JPH09325812A - Autonomous mobile robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable an autonomous mobile robot to have a reciprocating traveling throughout a prescribed working space just by installation of a reference object in the working space, by detecting the relative position relation between the robot and the reference object and calculating a due position of the robot against the reference object to control the movement of the robot. SOLUTION: An operator selects a reference object and turns the reference object angle detection part toward the reference object. A moved distance sensor 7 calculates the distance traveled of an autonomous mobile robot. A traveling direction calculation part 8 calculates a due position of the robot from its distance traveled and then calculates a target angle θ0 set between a straight line connecting the due present robot position and the position of the reference object and the robot traveling direction. A reference object angle detection part 4 detects an angle θ set between the existing angle of the reference object and the present robot traveling direction. Then the calculated angle θ0 is compared with the detected angle θ, and the robot is curved right, made to travel straight and curved left with θ<θ0 , θ=θ0 and θ>θ0 respectively.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an autonomous mobile robot that travels on the basis of a reference object, and in particular, an autonomous mobile robot that can reciprocate in a predetermined work area by installing one or two reference objects. It is about.

[0002]

2. Description of the Related Art As an autonomous mobile robot that travels back and forth all over a predetermined work area, there is a robot that runs back and forth on the basis of a reference object installed in advance, such as cleaning work, carrying work, and lawn mowing work. Variously developed. As a conventional autonomous mobile robot of this type, there is one disclosed in Japanese Patent Laid-Open No. 5-173636. This conventional moving body (autonomous mobile robot) is controlled so that it can efficiently travel in an area surrounded by at least three reference points (reference objects) set in the work area.

[0003]

FIG. 25 is a diagram for explaining a problem when a rectangular work area is set as a work area of a conventional moving body. In order for the moving body 30 to travel on the traveling course shown by the dotted line 31 in the rectangular work area ABCD, it is necessary to install reference objects at four points A, B, C, and D, respectively. . Work areas for cleaning work, lawn mowing work, etc. are often represented by a rectangle or a combination of rectangles, and even in that case, reference objects must be installed at four locations. Further, when the work area is large, it is troublesome to install the reference object.

The present invention has been made to solve the above-mentioned problems, and in any of the inventions described in claims 1 to 10, at most two reference objects are installed in a work area.
An object of the present invention is to provide an autonomous mobile robot capable of traveling back and forth throughout a predetermined work area.

[0005]

In order to solve the above problems, an autonomous mobile robot which moves with reference objects as claimed in claim 1 is an autonomous mobile robot installed in a work area and has at most two reference objects and an autonomous system. The detecting means for detecting the relative positional relationship with the mobile robot, the calculating means for calculating the position where the autonomous mobile robot should be with respect to at most two reference objects, and the relative positional relationship and the calculating means. Control means for controlling the movement of the autonomous mobile robot by comparing with the calculated position.

According to another aspect of the present invention, there is provided an autonomous mobile robot which moves based on a reference object, a moving distance detecting means for detecting a moving distance of the autonomous mobile robot, a traveling direction of the autonomous mobile robot, and an autonomous mobile robot. Reference object angle detection means for detecting an angle with respect to the direction of the reference object, a reference distance from a predetermined first reference point to the reference object, and a predetermined second autonomous mobile robot detected by the movement distance detection means. A traveling direction calculation means for calculating a target angle between the direction of the reference object viewed from the autonomous mobile robot and the direction in which the autonomous mobile robot should travel, based on a moving distance from the reference point and a predetermined value, and a reference Drive control means for controlling the movement of the autonomous mobile robot by comparing the angle detected by the object angle detection means with the target angle.

The autonomous mobile robot that moves based on the reference object according to claim 3 is the autonomous mobile robot according to claim 2, wherein the reference object detects that the reference object is within a predetermined range. The reference distance is a moving distance from the first reference point of the autonomous mobile robot detected by the moving distance detecting means to the point where the reference object detecting means detects the reference object, including the detecting means.

The autonomous mobile robot that moves based on the reference object according to claim 4 is the autonomous mobile robot according to claim 2, wherein the predetermined value is a pitch when the autonomous mobile robot reciprocates. Is.

According to another aspect of the present invention, an autonomous mobile robot that moves based on a reference object has a moving distance detecting means for detecting a moving distance of the autonomous mobile robot, a traveling direction of the autonomous mobile robot, and A reference object that detects a first angle between the first reference object direction and a second angle between the traveling direction of the autonomous mobile robot and the second reference object direction seen from the autonomous mobile robot. Angle detection means, a reference distance from the first reference object to the second reference object, a movement distance from a predetermined reference point of the autonomous mobile robot detected by the movement distance detection means, and a predetermined value From the above, the first target angle between the direction of the first reference object seen from the autonomous mobile robot and the direction in which the autonomous mobile robot should travel, the direction of the second reference object seen from the autonomous mobile robot, and the autonomous movement. B The second between the direction in which Tsu door advances
Traveling angle calculation means for calculating the target angle, the first angle detected by the reference object angle detection means and the first target angle, the second angle detected by the reference object angle detection means, and the second target angle. Drive control means for controlling the movement of the autonomous mobile robot by comparison with the target angle of.

According to another aspect of the present invention, there is provided an autonomous mobile robot which moves on the basis of a reference object, a reference object distance detecting means for detecting a distance from the autonomous mobile robot to the reference object, a traveling direction of the autonomous mobile robot, and an autonomous movement. An autonomous mobile robot based on a reference object angle detecting means for detecting an angle with respect to the direction of the reference object viewed from the robot, a distance to the reference object, and a given pitch when the autonomous mobile robot reciprocates. Traveling direction calculation means for calculating a target angle between the direction of the reference object and the direction in which the autonomous mobile robot should move, and autonomous movement by comparing the angle detected by the reference object angle detection means with the target angle. Drive control means for controlling the movement of the robot.

According to a seventh aspect of the present invention, an autonomous mobile robot that moves based on a reference object is a
To the second reference object and the reference object distance detecting means for detecting the distance from the autonomous mobile robot to the second reference object, the traveling direction of the autonomous mobile robot and the direction of the first reference object seen from the autonomous mobile robot. And a reference object angle detecting means for detecting a second angle between the traveling direction of the autonomous mobile robot and the direction of the second reference object seen from the autonomous mobile robot, and Of the first reference object and the direction in which the autonomous mobile robot should proceed from the viewpoint of the autonomous mobile robot, based on the distance to the reference object and the pitch at which the autonomous mobile robot reciprocates in advance. From the target angle of 1 and the distance and pitch to the second reference object, a second target angle between the direction of the second reference object seen from the autonomous mobile robot and the direction in which the autonomous mobile robot should travel is determined. Direction to calculate And calculation means, and comparison with the first angle and the first target angle reference object angle detecting means detects,
Drive control means for controlling the movement of the autonomous mobile robot by comparing the second angle detected by the reference object angle detection means with the second target angle.

