KR101165969B1 - Position measuring device having distance and angle measuring function - Google Patents

Abstract

PURPOSE: A position measuring apparatus with a distance and angle measurement function is provided to calculate a position and an angle of a moving robot when the moving robot moves to a docking station or a specific position so that the moving robot can be accurately moved. CONSTITUTION: A position measuring apparatus(100) with a distance and angle measurement function comprises a sensor unit(110), a distance calculation unit(120), an angle calculation unit(130), and a communication unit(140). The sensor unit is mounted in a moving robot. A plurality of sensors(111,112,112a,112b) transmits signals toward walls and receives the reflected signals. The distance calculation unit calculates distance information between walls and a sensor origin using transmission and reception time of signals of the sensors. The communication unit transmits angle information calculated by the angle calculation unit and distance information calculated by the distance calculation unit or receives external data. A relative position and an angle of the moving robot with respect to the walls are measured when the moving robot is located near the corner.

Description

Position measuring device having distance and angle measuring function

The present invention relates to a position measuring device having a distance and angle measurement function, more specifically, it is possible to move like a mobile robot, it may be provided in a moving body that requires distance and angle measurement during the movement, the mobile robot When the two walls are located close to the corner where the two walls are in contact with the docking or a specific area, the distance information between the origin of the mobile robot and the two walls is calculated by measuring the distance between the mobile robot and the two walls. The present invention relates to a position measuring device having a distance and angle measuring function capable of calculating rotated angle information of the mobile robot between walls.

In general, when a mobile robot including a cleaning robot or a serving robot returns to a docking station or moves to a docking station, the mobile robot communicates with the docking station via wired or wireless to receive location information of the docking station, or recognizes a feature point of the docking station. It moves in such a way as to move.

In addition, the conventional mobile robot communicates with the docking station by wire or wirelessly, and a method of receiving an infrared signal or ultrasonic wave transmitted from the docking station and receiving position information of the docking station is used. .

In addition, a conventional mobile robot recognizes and moves a feature point of a docking station, and detects an artificial marker such as a landmark to recognize and move the location of the docking station, or uses a vision sensor such as a CCD to After analyzing the image, a method of recognizing and moving the docking station was used.

Meanwhile, although the conventional mobile robot is configured to recognize and follow a signal or artificial mark transmitted from the docking station, there is a problem that it is difficult to obtain information on the distance between the docking station and the mobile robot, and in particular, the docking station It is installed in the corner corner of the room, there is a problem on the moving path of the mobile robot, if there is an error in the transmitted and received signal, there was a problem that can not move to the docking station.

In addition, when the conventional mobile robot recognizes the location of the docking station by using an infrared signal or a vision sensor, the infrared signal or vision sensor does not recognize the docking station according to the brightness of the lighting of the indoor space, or an error may occur. There was also a problem that occurred.

The inventors of the present invention are not affected by the brightness of the indoor lighting, the mobile robot recognizes each wall surface of the room without having a separate docking station and measures the distance, and calculates the distance information and the angle information based on the measured distance value. As a result of research efforts to allow the mobile robot to move to a specific target point, the technical configuration of the position measuring device having a distance and angle measurement function has been developed to complete the present invention.

Accordingly, an object of the present invention is to provide a position measuring device having a distance and angle measuring function that can recognize the wall surface of the adjacent position without having a separate docking station, and can calculate the distance information between the wall surface and the mobile robot. will be.

In addition, another object of the present invention is to measure the distance to each of the wall surfaces located in at least two directions, the position having a distance and angle measurement function that the mobile robot can calculate the angle information rotated between the respective wall surfaces To provide a measuring device.

In addition, another object of the present invention is to provide a position measuring device having a distance and angle measurement function that can recognize the wall surface of the room without being affected by the indoor lighting, and can reduce the consumption of cost.

The objects of the present invention are not limited to the objects mentioned above, and other objects not mentioned will be clearly understood from the following description.

