Route generation system for autonomous mobile robot and route generation method for autonomous mobile robot

Abstract

A route generation system (100) for an autonomous mobile robot 1 that moves in accordance with a preset operation table while detecting sign posts (SP) arranged along a movement route (10) comprises an imaging unit (26) that detects the sign posts (SP), a mobile body that moves the imaging unit (26) along the movement route (10), a sensor unit (40) that detects movement information for the mobile body, and an operation table generation unit (50) that generates the operation table on the basis of detection results from the imaging unit (26) and the sensor unit (40).

Description

Path generation system and method for autonomous mobile robot

[0001] The present invention relates to a system and method for generating a path for an autonomous mobile robot. This application claims priority to Japanese Patent Application No. 2024-147770, filed on August 29, 2024, the contents of which are incorporated herein by reference.

[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).

[0003] Japanese Patent No. 7489463

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

[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.

[0006] In order to solve the above-mentioned problems, a first aspect of the present invention is 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, the path generation system for an autonomous mobile robot comprising: 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] A second aspect of the present invention is the path generation system for an autonomous mobile robot of the first aspect, wherein the moving body is the autonomous mobile robot equipped with the imaging unit and the sensor unit.

[0008] A third aspect of the present invention is the path generation system for an autonomous mobile robot according to the first aspect, wherein the mobile body is a cart on which the imaging unit and the sensor unit are mounted.

[0009] A fourth aspect of the present invention is the path generation system for an autonomous mobile robot of any one of the first to third aspects, further comprising an external signal input unit that inputs signals from outside to the action table generation unit, wherein the external signal input unit inputs a start signal that starts generation of the action table, an end signal that ends generation of the action table, and a registration signal that registers detection results of the imaging unit and the sensor unit in the action table.

[0010] A fifth aspect of the present invention is the path generation system for an autonomous mobile robot of the fourth aspect, wherein the registration signals include a guided operation registration signal in which the autonomous mobile robot moves while being guided by the sign, and a spontaneous operation registration signal in which the autonomous mobile robot moves spontaneously without being guided by the sign, and the operation table generation unit, upon receiving the guided operation registration signal, registers parameters related to the sign detected by the imaging unit in the operation table, and, upon receiving the spontaneous operation registration signal, registers parameters related to the moving object detected by the sensor unit in the operation table.

[0011] A sixth aspect of the present invention is a method for generating a path for an autonomous mobile robot that moves according to a preset action 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 action table is generated based on the detection results of the imaging unit and the sensor unit.

[0012] According to the present invention, the burden on an operator involved in generating a path for an autonomous mobile robot can be reduced.

[0013] 11. FIG. 12 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. FIG. 13 is a block diagram showing the configuration of the autonomous mobile robot according to the first embodiment of the present invention. FIG. 14 is a front view showing an example of a signpost marker detected by a sensing unit according to the first embodiment of the present invention. FIG. 15 is a diagram showing the operation flow of a path generation system for an autonomous mobile robot according to the first embodiment of the present invention. FIG. 16 is a flow diagram showing the processing of an action table generation unit according to the first embodiment of the present invention. FIG. 17 is a diagram showing an action table automatically generated in step S2 according to the first embodiment of the present invention. FIG. 18 is a diagram showing a first teaching action of an autonomous mobile robot according to the first embodiment of the present invention. FIG. 19 is a diagram showing an action table automatically generated for the first teaching action shown in FIG. 7. FIG. 19 is a diagram showing a second teaching action of an autonomous mobile robot according to the first embodiment of the present invention. FIG. 19 is a diagram showing an action table automatically generated for the second teaching action shown in FIG. 9. FIG. 20 is a diagram showing a third teaching action of an autonomous mobile robot according to the first embodiment of the present invention. FIG. 21 is a diagram showing an action table automatically generated for the third teaching action shown in FIG. 11. FIG. 22 is a front view of a bogie used in a path generation system for an autonomous mobile robot according to a second embodiment of the present invention. FIG. 23 is a side view of the bogie shown in FIG.

