 (5L) or more, or 1 / 10 (0.1L) or less, or 10 (10L) or more.

[0069] Furthermore, for example, in the above embodiment, the autonomous mobile robot 1 is described as a vehicle, but the autonomous mobile robot 1 may be an air vehicle commonly known as a drone. Also, for example, in the above embodiment, the autonomous mobile robot 1 is described as having a plurality of signposts SP arranged along the travel route 10, but the autonomous mobile robot 1 may be configured as having only one signpost SP arranged.

[0070] According to the present invention, an autonomous mobile robot and a control system for the autonomous mobile robot can be obtained that can accurately calculate the distance to a sign and perform guidance control even when the sign has a variety of sizes.

[0071] REFERENCE SIGNS LIST 1 Autonomous mobile robot 10 Travel route 20 Robot body 20L Drive wheel 20R Drive wheel 21 Sign post detection unit 22 Drive unit 23 Control unit 24 Communication unit 25 Memory unit 26 Imaging unit 27 Calculation unit 28 Motor control unit 29 Motor 30 Identification area 31 Frame area 32 Corner portion 100 Image data C1 First cell C2 Second cell D1 Distance SP Sign post SP1 Sign post SP2 Sign post θ Angle

Claims

1. An autonomous mobile robot having a plurality of sizes, arranged along a moving path, and moving while being guided by a plurality of markers including a first marker and a second marker, An imaging unit that captures image data; A storage unit that stores individual identification information of each of the plurality of markers and individual actual sizes of each of the plurality of markers corresponding to the individual identification information; a calculation unit that detects the first marker from the image data captured by the imaging unit, acquires the individual identification information of the first marker, and calculates a distance to the first marker based on a size of the first marker on the image data and the individual actual size of the first marker corresponding to the individual identification information of the first marker; Equipped with Autonomous mobile robot.

2. performing a predetermined action in the order of preset action numbers based on the individual identification information acquired from the first sign; The autonomous mobile robot according to claim 1 .

3. When the vehicle approaches the first marker within a predetermined distance, the vehicle switches the target to be guided to the second marker having the individual identification information set to the next operation number and moves thereto. The autonomous mobile robot according to claim 2 .

4. The first marker has a square shape, The storage unit stores a size of one side of the first marker as the individual actual size of the first marker. The autonomous mobile robot according to claim 1 .

5. The second marker has a square shape, The storage unit stores a size of one side of the second marker as the individual actual size of the second marker.

4. The autonomous mobile robot according to claim 3.

6. A communication unit that receives, from an external device, the individual identification information of each of the plurality of markers and information on the individual actual size of each of the plurality of markers corresponding to the individual identification information.

2. An autonomous mobile robot as claimed in claim 1.

7. A control system for an autonomous mobile robot that has a plurality of sizes, is arranged along a moving path, and moves while being guided by a plurality of markers including a first marker and a second marker, An imaging unit that captures image data; A storage unit that stores individual identification information of each of the plurality of markers and individual actual sizes of each of the plurality of markers corresponding to the individual identification information; a calculation unit that detects the first marker from the image data captured by the imaging unit, acquires the individual identification information of the first marker, and calculates a distance to the first marker based on a size of the first marker on the image data and an actual size of the first marker corresponding to the individual identification information of the first marker, Control system for an autonomous mobile robot.