In order to achieve the above object, the present invention is provided with a mobile robot, the sensor unit consisting of a plurality of sensors for transmitting a signal toward each wall surface, and receives the reflected signal; A distance calculation unit connected to the sensor unit and calculating distance information between the two wall surfaces and a sensor origin which is an arbitrary center point using signal transmission and reception time of the sensors; And an angle calculator configured to calculate angle information of the mobile robot from the wall surfaces using the distance information. When the mobile robot is located close to an edge where two walls are in contact with each other, the mobile robot is located on the wall. Provided is a position measuring device having a distance and angle measuring function, characterized in that for measuring the relative position and angle with the two walls.

In a preferred embodiment, the sensor unit, the first sensor is installed looking toward the X-axis direction from the sensor origin; And a second sensor installed to face the Y axis from the origin.

   In a preferred embodiment, the second sensor; 2-1 sensor which is located at the same distance on both sides with respect to the Y axis; And a second sensor 2-2.

In a preferred embodiment, the distance calculator calculates distance information between the sensor unit and each wall using Equation 1 below.

[Equation 1]

u [m] = t / 2 × V

Here, u is a distance value between each of the sensors and the wall viewed by each sensor, V is a speed value of the signal, and t is a signal that is transmitted from the sensor and reflected on a specific wall to be received. It is a time value.

In a preferred embodiment, the distance calculator calculates distance information between one of the wall surfaces located in the X-axis direction and the sensor origin, using Equation 2 below.

&Quot; (2) "

xs [mm] = u ₁ + u _{x _ offset}

Here, xs [mm] is a distance value between the origin and the one side wall surface, u ₁ is a distance value between the first sensor and the one side wall surface, u _{x _ offset} is X of the first sensor and the sensor origin Axial distance value.

In a preferred embodiment, the distance calculator calculates distance information between the other wall surface located in the Y-axis direction and the sensor origin among the wall surfaces using Equation 3 below.

&Quot; (3) "

ys [mm] = (u ₂ + u ₃ ) / 2 + u _{y _ offset}

Here, ys [mm] is a distance value between the sensor origin and the other wall surface, u ₂ is a distance value between the other wall surface and the 2-1 sensor, u ₃ is the other wall surface and the 2-2 sensor. U _{y _ offset} is a distance value in the Y-axis direction between the center of the spaced distance between the 2-1 sensor and the 2-2 sensor and the sensor origin.

In an exemplary embodiment, the angle calculating unit calculates an angle formed by the virtual wall connecting the other side wall and the second-1 sensor and the second-2 sensor using the following Equation 4, and calculated An angle value is derived from the angle information.

&Quot; (4) "

θs [°] = (u ₂ -u ₃ ) / L × 180 / π

Here, θs [°] is an angle value at which the mobile robot is rotated between the two wall surfaces, u ₂ is a distance value between the other wall surface and the second-1 sensor, and u ₃ is the other wall surface and the second wall. A distance value between -2 sensors, and L is a distance value representing the distance between the 2-1 sensor and the 2-2 sensor.

In an exemplary embodiment, the angle calculator calculates an angle formed by the virtual wall connecting the other side wall and the second-1 sensor and the second-2 sensor by using Equation 5 below. An angle value is derived from the angle information.

[Equation 5]

θs [°] = tan ^-1 ((u ₂ -u ₃ ) / L) × 180 / π

Here, θs [°] is an angle value at which the mobile robot is rotated between the two wall surfaces, u ₂ is a distance value between the other wall surface and the second-1 sensor, and u ₃ is the other wall surface and the second wall. A distance value between -2 sensors, and L is a distance value representing the distance between the 2-1 sensor and the 2-2 sensor.

In a preferred embodiment, the communication unit for performing data communication with the outside, and transmits the distance information calculated by the distance calculator and the angle information calculated by the angle calculator to the outside, or receives external data; .

In a preferred embodiment, each sensor is provided with an ultrasonic sensor for transmitting or receiving an ultrasonic signal.

In a preferred embodiment, the ultrasonic sensor is provided with a separate or integral means for transmitting or receiving the ultrasonic signal.

