JP2002108451A - Method for guiding traveling object - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method for guiding a traveling object, which can make the traveling object stop at a predetermined stop position with high accuracy while maintaining parallelism to obstacles even in the case of making a carrying means travel between the obstacles such as a shelf for arrangement. SOLUTION: A linear marker M1 for guidance is provided at prescribed height from the floor 11, an actual environment recognizing means 3 picks up an ambient environment including the marker M1 for guidance, actual environment data about the marker for guidance are extracted, a guiding route S, almost parallel to the marker M1 for guidance, is set at a prescribed distance separated from the marker for guidance, the distance L3 between the carrying means (moving body) 1 and the route S and the direction α of the carrying means with respect to the route S are calculated, the turning amount β of the carrying means 1 is decided on the basis of the distance L3 and the direction α, and carrying means 1 is made to move while maintaining the parallelism of the carrying means 1 to the marker M for guidance by performing correction operation of the carrying means 1 on the basis of the turning amount β so as to make the carrying means 1 travel along the route S.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a guidance method for automatically moving a moving object such as an automatic guided vehicle, a transfer robot, a ship, or the like.

[0002]

2. Description of the Related Art In recent years, articles have frequently been put in and taken out of warehouses and distribution facilities, and there has been a demand for unmanned transport by transport means (moving bodies) such as transport vehicles and transport robots. In addition, this type of unmanned transport is performed in a harsh environment where a forklift or other transport means must be operated in a freezer warehouse or the like.
Attention has been paid to eliminating the work by the operator and improving the work efficiency.

[0003] As a method of guiding these transportation means, map data of a predetermined area is stored in advance, and the transportation means is moved along a guidance route set in advance on the map data. In a logistics facility or a logistics facility, the guide route may be set between aligned shelves (hereinafter referred to as aligned shelves) for taking in and out articles, and a gyro may be used as a means for performing position correction on the guide route. is there.

[0004]

However, since the gyro has a problem that an angular error (an error in the direction of the conveying means 1) accumulates, the gyro has a parallelism with respect to the alignment shelf. It becomes difficult to travel while maintaining, and a shift of a stop position in the transfer means and a shift of parallelism with respect to the alignment shelf when the transfer means is stopped occur, making it difficult to unload and unload the articles at the stop position. There is a problem that it will be.

Therefore, the present invention focuses on the above-mentioned problems and, even when the transport means is driven between obstacles such as an alignment shelf, a predetermined stop while maintaining the parallelism with the obstacles. It is an object of the present invention to provide a method for guiding a moving body that can be stopped accurately at a position.

[0006]

According to the present invention, in order to solve the above-mentioned problems, a moving object is provided with a real environment recognizing means for capturing an image of the surrounding environment. A method for guiding a moving object to be operated,
A linear marker is provided on the floor or at a predetermined height from the floor, the surrounding environment including the marker is imaged by the real environment recognizing means, and real environment data relating to the marker is extracted. A guide route that is separated and substantially parallel to the marker is set, a distance from the moving body to the guide route, and a direction of the moving body with respect to the guide route are determined, and the movement is performed based on the distance and the direction. The amount of rotation of the body is determined, and the moving body is corrected based on the amount of rotation so as to follow the guidance route, thereby moving the moving body while maintaining the parallelism of the moving body with respect to the marker. Things.

The real environment recognizing means extracts real environment data relating to another marker different from the marker, sets a stop position of the moving body apart from the other marker, A distance from the current position of the moving object to the stop position based on a distance from the moving object to the marker, a direction of the moving object with respect to the guidance route, and a direction of the other marker with respect to the direction of the moving object. Things.

Further, the distance to the stop position is calculated at a predetermined cycle, and when the distance to the stop position is within a threshold, the distance to the stop position when it is determined that the distance is within the threshold is calculated. The moving body is stopped based on the moving object.

Further, based on a mounting position of the real environment recognizing means on the moving body and a direction of the moving body,
A reference position of the moving body that is most along a moving path accompanying the turning of the moving body is determined, and the reference position is determined as a position of the moving body.

Further, a light source is provided on the movable body, and the marker illuminating the reflecting member is illuminated by the light source.

[0011] Further, a light source is provided on the moving body, and the other light source illuminates the other marker formed of a reflecting member.

