Autonomous vehicle operation setting device, operation setting program, recording medium storing the operation setting program, and operation setting method

Abstract

In the present invention, a device for configuring the operation of an autonomous traveling vehicle comprises a receiving unit that: receives, from a user, the designation of a specific location in a area in which the autonomous traveling vehicle travels; and receives, from the user, the designation of an operation of the autonomous traveling vehicle at the designated specific location.

Description

[Technical Field]

[0001] The present disclosure relates to an operation setting device, an operation setting program, a recording medium storing the operation setting program, and an operation setting method for an autonomous traveling cart. [Background Art]

[0002] In recent years, many companies have started selling a large number of autonomous traveling carts (see Patent Document 1). [Prior Art Documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Unexamined Patent Publication No. 2021-084177 [Summary of the Invention] [Problem to be Solved by the Invention]

[0004] The present inventor has found a new idea that can improve usability regarding the operation setting of an autonomous traveling cart.

[0005] One object of the present disclosure is to provide a technology capable of improving usability regarding operation setting for an autonomous traveling cart. [Means for Solving the Problem]

[0006] One aspect of the present disclosure is an operation setting device for an autonomous traveling cart. The operation setting device for an autonomous traveling cart includes a reception unit that receives, from a user, designation of a specific location within a traveling area of the autonomous traveling cart, and also receives, from the user, designation of an operation of the autonomous traveling cart at the designated specific location.

[0007] Another aspect of the present disclosure is an operation setting program. This operation setting program causes the operation setting device for an autonomous traveling cart to implement a function of receiving, from a user, designation of a specific location within a traveling area of the autonomous traveling cart, and also receiving, from the user, designation of an operation of the autonomous traveling cart at the designated specific location.

[0008] Another aspect of this disclosure is a recording medium that stores the above-described operation setting program.

[0009] Another aspect of this disclosure is a method for setting up operation. This method for setting up operation comprises the steps of receiving a user's specification of a specific location within the driving area of ​​an autonomous vehicle, and receiving a user's specification of the operation of the autonomous vehicle at the specified location.

[0010] Furthermore, any combination of the above components, or any substitution of the components or expressions of this disclosure between methods, apparatus, systems, etc., is also valid as a form of this disclosure. [Brief explanation of the drawing]

[0011] [Figure 1] This is a perspective view of the AMR from a diagonal, upward angle. [Figure 2] This is a perspective view of the AMR from a diagonal, downward angle. [Figure 3] This is a plan view of the AMR. [Figure 4] Front view of the AMR. [Figure 5] This is a right side view of the AMR. [Figure 6] This is a left side view of the AMR. [Figure 7] This is a rear view of the AMR. [Figure 8] This is a bottom view of the AMR. [Figure 9] This is a plan view showing the AMR with the top panel removed. [Figure 10] This is a diagram illustrating how to carry an AMR (Automated Mobile Radio). [Figure 11] This is a partially transparent perspective view showing an LED lamp. [Figure 12] This is a diagram explaining how to install the battery. [Figure 13] This is a diagram explaining how to install the battery. [Figure 14] This is a diagram explaining how to turn the power ON and OFF. [Figure 15] It is a block diagram showing the functional configuration of an AMR control device. [Figure 16] It is a block diagram showing the functional configuration of an operation setting device. [Figure 17] It is an explanatory diagram of an operation screen. [Figure 18] It is an explanatory diagram of an operation screen. [Figure 19] It is an explanatory diagram of a map creation mode. [Figure 20] It is an explanatory diagram of a wall-following map creation mode. [Figure 21] It is an explanatory diagram of a method for setting a current position. [Figure 22] It is an explanatory diagram of a method for correcting a map shape. [Figure 23] It is an explanatory diagram of a method for setting a non-travelable area. [Figure 24] It is an explanatory diagram of a method for creating a task set. [Figure 25] It is an explanatory diagram of a method for creating a task set. [Figure 26] It is an explanatory diagram of buttons on a task set display screen. [Figure 27] It is an explanatory diagram of a method for creating a task set. [Figure 28] It is an explanatory diagram of a method for creating a task set. [Figure 29] It is an explanatory diagram of a shutdown button and an emergency stop button. [Figure 30] It is an explanatory diagram of line tracing. [Figure 31] It is an explanatory diagram of a cross line. [Figure 32] It is an explanatory diagram of a customization method for an AMR. [Figure 33] It is an explanatory diagram of an I / O port. [Figure 34] It is an explanatory diagram of another customization method for an AMR. [Figure 35] It is a block diagram showing the functional configuration of a modified example of an AMR control device.

Mode for Carrying Out the Invention

[0012] The embodiments are described below. The same reference numerals are used for identical components, and redundant explanations are omitted. For the sake of clarity, components are omitted, enlarged, or reduced in each drawing. The drawings should be viewed in accordance with the orientation of the reference numerals.

[0013] Refer to Figures 1 to 9. The autonomous mobile robot (AMR) 10 is a type of logistics robot (autonomous mobile robot) that autonomously moves to a destination, and is also a type of unmanned transport vehicle. The AMR 10 is equipped with a main body 12, multiple wheels 14A to 14D, a motor 16, a battery 18, a top plate 20, an emergency stop switch 22, a surrounding detection sensor 24, an obstacle sensor 26, a camera 28, operation buttons 30, a display 32, a shutdown button 34, and a battery replacement door 36. In plan view, the AMR 10 is a square shape with sides of 500 mm or less. Here, a square refers to a shape in which the ratio of the lengths of adjacent sides is within the range of 1:1.1 or less.

[0014] The main body 12 is box-shaped and opens downwards. A heat sink 38 is provided on the top surface of the main body 12. The heat sink 38 is exposed between the main body 12 and the top plate 20. A speaker 40 is provided on the top surface of the main body 12. The speaker 40 is positioned in the gap between the main body 12 and the top plate 20. The top surface of the main body 12 has a gently sloping, upward-convex shape in the middle. This provides a waterproof effect. Multiple pillars 42 that support the top plate 20 are provided on the top surface of the main body 12.