The autonomous mobile robot according to claim 8 is the autonomous mobile robot according to claim 2 or 6, wherein the reference object includes a light emitting means for illuminating the surroundings, and the reference object angle detecting means is a light emitting means. Forming means for forming an image of the light from the light source, an optical position detecting means for detecting the incident position of the formed image light, and a reference object angle based on the incident position. Control means for controlling the direction of the detecting means, and angle detecting means for detecting the angle between the advancing direction of the autonomous mobile robot and the reference object angle detecting means.

An autonomous mobile robot according to claim 9 is the autonomous mobile robot according to claim 5 or 7,
The reference object includes a first light emitting means for illuminating the surroundings, and the second reference object includes a second light emitting means for illuminating the surroundings with light having a frequency different from that of the first light emitting means. The object angle detecting means is an image forming means for forming an image of the light from the first light emitting means and the light from the second light emitting means, and the image forming light is incident on the image forming means. When the first reference object is selected, the light position detecting means for detecting the incident position and only the first incident light detected by the first light emitting means are extracted, and the second reference object is detected. When selected, the reference object identification means for extracting only the incident position detected by the second light emitting means and the direction of the reference object angle detection means based on the extracted incident position. Control means, the moving direction of the autonomous mobile robot and the reference object angle Exits including an angle detection means for detecting the angle between the means.

The autonomous mobile robot according to claim 10 is the autonomous mobile robot according to claim 2 or 6, wherein the reference object includes a reflecting means for reflecting light, and the reference object angle detecting means detects the light. Light emitting means for emitting light, image forming means for forming an image of the light from the light emitting means reflected by the reflecting means, and means for detecting the incident position of the image formed light upon incidence of the image formed light Light position detecting means, control means for controlling the direction of the reference object angle detecting means based on the incident position, and angle detecting means for detecting the angle between the traveling direction of the autonomous mobile robot and the reference object angle detecting means. Including and

The autonomous mobile robot according to claim 11 is the autonomous mobile robot according to claim 2 or 6, wherein the reference object includes a reflecting means for reflecting light, and the reference object angle detecting means detects the light. A light emitting means for emitting light, a vibrating means for vibrating the light emitting means, an image forming means for forming an image of light vibrated by the vibrating means reflected by the reflecting means,
Light receiving means for receiving the imaged light; control means for comparing the phase of the light received by the light receiving means with the phase of the oscillated light to control the direction of the reference object angle detecting means; Angle detecting means for detecting the angle between the moving direction of the mobile robot and the reference object angle detecting means.

[0016]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of an autonomous mobile robot of the present invention will be described below with reference to the drawings. The same parts in the drawings are designated by the same reference numerals and names.

The autonomous mobile robot of the present invention is used for various purposes. In the following embodiments of the invention, an autonomous mobile robot for cleaning will be described as an example.

FIG. 1 is a top view showing the overall configuration of a first embodiment of a cleaning autonomous mobile robot to which the present invention is applied. FIG. 2 is a side view showing the overall configuration of the autonomous mobile robot of FIG. As shown in FIGS. 1 and 2, the autonomous mobile robot includes a robot body 1, a cleaning work unit 2, left and right drive wheels 3R and 3L, a reference object angle detection unit 4, and an obstacle detection unit 5. A cleaning brush (not shown) is provided over the width W in the cleaning work unit 2 attached to the robot body 1, and the area of the width W can be cleaned as the robot body 1 advances. Although not shown, rotations of independent drive wheel motors are transmitted to the drive wheels 3R and 3L. That is, the drive wheels 3R and 3L can be controlled independently of each other, which allows the autonomous mobile robot to travel. By rotating the left and right drive wheels 3R and 3L in the same direction at the same speed, the autonomous mobile robot moves forward or backward. Further, the autonomous mobile robot travels on a curve by increasing or decreasing the rotational speed of either one of the drive wheels 3R or 3L. Further, the left and right drive wheels 3R and 3L are rotated at the same speed in different directions, so that the autonomous mobile robot rotates on the spot.

The reference object angle detection unit 4 attached to the upper part of the robot body 1 is designed so as to always face the direction of the reference object installed in the work area. The angle between the moving direction and the current moving direction of the autonomous mobile robot is detected. Further, the obstacle detection unit 5 attached to the front surface of the autonomous mobile robot detects contact with a reference object or the like, and is configured by a bumper sensor or the like. The specific configuration of the reference object angle detection unit 4 will be described later.

FIG. 3 is a block diagram showing an internal configuration of the robot body 1 of the autonomous mobile robot according to the first embodiment of the present invention. The robot body 1 includes a drive control unit 6, a moving distance detection sensor 7, and a traveling direction calculation unit 8.

Although not shown, the drive wheels 3R and 3L are provided with rotation speed detectors, and the drive wheels 3R and 3L are attached.
Each rotation speed of L is detected. The moving distance detection sensor 7 calculates the moving distance of the autonomous mobile robot from the rotation speeds of the drive wheels 3R and 3L.

The traveling direction calculation unit 8 obtains a position where the autonomous mobile robot should be from the moving distance calculated by the moving distance detecting sensor 7, and a straight line connecting the position where the autonomous mobile robot should be and the position where the reference object is present. A target value θ ₀ of the angle between the moving direction of the autonomous mobile robot and the moving direction of the autonomous mobile robot is calculated.

The drive control unit 6 controls the rotational speed of each of the drive wheels 3R and 3L, and the target value of the angle θ detected by the reference object angle detection unit 4 and the angle calculated by the traveling direction calculation unit 8. Compare θ ₀ and compare drive wheels 3R and 3L
Determines the rotation speed of. That is, the advancing direction of the autonomous mobile robot is changed by increasing / decreasing the rotational speeds of the drive wheels 3R and 3L so that the angles θ ₀ and θ coincide with each other. Also,
When the drive control unit 6 detects that the obstacle detection unit 5 has collided with the reference object, the drive control unit 6 performs an operation of rotating the traveling direction of the autonomous mobile robot by 90 ° in order to perform a predetermined operation. Details of this predetermined operation will be described later.

FIG. 4 is a flowchart showing the straight-ahead movement of the autonomous mobile robot according to the first embodiment of the present invention. The flowchart of FIG. 4 will be described with reference to the operation explanatory diagram of the autonomous mobile robot according to the first embodiment of the present invention in FIG.

