Path generation system and method for autonomous mobile robot

Abstract

The objective is to reduce the burden on workers involved in generating routes for autonomous mobile robots. [Solution] A path generation system 100 for an autonomous mobile robot 1 that moves according to a pre-set operation table while detecting signposts SP placed along a movement path 10, and includes an imaging unit 26 that detects the signposts SP, a moving body that moves the imaging unit 26 along the movement path 10, a sensor unit 40 that detects movement information of the moving body, and an operation table generation unit 50 that generates an operation table based on the detection results of the imaging unit 26 and the sensor unit 40.

Description

[Technical Field]

[0001] The present invention relates to a path generation system and a path generation method for an autonomous mobile robot. [Background technology]

[0002] The following Patent Document 1 describes an autonomous mobile robot that moves along a route of travel while reading the signs in order with a camera, and performs predetermined actions in the order of preset action numbers based on the identification numbers read from the signs. This autonomous mobile robot stores an action table in which the autonomous mobile robot performs predetermined actions in the order of preset action numbers (see Figure 6 of Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7489463 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-mentioned conventional technology, an operator designs the movement path of the autonomous mobile robot and then manually creates the above-mentioned operation table in accordance with the design. Therefore, the operator had to gradually become familiar with the operation table by reading an instruction manual or the like to understand what operation each item in the operation table does and what values ​​should be set for the parameters of each item.

[0005] The present invention has been made in view of the above-mentioned problems, and has an object to reduce the burden on an operator involved in generating a path for an autonomous mobile robot. [Means for solving the problem]

[0006] In order to solve the above problems, the present invention provides a path generation system for an autonomous mobile robot that moves according to a predetermined action table while detecting signs placed along its movement path, and includes an imaging unit that detects the signs, a moving body that moves the imaging unit along the movement path, a sensor unit that detects movement information of the moving body, and an action table generation unit that generates the action table based on the detection results of the imaging unit and the sensor unit.

[0007] The present invention also provides a path generation method for an autonomous mobile robot that moves according to a predetermined operation table while detecting signs placed along a movement path, in which a moving body is equipped with an imaging unit that detects the signs and a sensor unit that detects movement information of the moving body, and is moved along the movement path, and the operation table is generated based on the detection results of the imaging unit and the sensor unit. [Effects of the Invention]

[0008] According to the present invention, the burden on an operator involved in generating a path for an autonomous mobile robot can be reduced. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a schematic diagram of a path generation system for an autonomous mobile robot according to a first embodiment of the present invention, viewed from above. [Figure 2] 1 is a block diagram showing the configuration of an autonomous mobile robot in a first embodiment of the present invention. [Figure 3] 1 is a front view showing an example of a signpost marker detected by a sensing unit in a first embodiment of the present invention. FIG. [Figure 4] FIG. 2 is a diagram showing the flow of operation of the path generation system for an autonomous mobile robot in the first embodiment of the present invention. [Figure 5] FIG. 4 is a flowchart showing processing of an action table generating unit in the first embodiment of the present invention. [Figure 6] FIG. 4 is a diagram showing an operation table automatically generated in step S2 in the first embodiment of the present invention. [Figure 7]FIG. 3 is a diagram showing a first teaching operation of the autonomous mobile robot in the first embodiment of the present invention. [Figure 8] 8 is a diagram showing a motion table automatically generated in the first teaching motion shown in FIG. 7. FIG. [Figure 9] FIG. 4 is a diagram showing a second teaching operation of the autonomous mobile robot in the first embodiment of the present invention. [Figure 10] 10 is a diagram showing an operation table automatically generated in the second teaching operation shown in FIG. 9. FIG. [Figure 11] FIG. 4 is a diagram showing a third teaching operation of the autonomous mobile robot in the first embodiment of the present invention. [Figure 12] 12 is a diagram showing a motion table automatically generated in the third teaching motion shown in FIG. 11. FIG. [Figure 13] FIG. 10 is a front view of a carriage used in a path generation system for an autonomous mobile robot in a second embodiment of the present invention. [Figure 14] FIG. 14 is a side view of the carriage shown in FIG. DETAILED DESCRIPTION OF THE INVENTION

[0010] The present invention can be applied to automated guided vehicles in factories and warehouses, service robots in public facilities such as halls and airports, and work robots in indoor and outdoor environments where GPS (Global Positioning System) functions poorly.