[0015] Multiple wheels 14A to 14D are arranged inside the main body 12, and are attached to the main body 12 such that a portion of them protrudes downward from the main body 12. The multiple wheels 14A to 14D include a drive wheel 14A, two driven wheels 14B and 14C located in front of and behind the drive wheel 14A, and an auxiliary wheel 14D located inward in the left-right direction of the front driven wheel 14B. A compound wheel, consisting of one drive wheel 14A, two driven wheels 14B and 14C, and one auxiliary wheel 14D, is individually attached to both the left and right sides of the main body 12. When running on a flat ground surface, the AMR10 has a six-wheel structure that runs using the two drive wheels 14A on the left and right, and the four driven wheels 14B and 14C on the left and right. The outer diameter of the drive wheel 14A is large, and the outer diameters of the driven wheels 14B and 14C are smaller than the outer diameter of the drive wheel 14A. The driven wheels 14B and 14C are rotatable around a vertical axis. This allows the AMR10's main body 12 to easily rotate in place. The drive wheel 14A has a hole 44 on its side. The composite wheel is attached to the main body 12 via a suspension (not shown).

[0016] The motor 16 is located inside the main body 12 and is attached to the main body 12. The motor 16 is individually provided in pairs on the inside of each of the left and right drive wheels 14A in the left-right direction.

[0017] The battery 18 is located inside the main unit 12 and is detachably attached to the main unit 12. A battery replacement door 36 is provided on the rear of the main unit 12. The battery 18 becomes detachable from the main unit 12 when the battery replacement door 36 is opened. A key switch 46 is provided on the side of the battery 18. By inserting the battery key 48 into the key switch 46 and rotating the battery key 48, the battery 18 can be switched ON or OFF. As described later, the lock on the battery key 48 can be switched on or off by pushing it towards the battery and changing its rotation position. The battery key 48 can be removed from the key switch 46 when the lock on the key switch 46 is released and the battery 18 is turned OFF.

[0018] The battery 18 is placed between the pair of motors 16. The control device (described later) circuit board and other components are stacked on top of the battery 18. Heat generated by the circuit board and other components is dissipated via the heat sink 38.

[0019] The data memory 50, which contains the software that controls the AMR, is removable from the main unit 12. This makes software updates easy. The data memory 50 can be replaced when the battery replacement door 36 is opened. The data memory 50 is located inward in the front-to-back direction (in front of the battery key 48) relative to the battery replacement door 36 and the battery key 48. This means that the data memory 50 can only be replaced after the battery key 48 is turned OFF (i.e., the power is turned OFF) and removed from the key switch 46.

[0020] The auxiliary wheel 14D is positioned between the left and right front driven wheels 14B. The outer diameter of the auxiliary wheel 14D is larger than the outer diameter of the left and right front driven wheels 14B. When the drive wheel 14A and the two driven wheels 14B and 14C are in contact with a flat surface, the auxiliary wheel 14D is positioned above the surface and not in contact with it. When there is a step in the direction of travel (forward) of the main body 12, the auxiliary wheel 14D can reach and ride over that step before the front driven wheels 14B. This improves the step-climbing performance.

[0021] The top plate 20 is where luggage is placed. The top plate 20 has several protrusions 52. This prevents luggage from sliding. The top plate has four indentations 54. Cushion rubber (not shown) can be attached to the indentations 54. This improves the grip on luggage. The top plate 20 has several (eight in the figure) mounting tapped holes 56. Various frames such as aluminum frames can be easily attached by fastening them together with screw members that screw into the mounting tapped holes 56 (see also Figure 32).

[0022] An obstacle detection and cliff detection sensor 58 is installed on the underside of the top panel 20. When carrying the AMR10, two people face each other and hold the sides of the top panel 20 (marked with circles) with both hands (see Figure 10). The upper part of the front of the main body 12 has a recess 60 that is recessed upwards and backwards, and a panel section 62 with buttons and a display is provided in this recess 60. The sensor 58 on the underside of the top panel 20 is an optical sensor and projects detection light through the recessed area created by the recess 60. This allows for detection of objects that are closer.

[0023] An emergency stop switch 22 is located on the side of the main unit 12. Pressing the emergency stop switch 22 instantly cuts off the power supply (battery 18) to the motor 16.

[0024] A surrounding detection sensor 24 is mounted in the center of the main body 12. The surrounding detection sensor 24 is, for example, a LiDAR (Light Detection And Ranging) sensor. The surrounding detection sensor 24 is used when creating maps or when performing autonomous driving. The surrounding detection sensor 24 can detect objects within its detection range by, for example, receiving reflected light from the detection light it projects. The surrounding detection sensor 24 projects detection light in a radial range (excluding the area hidden by the pillar 42) in the gap space between the main body 12 and the top plate 20. This makes it possible to have the widest possible detection range around the main body 12.

[0025] The main unit 12 is equipped with a total of five obstacle sensors 26: three on the front and one on each of the paired side sections. The obstacle sensors 26, together with the surrounding detection sensors 24, are used to avoid obstacles during autonomous driving. The obstacle sensors 26 are optical sensors, and the optical axis of the detection light is angled 5 degrees upward from the horizontal plane.

[0026] A camera 28 is mounted on the front of the main unit 12. The camera 28 is used for line tracing and detecting 2D markers. When performing line tracing, the camera 28 reads and traces lines on the floor. For example, when moving while referring to a map loaded into the AMR 10, line tracing may be started when a line is read. When detecting 2D markers, the camera 28 reads 2D markers (2D codes) on the floor, walls, and other surfaces, as well as on furniture and equipment such as shelves. A polarizing film (not shown) is placed in the path of light incident on the image sensor of the camera 28. The polarizing film has its absorption axis in the horizontal direction. This improves the line recognition rate even in environments where sunlight is present.

[0027] The front of the main unit 12 is equipped with operation buttons 30. Operation buttons 30 are used for clearing errors and restarting the device.

[0028] A display 32 is mounted on the front of the main unit 12. The display 32 is used for displaying the status of the main unit 12, the battery level, and other similar information.