In another aspect, the present invention provides a mobile robot that is equipped with a position measuring device of any one of claims 1 to 8, which is capable of traveling.

The present invention has the following excellent effects.

First, according to the position measuring device having a distance and angle measurement function according to an embodiment of the present invention, the adjacent wall surface is sensed by the sensor unit consisting of a plurality of sensors, the origin of the mobile robot and the wall surface by the distance calculator Since the distance information is calculated, even if the position information is not transmitted or received separately from the docking station, it is possible to recognize an adjacent wall surface and to calculate the distance information with the wall surface.

In addition, according to the position measuring device having a distance and angle measuring function according to an embodiment of the present invention, since the angle measuring unit can calculate the angle information rotated in the room using the distance information, the mobile robot in the room When moving to this docking station or moving to a specific position, it is possible to accurately calculate the position and angle of the mobile robot, it is possible to obtain the effect of precisely moving the position of the mobile robot.

In addition, according to the position measuring device having a distance and angle measurement function according to an embodiment of the present invention, since it is provided to recognize the walls of the room using the ultrasonic signal, the wall of any wall without being affected by the brightness of the room lighting There is an effect that can effectively recognize the position, and can be easily manufactured by a plurality of sensors can be obtained to reduce the cost of consumption.

1 is a perspective view showing a position measuring device according to an embodiment of the present invention.
Figure 2 is a block diagram showing a position measuring device according to an embodiment of the present invention.
3 to 4 is a plan view showing an example in which the position measuring device according to an embodiment of the present invention measures the distance and angle with the wall surface.

Although the terms used in the present invention have been selected as general terms that are widely used at present, there are some terms selected arbitrarily by the applicant in a specific case. In this case, the meaning described or used in the detailed description part of the invention The meaning must be grasped.

Hereinafter, the technical structure of the present invention will be described in detail with reference to preferred embodiments shown in the accompanying drawings.

However, the present invention is not limited to the embodiments described herein but may be embodied in other forms. Like reference numerals designate like elements throughout the specification.

1 is a perspective view showing a position measuring device according to an embodiment of the present invention, Figure 2 is a block diagram showing a position measuring device according to an embodiment of the present invention, Figures 3 to 4 are one embodiment of the present invention It is a top view which shows the example which the position measuring apparatus which concerns on an example measures the distance and angle with a wall surface.

1 to 4, the position measuring device 100 having a distance and angle measuring function according to an embodiment of the present invention is for measuring relative positions and angles formed with walls of an interior including an obstacle. In particular, it is useful when the two wall surfaces 20, 30 are located close to the abutting edges.

In addition, the position measuring device 100 having a distance and angle measurement function according to an embodiment of the present invention may be preferably mounted on the mobile robot 10, the mobile robot 10 is a serving robot, cleaning robot, It includes various types of intelligent robots such as guide robots, housekeeping robots, and military robots.

On the other hand, in the preferred embodiment of the present invention has been described as the mobile robot 10, in addition to the mobile robot is provided with a processing device such as a microprocessor (microprocessor), it is possible to move with a power device such as a motor or engine Various types of moving bodies may be included, and the moving bodies may be provided as, for example, automobiles including driverless vehicles, and automatic doors that automatically open or close by sensing adjacent objects.

In addition, the 'position' of the position measuring device 100 is the position of the mobile robot 10 is close to the interior of the room and whether the mobile robot 10 is looking in a direction relative to a specific wall surface Indicate the position information of the mobile robot 10, such as whether or not, in particular, the distance between the mobile robot 10 and the two walls (20, 30) located at the corner where the two walls (20, 30) abut and The mobile robot 10 is rotated between two wall surfaces 20 and 30.

In addition, the wall surface, in addition to the actual wall (wall), the mobile robot 10 includes an object that obstructs or obstructs the driving path when driving, for example, includes a box, a pillar and a threshold having a certain height. It includes an obstacle, and includes obstacles detected by the sensor of the mobile robot (10).

