JP2019185213A - Autonomous movement robot and control method thereof - Google Patents

Abstract

To provide an autonomous movement robot and a control method thereof which highly precisely estimate an own local position in a movement region, such as a forest, a firm field, or a sea coast, capable of autonomously moving within the movement region far and wide while surely avoiding obstacles, available for various works, such as harvesting of fruits, etc., and mowing of glass, addressing the insufficiency of labors, and have excellent stability, functionality, and practicability of action.SOLUTION: An autonomous movement robot includes: moving means 12; imaging means 13 for imaging each object present in a travelling direction; distance measuring means 14 and 15 for measuring a distance to each object; determining means 22 for determining the kind of each object by performing an image superimposing process on a distance image created on the basis of an image picked up by the imaging means 13 and of distance data measured by the distance measuring means 14 and 15; map creating means 25 for recording the position of the object determined as an obstacle 26 by the determining means 22 among the objects on a two-dimensional map 27; and own local position estimating means 28 for estimating an own local position, and autonomously moves while avoiding the obstacle 26.SELECTED DRAWING: Figure 1

Description

The present invention relates to an autonomous mobile robot that autonomously moves while estimating its own position and avoiding an obstacle, and a control method thereof.

In recent years, autonomous mobile robots (moving bodies) that can move autonomously within a limited area inside a building or outdoors based on the surrounding environment are being developed. Such an autonomous mobile robot creates a movement route from its current position to a specific target point on a movement map relating to a moving area stored in advance, for example, as in Patent Documents 1 to 3. In order to enable autonomous movement, a function of recognizing its own position in the moving area is usually provided. And this autonomous mobile robot can be used for, for example, undercutting in forests, monitoring of standing trees, undercutting in farmland, monitoring, fruit harvesting, and the like. It can also be used for collecting and transporting trash on the coast, harvesting seaweed, and monitoring, substituting for shopping on community roads, transporting people and things, and so on. By using the autonomous mobile robot for these operations, it becomes a substitute for labor or labor, and can compensate for the shortage of workers.

JP2011-209845A Japanese Patent Laying-Open No. 2015-170127 JP 2017-102705 A

However, when using autonomous mobile robots outdoors in forests, farmlands, coasts, etc., recognition conditions such as outside light and road surface environment are different from indoors, and the length of travel distance and the range of travel range are also different. Therefore, it is necessary to allow the robot itself to behave while performing high-accuracy exploration, and it is required to construct a robot platform, a sensor processing technique, and an autonomous movement technique that are different from the conventional ones.

The present invention has been made in view of such circumstances, and can estimate the self-position with high accuracy in moving areas such as forests, farmlands, and coasts, and can avoid the obstacles while reliably avoiding obstacles. It is possible to move autonomously, and the stability and function of the operation that can effectively eliminate the labor shortage by efficiently performing operations such as harvesting of fruits to be managed and cutting weeds. It is an object to provide an autonomous mobile robot excellent in performance and practicality and a control method thereof.

The autonomous mobile robot according to the first aspect of the present invention is an autonomous mobile robot that autonomously moves within a movement area,
A moving means, an imaging means for imaging one or more objects existing in the traveling direction, a distance measuring means for measuring a distance to each object, an image photographed by the imaging means, and the distance measuring means A determination unit that performs superimposed image processing from a distance image created based on the measured distance data to determine the type of each object, and a position of the object that is determined to be an obstacle by the determination unit among the objects. It has a map creation means for recording on a two-dimensional map and a self-position estimation means for estimating the self-position, and moves autonomously while avoiding the obstacle.

In the autonomous mobile robot according to the first aspect of the present invention, the distance measuring means includes two 3D distance image sensors, and the two 3D distance image sensors are shifted in position so that the measurement ranges partially overlap. It is preferable that they are arranged.

In the autonomous mobile robot according to the first aspect of the present invention, it is preferable that the photographing means and the distance measuring means are attached to a gantry having three degrees of freedom, and maintain the level according to the posture of the autonomous mobile robot.

In the autonomous mobile robot according to the first aspect of the present invention, it is preferable that the determination unit determines the type of each object from the color and shape of each object by the superimposed image processing.

In the autonomous mobile robot according to the first aspect of the present invention, the determination means obtains an object rate indicating a ratio of the presence of each object and a spatial rate indicating a ratio of the absence of the object by the superimposed image processing, It is preferable to determine whether or not the object can be passed from the relationship between the change in the distance to the object and the change in the object ratio and the space ratio.