[0029] The LED lamps (see also Figure 11) are arranged in a line along the outer circumference of the main unit 12. The LED lamps are mounted on the underside of the top panel 20. The status of the main unit 12 is indicated by the color and how they light up. Green indicates that it is waiting for an operation to be accepted. Light blue indicates that it is in motion. When changing lanes, it lights up in the shape of a turn signal. It becomes dark blue when creating a map. It turns red when an error occurs.

[0030] A shutdown button 34 is located on the top surface of the main unit 12. The shutdown button 34 is used before turning off the power using the key switch 46.

[0031] A battery replacement door 36 is attached to the back of the main unit 12 (see also Figure 12). The battery replacement door 36 is magnetic and can be opened and closed with a single touch. A QR code (registered trademark) (not shown) to the official website is printed on the inside of the battery replacement door 36. The user manual can be downloaded from the official website.

[0032] The driving computer (control device 100, described later) that controls the driving operation of the AMR10 is mounted on the AMR's main body 12, and the expansion function computer for extending the AMR's functions is mounted on the top panel 20. By accessing the expansion function computer, the function can be easily expanded according to the user's needs. The top panel 20 is provided with I / O ports for accessing the expansion function computer (see also Figure 33). The I / O ports are revealed when the cover member 64 attached to the top panel 20 is removed. Using the same computer (e.g., Raspberry Pi) for both the driving computer and the function expansion computer is inexpensive and offers good expandability. Both the driving computer and the function expansion computer may be provided on either the top panel 20 or the main body 12.

[0033] Refer to Figures 12 and 13. When installing the battery 18, hold the handle 18a of the battery 18 and insert it along the guide rail 186 of the AMR10 body 12.

[0034] Refer to Figure 14. Insert the battery key into the battery's key switch and turn it to ON to power on the unit. To return from OFF to UNLOCK, push the battery key in while it is OFF and turn it to UNLOCK. The battery can only be removed from the unit when it is UNLOCK.

[0035] Refer to Figure 15. Each block shown in Figure 15 can be realized in hardware terms by components and mechanical devices such as the CPU (Central Processing Unit) of a computer, and in software terms by computer programs, etc., but here it depicts a functional block realized through the cooperation of these components. Therefore, it will be understood by those skilled in the art who have read this specification that these functional blocks can be realized in various ways by combinations of hardware and software. The same applies to Figures 16 and 35 described later.

[0036] The control device 100 comprises a communication unit 102, a control unit 104, and a storage unit 106. The storage unit 106 is a storage area where data referenced or updated by the control unit 104 is stored. The communication unit 102 communicates with an external device according to a predetermined communication protocol. For example, the control unit 104 sends and receives data to and from the operation setting device 200 via the communication unit 102. The operation setting device 200 is a device for setting the operation of the AMR 10.

[0037] The control unit 104 includes a driving control unit 122, a map creation unit 124, and a task set execution unit 126. The driving control unit 122 controls the motor 16 to drive the AMR 10. The map creation unit 124 scans the area around the AMR using the surrounding detection sensor 24 while the AMR 10 is driving and creates a map. The task set execution unit 126 executes the task set created as described below. A task set is a group of at least one (typically more) tasks, such as a task to move to a specified location or a task to set the input / output of GPIO ports (digital input / output for the AMR to cooperate with external devices), which are executed in order. Actual operation can be carried out by executing the task set. With a task set, it is possible not only to move to a destination via multiple points, but also to cooperate with other devices.

[0038] Refer to Figure 16. The operation setting device 200 is an information processing device operated by the user, such as a smartphone, tablet terminal, or PC. The operation setting device 200 comprises a communication unit 202, a control unit 204, a storage unit 206, a display unit 208, and an input unit 209. The storage unit 206 is a storage area where data referenced or updated by the control unit 204 is stored. The communication unit 202 communicates with an external device according to a predetermined communication protocol. For example, the control unit 204 sends and receives data to and from the AMR control device 100 via the communication unit 202. The display unit 208 is a display device such as a liquid crystal display or an organic EL display. The display unit 208 displays various screens provided by the control unit 204. The input unit 209 is a user interface such as a physical key or a touch panel. The input unit 209 accepts user operations and inputs the operation content to the control unit 204. The display unit 208 and the input unit 209 may be configured as an integrated touch panel display.

[0039] The control unit 204 includes an operation screen display control unit 210, a menu selection receiving unit 212, a map-related screen display control unit 214, a map-related information receiving unit 216, a task set-related screen display control unit 218, and a task set information receiving unit 220. The functions of each block of the control unit 204 are not particularly limited, but in this embodiment, they are implemented as modules of an application program for AMR users (hereinafter also referred to as "operation setting app"). The operation setting device 200 downloads the operation setting app from the AMR 10 as described later and installs it in the storage unit 206. The operation setting app may be provided from sources other than the AMR. For example, the operation setting device 200 may download the operation setting app from an internet site that provides a digital content distribution service. Alternatively, for example, the operation setting app may be stored on a recording medium and installed from that recording medium to the storage unit 106. The processor (CPU, GPU, etc.) of the operation setting device 200 may perform the functions of each block of the control unit 204 by reading the operation setting app installed in the storage unit 206 into the main memory and executing it.

[0040] The operation screen display control unit 210 displays the operation screen, which is the home screen, on the display unit 208. The menu selection reception unit 212 receives the menu selection entered by the user on the operation screen via the input unit 209.

[0041] Figures 17 and 18 show the operation screens that the operation screen display control unit 210 displays on the display unit 208. The operation screens will be explained with reference to Figures 17 and 18.

[0042] Refer to Figure 17. The method for connecting to the AMR's operation screen will be explained. First, the operation setting device 200 connects to the AMR by selecting the AMR's SSID on the Wi-Fi settings screen and entering the predetermined password. Next, the operation setting device 200 launches a browser application and enters the predetermined address in the browser application's address bar, allowing the operation setting device 200 to access that address (i.e., the AMR). When that address is accessed, the operation setting app is loaded, and if the operation setting app is loaded successfully, the operation screen display control unit 210 displays the operation screen (home screen) shown in Figure 17 on the display unit 208.

