Autonomous Mobile Robot Linkage System and Autonomous Mobile Robot

Abstract

The autonomous mobile robot linkage system (1) of the present invention comprises: a plurality of road signs (SP0-SP2) arranged along a moving route (10); an autonomous mobile robot (20) which reads the plurality of road signs (SP0-SP2) in sequence using a camera while moving along the moving route (10) and performs a prescribed action in a sequence of pre-set action numbers based on the identification numbers read from the road signs (SP0-SP2); and a host device (30) which receives information on the action number being executed from the autonomous mobile robot (20) and causes an event to occur on the moving route (10) based on the action number.

Description

Technical Field

[0001] The invention relates to an autonomous mobile robot linkage system and an autonomous mobile robot.

[0002] This application claims priority based on Japanese Patent Application No. 2020-107952 filed in Japan on June 23, 2020, the contents of which are incorporated herein by reference. Background Art

[0003] Patent Document 1 below discloses a system comprising an unmanned vehicle, particularly a cleaning robot, that autonomously moves within an environment, and a door located within the environment and having a door frame and a door leaf. The vehicle includes a detection device for detecting object data within the environment. The vehicle also includes an electronic actuator for changing the door's open state, thereby enabling the door to be opened without manual actuation. Furthermore, a control device provided on the vehicle outputs a control command for actuating the electronic actuator based on the vehicle's operating state and position.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Laid-Open No. 2019-3627 Summary of the Invention

[0007] Problems to be solved by the invention

[0008] However, the conventional vehicle described above includes a computing mechanism for creating an area map based on object data detected by the detection device. This area map, or a file linked to it, contains information regarding the spatial position of the door within the environment. In this type of SLAM (Simultaneous Localization and Mapping) system, changing the area settings requires advanced knowledge and complex effort.

[0009] Another method is a tape method that uses magnetic tape to form a vehicle's travel path and uses ID tags, auxiliary tapes, etc. to trigger events. However, with this method, the event location is limited to the location where the ID tag or auxiliary tape is affixed, so changing the event location requires effort.

[0010] The present invention provides an autonomous mobile robot linkage system and an autonomous mobile robot that can cause an event to occur on a moving route at any time without requiring advanced knowledge or complicated work, simply by configuring markers along the moving route.

[0011] Means for solving problems

[0012] According to a first embodiment of the present invention, an autonomous mobile robot linkage system comprises: a plurality of identifiers arranged along a moving route; an autonomous mobile robot moving along the moving route while sequentially reading the plurality of identifiers using a camera, and performing prescribed actions in a sequence of pre-set action numbers based on identification numbers read from the identifiers; and a host device receiving information of the action numbers being executed from the autonomous mobile robot, and causing an event to occur on the moving route based on the action numbers.

[0013] According to the second embodiment of the present invention, the autonomous mobile robot moves along the moving route while using a camera to sequentially read multiple markers arranged along the moving route, and performs prescribed actions in the order of pre-set action numbers based on the identification numbers read from the markers, wherein the autonomous mobile robot has an event generating unit that causes an event to occur on the moving route based on the action number being executed.

[0014] Effects of the Invention

[0015] According to the autonomous mobile robot linkage system and the autonomous mobile robot described above, simply by arranging markers along the movement route, an event can be caused to occur on the movement route at any timing without requiring advanced knowledge or complicated effort. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic plan view showing the overall configuration of the autonomous mobile robot linkage system according to the first embodiment of the present invention.

[0017] Figure 2 This is a block diagram showing the structure of the autonomous mobile robot in the first embodiment of the present invention.

[0018] Figure 3 This is a front view of the detected portion of the road sign read by the road sign detection unit in the first embodiment of the present invention.

[0019] Figure 4 1 and 2 are diagrams showing an example of movement of the autonomous mobile robot according to the first embodiment of the present invention.

[0020] Figure 5 This is a block diagram showing the details of the linkage between the autonomous mobile robot and the host device in the first embodiment of the present invention.

[0021] Figure 6 1 is a diagram showing an operation table of the autonomous mobile robot in the first embodiment of the present invention.

[0022] Figure 7 It is shown based on Figure 6The action table shown is a flowchart of an example of the operation of the autonomous mobile robot linkage system.

[0023] Figure 8 It shows Figure 7 An explanatory diagram of a scene of the illustrated operation example.

[0024] Figure 9 This is a schematic diagram showing an example of an autonomous mobile robot linkage system according to the first embodiment of the present invention.

[0025] Figure 10 is Figure 9 An example of serial communication performed by an autonomous mobile robot linkage system is shown.

[0026] Figure 11 It is a schematic plan view showing the overall structure of an autonomous mobile robot linkage system according to a second embodiment of the present invention.

[0027] Figure 12 1 is a diagram showing an operation table of the autonomous mobile robot in the second embodiment of the present invention.

[0028] Figure 13 It is shown based on Figure 12 The action table shown is a flowchart of an example of the operation of the autonomous mobile robot linkage system.

[0029] Figure 14 It is a schematic plan view showing the overall structure of an autonomous mobile robot linkage system according to a third embodiment of the present invention.

[0030] Figure 15 1 is a diagram showing an operation table of the autonomous mobile robot in the third embodiment of the present invention.

[0031] Figure 16 It is shown based on Figure 15 The action table shown is a flowchart of an example of the operation of the autonomous mobile robot linkage system. DETAILED DESCRIPTION

[0032] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0033] (First embodiment)

[0034] Figure 1 1 is a schematic plan view showing the overall configuration of an autonomous mobile robot linkage system 1 according to the first embodiment of the present invention.

[0035] like Figure 1As shown, the autonomous mobile robot linkage system 1 includes a moving route 10 configured with multiple road signs SP0~SP2 (markers), an autonomous mobile robot 20 moving along the moving route 10, a host device 30 of the autonomous mobile robot 20, and a gate device 40 (linkage device) set on the moving route 10.