[0011] (First embodiment) FIG. 1 is a schematic diagram of a path generation system 100 for an autonomous mobile robot 1 according to a first embodiment of the present invention, viewed from above. 1, the autonomous mobile robot 1 moves while detecting signposts SP placed along a travel route 10 using an imaging unit 26 mounted on the robot body 20. In other words, the autonomous mobile robot 1 moves along the travel route 10 while being guided by the signposts SP.

[0012] Here, a "signpost" refers to a structure having a marker (sign) placed at a predetermined location on or near the travel route 10. The marker includes identification information (pattern ID) of the structure. As shown in FIG. 3, which will be described later, the marker of this embodiment is formed by arranging a first cell C1 capable of reflecting light and a second cell C2 that cannot reflect light on a two-dimensional plane.

[0013] 1, the path generation system 100 for the autonomous mobile robot 1 has the function of automatically generating a path for the autonomous mobile robot 1 to move from a start position A to a goal position B while actually moving the autonomous mobile robot 1 in response to external signal inputs, while detecting signposts SP placed along a movement path 10 (described later). This allows an operator to intuitively create a path for the autonomous mobile robot 1.

[0014] FIG. 2 is a block diagram showing the configuration of the autonomous mobile robot 1 according to the first embodiment of the present invention. As shown in FIG. 2, the autonomous mobile robot 1 includes a sensing unit 21, a driving section 22, a control section 23, a communication section 24, and a memory section 25.

[0015] The sensing unit 21 has an imaging unit 26 and a calculation unit 27. The drive unit 22 has a motor control unit 28, two motors 29, left and right drive wheels 20L, 20R, and a sensor unit 40. Note that the configurations of the sensing unit 21 and the drive unit 22 are merely examples, and other configurations may also be used.

[0016] The imaging unit 26 is disposed in front of the autonomous mobile robot 1 in the direction of travel. In this embodiment, the imaging unit 26 includes a light that emits infrared LED light forward and a camera that captures the light (infrared LED light) reflected by the signpost SP. Infrared LED light is suitable for dark places such as factories and places with strong visible light. A suitable camera is, for example, a camera combined with an infrared filter. Note that the imaging unit 26 may be configured to emit detection light other than infrared LED light.

[0017] Calculation unit 27 performs binarization processing based on the captured image sent from imaging unit 26 to form binary image data consisting of black and white, and then uses this image data to detect the signpost SP and calculate the distance D and direction (angle θ) at which the signpost SP is located relative to the autonomous mobile robot 1. Note that angle θ is the direction (angle) of the signpost SP relative to the direction of travel of the autonomous mobile robot 1. In the example of Figure 1, the signpost SP is located directly in front of the autonomous mobile robot 1, so angle θ is not shown (angle θ = 0°). The same applies to the subsequent figures.

[0018] The calculation unit 27 calculates the distance D and angle θ to the sign post SP based on the size of the sign post SP on the image data captured by the imaging unit 26 and the preset actual size of the sign post SP. In other words, the calculation unit 27 of this embodiment is capable of calculating the distance D and angle θ to the sign post SP using only one camera (imaging unit 26).

[0019] FIG. 3 is a front view showing an example of a marker of a sign post SP detected by the sensing unit 21 in the first embodiment of the present invention. As shown in FIG. 3, the marker of the signpost SP is formed by arranging a first cell C1 capable of reflecting infrared LED light and a second cell C2 not capable of reflecting infrared LED light on a two-dimensional plane.

