KR101151707B1 - Robot-system By Color tracking sensor - Google Patents

Abstract

The present invention relates to an object detection and mobile robot system using a CTS, and in particular, a color tracking sensor (CTS) that provides location tracking information of an object by recognizing an object having a specific color, and location tracking information of the color tracking sensor. A step motor driving unit for moving the robot mechanism through the robot, and a moving distance and lift information of the object based on the position tracking information of the servo motor driving unit and the color tracking sensor that lift the object in proximity to the object It characterized in that it comprises a microcontroller unit for controlling the.

According to the present invention, by implementing a mobile robot system having a color tracking sensor (CTS), it is possible to increase the accuracy of the recognition of the object, at the same time can detect a variety of colors to efficiently move and recognize objects of various unmanned systems and There is an effect that can implement the transfer operation.

Color tracking sensor, robot system, unmanned automation

Description

Object detection and mobile robot system using CTS {Robot-system By Color tracking sensor}

The present invention relates to an unmanned robot system capable of detecting and moving an object.

The interest in robots has been amplified with the development of technology, and the system using these robots is introduced as a concept of unmanned automation, and it is put into an environment where humans cannot enter in various fields of the industrial field or difficult environment, Attempts to implement economic cost savings are diversifying.

In particular, recently, in the case of a cleaner or a simple mobile robot, a general driving motor and an infrared or ultrasonic sensor are used to recognize a distance, and a method of moving the predetermined distance is realized. In particular, a three-stage robot transport system that recognizes the position of an object through an image device and operates the main computer to drive the robot is applied to a soccer robot used for robot soccer, but this also has a complicated configuration and operation. The method, furthermore, does not reach the exact location of the object.

In particular, when tracking the object using the ultrasonic sensor or the infrared sensor in the above-described robot system, only the object is recognized, there is a problem that can not determine whether or not the user desired object.

However, this cognitive method often causes malfunction because it does not recognize the exact position of the object, and this error is difficult to apply in the industrial field where the precise operation of the object and the overall operation of the object to the correct place must be unmanned. It is working.

The present invention has been made to solve the above-described problems, an object of the present invention is to implement a mobile robot system having a color tracking sensor (CTS), to increase the accuracy of the recognition of the object, at the same time detect a variety of colors It is to provide a robot system that can implement the efficient movement of various unmanned systems and the recognition and transfer of objects.

The configuration of the present invention for solving the above problems, the color tracking sensor (CTS) for recognizing an object having a specific color to provide position tracking information of the object; A step motor driving unit for moving the robot mechanism through the position tracking information of the color tracking sensor; A servo motor driving unit for lifting an object in proximity to the object; A microcontroller unit for controlling a moving distance and lift information of an object based on the position tracking information of the color tracking sensor; It is characterized by providing an object detection and mobile robot system using a CTS.

In particular, the microcontroller unit implementing the above-described mobile robot system, the color information analysis unit for calculating the position of the object by analyzing the position tracking information provided by the communication with the color tracking sensor; A step motor controller for moving the robot mechanism to the object based on the position information of the object received from the color information analyzer; A distance measuring controller for calculating a moving distance of the step motor by measuring a distance from the object; A servo motor control unit which controls a sub-motor that lifts and lifts an object when approaching the object; It may be configured to include a.

In addition, the position tracking information of the color information analyzer described above includes the number information of the objects recognized by the color tracking sensor, the color information of the object, the shape information of the object, and the X and Y coordinate information of the recognized object. desirable.

In addition, the object detecting and moving robot system according to the present invention may further comprise a distance measuring sensor unit for measuring the distance to the object to provide the movement information of the step motor drive unit.

The object sensing and mobile robot system according to the present invention can be implemented in such a way as to increase the efficiency of the work by distributing the lifting and transport of the object by operating two or more robots together instead of one robot. .

Specifically, as described above, the first robot having the object detecting and moving robot system having a color tracking sensor to track and move the position of the object is configured as the robot of the first unit, and the robot of the first unit. To implement a robot No. 2 that can track the.

Specifically, the second robot includes a second robot that tracks and tracks the stop position of the first robot by tracking color recognition information formed on the first robot; The second robot may include a second color tracking sensor that recognizes color recognition information of the first robot and provides location tracking information, and a second robot that drives the second robot through location tracking information of the color tracking sensor. Step motor driving unit; A second distance measuring sensor unit measuring a distance from an object and providing movement information of the step motor driving unit; On the basis of the position tracking information of the color tracking sensor, it may be configured to include a second microcontroller unit for calculating the movement distance and the number of objects information to the first robot to control the specified position.