[0036] Here, a "roadmark" refers to a structure with a marking (marker) readable by the camera described later, installed at a predetermined location on or near the movement route 10. The marking includes information related to the identification number of the structure. Markings include, in addition to the detection portion C, which is composed of a first light-reflecting unit (C11, C13, etc.) and a second light-non-reflecting unit (C12, C21, etc.) arranged on a two-dimensional plane, as described later, one-dimensional codes (barcodes) and other two-dimensional codes.

[0037] Figure 2 1 is a block diagram showing the structure of the autonomous mobile robot 20 in the first embodiment of the present invention.

[0038] like Figure 2 As shown, the autonomous mobile robot 20 includes a landmark detection unit 21 , a drive unit 22 , a control unit 23 , and a communication unit 24 .

[0039] The road sign detection unit 21 includes an illumination unit 25, two imaging units 26, and a calculation unit 27. Furthermore, the drive unit 22 includes a motor control unit 28, two motors 29, and left and right drive wheels 20L and 20R. It should be noted that the configuration of the road sign detection unit 21 is only one embodiment; other configurations are also possible.

[0040] The irradiation unit 25 is mounted at a central position in the front of the autonomous mobile robot 20 in its travel direction, and emits, for example, infrared LED light forward. Infrared LED light is preferably used in dark places such as factories or places with strong visible light. It should be noted that the irradiation unit 25 may also emit detection light other than infrared LED light.

[0041] The two imaging units 26 are disposed on the left and right of the road sign detection unit 21. The two imaging units 26 use, for example, cameras combined with infrared filters, and capture reflected light (infrared LED light) reflected from the road sign SP.

[0042] The calculation unit 27 performs binarization processing based on the shooting data sent from the two shooting units 26 to form binary image data composed of black and white, and then uses the binarized image data to perform operations based on triangulation (triangulation using the difference between the shooting data of the two shooting units 26), thereby calculating the distance (distance Z) and direction (angle θ) of the landmark SP relative to the autonomous mobile robot 20.

[0043] Note that, when the imaged data includes a plurality of road signs SP, the calculation unit 27 detects the identification number (identification ID) of the road sign SP, selects a target road sign SP, and calculates the distance Z and angle θ to the target road sign SP.

[0044] Drive wheel 20L is provided on the left side relative to the direction of travel of autonomous mobile robot 20. Drive wheel 20R is provided on the right side relative to the direction of travel of autonomous mobile robot 20. It should be noted that autonomous mobile robot 20 may also have wheels other than drive wheels 20L and 20R in order to stabilize the posture of autonomous mobile robot 20.

[0045] The motor 29 rotates the left and right drive wheels 20L and 20R under the control of the motor control unit 28 .

[0046] Motor control unit 28 supplies power to left and right motors 29 based on the angular velocity command value input from control unit 23. Left and right motors 29 rotate at an angular velocity corresponding to the power supplied from motor control unit 28, thereby causing autonomous mobile robot 20 to move forward or backward. Furthermore, by creating a difference in the angular velocity between left and right motors 29, the direction of travel of autonomous mobile robot 20 can be changed.

[0047] The control unit 23 controls the driving unit 22 based on the information read from the road sign SP by the road sign detection unit 21 .

[0048] Figure 3 It is a front view of the detected portion C of the road sign SP read by the road sign detection unit 21 in the first embodiment of the present invention.

[0049] like Figure 3 As shown, the road sign SP includes a detection portion C in which first units (C11, C13, ...) capable of reflecting infrared LED light and second units (C12, C21, ...) not capable of reflecting infrared LED light are arranged on a two-dimensional plane.

[0050] The detection portion C of this embodiment is composed of a 3-row × 3-column pattern. Specifically, the detection portion C includes a first cell C11 in the 1st row and 1st column, a second cell C12 in the 1st row and 2nd column, a first cell C13 in the 1st row and 3rd column, a second cell C21 in the 2nd row and 1st column, a first cell C22 in the 2nd row and 2nd column, a second cell C23 in the 2nd row and 3rd column, a first cell C31 in the 3rd row and 1st column, a second cell C32 in the 3rd row and 2nd column, and a first cell C33 in the 3rd row and 3rd column.

[0051] The first cells C11, C13, C22, C31, and C33 are formed from materials with high reflectivity for infrared LED light, such as aluminum foil or titanium oxide thin film. The second cells C12, C21, C23, and C32 are formed from materials with low reflectivity for infrared LED light, such as infrared cutoff film, polarizing film, infrared absorbing material, or black felt.

[0052] The calculation unit 27 detects the road sign SP by performing a first scan S1 and a second scan S2 on the detection portion C. In the first scan S1, for example, the first cell C11, the second cell C12, and the first cell C13 in the first row arranged in "white, black, white" are detected. In the second scan S2, for example, the first cell C11, the second cell C21, and the first cell C31 in the first column arranged in "white, black, white" are detected.

[0053] If expressed using a binary code in which white is represented as "1" and black is represented as "0 (zero)", "white, black, white" can be represented as "1, 0, 1". The calculation unit 27 detects the road sign SP when the reading of "1, 0, 1" based on the first scan S1 and the reading of "1, 0, 1" based on the second scan S2 are successful.

[0054] The calculation unit 27 reads the identification number (identification ID) of the road sign SP from the remaining cells of the detection portion C (the first cell C22 at the 2nd row and 2nd column, the second cell C23 at the 2nd row and 3rd column, the second cell C32 at the 3rd row and 2nd column, and the first cell C33 at the 3rd row and 3rd column). Figure 3 In the example shown, the calculation unit 27 can read the identification number of the road sign SP using 4 bits of information.

[0055] Figure 4 : is a diagram showing an example of movement of the autonomous mobile robot 20 in the first embodiment of the present invention. Figure 4 In the illustrated movement example, autonomous mobile robot 20 moves while maintaining a constant distance Xref from the left side of movement path 10. To maintain a constant distance Xref from the left side of movement path 10, autonomous mobile robot 20 obtains the distance Z and direction θ to a detected landmark SP and calculates a travel direction such that distance Z and direction θ satisfy predetermined conditions.