[0020] The first cell C1 is made of a material with high reflectance to infrared LED light, such as aluminum foil or a thin film of titanium oxide, while the second cell C2 is made of a material with low reflectance to infrared LED light, such as an infrared blocking film, a polarizing film, an infrared absorbing material, or black felt.

[0021] The first cell C1 and the second cell C2 are squares of the same size, and the entire marker formed by them is also square. The marker has an identification area 30 and a frame area 31 that surrounds the identification area 30. In this embodiment, the identification area 30 is formed in a matrix pattern of 4 rows and 4 columns.

[0022] In the example shown in Figure 3, when the first cell C1 (white) is expressed as "1" and the second cell C2 (black) as "0 (zero)" in binary code, the identification area 30 is 16-bit information, which allows the calculation unit 27 to read the identification information (pattern ID) of the signpost SP.

[0023] The identification region 30 is not limited to a 4-row x 4-column pattern, but may be a pattern of 3 rows x 3 columns or less, or a pattern of 5 rows x 5 columns or more.

[0024] The frame region 31 is a non-reflective frame region and is formed only by the second cells C2 (black). The frame region 31 is formed in the shape of a square frame that surrounds the identification region 30 with the second cells C2. The calculation unit 27 detects, for example, the four corners 32 of the frame region 31 and calculates the size of the marker from the length L of any one side between the corners 32.

[0025] The calculation unit 27 reads out the actual size of the marker from the memory unit 25 etc. based on the identification information acquired from the identification area 30, and calculates the distance D between the robot body 20 and the signpost SP based on the size of the marker on the image data captured by the imaging unit 26 and the stored actual size of the marker corresponding to the identification information of the marker.

[0026] The calculation unit 27 also calculates the central coordinates of the marker within the angle of view from the four corners 32 of the frame area 31. The calculation unit 27 calculates the direction (angle θ) of the signpost SP relative to the traveling direction of the autonomous mobile robot 1 from the central coordinates.

[0027] The autonomous mobile robot 1 moves while being guided by the sign post SP, and when the distance D to the sign post SP becomes shorter than a predetermined threshold, the autonomous mobile robot 1 performs the following operation.

[0028] Returning to Figure 2, drive wheel 20L is provided on the left side of the direction of travel of autonomous mobile robot 1. Drive wheel 20R is provided on the right side of the direction of travel of autonomous mobile robot 1. Note that autonomous mobile robot 1 may have wheels other than drive wheels 20L, 20R to stabilize the posture of autonomous mobile robot 1. The motor 29 rotates the left and right drive wheels 20L, 20R in accordance with the control of the motor control unit .

[0029] Motor control unit 28 supplies power to left and right motors 29 based on the angular velocity command value input from control unit 23. Autonomous mobile robot 1 moves forward or backward as left and right motors 29 rotate at angular velocities according to the power supplied from motor control unit 28. Also, by creating a difference in the angular velocities of left and right motors 29, the traveling direction of autonomous mobile robot 1 can be changed.

[0030] The sensor unit 40 detects movement information of the autonomous mobile robot 1. The sensor unit 40 is, for example, an encoder provided on the left and right motors 29, and detects the speed and rotation angle of the left and right motors 29. By detecting the speed and rotation angle of the left and right motors 29, it is possible to detect the movement distance, direction, speed, etc. of the autonomous mobile robot 1. Note that the sensor unit 40 is not limited to an encoder, and may also be a gyro sensor, an acceleration sensor, or a combination of multiple types of sensors.

[0031] The communication unit 24 communicates with external devices, and is capable of communicating with, for example, the operation table generation unit 50 and the external signal input unit 60 shown in FIG. The storage unit 25 stores an action table (described later) provided by the action table generation unit 50, individual identification information of the signpost SP, the size of the actual signpost SP corresponding to the identification information, and so on. The control unit 23 is connected to the sensing unit 21, the drive unit 22, the communication unit 24, and the storage unit 25, and controls the overall movement of the autonomous mobile robot 1.

