KR101280908B1 - The apparatus and method of automated robotic delivery - Google Patents

Abstract

PURPOSE: A device to drive a tug robot for conveying objects with excellent efficiency to avoid an obstacle and a driving method thereof are provided to stably convey objects from a starting point to an RF tag unit through an obstacle avoiding mode and a magnetic position tracking mode without a separate distribution conveying facility. CONSTITUTION: A device to drive a tug robot for conveying objects with excellent efficiency to avoid an obstacle and equipped with a magnetic position tracking function comprises a lift loading cart (100), a tug robot (200), and a central control server (300). The tug robot includes a main body, a second ultrasonic sensor, an infrared source unit, an infrared ray receiver unit, a video camera unit, a laser scanner unit, a common power supply unit, a wheel driving motor, a robot wheel unit, and a robot control module. The robot control module distinguishes whether or not the object moves through an infrared ray sensing signal with respect to the movement of an object sensed through the infrared ray receiver unit and a video signal with respect to the movement of the object filmed in the video camera unit. The robot control module interactively communicates with the central control server through a wireless network and receives or transmits the conveying information from the starting point to an RF tag unit.

Description

Tug robot drive and method for transporting objects with excellent magnetic tracking and obstacle avoidance {THE APPARATUS AND METHOD OF AUTOMATED ROBOTIC DELIVERY}

The present invention provides a method of connecting with the robot and a method of constructing a robot capable of dragging a wagon or a loading box to enable the robot to transport a cart or a loading box used for transporting logistics, and a magnet for automatically delivering goods to a destination. The present invention relates to a tug robot driving device and method having excellent location tracking and obstacle avoidance.

In the conventional unmanned vehicle (AGV) Automatic Guided Vehicle (AGV) is a type of equipment for transferring parts to a specific location in the industrial field is common.

In the case of a driverless car, the drive unit and the transport box were integrated.

In addition, space occupancy is large, and magnetic tapes or specific landmarks installed on standard rails or floors are installed.

In addition, such an unmanned loan is applied to an industrial site in which a large amount of logistics is transported, which is too expensive to be installed in a place requiring general logistics transportation.

Above all, it is urgent to develop a transport means that can automatically transport logistics such as a hospital or a library, and a transport robot compatible with the existing transport means.

Domestic Patent Publication No. 10-2011-0136930 (published Dec. 22, 2011)

In order to solve the above problems, the present invention can be compatible with the existing transport means, and safely and accurately the object from the start point to the destination RF tag through the self-position tracking mode and obstacle avoidance mode without a separate logistics transport facility It can be transported, and can be transported in combination with various forms of transportation in narrow corridors, and can operate without being restricted by places, and most of all, transporting drugs in hospitals or transporting carts for feeding. In addition, the object of the present invention is to provide a tug robot driving device and method for transporting objects having excellent location tracking and obstacle avoidance that can be applied to transport a library book to a certain place.

In order to achieve the above object, a tug robot driving device for excellent object tracking and obstacle avoidance according to the present invention is excellent.

A lift stacking cart 100 which is driven according to the lift driving signal of the tug robot and loads the goods while raising and lowering the goods to a specific height, and transports the goods under the control of the tug robot;

Located on the head of the lift stacking cart, it moves along the map set through the self-position tracking mode transmitted from the central control server, and lifts up to the destination RF tag part at a specific position while avoiding obstacles through the self collision avoidance mode. Turbine robot 200 for safely controlling the cart,

It is achieved by being configured with a central control server 300 connected to a tug robot and a wireless Internet network, while tracking the position of the tug robot with a navigation map, and managing the movement of the tug robot.

In addition, according to the present invention, a method for driving a robot for transporting objects having excellent magnetic tracking and obstacle avoidance is

Installing the destination RF tag unit in the destination point of the article (S100),

Setting a navigation MAP application transmitted from the central control server to the microcomputer of the tug robot to generate a transport path based on the building CAD data from the start point to the destination RF tag unit (S200);

Installing a tug robot on the lift cart (S300),

Loading the goods on the cart body of the lift stacking cart under the control of the tug robot (S400),

As the tug-bot communicates with the central control server through the wireless communication network, the motion identification mode (295g-1), obstacle distance calculation mode (295g-2), obstacle avoidance mode (295g-3), magnetic position tracking mode (295g) (4) driving the feeder from the start point to the destination RF tag unit (S500);

In step S600, while tracking the position of the tug robot with a navigation map in the central control server, and (S600),

It is achieved by the step of making the robot robot reads the RF tag stamped on the destination RF tag portion and delivers it to the central control server (S700).