In the autonomous mobile robot according to the first aspect of the present invention, the discrimination means includes an RFID reader, receives radio waves from an RF tag attached in advance to a management target existing in the movement area, and It is preferable to estimate the position of the management object from among the objects.

In the autonomous mobile robot according to the first aspect of the present invention, the self-position estimating means includes positioning means for positioning the self-position using a satellite navigation system and route calculating means for performing route calculation using an inertial measurement sensor. It is preferable.

The method for controlling an autonomous mobile robot according to the second aspect of the present invention is a method for controlling an autonomous mobile robot that autonomously moves within a movement area,
A first step of photographing one or a plurality of objects existing in the traveling direction by the photographing means;
A second step of measuring a distance to each object during the first step by a distance measuring means;
A third type of discriminating the type of each object by performing a superimposing image process with a discriminating unit from a distance image created based on the image photographed in the first step and the distance data measured in the second step. And the process of
A fourth step of recording, on the two-dimensional map, the position of the object determined as an obstacle in the third step among the objects,
A fifth step of estimating the self position by the self position estimating means;
And a sixth step of autonomously moving within the moving area by moving means while avoiding the obstacle.

In the method for controlling an autonomous mobile robot according to the second invention, the server that communicates with the autonomous mobile robot captures and identifies the position of the autonomous mobile robot, and visualizes the trajectory of the autonomous mobile robot moving Is preferred.

In the autonomous mobile robot control method according to the second invention, when there is an information unacquired area where the position of the obstacle is not recorded on the two-dimensional map, a route is routed to the information unacquired area. Set, move the autonomous mobile robot along the route, and repeat the first to sixth steps until all the obstacles existing in the moving area are recorded on the two-dimensional map Is preferred.

The autonomous mobile robot according to the first aspect of the present invention can estimate the self-position with high accuracy, and autonomously moves throughout the moving area based on the two-dimensional map of the obstacle existing in the moving area. However, it is possible to determine the type of each object and perform an operation according to the type. Thereby, it is possible to move while reliably avoiding an object determined to be an obstacle such as a standing tree. And when moving, for example, if there are objects to be managed such as growing seedlings, check the growing status and harvest fruits etc. while avoiding being damaged or stepping over Can do. In addition, if an object to be managed (collection object or harvest object) such as garbage or seaweed or fruit is falling, the collection means and harvester mounted on the autonomous mobile robot according to the type of the management object They can be recovered and harvested using means. Furthermore, it is determined whether the object that exists in the direction of travel of the autonomous mobile robot is an obstacle such as a standing tree that prevents movement, an object to be managed such as a seedling, or a non-obstacle such as weed that does not prevent movement. It is possible to move efficiently while passing over non-obstacles that do not become, and to cut weeds (undercutting) around the management target as necessary.

In the autonomous mobile robot according to the first aspect of the present invention, when two 3D distance image sensors arranged so as to have the measurement ranges partially overlapped as distance measuring means are used, the viewing angle is expanded, Presence of objects (obstacles) can be recognized over a wide range in advance, so there is little risk of suddenly recognizing obstacles and stopping or moving backward when turning around, while avoiding obstacles reliably It is possible to move smoothly and efficiently.

In the autonomous mobile robot according to the first invention, when the photographing means and the distance measuring means are attached to a gantry having three degrees of freedom and maintain the level according to the posture of the autonomous mobile robot, the photographing means and the distance measuring means The position and position of the object can be detected accurately, and the stability of the operation is excellent.

In the autonomous mobile robot according to the first aspect of the present invention, when determining the type of each object from the color and shape of each object, for example, accurately determining without standing up, weeds, seedlings, etc. An operation according to the type can be performed.

In the autonomous mobile robot according to the first invention, is it possible to pass over each object based on the relationship between the change in the distance from the autonomous mobile robot to each object and the accompanying change in the object ratio of each object and the surrounding space ratio? In the case of determining whether or not, the depth of the space existing around and behind each object is correctly recognized, and the movement can be surely performed without being obstructed by other objects or obstacles.

In the autonomous mobile robot according to the first aspect of the present invention, when the RFID reader receives radio waves from an RF tag attached in advance to the management target and estimates the position of the management target from the object by the radio wave intensity, For example, it is possible to reliably discriminate management objects such as seedlings and surrounding weeds.