[0032] The autonomous mobile robot 1 configured as described above performs predetermined actions in the order of preset action numbers, in accordance with an action table stored in the memory unit 25. An action table generation unit 50 shown in FIG. 1 generates this action table. The action table generation unit 50 is, for example, a personal computer connected to the autonomous mobile robot 1 by wire or wirelessly, and is equipped with a display for displaying the action table on a screen, a mouse and keyboard for an operator to edit the action table, etc. Note that some or all of the functions of the action table generation unit 50 may be incorporated into the autonomous mobile robot 1.

[0033] The external signal input unit 60 is, for example, a remote controller that can operate the autonomous mobile robot 1. The external signal input unit 60 also has various buttons that input signals to the action table generation unit 50. Specifically, the external signal input unit 60 has various buttons that issue a start signal (hereinafter referred to as a teaching start signal) that causes the action table generation unit 50 to start generating an action table, an end signal (hereinafter referred to as a teaching end signal) that causes the action table generation unit 50 to end generating an action table, and a registration signal (hereinafter referred to as an action registration signal) that causes the detection results of the imaging unit 26 and the sensor unit 40 to be registered in the action table. Note that the external signal input unit 60 is not limited to a remote controller and may be a terminal device such as a tablet terminal or a mobile terminal.

[0034] The action registration signal includes a guided action registration signal in which the autonomous mobile robot 1 moves while being guided by the sign post SP, and a spontaneous action registration signal in which the autonomous mobile robot 1 moves spontaneously without being guided by the sign post SP. For example, to register a guided action of the autonomous mobile robot 1 in the action table, the worker operates the external signal input unit 60 and presses a first button linked to the guided action registration signal. Also, to register a spontaneous action of the autonomous mobile robot 1 in the action table, the worker operates the external signal input unit 60 and presses a second button linked to the spontaneous action registration signal.

[0035] Fig. 4 is a diagram showing the flow of operation of the path generation system 100 for the autonomous mobile robot 1 in the first embodiment of the present invention. Fig. 5 is a flowchart showing the processing of the motion table generation unit 50 in the first embodiment of the present invention. 4, the path generation system 100 for the autonomous mobile robot 1 receives an external signal, generates an operation table, and updates the path of the autonomous mobile robot 1. The updated operation table is then displayed on a display or the like so that an operator can check it.

[0036] 5, the operation table generating unit 50 determines whether or not a teaching start signal has been received from the external signal input unit 60 (step S1). If step S1 is NO, the operation table generating unit 50 waits until a teaching start signal is received from the external signal input unit 60. If step S1 is YES, the operation table generating unit 50 starts generating an operation table (step S2).

[0037] FIG. 6 is a diagram showing the operation table automatically generated in step S2 in the first embodiment of the present invention. As shown in Fig. 6, when the action table generation unit 50 receives a teaching start signal, it generates an action table in which action items ("Action") for "Start" and "Goal" are registered. The action number "000" is assigned to "Start" and the action number "001" is assigned to "Goal". The action numbers indicate the order of steps in the sequence processing of the autonomous mobile robot 1.

[0038] Returning to FIG. 5, the action table generation unit 50, which has started generating an action table, determines whether or not it has received an action registration signal from the external signal input unit 60 (step S3). If step S3 is NO, the action table generation unit 50 waits until it receives an action registration signal from the external signal input unit 60. If step S3 is YES, the action table generation unit 50 registers the detection results of the imaging unit 26 and the sensor unit 40 in the action table (step S4). Then, the action table generation unit 50 displays the updated action table on the screen (step S5).

[0039] FIG. 7 is a diagram showing a first teaching operation of the autonomous mobile robot 1 in the first embodiment of the present invention. 7, when teaching the autonomous mobile robot 1 an action M1 (guided action) in which the autonomous mobile robot 1 is guided by a signpost SP and moves from a start position A to just in front of the signpost SP, the operator operates the external signal input unit 60 to move the autonomous mobile robot 1 from the start position A to just in front of the signpost SP. Then, the operator operates the external signal input unit 60 to transmit a guided action registration signal that registers the action M1 in the action table.