In particular, the robot of the second unit tracks and moves the position of the first unit, and then calculates the number of objects lifted and transferred from the first unit to transfer to a specific point. The calculation of the number information of the object of the second microcontroller unit may be performed by calculating a signal by the photosensor.

According to the present invention, by implementing a mobile robot system having a color tracking sensor (CTS), it is possible to increase the accuracy of the recognition of the object, at the same time can detect a variety of colors to efficiently move and recognize objects of various unmanned systems and There is an effect that can implement the transfer operation.

Hereinafter, with reference to the accompanying drawings will be described in detail the configuration and operation according to the present invention. In the description with reference to the accompanying drawings, the same components are given the same reference numerals regardless of the reference numerals, and duplicate description thereof will be omitted. The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

1A and 1B, FIG. 1A is a schematic configuration diagram of an object sensing and mobile robot system using a CTS according to the present invention, and FIG. 1B is schematic image information of a color tracking sensor according to the present invention.

The object detection and mobile robot system (hereinafter, referred to as 'the present system') using the CTS (Color Tracking Sensor) according to the present invention is a color tracking sensor that provides position tracking information of an object by recognizing an object having a specific color. (CTS; 110) and the step motor drive unit 110 for moving the robot mechanism through the position tracking information of the color tracking sensor 110, the servo motor drive unit 120 to lift the object in close proximity to the object (120) ), And a microcontroller unit 200 (MCU) for controlling the moving distance and the airborne information of the object based on the position tracking information of the color tracking sensor 110.

The color tracking sensor (CTS) 110 is a sensor capable of recognizing the color of an object. In the present invention, the color tracking sensor (CTS) 110 recognizes the color of the object and matches the selected color so that the system can track only this color. In particular, the color tracking sensor according to the present invention preferentially selects the perceived color from the larger one, and can be designed to track from the nearest place when tracking the same size object. Color tracking sensor according to the present invention will be recognized to track up to eight colors at the same time. Therefore, the color tracking sensor according to the present invention is able to detect several (8) colors at the same time, it is possible to implement a sequential operation by the color.

In particular, the color tracking sensor used in this system is basically embedded in the color information, and transmits the identification information that matches the color of the target object to the MCU to track it. In particular, it can transmit data after processing video at the speed of 20frame / s, can process 8 colors at the same time, and can use after setting work using simple computer program. Serial communication can be used. Therefore, the tracking function is possible using only the basic color of the object without additional application of the existing sensor.

1B illustrates an example of an information window viewed through (a) an actual image of a color tracking sensor and (b) a color tracking sensor according to the present invention.

As shown, in the information window of the color tracking sensor according to the present invention, rough shape information of the object is derived, and then X-potision (1-120) and Y-coordinate (X-potion) of the target position are obtained. 90) and the target branch can be derived as information about the size of the X size (X-SIZE; 1 ~ 120), Y size (Y-SIZE; 1 ~ 90).

The step motor driving unit 120 is configured to move the mechanical part of the present system as a whole, and in particular, it is preferable to form an accurate control than a DC motor by using an error of "0" when rotating 360 degrees. This is to solve the problem that data operation may be long due to accumulation of slip error when using a general DC motor. The step motor drive unit 120 according to the present invention functions to enable the front and rear left and right to move and rotate the entire system in conjunction with a drive member such as a wheel located at the bottom of the robot of the system.

In addition, the servomotor drive unit 130 according to the present invention may be configured with a robot arm (joint type) having a grip part (not shown) that can grip a specific object on the upper part of the present system, and hold the object It is a configuration that can be implemented to be lifted.

In addition, the micro-control unit (MCU) 200 receives the data about the object from the color tracking sensor to calculate the position information of the object, thereby driving the step motor driving unit 120 to move the entire system. It recognizes the distance to the object through the distance sensor unit, and analyzes the data transmitted from the distance sensor to drive the servo motor to lift the object. Of course, when the color tracking sensor according to the present invention detects and filters a change in color due to illuminance, it is possible to calculate an approximate distance to the object by calculating a size value of the object. The distance sensor may not be used.

The driving mechanism of the system through specific color recognition according to the present invention will be described through the configuration of the microcontroller unit.

The microcontroller unit (hereinafter referred to as 'MCU') according to the present invention functions to perform control of the entire system.

To this end, the MCU according to the present invention is calculated through the analysis of the color information analysis unit 210 and the color information to calculate the position information of the object by analyzing the color recognition information of the object delivered through the communication with the color tracking sensor Control the servomotor drive unit to lift an object when the system stops after the movement according to the stepper motor control unit 220 and the stepper motor drive unit which drives the stepper motor drive unit 120 through the received position information. It comprises a servo motor control unit 240. In addition, when the system that is moved according to the drive of the step motor drive unit is close to the object, the distance to the object continuously updated to further include a distance measuring sensor to stop when reaching the proper distance In this case, the distance measurement control unit 230 may further include.

