JP7609211B2 - AUTONOMOUS MOBILE DEVICE AND METHOD FOR CONTROLLING MOBILITY OF AUTONOMOUS MOBILE DEVICE - Google Patents

Description

The present invention relates to an autonomous mobile device and a method for controlling the movement of an autonomous mobile device.

The use of an autonomous mobile device, an automated guided vehicle (AGV), to automate transport operations within a warehouse has been widely considered. Specifically, a configuration is already known in which a connection mechanism is provided to an automated guided vehicle, and the object to be transported (cart) is connected to the automated guided vehicle to transport it within a warehouse.

Patent Document 1 discloses a technology in which sensors are mounted on both the automated guided vehicle and the target of the automated guided vehicle, and the movement of the automated guided vehicle is controlled while communicating using these sensors. Patent Document 2 discloses a technology in which a sensor is provided only on the automated guided vehicle, and the movement of the automated guided vehicle is controlled using this sensor toward the target. Patent Document 2 also discloses a technology in which the orientation of the object to be transported (cart) is detected by detecting the corners (both ends) of the front of the object to be transported (cart) with a laser beam, and the automated guided vehicle is moved based on the detected orientation of the object to be transported (cart) to automatically connect to the object to be transported (cart).

However, according to the technology disclosed in Patent Document 2, the front corners (both ends) of the transported object (cart) are detected using laser light, so there is a concern that erroneous detection may occur depending on the shape of the transported object (cart) or when there are objects (other carts or luggage) around the transported object (cart). Specifically, there is a concern that erroneous detection may occur for transported objects with shapes whose ends are difficult to identify, such as baskets. In addition, there is a concern that the possibility of erroneous detection may increase further when luggage is loaded on the basket or when multiple baskets are placed adjacent to each other.

Furthermore, according to the technology disclosed in Patent Document 2, in order to detect the orientation of the transported object (cart) by detecting the corners (both ends) of the front of the cart, a certain distance (length) is required at both ends, making it unsuitable for detection from long distances.

Therefore, the techniques disclosed in Patent Documents 1 and 2 leave room for improvement in terms of the accuracy of angle detection and the distance at which angles can be detected.

The present invention has been made in consideration of the above, and aims to improve the accuracy of angle detection of the transported object and to enable the angle of the transported object to be detected from a longer distance than with conventional technology.

In order to solve the above-mentioned problems and achieve the object, an autonomous mobile device of the present invention is an autonomous mobile device having a detection device that optically scans a detection area by emitting light into the detection area and detects an identification member present in the detection area by a sensor that receives reflected light of the emitted light reflected by an object present in the detection area, the detection device having reflection intensity detection means that detects a reflection intensity of light reflected from the object based on the light received by the sensor, and distance detection means that detects a distance to a detection surface of the identification member based on the light received by the sensor, and the detection device detects candidates for the identification member from information detected by the reflection intensity detection means. the candidate shape plane is detected from the information detected by the distance detection means , the identification member is attached to the vehicle to be transported, the autonomous mobile device is moved to a target position where it will be connected to the vehicle to be transported, and the autonomous mobile device is connected to the vehicle to be transported at the target position, the identification information written on the identification member attached to the vehicle to be transported is prepared for each type of vehicle to be transported, the amount of movement is registered in association with the identification information, the detection device detects the identification information written on the identification member, and the control means changes the target position based on the amount of movement linked to the identification information .

The present invention has the effect of improving the accuracy of angle detection of the transported object and being able to detect the angle of the transported object from a longer distance than with conventional technology.

FIG. 1 is an explanatory diagram showing a self-propelled robot and a basket cart in a transport system according to a first embodiment. FIG. 2 is a perspective view showing an example in which an ID panel is arranged on a cart. FIG. 3 is a diagram showing an example of an ID panel. FIG. 4 is an explanatory diagram showing an example of a logistics warehouse. FIG. 5 is a block diagram showing an example of the hardware configuration of a controller of the self-running robot. FIG. 6 is a block diagram showing an example of the functional configuration performed by the controller of the self-running robot. FIG. 7 is a flowchart showing an outline of the flow of the ID panel detection process. FIG. 8 is a diagram showing a peak value detection state in the detection of an ID panel. FIG. 9 is a diagram for explaining a technique for detecting a peak value. FIG. 10 is a diagram showing a state of distance information value detection in detecting an ID panel. FIG. 11 is a diagram showing the range in which the self-propelled robot and the basket cart can be connected. FIG. 12 is a diagram showing an example of calculation of the inclination of an ID panel. FIG. 13 is a flowchart showing the flow of the process of moving to the target position after the detection process of the ID panel is completed. FIG. 14 is a diagram showing a method for detecting the inclination of an ID panel. FIG. 15 is a diagram showing a method for detecting the orientation of an ID panel. FIG. 16 is a diagram showing a method for calculating a relative target position. FIG. 17 is a diagram showing a schematic diagram of a travel route to a relative target position. FIG. 18 is a flowchart illustrating a flow of a detection process of an ID panel according to the second embodiment. FIG. 19 is a diagram showing a peak value detection state in the detection of an ID panel. FIG. 20 is a diagram showing an approach state to the ID panel. FIG. 21 is a diagram showing an example of content identification on an ID panel. FIG. 22 is a block diagram illustrating an example of a hardware configuration of a self-running robot in the transfer system according to the third embodiment. As illustrated in FIG. FIG. 23 is a flowchart showing an outline of the flow of the ID panel detection process. FIG. 24 is a diagram showing an example of content identification of an ID panel. FIG. 25 is a flowchart showing the flow of the movement process to the target position after the detection process of the ID panel according to the fourth embodiment is completed. FIG. 26 is a diagram showing a method of shifting the relative target position.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of an autonomous mobile device and a method for controlling the movement of an autonomous mobile device will be described in detail with reference to the accompanying drawings.

(First embodiment)
1 is an explanatory diagram showing a self-propelled robot 1 and a cage cart 2 in a transport system according to a first embodiment. This embodiment is an example of a transport system in which the self-propelled robot 1 is applied to an autonomous mobile device as an automated guided vehicle (AGV) that automatically connects to and tows a towed vehicle such as the cage cart 2 to be connected, thereby automatically transporting the cage cart 2 to a desired destination.

The self-propelled robot 1 is an autonomous mobile device that has the ability to automatically couple to a basket cart 2 that carries objects to be transported. This allows the self-propelled robot 1 to transport a large number of objects loaded on the basket cart 2 by towing the basket cart 2 with a simple mobile device, without the need for the self-propelled robot 1 to have a configuration capable of carrying objects.