[0040] FIG. 8 is a diagram showing a motion table automatically generated in the first teaching motion shown in FIG. As shown in Fig. 8, when the action table generating unit 50 receives a guidance action registration signal, it registers the action item "signpost" after "start." The action item "signpost" includes, from left to right, "signpost size," "signpost No.", "following direction," "distance left to right of signpost," and "distance forward or backward of signpost" as parameters. Note that the detection results of the imaging unit 26 are registered in each parameter as follows:

[0041] "Signpost size" is the size of the signpost SP (see FIG. 3). When the first button of the external signal input unit 60 is pressed, the action table generation unit 50 registers the size of the signpost SP detected by the imaging unit 26 in "signpost size." In the example of FIG. 8, the action table generation unit 50 registers "L" in "signpost size."

[0042] "Signpost No." is identification information of the signpost SP (see FIG. 3). When the first button of the external signal input unit 60 is pressed, the operation table generation unit 50 registers the identification information of the signpost SP detected by the imaging unit 26 in "Signpost No.". In the example of FIG. 8, the operation table generation unit 50 registers "1" in "Signpost No.".

[0043] The "following direction" is the orientation of the signpost SP relative to the autonomous mobile robot 1. When the first button of the external signal input unit 60 is pressed, the motion table generation unit 50 registers the orientation of the signpost SP detected by the imaging unit 26 as the "following direction." In the example of FIG. 8, the motion table generation unit 50 registers "front" as the "following direction."

[0044] The "distance from left to right of signpost" is the distance (in meters) between the signpost SP and the autonomous mobile robot 1 when the signpost SP is placed to the side of the autonomous mobile robot 1 rather than in front of it. In the example of Figure 8, the motion table generation unit 50 registers "0" in the "distance from left to right of signpost".

[0045] The "distance before or after the signpost" is the distance D (see FIG. 1, in meters) between the autonomous mobile robot 1 and the signpost SP. When the first button of the external signal input unit 60 is pressed, the motion table generation unit 50 registers the distance D between the autonomous mobile robot 1 and the signpost SP in the "distance before or after the signpost." In the example of FIG. 8, the motion table generation unit 50 registers "0.5" in the "distance before or after the signpost."

[0046] 5, next, the operation table generating unit 50 determines whether or not a teaching end signal has been received from the external signal input unit 60 (step S6). If step S6 is NO, the process returns to step S3, and the operation table generating unit 50 waits until the next teaching start signal is received from the external signal input unit 60.

[0047] FIG. 9 is a diagram showing a second teaching operation of the autonomous mobile robot 1 in the first embodiment of the present invention. For example, as shown in Figure 9, when next teaching the autonomous mobile robot 1 action M2 (spontaneous action) of turning left toward goal position B, the worker operates the external signal input unit 60 to turn the autonomous mobile robot 1 left toward goal position B. Then, the worker operates the external signal input unit 60 to transmit a spontaneous action registration signal that registers action M2 in the action table.

[0048] FIG. 10 is a diagram showing a motion table automatically generated in the second teaching motion shown in FIG. As shown in Fig. 10, when the action table generating unit 50 receives a spontaneous action registration signal, it registers the action item "rotation" next to "signpost." The action item "rotation" includes, from left to right, the parameters "rotation direction" and "rotation angle." Note that the detection results of the sensor unit 40 are registered for each parameter as follows:

[0049] The "rotation direction" is the direction in which the autonomous mobile robot 1 rotates. The motion table generation unit 50 registers in the "rotation direction" the direction in which the autonomous mobile robot 1 rotates from when the second button of the external signal input unit 60 is pressed (start of dead reckoning) until the second button is pressed again (end of dead reckoning). In the example of FIG. 8, the motion table generation unit 50 registers "left" in the "rotation direction."