Further, the light source is turned on in accordance with a timing at which an image is taken by the real environment recognizing means.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A method for guiding a moving object according to the present invention will be described below with reference to the accompanying drawings.

FIG. 1 shows a part of a layout in a warehouse or a distribution facility. In FIG. 1, 1 is
The transportation means (moving body) includes a forklift or the like, which is a work vehicle that transports and travels in the warehouse and the distribution facility. Reference numeral 2 denotes an alignment shelf for unloading and transferring the articles transported by the transport unit 2.

FIG. 2 is a block diagram showing an electrical configuration of the transport means 1 for achieving the guidance method according to the embodiment of the present invention. Reference numeral 3 is provided in the transport means 1 and around the transport means 1. This is real environment recognition means for recognizing a situation, for example, an omnidirectional vision sensor is used. Reference numeral 4 denotes a control unit constituted by a microcomputer, which stores map data in a warehouse or a distribution facility, calculates a guidance route based on the map data,
This is for obtaining a shift angle and a shift position of the transport unit 1 from the guide route, and causing the transport unit 1 to travel along the guide route with a correction value based on the shift angle and the shift position. 5 is a first drive unit for rotating the front wheel 1a of the transport unit 1 to cause the transport unit 1 to travel, and 6 adjusts a steering angle of the rear wheel 1b with respect to the traveling direction of the transport unit 1, This is a second driving unit for changing the traveling direction of the transport unit 1, and includes first and second transport units 5 and 6.
Is composed of, for example, a stepping motor and a servomotor. Reference numeral 9 denotes an encoder that generates a predetermined number of pulses per rotation of the wheel of the transport unit 1 and is used to determine the travel distance of the transport unit 1. Reference numeral 10 denotes an illuminating device for illuminating the traveling direction of the transport unit 1, and has a control circuit capable of on / off control based on a command from the control unit 4. The above components are mounted on the transport unit 1.

According to such a configuration, the control means 4 is configured as shown in FIG.
As shown in the figure, the alignment shelf 2 at the starting position A of the transporting means 1
To set the guidance route S from the entrance of the vehicle to the stop position D, and to move the transportation means 1 along the guidance route S based on the real environment data from the real environment recognition means 3.
The transport means 1 is moved by outputting a control signal to the first and second drive means 5 and 6 via the drive circuits 7 and 8.

FIGS. 3 and 4 are diagrams showing a guiding method when the transport means deviates from the guidance route S in the case of a structural problem of the transport means 1 or a road surface condition in the warehouse or the distribution facility. . In FIG. 3, M <b> 1 is provided in a straight line (linear shape) from one end 2 a serving as an entrance of the conveying means 1 of the alignment shelf 2 to the other end 2 b, and secures a predetermined height from the floor surface 11. A guide tape (marker) arranged as described above, and a line tape using a retroreflective material as a reflective member is used.

In the guidance method of the control means 4 described below, the transport means 1 uses the center of the axle connecting the front wheels 1a as a reference position of the transport means 1, and the real environment recognition means 3 is provided at this reference position. Shall be It is assumed that the front direction of the transport unit 1 matches the front direction of the real environment recognition unit 3. In addition, the reference position is a position that is most along the movement path associated with the turning of the transport unit 1.

The control means 4 inputs real environment data including the guidance marker M1 at a predetermined cycle from the real environment recognition means 3 (step S1), cuts out only the real environment data relating to the guidance marker M1, and The guidance marker M1 is extracted on the basis of the extracted real environment data (step S2), and a linear expression that becomes the guidance marker M1 by the least square method from the coordinate group of the guidance marker M1 obtained in pixel units, for example. Is calculated (step S3).
Note that the straight line formula obtained here represents the alignment shelf 2.

Next, the control means 4 sets a guide route S from the starting position A on the entrance side of the alignment shelf 2 to the stopping position D based on the direct edge type (step S4). The guidance route S is
In consideration of the vehicle width of the conveying means 1 and the conveying claws for conveying the articles (the swiveling conveying claws of the forklift), the linear type, that is, the end of the conveying shelf 2 with a predetermined distance L1 from the alignment shelf 2 It is set to be substantially parallel to the edge.