As shown in FIG. 1, the self-propelled robot 1 includes a robot main body 100, which is the device body, a magnetic sensor 3, a controller 4, which is a detection device, a power source (battery) 6, a power motor 7, a motor driver 8, a range sensor 9, which is a first sensor, a coupling device 10, drive wheels 71, and driven wheels 72. The range sensor 9 recognizes the surrounding environment of the self-propelled robot 1.

In the transport system of this embodiment, a magnetic tape is placed on the floor surface of the route that the self-propelled robot 1 can travel, and the magnetic sensor 3 is used to detect the magnetic tape, thereby making it possible for the self-propelled robot 1 to recognize that it is located on the route that it can travel. The guidance method for placing the tape on the floor surface is not limited to a configuration using magnetic tape (magnetic type), but may also be a configuration using optical tape (optical type). When optical tape is used, a reflective sensor or image sensor can be used instead of the magnetic sensor 3.

The transportation system of this embodiment can perform autonomous driving that recognizes its own position by comparing a two-dimensional or three-dimensional map with the detection results of the range sensor 9. The range sensor 9 is a scanning type laser distance sensor (laser range finder (LRF)) that irradiates an object with laser light and measures the distance to the object from the reflected light. Hereinafter, the range sensor 9 may be referred to as LRF9.

Stereo cameras and depth cameras can also be used as sensors to recognize the vehicle's position by comparing the detection results with a two-dimensional or three-dimensional map.

Based on the detection results of the magnetic sensor 3 and the range sensor 9, the controller 4 controls the driving of the power motor 7 via the motor driver 8, and the power motor 7 drives the drive wheels 71 to rotate, allowing the self-propelled robot 1 to travel autonomously.

As shown in FIG. 1, the basket cart 2 includes a bottom plate 22 that holds the basket section 20, casters 23 arranged at the four corners of the rectangular bottom plate 22, and an ID panel 21, which is an identification member arranged on the side of the basket section 20.

An ID panel 21 with a marker for recognition is attached to the basket cart 2 placed in a specified location. The marker is encoded with the identification number information (ID information) of the basket cart 2, destination information such as the transport position, and transport priority information using a strip-shaped member such as retroreflective tape 21b (see Figure 3). The identification number information (ID information) of the basket cart 2 can be recognized by referencing a table, etc.

The self-propelled robot 1 is equipped with a marker reading device. The marker reading device is made up of a range sensor 9, which is an ID recognition means, and a decoding unit. In this embodiment, the controller 4 functions as the decoding unit. The controller 4 recognizes the marker code from the detection results of the range sensor 9. The decoding unit of the controller 4 decodes the code information of the recognized marker to obtain the identification number information, destination information, and priority information of the basket cart 2.

In this embodiment, the details will be described later, but retroreflective tape 21b is used as a marker attached to the basket cart 2. The self-propelled robot 1 reads using a range sensor 9 such as a laser range finder (LRF) that acquires the distance from the surrounding environment. The controller 4 calculates the position coordinates of the ID panel 21 from the distance information between the ID panel 21, the position of which is recognized by the range sensor 9, and the range sensor 9. Using the calculated position coordinates of the ID panel 21, the controller 4 controls the drive of the power motor 7, thereby positioning the self-propelled robot 1 at a predetermined position in front of the ID panel 21 on the basket cart 2.

Next, we will explain the ID panel 21 in detail.

Here, FIG. 2 is a perspective view showing an example in which an ID panel 21 is arranged on a cage cart 2. As shown in FIG. 2, the ID panel 21 is arranged in approximately the center of the front of the cage cart 2. More specifically, the ID panel 21 is arranged in a position facing the range sensor 9 of the self-propelled robot 1 (see FIG. 1). The ID panel 21 is detachable from the cage cart 2, and is installed by an operator in a predetermined position such as the central framework (vertical bar) of the cage cart 2. Note that the angle of the ID panel 21 is synonymous with the angle of the cage cart 2, so it is installed so that it is parallel to the front part of the cage cart 2.

In order for the self-propelled robot 1 to connect to the basket trolley 2, the self-propelled robot 1 needs to detect the distance and angle between the basket trolley 2 and the self-propelled robot 1, and travel towards the basket trolley 2. However, when recognizing the shape of the basket trolley 2 with the range sensor 9, it is difficult to accurately detect the distance and angle from the basket trolley 2 because the shape to be recognized changes depending on the loading condition of the basket trolley 2. Therefore, in this embodiment, an ID panel 21 is attached to the basket trolley 2, and the ID panel 21 is detected by the range sensor 9 mounted on the self-propelled robot 1.

Here, we provide a technical explanation of the ID panel 21, which is an identification member. The ID panel 21 is an identification member for detecting and identifying a detection target using a detection device that uses electromagnetic waves, such as a laser range finder (LRF). In order to detect using electromagnetic waves, the detection surface (e.g., the surface of the ID panel 21) on which the electromagnetic waves are detected is geometrically divided into at least three regions in a first direction, and the divided regions are set so that at least adjacent regions have different reflectances to the electromagnetic waves.

This first direction is parallel to the scanning direction of the detection device. In the example of the ID panel 21 shown in FIG. 3, the area is divided in the lateral direction (horizontal direction) of the paper, and the scanning direction of the detection device is the lateral direction (horizontal direction) of the paper.

The detection device then detects and identifies the target by detecting a specific pattern (signal) using the difference in intensity of the reflected signal when electromagnetic waves or the like are irradiated.

Figure 3 is a diagram showing an example of an ID panel 21. As shown in Figure 3, in this embodiment, a plate-like member such as A4-sized cardboard is used as the ID panel 21, which is an identification member. A marker that displays the ID is formed by attaching retroreflective tape 21b to both ends and between the surface 21a of the plate-like member. In addition, the surface 21a of the plate-like member and the retroreflective tape 21b form a detection surface 21c.

The surface 21a of the plate-like member and the retroreflective tape 21b have different reflectivities for electromagnetic waves, etc., so by configuring it in this way, the detection surface that detects the electromagnetic waves, etc. described above is geometrically divided into at least three regions a, b, and c in the first direction, and the reflectivities for electromagnetic waves, etc. of at least adjacent regions in the divided multiple regions a, b, and c are set to be different.

As shown in FIG. 3(a), the at least three divided regions are, from one end side of the detection surface 21c in the first direction to the other end side, a first region a of retroreflective tape 21b, a second region b of the plate-like member surface 21a, and a third region c of retroreflective tape 21b, and are configured so that the reflectance of the first region a is different from the reflectance of the second region b, and the reflectance of the third region c is different from the reflectance of the second region b.