That is, the position measuring device 100 according to an embodiment of the present invention is to be mounted or mounted on a moving object including a mobile robot to measure a distance from an obstacle, and the position of the moving object from a separate docking station. The position of the movable body can be measured without receiving information, and includes a sensor unit 110, a distance calculator 120, an angle calculator 130, and a communicator 140.

The sensor unit 110 is composed of a plurality of sensors, and transmits a signal to each wall surface (20, 30) of the room and receives the reflected signal to recognize the respective wall surface (20, 30), The distance between the sensors and the walls 20 and 30 is measured by measuring the time when the signal is returned, and includes a first sensor 111 and a second sensor 112.

In addition, each of the sensors 111 and 112 of the sensor unit 110 is provided as an ultrasonic sensor for recognizing a specific object or the respective wall surfaces 20 and 30 at a predetermined distance by using an ultrasonic signal. Accordingly, the mobile robot 10 may recognize a specific object and a wall without being affected by illumination or illuminance when traveling indoors or outdoors. However, each of the sensors 111 and 112 of the sensor unit 110 may be provided as an infrared sensor, an optical sensor, or a laser sensor in addition to the ultrasonic sensor.

In addition, the ultrasonic sensor may be provided as a separate or integral means for transmitting or receiving the ultrasonic signal.

In addition, the first sensor 111 is installed looking toward the X-axis direction from the sensor origin (C), the ultrasonic signal reflected by sending an ultrasonic signal to one of the wall surface 20, 30 of each wall surface (20, 30) It is provided to receive, by measuring the time the ultrasonic signal transmitted to the one side wall 20 is returned to enable the distance calculation unit 120 described later to calculate the distance information on the X-axis.

In addition, the sensor origin (C) is an arbitrary zoom center point, which means a position to be a reference among the predetermined positions of the position measuring apparatus 100 according to an embodiment of the present invention.

In addition, the second sensor 112 is installed looking toward the Y-axis direction from the sensor origin (C), and transmits the ultrasonic signal reflected by sending an ultrasonic signal to the other wall surface 30 in contact with the one wall surface 20 Receive. In addition, the second sensor 112 includes a second-first sensor 112a and a second-second sensor 112b that are positioned at equal distances from both sides about the Y axis.

In addition, the Y axis passes through the sensor origin (C) and means an axis perpendicular to the X axis.

In addition, the 2-1 sensor 112a and the 2-2 sensor 112b transmit an ultrasonic signal to the other wall surface 30 located in the direction of the Y axis, and measure a time when the transmitted ultrasonic signal is returned. To calculate the distance information on the Y axis by the distance calculator 120 to be described later, and the angle formed by the other side wall 30 and the mobile robot 10 by the angle calculator 130 to be described later. Allows you to calculate information.

In addition, each of the sensors 112a and 112b alternately turns 'on' and 'off' so that the ultrasonic signals transmitted from the second-first sensor 112a and the second-second sensor 112b do not interfere with each other. It is preferable to provide so as to repeat '.

The distance calculator 120 calculates distance information between the sensor origin C and the two wall surfaces 20 and 30, and transmits and transmits an ultrasonic signal measured by each of the sensors 111, 112a and 112b. The distance information between the sensor unit 110 and each of the wall surfaces 20 and 30 is calculated by receiving each time value indicating the reception time.

In addition, the speed of the ultrasonic signal has a speed value of approximately 331.5 [m / s] in air having a temperature of 0 ° C., and the speed value is as fast as 0.6 [m / s] when the temperature is increased by 1 ° C. As a result, the velocity value V of the ultrasonic signal at a specific temperature can be calculated as V [m / s] = 331.5 + 0.6 x T.

In addition, the T is a temperature value, it is preferable that the result value measured by a measuring means (not shown), such as a general temperature sensor for measuring the external temperature is input to the sensor unit 110.

In addition, the distance value u, which is distance information calculated by the distance calculator 120, is calculated by Equation 1 below.