[0050] The "rotation angle" is the angle (unit: degrees) by which the autonomous mobile robot 1 rotates. The motion table generation unit 50 registers in the "rotation angle" the angle by which the autonomous mobile robot 1 rotates from the time the second button of the external signal input unit 60 is pressed (start of dead reckoning) until the second button is pressed again (end of dead reckoning). In the example of FIG. 8, the motion table generation unit 50 registers "90" in the "rotation angle."

[0051] If more actions are to be added, the process returns from step S6 to step S3, and the action table generating unit 50 waits until it receives the next teaching start signal from the external signal input unit 60.

[0052] FIG. 11 is a diagram showing a third teaching operation of the autonomous mobile robot 1 in the first embodiment of the present invention. For example, as shown in Figure 11, when teaching the autonomous mobile robot 1 action M3 (spontaneous action) to move forward toward goal position B, the worker operates the external signal input unit 60 to move the autonomous mobile robot 1 forward toward goal position B. Then, the worker operates the external signal input unit 60 to transmit a spontaneous action registration signal to register action M3 in the action table.

[0053] FIG. 12 is a diagram showing a motion table automatically generated in the third teaching motion shown in FIG. As shown in Fig. 12, when the motion table generating unit 50 receives the spontaneous motion registration signal, it registers the motion item "forward movement" next to "rotation." The motion item "forward movement" includes a parameter "movement distance." Note that the detection result of the sensor unit 40 is registered in this parameter as follows:

[0054] "Movement distance" is the distance traveled by the autonomous mobile robot 1. The motion table generation unit 50 registers in "movement distance" the distance (in meters) traveled by the autonomous mobile robot 1 from when the second button of the external signal input unit 60 is pressed (start of dead reckoning) until the second button is pressed again (end of dead reckoning). In the example of FIG. 8, the motion table generation unit 50 registers "3" in "movement distance."

[0055] 5, if step S6 is YES, the operation table generating unit 50 ends the generation of the operation table. In this way, an operation table such as that shown in FIG. The external signal input unit 60 may be provided with a delete button to delete the previous operation item that was registered by mistake. Also, the operator may later edit the automatically generated operation table by directly operating the operation table generation unit 50.

[0056] Next, the operation of the autonomous mobile robot 1 based on the operation table shown in FIG. 12 will be described. The autonomous mobile robot 1 executes the actions in the order of the action numbers in the action table shown in Figure 12. First, the autonomous mobile robot 1 executes the "signpost" action and detects the signpost SP from the start position A shown in Figure 1.

[0057] Specifically, the autonomous mobile robot 1 detects the signpost SP having registered identification information ("Signpost No." is "1") from image data captured by the imaging unit 26. If the signpost SP is detected, the autonomous mobile robot 1 calculates the distance D to the signpost SP based on the size of the registered signpost SP ("Signpost Size" is "L") and the size of the signpost SP in the image data.

[0058] Next, the autonomous mobile robot 1 moves towards the signpost SP while calculating the distance D. The parameters for this movement are "following direction" = "front", "distance left / right of signpost" = "0", and "distance before / after signpost" = "0.5". Specifically, the autonomous mobile robot 1 moves forward (follows) towards the "front" of the signpost SP at a left / right distance of "0" meters and a front / back distance of "0.5" meters. When the autonomous mobile robot 1 approaches to within "0.5" meters of the signpost SP, the "signpost" operation ends and the next operation is carried out.

[0059] The next action is "rotation." The parameters for this "rotation" are "rotation direction" to "left" and "rotation angle" to "90" degrees. In other words, the autonomous mobile robot 1 rotates 90 degrees to the left in front of the sign post SP. When the autonomous mobile robot 1 rotates 90 degrees to the left, the "rotation" action ends and the next action is executed.

[0060] The next action is "forward." The parameter for this "forward" action is a "movement distance" of "3" meters. In other words, the autonomous mobile robot 1 moves forward 3 meters from in front of the sign post SP toward goal position B. When the autonomous mobile robot 1 moves forward 3 meters, the "forward" action ends. In this way, the autonomous mobile robot 1 can move from the start position A to the goal position B by executing the actions in the order of the action numbers in the action table shown in FIG.