Next, based on the straight line formula, the control means 4 determines the distance L2 from the transport means 1 to the guidance route S and the direction of the transport means 1 with respect to the guidance route S (the front of the transport means 1 with respect to the alignment shelf 2). (Step S5), and the control amount which is the amount of rotation β of the conveying means 1 described below is determined (Step S6).

The amount of rotation β according to the inclination α of the conveying means 1: β = α + γ = α + (tan ⁻¹ (L2 / L3))

Incidentally, L3 is an arbitrary distance for returning from the current position B (the reference position of the conveying means 1) of the conveying means 1 to an arbitrary position C on the guidance route S.

The control means 4 sets a correction movement path 12 based on the rotation amount β, and outputs a control signal corresponding to the correction movement path 12 to the first and second driving means 5 and 6 of the transport means 1. (Step S7).

By controlling the processing as described above,
It is possible to move the transport unit 1 exactly along the guidance route S.

Next, a control method of the transport means 1 at the time of stop will be described with reference to FIGS. In FIG. 5, M2 is a stop marker made of the same material as the guide marker M1. In addition, the transport unit 1 on the guidance route S
The stop position D is set at a position that is a predetermined distance L4 before the stop marker M2 in consideration of the transport claw that transports the article.

In the same manner as the above-described correction processing for causing the vehicle to follow the guidance route S, the transport unit 1 sets the center of the axle connecting the front wheels 1a as the reference position of the transport unit 1, and the real environment recognition unit 3 It is assumed that they are provided.

The control means 4 inputs real environment data including the stop marker M2 at a predetermined cycle from the real environment recognition means 3 (step S1), and cuts out only the real environment data relating to the stop marker M2. The stop marker M2 is extracted based on the extracted real environment data (step S2), the center of gravity position E of the stop marker M2 is obtained, and the direction of the center of gravity E viewed from the real environment recognition unit 3 (the direction of the transport unit 1). Direction of stop marker relative to direction α)
θ is obtained (step S3). Hereinafter, the direction θ of the center-of-gravity position E viewed from the real environment recognition means 3 is referred to as a direction θ of the stop marker M2.

The control means 4 determines the distance L5 from the transport means 1 to the alignment shelf 2 and the direction of the transport means 1 with respect to the alignment shelf 2 (the guidance of the transport means 1) based on the linear equation calculated by the above method. (Direction with respect to the path S) α is obtained (step S4).

Next, the control means 4 determines the distance L5 from the current position B of the transport means 1 to the alignment shelf 2, the direction α of the transport means 1 relative to the alignment shelf 2, and the direction θ of the stop marker M2. Then, the distance L6 from the current position B of the conveying means 1 to the stop position D is obtained by the following equation (Step S).
5).

Distance L6 on guidance route S from current position B to stop position E: L6 = (L5 / tan (θ-α))-L4 where L4 is the stop position from center of gravity position E of stop marker M2. The distance on the guidance route S to D, which is a predetermined constant.

Next, the control means 4 determines that the distance L6 obtained in step S5 is equal to a predetermined threshold value of the distance X (distance X is the scan time for executing the program of the control means 4 and the transport means 1). (Step S6), and when the distance L6 is larger than the distance X (L6> X), based on the correction processing described with reference to FIGS. By setting a correction movement path 12 based on the rotation amount β and outputting a control signal corresponding to the correction movement path 12 to the first and second driving means 5 and 6 of the conveyance means 1, the conveyance means 1 is guided. The travel control along the route S is performed (step S7), and the process returns to step S1.

The control means 4 repeats the above-described processing until it determines in step S6 that the distance L6 is within the distance X (L6 ≦ X). When the control unit 4 determines that the distance L6 is within the distance X (L6 ≦ X),
The transport unit 1 is stopped at the distance L6 determined at that time (step S8), and the movement distance at this time is determined by the control unit 4 counting a predetermined number of pulses output from the encoder 9, It is determined by performing processing.

By performing the above-described processing, it is possible to accurately stop the transporting means 1 at the stop position D while maintaining the parallelism with the alignment shelf 2.

FIG. 7 shows an example in which the actual environment recognition means 3 cannot be provided at the reference position when the transport means 1 is, for example, a forklift. In the figure, it is assumed that the real environment recognition means 3 is attached to a position F which is the center of gravity of the transport means 1.