[0014] The present invention can be applied to automated guided vehicles in factories, logistics warehouses, and the like, service robots in public facilities such as buildings, halls, and airports, and work robots in indoor and outdoor environments where GPS (Global Positioning System) functions poorly.

[0015] First Embodiment Fig. 1 is a schematic diagram of a path generation system 100 for an autonomous mobile robot 1 in a first embodiment of the present invention, viewed from above. As shown in Fig. 1, the autonomous mobile robot 1 moves while detecting sign posts SP placed along a travel route 10 using an imaging unit 26 mounted on the robot main body 20. In other words, the autonomous mobile robot 1 moves along the travel route 10 while being guided by the sign posts SP.

[0016] Here, the term "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 (described later), the marker of this embodiment is formed by arranging a first cell C1 capable of reflecting light and a second cell C2 not capable of reflecting light on a two-dimensional plane.

[0017] 1, the path generation system 100 for the autonomous mobile robot 1 has a function to automatically generate 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 (described later) while detecting signposts SP placed along a movement path 10. This allows an operator to intuitively create a path for the autonomous mobile robot 1.

[0018] 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 drive unit 22, a control unit 23, a communication unit 24, and a memory unit 25.

[0019] 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.

[0020] 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, places with strong visible light, etc. 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.

[0021] The calculation unit 27 performs a binarization process based on the captured image sent from the imaging unit 26 to form binary image data consisting of black and white, and then uses this image data to detect the sign post SP and calculate the distance D and direction (angle θ) at which the sign post SP is located relative to the autonomous mobile robot 1. The angle θ is the direction (angle) of the sign post SP relative to the direction of travel of the autonomous mobile robot 1. In the example of Figure 1, the sign post SP is located directly in front of the autonomous mobile robot 1, so the angle θ is not shown (angle θ = 0°). The same applies to Figure 1 and subsequent figures.

[0022] 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 actual size of the sign post SP that is set in advance. In other words, the calculation unit 27 of this embodiment can calculate the distance D and angle θ to the sign post SP using only one camera (imaging unit 26).

[0023] 3 is a front view showing an example of a sign post SP marker detected by the sensing unit 21 in the first embodiment of the present invention. As shown in Fig. 3, the sign post SP marker 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.

[0024] The first cell C1 is formed 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 formed of a material with low reflectance to infrared LED light, such as an infrared cut film, a polarizing film, an infrared absorbing material, or black felt.

[0025] The first cell C1 and the second cell C2 are squares of the same size. The entire marker formed by the first cell C1 and the second cell C2 is also square. The marker has an identification area 30 and a frame area 31 that surrounds the identification area 30. The identification area 30 in this embodiment is formed in a matrix pattern of 4 rows and 4 columns.

[0026] 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 bits of information, which allows the calculation unit 27 to read the identification information (pattern ID) of the signpost SP.

[0027] The identification region 30 is not limited to a pattern of 4 rows x 4 columns, but may be a pattern of 3 rows x 3 columns or less, or a pattern of 5 rows x 5 columns or more.

[0028] The frame region 31 is a non-reflective frame region 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 of the four sides between the four corners 32.

[0029] The calculation unit 27 reads out the actual size of the marker from the memory unit 25 etc. based on the identification information obtained from the identification area 30, and calculates the distance D between the robot main 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.

[0030] 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. From the central coordinates, the calculation unit 27 calculates the direction (angle θ) of the sign post SP relative to the traveling direction of the autonomous mobile robot 1.

[0031] 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 robot performs the following operation.

[0032] Returning to Figure 2, drive wheel 20L is provided on the left side of the autonomous mobile robot 1 in the direction of travel. Drive wheel 20R is provided on the right side of the autonomous mobile robot 1 in the direction of travel. Note that the autonomous mobile robot 1 may have wheels other than drive wheels 20L, 20R in order to stabilize the posture of the autonomous mobile robot 1. Motor 29 rotates the left and right drive wheels 20L, 20R in accordance with the control of motor control unit 28.