Here, by applying a retroreflective tape 21b having a different reflectivity to the first region a and the third region c, it is possible to make the reflectivity of the first region a, the reflectivity of the second region b, and the reflectivity of the third region c different. In addition, by applying a retroreflective tape 21b having the same reflectivity to the first region a and the third region c, the reflectivity of the first region a and the reflectivity of the third region c may be configured to be equal.

Furthermore, the reflectance of the first region a and the third region c do not need to be higher than the reflectance of the second region b, and at least one of the reflectance of the first region a and the third region c may be lower than the reflectance of the second region b.

In addition, the ID panel 21, which is the identification member, does not have to be composed of a single plate-shaped member, and the detection surface 21c may be formed, for example, by arranging two plate-shaped members side by side.

The first sensor, the range sensor 9, detects a first amount of received light reflected in the first area a, a second amount of received light reflected in the second area b, and a third amount of received light reflected in the third area c, as well as a first distance from the range sensor 9 to the first area a, a second distance from the range sensor 9 to the second area b, and a third distance from the range sensor 9 to the third area c.

As will be described in more detail below, the ID panel 21 is identified based on the first amount of received light, the second amount of received light, the third amount of received light, the first distance, the second distance, and the third distance.

The retroreflective tape 21b at both ends of the ID panel 21 represents a start bit and a stop bit, and defines a recognition area. The information held by the ID panel 21 (recognition number information of the cart 2, destination information, priority information) is displayed according to the position of the retroreflective tape 21b constituting the pattern affixed between the retroreflective tape 21b at both ends representing the start bit and the stop bit. The retroreflective tape 21b constituting the pattern may be shorter (i.e. thinner) in horizontal length than the two retroreflective tapes 21b arranged at both ends of the detection surface 21c substrate member 21a. In other words, the retroreflective tape 21b arranged in the second area b is a pattern having information.

In the example of the ID panel 21 shown in FIG. 3, the detection surface, which is the surface of the ID panel 21, is divided into rectangular regions by attaching retroreflective tape 21b to the surface 21a of the plate-like member, but the shape of the divided regions is not limited to rectangular and may be any geometric shape. Note that, because the example of the ID panel 21 shown in FIG. 3 has retroreflective tape 21b attached, it is possible to manufacture the identification member simply and inexpensively.

The laser emitted from the range sensor 9 hits the retroreflective tape 21b of the ID panel 21 and the surface 21a of the plate-like member that constitutes the detection surface 21c, then is reflected (with an intensity according to the reflectivity, angle of incidence, etc.) and detected by a detector inside the range sensor 9. Inside the range sensor 9, the distance is calculated from the time it takes for the laser to travel back and forth, the reflection intensity is calculated from the intensity value of the detected laser light, and the result is sent to the controller 4.

In the example of the ID panel 21 shown in FIG. 3(a), the information held by the ID panel 21 (the identification number information of the cart 2, the transport destination information, and the priority information) is identified according to the respective distances (widths) of A mm and B mm. In addition, in the example of the ID panel 21 shown in FIG. 3(b), the information held by the ID panel 21 (the identification number information of the cart 2, the transport destination information, and the priority information) is identified according to the respective distances (widths) of C mm, D mm, and E mm.

The retroreflective tape 21b attached to the ID panel 21 only needs to have a difference in reflection (absolute value of brightness difference) with respect to the surface 21a of the plate-like member of the ID panel 21. Therefore, the member attached to the ID panel 21 is not limited to a member that retroreflects light, and may be a member that absorbs light.

By using the retroreflective tape 21b as the marker, it becomes suitable for reading using the range sensor 9, which is a laser range finder (LRF). In a configuration using the retroreflective tape 21b, the controller 4 obtains the distance and reflection intensity to the retroreflective tape 21b on both ends of the ID panel 21 obtained from the range sensor 9, and calculates the distance and angle between the cart 2 and the self-propelled robot 1 from the distance and reflection intensity.

Here, reflection intensity is a numerical value that represents a voltage corresponding to the intensity of light received by the light receiving element inside the range sensor 9. The retroreflective tape 21b attached to the ID panel 21 has a high reflection intensity value, so it can accurately identify the position and can be used as feedback information for positioning the self-propelled robot 1 when connected.

The transport system of this embodiment using self-propelled robot 1 automates the task of transporting a transport object with casters, such as a basket cart 2, in a logistics warehouse or the like. The transport operation by self-propelled robot 1 is divided into the following three tasks: (1) to (3).
(1) Searching for and connecting objects to be transported in the temporary storage area (2) Driving in the driving area (3) Searching for storage locations and unloading in the storage area

Figure 4 is an explanatory diagram showing an example of a logistics warehouse 1000 to which a conveying system is expected to be applied. Figure 4 shows the floor surface of the logistics warehouse 1000 as a plan view when viewed from the ceiling side. The XY plane shown in Figure 4 is a plane parallel to the floor surface, and the Z axis indicates the height direction. In the logistics warehouse 1000 shown in Figure 4, the temporary storage area A1 above (1) is expected to be a place where unloaded luggage is lined up. The storage area A2 above (3) is expected to be an area in front of an elevator when transporting luggage to other floors by elevator or the like. In addition, the running area A3 above (2) is expected to be a place where the arrow in Figure 4 indicates the round trip route between the temporary storage area A1 and the storage area A2.

The self-propelled robot 1 moves along the main line using a guidance method that uses a sensor to recognize a magnetic tape line installed on the floor. It also detects an area mark 52 next to the line to determine the area. The ID panel 21 also contains information about the storage area A2 to which the robot is to be transported and priority information.

As shown in FIG. 4, a line of magnetic tape for guiding the self-propelled robot 1 is provided in the travel area A3, and a travel line 51 along which the self-propelled robot 1 travels is provided. In addition, at the entrances to the temporary placement area A1 and storage area A2 in the travel area A3, area marks 52 are placed near the travel line 51, allowing the robot to recognize which area it has arrived at.

The program executed by self-propelled robot 1, which will be described later, allows the user to specify the operation for each area. Self-propelled robot 1 performs a connection operation in temporary storage area A1 and a parking operation in storage area A2.

In this embodiment, the temporary storage area A1 and the storage area A2 are located immediately next to the travel line 51. The self-propelled robot 1 searches the temporary storage area A1 and the storage area A2 while traveling on the travel line 51. When the self-propelled robot 1 finds the basket cart 2 to be transported in the temporary storage area A1, it transitions to a coupling operation with the basket cart 2 from the travel line 51. It also searches for an empty address in the storage area A2 from the travel line 51 and performs a parking operation.