[0056] Direction θ is the angle between the autonomous mobile robot 20's travel direction and the direction of the detected landmark SP. A travel direction that satisfies predetermined conditions is one where direction θ is arcsin(Xref / Z). When the distance Z to the landmark SP with a detected portion C1 becomes closer than a predetermined threshold, the autonomous mobile robot 20 switches its target to the next landmark SP with a detected portion C2 and moves.

[0057] Figure 5This is a block diagram showing the details of the linkage between autonomous mobile robot 20 and host device 30 in the first embodiment of the present invention. Figure 6 1 is a diagram showing an operation table of autonomous mobile robot 20 in the first embodiment of the present invention.

[0058] First, the action table of the autonomous mobile robot 20 is described. Figure 6 As shown, in the action table, the STEP input sequence of the autonomous mobile robot 20 performing the prescribed action is stored in the order of the preset action numbers. The user can use Figure 6 The action table is marked by the GUI software shown (for example, by selecting each parameter by pulling down). It should be noted that the action table can also be stored in the autonomous mobile robot 20 and the host device 30 respectively.

[0059] Figure 6 The numbered column on the left side of the page is the action number. Each action number is associated with the following items: "Action," "Parameter," and "Event Issuance." "Parameters" include "Landmark Size / Action," "Landmark Number / Rotation Angle," "Following Direction," "Landmark Left-Right Distance," and "Landmark Fore-Front Distance." The details of each parameter will be discussed later, along with the actions of autonomous mobile robot 20.

[0060] Control unit 23 (see Figure 2 ) Based on the identification number of the road sign SP read by the calculation unit 27, Figure 6 The actions are performed in the order of the action numbers shown.

[0061] The communication unit 24 communicates with the host device 30 in real time about the action number being executed by the control unit 23. Figure 5 As shown, the communication unit 24 of this embodiment performs serial communication with the host device 30 .

[0062] The host device 30 is composed of a PLC (Programmable Logic Controller), etc., and receives information about the action number being executed from the autonomous mobile robot 20, and based on the action number, causes an event to occur on the movement route 10. The host device 30 of this embodiment obtains the position information of the autonomous mobile robot 20 based on the action number being executed by the autonomous mobile robot 20, such as opening and closing the door. Figure 1 The events of the gate device 40 are shown to occur.

[0063] It should be noted that the upper device 30 can also cause events (sequences 1 to n) to occur based not only on the position information of the autonomous mobile robot 20, but also on the travel distance of the autonomous mobile robot 20, the brightness of the road sign SP, the battery remaining warning of the autonomous mobile robot 20, the gain change of the autonomous mobile robot 20, the camera threshold change of the autonomous mobile robot 20, etc.

[0064] Next, Figure 1 Under the situation shown (the situation where the autonomous mobile robot 20 moves from the starting point A to the target point B), based on Figure 6 An operation example of the autonomous mobile robot linkage system 1 will be described based on the operation table shown in FIG.

[0065] Figure 7 It is shown based on Figure 6 The operation table shown is a flowchart of an operation example of the autonomous mobile robot linkage system 1. Figure 8 It shows Figure 7 An explanatory diagram of a scene of the illustrated operation example.

[0066] lie in Figure 1 The autonomous mobile robot 20 at the starting location A is shown based on Figure 6 The action table shown advances upon receipt of the "advance" event from the host device 30. The communication unit 24 serially communicates the action number "0" to the host device 30.

[0067] Next, autonomous mobile robot 20 performs the next predetermined action, which is assigned action number "1." The action assigned action number "1" is detecting a "road sign." For the detected "road sign," the "road sign size" is "M," the "road sign number" is "0," the "following direction" is "front," the "road sign left-right distance" is "0," and the "road sign front-back distance" is "2."

[0068] Specifically, the autonomous mobile robot 20 detects a landmark SP0 having a landmark size of M (other sizes such as S and L are possible). In addition, the autonomous mobile robot 20 follows the landmark SP0 in the forward direction (the aforementioned travel direction that satisfies the predetermined conditions) and sets the landmark left-right distance to 0 (with respect to the aforementioned Xref being 0 (reference number)). Figure 4 )), the distance between the front and rear of the road sign is 2 meters (the above Z (refer to Figure 4 ), the switching distance of the road sign).

[0069] When the signpost SP0 is found (if yes in step S101), the communication unit 24 serially communicates the action number "1" to the host device 30. Upon receiving the action number "1", the host device 30 performs command analysis based on the action number (step S201). Figure 8 As shown, an event of opening the gate device 40 occurs (step S202 ).

[0070] The gate device 40 includes a communication device (radio, etc.) (not shown) for communicating with the host device 30 and an actuator (not shown) for opening and closing the gate. The gate device 40 receives a command from the host device 30 to open the gate.

[0071] If signpost SP0 is found (yes in step S101), autonomous mobile robot 20 then performs a predetermined action, assigned action number "2." The action assigned action number "2" is "advance" (step S102). The parameter for this advance action is "2." In other words, autonomous mobile robot 20 advances 2 meters and passes through gate device 40. Communication unit 24 serially communicates this action number "2" to host device 30.

[0072] On the other hand, if the signpost SP0 is not found (if step S101 is No (the same applies to step S103 and step S106 described later), the autonomous mobile robot 20 performs a retry process to move forward, or outputs an error message and stops (step S108).

[0073] After performing action number "2," autonomous mobile robot 20 performs a predetermined action, designated action number "3." The action designated action number "3" is the detection of a "landmark." For the detected "landmark," "landmark size" is "M," "landmark number" is "1," "following direction" is "front," "landmark left-right distance" is "0," and "landmark front-back distance" is "2." If landmark SP1 is detected (if step S103 returns "Yes"), communication unit 24 serially communicates action number "3" to host device 30.

[0074] Next, the autonomous mobile robot 20 performs a predetermined action set as action number "4". The "action" set as action number "4" is "rotation". The parameter of the "action" of this rotation is "right rotation" and the parameter of the "rotation angle" is "90" degrees. In other words, Figure 1 As shown, the autonomous mobile robot 20 rotates right by 90 degrees before the road sign SP1 (step S104 ), and then moves forward after rotating right by 90 degrees (step S105 ).