[0043] Refer to Figure 18. The operation screen displays the status of the AMR10, including Wi-Fi status, battery level, and the current map (only when a map is selected). The operation screen displays multiple operation buttons for operating the AMR. Selecting any of the operation buttons opens the menu screen corresponding to that button. In this example, the operation screen displays, from left to right in the figure, a map button 140 for creating a map, a task set button 141 for creating a task set, and a manual operation button 142 for manual operation.

[0044] Selecting the map button 140 activates the map creation mode. By having the AMR recognize the map created using this mode, autonomous driving becomes possible. Selecting the task set button 141 creates a task set. Selecting the manual operation button 142 displays operation icons, such as a joystick, on the lower right of the operation setting device screen. By operating these operation icons, the AMR can be moved manually. Therefore, the operation icons displayed on the operation setting device screen, and thus the operation setting device 200, function as the control unit for operating the AMR.

[0045] Returning to Figure 15, the map-related screen display control unit 214 displays various screens related to map creation (hereinafter also referred to as "map-related screens") on the display unit 208. The map-related information receiving unit 216 receives information about map creation entered by the user on the map-related screens via the input unit 209.

[0046] The AMR's driving control unit 122 drives the AMR10 according to the mode received by the map-related information receiving unit 216. In manual map creation mode, the driving control unit 122 drives the AMR10 according to the driving operation information (operation information for the joystick) received by the map-related information receiving unit 216. In wall-following map creation mode, the driving control unit 122 drives the AMR10 along the wall. When the AMR10 is driving under the control of the driving control unit 122, the map creation unit 124 scans the area around the AMR using the surrounding detection sensor 24 and creates a map.

[0047] Figures 19 to 23 show examples of map-related screens that the map-related screen display control unit 214 displays on the display unit 208. The creation of maps will be explained in more detail with reference to these figures.

[0048] Refer to Figure 19. The map creation mode is explained below. Maps are essential for autonomous driving. First, screen "1." is displayed. If existing maps exist, a list of them is displayed on this screen. From this screen, you can load maps into the AMR, set the current location, edit, and delete maps. To create a new map, select the + icon 143 in the lower right corner of this screen. Then, screen "2." will be displayed. You can move the AMR using the operation icon (joystick) 144 on this screen.

[0049] The map-related information receiving unit 216 receives operation information for operation icons and, consequently, driving operation information for the AMR, and transmits the received driving operation information to the AMR's control device 100 at predetermined intervals. The AMR's driving control unit 122 drives the AMR according to the driving operation information transmitted by the map-related information receiving unit 216. At this time, the map creation unit 124 scans the area around the AMR using the surrounding detection sensor 24 and creates a map.

[0050] When screen "2." is displayed, the AMR's LED lamp changes from green to deep blue. When you move the AMR, the AMR's LiDAR scans the area around it, creating a map of the scanned area. It is best to move the AMR with the joystick to create a map that covers as large an area as possible compared to the actual operating range. The created map can be saved by selecting the save button 145 on screen "2." and entering a map name. The saved map will be automatically loaded and selected as the "current map".

[0051] Refer to Figure 20. Figure 20(A) shows other screens displayed when creating a map. Figure 20(B) is an explanatory diagram of the wall-following map creation mode. In this example, when moving the AMR to scan the map, in addition to the manual map creation mode where the AMR is moved using operation icons, the wall-following map creation mode can also be executed. The wall-following map creation mode can be selected by pressing the wall-following mode button corresponding to the wall-following map creation mode. Figure 20(A) shows the left wall-following mode button 146 and the right wall-following mode button 147. Each wall-following mode button 146, 147 is a button for traveling along a wall in either the left or right direction from the AMR's perspective. That is, it is a button for traveling along a wall on either the left or right side of the AMR's direction of travel. Only one wall-following mode button may be displayed without distinguishing between left and right walls. If there is only one wall-following mode button, the AMR will travel along the wall that is closer to the left or right wall of the AMR. As shown in this diagram, if there are two wall-following mode buttons, one on the left and one on the right, the vehicle will operate along the wall in the direction specified by the wall-following mode button. Figures 20(A) and 20(B) show the operation when the left wall-following mode button 146 is selected, with a wall to the left of the AMR. Selecting this button will cause the vehicle to operate along the wall to the left (the specified direction corresponding to the button). During wall-following operation, a stop button may be displayed to stop wall-following operation.

[0052] When the wall-following map creation mode is selected, the map-related information receiving unit 216 accepts the selection of the wall-following map creation mode and transmits the selected mode to the AMR control device 100. The AMR's driving control unit 122 makes the AMR drive along the wall, detecting the wall with the surrounding detection sensor 24, according to the selected mode (left wall-following mode or right wall-following mode). At this time, the map creation unit 124 scans the area around the AMR with the surrounding detection sensor 24 and creates a map. In other words, in wall-following map creation mode, the AMR can automatically drive along the wall, scan, and create a map. This allows for map creation without manually operating the AMR, reducing the burden on the user. Also, for example, maps can be created outside of working hours, such as at night, making effective use of time. Also, for example, maps can be created during times when there are few or no people, such as at night, to avoid people appearing in the map. In addition, the driving speed and distance from the wall may be specified for wall-following driving in wall-following map creation mode.

[0053] Refer to Figure 21. This section explains how to set your current location on the map you have created. You will need to set your current location if you change the map, operate the AMR with the power off, or lose track of your location for any reason. To set your current location, you must first load the map into the AMR. First, with the created map loaded, select "Set Current Location" displayed on the screen in "1.". Then, the player's icon will appear on the screen in "2.". You can set your current location by dragging this icon and moving it to your current location while comparing it with the map and scenery. At this time, you can also set the orientation of the AMR by rotating the player's icon. Next, press the "Set Current Location" button at the bottom of screen "2.". A screen will appear asking if you have finished setting your current location, as shown in "3.". Select OK on that screen. This completes the setting of your current location.