[0033] 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. Furthermore, the direction of travel of autonomous mobile robot 1 can be changed by creating a difference in the angular velocities of left and right motors 29.

[0034] 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.

[0035] The communication unit 24 communicates with external devices. The communication unit 24 is capable of communicating with, for example, the operation table generation unit 50 and the external signal input unit 60 shown in FIG. 1 . The memory unit 25 stores an operation table (described below) provided by the operation table generation unit 50, individual identification information of the signpost SP, and the size of the actual signpost SP corresponding to the identification information. The control unit 23 is connected to the sensing unit 21, the drive unit 22, the communication unit 24, and the memory unit 25, and controls the overall movement of the autonomous mobile robot 1.

[0036] The autonomous mobile robot 1 configured as described above performs predetermined actions in the order of preset action numbers, in accordance with the action table stored in the memory unit 25. The action table generator 50 shown in FIG. 1 generates this action table. The action table generator 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 generator 50 may be incorporated into the autonomous mobile robot 1.

[0037] 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.

[0038] The action registration signal includes a guided action registration signal in which the autonomous mobile robot 1 moves while being guided by the signpost SP, and a spontaneous action registration signal in which the autonomous mobile robot 1 moves on its own without being guided by the signpost 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.

[0039] Figure 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. Figure 5 is a flow diagram showing the processing of the movement table generation unit 50 in the first embodiment of the present invention. As shown in Figure 4, the path generation system 100 for the autonomous mobile robot 1 receives an external signal, generates a movement table, and updates the path of the autonomous mobile robot 1. The path generation system 100 for the autonomous mobile robot 1 then displays the updated movement table on a display or the like so that an operator can check the updated movement table.

[0040] 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 the determination result in step S1 is NO, the operation table generating unit 50 waits until a teaching start signal has been received from the external signal input unit 60. If the determination result in step S1 is YES, the operation table generating unit 50 starts generating an operation table (step S2).

[0041] 6 is a diagram showing the action 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.

[0042] 5, the action table generating unit 50, which has started generating the action table, determines whether or not it has received an action registration signal from the external signal input unit 60 (step S3). If the determination result in step S3 is NO, the action table generating unit 50 waits until it receives an action registration signal from the external signal input unit 60. If the determination result in step S3 is YES, the action table generating unit 50 registers the detection results of the imaging unit 26 and the sensor unit 40 in the action table (step S4). In other words, the action table is updated. Then, the action table generating unit 50 displays the updated action table on the screen (step S5).

[0043] 7 is a diagram showing a first teaching operation for the autonomous mobile robot 1 in the first embodiment of the present invention. For example, as shown in FIG. 7, to teach the autonomous mobile robot 1 an operation M1 (guided operation) in which the autonomous mobile robot 1 is guided by a signpost SP and moves from a start position A to just before 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 before the signpost SP. The operator then operates the external signal input unit 60 to transmit a guided operation registration signal that registers operation M1 in the operation table.

[0044] 8 is a diagram showing an operation table automatically generated by the first teaching operation shown in FIG. 7. As shown in FIG. 8, when the operation table generating unit 50 receives a guided operation registration signal, it registers the operation item "signpost" after "start." The operation 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:

[0045] "Signpost size" refers to 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." The example in FIG. 8 shows that the action table generation unit 50 has registered "L" in "signpost size."

[0046] "Signpost No." is the 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.". The example of FIG. 8 shows that the operation table generation unit 50 has registered "1" in "Signpost No."

[0047] The "following direction" is the orientation of the sign post SP relative to the autonomous mobile robot 1. When the first button of the external signal input unit 60 is pressed, the operation table generation unit 50 registers the orientation of the sign post SP detected by the imaging unit 26 as the "following direction." The example of Fig. 8 shows that the operation table generation unit 50 has registered "front" as the "following direction."

[0048] 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. The example in Figure 8 shows that the motion table generation unit 50 has registered "0" in the "distance from left to right of signpost".

[0049] 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." The example in FIG. 8 shows that the motion table generation unit 50 has registered "0.5" in the "distance before or after the signpost."