[0075] Next, autonomous mobile robot 20 performs a predetermined action, designated action number "5." The action designated action number "5" is the detection of a "landmark." For the detected "landmark," "landmark size" is "M," "landmark number" is "2," "following direction" is "front," "landmark left-right distance" is "0," and "landmark front-back distance" is "2." If landmark SP2 is detected (if step S106 returns "Yes"), communication unit 24 serially communicates action number "5" to host device 30.

[0076] Upon receiving the action number "5," the host device 30 performs command analysis based on the action number (step S204). Based on the action number "5," the host device 30 triggers an event to close the gate device 40 (step S203). The gate device 40 receives the command from the host device 30 and closes the gate.

[0077] If the road sign SP2 is found (if the answer is yes in step S106), the autonomous mobile robot 20 performs a predetermined action set to action number "6". The "action" set to action number "6" is "rotation". The parameters of the "action" of this rotation are "right rotation" and the parameters of the "rotation angle" are "180" degrees. In other words, if Figure 1 As shown, autonomous mobile robot 20 rotates clockwise 180 degrees (reverses direction) at target point B (step S107 ). Communication unit 24 serially communicates the action number “6” to host device 30 .

[0078] The next action, designated as action number "7," is the "target." Communication unit 24 serially communicates action number "7" to host device 30. Upon receiving action number "7," host device 30 performs command analysis based on this action number (step S205). Based on action number "7," host device 30 triggers an event to notify autonomous mobile robot 20 of the target via a speaker (not shown) (step S206). The speaker, for example, receives a command from host device 30 to perform the target notification.

[0079] above, Figure 1 A series of operations of the autonomous mobile robot linkage system 1 under the shown situation is completed.

[0080] Figure 9 1 is a schematic diagram showing an example of an autonomous mobile robot linkage system 1 according to the first embodiment of the present invention. Figure 10 is Figure 9 An example of serial communication performed by the autonomous mobile robot linkage system 1 is shown.

[0081] exist Figure 9In the illustrated embodiment, autonomous mobile robot 20 moves along movement route 10 from factory A to factory B. There are first to fourth gates (gate devices) on movement route 10 , and autonomous mobile robot 20 leaves factory A once and moves outside to factory B.

[0082] There are road signs SP in front and behind each door. As described above, the host device 30 receives the information of the action number being executed from the autonomous mobile robot 20, and based on the action number, it generates the event of opening and closing each door on the moving route 10. Figure 10 As shown, an index number (INDEX No.) related to the outbound route and the return route in the movement route 10 is attached to the beginning.

[0083] In other words, the host device 30 receives the index number and action number via serial communication. For example, if the index number is "0," it indicates an outbound path, while if it is "1," it indicates a return path. The host device 30 determines whether the autonomous mobile robot 20 is on an outbound path or a return path based on the index number. If it is a return path, the host device 30 opens and closes the gate device 40 from the fourth door. This allows different events to occur depending on whether the autonomous mobile robot 20 is on an outbound path or a return path, even when the same landmark SP is detected.

[0084] Thus, according to the above-mentioned autonomous mobile robot linkage system 1, the autonomous mobile robot 20 moves along the moving route 10 while sequentially reading a plurality of road signs SP using a camera, and performs predetermined actions in the order of pre-set action numbers based on the identification numbers read from the road signs SP. Figure 6 As shown, the action table of the autonomous mobile robot 20 following the landmark SP becomes a step-type setting method.

[0085] According to this STEP formula, the action number in the action table, as location information, matches the actual location of the signpost SP. In other words, by transmitting the action number being executed by the autonomous mobile robot 20 to the host device 30, the autonomous mobile robot 20 can issue events and perform other sequence control even during the main transport action.

[0086] Therefore, according to this autonomous mobile robot linkage system 1, the user can easily synchronize the position information of autonomous mobile robot 20 with the location of the road sign SP, thereby enabling the host device 30 to easily cause one or more necessary events to occur simultaneously at any desired timing. Furthermore, in this case, the operation of autonomous mobile robot 20 and the events can be controlled simultaneously without stopping the layout changes of road sign SP or the operation of autonomous mobile robot 20.

[0087] In addition, according to the autonomous mobile robot linkage system 1, as long as the input from the PC or the like is Figure 6 The setting is completed by editing the action table shown in the figure. Therefore, there is no need to paste additional strips for each event as in the strip-type AGV. In addition, even if the event location changes, Figure 6 By editing the action table shown, there's no need to change the location of the landmark SP, making event changes easy. This STEP input sequence eliminates the complex knowledge and effort required to change area settings, as with conventional SLAM (Simultaneous Localization and Mapping) methods. Furthermore, since the location of an error is set using STEP input, it's easy to follow the sequence of actions and their timing.

[0088] Thus, according to the present embodiment described above, by adopting the following structure, an event can be caused to occur on the moving route 10 at any time without requiring a high level of knowledge or complicated effort, simply by configuring the signposts SP along the moving route 10. The structure comprises: a plurality of signposts SP, which are configured along the moving route 10; an autonomous mobile robot 20, which moves along the moving route 10 while sequentially reading the plurality of signposts SP through a camera, and performs prescribed actions in the order of pre-set action numbers based on the identification numbers read from the signposts SP; and a host device 30, which receives information on the action number being executed from the autonomous mobile robot 20, and causes an event to occur on the moving route 10 based on the action number.

[0089] In addition, according to this embodiment, Figure 1 As shown, a gate device 40 is provided on the movement path 10, and the host device 30 generates an event to open or close the gate device 40 based on the action number currently being executed by the autonomous mobile robot 20. This configuration prevents the movement of the autonomous mobile robot 20 from being stopped by the gate device 40, thereby improving the tact time of the operation of the autonomous mobile robot 20.