In the autonomous mobile robot according to the first invention, the self-position estimating means has positioning means for positioning the self-position using a satellite navigation system and route calculation means for calculating a route using an inertial measurement sensor. In this case, it is possible to improve the estimation accuracy of the self position.

An autonomous mobile robot control method according to a second aspect of the invention includes a two-dimensional map in which the position of an obstacle in the movement area is recorded in advance, an image of each object photographed by the photographing means while moving in the movement area, and measurement. Based on the distance to each object measured by the distance means, autonomous movement can be performed while avoiding obstacles with certainty, self-position estimation accuracy is high, and operation stability is excellent.

In the method for controlling an autonomous mobile robot according to the second aspect of the invention, when a server that communicates with the autonomous mobile robot captures and identifies the position of the autonomous mobile robot and visualizes the trajectory of the autonomous mobile robot, However, it is possible to always monitor the movement state of the autonomous mobile robot, and when an operation failure or malfunction occurs, the autonomous mobile robot can be stopped immediately to prevent an accident or the like from occurring, which is excellent in safety.

In the autonomous mobile robot control method according to the second invention, when there is an information unacquired area where the position of the obstacle is not recorded on the two-dimensional map, a route is set in the information unacquired area, When the autonomous mobile robot is moved on the route and the first to sixth steps are repeated until all obstacles existing in the movement area are recorded on the two-dimensional map, the autonomous mobile robot is used. When performing work, the self-position estimation accuracy can be improved, the work can be efficiently moved throughout the moving area, work leakage does not occur, and operation reliability is excellent.

It is a block diagram which shows the structure of the autonomous mobile robot which concerns on one embodiment of this invention. It is a perspective view which shows the state by which the imaging | photography means and the ranging means of the autonomous mobile robot are attached to the mount frame. It is explanatory drawing which shows the viewing angle of the ranging means of the autonomous mobile robot. It is explanatory drawing of the superimposition image process of the autonomous mobile robot. It is explanatory drawing of the autonomous movement of the autonomous mobile robot.

Subsequently, an embodiment in which the present invention is embodied will be described for the understanding of the present invention.
As shown in FIG. 5, the autonomous mobile robot 10 according to an embodiment of the present invention is provided with a moving means 12 having four wheels in a robot body 11, and a moving area such as a forest field, farmland, coast, or the like. While moving autonomously, various operations such as cutting under forests, farmland, etc., monitoring of standing trees, harvesting of fruits, etc., collection of garbage on the beach, harvesting of seaweed, etc. are performed.
As in this embodiment, the moving means 12 provided with two front wheels and two rear wheels is excellent in movement stability. At this time, at least one of the front wheel and the rear wheel may be a drive wheel, but all-wheel drive may be used. In addition, when using a wheel as a moving means, not only four wheels but three wheels may be sufficient, and six wheels or more may be sufficient. As the power unit, a motor that can rotate forward and reverse is preferably used. Moreover, the moving means 12 should just be able to move the robot main body 11 (running or flying), and may be comprised by the crawler, the leg part of multi-leg walking, a propeller, etc.

Next, as shown in FIGS. 1 and 2, the autonomous mobile robot 10 measures a distance from the CCD camera 13 as an imaging unit that captures one or more objects existing in the traveling direction, and the distance to each object. Two 3D distance image sensors 14 and 15 as distance measuring means are provided. As shown in FIG. 2, the CCD camera 13 and the 3D distance image sensors 14 and 15 are attached to a gantry 16 having three degrees of freedom, and are arranged in front of the robot body 11 (traveling direction side). The base unit 17 that supports the CCD camera 13 and the 3D distance image sensors 14 and 15 rotates about respective rotation axes 18 to 20 that are orthogonal to each other, adjusts the pitch angle, roll angle, and yaw angle, and moves autonomously. The level is maintained according to the posture of the robot 10. Thereby, the visibility and controllability of the CCD camera 13 and the 3D distance image sensors 14 and 15 can be improved, and the position of the object can be accurately detected. As the photographing means, the CCD camera 13 for photographing an object using one or both of visible light and infrared light is preferably used, but is not limited thereto. Also, as a distance measuring means, while irradiating laser light, scan (scan) up and down, left and right at a predetermined pitch, and measure the time until the irradiated laser light is reflected back to the object The 3D distance image sensors 14 and 15 that detect the distance to the object and the direction of the object are preferably used, but are not limited thereto.