[0050] 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 the determination result in 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.

[0051] 9 is a diagram showing a second teaching operation for the autonomous mobile robot 1 in the first embodiment of the present invention. For example, as shown in FIG. 9, when next teaching the autonomous mobile robot 1 operation M2 (spontaneous operation) to turn left toward goal position B, the operator operates the external signal input unit 60 to turn the autonomous mobile robot 1 left toward goal position B. The operator then operates the external signal input unit 60 to transmit a spontaneous operation registration signal to register operation M2 in the operation table.

[0052] Fig. 10 is a diagram showing an action table automatically generated by the second teaching action shown in Fig. 9. 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, "rotation direction" and "rotation angle" as parameters. Note that the detection results of the sensor unit 40 are registered for each parameter as follows:

[0053] 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 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). The example in Figure 8 shows that the motion table generation unit 50 has registered "left" in the "rotation direction."

[0054] The "rotation angle" is the angle (measured in degrees) by which the autonomous mobile robot 1 rotates. The motion table generator 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). The example in FIG. 8 shows that the motion table generator 50 has registered "90" in the "rotation angle."

[0055] Returning to Fig. 5, if another action is 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.

[0056] 11 is a diagram showing a third teaching operation for the autonomous mobile robot 1 in the first embodiment of the present invention. For example, as shown in FIG. 11, when next teaching the autonomous mobile robot 1 operation M3 (spontaneous operation) of moving forward toward goal position B, the operator operates the external signal input unit 60 to cause the autonomous mobile robot 1 to move forward toward goal position B. The operator then operates the external signal input unit 60 to transmit a spontaneous operation registration signal that registers operation M3 in the operation table.

[0057] Fig. 12 is a diagram showing a motion table automatically generated by the third teaching motion shown in Fig. 11. As shown in Fig. 12, when the motion table generating unit 50 receives a 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:

[0058] "Distance traveled" is the distance traveled by the autonomous mobile robot 1. The motion table generation unit 50 registers in "distance traveled" 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 (to start dead reckoning) until the second button is pressed again (to end dead reckoning). The example in FIG. 8 shows that the motion table generation unit 50 has registered "3" in "distance traveled."

[0059] Returning to Fig. 5, if the determination result in step S6 is YES, the operation table generation unit 50 ends the generation of the operation table. As a result, an operation table such as that shown in Fig. 12 is generated. Note that 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.

[0060] Next, the operations 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 operations in the order of the operation numbers in the operation table shown in Fig. 12. First, the autonomous mobile robot 1 executes the "signpost" operation and detects the signpost SP from the start position A shown in Fig. 1.

[0061] Specifically, the autonomous mobile robot 1 detects a 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 registered size of the signpost SP ("Signpost Size" is "L") and the size of the signpost SP in the image data.

[0062] Next, the autonomous mobile robot 1 moves towards the signpost SP while calculating the distance D. The movement parameters at this time are "following direction" = "forward," "distance from left to right of the signpost" = "0," and "distance from front to back of the signpost" = "0.5." Specifically, the autonomous mobile robot 1 moves forward (follows) towards the "front" of the signpost SP, from a position where the distance from left to right from the signpost SP is "0" meters, to a position where the distance from front to back from the signpost SP is "0.5" meters. When the autonomous mobile robot 1 approaches the signpost SP to a position "0.5" meters in front of the signpost SP, the "signpost" operation ends, and the next operation is carried out.

[0063] The next operation 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 at a position just before the sign post SP. When the autonomous mobile robot 1 has rotated 90 degrees to the left, the "rotation" operation ends and the next operation is executed.

[0064] 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 the position in front of the signpost 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 start position A to goal position B by performing the actions in the order of the action numbers in the action table shown in FIG. 12.

[0065] 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 arranged along the path 10. The path generation system 100 includes the imaging unit 26 that detects the signposts SP, a moving body that moves the imaging unit 26 along the 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. This configuration allows the motion table to be automatically generated while the imaging unit 26 and the sensor unit 40 are moving. This reduces the burden on the operator involved in path generation for the autonomous mobile robot 1. Furthermore, the amount of manual input into the motion table by the operator is substantially reduced. This can also be used as a measure to prevent human error.