[0090] In addition, according to this embodiment, Figure 1 、 Figure 6 as well as Figure 7 As shown, the host device 30 causes the gate device 40 to open and close on the moving route 10 before the autonomous mobile robot 20 reaches the read road sign SP0. With this structure, the gate device 40 can be opened in advance, so the autonomous mobile robot 20 can pass through the gate device 40 without temporarily stopping in front of the gate device 40.

[0091] In contrast, if it is a conventional strip-type AGV, then Figure 1In the case where an ID tag or auxiliary tape that causes an event is affixed to the place where the road sign SP0 is shown, the event is issued only after the autonomous mobile robot 20 arrives at the place where the ID tag or auxiliary tape is affixed. Therefore, the gate device 40 cannot be opened in advance, and the autonomous mobile robot 20 needs to temporarily stop in front of the gate device 40.

[0092] In addition, according to this embodiment, Figure 10 As shown in FIG. 1 , by attaching the index number related to the outbound and return paths in the movement route 10 to the action number, Figure 9 As shown, even when the same road sign SP is detected, different events can be caused to occur depending on the outbound route and the return route.

[0093] In addition, according to this embodiment, Figure 3 As shown, the road sign SP includes a detection portion C having first units (C11, C13, ...) capable of reflecting light and second units (C12, C21, ...) not capable of reflecting light arranged on a two-dimensional plane, and as shown in FIG. Figure 2 As shown, autonomous mobile robot 20 includes: an imaging unit 26 that uses a camera to capture reflected light from detection target C; a calculation unit 27 that reads the identification number of a road sign SP based on the image data captured by imaging unit 26; a control unit 23 that executes actions in the order of action numbers based on the identification numbers; and a communication unit 24 that communicates the action number currently being executed by control unit 23 to a host device 30. This configuration allows for inexpensive and highly accurate detection of road signs SP, and also allows for communication of the action number currently being executed by control unit 23 to the host device 30.

[0094] (Second embodiment)

[0095] Next, a second embodiment of the present invention will be described. In the following description, the same or equivalent components as those in the above-described embodiment are denoted by the same reference numerals, and the description thereof will be simplified or omitted.

[0096] Figure 11 1 is a schematic plan view showing the overall configuration of an autonomous mobile robot linkage system 1 according to a second embodiment of the present invention.

[0097] like Figure 11 As shown in the second embodiment, a plurality of autonomous mobile robots 20 move on a movement route 10. In addition, a plurality of intersections 11 are provided on the movement route 10.

[0098] The host device 30 of the second embodiment triggers an intersection control event to control the autonomous mobile robots 20 so that they do not collide with each other at the intersection 11. Specifically, based on position information based on the action number of the autonomous mobile robot 20, the host device 30 triggers an event to temporarily stop the other autonomous mobile robots 20A and 20B (the second autonomous mobile robot) to prevent the other autonomous mobile robots 20A and 20B from entering the same intersection 11 as the autonomous mobile robot 20.

[0099] Figure 12 1 is a diagram showing an operation table of autonomous mobile robot 20 in the second embodiment of the present invention. Figure 13 It is shown based on Figure 12 The operation table shown is a flowchart of an operation example of the autonomous mobile robot linkage system 1.

[0100] First, located Figure 11 The autonomous mobile robot 20 at the starting location A is shown based on Figure 12 The action table shown advances upon receipt of the "advance" event from the host device 30. The communication unit 24 serially communicates the action number "0" to the host device 30.

[0101] Next, autonomous mobile robot 20 performs the next predetermined action, which is set to action number "1." The "Action" set to action number "1" is detecting a "road sign." For the detected "road sign," "Signpost Size" is "M," "Signpost No." is "0," "Following Direction" is "Front," "Signpost Left-Right Distance" is "0," and "Signpost Front-Back Distance" is "2."

[0102] Specifically, the autonomous mobile robot 20 detects a landmark SP with a landmark size of M (other sizes such as S and L are also possible). In addition, the autonomous mobile robot 20 follows the landmark SP0 in the forward direction (the aforementioned travel direction that satisfies the predetermined conditions) and sets the landmark left-right distance to 0 (with respect to the aforementioned Xref being 0 (reference number)). Figure 4 )), the distance between the front and rear of the road sign is 2 meters (the above Z (refer to Figure 4 ), the switching distance of the road sign).

[0103] If signpost SP0 is found (YES in step S111), communication unit 24 serially communicates this action number "1" to host device 30. Next, autonomous mobile robot 20 performs a predetermined action, set to action number "2." The action set to action number "2" is "forward" (step S112). The parameter for this forward action is "2." In other words, autonomous mobile robot 20 advances 2 meters and enters first intersection 11A. Communication unit 24 serially communicates this action number "2" to host device 30.

[0104] On the other hand, if the signpost SP0 is not found (if step S111 is No (if step S113 described later is No, and the same applies to step S116 being No)), the autonomous mobile robot 20 performs a retry process to move forward, or issues an error message and stops (step S119).

[0105] Upon receiving action number "2," host device 30 executes command analysis based on that action number. Next, based on action number "2," host device 30 triggers an event (intersection control 1) to temporarily stop autonomous mobile robot 20A, which is about to enter intersection 11A at the same time as autonomous mobile robot 20 (step S210). Autonomous mobile robot 20A receives the command from host device 30 and temporarily stops in front of intersection 11A.

[0106] After performing action number "2," autonomous mobile robot 20 performs a predetermined action, designated action number "3." The action designated action number "3" is the detection of a "landmark." For the detected "landmark," "landmark size" is "M," "landmark number" is "1," "following direction" is "front," "landmark left-right distance" is "0," and "landmark front-back distance" is "2." If landmark SP1 is detected (if step S113 returns "Yes"), communication unit 24 serially communicates action number "3" to host device 30.

[0107] Next, the autonomous mobile robot 20 performs a predetermined action set as action number "4". The "action" set as action number "4" is "rotation". The parameter of the "action" of this rotation is "right rotation" and the parameter of the "rotation angle" is "90" degrees. In other words, Figure 11 As shown, autonomous mobile robot 20 rotates right 90 degrees at intersection 11A (step S114 ). Communication unit 24 serially communicates the action number “4” to host device 30 .