In addition, in the logistics warehouse 1000 shown in FIG. 4, multiple retroreflective tapes 53 are installed on the opposite side of the travel line 51 from the storage area A2. The multiple retroreflective tapes 53 are installed in positions where they can be detected by the range sensor 9 of the self-propelled robot 1. The self-propelled robot 1 estimates its own position based on the installation information of the multiple retroreflective tapes 53.

Next, we will explain the controller 4 of the self-propelled robot 1.

Here, FIG. 5 is a block diagram showing an example of the hardware configuration of the controller 4 of the self-propelled robot 1. As shown in FIG. 5, the controller 4 has a control device 11 such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit), a main memory device 12 such as a ROM (Read Only Memory) or a RAM (Random Access Memory), an auxiliary memory device 13 such as an SSD (Solid State Drive), a display device 14 such as a display, an input device 15 such as a keyboard, and a communication device 16 such as a wireless communication interface, and has a hardware configuration that utilizes a normal computer.

The control device 11 executes various programs stored in the main memory device 12 and the auxiliary memory device 13 to control the operation of the entire controller 4 (self-propelled robot 1) and realize various functional parts described below.

The program executed by the controller 4 of the self-propelled robot 1 may be provided by being recorded in an installable or executable file format on a computer-readable recording medium such as a CD-ROM, a flexible disk (FD), a CD-R, or a digital versatile disk (DVD).

Furthermore, the program executed by controller 4 of self-propelled robot 1 may be stored on a computer connected to a network such as the Internet and provided by downloading it via the network. Also, the program executed by controller 4 of self-propelled robot 1 may be provided or distributed via a network such as the Internet.

Next, the functions that controller 4 of self-propelled robot 1 performs as a result of control device 11 of controller 4 of self-propelled robot 1 executing programs stored in main memory device 12 and auxiliary memory device 13 will be described. Note that a description of conventionally known functions will be omitted here, and the characteristic functions performed by controller 4 of self-propelled robot 1 of this embodiment will be described in detail.

In addition, some or all of the functions performed by the controller 4 of the self-propelled robot 1 may be configured using a dedicated processing circuit such as an IC (Integrated Circuit).

Figure 6 is a block diagram showing an example of the functional configuration of controller 4 of self-propelled robot 1. As shown in Figure 6, controller 4 of self-propelled robot 1 includes detection means 111, calculation means 112, and movement control means 113.

The detection means 111 detects the ID panel 21 based on the distance between the retroreflective tapes 21b on the ID panel 21 and the respective positions of the retroreflective tapes 21b via the range sensor 9.

The calculation means 112 calculates the distance and angle to the ID panel 21 detected by the detection means 111.

The movement control means 113 controls the movement to the target position according to the distance and angle to the ID panel 21 calculated by the calculation means 112.

Next, the detection process of the ID panel 21 provided on the basket cart 2 of the self-propelled robot 1 will be described in detail.

Here, FIG. 7 is a flowchart that shows an outline of the flow of the detection process of the ID panel 21. As shown in FIG. 7, the controller 4 (detection means 111) of the self-propelled robot 1 detects a peak from the reflection intensity value of the range sensor 9 (step S1).

Figure 8 is a diagram showing the peak value detection state in detection of the ID panel 21. As shown in Figure 8, the controller 4 (detection means 111) of the self-propelled robot 1 travels on the travel line 51 in the travel area A3 while checking the value of the range sensor 9. Note that the detection range of the range sensor 9 shown in Figure 8 (a) is approximately 270 degrees in this embodiment.

Then, as shown in FIG. 8(b), the controller 4 (detection means 111) of the self-propelled robot 1 detects the peak value of the reflection intensity from the range sensor 9.

Figure 9 is a diagram explaining a method for detecting peak values. As shown in Figure 9(a), when the distance to the reflecting material is long, the reflection intensity value output by the range measurement sensor 9 is low. Note that for a certain material, a correspondence equation for reflection intensity values according to distance is calculated in advance. Then, as shown in Figure 9(b), for values normalized using the correspondence equation, a value with a ratio equal to or greater than a certain value (80% in this case) is considered to be a peak.

Returning to FIG. 7, when the controller 4 (detection means 111) of the self-propelled robot 1 detects a peak from the reflection intensity value of the range sensor 9 (step S1), it determines whether the distance (width) between the detected peaks corresponds to the distance (width) between the retroreflective tapes 21b of the ID panel 21 (step S2).

Specifically, as shown in FIG. 8(b), the controller 4 (detection means 111) of the self-propelled robot 1 calculates the distance (width) between the detected peaks and compares it with the distance between the retroreflective tapes 21b of the ID panel 21.

If the controller 4 (detection means 111) of the self-propelled robot 1 determines that the detected inter-peak distance corresponds to the distance (width) between the retroreflective tapes 21b of the ID panel 21 (Yes in step S2), it selects it as a candidate for the ID panel 21 and proceeds to step S3.

On the other hand, if the controller 4 (detection means 111) of the self-propelled robot 1 determines that the detected peak-to-peak distance does not correspond to the distance (width) between the retroreflective tapes 21b of the ID panel 21 (No in step S2), it does not select it as a candidate for the ID panel 21 and returns to step S1.

Next, the controller 4 (detection means 111) of the self-propelled robot 1 determines the distance information value of the range sensor 9 between the peaks, including the peak, as described below (step S3).

Here, FIG. 10 is a diagram showing the distance information value detection state in detecting the ID panel 21. In FIG. 10, the cart 2 is shown as a plan view seen from the ceiling side. As shown in FIG. 10, for the area of the ID panel 21 that was determined as a candidate in step S2, the distance from the range sensor 9 to the ID panel 21 is calculated. Note that the distance from the range sensor 9 can be calculated from the time it takes for the laser to return. Then, based on the distance information value, the range sensor 9 can detect the shape of an object within the detection range as seen from the range sensor 9. If the ID panel 21 is present within the detection range, it can detect the shape (surface shape) of the detection surface 21c of the ID panel 21 as seen from the range sensor 9.

For example, when the range sensor 9 performs a detection operation by facing the detection surface 21c of the ID panel 21 from the front with respect to the center of the detection surface 21c of the ID panel 21 in the scanning direction of the range sensor 9 (when the positional relationship between the range sensor 9 and the detection surface 21c of the ID panel 21 is as shown in Figure 10 (a)), the distance information values to the ID panel 21 detected by the range sensor 9 will be approximately the same value (strictly speaking, both ends will be at long distances, but for simplicity, the distance information values will be described here as approximately the same value), so it can be determined that an object whose shape is flat as seen from the range sensor 9 is present within the detection range.