FIG. 1C depicts the software constituting the color information analyzer 210 according to the present invention. In particular, referring to the illustrated symbol '211',

TNUM-indicates the number of objects recognized

TCOL-Indicates the color of recognized object.

TSHA-indicates the shape of the recognized object

XP-Indicates the X coordinate of the recognized object.

YP-represents the Y coordinate of the recognized object

XS-represents the X size of the recognized object

YS-represents the Y size of the recognized object.

The position information is calculated by accurately analyzing the coordinate values of the number, color, shape, size, and position as described above, and based on this, the step motor driving unit is driven later.

FIG. 1D illustrates software constituting the step motor controller 220 according to the present invention. In particular, referring to the reference numeral '221',

BOTTOM3-Sets the direction of the step motor.

STEP_ON-Sets the speed of the step motor.

It is possible to calculate and set the moving direction and speed of the step motor as shown above, and through this, it is possible to set the moving direction and speed through the position information of the color information analyzer 210 described above.

FIG. 1E illustrates an example in which software constituting another servo motor controller 240 is implemented. In particular, referring to FIG.

NUM, ANGLE-Change these two variables to control the angle of the specified servomotor.

By setting these two variables to control the angle of the servomotor, it is possible to lift the object.

Figure 1f is implemented to implement the software constituting the distance measuring controller 230 according to the present invention, in particular look at the '231' shown,

Sensor_Vout-indicates the distance information value of the object.

By continuously updating the distance information value with the object, the distance information is provided to stop the system when the proper distance is reached at a certain point.

Looking at the driving of the present system under the control of each control unit as described above as follows.

Specifically, the color tracking sensor and the MCU according to the present invention perform communication periodically, thereby updating the position information of the object, and analyzing the position information according to whether the color of the continuously analyzed object is analyzed. Drive to move to the target. Of course, while moving to the target to continuously update the distance to the target through the distance measuring sensor, when the appropriate distance is reached the MCU stops the drive of the step motor drive unit. Of course, when the system stops, the servo motor controller recognizes an object and lifts it by lifting it.

Referring to FIG. 2, FIG. 2 is a robot system of a modified embodiment (hereinafter referred to as 'second unit') that is interlocked with a robot system (hereinafter referred to as 'first unit') having a color tracking sensor according to the present invention. Shows an example of the implementation of a system for detecting an object and transporting the same by adding an exhalation.

As described above, the first unit 100 according to the present invention includes specific color information on the outside of the system main body (this is called color recognition information). In the second unit, the above color recognition information is used as a color tracking sensor. It will be recognized and tracked. Therefore, the second unit according to the present invention has almost the same configuration as the first unit described above, except that the servomotor driving unit that lifts an object (lift) by simply tracking the first unit and the first unit Stops and lifts an object, when it moves to its vicinity and waits for a stop, and lifts and loads an object in the first unit, the photo is additionally installed on the first robot. When the sensor transmits to the second unit, the number of objects is calculated by the photosensor signal calculation unit in the second unit, and then the predetermined number is transferred to the designated place.

Accordingly, the second unit according to the present invention measures the distance between the second color tracking sensor 310 that recognizes the color recognition information and the second step motor driving unit 320 and the first unit to move the second unit. The second distance measuring sensor unit 330 for updating in real time, the photosensor signal calculation unit 340 for calculating the number of objects can be configured, and the second micro control unit 400 for controlling the overall component It is preferable to include).

3 is a flowchart illustrating the driving mechanism of the first unit described above.

Specifically, the color tracking sensor according to the present invention detects an object by recognizing a color, and when the X coordinate is calculated by the MCU, the MCU determines whether the position is a straight range or a rotation range, and the rotation range. If the information is to form a left / right turn if the ramen, straight ahead.

Of course, when going straight, if the distance to the object is the proper distance calculated, it stops near the object and waits, but if not, it continues to detect the color continuously.

In addition, in this system, the distance between the second unit and the second unit is calculated by using the distance measuring sensor installed on the rear side of the first unit. It is delivered to the expiration date. In this case, a signal indicating whether an object is delivered is sent to the second unit using a photosensor. The first unit then continues to track other set objects.

4 is a flowchart illustrating a driving sequence of Unit 2 according to the present invention.