[Equation 1]

u [m] = t / 2 × V

That is, based on the respective time values t at which the ultrasonic signals transmitted from the sensors 111, 112a and 112b are returned, and the velocity values V of the ultrasonic signals of the sensors 111, 112a and 112b. Thus, the distance value u formed by the sensor unit 110 with each of the wall surfaces 20 and 30 is measured.

In addition, the distance calculating unit 120 based on the distance value u ₁ measured by the first sensor 111, the distance between the one side wall surface 20 and the sensor origin (C) on the X-axis Information X-axis distance value (x) can be calculated, the X-axis distance value (x) is calculated by Equation 2 below.

&Quot; (2) "

xs [mm] = u ₁ + u _{x _ offset}

In addition, xs [mm] is a distance value between the sensor origin (C) and the one side wall surface 20, the u ₁ is a distance value between the first sensor 111 and the one side wall surface 20, u _{x_offset} is a distance value in the X axis direction between the first sensor 111 and the sensor origin (C).

That is, the distance information between the origin C and the one side wall 20 as well as the distance between the one side wall 20 and the first sensor 111 is calculated and provided to the mobile robot 10. Thus, the mobile robot can perform the position control more precisely.

In addition, the distance calculator 120 is based on the distance values u ₂ and u ₃ measured by the second-first sensor 112a and the second-second sensor 112b. Distance information between the other wall surface 30 on the Y axis and the sensor origin C may be calculated, and the Y axis distance value y, which is distance information on the Y axis, is calculated by Equation 3 below. .

&Quot; (3) "

ys [mm] = (u ₂ + u ₃ ) / 2 + u _{y _ offset}

Here, ys [mm] is a distance value between the sensor origin C and the other wall surface 30, u ₂ is a distance value between the other wall surface 30 and the second-first sensor 112a, u ₃ is a distance value between the other side wall 30 and the second-2 sensor 112b, and u _{y _ offset} is spaced apart between the second-1 sensor 112a and the second-2 sensor 112b. Y-axis distance value between the center of the distance and the sensor origin (C).

That is, the average of each of the distance values u ₂ and u ₃ measured by the 2-1 sensor 112a and the 2-2 sensor 112b, and the 2-1 sensor 112a and the The 2-2 sensor 112b adds the Y-axis direction distance value with the sensor origin C, and the Y-axis distance value y which is the distance between the sensor origin C and the other wall surface 30 is Is calculated.

The angle calculator 130 calculates angle information that the mobile robot 10 forms with the walls using the distance information calculated by the distance calculator 120, and the distance calculator 120. each of the distance values _{(u 1, u 2, u} 3) with a distance measured in the above second-first sensor (112a) and the second-second sensor _{(112b) (u 2, u} 3) calculated in Based on this, the angle value at which the mobile robot 10 is rotated is calculated.

In addition, the angle calculation unit 130 sets an imaginary line connecting the second-1 sensor 112a and the second-2 sensor 112b as a reference line for comparing the angle formed with the other wall surface 30. The angle between the other side wall surface 30 and the imaginary line is calculated to derive the angle information, and the angle value θs at which the mobile robot 10 is rotated between the two wall surfaces 20 and 30. Is calculated by Equation 4 below.

&Quot; (4) "

θs [°] = (u ₂ -u ₃ ) / L × 180 / π

In addition, the difference between the distance value u ₂ measured by the second sensor 112a and the distance value u ₃ measured by the second-2 sensor 112b, and the second-1 sensor. An angle value θs at which the imaginary line is inclined at the other wall surface 30 is calculated using the distance information L between 112a and the second-2 sensor 112b.

In addition, the 180 / π is an angle value of the virtual line connecting the 2-1st sensor 112a and the 2-2nd sensor 112b with the X axis of the mobile robot, and the other side wall 30 In order to accurately measure the inclination angle of the 2-1 sensor 112a and the 2-2 sensor 112b is calculated by reflecting the angle formed by the X axis of the mobile robot.