In addition, when the detection surface 21c of the ID panel 21 is at an angle to the distance measurement sensor 9, the distance information value to the ID panel 21 detected by the range measurement sensor 9 changes at a constant rate from one side to the other in the scanning direction of the range measurement sensor 9, so it can be determined that an object with a planar shape as seen from the range measurement sensor 9 is present within the detection range.

In addition, if the detection surface 21c of the ID panel 21 is curved, it can be determined that an object whose shape is curved as seen by the range sensor 9 is present within the detection range by determining whether the distance information value to the ID panel 21 detected by the range sensor 9 changes depending on the positional relationship between the range sensor 9 and the detection surface 21c of the ID panel 21 and the curvature of the detection surface 21c.

As shown in the graph of FIG. 10(a), when the range sensor 9 performs a detection operation by facing the detection surface 21c of the ID panel 21 from the front with respect to the center of the detection surface 21c of the ID panel 21 in the scanning direction of the range sensor 9, the distance information values detected by the range sensor 9 between peaks, including the peak of the reflection intensity, are approximately the same value. In this case, it is determined to be a candidate for the ID panel 21.

In this way, candidates for ID panel 21 are detected based on the distance information values between peaks including the peak, in other words, the distance information values to the first region a, the second region b, and the third region c.

As shown in FIG. 10(b), it is known that the frame of the cage cart 2 also has a high reflection intensity value. Therefore, there is a possibility that the frame of the cage cart 2 may be mistaken for an ID panel 21 simply by looking at the peak value of the reflection intensity ratio. Therefore, candidates for the ID panel 21 are detected by making a judgment based on the distance information value between the peaks, including the reflection intensity peaks, detected by the range sensor 9. When the frame of the cage cart 2 is detected, since the distance between the ID panel 21 and the frame is different, it is excluded from the candidates for the ID panel 21 based on the distance information value between the peaks, including the reflection intensity peaks, detected by the range sensor 9.

In this way, the distance information measured by the range sensor 9 can prevent small, thin objects that are highly reflective, such as the frame of the cart 2, from being mistakenly recognized as the retroreflective tape 21b of the ID panel 21. This is also true when there is luggage on the cart 2.

If the controller 4 (detection means 111) of the self-propelled robot 1 determines that it corresponds to the detection surface 21c of the ID panel (Yes in step S3), it selects it as a candidate for the ID panel 21 and proceeds to step S4.

On the other hand, if the controller 4 (detection means 111) of the self-propelled robot 1 determines that it does not correspond to the detection surface 21c of the ID panel (No in step S3), it does not consider it a candidate for the ID panel 21 and returns to step S1.

As a result of the above, the controller 4 (detection means 111) of the self-propelled robot 1 sets the current measurement value of the range sensor 9 as a candidate for the ID panel 21 (step S4).

Next, the controller 4 (detection means 111) of the self-propelled robot 1 determines whether the self-propelled robot 1 and the cart 2 are in a positional relationship that allows connection by determining whether the angle of the inter-peak position in the scanning angle of the range measurement sensor 9 for the candidate ID panel 21 (the scanning angle when the candidate ID panel 21 is detected) is within the range in which the self-propelled robot 1 and the cart 2 can be connected (step S5).

Here, FIG. 11 is a diagram showing the range in which the self-propelled robot 1 and the basket cart 2 can be connected. As shown in FIG. 11, the range (angle) in which the self-propelled robot 1 and the basket cart 2 can be connected is determined.

Figure 11 (a) is a diagram showing a case where the cart 2 is not present within the connectable range of the self-propelled robot 1. As shown in Figure 11 (a), if the angle of the inter-peak position in the scanning angle of the range sensor 9 (the scanning angle when the candidate ID panel 21 is detected) is not within the connectable range (angle), it is determined that the self-propelled robot 1 and the cart 2 are not in a positional relationship that allows connection.

On the other hand, FIG. 11(b) is a diagram showing a case where the cart 2 is present within the connectable range of the self-propelled robot 1. As shown in FIG. 11(b), if the angle of the inter-peak position in the scanning angle of the range measurement sensor 9 (the scanning angle when the candidate ID panel 21 is detected) is within the connectable range (angle), it is determined that the self-propelled robot 1 and the cart 2 are in a positional relationship that allows connection.

When the controller 4 (detection means 111) of the self-propelled robot 1 determines that the angle of the peak position in the scanning angle of the range sensor 9 for the candidate ID panel 21 (the scanning angle when the candidate ID panel 21 is detected) is in a positional relationship that allows the self-propelled robot 1 and the basket cart 2 to be connected (Yes in step S5), it proceeds to step S6.

On the other hand, if the controller 4 (detection means 111) of the self-propelled robot 1 determines that the angle of the peak position in the scanning angle of the range sensor 9 for the candidate ID panel 21 (the scanning angle when the candidate ID panel 21 is detected) is not in a positional relationship that allows the self-propelled robot 1 and the cart 2 to be connected (No in step S5), the process returns to step S1.

Next, the controller 4 (detection means 111) of the self-propelled robot 1 calculates the inclination of the ID panel 21 for each candidate ID panel 21 from the distance information of the range sensor 9 (step S6).

Here, FIG. 12 is a diagram showing an example of calculating the tilt of the ID panel 21. As shown in FIG. 12, the tilt of the ID panel 21 can be detected from the distance information of the peak value detected by the range measurement sensor 9 (the distance information of the first region a and the distance information of the third region c on the detection surface 21c of the ID panel 21).

Then, the controller 4 (detection means 111) of the self-propelled robot 1 determines whether the inclination of the ID panel 21 is within the range for connection (step S7). If the inclination is within a predetermined range (angle θ shown in FIG. 12 is equal to or less than a predetermined angle), the controller 4 (detection means 111) of the self-propelled robot 1 determines that the basket cart 2 is placed at an inclination within the allowable range for connection (Yes in step S7), and proceeds to step S8.

On the other hand, if the inclination is outside the predetermined range (angle θ shown in FIG. 12 is greater than the predetermined angle), the controller 4 (detection means 111) of the self-propelled robot 1 determines that the basket cart 2 is not placed at an inclination within the allowable range for connection (No in step S7), and returns to step S1.

Then, the controller 4 (detection means 111) of the self-propelled robot 1 completes the detection process of the ID panel 21 (step S8).