[0108] Next, autonomous mobile robot 20 performs a predetermined action, assigned action number "5." The action assigned to action number "5" is "forward" (step S115). The parameter for this forward action is "2." In other words, autonomous mobile robot 20 advances two meters and enters the second intersection 11B. Communication unit 24 serially communicates this action number "5" to host device 30.

[0109] Upon receiving action number "5," host device 30 first detects that autonomous mobile robot 20 has passed intersection 11A based on action number "5" and triggers an action permission event for autonomous mobile robot 20A, which is temporarily stopped in front of intersection 11A. This allows autonomous mobile robot 20A to enter intersection 11A.

[0110] Furthermore, upon receiving action number "5," host device 30 executes command analysis based on that action number. Based on action number "5," host device 30 triggers an event (intersection control 2) to temporarily stop autonomous mobile robot 20B, which is about to enter the second intersection 11B at the same time as autonomous mobile robot 20 (step S210). Autonomous mobile robot 20B receives the command from host device 30 and temporarily stops in front of intersection 11B.

[0111] Next, autonomous mobile robot 20 performs a predetermined action, designated action number "6." The action designated action number "6" is the detection of a "landmark." For the detected "landmark," "landmark size" is "M," "landmark number" is "2," "following direction" is "front," "landmark left-right distance" is "0," and "landmark front-back distance" is "2." If landmark SP2 is detected (if step S116 returns "Yes"), communication unit 24 serially communicates action number "6" to host device 30.

[0112] Next, the autonomous mobile robot 20 performs a predetermined action set as action number "7". The "action" set as action number "7" is "rotation". The parameter of the "action" of this rotation is "right rotation" and the parameter of the "rotation angle" is "90" degrees. In other words, Figure 11 As shown, autonomous mobile robot 20 rotates right 90 degrees at intersection 11B (step S117 ). Communication unit 24 serially communicates the action number “7” to host device 30 .

[0113] Next, autonomous mobile robot 20 performs a predetermined action, assigned action number "8." The action assigned action number "8" is "forward" (step S118). The parameter for this forward action is "2." In other words, autonomous mobile robot 20 advances 2 meters to target location B. Communication unit 24 serially communicates this action number "8" to host device 30.

[0114] Upon receiving action number "8," host device 30 detects that autonomous mobile robot 20 has passed intersection 11B based on action number "8" and triggers an action permission event for autonomous mobile robot 20B, which is temporarily stopped in front of intersection 11B. This allows autonomous mobile robot 20B to enter intersection 11B.

[0115] The next predetermined action, set to action number "9," is "target." Communication unit 24 serially communicates action number "9" to host device 30. Upon receiving action number "9," host device 30, similar to the first embodiment described above, triggers an event to notify autonomous mobile robot 20 of the target via a speaker (not shown).

[0116] above, Figure 11 A series of operations of the autonomous mobile robot linkage system 1 under the shown situation is completed.

[0117] Thus, according to the second embodiment described above, intersections 11A and 11B are provided on movement route 10, and other autonomous mobile robots 20A and 20B (second autonomous mobile robots) traveling on movement route 10 are provided as linkage devices that are linked to autonomous mobile robot 20. Host device 30, based on the action number of autonomous mobile robot 20, causes an event to temporarily stop the other autonomous mobile robots 20A and 20B from entering the same intersection 11 as autonomous mobile robot 20. With this configuration, when multiple autonomous mobile robots 20 are moving on movement route 10 having intersection 11, collisions between autonomous mobile robots 20 at intersection 11 can be prevented.

[0118] It should be noted that when two autonomous mobile robots 20 attempt to enter the same intersection 11, the one that communicates with the host device 30 first preferably enters first, while the other waits. Furthermore, when three or more autonomous mobile robots 20 attempt to enter the intersection 11, they preferably enter first in the order in which they communicated with the host device 30 first.

[0119] (Third embodiment)

[0120] Next, a third embodiment of the present invention will be described. In the following description, the same or equivalent components as those in the above-described embodiment are denoted by the same reference numerals, and the description thereof will be simplified or omitted.

[0121] Figure 14 1 is a schematic plan view showing the overall configuration of an autonomous mobile robot linkage system 1 according to a third embodiment of the present invention.

[0122] like Figure 14 As shown, in the third embodiment, a power transmission device 50 is provided on the movement path 10, and a power receiving device 51 is provided on the autonomous mobile robot 20. The power transmission device 50 supplies power to the power receiving device 51 in a contactless manner.

[0123] Autonomous mobile robot 20 receives high-frequency power from power transmitting device 50 in a contactless manner, for example, by utilizing magnetic coupling or magnetic resonance between a primary coil included in power transmitting device 50 and a secondary coil included in power receiving device 51. Power receiving device 51 is equipped with a power conversion circuit that converts the contactless power received from power transmitting device 50 into DC power and supplies it to the battery (such as a secondary battery capable of storing sufficient power as a driving power source, or a large-capacity electric double-layer capacitor) of autonomous mobile robot 20.

[0124] In the third embodiment, the host device 30 triggers an event for wireless charging control to automatically start power supply when the autonomous mobile robot 20 (power receiving device 51) moves to a position facing the power transmitting device 50. Specifically, the host device 30 detects the position of the autonomous mobile robot 20 based on its action number and triggers events to start and stop power supply by the power transmitting device 50.

[0125] Figure 15 1 is a diagram showing an operation table of autonomous mobile robot 20 in the third embodiment of the present invention. Figure 16 It is shown based on Figure 15 The operation table shown is a flowchart of an operation example of the autonomous mobile robot linkage system 1.

[0126] First, located Figure 14 The autonomous mobile robot 20 at the starting location A is shown based on Figure 15 The action table shown advances upon receipt of the "advance" event from the host device 30. The communication unit 24 serially communicates the action number "0" to the host device 30.