As described above, in the present invention, the logistics can be transported in combination with various types of transportation means in a narrow corridor, so the compatibility is good, the operation can be performed without being restricted by a place, and the cost of equipping the logistics transport facilities can be saved. Can be.

In addition, the conveying means and the robot are connected by a rotary connection joint, which means that the direction can be freely changed and the goods can be safely and accurately transferred from the start point to the destination RF tag through the self-position tracking mode and the obstacle avoidance mode without a separate logistics transport facility. It has a good effect.

1 is a perspective view showing the configuration of the object moving tug robot driving device 1 excellent in tracking and avoiding obstacles in accordance with the present invention,
FIG. 2 is a block diagram showing the components of the tug robot driving device 1 for transporting objects excellent in magnetic position tracking and obstacle avoidance according to the present invention.
FIG. 3 is an exploded perspective view showing the components of the tug robot driving device 1 for transporting objects excellent in magnetic position tracking and obstacle avoidance according to the present invention;
Figure 4 is a block diagram showing the components of the tug robot 200 according to the present invention,
5 is a block diagram showing the components of the robot control module according to the present invention;
6 is a block diagram showing the components of the microcomputer unit according to the present invention;
7 is a plan view showing an infrared guide device installed on one side of the front of the infrared source unit according to the present invention;
8 is an embodiment showing the emission of infrared rays in the form of dots with an infrared guide device installed on one side of the infrared source unit according to the present invention,
Figure 9 is an embodiment showing the distribution of the point and the movement of the point generated by passing through the hole in the infrared source portion according to the present invention,
Figure 10 is an embodiment showing the operation of the magnetic position tracking mode (295g-4) of the microcomputer unit according to the present invention,
11 is a block diagram showing the components of the central control server according to the present invention;
12 is an embodiment showing a navigation MAP application of the components of the central control server according to the present invention;
Figure 13 is a flow chart illustrating a method for driving a robot for transporting objects excellent in magnetic tracking and obstacle avoidance according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

1 is a perspective view showing the configuration of the object-moving tug robot drive device 1 having excellent magnetic tracking and obstacle avoidance according to the present invention, Figure 2 is excellent magnetic tracking and obstacle avoidance according to the present invention It relates to a block diagram showing the components of the article transport tug robot driving device 1, which is composed of a lift loading cart 100, a tug robot 200, a central control server (300).

First, the lift loading cart 100 according to the present invention will be described.

The lift stacking cart 100 is driven according to the lift driving signal of the tug bot to load the goods while raising and lowering the goods to a specific height, and serves to transport the goods under the control of the tug bot.

As shown in FIG. 3, the cart body 110, the lift unit 120, the rotation joint connection unit 130, the cart wheel unit 140, and the first ultrasonic sensor 150 are configured.

The cart body 110 is made up of "b" shaped upright structure to load the object, and serves to protect the device from external pressure.

The lift unit 120 is located on one side of the head of the cart body, and serves to transport the goods up and down under the control of the tug robot.

It is composed of a hydraulic cylinder for transmitting the lifting force to the lift wing, and a lift wing for transferring the goods up and down by receiving the lifting force from the hydraulic cylinder.

The lift vane is formed in the shape of a chopstick or a square plate.

The rotary joint connection unit 130 is located at one side of the lower end of the lift unit, and serves to couple 1: 1 with the tug robot.

The cart wheel unit 140 is located on the bottom of the cart body serves to rotate in accordance with the transport of the tug robot.

The first ultrasonic sensor 150 is located on one side of the cart body and serves to detect an obstacle approaching during transportation.

It consists of a ceramic ultrasonic sensor for the presence / absence of a nearby object or person, distance measurement and speed measurement.

When an alternating current voltage corresponding to the natural vibration is applied, it vibrates efficiently by the piezoelectric effect and generates ultrasonic waves.

That is, when the ultrasonic wave is incident, the piezoelectric element vibrates to generate a voltage. On the contrary, when the voltage is applied to the piezoelectric element, the vibrator vibrates to generate ultrasonic waves.