Next, we will explain the operation of detecting the angle of the detected surface of the ID panel 21 and the angle between it and the self-propelled robot 1.

In general terms, by taking advantage of the fact that the detection surface 21c of the ID panel 21 attached to the transport object (cage cart 2) is flat, the angle of the detected detection surface 21c of the ID panel 21 and the angle between the self-propelled robot 1 are taken as the angle between the transport object (cage cart 2) and the self-propelled robot 1, and are used to automatically connect the self-propelled robot 1 and the transport object (cage cart 2).

Next, we will explain how the self-propelled robot 1 moves to the target position after the detection process of the ID panel 21 is completed.

Here, FIG. 13 is a flowchart showing the flow of the process of moving to the target position after the detection process of the ID panel 21 is completed. As shown in FIG. 13, the controller 4 (calculation means 112) of the self-propelled robot 1 starts moving toward the ID panel 21 (step S31), and acquires the distance to the ID panel 21 and reflection intensity information from the range sensor 9 (step S32).

Next, the controller 4 (calculation means 112) of the self-propelled robot 1 detects the relative position and inclination of the ID panel 21 with respect to the self-propelled robot 1 from the distance and reflection intensity information, referring to the design information of the ID panel 21 (size, spacing of the retroreflective tape 21b, etc.) (step S33).

Figures 14 to 17, which will be explained next, show the self-propelled robot 1 and ID panel 21 as plan views seen from the ceiling side. As mentioned above, the ID panel 21 is attached to the cart 2, but to avoid cluttering the illustration, the cart 2 is omitted and only the ID panel 21 is shown.

Fig. 14 is a diagram showing a method for detecting the inclination of ID panel 21. As shown in Fig. 14, the center of self-propelled robot 1 is the center of the axle of driven wheel 72, which is the rear wheel. The position of ID panel 21 is the center of ID panel 21. The inclination of ID panel 21 is the angle (θ 1 in Fig. ₁₄ ) between a line parallel to the axle direction of driven wheel 72, which is the rear wheel of self-propelled robot 1, and a line parallel to the panel surface of ID panel 21.

Fig. 15 is a diagram showing a method for detecting the orientation of ID panel 21. As shown in Fig. 15, the orientation of ID panel 21 is the angle (θ2 in Fig. 15) between a line that is perpendicular to the axle direction of driven wheels 72, which are the rear wheels of self-propelled robot 1, and passes through the center of self-propelled robot ₁ , and a line connecting the center of self-propelled robot 1 and the center of ID panel 21.

If the relative position and inclination of the ID panel 21 with respect to the self-propelled robot 1 are not detected (No in step S34), the controller 4 (calculation means 112) of the self-propelled robot 1 temporarily stops (step S35) and again acquires the distance to the ID panel 21 and reflection intensity information from the range sensor 9 (step S32).

Note that, while it is difficult to imagine that the self-propelled robot 1 will be unable to detect the ID panel 21 after detecting it, given the relative positions of the self-propelled robot 1 and the ID panel 21 (cage cart 2), a temporary suspension process (step S35) is provided as a measure to be taken when the ID panel 21 cannot be detected due to a drive error in the self-propelled robot 1 or an error in the range sensor 9. Note that if the temporary suspension period exceeds a predetermined time, an abnormality is detected, and the self-propelled robot 1 is stopped and a message is displayed indicating that the connection to the cage cart 2 has failed.

If the relative position and inclination of the ID panel 21 with respect to the self-propelled robot 1 are detected (Yes in step S34), the controller 4 (calculation means 112) of the self-propelled robot 1 detects a relative target position based on the position and inclination of the ID panel 21 (step S36).

Here, FIG. 16 is a diagram showing a method for calculating the relative target position. As shown in FIG. 16, the relative target position (x', y', θ') is a certain distance in the vertical direction from the center of the ID panel 21 and at an angle directly facing the ID panel 21.

Next, controller 4 (movement control means 113) of self-running robot 1 sets the current position to (x, y, θ) = (0, 0, 0), and determines a directional angle _θ3 to the target position based on the difference between the current position and the relative target position (x', y', θ'), and then moves (step S37).

The controller 4 of the self-propelled robot 1 repeats the process of steps S32 to S37 until it arrives at the relative target position (x', y', θ') that is set perpendicular to the panel surface of the ID panel 21 (Yes in step S38).

Here, Fig. 17 is a diagram showing a schematic diagram of a travel path to a relative target position. As shown in Fig. 17, controller 4 of self-running robot 1 may reduce the speed of self-running robot 1 as it approaches the relative target position. For example, controller 4 of self-running robot 1 may perform control according to the following equation.
v[m/S]=α*(x ² +Y ² ) ^1/2
α: Parameter

Controller 4 of self-running robot 1 also sets the rotation speed based on the orientation of ID panel 21 (FIG. 15).
ω[rad/S]=β*θ
*β is a parameter

As described above, according to this embodiment, when detecting the ID panel 21, the ID panel 21 is detected using the code generated on the detection surface 21c of the ID panel 21 and distance information to the detection surface 21c of the ID panel 21 (in other words, distance information to the first area a, second area b, and third area c of the detection surface 21c of the ID panel 21). As a result, the code for detecting the ID panel 21 can be simple with a small amount of information, so the sensor for detecting the ID panel 21 can be simply configured and the transport object (ID panel 21) can be stably detected even from a long distance. Furthermore, according to this embodiment, the accuracy of angle detection of the transport object (ID panel 21) is improved and the angle of the transport object (ID panel 21) can be detected from a long distance compared to conventional technology.

Second Embodiment
Next, a second embodiment will be described.

The transport system of the second embodiment differs from the first embodiment in that it has two stages: detection of the ID panel 21 and identification of the contents of the ID panel 21. In the following explanation of the second embodiment, the explanation of the same parts as in the first embodiment will be omitted, and only the differences from the first embodiment will be explained.

In the first embodiment, the amount of information in the ID panel 21 depends on the number of retroreflective tapes 21b on the detection surface 21c (particularly the second region b) of the ID panel 21. However, arranging the retroreflective tapes 21b at intervals finer than the resolution of the range sensor 9 is meaningless in terms of increasing the amount of information. In addition, the angular resolution of the range sensor 9 deteriorates with distance, so the amount of information of an ID panel 21 located farther from the self-propelled robot 1 will be reduced.