As shown in FIG. 3, the 3D distance image sensors 14 and 15 are arranged at different positions so that the measurement ranges partially overlap. Thereby, for example, when the horizontal viewing angle α = α ′ = 60 degrees of each of the 3D distance image sensors 14 and 15, a viewing angle of θ = 100 to 110 degrees as a whole is secured, and a wide range is simultaneously obtained. Can be measured. As shown in FIG. 1, the autonomous mobile robot 10 is created based on an image photographed by a CCD camera (imaging means) 13 and distance data measured by 3D distance image sensors (ranging means) 14 and 15. A determination unit 22 is provided for determining the type of each object from the superimposed image with the distance image. In order to create a superimposed image from the image of the CCD camera 13 and the distance images of the 3D distance image sensors 14 and 15, the perspective projection method shown in FIG. 4 was used. In FIG. 4, f is the focal length of the CCD camera 13, d is the equivalent parallel distance between the CCD camera 13 and the 3D distance image sensor 14 (or 15), and K _x and K _y are taken by the CCD camera 13, respectively. The pixel width and pixel height of the two-dimensional plane image 23, (o _x , o _y ) is the center of the two-dimensional plane image 23, (X _d , Y _d , Z _d ) are the three-dimensional spatial coordinates of the point P, (u, v) is a two-dimensional space coordinate of the point P in the two-dimensional planar image 23. Using these relationships, the determination unit 22 can perform superimposed image processing from the image of the CCD camera 13 and the distance images of the 3D distance image sensors 14 and 15 with an expanded visual field to determine the type of each object. it can. At this time, the discrimination means 22 can discriminate the type of each object from the color and shape of each object by the superimposed image processing.

As shown in FIG. 1, the autonomous mobile robot 10 has a map creating means 25, and among the objects existing in the moving area, the positions of the objects determined as the obstacle 26 by the determining means 22 are shown in FIG. Recorded on the two-dimensional map 27 shown. A two-dimensional map 27 is obtained by converting the distance data of the obstacle 26 composed of the x (horizontal) direction, the y (height) direction, and the z (depth) direction into an xz plane.
Moreover, the autonomous mobile robot 10 has a self-position estimating means 28 for estimating the self-position as shown in FIG. The self-position estimating means 28 estimates the self-position using a positioning means 29 for positioning the self-position using a satellite navigation system and a route calculating means 30 for performing a route calculation using an inertial measurement sensor. As the positioning means 29, one that performs surveying using a real-time kinematic GPS module is preferably used. In general GPS, the received intensity is weakened in a forest or the like and the error is increased, but higher accuracy can be obtained. As the route calculation means 30, a 9-axis IMU sensor module is preferably used. Since a 9-axis sensor (3-axis acceleration, 3-axis gyro, 3-axis compass) is used as the inertial measurement sensor and a microcomputer is mounted, sensor data acquisition and data processing must be performed on a single board. Can do.

The autonomous mobile robot 10 has a control unit 32 that controls the operation of the entire autonomous mobile robot 10. As the control unit 32, an arithmetic processing unit having a CPU, a ROM, a RAM, a communication interface, and the like is used. For example, a control program for autonomously moving the autonomous mobile robot 10 is recorded in the ROM. When the CPU of the control unit 32 executes this control program, the control unit 32 can function as the determination unit 22, the map creation unit 25, and the self-position estimation unit 28. Although the self-position estimation method by the self-position estimation means 28 is not particularly limited, a specific control program is, for example, a SLAM (Simultaneous Localization and Mapping) algorithm, and a Monte Carlo method (particle filter) as a probabilistic method. Those that execute are preferably used. The SLAM process is performed by the path calculation means 30 and the measurement position calculated by collating the image of each object by the CCD camera 13 with the distance information to each object based on the distance images of the 3D distance image sensors 14 and 15. The self-position can be estimated from the calculated measurement position. Since the self-position and the surrounding environment can be recognized in real time, high-precision self-position estimation is possible. Further, from the measurement position based on the positioning result by the positioning means 29 and the measurement position calculated by the route calculation means 30, the self position can be estimated by the Monte Carlo method.