 The first ultrasonic sensor may generate more efficient sound waves by applying an AC voltage having the same frequency as the natural vibration frequency of the sensor itself.

Therefore, the measurement distance with the obstacle can be calculated by processing the voltage generated by inputting (vibrating) the sound wave reflected on the object to the sensor as it is.

Next, the tug robot 200 according to the present invention will be described.

The tug robot 200 is located in the head portion of the lift cart, transfers along the map set through the magnetic position tracking mode transmitted from the central control server, and avoids obstacles through the self-collision avoidance mode, the purpose of the specific position It acts as a safe operation control of the lift stacking cart up to the RF tag part.

As shown in FIG. 4, the robot body 210, the second ultrasonic sensor 220, the infrared source unit 230, the infrared receiver unit 240, the image camera unit 250, and the laser scanner unit 260. , A commercial power supply unit 270, a wheel driving motor 280, a robot wheel unit 290, and a robot control module 295.

The robot body 210 is formed in a rectangular box shape serves to protect each device from external pressure.

It is composed of an infrared source 230, an infrared receiver 240, an image camera 250, a laser scanner 260 in the head portion, and the second ultrasonic sensor 220 is configured on one side of the front and side. The commercial power supply unit 270, the wheel driving motor 280, the robot control module 295 is configured therein, and the robot wheel unit 290 is configured at one side of the bottom surface.

The second ultrasonic sensor 220 is located on one side of the robot body serves to detect an obstacle approaching during transport.

It consists of a ceramic ultrasonic sensor for the presence / absence of a nearby object or person, distance measurement and speed measurement.

When an alternating current voltage corresponding to the natural vibration is applied, it vibrates efficiently by the piezoelectric effect and generates ultrasonic waves.

That is, when the ultrasonic wave is incident, the piezoelectric element vibrates to generate a voltage. On the contrary, when the voltage is applied to the piezoelectric element, the vibrator vibrates to generate ultrasonic waves.

 The second ultrasonic sensor may generate more efficient sound waves by applying an AC voltage having the same frequency as the natural vibration frequency of the sensor itself.

Therefore, the measurement distance from the obstacle can be calculated first by processing the voltage generated by inputting (vibrating) the sound wave reflected on the object to the sensor as it is.

As described above, in the present invention, the second ultrasonic sensor is configured on one side of the front or side of the robot body, so that the microcomputer can stop before collision with an obstacle occurs, thereby preventing the object from falling or shaking.

The infrared ray source unit 230 is located at one side of the head of the robot body and serves to emit infrared rays in the forward direction.

It consists of an infrared source with a wavelength of 800-1200 nm and emits infrared radiation at a frequency of 10-40 MHz to emit infrared light.

As shown in FIG. 7, the infrared ray source unit 230 includes an infrared guide device 231 attached to one side of the front surface to emit infrared rays in the form of dots.

The infrared guide device 231 is formed with a plurality of holes having a size of 10 ~ 20nm, and emits a plurality of points through the hole when emitting infrared rays to the outside.

The infrared receiver unit 240 is located at one side of the infrared source unit, and serves to detect infrared rays when the infrared rays emitted from the infrared source unit are reflected to an object.

It detects the infrared rays when the infrared rays emitted from the infrared source portion is reflected on the object, and then sends the detected infrared signal to the microcomputer unit, it is possible to calculate the measurement distance to the obstacle through the microcomputer unit secondary.

9 is a diagram illustrating an example of distribution of points and movement of points generated through a hole of an infrared source unit.

The image camera unit 250 is located at one side of the infrared receiver unit, and serves to capture an image while tracking a forward movement.

It is connected to the camera drive controller, and is driven under the control of the camera drive controller.

The laser scanner unit 260 is located at one side of the image camera unit, and serves to scan the front with a laser.

When an obstacle is detected in front, it irradiates a beam toward the detected obstacle to image the three-dimensional surface shape in real time.

The commercial power supply unit 270 is located inside the robot body, and receives electricity from the commercial power source to supply electricity to the lithium battery charging unit.

The wheel driving motor 280 receives the power from the lithium battery charging unit serves to drive the wheel under the control of the robot control module.

It consists of a power TR module on one side.

Here, the power TR module serves to regulate the regulator (voltage stabilization) so that the RPM applied to the driving motor does not vary according to the charge load.

The robot wheel unit 290 is located on the bottom of the robot body, and serves to rotate by receiving power from the wheel drive motor.