In addition, the angle calculator 130 may calculate an angle formed with the other wall surface more accurately by using an inverse function of tangent (tangent), in which case the angle value θ s is expressed by Equation 5 below. Is calculated by.

[Equation 5]

θs [°] = tan ^-1 ((u ₂ -u ₃ ) / L) × 180 / π

In addition, the difference value between the distance value u ₂ measured by the 2-1 sensor 112a and the distance value u ₃ measured by the 2-2 sensor 112b is determined by the 2-1 sensor ( After dividing the distance information L between the second sensor 112b and the second sensor 112b, the angle value θs is calculated using the inverse function tan ⁻¹ of the tangent.

That is, in [Equation 4] and [Equation 5], the virtual line connecting the 2-1st sensor 112a and the 2-2nd sensor 112b to each other forms the X axis of the mobile robot. Calculate and reflect the angle value, the distance difference or distance difference between the distance value u ₂ measured by the 2-1 sensor 112a and the distance value u ₃ measured by the 2-2 sensor 112b. Allows the ratio of to be converted to an inclined angle.

Therefore, the angle calculator 130 may derive and provide angle information indicating whether the mobile robot 10 is inclined by a specific direction and a specific angle in the plane between the wall surfaces, and thus, the mobile robot 10 ) Determines whether the robot is facing in a docking station or in a specific position, or whether the front or rear of the mobile robot 10 is close to the walls, so that the mobile robot 10 It can be controlled to move precisely to a specific position or to easily dock to a docking station.

Meanwhile, although u _{x _ offset} and u _{y _ offset} are calculated based on the sensor origin C, distance and angle values may be calculated based on the mobile robot origin, which is the center point of the mobile robot 10. It is calculated using a homogeneous conversion equation as shown in Equation 6 below.

&Quot; (6) "

Here, P _x and P _y is a position difference between the sensor origin (C) and the mobile robot origin, represents the distance on the X axis and Y axis, φ is the position measuring device 100 and the mobile robot ( 10) represents an angle difference value, and X _R and Y _R represent actual positions of the mobile robot.

In addition, using the homogeneous transformation equation, the angle value θ _R of the mobile robot is calculated as shown in Equation 7 below.

[Equation 7]

θ _R = θ _s + φ

That is, the angle value (θ _R ) of the mobile robot, the angle value (θ _s ) measured by the position measuring device 100 according to an embodiment of the present invention, the position measuring device 100 and the mobile robot The difference value φ of the angle formed by (10) is added.

The communication unit 140 performs data communication with the outside, and calculates each distance value measured by the sensor unit 110, the distance information calculated by the distance calculator 120, and the angle calculator 130. By transmitting the angle information to the outside, wireless or wired to transmit each data, for example, the communication unit 140 is connected to a control device (not shown) of the mobile robot 10 is the distance value Data values such as (u ₁ , u ₂ , u ₃ ) and angle values θ s are input to the mobile robot 10.

In addition, the communication unit 140 may receive and receive external data, for example, the external data may be measured by the temperature value T measured by a general temperature sensor provided in the mobile robot 10. Same temperature data.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation, Various changes and modifications will be possible.

110 sensor unit 111 first sensor
112: second sensor 112a: 2-1 sensor
112b: 2-2 sensor 120: distance calculator
130: angle calculation unit 140: communication unit

Claims (12)