[0054] Refer to Figure 22. The method for modifying the map shape of the created map is explained below. Map shape modification is performed to remove people or moving objects (such as carts, luggage, or mobile shelves that are not normally used) that appear on the created map. The removed areas are recognized as drivable areas and are no longer used as a reference for self-positioning.

[0055] First, with the map you want to modify selected, select "Modify Map" on the screen shown in "1.". Then, the screen shown in "2." will appear, and you can specify the area to delete by pressing the buttons displayed on that screen. You can specify multiple areas to delete. You can zoom in and out of this area using pinch gestures, and you can also rotate it by performing the specified operation.

[0056] Screen "3." shows the state after specifying the deletion area. After specifying the deletion area, select the save button to save the map reflecting that deletion area. As a result, if there are no actual obstacles in the specified deletion area, the AMR will recognize it as a drivable area and be able to drive through it.

[0057] Refer to Figure 23. The method for setting restricted areas on the created map is explained below. Restricted areas are recognized as areas that the AMR cannot enter. This allows you to specify locations where you do not want the AMR to travel for safety reasons. For example, since the AMR may pass under desks or shelves, it is preferable to set these as restricted areas.

[0058] First, with the map you want to modify selected, select "Place Obstacles" on the screen shown in "1.". Then, the screen shown in "2." will appear, so press the buttons displayed on that screen to specify the placement area. You can specify multiple placement areas. This placement area can be enlarged or reduced using pinch gestures, and can also be rotated by performing the specified operation.

[0059] Screen "3." shows the state after specifying the installation area. After specifying the installation area, select the save button to save the map that reflects the installation area. This allows the AMR to recognize the specified location as a no-go zone and avoid driving through it, even if there are no actual obstacles there. The map information created and modified as described above is sent to the AMR's control device 100 when the "Load to main unit" button is operated on the screen shown in "1." in Figure 19, and stored in its memory unit 106, enabling the AMR to drive autonomously based on the map.

[0060] Returning to Figure 15, the task set related screen display control unit 218 displays various screens related to the creation of task sets (hereinafter also referred to as "task set related screens") on the display unit 208. The task set information receiving unit 220 receives information about task sets created as described later, that is, information about task sets entered by the user on the task set related screens (hereinafter also referred to as "task set information"), via the input unit 209. The task set information receiving unit 220 stores the received task set information in the storage unit 206, associating it with an identifier (e.g., a name) that can uniquely identify the task set information. Alternatively, the task set information receiving unit 220 may transmit the task set information to the AMR control device 100 and have it stored in its storage unit 106.

[0061] A task set contains information on one or more tasks. The task information includes information indicating a specific location on a map within the AMR10's traversable area, i.e., a point on the map where the task (i.e., a predetermined action) will be performed, and information indicating the task that the AMR10 will perform at that location. In other words, the user enters the specific location and the task that the AMR10 will perform at that location on the task set-related screen.

[0062] When the AMR's task set execution unit 126 receives a task set execution instruction from the user via the operation setting device 200, it controls the AMR to execute the tasks included in the task set information according to the corresponding task set information. If the task set information is stored in the storage unit 206 of the operation setting device 200, the task set information only needs to be transmitted from the operation setting device 200 along with the execution instruction. If the task set information is stored in the storage unit 106 of the control device 100, the task set execution unit 126 only needs to retrieve the task set information from the storage unit 106.

[0063] Figures 24 to 26 show examples of task set-related screens that the task set-related screen display control unit 218 displays on the display unit 208. The creation of task sets will be explained in more detail with reference to these figures.

[0064] Next, we will explain the mode for creating a task set. Refer to Figures 24 to 26. First, select "Task Set" from the operation screen "1.". Then, the screen "2." will be displayed. This screen displays a list of created task sets, and you can play (execute), edit, or delete them. Selecting the + icon 148 in the lower right corner of this screen will display the screen "3.", where you can create a new task set. The screen "3." shows the state when "Manual Operation" is selected. At this time, you can specify the point where you want to place a task by moving the AMR to the point (i.e., a specific location) where you want to place the task using an operation icon such as a joystick (not shown). In other words, when the task set information receiving unit 220 receives a specification of a specific location while the user is moving the AMR using an operation icon, it accepts the location where the AMR is at that time as the specific location. This ensures that the desired location can be reliably specified as the specific location. "While moving the AMR" here includes not only the case where the AMR is actually moving by operating the operation icon, but also the case where the operation on the operation icon is interrupted and therefore the AMR is temporarily stopped. Furthermore, when manually operating the AMR to create a map, you can designate a specific location as the location where you want to place a task once you reach that point. Alternatively, after the map has been created and the AMR's current position on the map has been identified, you can manually operate the AMR to reach a point where you want to place a task and designate that location as the specific location.

[0065] On screen "3.", you can also specify the point where you want to place a task by tapping point 149 displayed on screen "3." (see also screen "4.") to activate it, and then dragging that point. In other words, you can specify a specific location on the map after the map has been created, or even during the creation of the map, within the area where the map is being created.

[0066] "4." indicates that a specific location has been specified. Once a specific location is specified, the task (i.e., action) at that location is specified. In this example, either a "work point" or a "pass-through point" is selected. A "work point" is the point where the AMR is stopped, and a "pass-through point" is the point where the AMR is passed. At a "work point," the orientation of the AMR when it is stopped can also be specified. At a "work point," one or more other tasks, such as outputting GPIO, can also be performed after the AMR has stopped. The task set information receiving unit 220 receives input about the task at the specific location.

[0067] When you select a "work point" or "waypoint," the color changes (for example, from blue to red), as shown in screen "5.". The point where this task is placed can be moved or other settings can be changed.

[0068] On screen "5.", the travel route 157 in the task set is displayed on the map. In this example, the travel route 157 is represented by an arrow. Marks are displayed at specific locations to indicate whether they are work points or waypoints. Work points and waypoints are represented by different marks. In this example, the work point mark 158 is represented by a triangular arrow, and the waypoint mark 159 is represented by a circle. In other words, it is possible to distinguish whether a particular location is a waypoint or a work point. Adjacent to each of the work point mark 158 and waypoint mark 159, the execution order of the tasks is displayed in ascending order. Therefore, by looking at the map display that reflects the task set, the user can see at a glance the AMR's travel route in the task set, where tasks are executed along that route, and whether the tasks being executed are AMR walkthroughs or work.