[0127] Next, autonomous mobile robot 20 performs the next predetermined action, which is set to action number "1." The "Action" set to action number "1" is detecting a "road sign." For the detected "road sign," "Signpost Size" is "M," "Signpost No." is "0," "Following Direction" is "Front," "Signpost Left-Right Distance" is "0," and "Signpost Front-Back Distance" is "2."

[0128] Specifically, the autonomous mobile robot 20 detects a landmark SP0 having a landmark size of M (other sizes such as S and L are also possible). In addition, the autonomous mobile robot 20 follows the landmark SP0 in the forward direction (the aforementioned travel direction that satisfies the predetermined conditions) and sets the landmark left-right distance to 0 (with respect to the aforementioned Xref being 0 (reference number)). Figure 4 )), the distance between the front and rear of the road sign is 2 meters (the above Z (refer to Figure 4 ), the switching distance of the road sign).

[0129] If the landmark SP0 is found (if YES in step S121), the communication unit 24 serially communicates the action number "1" to the host device 30. Next, the autonomous mobile robot 20 performs a predetermined action set to action number "2." The "action" set to action number "2" is set to "Standby" (step S122). The communication unit 24 serially communicates the action number "2" to the host device 30.

[0130] It should be noted that when the signpost SP0 is not found (when step S121 is No (and the same applies to step S124 described later and step S128 being No)), the autonomous mobile robot 20 performs a retry process to move forward, or issues an error message and stops (step S130).

[0131] Upon receiving action number "2," host device 30 executes command analysis based on that action number. Next, based on action number "2," host device 30 triggers an event (wireless charging control 1) for contactless power supply from power transmitting device 50A to autonomous mobile robot 20, which is waiting before road sign SP0 (step S220). Power transmitting device 50A receives the command from host device 30 and begins power transmission.

[0132] The autonomous mobile robot 20 monitors the battery voltage and automatically proceeds to the next step when the battery voltage becomes above a predetermined set value. Figure 15 After autonomous mobile robot 20 advances to the next step, host device 30 stops power transmission by power transmission device 50A.

[0133] Autonomous mobile robot 20 performs a predetermined action, designated as action number "3," as the next step after action number "2." The action designated as action number "3" is "advance" (step S123). The parameter for this advance action is "2." In other words, autonomous mobile robot 20 advances two meters. Communication unit 24 serially communicates this action number "3" to host device 30.

[0134] Next, autonomous mobile robot 20 performs a predetermined action, designated action number "4." The action designated action number "4" is the detection of a "landmark." For the detected "landmark," "landmark size" is "M," "landmark number" is "1," "following direction" is "front," "landmark left-right distance" is "0," and "landmark front-back distance" is "2." If landmark SP1 is detected (if step S124 returns "Yes"), communication unit 24 serially communicates action number "4" to host device 30.

[0135] Next, the autonomous mobile robot 20 performs a predetermined action set as action number "5". The "action" set as action number "5" is "rotation". The parameter of the "action" of this rotation is "right rotation" and the parameter of the "rotation angle" is "90" degrees. In other words, Figure 14 As shown, autonomous mobile robot 20 rotates right 90 degrees (step S125 ). Communication unit 24 serially communicates the action number “5” to host device 30 .

[0136] Next, autonomous mobile robot 20 performs a predetermined action set to action number “6.” The action set to action number “6” is “standby” (step S126 ). Communication unit 24 serially communicates action number “6” to host device 30 .

[0137] Upon receiving action number "6," host device 30 executes command analysis based on that action number. Next, based on action number "6," host device 30 triggers an event (wireless charging control 2) for contactless power supply from power transmitting device 50B to autonomous mobile robot 20, which is waiting before road sign SP1 (step S220). Power transmitting device 50B receives the command from host device 30 and begins power transmission.

[0138] Autonomous mobile robot 20 monitors the battery voltage and automatically proceeds to the next step when the battery voltage reaches a predetermined set value or higher. Host device 30 stops power transmission by power transmission device 50B after autonomous mobile robot 20 proceeds to the next step.

[0139] Autonomous mobile robot 20 performs a predetermined action, designated as action number "7," as the next step after action number "6." The action designated as action number "7" is "advance" (step S123). The parameter for this advance action is "2." In other words, autonomous mobile robot 20 advances 2 meters. Communication unit 24 serially communicates this action number "7" to host device 30.

[0140] Next, autonomous mobile robot 20 performs a predetermined action, designated action number "8." The action designated action number "8" is the detection of a "landmark." For the detected "landmark," "landmark size" is "M," "landmark number" is "2," "following direction" is "front," "landmark left-right distance" is "0," and "landmark front-back distance" is "2." If landmark SP2 is detected (if step S128 returns "Yes"), communication unit 24 serially communicates action number "8" to host device 30.

[0141] If the signpost SP2 is found (if the answer is yes in step S128), the autonomous mobile robot 20 performs a predetermined action set to action number "9". The "action" set to action number "9" is "rotation". The parameters of the "action" of this rotation are "right rotation" and the parameters of the "rotation angle" are "180" degrees. In other words, if Figure 1 As shown, autonomous mobile robot 20 rotates clockwise 180 degrees (reverses direction) at target point B (step S129 ). Communication unit 24 serially communicates this action number “9” to host device 30 .

[0142] The next predetermined action, set to action number "10," is "target." Communication unit 24 serially communicates action number "10" to host device 30. Upon receiving action number "10," host device 30, similar to the above-described embodiment, triggers an event to notify autonomous mobile robot 20 of the target through a speaker (not shown).

[0143] above, Figure 14 A series of operations of the autonomous mobile robot linkage system 1 under the shown situation is completed.

[0144] Thus, according to the third embodiment described above, autonomous mobile robot 20 includes power receiving device 51 and power transmitting device 50, which serves as a linkage device interlocking with autonomous mobile robot 20 and is installed on travel path 10 and provides power to power receiving device 51 in a contactless manner. Host device 30 triggers an event to start or stop power supply by power transmitting device 50 based on the action number of autonomous mobile robot 20. This configuration allows power supply to be automatically started when autonomous mobile robot 20 (power receiving device 51) moves to a position facing power transmitting device 50, and also allows power supply to be automatically stopped when autonomous mobile robot 20 advances to the next step.