As shown in FIG. 5, the autonomous mobile robot 10 moves while setting target values in order of proximity to an obstacle (such as a standing tree) 26 existing in the traveling direction. At this time, target points a and b are determined at two locations on the left and right in the traveling direction, and either one of the target points a or b is selected according to the conditions.
The discriminating means 22 obtains an object rate indicating the proportion of each object existing by superimposing image processing and a spatial rate indicating the proportion of the object not present, a change in distance to each object, an object rate, and a space rate. It is also possible to determine whether or not it is possible to pass over each object based on the relationship with the change in. This is effective when it is difficult to determine the type of each object from the color and shape of each object. In particular, by judging whether an object is an obstacle that prevents passage, such as standing trees, or non-obstacles such as weeds that do not prevent passage, it moves efficiently while preventing unnecessary stops, retreats, and detours. can do.
In addition, when the autonomous mobile robot 10 is used for undercutting around the seedlings or harvesting fruits in a moving area such as farmland, an RF tag is attached in advance to the seedlings to be managed, and the autonomous mobile robot 10 By attaching an RFID reader as the discriminating means, the RFID reader can receive radio waves from the RF tag, and the position of the management object can be estimated from the object based on the radio wave intensity. This makes it possible to reliably identify seedlings to be managed and surrounding vegetation and weeds, move them without damaging them, and reliably perform various operations such as seedling monitoring, fruit harvesting, and undercutting. it can.

Hereinafter, an autonomous mobile robot control method according to an embodiment of the present invention will be described.
The autonomous mobile robot 10 records the position of an obstacle existing in the movement area in advance, and moves in the movement area while avoiding the obstacle when performing various operations.
First, each object existing in the traveling direction is imaged by the CCD camera (imaging means) 13 (first step). Further, the distance to each object is measured by the 3D distance image sensors (ranging means) 14 and 15 during the first step (second step). Then, the type of each object is discriminated by performing superimposing image processing by the discriminating means 22 from the distance image created based on the image photographed in the first step and the distance data measured in the second step (first step). Step 3). Among the objects, the position of the object determined as an obstacle in the third step is recorded on the two-dimensional map 27 by the map creating means 25 (fourth step). The autonomous mobile robot 10 estimates its own position with the self-position estimating means 28 (fifth step), and autonomously moves within the movement area with the moving means 12 while avoiding obstacles (sixth step).
The autonomous mobile robot 10 can record obstacles around the route by moving on a route while repeating the above steps. In order to work by moving autonomously throughout the moving area, it is necessary to memorize all obstacles in the moving area and pass between them sequentially, but if the moving area is wide, all The obstacles cannot be recorded. Therefore, when there is an information unacquired area in which the position of the obstacle is not recorded on the two-dimensional map 27 in the entire moving area, a route is set in the information unacquired area, and the autonomous mobile robot 10 It is necessary to repeat the first to sixth steps until all obstacles existing in the moving area are recorded on the two-dimensional map 27 by moving on the route. The Hamilton method is preferably used for this work, and finally a route capable of autonomous movement all over the moving area is obtained.

In addition, as shown in FIG. 1, by providing the server 33 that communicates with the autonomous mobile robot 10, it is possible to capture and identify the position of the autonomous mobile robot 10 and visualize the trajectory of the movement of the autonomous mobile robot 10. it can. As a result, the administrator can always monitor the movement status of the autonomous mobile robot 10, and immediately stop the autonomous mobile robot 10 when an operation failure or malfunction occurs, thereby preventing an accident or the like from occurring. When the autonomous mobile robot 10 capable of performing various operations actually performs the various operations, the CCD camera 13 and the 3D distance image sensors 14 and 15 capture and measure the distance of each object existing in the traveling direction. Then, the type of each object is discriminated by the discriminating means 22, the self-position estimating means 28 estimates the self-position, and autonomous movement is performed while avoiding obstacles. , Undercutting, collecting garbage, etc. By attaching a photographing means such as a CCD camera for photographing the rear of the autonomous mobile robot 10, it is possible to move safely while avoiding an obstacle or the like when retreating. At this time, distance measuring means such as a 3D distance image sensor for measuring the distance to the object existing behind the autonomous mobile robot 10 may be attached, and the type of the object may be determined by the determining means 22.