[0061] As described above, according to this embodiment, the path generation system 100 for the autonomous mobile robot 1 moves according to a preset motion table while detecting signposts SP placed along the travel path 10, and includes the imaging unit 26 that detects the signposts SP, a moving body that moves the imaging unit 26 along the travel path 10, the sensor unit 40 that detects movement information of the moving body, and the motion table generation unit 50 that generates the motion table based on the detection results of the imaging unit 26 and the sensor unit 40. With this configuration, the motion table can be automatically generated while moving the imaging unit 26 and the sensor unit 40, thereby reducing the burden on the operator involved in path generation for the autonomous mobile robot 1. Furthermore, since manual input into the motion table by the operator is substantially reduced, this can also be used as a countermeasure against human error.

[0062] In this embodiment, the moving body is an autonomous mobile robot 1 equipped with an imaging unit 26 and a sensor unit 40. With this configuration, it is possible to intuitively create a route while actually moving the autonomous mobile robot 1.

[0063] Furthermore, in this embodiment, an external signal input unit 60 is provided that inputs signals from outside to the action table generation unit 50, and the external signal input unit 60 inputs a start signal that starts the generation of the action table, an end signal that ends the generation of the action table, and a registration signal that registers the detection results of the imaging unit 26 and the sensor unit 40 in the action table. With this configuration, action items can be added to the action table at any timing while actually moving the autonomous mobile robot 1.

[0064] Furthermore, in this embodiment, the registration signals include a guided operation registration signal in which the autonomous mobile robot 1 moves while being guided by a signpost SP, and a spontaneous operation registration signal in which the autonomous mobile robot 1 moves on its own without being guided by a signpost SP, and when the operation table generation unit 50 receives a guided operation registration signal, it registers parameters relating to the signpost SP detected by the imaging unit 26 in the operation table, and when it receives a spontaneous operation registration signal, it registers parameters relating to the moving object detected by the sensor unit 40 in the operation table. With this configuration, guided operations and spontaneous operations of the autonomous mobile robot 1 can be separated and registered in the operation table.

[0065] Furthermore, in this embodiment, a path generation method for an autonomous mobile robot 1 that moves according to a preset motion table while detecting signposts SP placed along a travel path 10 is provided, in which a mobile body is equipped with an imaging unit 26 that detects signposts SP and a sensor unit 40 that detects movement information of the mobile body, and is moved along the travel path 10, and the motion table is generated based on the detection results of the imaging unit 26 and the sensor unit 40. With this configuration, the motion table can be automatically generated while moving the imaging unit 26 and the sensor unit 40, thereby reducing the burden on the operator involved in path generation for the autonomous mobile robot 1. Furthermore, because manual input into the motion table by the operator is substantially reduced, this method can also be used as a countermeasure against human error.

[0066] (Second embodiment) 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 will be denoted by the same reference numerals, and the description thereof will be simplified or omitted.

[0067] 13 is a front view of the carriage 70 used in the path generation system 100 for the autonomous mobile robot 1 in the second embodiment of the present invention. FIG. 14 is a side view of the carriage 70 shown in FIG. As shown in these figures, in the second embodiment, instead of generating a route while moving the autonomous mobile robot 1 as in the first embodiment, a route is generated while moving a cart 70 equipped with an imaging unit 26 and a sensor unit 40.

[0068] The dolly 70 includes a loading platform 71, a plurality of wheels 72 for moving the loading platform 71, and a handle 73 for operating the loading platform 71. The loading platform 71 is equipped with a sensing unit 21 including an imaging unit 26, a sensor unit 40, and a battery 80 for supplying power to these. The dolly 70 does not have the ability to move on its own, and an operator operates the handle 73 to move the dolly 70 along a movement path 10 (see FIG. 1). In this case, a gyro sensor, an acceleration sensor, or the like is preferably used as the sensor unit 40 rather than an encoder.