[0145] It should be noted that power transmission device 50 may be installed not only midway along movement route 10 but also at starting location A and target location B. Furthermore, if, after a certain period of time has passed since power supply began, the voltage of the battery of autonomous mobile robot 20 exceeds a set value, causing a power supply error, host device 30 may cause autonomous mobile robot 20 to proceed to the next step or stop it.

[0146] While preferred embodiments of the present invention have been described above with reference to the accompanying drawings, the present invention is not limited to the aforementioned embodiments. The various shapes and combinations of the components shown in the aforementioned embodiments are merely examples, and various modifications can be made based on design requirements without departing from the spirit of the present invention.

[0147] For example, in the above embodiment, the host device 30 described a method for generating an event to control a linkage device located on or near the movement route 10 based on the action number of the autonomous mobile robot 20. This linkage device is not limited to the aforementioned gate device 40, autonomous mobile robots 20A and 20B (second autonomous mobile robots), and power transmission device 50. For example, the linkage device may also be a conveyor device that transfers loads to and from the autonomous mobile robot 20. In this case, it is also possible to set events similar to those in the aforementioned GUI.

[0148] Furthermore, for example, in the above embodiment, autonomous mobile robot 20 and host device 30 are linked to generate an event. However, autonomous mobile robot 20 may generate an event independently.

[0149] In other words, the autonomous mobile robot 20 may be an autonomous mobile robot 20 that moves along the movement route 10 while sequentially reading a plurality of road signs SP arranged along the movement route 10 using a camera, and performs predetermined actions in a sequence of pre-set action numbers based on the identification numbers read from the road signs SP, and includes an event generating unit that causes an event to occur on the movement route 10 based on the action number being executed. This event generating unit corresponds to, for example, a communication device that issues instructions to the gate device 40 or the like.

[0150] Industrial Applicability

[0151] According to the autonomous mobile robot linkage system and the autonomous mobile robot described above, an event can be caused to occur on a movement route at an arbitrary timing without requiring advanced knowledge or complicated effort.

[0152] Description of reference numerals:

[0153] 1...Autonomous mobile robot linkage system;

[0154] 10...moving route;

[0155] 20...Autonomous mobile robot;

[0156] 20A...Autonomous mobile robot (second autonomous mobile robot, linkage device);

[0157] 20B...Autonomous mobile robot (second autonomous mobile robot, linkage device);

[0158] 20L... driving wheels;

[0159] 20R...driving wheel;

[0160] 21...Road Sign Inspection Department;

[0161] 22...driving unit;

[0162] 23...Control Department;

[0163] 24...Ministry of Communications;

[0164] 25...Irradiation Department;

[0165] 26...Photography Department;

[0166] 27...Computing Department;

[0167] 28...Motor control unit;

[0168] 29...motor;

[0169] 30...upper device;

[0170] 40...Gate device (linkage device);

[0171] 50...Power transmission device (linkage device);

[0172] 51...power receiving device;

[0173] A...Starting Place;

[0174] B...target location;

[0175] C, C1, C2... the part to be tested;

[0176] C11, C13, C22, C31, C33...Unit 1;

[0177] C12, C21, C23, C32...Unit 2;

[0178] SP, SP0, SP1, SP2... road signs (signs).

Claims

1. An autonomous mobile robot linkage system, wherein: The autonomous mobile robot linkage system has: a plurality of markers arranged along the movement route and containing information related to the identification number; an autonomous mobile robot that reads each of the plurality of identifiers using a camera, and performs a prescribed action in a sequence of pre-set action numbers based on the identification number read from each identifier, and moves along the movement route; a linkage device located on or near the movement route; as well as A host device receives information on an action number currently being executed among the preset action numbers from the autonomous mobile robot, and generates an event for controlling the linkage device based on the action number currently being executed.

2. The autonomous mobile robot linkage system according to claim 1, wherein: The host device causes an event to occur on the moving route before the autonomous mobile robot reaches the read identifier.

3. The autonomous mobile robot linkage system according to claim 1, wherein: The autonomous mobile robot linkage system includes a gate device as the linkage device, which is provided on the movement route. The host device generates an event for opening and closing the gate device based on the action number.

4. The autonomous mobile robot linkage system according to claim 1 or 2, wherein: An intersection is provided on the moving route, The autonomous mobile robot linkage system includes a second autonomous mobile robot as the linkage device, which moves on the movement route. The host device generates an event to temporarily stop the second autonomous mobile robot from entering the same intersection as the first autonomous mobile robot based on the action number.

5. The autonomous mobile robot linkage system according to any one of claims 1 to 3, wherein: The autonomous mobile robot is provided with a power receiving device. The autonomous mobile robot linkage system includes a power transmission device as the linkage device, which is provided on the movement route and supplies power to the power receiving device in a contactless manner. The host device generates an event for starting and stopping power supply by the power transmitting device based on the action number.

6. The autonomous mobile robot linkage system according to any one of claims 1 to 3, wherein: The action number is accompanied by an index number related to the outbound route and the return route in the movement route.

7. The autonomous mobile robot linkage system according to any one of claims 1 to 3, wherein: The marker includes a detection portion having a first unit capable of reflecting light and a second unit not capable of reflecting light arranged on a two-dimensional plane. The autonomous mobile robot has: a photographing unit configured to photograph the reflected light from the detected portion using a camera; a calculation unit configured to read the identification number of the marker based on the imaged data captured by the image capturing unit; a control unit that executes actions in the order of the action numbers based on the identification numbers; and A communication unit that communicates the action number being executed by the control unit to the host device.

8. An autonomous mobile robot that uses a camera to read each of a plurality of markers arranged along a movement route and containing information related to identification numbers, and performs predetermined actions in a sequence of pre-set action numbers based on the identification numbers read from the respective markers, thereby moving along the movement route, wherein: The autonomous mobile robot includes an event generating unit that generates an event for controlling a linkage device located on or near the movement route based on an action number currently being executed among the preset action numbers.

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