The control means 4 determines the stop marker M2 based on the center of gravity position E of the guide marker M1 and the stop marker M2.
, The center of gravity (relative position) F (Xf, Yf) of the conveying means 1 and the direction α of the conveying means 1 with respect to the guidance route S are determined from the center of gravity E of the conveying means 1, and the center of gravity F, the direction α, and the physical The position of the real environment recognizing unit 3 which becomes a virtual point from the offset amount L7 from the reference position B 'of the conveying means 1 to the center of gravity position F, ie, the reference position B' (X
b ′, Yb ′) is determined by the following equation. Note that the reference position B ′ determined here is the current position B of the transporting means 1 determined by the above-described processing.

Reference position B 'of conveying means 1: Xb' = Xf + L7 sinα Yb '= Yf-L7cosα

In the calculation of the turning amount β, Xb ′ of the reference position B ′ may be used, and in the calculation of the stop position D, Xb′Yb ′ will be used.

In this processing, when the mounting position of the real environment recognizing means 3 is not provided at the reference position B 'of the transport means 1, the reference position B' which is a virtual point of the transport means 1 is obtained as described above. As a result, the distance L6 to the stop position D and the amount of rotation β for returning the transporting means 1 to the guidance route S can be obtained as in the state where the real environment recognition means 3 is attached to the reference position B ′, By suppressing the amount of meandering of the transport means 1 when traveling along the guidance route S, traveling accuracy can be improved, and it is possible to accurately stop at the stop position D.

Further, the guidance device according to the embodiment of the present invention is provided with a lighting device 10. In this case, the traveling route along which the transporting means 1 travels may be dark depending on the location of the lighting equipment in the warehouse or the distribution facility, but the guidance marker M1 and the stop marker M2 are satisfactorily detected. Things.

Therefore, the guide marker M1 and the stop marker M2 are formed using a retroreflective material which is a reflective member, and the illumination device 10 illuminates the guide marker M1 and the stop marker M2, thereby making the marker M1 dark. Even on the traveling route, the guidance marker M1 and the stop marker M2 can be detected satisfactorily by the real environment recognition means 3.

By using, for example, a plurality of light emitting diodes as the light source of the illumination device 10, it is possible to control the lighting of the light source in accordance with the scan timing for executing the program of the control means 4. Further, when a headlight of a forklift is used as the light source, the light source is not controlled to be turned on in accordance with the scan timing, but is used only when real environment data is required in the correction processing of the control unit 4. The light source will be turned on.

In the guidance device for controlling the lighting of the light source, consumption of a battery power source serving as a driving source is suppressed.

The guiding method of the transport means 1 is as follows. A linear guiding marker M1 is provided on the alignment shelf 2 so as to be located at a predetermined height from the floor surface 11, and the real environment recognizing means 3 controls the guiding marker M1. Image of the surrounding environment, including the guidance marker M1
Extraction of the actual environment data related to the guidance marker M1 and the guidance marker M1 at a predetermined distance L1 from the guidance marker M1.
And a distance L2 from the transport means 1 to the guide path S and a direction α of the transport means 1 with respect to the guide path S are determined, and the rotation of the transport means 1 is determined based on the distance L2 and the direction α. Is determined, the transporting means 1 is operated by the correction movement path 12 based on the rotation amount β to perform a correcting operation so as to follow the guidance path S, and the transporting means 1 is moved while maintaining the parallelism with respect to the guidance marker M1. The transport means 1 can be moved while maintaining the parallelism with the alignment shelf 2.

The real environment recognizing means 3 extracts real environment data relating to a stop marker M2 different from the guide marker M1, determines a stop position D apart from the stop marker M2, The distance L5 to the guidance marker M1 and the direction α of the transport unit 1 with respect to the guidance route S
And calculating the distance L6 to the stop position D based on the direction of the stop marker M2 (the direction of the center of gravity E of the stop marker M2 with respect to the direction α of the transporting means 1) θ.
Since the transporting means 1 can be stopped accurately at the stop position D, the unloading and unloading of articles at the stop position D is improved.