First, the operator selects the target reference object 9 and directs the reference object angle detector 4 attached to the upper part of the autonomous mobile robot toward the reference object 9 (S1, position in FIG. 5). . The autonomous mobile robot has drive wheels 3R and 3
The traveling distance detection sensor 7 calculates the traveling distance I from the rotational speeds of the drive wheels 3R and 3L while the traveling is started by the rotation of L (S2).

The traveling direction calculation unit 8 obtains the current position of the autonomous mobile robot from the traveling distance I, and a straight line connecting the position where the autonomous mobile robot should be and the position where the reference object 9 is, and the autonomous mobile robot. A target angle θ ₀ with respect to the traveling direction is calculated (S3). Since the autonomous mobile robot travels toward the reference object 9 until it reaches the reference object 9, θ ₀ = 0 °.

Further, the reference object angle detector 4 detects the angle θ between the direction in which the reference object 9 is present and the current traveling direction of the autonomous mobile robot (S4).

Next, when there is a relation of θ <θ ₀ compared with θ ₀ calculated in step S3 and θ detected in step S4 (S5), the drive controller 6 causes the drive wheel 3 to rotate.
Control is performed so that the rotation speed of L is higher than the rotation speed of the drive wheel 3R, and the autonomous mobile robot is curved to the right (S6). However, until the autonomous mobile robot reaches the reference object 9, the angle θ is positive when the traveling direction of the autonomous mobile robot is facing the right side with respect to the direction in which the reference object 9 is present and when the angle θ is facing the left side. Negative.

When the target angle θ ₀ and the angle θ are the same (S5), the drive control unit 6 controls so that the rotational speeds of the drive wheels 3R and 3L become equal to each other.
The autonomous mobile robot goes straight (S7). Further, when the target angle θ ₀ and the angle θ have a relation of θ> θ ₀ (S5,
), The drive control unit 6 controls the rotational speed of the drive wheel 3R to be greater than the rotational speed of the drive wheel 3L, and causes the autonomous mobile robot to curve to the left (S8).

Through the above processing, the autonomous mobile robot contacts the reference object 9 through the position shown in FIG. 5 (the position shown in FIG. 6).
Repeat until.

When the obstacle detection unit 5 detects the contact of the reference object 9, the traveling direction calculation unit 8 stores the traveling distance L of the autonomous mobile robot, and the drive control unit 6 stops the linear movement operation of the autonomous mobile robot. Take control. And drive control unit 6
Indicates that the autonomous mobile robot is
After rotating by 0 °, the vehicle travels straight for a distance P and further rotates by 90 ° so that the autonomous mobile robot is controlled to reach the position shown in FIG. A value smaller than the width W of the cleaning work unit 2 is preset as the distance P. This is because the remaining portion is not left after cleaning, and only the width (W-P) area is overlapped and cleaned. As shown in FIG. 5, since the autonomous mobile robot performs cleaning for the distance L while moving by the distance P, the distance P
Is referred to as pitch P.

The autonomous mobile robot starts the straight-ahead motion again from the position of FIG. 5 according to the flowchart of FIG.
However, the traveling direction calculation unit 8 calculates the target angle θ ₀ by the following equation.

Θ ₀ = 180 ° −arctan (P / I) (1) Further, in the flowchart of FIG. 4, the relationship between the target angle θ ₀ and the angle θ in step S 5 is reversed. That is,
The drive control unit 6 indicates a left curve when θ <θ ₀ , and θ = θ ₀
In the case of, the drive wheels 3R and 3L are controlled so as to go straight, and in the case of θ> θ ₀ , make a right curve.

The autonomous mobile robot goes straight through the position of FIG. 5 by a distance L (the position of FIG. 5), then rotates 90 ° counterclockwise with respect to the traveling direction, and then goes straight by a pitch P and further 90. It rotates to the position shown in Fig. 5.

The autonomous mobile robot starts the straight-ahead motion again from the position of FIG. 5 according to the flowchart of FIG.
However, the traveling direction calculation unit 8 calculates the target angle θ ₀ by the following equation.

Θ ₀ = arctan (2P / (LI)) (2) Further, in the flowchart of FIG. 4, the relationship between the target angle θ ₀ and the angle θ in step S 5 is applied as it is. The autonomous mobile robot goes straight through the position shown in FIG.

The number of times of reciprocating traveling is set in advance for the autonomous mobile robot, and if one way is counted as one, the N-th target angle θ ₀ is calculated by the following equation in the case of an outward trip.

Θ ₀ = arctan ((N−1) P / (LI)) (3) In the case of the return path, it is calculated by the following equation.

Θ ₀ = 180 ° −arctan ((N−1) P / I) (4) Further, the straight-ahead operation in the case of the outward path is the same as the flowchart shown in FIG. 4, and the straight-ahead operation in the case of the return path is the same. The relationship between the target angle θ ₀ and the angle θ in step S5 of the flowchart shown in FIG. 4 is reversed.

The above description is about the operation of the autonomous mobile robot when one reference object is installed as shown in FIG.

Next, the operation of the autonomous mobile robot according to the first embodiment of the present invention when two reference objects are installed will be described with reference to FIG.

First, the operator places the autonomous mobile robot at the position where the second reference object 10 is installed, and turns the reference object angle detection unit 4 toward the direction where the first reference object 9 is installed ( 6 position). At this point, the reference object angle detection unit 4 selects the first reference object 9 (S1). According to the flowchart shown in FIG. 4, the autonomous mobile robot performs a straight-ahead movement. When the autonomous mobile robot reaches the position shown in FIG. 6 via the position shown in FIG. 6, the obstacle detection unit 5 detects contact with the first reference object 9. At that time, the traveling direction calculation unit 8 stores the traveling distance L of the autonomous mobile robot, and the drive control unit 6 controls to stop the straight-ahead movement of the autonomous mobile robot. Then, the drive control unit 6 controls the autonomous mobile robot so that the autonomous mobile robot rotates 90 ° clockwise with respect to the traveling direction, goes straight by the pitch P, and further rotates 90 ° so that the autonomous mobile robot becomes the position shown in FIG. 6. To do.

The autonomous mobile robot restarts straight movement from the position of FIG. 6 in accordance with the flowchart of FIG. 4, but the reference object angle detection unit 4 is controlled so as to select the second reference object 10.