Therefore, in this embodiment, as shown below, when detecting the ID panel 21 (when the distance between the ID panel 21 and the self-propelled robot 1 is large), only the retroreflective tape 21b (first area a and third area c) on both ends of the ID panel 21 is viewed. After detecting the position of the ID panel 21, the self-propelled robot 1 approaches the ID panel 21 and identifies the contents of the ID panel 21.

Figure 18 is a flow chart that shows the outline of the flow of the ID panel detection process according to the second embodiment. Note that steps S1 to S8 in Figure 18 are the same as steps S1 to S8 in Figure 7 that were explained in the first embodiment, so a description of them will be omitted here.

When the controller 4 of the self-propelled robot 1 completes the detection process of the ID panel 21 (step S8), it stops the self-propelled robot 1 at a position on the travel line 51 where it can be connected to the basket cart 2 (step S9).

Here, FIG. 19 is a diagram showing the peak value detection state in detecting the ID panel 21. As shown in FIG. 19, in this embodiment, when the controller 4 of the self-propelled robot 1 detects the ID panel 21, the detection process of the ID panel 21 is completed when it detects peaks corresponding to the retroreflective tape 21b on both ends of the ID panel 21.

Next, the controller 4 of the self-propelled robot 1 turns the self-propelled robot 1 90 degrees (step S10).

Next, controller 4 of self-propelled robot 1 causes self-propelled robot 1 to proceed toward ID panel 21 (step S11). Controller 4 of self-propelled robot 1 causes self-propelled robot 1 to proceed toward ID panel 21 (step S11) until the distance information value from range sensor 9 to ID panel 21 becomes 50 cm or less (Yes in step S12).

Here, FIG. 20 shows the approach state to the ID panel 21. As shown in FIG. 20, the self-propelled robot 1 approaches the ID panel 21 to a distance of 50 cm.

When the distance information value between the range sensor 9 and the ID panel 21 becomes 50 cm or less (Yes in step S12), the controller 4 of the self-propelled robot 1 acquires a peak from the reflection intensity value of the range sensor 9 (step S13). The controller 4 of the self-propelled robot 1 then identifies the contents of the ID panel 21 from the peak positions other than the peaks corresponding to the retroreflective tape 21b at both ends of the ID panel 21 (step S14).

Here, FIG. 21 is a diagram showing an example of identifying the contents of the ID panel 21. As shown in FIG. 21, when identifying the contents of the ID panel 21, the controller 4 of the self-propelled robot 1 searches for peaks other than the peaks corresponding to the retroreflective tape 21b at both ends of the ID panel 21. As shown in FIG. 21, the self-propelled robot 1 has approached to within 50 cm of the ID panel 21, so detection can be performed with a higher resolution than when detecting the ID panel 21.

As described above, according to this embodiment, the detection of the ID panel 21 and the identification of the contents of the ID panel 21 are performed separately, so that the ID panel 21 can be stably detected even from a long distance using a sensor with a simple configuration (range measurement sensor 9), and then detailed information such as the identification number information, delivery destination information, and delivery priority information can be obtained by approaching the detected ID panel 21.

Third Embodiment
Next, a third embodiment will be described.

The transport system of the third embodiment differs from the first and second embodiments in that it further includes an identification means (e.g., a barcode reader) for reading the code in the ID panel 21. In the following explanation of the third embodiment, explanations of the same parts as the first and second embodiments will be omitted, and only the differences from the first and second embodiments will be explained.

Here, FIG. 22 is a block diagram showing an example of the hardware configuration of a self-propelled robot in a transport system according to the third embodiment. As shown in FIG. 22, the self-propelled robot 1 of this embodiment is equipped with a camera 5, which is a second sensor. In addition, the barcode (image pattern) placed in the second area b of the ID panel 21 is a pattern having information.

The camera 5, together with the controller 4 that functions as a decoding unit, constitutes a marker reading device. The controller 4 recognizes the marker code by image recognition of the marker's features from the image captured by the camera 5. The decoding unit of the controller 4 decodes the recognized marker code information to obtain the identification number information, destination information, and priority information of the cart 2.

The marker ID can be displayed using a standard barcode or QR code (registered trademark) as an image pattern. In addition, by using an image pattern such as a color code or a shaded barcode as the ID, the amount of information per unit area can be increased, allowing the marker to be recognized from a greater distance.

In this embodiment, a barcode is used as the marker attached to the cart 2, so the camera 5 is used as a barcode reader to read it. If the marker that displays the ID is a QR code, a QR code reader can be used as the ID recognition means.

Figure 23 is a flow chart showing the outline of the flow of the ID panel detection process in the third embodiment. Note that steps S1 to S11 in Figure 23 are the same as steps S1 to S11 in Figure 18 described in the second embodiment, so a description of them will be omitted here.

When the controller 4 of the self-propelled robot 1 moves the self-propelled robot 1 toward the ID panel 21 (step S11), it calculates the distance between the camera 5 and the ID panel 21 from the distance information value of the range sensor 9 and the relationship between the distance between the range sensor 9 and the camera 5 (step S21).

Next, the controller 4 of the self-propelled robot 1 advances the self-propelled robot 1 toward the ID panel 21 (step S11) until the distance between the camera 5 and the ID panel 21 falls within the readable range of the barcode (Yes in step S22).

When the distance information value from the camera 5 to the ID panel 21 falls below the readable range of the barcode (Yes in step S22), the controller 4 of the self-propelled robot 1 reads the barcode on the ID panel 21 with the camera 5 (step S23).

Then, the controller 4 of the self-propelled robot 1 identifies the contents of the ID panel 21 from the contents of the barcode (step S24).

Here, FIG. 24 is a diagram showing an example of identifying the contents of ID panel 21. As shown in FIG. 24, when identifying the contents of ID panel 21, controller 4 of self-propelled robot 1 moves self-propelled robot 1 close to ID panel 21 as far as the barcode can be read and reads the barcode on ID panel 21 with camera 5, thereby increasing the amount of information on ID panel 21.

As described above, according to this embodiment, the detection of the ID panel 21 and the identification of the contents of the ID panel 21 are performed separately, so that the ID panel 21 can be stably detected even from a long distance using a sensor with a simple configuration (range measurement sensor 9), and then detailed information such as the identification number information, delivery destination information, and delivery priority information can be obtained by approaching the detected ID panel 21.

In this embodiment, a barcode or QR code is used as the marker placed on the basket cart 2, but the present invention is not limited to this. For example, a shading barcode, a color code, etc. may be used as the marker placed on the basket cart 2. By reading the color code using the camera 5, the position information of the code can be read at the same time, making it possible to recognize the position where the basket cart 2 is placed. In addition, a shading barcode can be read by the range sensor 9, making it possible to obtain more accurate position information, which is effective as feedback information for connection positioning.