[0069] After completing the task setup, select Save and save the task set with a name, as shown in screen "6.". Specifically, the task set information receiving unit 220 stores at least one received task information (information indicating a specific location and information indicating the task content at that location) as a task set in the storage unit 106.

[0070] A list of created task sets is displayed on screen "2.". The functions of the buttons displayed to the right of the task sets on screen "2." are described in Figure 26. Pressing the play button on screen "2." allows you to play back the created task set. Specifically, this enables a trial run in which the AMR executes the task set. You can also stop the playback (trial run) of the task set by pressing the stop button on screen "2.". It is desirable to perform a trial run by playing back the created task set. If the trial run takes an unintended route, you should use the map editing function to set areas where travel is prohibited. If the trial run performs unintended actions, you should adjust the tasks using the task set editing function. You may repeat the adjustments using the map or task set editing function until the trial run performs the intended actions.

[0071] Refer to Figures 27-28. Figures 27-28 are other screen diagrams displayed when creating a task set. Selecting "Task Set" on the operation screen (for example, Figure 17) displays the screen shown in Figure 27(A). This screen displays a list of created task sets, which can be played, edited, or deleted. Selecting the + icon 150 in the lower right corner of this screen displays the screen shown in Figure 27(B), where a new task set can be created. Selecting the manual operation button 151 on the left of the screen in Figure 27(B) displays the screen shown in Figure 27(C). Operation icons 152, such as a joystick, are displayed in the lower right corner of the screen in Figure 27(C). By moving the AMR with the operation icons to the point where you want to place a task, you can specify that point as a specific location. On the screen in Figure 27(C), you can also tap the waypoint button 153 or the work point button 154 to activate them and then specify a specific location on the map.

[0072] As mentioned above, at a "work point," one or more tasks can be executed after the AMR has stopped. To set a task, select the task button 155. When the task button 155 is selected, several selectable tasks are displayed, as shown in the screen in Figure 28(A). In other words, in this example, the task to be executed at the "work point" can be selected from several pre-prepared tasks. In this case, the user only needs to select the desired task from the pre-prepared tasks, thus reducing the burden on the user in creating task sets. As shown in the screen in Figure 28(B), the selected tasks are arranged in ascending or descending order, i.e., in the order they will be executed, in the task display field 156.

[0073] The multiple tasks are not particularly limited, but in the example shown in Figure 28(A), they include waiting for a set period of time, waiting for GPIO input, GPIO output, line tracing, rotation, straight line movement, audio playback, power output, and maximum speed change.

[0074] In "Wait for a set time" mode, the AMR will wait at the work point for the specified waiting time. For example, selecting the "Wait for a set time" button will display a separate screen where you can specify the waiting time.

[0075] In "GPIO input waiting" mode, the AMR10 waits for a predetermined signal from an external device. For example, it might wait for a signal from a cargo placement sensor that outputs a signal when cargo is placed on the AMR. In this case, it becomes possible to resume driving once cargo is placed on the vehicle.

[0076] In "GPIO output," the AMR10 outputs a predetermined signal to an external device. For example, if a roller conveyor is mounted on the AMR, a drive signal may be output to that roller conveyor. This makes it possible to transfer a load from the roller conveyor on the AMR to another roller conveyor as an external device once it reaches a specific location. In this case, after the load has been transferred, for example, after a predetermined time has elapsed, a signal (stop signal) should be output to the roller conveyor on the AMR to stop it.

[0077] In "line tracing," the AMR moves along a line, starting from a work point (i.e., a specific location). Details of line tracing will be described later.

[0078] The "Rotate" function rotates the work point by a specified angle at a specified angular velocity. For example, selecting the rotate button displays a separate screen where you can specify the angular velocity and rotation angle.

[0079] The "Move Straight" option means that the character will move in the same direction from the work point, at the specified speed, and for the specified distance. For example, selecting the "Move Straight" button will display a separate screen where you can specify the speed and distance.

[0080] In "Audio Playback," a predetermined audio message is played from speaker 40. For example, it might output the message, "We have arrived."

[0081] The "Power Output" function outputs power to an external device. For example, as will be described later with reference to Figures 32 and 33, power is output from the relay output port to an external device (e.g., a tablet).

[0082] The "Maximum Speed ​​Change" function changes the AMR's maximum speed to a specified speed. For example, selecting the Maximum Speed ​​Change button displays a separate screen where you can specify the maximum speed. This allows you to change the AMR's maximum speed for subsequent specified tasks. For example, by changing the AMR's maximum speed before line tracing and then changing it back after line tracing, you can change the AMR's maximum speed only during line tracing.

[0083] However, the tasks performed at the work point are not limited to these. For example, "obstacle sensor ON / OFF switching" may be included in the prescribed tasks. "Obstacle sensor ON / OFF switching" switches the obstacle sensor 26 ON or OFF. For example, if the obstacle sensor 26 reacts and stops in a narrow passage, the obstacle sensor 26 is turned OFF only while passing through that narrow passage. Specifically, the obstacle sensor 26 is turned OFF at the work point, which is the point before the narrow passage, and after turning the obstacle sensor 26 OFF, the vehicle moves straight for a specified distance, and after moving straight for the specified distance, the obstacle sensor 26 is turned ON.

[0084] The task sets created as described above are stored in the memory unit 206 of the operation setting device 200 and transmitted to the AMR, where they are stored in the memory unit 106 of the control device 100. When the operation setting device 200 selects a task set to be executed by the AMR, execution instruction information indicating that task set is transmitted to the AMR, and the control unit 104 of the AMR repeatedly causes the AMR to perform the movements and tasks corresponding to that task set. Alternatively, instead of pre-storing the created task sets in the memory unit 106 of the control device 100, when the operation setting device 200 selects a task set to be executed by the AMR, execution instruction information including the contents of the task set is transmitted to the AMR, and the control unit 104 of the AMR repeatedly causes the AMR to perform the movements and tasks corresponding to the task set included in that execution instruction information.