Further, the traveling direction calculation unit 8 determines the target angle θ _0.
Is calculated by the following formula. θ ₀ = arctan (P / (LI)) (5) Further, in the flowchart of FIG. 4, the relationship between the target angle θ ₀ and the angle θ in step S5 is opposite. That is, the drive control unit 6 controls the drive wheels 3R and 3L so that a left curve is obtained when θ <θ _0, a straight curve is obtained when θ = θ ₀ , and a right curve is obtained when θ> θ ₀ .

The autonomous mobile robot goes straight through the position shown in FIG. 6 by a distance L (the position shown in FIG. 6), then rotates 90 ° counterclockwise with respect to the traveling direction, then goes straight by a pitch P, and further 90 It rotates to the position shown in FIG.

The autonomous mobile robot starts the straight-ahead motion again from the position of FIG. 6 according to the flowchart of FIG. However, the reference object angle detection unit 4 uses the first reference object 9
Is controlled so that the traveling direction calculation unit 8 calculates the target angle θ ₀ by the following equation.

Θ ₀ = arctan (2P / (LI)) (6) Further, in the flowchart of FIG. 4, the relationship between the target angle θ ₀ and the angle θ in step S 5 is applied as it is. The autonomous mobile robot goes straight through the position shown in FIG. 6 by a distance L and then repeats the above-described reciprocating traveling operation. The autonomous mobile robot has a preset number of round trips,
If one way is counted as once, the Nth target angle θ ₀ is
Both the return path is calculated by the following formula.

Θ ₀ = arctan ((N−1) P / (LI)) (7) Further, the straight-ahead operation in the case of the outward path is the same as the flowchart shown in FIG. 4, and the straight-ahead operation in the case of the return path is applied. Indicates that the relationship between the target angle θ ₀ and the angle θ in step S5 of the flowchart shown in FIG. 4 is reversed. When two reference objects are installed,
The autonomous mobile robot goes straight in a direction that always approaches the currently selected reference object. Therefore, as compared with the case where one reference object is installed, the straight traveling accuracy is improved.

FIG. 7 is a top view showing the overall configuration of the second embodiment of the autonomous mobile robot for cleaning to which the present invention is applied. FIG. 8 is a side view showing the overall configuration of the autonomous mobile robot of FIG. The autonomous mobile robot according to the second embodiment shown in FIGS. 7 and 8 has the same reference numerals and names as those of the autonomous mobile robot according to the first embodiment shown in FIGS. 1 and 2. I am doing it. Their functions are the same. Therefore, detailed description thereof will not be repeated. Differences between the autonomous mobile robot of the second embodiment and the autonomous mobile robot of the first embodiment will be described below.

Since the autonomous mobile robot according to the second embodiment does not need to detect contact with an obstacle, FIG.
There is no equivalent to the obstacle detection unit 5. Further, the reference object angle detection unit 4 and a reference object distance detection sensor 11 described later.
Coexist as the same component, and is denoted by reference numeral 10 in FIGS. 7 and 8.

FIG. 9 is a block diagram showing the internal structure of the robot body 1a of the autonomous mobile robot according to the second embodiment of the present invention. In this autonomous mobile robot, as shown in FIG.
Compared with the robot body 1 of the autonomous mobile robot in the first exemplary embodiment shown in FIG. 1, the obstacle detection unit 5 and the movement distance detection sensor 7 are not provided, and instead, the reference object distance detection sensor 1 is used.
1 has been added. The reference object distance detection sensor 11 is
It detects the distance to the reference object, and is composed of an optical distance measuring sensor, an ultrasonic distance measuring sensor, or the like. Since the reference object distance detection sensor 11 exists in the same part as the reference object angle detection unit 4, it always faces the direction of the reference object.

FIG. 10 is a flowchart showing the straight-ahead movement of the autonomous mobile robot according to the second embodiment of the present invention. The flowchart of FIG. 10 will be described with reference to the operation explanatory diagram of the autonomous mobile robot according to the second embodiment of the present invention in FIG.

First, the operator selects the target reference object 9 and directs the reference object angle detection unit 4 and the reference object distance detection sensor 11 mounted on the upper part of the autonomous mobile robot toward the reference object 9 ( S10, position of FIG. 11).
The reference object distance detection sensor 11 detects the distance to the reference object 9, and the traveling direction calculation unit 8 stores the distance L.
The autonomous mobile robot starts traveling by the rotation of the drive wheels 3R and 3L. The reference object distance detection sensor 11 detects the distance d to the reference object 9 (S11), obtains the position where the autonomous mobile robot should be from the distance d, and the position where the autonomous mobile robot should be and the reference object 9 are present. A target angle θ ₀ between the straight line connecting the positions and the traveling direction of the autonomous mobile robot is calculated (S12). Until the autonomous mobile robot reaches the reference object 9 (the distance from the reference object 9 is
Since the vehicle travels toward the reference object 9 until the distance becomes equal to or less than a predetermined distance), θ ₀ = 0 °.

Further, the reference object angle detector 4 detects the angle θ between the direction in which the reference object 9 is present and the current traveling direction of the autonomous mobile robot (S13).

Next, if compared to theta <theta ₀ becomes related to the theta detected by theta ₀ and step S13 which has been calculated in step S12 (S14,), the drive controller 6 drives wheels The rotation speed of 3L is controlled to be higher than the rotation speed of the drive wheel 3R, and the autonomous mobile robot is curved to the right (S15). However, until the autonomous mobile robot reaches the reference object 9, the angle θ is positive when the traveling direction of the autonomous mobile robot is facing the right side of the direction in which the reference object 9 is present and when the angle θ is facing the left side. Negative.

When the target angle θ ₀ and the angle θ are the same (S14,), the drive control unit 6 controls so that the rotational speeds of the drive wheels 3R and 3L become equal to each other. The autonomous mobile robot goes straight (S16). Further, when the target angle θ ₀ and the angle θ have a relation of θ> θ ₀ (S14,), the drive control unit 6 sets the rotation speed of the drive wheel 3R to be larger than the rotation speed of the drive wheel 3L. Control the autonomous mobile robot to curve to the left (S1
7).

The above processing is performed by the autonomous mobile robot shown in FIG.
It is detected that the reference object 9 is reached by detecting that the distance detected by the reference object distance detection sensor 11 is less than or equal to a predetermined value after passing the position of
Position).

When it is detected that the autonomous mobile robot has reached the reference object 9, the drive control unit 6 controls to stop the rectilinear movement of the autonomous mobile robot. Then, the drive control unit 6 rotates 90 ° clockwise with respect to the traveling direction of the autonomous mobile robot, and then goes straight for a distance P and further 90 °.
The autonomous mobile robot is controlled to rotate to the position shown in FIG.