A sensor unit provided in the mobile robot, the sensor unit comprising a plurality of sensors for transmitting a signal toward walls and receiving a reflected signal;
A distance calculation unit connected to the sensor unit and calculating distance information between the walls and the sensor origin, which is an arbitrary center point, using the signal transmission and reception time of the sensors; And
And an angle calculator configured to calculate angle information of the mobile robot from the wall surfaces using the distance information.
Communication unit for performing data communication with the outside, the distance information calculated by the distance calculator and the angle information calculated by the angle calculator to the outside, or receives external data;
And a distance and angle measuring function for measuring the relative position and angle of the mobile robot with the wall when the mobile robot is located near an edge where the wall surfaces meet.
The method of claim 1,
The sensor unit includes:
A first sensor installed looking toward the X axis from the sensor origin; And
Position measuring device having a distance and angle measurement function comprising a; the second sensor is installed looking toward the Y-axis direction from the sensor origin.
The method of claim 2,
The second sensor; The 2-1 sensor is located at the same distance on both sides with respect to the Y axis; And a second sensor. 2-2 sensor.
The method of claim 3, wherein
The distance calculator is a position measuring device having a distance and angle measurement function, characterized in that for calculating the distance information between the sensor unit and each wall using Equation 1 below.
[Equation 1]
u [m] = t / 2 × V
Here, u is a distance value between each of the sensors and the wall viewed by each sensor, V is a speed value of the signal, and t is a signal that is transmitted from the sensor and reflected on a specific wall to be received. It is a time value.
The method of claim 3, wherein
The distance calculator calculates distance information between one of the wall surfaces positioned in the X-axis direction and the sensor origin by using the following Equation 2 below. Device.
&Quot; (2) "
xs [mm] = u ₁ + u _{x _ offset}
Here, xs [mm] is a distance value between the sensor origin and the one side wall, u ₁ is a distance value between the first sensor and the one side wall, u _{x _ offset} is the distance between the first sensor and the sensor origin X-axis direction distance value.
The method of claim 3, wherein
The distance calculating unit calculates distance information between the other wall surface positioned in the Y-axis direction and the sensor origin, among the wall surfaces, by using Equation 3 below. Device.
&Quot; (3) "
ys [mm] = (u ₂ + u ₃ ) / 2 + u _{y _ offset}
Here, ys [mm] is a distance value between the sensor origin and the other wall surface, u ₂ is a distance value between the other wall surface and the 2-1 sensor, u ₃ is the other wall surface and the 2-2 sensor. U _{y _ offset} is a distance value in the Y-axis direction between the center of the spaced distance between the 2-1 sensor and the 2-2 sensor and the sensor origin.
The method of claim 3, wherein
The angle calculator uses an equation 4 below to calculate an angle formed by the other wall surface positioned in the Y-axis direction among the wall surfaces, and an imaginary line connecting the 2-1 sensor and the 2-2 sensor. And a distance and angle measuring function, wherein the calculated angle value is derived as the angle information.
&Quot; (4) "
θs [°] = (u ₂ -u ₃ ) / L × 180 / π
Here, θs [°] is an angle value at which the mobile robot is rotated between the wall surfaces, u ₂ is a distance value between the other wall surface and the second-1 sensor, and u ₃ is the other wall surface and the second sensor. A distance value between -2 sensors, and L is a distance value representing the distance between the 2-1 sensor and the 2-2 sensor.
The method of claim 3, wherein
The angle calculator uses an equation 5 below to determine an angle formed by the other wall surface positioned in the Y-axis direction among the wall surfaces and an imaginary line connecting the 2-1 sensor and the 2-2 sensor. And a distance and angle measuring function, wherein the calculated angle value is derived as the angle information.
&Quot; (5) "
θs [°] = tan ^-1 ((u ₂ -u ₃ ) / L) × 180 / π
Here, θs [°] is an angle value at which the mobile robot is rotated between the wall surfaces, u ₂ is a distance value between the other wall surface and the second-1 sensor, and u ₃ is the other wall surface and the second sensor. A distance value between -2 sensors, and L is a distance value representing the distance between the 2-1 sensor and the 2-2 sensor.
delete 9. The method according to any one of claims 1 to 8,
Wherein each sensor is a position measuring device having a distance and angle measurement function, characterized in that provided with an ultrasonic sensor for transmitting or receiving an ultrasonic signal.
The method of claim 10,
The ultrasonic sensor is a position measuring device having a distance and angle measurement function, characterized in that the means for transmitting or receiving the ultrasonic signal is provided separately or integrally.
A mobile robot equipped with a position measuring device according to any one of claims 1 to 8, which is capable of traveling.

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