[0066] 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.

[0067] This embodiment also includes an external signal input unit 60 that inputs signals from outside to the action table generation unit 50. 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.

[0068] In this embodiment, the registration signals include a guided operation registration signal in which the autonomous mobile robot 1 moves while being guided by the sign post SP, and a spontaneous operation registration signal in which the autonomous mobile robot 1 moves on its own without being guided by the sign post SP, and when the operation table generation unit 50 receives a guided operation registration signal, it registers parameters relating to the sign post 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.

[0069] 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. The method comprises: mounting an imaging unit 26 that detects signposts SP and a sensor unit 40 that detects movement information of the mobile body on the mobile body; moving the mobile body along the travel path 10; and generating 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. This reduces the burden on the operator involved in path generation for the autonomous mobile robot 1. Furthermore, the amount of manual input into the motion table by the operator is substantially reduced. This can also be used as a measure to prevent human error.

[0070] 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.

[0071] Fig. 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. 13. As shown in these figures, in the second embodiment, a path is generated not while moving the autonomous mobile robot 1 as in the first embodiment, but while moving the carriage 70 on which the imaging unit 26 and the sensor unit 40 are mounted.

[0072] 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 a self-propelled function, and an operator operates the handle 73 to move the dolly 70 along the travel path 10 (see FIG. 1 ). In this case, the sensor unit 40 is preferably a gyro sensor, an acceleration sensor, or the like, rather than an encoder.

[0073] 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.

[0074] 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.

[0075] For example, in the above embodiment, "turn" and "move forward" are exemplified as spontaneous actions of the autonomous mobile robot 1, but spontaneous actions such as "move backward," "curve," "curve back," and "change in speed" 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 a "curve" refers to the autonomous mobile robot 1 changing direction while moving forward, and a "curve back" refers to the autonomous mobile robot 1 changing direction while moving backward. "Curve" and "curve back" are different from "turn," which means that the autonomous mobile robot 1 turns on the spot.

[0076] According to the present invention, the burden on an operator involved in generating a path for an autonomous mobile robot can be reduced.

[0077] 1...autonomous mobile robot, 10...movement path, 20...robot body, 20L...drive wheel, 20R...drive wheel, 21...sensing unit, 22...drive section, 23...control section, 24...communication section, 25...storage section, 26...imaging section, 27...calculation section, 28...motor control section, 29...motor, 30...identification area, 31...frame area, 32...corner section, 40...sensor section, 50...motion table generation section, 60...external signal input section, 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 action table while detecting signs placed along its movement path, comprising: 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.

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

3. The path generation system for an autonomous mobile robot according to claim 1, wherein the mobile body is a cart equipped with the imaging unit and the sensor unit.

4. A path generation system for an autonomous mobile robot as described in any one of claims 1 to 3, further comprising an external signal input unit that inputs signals from outside to the operation table generation unit, wherein the external signal input unit inputs a start signal that starts the generation of the operation table, an end signal that ends the generation of the operation table, and a registration signal that registers the detection results of the imaging unit and the sensor unit in the operation table.

5. A path generation system for an autonomous mobile robot as described in claim 4, wherein the registration signals include a guided operation registration signal in which the autonomous mobile robot moves while being guided by the sign, and a spontaneous operation registration signal in which the autonomous mobile robot moves spontaneously without being guided by the sign, and wherein the operation table generation unit, when receiving the guided operation registration signal, registers parameters related to the sign detected by the imaging unit in the operation table, and when receiving the spontaneous operation registration signal, registers parameters related to the moving object detected by the sensor unit in the operation table.

6. A method for generating a path for an autonomous mobile robot that moves according to a preset action table while detecting signs placed along a movement path, comprising: mounting an imaging unit that detects the signs and a sensor unit that detects movement information of the mobile body on a moving body and moving the moving body along the movement path; and generating the action table based on the detection results of the imaging unit and the sensor unit.

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