The autonomous mobile robot starts the straight-ahead motion again from the position of FIG. 11 according to the flowchart of FIG. However, the traveling direction calculation unit 8 calculates the target angle θ ₀ by the following equation.

Θ ₀ = 180−arcsin (P / d) (8) Further, in the flowchart of FIG. 10, step S 1
The relationship between the target angle θ ₀ and the angle θ of 4 is opposite. That is, the drive control unit 6 indicates that the left curve when θ <θ ₀ , and θ = θ
_The drive wheels 3R and 3L are controlled so that the vehicle travels straight when _{0 and} the right curve when θ> θ ₀ .

The autonomous mobile robot moves to the reference object 9 detected by the reference object distance detection sensor 11 through the position shown in FIG.
When the distance d to reaches the value shown in the following equation (position in FIG. 11), the operation is stopped.

D = sqrt (L × L + P × P) (9) The autonomous mobile robot stops at the position shown in FIG. 11 and then rotates 90 ° counterclockwise with respect to the traveling direction and then pitches P.
Only go straight, and further rotate 90 ° to reach the position shown in FIG.

The autonomous mobile robot starts the straight-ahead motion again from the position of FIG. 11 according to the flowchart of FIG. However, the traveling direction calculation unit 8 calculates the target angle θ ₀ by the following equation.

Θ ₀ = arcsin (2P / d) (10) Further, in the flowchart of FIG. 10, step S 1
The relationship between the target angle θ ₀ and the angle θ of 4 is applied as it is. The autonomous mobile robot stops when the distance d to the reference object 9 detected by the reference object distance detection sensor 11 reaches 2P through the position of FIG. 11, and then repeats the above-described reciprocating traveling operation.

The number of round trips is set in advance for the autonomous mobile robot, and if one way is counted as one, the N-th target angle θ ₀ is calculated by the following equation in the case of an outward trip.

Θ ₀ = arcsin ((N−1) P / d) (11) In the case of the return path, it is calculated by the following equation.

Θ ₀ = 180−arcsin ((N−1) P / d) (12) Further, the straight-ahead operation in the case of the outward path is the same as the flowchart shown in FIG. 10, and the straight-ahead operation in the case of the return path is as illustrated. 1
Target angle θ in step S14 of the flowchart shown in FIG.
The relationship between ₀ and the angle θ is reversed.

Further, the straight-ahead movement in the forward path ends when the distance d to the first reference object 9 detected by the reference object distance detection sensor 11 is the following expression.

D = (N−1) P (13) Further, in the case of the return path, the straight traveling operation ends when the distance d is the following expression.

D = sqrt (L × L + ((N−1) P) × ((N−1) P)) (14) In the above description, one reference object is installed as shown in FIG. It was about the behavior of the autonomous mobile robot.

Next, the operation of the autonomous mobile robot according to the second embodiment of the present invention when two reference objects are installed will be described with reference to FIG.

First, the operator places the autonomous mobile robot at the position where the second reference object 10 is installed, and directs the reference object angle detector 4 in the direction where the first reference object 9 is installed ( 12 position). At this point, the reference object angle detection unit 4 selects the first reference object 9 (S1). According to the flowchart shown in FIG. 10, the autonomous mobile robot moves straight ahead. When the autonomous mobile robot reaches the position shown in FIG. 13 via the position shown in FIG. 12, the reference object distance detection sensor 11 detects the arrival and stops the straight-ahead movement. The drive control unit 6 rotates 90 ° clockwise with respect to the traveling direction of the autonomous mobile robot, then goes straight by the pitch P, and further rotates by 90 °.
Control so that the position becomes.

The autonomous mobile robot restarts the straight-ahead movement from the position of FIG. 12 according to the flowchart of FIG. 10, but the reference object angle detection unit 4 is controlled so as to select the second reference object 10.

Further, the traveling direction calculation unit 8 calculates the target angle θ ₀ by the following equation. θ ₀ = arcsin (P / d) (15) Further, in the flowchart of FIG. 10, step S1
The relationship between the target angle θ ₀ and the angle θ of 4 is opposite. That is, the drive control unit 6 indicates that the left curve when θ <θ ₀ , and θ = θ
_The drive wheels 3R and 3L are controlled so that the vehicle travels straight when _{0 and} the right curve when θ> θ ₀ .

The autonomous mobile robot stops the straight movement when the distance d to the first reference object 9 detected by the reference object distance detection sensor 11 through the position shown in FIG. 12 becomes P (see FIG. 1).
2 position), after rotating 90 ° counterclockwise with respect to the traveling direction, go straight by the pitch P, and further rotate 90 ° to reach the state of the position shown in FIG. Figure 1 shows an autonomous mobile robot.
The straight traveling operation is started again from the position 2 according to the flowchart of FIG. However, the reference object angle detection unit 4 is controlled so as to select the first reference object 9, and the traveling direction calculation unit 8 calculates the target angle θ ₀ by the following equation.

Θ ₀ = arcsin (2P / d) (16) In the flowchart of FIG. 10, step S 14
The relationship between the target angle θ ₀ and the angle θ is applied as it is. The autonomous mobile robot passes through the position of FIG. 12 and detects the second reference object 10 detected by the reference object distance detection sensor 11.
When the distance d up to is 2P, the straight movement operation is stopped, and the above-described reciprocating traveling operation is repeated. The number of times the vehicle travels back and forth is set in advance for the autonomous mobile robot, and if one way is counted as one, the Nth target angle θ ₀ is calculated by the following equation for both the forward and backward paths.

Θ ₀ = arcsin ((N−1) P / d) (17) Further, the straight-ahead operation in the case of the outward path is the same as the flowchart shown in FIG. 17, and the straight-ahead operation in the case of the return path is shown in FIG. The relationship between the target angle θ ₀ and the angle θ in step S14 of the flowchart shown in FIG.

Further, both forward and backward straight movements are completed when the distance d to the first reference object 9 or the second reference object 10 detected by the reference object distance detection sensor 11 is as follows.

D = (N−1) P (18) When two reference objects are installed, the autonomous mobile robot goes straight in a direction that always approaches the currently selected reference object.
Therefore, compared to the case where the reference object is installed once,
Straightness accuracy is improved.

Further, since the autonomous mobile robot in the second embodiment directly detects the distance to the reference object, the dead reckoning error is not included.