[0085] Refer to Figure 29. To turn off the power, first press and hold the shutdown button to shut down the main controller, and then turn off the battery power. To perform an emergency stop on the unit, press the emergency stop button.

[0086] The battery 18 can be charged using a charger and a household power outlet while it is detached from the main unit 12. Charging starts automatically when the charger cable is connected to the charging port 66 (see Figure 2) on the side of the battery 18. When charging is complete, the charger's LED (not shown) changes from orange to green. The battery 18 is inserted along the rail (see also Figure 13). Once the battery 18 is fully inserted, push the key switch 46 towards the battery 18 along with the battery key, and rotate the battery key clockwise to lock the key switch 46. At this point, the state changes from "UNLOCK" to "OFF" in Figure 14. Turning the key switch 46 further clockwise along with the battery key from the locked state turns the power on (the "ON" state in Figure 14). When the power is on, the LED lamp on the main unit 12 lights up, changing through seven colors. When the main unit 12 is ready, the LED lamp stops changing color and turns green, and the battery level is displayed on the display 32. This completes the connection to the main unit 12 via Wi-Fi (registered trademark) and prepares it to accept commands. To turn off the power of the main unit 12, first completely shut down the main controller by pressing the shutdown button 34. Once the shutdown is complete, the LED lamp will turn off. Once the LED lamp is off, turn the key switch 46 of the battery 18 to OFF (the "OFF" state in Figure 14). This turns off the power.

[0087] In actual use, you access the application by entering a designated URL in the address bar of your browser app. Once you access the URL and load the app, a list of buttons for the created task sets will be displayed based on the configured map. Task sets can be assigned the "favorite" attribute. You can also filter to display only your favorite task sets. Pressing a task set button will play the task set, allowing you to see its actual operation.

[0088] Refer to Figures 30 and 31. One of the tasks that can be set in a task set is line tracing. As preparation, a special guide line tape is placed on the floor. To stop the line tracing, cross lines are created. Two cross lines are created perpendicular to the guide line. The cross lines should be 40 cm or longer, and the two cross lines should be 20 cm to 30 cm apart. When creating a task set, specify the guide line as the point where you want to place the task and select the aforementioned "work point". At the same time, select line tracing as the task and select cross lines as the stop condition. When you play the task set containing the task created in this way, the system will perform automatic driving using the map until it reaches the specified work point, and after reaching the work point, it will perform the line tracing task. When the line tracing task is performed, the system will travel along the guide line and stop at the cross lines.

[0089] Refer to Figures 32 and 33. Next, we will explain how to customize the AMR. Here, we will explain how to customize the AMR to function as a picking transport robot equipped with a tablet. First, remove the bolts (not shown) fastened to the mounting tapped holes on the top plate. Next, attach the prepared frame with bolts. Removing the cover member attached to the top plate provides access to the I / O ports. The I / O ports, from left to right, are the LAN port, the emergency shut-off switch port, the GPIO port, the USB Type-C type 5V constant output port and relay output port, and the battery voltage constant output port and relay output port. For example, by connecting the tablet's power cable to the USB Type-C type constant output port, power can be drawn from the AMR to the tablet.

[0090] Refer to Figure 34. This describes another custom example of the AMR. Here, we show an example where a roller conveyor and an electric stopper are further attached to the aluminum frame of the aforementioned transport robot. The electric stopper is movable between a load-restricting position that limits the movement of the load on the roller conveyor in the transport direction, and an unrestricted position that allows that movement. When a load is loaded onto the AMR's roller conveyor, the electric stopper is positioned at the load-restricting position. Once the AMR has moved to a position where the load can be transferred to another roller conveyor as an external device, the AMR moves the electric stopper from the load-restricting position to the unrestricted position (as shown in the figure). This transfers the load on the roller conveyor to the external device's roller conveyor. This entire process can be achieved by creating the task set described above.

[0091] (An autonomous mobile robot that is quick and easy to use) You can start the setup quickly using an app on your smartphone or tablet. You can also intuitively set up maps and tasks using the app, so you can quickly adapt to changes in layout and work content.

[0092] (Automatically avoids obstacles) The AMR employs SLAM technology to perform high-speed map creation and self-positioning. Equipped with LiDAR (laser scanner) and multiple obstacle sensors, it can automatically avoid people and obstacles while carrying cargo.

[0093] (Also supports line tracing) In addition to guideless operation that creates a map and moves autonomously, it is also possible to drive with high precision by using a camera to trace lines (follow lines on the floor). Since it uses inexpensive line tape, the initial investment at the site can be reduced compared to the case of general magnetic tape.

[0094] (Sophisticated Design) AMRs are collaborative robots that work alongside humans, quickly and easily usable. Despite being industrial-grade, they boast a user-friendly and aesthetically pleasing design.

[0095] AMRs (for creating custom robots) are designed to accommodate a variety of equipment. Multiple mounting holes on the top panel allow for easy attachment of aluminum frames and other components. 24V (battery voltage) and 5V power outputs, a shutdown switch, GPIO, LAN port, and Wi-Fi (registered trademark) are also available. Scaling up with multiple AMRs for group control is also possible. AMRs can contribute to automation in various locations such as factories, logistics, and restaurants.

[0096] The present invention has been described above based on embodiments. These embodiments are illustrative, and it will be understood by those skilled in the art that various modifications are possible in combinations of these components and processing processes, and that such modifications also fall within the scope of the present invention. Such modifications will be described below.

[0097] (Variation 1) In this embodiment, all functions of the operation setting app were executed by a single terminal (operation setting device 200), but this is not limited to this. The AMR control device 100 may have some of the functions of the operation setting app, for example, the functions of each screen display control unit 210, 214, 218. In this case, each screen display control unit 210, 214, 218 transmits various screens to the operation setting device 200 for display on its display unit 208. For example, each screen display control unit 210, 214, 218 may transmit various screens to the operation setting device 200 as web pages displayed by a web browser.