As described above, the present invention has been described with reference to the embodiment. However, the present invention is not limited to the configuration described in the above-described embodiment, and the matters described in the scope of claims. Other embodiments and modifications conceivable within the scope are also included.
Various devices can be attached to the autonomous mobile robot according to its application (work content). For example, in order to perform the lower cutting, a lower cutting means having a rotating blade may be attached to the lower front part of the robot body. At this time, the number and arrangement of the rotating blades can be selected as appropriate. Further, a harvesting means or a collecting means provided with a gripping portion at the tip of the arm may be attached in order to harvest fruits or collect garbage. At this time, the form of the arm and the gripping part can be selected as appropriate, but if a telescopic arm or an articulated arm is used, the workability is excellent.

DESCRIPTION OF SYMBOLS 10: Autonomous mobile robot, 11: Robot main body, 12: Moving means, 13: CCD camera (photographing means), 14, 15: 3D distance image sensor (ranging means), 16: Mount, 17: Base part, 18 ~ 20: rotation axis, 22: discrimination means, 23: two-dimensional plane image, 25: map creation means, 26: obstacle, 27: two-dimensional map, 28: self-position estimation means, 29: positioning means, 30: route calculation Means, 32: control unit, 33: server

Claims (10)

An autonomous mobile robot that moves autonomously within a moving area,
A moving means, an imaging means for imaging one or more objects existing in the traveling direction, a distance measuring means for measuring a distance to each object, an image photographed by the imaging means, and the distance measuring means A determination unit that performs superimposed image processing from a distance image created based on the measured distance data to determine the type of each object, and a position of the object that is determined to be an obstacle by the determination unit among the objects. An autonomous mobile robot comprising map creating means for recording on a two-dimensional map and self-position estimating means for estimating self-position, and autonomously moving while avoiding the obstacle. 2. The autonomous mobile robot according to claim 1, wherein the distance measuring means includes two 3D distance image sensors, and the two 3D distance image sensors are arranged so that the measurement ranges partially overlap each other. An autonomous mobile robot characterized by The autonomous mobile robot according to claim 1 or 2, wherein the photographing means and the distance measuring means are attached to a gantry having three degrees of freedom, and maintain the level according to the posture of the autonomous mobile robot. Autonomous mobile robot. The autonomous mobile robot according to any one of claims 1 to 3, wherein the discrimination means discriminates the type of each object from the color and shape of each object by the superimposed image processing. robot. The autonomous mobile robot according to claim 4, wherein the determination unit obtains an object rate indicating a ratio of the presence of each object and a spatial rate indicating a ratio of the absence of the object by the superimposed image processing. An autonomous mobile robot, wherein it is determined whether or not it is possible to pass over each object from a relationship between a change in the distance to the object and a change in the object ratio and the space ratio. The autonomous mobile robot according to any one of claims 1 to 5, wherein the determination unit includes an RFID reader, receives radio waves from an RF tag attached in advance to a management target existing in the movement area, An autonomous mobile robot characterized in that the position of the management object is estimated from the object based on the radio field intensity. The autonomous mobile robot according to any one of claims 1 to 6, wherein the self-position estimating means performs route calculation using a positioning means for positioning the self-position using a satellite navigation system and an inertial measurement sensor. An autonomous mobile robot characterized by having a route calculation means. A method for controlling an autonomous mobile robot that autonomously moves within a moving area,
A first step of photographing one or a plurality of objects existing in the traveling direction by the photographing means;
A second step of measuring a distance to each object during the first step by a distance measuring means;
A third type of discriminating the type of each object by performing a superimposing image process with a discriminating unit from a distance image created based on the image photographed in the first step and the distance data measured in the second step. And the process of
A fourth step of recording, on the two-dimensional map, the position of the object determined as an obstacle in the third step among the objects,
A fifth step of estimating the self position by the self position estimating means;
And a sixth step of autonomously moving within the moving area by moving means while avoiding the obstacle. 9. The autonomous mobile robot control method according to claim 8, wherein a server that communicates with the autonomous mobile robot captures and identifies the position of the autonomous mobile robot, and visualizes a trajectory of the autonomous mobile robot moving. A method for controlling an autonomous mobile robot. The autonomous mobile robot control method according to claim 8 or 9, wherein when there is an information unacquired area in which the position of the obstacle is not recorded on the two-dimensional map, a route is passed to the information unacquired area. The autonomous mobile robot is moved along the route, and the first to sixth steps are repeated until all the obstacles existing in the moving area are recorded on the two-dimensional map. An autonomous mobile robot control method characterized by the above.

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