FIG. 13 is a diagram showing an application example of the autonomous mobile robot in the embodiment of the present invention. Although description is omitted, a distance measuring sensor is installed on both sides of the autonomous mobile robot according to the embodiment of the present invention, and travels while keeping a constant distance to the wall surface while measuring a distance to the wall surface. This makes it possible to drive straight ahead. Therefore, the area with diagonal lines in FIG. 13 where the wall surfaces are present on both sides can be cleaned, but the area 12 in the middle without diagonal lines cannot be cleaned because there are no wall surfaces.
However, the first reference object 9 and the second reference object 10
By installing (or only the first reference object 9), the autonomous mobile robot can reciprocate and clean the area 12 as described above.

FIG. 14 is a top view showing a first specific example of the reference object angle detecting section 4. FIG. 15 is a side view of the reference object angle detection unit 4 of FIG. Reference object angle detector 4
The first specific example of is an optical position sensor 13, an imaging lens 1
4, rotary table 15, rotary motor 16, rotary motor control circuit 17, encoder 18, reference object identification device 19,
And a sensor signal processing circuit 20. A luminous body is used for the reference object 9. When the two reference objects 9 and 10 are used, each reference object is made to blink in different cycles.

The light emitted from the reference objects 9 and 10 is formed into an image by the image forming lens 14 and is formed into an optical position sensor (PS).
D) It is incident on 13. When the reference object angle detector 4 faces the reference object 9 or 10, the light imaged by the imaging lens 14 enters the center of the optical position sensor 13. Therefore, the central position output signal is obtained from the optical position sensor 13. Further, when the reference object angle detection unit 4 does not face the direction of the reference object 9 or 10, the light imaged by the imaging lens 14 is displaced to the right or left from the center of the optical position sensor 13. Incident on. Therefore, the optical position sensor 13 obtains an incident signal corresponding to the incident position (the position shifted from the center to the right or left side).

The reference object identification device 19 includes the optical position sensor 1
A signal having a specific frequency is extracted from the output signal from 3. For example, the frequency of the reference object 9 is F1 and the frequency of the reference object 10 is F2. If the reference object 9 is selected, only the signal having the frequency F1 is extracted and output from the output signals from the optical position sensor 13. If the reference object 10 is selected, the optical position sensor 13
Among the output signals from the above, only the signal of frequency F2 is extracted and output.

The sensor signal processing circuit 20 receives the output signal from the reference object identification device 19, and outputs a numerical value indicating to which position of the optical position sensor 13 the imaged light is incident. For example, when the reference object 9 is selected and the reference object angle detection unit 4 faces the direction of the reference object 9, the imaged light enters the center of the optical position sensor 13 and is arranged in the center. The output from the received light receiving element increases. The output signal is input to the sensor signal processing circuit 20 via the reference object identification device 19, and the sensor signal processing circuit 20 outputs 0. When the reference object angle detection unit 4 faces the right side of the reference object 9, the sensor signal processing circuit 2
0 outputs a positive value, for example, and the value is increased as the imaged light deviates from the center of the optical position sensor 13. When the reference object angle detection unit 4 faces the left side of the reference object 9, the sensor signal processing circuit 2
0 outputs a negative value, for example, and the absolute value of the imaged light increases as the deviation of the imaged light from the center of the optical position sensor 13 increases.

The rotary motor control circuit 17 inputs the output value from the sensor signal processing circuit 20 and controls the rotary motor 16. That is, if the output value from the sensor signal processing circuit 20 is a positive value, it is determined that the reference object angle detection unit 4 faces the right side of the reference object, and the reference object angle detection unit 4 faces the left side. Then, the rotation motor 16 is controlled. If the output value from the sensor signal processing circuit 20 is a negative value, it is determined that the reference object angle detection unit 4 faces the left side of the reference object, and the reference object angle detection unit 4 faces the right side. Then, the rotation motor 16 is controlled. If the output value from the sensor signal processing circuit 20 is 0, it is determined that the reference object angle detection unit 4 faces the direction of the reference object, and the rotary motor 16 does not rotate.

The encoder 18 detects the rotation angle of the rotary motor 16 and obtains the angle between the direction in which the reference object angle detection unit 4 is facing and the traveling direction of the autonomous mobile robot.

FIG. 16 is a top view showing a second specific example of the reference object angle detecting section 4. FIG. 17 is a side view of the reference object angle detection unit 4 of FIG. Compared to the first specific example of the reference object angle detection unit 4 described with reference to FIGS. 14 and 15, the beam light source 21 includes an optical axis of the light source beam 21 and the imaging lens 14 on the imaging lens 14. Optical position sensor 13
It is installed so that the optical axis connecting to and is parallel,
Point without reference object identification device 20, reference objects 9 and 10
However, it is different in that it is composed of a reflector or a corner cube instead of a light emitter. Therefore, the same parts as those of the first specific example of the reference object angle detection section 4 are designated by the same reference numerals and names. The light emitted from the beam light source 21 is reflected by the reference object 9 and imaged by the imaging lens 14. Since there is only one light source, the reference object cannot be identified. Therefore, the processing of the light incident on the optical position sensor 13 is the same as the first specific example of the reference object angle detection unit 4 described with reference to FIGS. 14 and 15, except that the reference object is not identified. Therefore, detailed description will not be repeated here.

FIG. 18 is a top view showing a third specific example of the reference object angle detecting section 4. FIG. 19 is a side view of the reference object angle detection unit 4 of FIG. Reference object angle detector 4
In the third concrete example, the imaging lens 14 and the turntable 1 are provided.
5, rotary motor 16, encoder 18, beam light source 2
1, a light source vibrating device 22, a light receiving element 23, and a motor control circuit 24. The reference object 9 is composed of a reflector or a corner cube. The optical axis of the beam light source 21 is
It is installed so as to be parallel to the optical axis connecting the imaging lens 14 and the light receiving element 23.

The beam light source 21 vibrates horizontally with respect to the ground by the light source vibrating device 22. FIG. 21 shows this state, in which the vertical axis represents the distance of irradiation of the light beam and the horizontal axis represents time. Therefore, the portion above the horizontal axis means that the light beam is emitted to the right side with respect to the front surface of the reference object angle detection unit 4, and the portion below the horizontal axis is the front surface of the reference object angle detection unit 4. On the other hand, it means that the beam light is emitted to the left side.

FIG. 20A shows the case where the reference object angle detector 4 faces the left side with respect to the reference object 9, and FIG. 22A shows the output waveform of the light receiving element 23 at that time. Shows. Since the reference object angle detector 4 faces the left side of the reference object 9, it hits the target object 9 when the beam light source 21 vibrates to the right side, and hits the target object 9 when the beam light source 21 vibrates to the left side. Not hit. Therefore, as shown in FIG. 22A, the output of the light receiving element 23 becomes the minimum in the case of FIG. 21, and the output of the light receiving element 23 becomes the maximum in the case of FIG. The phase is the same as that in FIG.