Further, the distance L6 to the stop position D is calculated at a predetermined cycle, and based on the scan time for executing the program of the control means 4 and the moving speed of the transport means 1,
A threshold X at a distance L6 to the stop position D is set, and when it is determined that the distance L6 to the stop position D is within the threshold X, the distance L to the stop position D at the time of the determination is determined.
Since the transport unit 1 is stopped based on 6, the transport unit 1 can be accurately stopped at the stop position D even when the inexpensive control unit 4 having a relatively low processing capacity is used.

Further, based on the real environment recognizing means 3, the mounting position (center of gravity position) F, and the direction α of the conveying means 1 (the front direction of the real environment recognizing means 3), the moving route accompanying the turning of the conveying means 1 is determined. Find the reference position B 'of the conveying means 1 along the most,
The reference position B ′ is determined as the position of the transporting means 1, and the rotation amount β and the distance L6 to the stop position D are determined based on the position of the transporting means, and the vehicle is caused to travel along the guidance route S. The traveling accuracy can be improved by suppressing the meandering amount of the transport unit 1 in the case.

Further, the transportation means 1 is provided with an illumination device 10,
The light source of the illumination device illuminates the guide marker M1 and the stop marker M2 made of a retroreflective material as a reflective member. Even in a dark running route, the guide marker M1 and the stop marker M2 are illuminated. Can be detected satisfactorily by the real environment recognizing means 3, and the shift of the stop position D in the transport means 1 and the shift of the parallelism with respect to the alignment shelf 2 can be suppressed, so that the transport means 1 can be guided well.

Further, the light source of the illumination device 10 is turned on in accordance with the timing at which the image is picked up by the real environment recognizing means 3, so that it is possible to suppress the consumption of the battery power which is the driving source of the guidance device.

In the embodiment of the present invention, the map data is stored in the control means 4 mounted on the transport means 1. However, in the guidance method of the present invention, the map data is controlled separately from the transport means. Means for storing map data in the control means, collating the real environment data from the real environment recognition means provided in the transport means with the map data via a wireless device, The present invention may be applied to a device that guides the transport device through the device.

In the embodiment of the present invention, the guide marker M1 is provided at a predetermined height from the floor 11. However, the guide marker M1 is provided from the one end 2a of the alignment shelf 2 to the other end 2b. May be provided in a straight line.

Also, in the present invention, a detecting means such as an inclination angle sensor for detecting the inclination is considered in consideration of the inclination of the real environment recognizing means 3 when the conveying means 1 is inclined due to unevenness of the road surface or the loading of luggage. Using the inclination angle data from the detection means, the X in the front direction of the transport means 1 at the mounting position of the transport means 1 of the real environment recognizing means 3 is provided in the transport means 1.
The stop position of the transport unit 1 can be obtained with higher accuracy by calculating the shift amount in the direction and the Y direction and correcting the rotation amount β and the distance L6 to the stop position D with a correction value corresponding to the shift amount. Becomes

In order to determine the distance L6 to the stop position D in consideration of the unevenness of the road surface and the inclination of the real environment recognizing means 3 due to the loading of the load on the transport means 1, it is not always necessary to use a detecting means such as an inclination angle sensor. do not need. For example, actual environment data by the actual environment recognizing means 3 before loading the cargo is compared with real environment data by the real environment recognizing means 3 after loading the cargo, and the comparison result is used to determine the actual environment data at the mounting position of the transport means 1. It is also possible to know the inclination of the environment recognition means 3 (the inclination of the transport means 1).

[0054]

According to the present invention, an automatic guided vehicle, a transfer robot,
The present invention relates to a guidance method for automatically moving a moving object such as a ship, wherein a linear marker is provided on a floor surface or at a predetermined height from the floor surface, and the surrounding environment including the marker is detected by real environment recognition means. And extracting real environment data relating to the marker, setting a guide route separated by a predetermined distance from the marker and substantially parallel to the marker, and setting a distance between the moving body and the guide route and the movement with respect to the guide route. By determining the direction of the body, determine the amount of rotation of the moving body based on the distance and the direction, by performing a correction operation so that the moving body along the guidance route based on this turning, the The moving body is moved while maintaining the parallelism of the moving body with respect to a marker, and the moving body can be moved while maintaining the parallelism with an obstacle such as an alignment shelf.