[0069] As described above, in the second embodiment, the mobile body is the cart 70 equipped with the imaging unit 26 and the sensor unit 40. With this configuration, route formation can be performed by simply transporting components such as the sensing unit 21 and the sensor unit 40 to the site, without having to transport the autonomous mobile robot 1 to the site. In this case, the work can be divided into two workers: one who operates the cart 70 and the other who operates the external signal input unit 60.

[0070] While the preferred embodiments of the present invention have been described above with reference to the drawings, the present invention is not limited to the above-described embodiments. The shapes and combinations of the components shown in the above-described embodiments are merely examples, and various modifications can be made based on design requirements, etc., without departing from the spirit of the present invention.

[0071] For example, in the above embodiment, "turn" and "forward" are exemplified as spontaneous actions of the autonomous mobile robot 1, but spontaneous actions such as "backward," "curve," "curve back," and "speed change" may also be registered in the action table. For these spontaneous actions, the action items and various parameters can also be automatically registered in the action table by referring to the detection results of the sensor unit 40. Note that "curve" and "curve back" refer to the autonomous mobile robot 1 changing direction while moving forward or backward, and are different from "turn," which rotates on the spot. [Explanation of symbols]

[0072] 1...autonomous mobile robot, 10...movement path, 20...robot body, 20L...drive wheel, 20R...drive wheel, 21...sensing unit, 22...drive unit, 23...control unit, 24...communication unit, 25...memory unit, 26...imaging unit, 27...calculation unit, 28...motor control unit, 29...motor, 30...identification area, 31...frame area, 32...corner portion, 40...sensor unit, 50...motion table generation unit, 60...external signal input unit, 70...cart, 71...loading platform, 72...wheel, 73...handle, 80...battery, 100...path generation system, A...start position, B...goal position, C1...first cell, C2...second cell, D...distance, M1...motion, M2...motion, M3...motion, SP...signpost, θ...angle

Claims

1. A path generation system for an autonomous mobile robot that moves according to a preset operation table while detecting signs arranged along a movement path, comprising: an imaging unit that detects the marker; a moving body that moves the imaging unit along the movement path; a sensor unit that detects movement information of the moving object; an operation table generation unit that generates the operation table based on detection results of the imaging unit and the sensor unit, A path generation system for autonomous mobile robots.

2. the moving body is the autonomous mobile robot equipped with the imaging unit and the sensor unit, 2. A path generation system for an autonomous mobile robot according to claim 1.

3. the moving body is a dolly on which the imaging unit and the sensor unit are mounted, 2. A path generation system for an autonomous mobile robot according to claim 1.

4. an external signal input unit that inputs a signal from the outside to the operation table generation unit; The external signal input unit a start signal for starting the generation of the operation table; a termination signal for terminating the generation of the operation table; a registration signal for registering the detection results of the imaging unit and the sensor unit in the operation table; 4. A path generation system for an autonomous mobile robot according to claim 1.

5. The registration signal a guided operation registration signal for the autonomous mobile robot to move while being guided by the sign; a spontaneous movement registration signal indicating that the autonomous mobile robot moves spontaneously without being guided by the sign; The operation table generation unit When the guidance operation registration signal is received, parameters related to the sign detected by the imaging unit are registered in the operation table; 5. A path generation system for an autonomous mobile robot according to claim 4, wherein, when said spontaneous movement registration signal is received, parameters relating to said moving body detected by said sensor unit are registered in said movement table.

6. A path generation method for an autonomous mobile robot that moves according to a preset operation table while detecting signs arranged along a movement path, comprising: a moving object equipped with an imaging unit that detects the sign and a sensor unit that detects movement information of the moving object, and the moving object is moved along the movement route; generating the operation table based on the detection results of the imaging unit and the sensor unit; A method for generating paths for autonomous mobile robots.

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