FIG. 20B shows a case where the reference object angle detector 4 faces the front of the reference object 9, and FIG. 22B shows the output waveform of the light receiving element 23 at that time. Shows. Since the reference object angle detection unit 4 faces the front of the reference object 9, the area corresponding to the target object 9 becomes maximum when the beam light source 21 comes to the center.

Therefore, as shown in FIG.
The output of the light receiving element 23 is the lowest at the time of and in FIG. 21, and the maximum at the time of FIG. The frequency is double that shown in FIG.

FIG. 20 (c) shows the case where the reference object angle detector 4 faces the right side with respect to the reference object 9, and FIG. 22 (c) shows the output waveform of the light receiving element 23 at that time. Shows. Since the reference object angle detection unit 4 faces the right side of the reference object 9, it hits the target object 9 when the beam light source 21 vibrates to the left side, and hits the target object 9 when the beam light source 21 vibrates to the right side. Does not hit. Therefore, as shown in FIG. 22C, the output of the light receiving element 23 is the highest in the case of FIG. 21, and the output of the light receiving element 23 is the lowest in the case of FIG. The phase is shown in Fig. 2.
The opposite of 1.

FIG. 23 is a flow chart for explaining the operation of the motor control circuit 24. Light source vibration device 22
The light from the beam light source 21 vibrated by (hereinafter abbreviated as light source vibration signal) is reflected by the reference object 9 and enters the light receiving element 23 via the imaging lens 14. Light receiving element 2
The signal output from the light source 3 and the light source vibration signal from the light source vibration device 22 are input to the motor control circuit 23. The motor control circuit 24 compares the phase of the output signal from the light receiving element 23 with the phase of the light source vibration signal, and if the phases are the same (S1
8), the rotary motor 16 is rotated clockwise (S19). If the frequency of the output signal from the light receiving element 23 is twice the frequency of the light source vibration signal (S18,), the rotation of the rotary motor 16 is stopped (S20). If the phase of the output signal from the light receiving element 23 is opposite to the phase of the light source vibration signal (S18,), the rotary motor 16 is rotated to the left (S2).
1). Through the above processing, the reference object angle detection unit 4 always faces the reference object 9 as the rotary table 15 rotates.

FIG. 24 is a perspective view showing the overall structure of the reference objects 9 and 10. FIG. 24A shows a reference object of the type placed on the floor, and FIG. 24B shows a reference object of the type attached to a wall or the like. The thickness of the pole of each reference object is a thickness that can be detected by the sensor. When the reference object is a reflector, the surface of the pole is a glossy surface or fine corner cubes are arranged.

When the reference object is a light emitter, LEDs are arranged on the entire circumference of the pole. The reference object is provided with a switch for changing the light emission frequency, and when two reference objects are used, the switches are switched so as to have different frequencies.

According to the present invention, the reference object is set to the work area 1
It has become possible to provide an autonomous mobile robot that moves all over a predetermined work area by simply installing one.

Further, according to the present invention, it is possible to provide an autonomous mobile robot having two reference objects installed in a work area, moving in a predetermined work area, and having a high degree of straight-ahead accuracy.

Furthermore, it has become possible to provide an autonomous mobile robot with low power consumption by using a luminous body as the reference object.

[Brief description of drawings]

FIG. 1 is a top view showing the overall configuration of an autonomous mobile robot according to a first embodiment of the present invention.

FIG. 2 is a side view showing the overall configuration of the autonomous mobile robot according to the first embodiment of the present invention.

FIG. 3 is a diagram showing an internal configuration of a robot body 1 of the autonomous mobile robot according to the first embodiment of the present invention.

FIG. 4 is a flowchart of a straight-ahead operation of the autonomous mobile robot according to the first embodiment of the present invention.

FIG. 5 is a diagram illustrating reciprocating traveling when the autonomous mobile robot according to the first embodiment of the present invention has one reference object.

FIG. 6 is a diagram illustrating reciprocating traveling when the autonomous mobile robot according to the first embodiment of the present invention has two reference objects.

FIG. 7 is a top view showing the overall configuration of an autonomous mobile robot according to a second embodiment of the present invention.

FIG. 8 is a side view showing an overall configuration of an autonomous mobile robot according to a second embodiment of the present invention.

FIG. 9 is a diagram showing an internal configuration of a robot body 1a of an autonomous mobile robot according to a second embodiment of the present invention.

FIG. 10 is a flowchart of a straight-ahead operation of the autonomous mobile robot according to the second embodiment of the present invention.

FIG. 11 is a diagram illustrating reciprocating traveling when the autonomous mobile robot according to the second embodiment of the present invention has one reference object.

FIG. 12 is a diagram illustrating reciprocating traveling when there are two reference objects of the autonomous mobile robot according to the second embodiment of the present invention.

FIG. 13 is a diagram showing an application example of an autonomous mobile robot according to a second embodiment of the present invention.

FIG. 14 is a top view showing a first specific example of the reference object angle detector 4.

FIG. 15 is a side view showing a first specific example of the reference object angle detection unit 4.

FIG. 16 is a top view showing a second specific example of the reference object angle detector 4.

FIG. 17 is a side view showing a second specific example of the reference object angle detection unit 4.

FIG. 18 is a top view showing a third specific example of the reference object angle detector 4.

FIG. 19 is a side view showing a third specific example of the reference object angle detection unit 4.

FIG. 20 is a diagram showing a relationship between a reference object 9 and a light beam irradiation position in a third specific example of the reference object angle detection section 4.

FIG. 21 is a diagram showing a relationship between a distance of a light source vibration signal and time.

FIG. 22 is a diagram showing an output signal of the light receiving element 23.

FIG. 23 is a flowchart for explaining the operation of the motor control circuit 24.

FIG. 24 is a perspective view showing the overall configuration of a reference object.

FIG. 25 is a diagram illustrating a problem of a conventional moving body.

[Explanation of symbols]

 1 Robot Main Body 2 Cleaning Work Section 3 Drive Wheel 4 Reference Object Angle Detection Section 5 Obstacle Detection Section 6 Drive Control Section 7 Moving Distance Detection Sensor 8 Moving Direction Calculation Section 9 First Reference Object 10 Second Reference Object 11 Reference Object Distance detection sensor

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Kyoko Nakamura Inventor, Kyoko Nakamura 2-3-13 Azuchi-cho, Chuo-ku, Osaka, Osaka International Building Minolta Co., Ltd. 3-13 Osaka International Building Minolta Co., Ltd.