[0098] (Modification 2) Unlike the embodiment, the AMR's operation settings may be configured by displaying various screens on the display unit of the control device 100. In this case, the AMR's control device 100 also functions as an operation setting device. Refer to Figure 35. The control unit 104 of the control device 100 in this modified example includes an operation screen display control unit 110, a menu selection reception unit 112, a map-related screen display control unit 114, a map-related information reception unit 116, a task set-related screen display control unit 118, a task set information reception unit 120, a driving control unit 122, a map creation unit 124, and a task set execution unit 126.

[0099] The operation screen display control unit 110, the menu selection reception unit 112, the map-related screen display control unit 114, the map-related information reception unit 116, the task set-related screen display control unit 118, and the task set information reception unit 120 correspond to the operation screen display control unit 210, the menu selection reception unit 212, the map-related screen display control unit 214, the map-related information reception unit 216, the task set-related screen display control unit 218, and the task set information reception unit 220, respectively. In this case, each display control unit 110, 114, and 118 displays various screens on a predetermined display unit of the AMR, and each reception unit 112, 116, and 120 receives input for the various screens displayed on the display unit. For example, the display 32 of the AMR can be configured as a touch panel display, and each display control unit 110, 114, and 118 can display various screens on the display 32, and each reception unit 112, 116, and 120 can receive user input on the various screens via the display 32.

[0100] Furthermore, the present invention can be considered not only as an invention of an operation setting device, but also as an invention of a program that causes the operation setting device to implement (execute) each function of the operation setting App, as an invention of a storage medium (such as a DVD, USB memory, or hard disk) that stores the (operation setting) program, or as an invention of an operation setting method having each step executed by the (operation setting) program. It can also be considered as an invention of a system having an operation setting device and one or more autonomous vehicles that operate based on the settings in the operation setting device. Moreover, the operation setting device may consist of a single device or multiple devices. Similarly, the operation setting program and operation setting method may be executed by a single device or distributed and executed by multiple devices.

[0101] Furthermore, a device, program, and method for setting up a map along a wall that do not require a user to set task sets can also be considered an invention that improves usability in setting up the operation of an autonomous mobile vehicle. [Industrial applicability]

[0102] This disclosure can be used for autonomous mobile vehicles. [Explanation of symbols]

[0103] 10...Autonomous mobile trolley, 100...Control device, 200...Operation setting device, 204...Control unit, 214...Map-related screen display control unit, 216...Map-related information receiving unit, 218...Task set-related screen display control unit, 220...Task set information receiving unit, 224...Map creation unit.

Claims

1. The system includes a reception unit that receives a user's designation of a specific location within the autonomous vehicle's travel area, and a reception unit that receives a user's designation of the autonomous vehicle's operation at the designated location. The aforementioned reception unit is As for the operation of the autonomous vehicle at the aforementioned specific location, the user can select either to pass through the specific location or to perform a predetermined task. As a predetermined operation, the user specifies a GPIO input waiting operation, which involves waiting for a predetermined signal to be input from an external device via the GPIO port provided by the autonomous vehicle. A device for setting the operation of an autonomous vehicle.

2. The operation setting device for an autonomous vehicle according to Claim 1, wherein the external device is a luggage placement sensor that outputs a signal when luggage is placed on the autonomous vehicle, and the GPIO input waiting operation is the operation of waiting for the input of the signal from the luggage placement sensor.

3. The autonomous vehicle operation setting device according to claim 1, wherein the predetermined operation can be selected from among a plurality of operations.

4. The autonomous vehicle operation setting device according to claim 1, wherein when a user operates a predetermined control unit to move the autonomous vehicle, the device accepts the designation of a specific location, and the location where the autonomous vehicle is currently located is designated as the specific location.

5. The operation setting device for an autonomous vehicle according to Claim 1, wherein the receiving unit further receives from the user a designation of a GPIO output operation to output a drive signal to a roller conveyor attached to the autonomous vehicle via the GPIO port, as the predetermined operation.

6. The operation setting device for an autonomous mobile vehicle according to Claim 5, wherein the GPIO output operation is the operation of transferring a load from the roller conveyor to another roller conveyor as an external device by outputting the drive signal to the roller conveyor when the autonomous mobile vehicle arrives at the specific location.

7. The operation setting device for an autonomous mobile trolley according to Claim 6, wherein the receiving unit receives a specification from the user for the operation of stopping the roller conveyor by outputting a stop signal to the roller conveyor via the GPIO port after a predetermined time has elapsed after the delivery of the cargo, as the GPIO output operation.

8. The autonomous vehicle operation setting device according to claim 1, further comprising a screen display control unit that displays a screen on a map of the autonomous vehicle's travel area showing the autonomous vehicle's travel route and a designated specific location, and whether that specific location is a waypoint or a work point.

9. An operation setting program that enables an autonomous vehicle operation setting device to implement a function that accepts from the user the designation of a specific location within the autonomous vehicle's operating area and the designation of the autonomous vehicle's operation at the designated location, The aforementioned function is, As for the operation of the autonomous vehicle at the aforementioned specific location, the user can select either to pass through the specific location or to perform a predetermined task. As a predetermined operation, the user specifies a GPIO input waiting operation, which involves waiting for a predetermined signal to be input from an external device via the GPIO port provided by the autonomous vehicle. Operation setting program.

10. A recording medium that stores the operation setting program described in claim 9.

11. The system comprises the steps of: receiving a user's specification of a specific location within the autonomous vehicle's travel area; and receiving a user's specification of the autonomous vehicle's operation at the specified location. In the step of receiving the user's specification of the aforementioned operation, As for the operation of the autonomous vehicle at the aforementioned specific location, the user can select either to pass through the specific location or to perform a predetermined task. As a predetermined operation, the user specifies a GPIO input waiting operation, which involves waiting for a predetermined signal to be input from an external device via the GPIO port provided by the autonomous vehicle. How to configure the operation of an autonomous vehicle.

Images