The color tracking sensor of Unit 2 detects the color of Unit 1 (preferably, Unit 1 includes the color information of the destination, depending on the setting), and calculates the X coordinate of the Unit 1, When the rotation range is calculated and the straight range is performed, if the distance from the first unit enters the set range by going straight, it enters the standby state for mounting the object at the position, and if the object received the photo sensor When the number of objects reaches the set range through the transmission signal (in this case, 10 full), the transfer is made by tracking the color of the set destination.

In the exemplary embodiment of the present invention, only one unit No. 2 is calculated and described. However, in some cases, a plurality of unit No. 2 may be prepared, and the efficiency of the work continuously received by the object of the unit No. 1 may be achieved.

5 is a view showing the operating state of the first and second unit according to the present invention.

(a) Step motor drive unit 120 is installed in front of the first tracking unit, the color tracking sensor 110, the color of the object (T) received the movement control according to the position information of the object from the MCU (not shown) ), The first unit moves to the object T and stops.

(b) After that, the second unit 300 tracks the color recognition information installed at the rear of the first unit to approach the setting position, and until this time, the first unit is stopped.

Subsequently, when the approach of the second unit is detected through a distance measuring sensor (not shown) installed at the rear of the first unit, the grip unit 131 is driven to the front of the servo motor unit 130 composed of a predetermined robot arm. It is moved to lift (T).

(c) And, after accurately grips the object (T), it is transmitted to the second unit behind (d ~ e), after which the second unit 300 starts back to the set delivery point, The first unit 100 is to track another object.

The object detection and mobile robot system using the CTS according to the present invention described above not only detect the presence or absence of a simple object using a conventional simple ultrasonic or infrared sensor, but accurately calculate the position and distance of the object through the color of the object, By providing an efficient system to transfer this, it can be applied very widely in the field of unmanned automation equipment. For example, an unmanned automated system in a field where many accidents such as nuclear waste treatment are frequent or an unmanned facility such as product discrimination can generate economic benefits for a lot of human operations. It can be an application.

In the foregoing detailed description of the present invention, specific examples have been described. However, various modifications are possible within the scope of the present invention. The technical idea of the present invention should not be limited to the embodiments of the present invention but should be determined by the equivalents of the claims and the claims.

Figure 1a is a block diagram showing the configuration of the object detection and mobile robot system according to the present invention, Figure 1b shows a color tracking sensor and its operating state according to the present invention.

1C to 1F show an example of the implementation of the main software of the component which constitutes the control unit according to the present invention.

2 is a block diagram illustrating a robot system including two or more robot systems according to the present invention, and FIGS. 3 and 4 are flowcharts illustrating a driving mechanism of the robot system according to the present invention.

5 is an image illustrating an operation state diagram of the robot system according to the present invention.

Claims (6)

A first color tracking sensor (CTS) for recognizing an object having a specific color and providing position tracking information of the object, a first step motor driving unit for moving the robot mechanism through the position tracking information, and in proximity to the object A first robot having a first servo motor driving unit for lifting an object, and a first microcontroller unit for controlling a moving distance and air weight information of the object based on the position tracking information; A second robot that tracks and tracks the stationary position of the first robot by tracking color recognition information formed on the first robot; ≪ / RTI > The second robot, A second color tracking sensor for recognizing color recognition information of the first robot and providing position tracking information; A second step motor driving unit for driving a second robot through the position tracking information; A second distance measuring sensor unit measuring distance to an object and providing movement information of the second step motor driving unit; Based on the position tracking information, the object detection and mobile robot system using a CTS including a second microcontroller unit for calculating a moving distance and the number of objects information to the first robot to a specified position. The method according to claim 1, The first microcontroller unit, A color information analyzer configured to calculate position of an object by analyzing position tracking information provided through communication with the first color tracking sensor; A step motor controller for moving the robot mechanism to the object based on the position information of the object received from the color information analyzer; A distance measuring controller for calculating a moving distance of the step motor by measuring a distance from the object; A servo motor control unit for controlling a sub-motor that lifts an object when the object approaches the object; Object detection and mobile robot system using a CTS, characterized in that comprises a. The method according to claim 2, Position tracking information of the color information analysis unit, The object detection and mobile robot system using the CTS, characterized in that it comprises the number information of the object recognized from the first color tracking sensor, the color information of the object, the shape information of the object, the X, Y coordinate information of the recognized object. The method according to claim 1, The first robot, At least one first distance measuring sensor unit for measuring the distance to the object to provide the movement information of the first step motor driving unit comprises at least one object detection and mobile robot system using a CTS. delete The method according to claim 1, The calculation of the number information of the object of the second microcontroller unit, Object detection and mobile robot system using a CTS, characterized in that performed by calculating the signal by the photosensor.

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