Claims (11)

[Claims] 1. An autonomous mobile robot that moves based on a reference object as a reference, and detection means for detecting a relative positional relationship between at most two reference objects installed in a work area and the autonomous mobile robot. Comparing the relative positional relationship and the position calculated by the calculating means with a calculating means for calculating a position where the autonomous mobile robot should be with respect to at most two reference objects, the autonomous moving An autonomous mobile robot including a control means for controlling the movement of the robot. 2. An autonomous mobile robot that moves based on a reference object, wherein the mobile distance detecting means detects a travel distance of the autonomous mobile robot, a traveling direction of the autonomous mobile robot, and a reference seen from the autonomous mobile robot. A reference object angle detection means for detecting an angle with respect to the direction of the object, a reference distance from a predetermined first reference point to the reference object,
The direction of the reference object as seen from the autonomous mobile robot and the autonomous mobile robot should advance based on the travel distance of the autonomous mobile robot from the predetermined second reference point detected by the travel distance detection means and a predetermined value. And a drive control unit that controls the movement of the autonomous mobile robot by comparing the angle detected by the reference object angle detection unit with the target angle. Autonomous mobile robot. 3. A reference object detecting means for detecting that the reference object is within a predetermined range, wherein the reference distance is from a first reference point of the autonomous mobile robot detected by the moving distance detecting means. The autonomous mobile robot according to claim 2, wherein the reference object detection means is a moving distance to a point where the reference object is detected. 4. The autonomous mobile robot according to claim 2, wherein the predetermined value is a pitch at which the autonomous mobile robot reciprocates. 5. An autonomous mobile robot that moves with reference to a reference object, comprising: a moving distance detecting means for detecting a moving distance of the autonomous mobile robot; a traveling direction of the autonomous mobile robot; Object which detects a first angle between the direction of the reference object and the direction of the second reference object seen by the autonomous mobile robot. Angle detection means, a reference distance from the first reference object to the second reference object,
From the moving distance from the predetermined reference point of the autonomous mobile robot detected by the moving distance detecting means and a predetermined value, the direction of the first reference object seen from the autonomous mobile robot and the autonomous mobile robot advance. A first target angle between the power direction and a second direction between the direction of the second reference object as seen from the autonomous mobile robot and the direction in which the autonomous mobile robot should travel.
Traveling direction calculation means for calculating the target angle, the comparison between the first angle detected by the reference object angle detection means and the first target angle, and the second angle detected by the reference object angle detection means And a drive control means for controlling the movement of the autonomous mobile robot by comparing the second target angle with the autonomous mobile robot. 6. An autonomous mobile robot which moves with reference to a reference object, wherein the reference object distance detecting means detects a distance from the autonomous mobile robot to the reference object, a traveling direction of the autonomous mobile robot, and an autonomous mobile robot. From the reference object angle detection means for detecting an angle between the reference object and the direction of the reference object, the autonomous mobile robot from the distance to the reference object and the pitch given when the autonomous mobile robot reciprocates. And a traveling direction calculating means for calculating a target angle between the direction of the reference object and the direction in which the autonomous mobile robot should move, and the angle detected by the reference object angle detecting means and the target angle are compared. An autonomous mobile robot, comprising: a drive control unit that controls the movement of the autonomous mobile robot. 7. An autonomous mobile robot that moves based on a reference object, the reference object distance detecting a distance from the autonomous mobile robot to a first reference object and a distance from the autonomous mobile robot to a second reference object. A detection means; a first angle between the traveling direction of the autonomous mobile robot and the direction of the first reference object seen from the autonomous mobile robot; the traveling direction of the autonomous mobile robot; and the first angle seen from the autonomous mobile robot. From the reference object angle detecting means for detecting a second angle between the two reference object directions, the distance to the first reference object, and a pitch given in advance when the autonomous mobile robot reciprocates. , A first target angle between the direction of the first reference object viewed from the autonomous mobile robot and the direction in which the autonomous mobile robot should travel, the distance to the second reference object, and the pitch, Moving direction calculating means for calculating a second target angle between the direction of the second reference object seen from the mobile robot and the direction in which the autonomous mobile robot should move; Drive control for controlling the movement of the autonomous mobile robot by comparing a first angle with the first target angle, and comparing a second angle detected by the reference object angle detection means with the second target angle. An autonomous mobile robot including means. 8. The reference object includes a light emitting means for illuminating the surroundings, and the reference object angle detecting means, an image forming means for forming an image of the light from the light emitting means, and the image forming means. Light is incident, and light position detection means for detecting the incident position of the imaged light; control means for controlling the direction of the reference object angle detection means based on the incident position; 7. The autonomous mobile robot according to claim 2, further comprising: angle detection means for detecting an angle between the traveling direction of the autonomous mobile robot and the reference object angle detection means. 9. The first reference object includes a first light emitting means for illuminating the surroundings, and the second reference object illuminates the surroundings with light having a frequency different from that of the first light emitting means. An image forming unit for forming an image of the light from the first light emitting unit and the light from the second light emitting unit, the reference object angle detecting unit including: Light position detecting means for detecting the incident position of the imaged light upon incidence of the imaged light, and the detected incident position of the first reference object when the first reference object is selected. Reference for extracting only one by the first light emitting means and extracting only one by the second light emitting means among the detected incident positions when the second reference object is selected. Object identifying means, and the reference object based on the extracted incident position 6. A control means for controlling the direction of the degree detecting means, and an angle detecting means for detecting an angle between the advancing direction of the autonomous mobile robot and the reference object angle detecting means. Or the autonomous mobile robot according to 7. 10. The reference object includes reflection means for reflecting light, and the reference object angle detection means emits light, and light from the light emission means reflected by the reflection means. Image forming means for forming an image, light position detecting means for detecting the incident position of the imaged light, and the reference object angle detection based on the incident position 7. A control means for controlling the direction of the means, and an angle detecting means for detecting an angle between the advancing direction of the autonomous mobile robot and the reference object angle detecting means. The autonomous mobile robot described in 1. 11. The reference object includes a reflection unit for reflecting light, the reference object angle detection unit, a light emitting unit for emitting light, a vibrating unit for vibrating the light emitting unit, An image forming means for forming an image of the light reflected by the vibrating means and reflected by the vibrating means, a light receiving means for receiving the imaged light, and a phase of the light received by the light receiving means, Control means for controlling the direction of the reference object angle detection means by comparing the phase of the vibrated light, and for detecting the angle between the traveling direction of the autonomous mobile robot and the reference object angle detection means. 7. The autonomous mobile robot according to claim 2 or 6, further comprising: