US 12,228,933 B2
Autonomous work machine, control device, autonomous work machine control method, control device operation method, and storage medium
Takamasa Udagawa, Wako (JP); Makoto Yamamura, Wako (JP); Hiroto Takahashi, Wako (JP); and Masaya Honji, Wako (JP)
Assigned to HONDA MOTOR CO., LTD., Tokyo (JP)
Filed by HONDA MOTOR CO., LTD., Tokyo (JP)
Filed on Jan. 13, 2022, as Appl. No. 17/575,606.
Application 17/575,606 is a continuation of application No. PCT/JP2019/028901, filed on Jul. 23, 2019.
Prior Publication US 2022/0137631 A1, May 5, 2022
Int. Cl. G05D 1/00 (2024.01); G05D 1/229 (2024.01); G06T 1/00 (2006.01); G06T 7/70 (2017.01)
CPC G05D 1/0214 (2013.01) [G05D 1/0234 (2013.01); G05D 1/0246 (2013.01); G05D 1/2295 (2024.01); G06T 1/0007 (2013.01); G06T 7/70 (2017.01); G06T 2207/30204 (2013.01)] 12 Claims
OG exemplary drawing
 
1. An autonomous work machine that works in a work area, the autonomous work machine comprising:
at least one processor circuit with a memory;
a plurality of past captured images including one or more markers arranged to define the work area stored in the memory;
instructions that, when executed by the processor circuit, cause the at least one processor circuit to at least:
specify a past captured image of the past captured images stored in the memory and similar to a current captured image captured by an image capturing unit;
detect a marker in the current captured image and the specified past captured image; and
determine whether the marker is missing in the current captured image with respect to the specified past captured image based on a detection result from the current captured image and a detection result from the specified past captured image similar to the current captured image, and
when it is determined that the marker is missing, superimpose, on the current captured image and as a virtual marker, a corresponding marker in the specified past captured image,
wherein the instructions, when executed by the processor circuit, further cause the at least one processor circuit to at least:
stop, move backward, or turn the autonomous work machine when a distance from the autonomous work machine to a virtual line connecting a plurality of markers detected from the current captured image becomes equal to or less than a first threshold, and
stop, move backward, or turn the autonomous work machine when a distance from the autonomous work machine to a virtual line connecting a marker of the plurality of markers detected from the current captured image and the virtual marker is equal to or less than a second threshold larger than the first threshold.