The real environment recognizing means extracts real environment data relating to another marker different from the marker, sets a stop position of the moving body apart from the other marker, and sets the stop position of the moving body. Distance to the marker,
By calculating the distance from the current position of the moving body to the stop position based on the direction of the moving body with respect to the guidance route and the direction of the other marker with respect to the direction of the moving body, obstacles such as alignment shelves are obtained. The moving body can be stopped accurately at the stop position while keeping the parallelism between the object and the moving body, and the loading and unloading of articles at the stop position can be made good.

[Brief description of the drawings]

FIG. 1 is a diagram showing a part of a layout in a warehouse or a distribution facility according to an embodiment of the present invention.

FIG. 2 is a block diagram showing an electrical configuration of the guidance device according to the embodiment;

FIG. 3 is a diagram showing a state in which the conveyance means of the embodiment is deviated from a guidance route.

FIG. 4 is an exemplary view for explaining a guidance method for causing the conveying means of the embodiment to follow the guidance route;

FIG. 5 is a diagram for finding a stop position of a transport unit according to the embodiment.

FIG. 6 is a view for explaining a method of stopping the transport means according to the embodiment.

FIG. 7 is a diagram showing a case where the real environment recognition means of the embodiment is not provided at the center of rotation of the transport means.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Conveying means (moving body) 2 Alignment shelf 3 Real environment recognition means 4 Control means 5 First driving means 6 Second driving means 10 Illumination device M1 Guidance marker (marker) M2 Stopping marker (other marker) A Starting point position B Current position (reference position) B 'reference position C Arbitrary position D Stop position E Center of gravity position of stop marker F Center of gravity position of transportation means S Guidance path L3 Distance between transportation means and guidance path α Transportation means for guidance path Direction (direction of the transport means relative to the alignment shelves) β amount of rotation of the transport means θ direction of the stop marker

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Futa Tazaki 1-1190-1, Fujibashi, Nagaoka-shi, Niigata Japan Inside R & D Center Japan Seiki Co., Ltd. (72) Ryuichi Ando 1-1190-1, Fujibashi, Nagaoka-shi, Niigata Japan Seiki Co., Ltd. R & D Center F-term (reference) 5H301 AA02 AA09 BB07 CC03 CC06 DD01 EE08 EE13 EE28 FF06 FF16 FF27 GG01 GG03 GG12 HH01 HH02

Claims (7)

[Claims] 1. A method for guiding a moving body, comprising: real environment recognizing means for capturing an image of an ambient environment, the moving body operating based on real environment data by the real environment recognizing means. A linear marker is provided at a predetermined height from a surface, and the real environment recognizing means images the surrounding environment including the marker and extracts real environment data related to the marker, and is separated from the marker by a predetermined distance, and A guide route that is substantially parallel to a marker is set, and a distance from the moving body to the guide route and a direction of the moving body with respect to the guide route are determined, and the amount of rotation of the moving body is determined based on the distance and the direction. Is determined, and the moving body is moved along the guidance route based on the amount of rotation, thereby moving the moving body while maintaining the parallelism of the moving body with respect to the marker. Inducing method of the moving body, characterized in that to. 2. The real environment recognizing means extracts real environment data relating to another marker different from the marker, sets a stop position of the moving body apart from the other marker, and From the distance to the marker,
The distance from a current position of the moving body to the stop position is calculated based on a direction of the moving body with respect to the guidance route and a direction of the other marker with respect to the direction of the moving body. 4. The method for guiding a moving object according to item 1. 3. The distance to the stop position is calculated at a predetermined cycle, and when the distance to the stop position is within a threshold, the distance to the stop position when the distance to the stop position is determined to be within the threshold is calculated. The method for guiding a moving object according to claim 2, wherein the moving object is stopped based on the moving object. 4. A reference position of the moving body which is most along a moving path accompanying the turning of the moving body is obtained based on a mounting position of the real environment recognizing means on the moving body and a direction of the moving body. The method for guiding a moving object according to claim 1, wherein a reference position is determined as the position of the moving object. 5. The method according to claim 1, wherein a light source is provided on the moving body, and the marker formed of a reflecting member is illuminated by the light source. 6. The method according to claim 2, wherein a light source is provided on the moving body, and the light source illuminates the other marker formed of a reflecting member. 7. The method for guiding a moving object according to claim 5, wherein the light source is turned on in synchronization with a timing at which the real environment recognition unit captures an image.