(Fourth embodiment)
Next, a fourth embodiment will be described.

The transport system of the fourth embodiment differs from the first embodiment in that the coupling device 10 of the self-propelled robot 1 connects to the basket cart 2 at an optimal position. In the following explanation of the fourth embodiment, the explanation of the same parts as in the first embodiment will be omitted, and only the differences from the first embodiment will be explained.

It may be necessary to change the connection position of the coupling device 10 on the self-propelled robot 1 depending on the relative positions of the cage cart 2 framework. In this embodiment, therefore, a panel ID (identification number) for the ID panel 21 is prepared for each type of cage cart 2, taking into consideration the desired connection position of the cage cart 2. The self-propelled robot 1 detects the panel ID, changes the relative target position for each panel ID, and connects at the optimal position for each cage cart 2.

Here, FIG. 25 is a flowchart showing the flow of the process of moving to the target position after the detection process of the ID panel 21 according to the fourth embodiment is completed. As shown in FIG. 25, the controller 4 (calculation means 112) of the self-propelled robot 1 starts moving toward the ID panel 21 (step S31), and acquires the distance to the ID panel 21 and reflection intensity information from the range sensor 9 (step S32).

Next, the controller 4 (calculation means 112) of the self-propelled robot 1 uses the design information of the ID panel 21 (size, spacing of the retroreflective tape 21b, etc.) to detect the relative position and inclination of the ID panel 21 with respect to the self-propelled robot 1 from the distance and reflection intensity information, and detects the panel ID of the ID panel 21 (step S41).

If the relative position and inclination of the ID panel 21 with respect to the self-propelled robot 1 and the panel ID of the ID panel 21 are not detected (No in step S34), the controller 4 (calculation means 112) of the self-propelled robot 1 temporarily stops (step S35) and again acquires the distance to the ID panel 21 and reflection intensity information from the range sensor 9 (step S32).

On the other hand, if the relative position and inclination of the ID panel 21 with respect to the self-propelled robot 1 and the panel ID of the ID panel 21 are detected (Yes in step S34), a setting file is read (step S42). The setting file stores the amount of movement associated with the panel ID.

Next, the controller 4 (calculation means 112) of the self-propelled robot 1 calculates a relative target position based on the position and inclination of the ID panel 21, and shifts the relative target position in a direction parallel to the panel surface of the ID panel 21 by the amount of movement associated with the panel ID registered in the configuration file (step S43).

Here, Figure 26 is a diagram showing how to shift the relative target position. As shown in Figure 26, the relative target position is shifted in a direction parallel to the panel surface of the ID panel 21 by an amount of movement associated with the panel ID registered in the setting file. For example, when ID=2, it is moved 30 mm in the positive direction parallel to the panel surface of the ID panel 21.

Next, controller 4 (movement control means 113) of self-running robot 1 sets the current position to (x, y, θ) = (0, 0, 0), and determines a directional angle _θ3 to the target position based on the difference between the current position and the relative target position (x', y', θ'), and then moves (step S37).

The controller 4 of the self-propelled robot 1 repeats the process of steps S32 to S37 until it arrives at the relative target position (x', y', θ') that is set perpendicular to the panel surface of the ID panel 21 (Yes in step S38).

In this way, according to this embodiment, by preparing a panel ID for each type of cart 2, the AGV can detect the panel ID, change the relative target position for each ID, and connect at the optimal position for each cart.

In each embodiment, an example has been described in which the self-propelled robot 1 is applied to an autonomous mobile device as an automated guided vehicle (AGV) that automatically connects to and tows a towed vehicle, such as a basket cart 2, which is the object to be connected, and automatically transports the basket cart 2 to a desired destination. However, the present invention is not limited to this, and it goes without saying that the present invention can be applied to various types of autonomous mobile devices.

REFERENCE SIGNS LIST 1 Autonomous mobile device 4 Detection means 5 Second sensor 9 First sensor 21 Identification member (ID panel, plate-shaped member)
21a Surface of plate-like member 21b Retroreflective tape 111 Detection device 112 Calculation means 113 Movement control means

JP 2000-242335 A Patent No. 6109616

Claims (3)

An autonomous mobile device,
a detection device that detects an identification member present in a detection area by emitting light to the detection area and optically scanning the detection area and receiving light reflected by an object present in the detection area from the emitted light,
The detection device includes:
a reflection intensity detection means for detecting a reflection intensity of light reflected from the object based on the light received by the sensor;
a distance detection means for detecting a distance to a detection surface of the identification member based on the light received by the sensor,
the detection device detects a candidate for the identification member from the information detected by the reflection intensity detection means, and detects a shape plane of the candidate from the information detected by the distance detection means;
The identification member is attached to a vehicle to be transported,
a control means for moving the autonomous mobile device to a target position where the autonomous mobile device is to be coupled to the target vehicle and coupling the autonomous mobile device to the target vehicle at the target position;
The identification information written on the identification member attached to the transportation target vehicle is prepared for each type of the transportation target vehicle, and a movement amount is registered in association with the identification information,
The detection device detects the identification information written on the identification member,
The control means changes the target position based on a movement amount linked to the identification information. the control means sets the target position such that a directional angle to the target position based on the position and inclination of the detection surface is equal to or smaller than a predetermined angle.
2. The autonomous mobile device according to claim 1 . A method for controlling movement of an autonomous mobile device, comprising:
The autonomous mobile device is
a detection device that detects an identification member present in a detection area by emitting light to the detection area and optically scanning the detection area and receiving light reflected by an object present in the detection area from the emitted light,
The detection device includes a reflection intensity detection unit that detects a reflection intensity of light reflected from the object based on the light received by the sensor;
a distance detection means for detecting a distance to a detection surface of the identification member based on the light received by the sensor,
the detection device detects a candidate for the identification member from the information detected by the reflection intensity detection means, and detects a shape plane of the candidate from the information detected by the distance detection means;
The identification member is attached to a vehicle to be transported,
the autonomous mobile device has a control means for moving the autonomous mobile device to a target position where the autonomous mobile device is to be coupled to the target vehicle, and coupling the autonomous mobile device to the target vehicle at the target position;
The identification information written on the identification member attached to the transportation target vehicle is prepared for each type of the transportation target vehicle, and a movement amount is registered in association with the identification information,
The detection device detects the identification information written on the identification member,
The method for controlling movement of an autonomous mobile device, wherein the control means changes the target position based on a movement amount linked to the identification information.

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