It is configured by selecting either a two-wheel drive system consisting of two wheels or a four-wheel drive system consisting of four wheels.

The robot control module 295 is connected to a second ultrasonic sensor, an infrared receiver unit, an image camera unit, and a laser scanner unit to control the overall operation of each device and to detect infrared rays of the movement of the front object detected through the infrared receiver unit. Identification and control whether it is a moving object through the signal and the video signal of the movement of the object photographed by the video camera unit, and determine whether it is an obstacle that can be avoided or an object to stop and wait by calculating the size of the moving object It performs the two-way communication with the central control server through the wireless communication network and transmits and receives the transfer information from the start point to the destination RF tag.

As shown in FIG. 5, the lithium battery charging unit 295a, the driving motor controller 295b, the camera driving controller 295c, the WiFi wireless communication unit 295d, the image compression unit 295e, and the RF tag reader 295f. And a microcomputer portion 295g.

The lithium battery charger 295a charges electricity supplied from a commercial power source while maintaining a balance in accordance with a rated charging voltage of a rechargeable battery.

The drive motor controller 295b receives a 4-channel PWM signal from the microcomputer to drive the 4-channel DC motor driver with the wheel driving motor.

The camera driving control unit 295c receives a camera driving signal from the microcomputer unit to drive the image camera unit.

The WiFi wireless communication unit 295d serves to form a central control server and a WiFi network.

The image compressor 295e compresses an image captured by an image camera to JPEG.

The RF tag reader 295f reads an RF tag stamped on a destination RF tag unit.

The microcomputer 295g generates a path based on building CAD data from the start point to the destination RF tag unit according to the navigation MAP application transmitted from the central control server, and controls the operation of each device accordingly. Receives a path confirmation command signal transmitted from the central control server and an avoidance command signal for obstacles, and as a response signal, an infrared detection signal for the movement of the front object and an image signal for the movement of the object photographed by the image camera unit. It controls the transmission in real time.

It consists of the PIC16C711 one-chip microcomputer.

That is, when the infrared receiver 240 is connected to one side of the input terminal and the infrared detection signal for the detected movement of the front object is input, the distance to the front obstacle is calculated by driving the obstacle distance calculation mode 295g-2. When the image signal is connected to another input terminal, the video signal for the movement of the photographed object is input, and the obstacle detection signal is input from the first ultrasonic sensor and the second ultrasonic sensor. (295g-1) is driven to identify and control whether an object of the image signal is a moving object, and the laser scanner unit 260 is connected to one input terminal of the other input terminal, and the 3D surface shape image generated by the laser scanner unit is controlled. Received and stored, the first ultrasonic sensor and the second ultrasonic sensor is connected to one side of the other input terminal, to transmit the obstacle detection signal from the first ultrasonic sensor and the second ultrasonic sensor The lithium battery charger is connected to one side of the output terminal and sends an output signal to charge electricity supplied from the commercial power supply while maintaining the balance according to the rated charging voltage of the rechargeable battery, and the driving motor control unit is connected to the other output terminal. Four-channel PWM signal is output to the drive motor controller, and a camera drive controller is connected to one output terminal, and a camera drive signal is output to the camera drive controller, and a WiFi wireless communication unit is connected to one output terminal. Receives path generation signal, path confirmation command signal, and avoidance command signal for obstacles from the central control server at the remote site, and an image compression unit is connected to one output terminal, so that the image captured by the video camera is compressed to JPEG. RF tag reader is connected to one side of another output terminal, It is configured to read the imprinted RF tag and inform the central control server that it has arrived at its destination.

In addition, as shown in FIG. 6, the microcomputer unit according to the present invention includes a movement identification mode 295g-1, an obstacle distance calculation mode 295g-2, an obstacle avoidance mode 295g-3, and a magnetic position tracking mode 295g. -4).

The motion identification mode 295g-1 serves to identify and control whether the object is a moving object through an image signal of the movement of the object photographed by the image camera unit.

This checks the distribution of the point and the movement of the point generated through the hole of the infrared source portion in the image input to the infrared camera.

In other words, it is calculated whether the image of the background or the image of the collisionable motion is made based on the size of the movement of the point.

The point reflected by the object and the point reflected by the background are confirmed through the camera image, and the moving point and the non-moving point are seen.

The movement of these points is tracked to predict the size of the object and the movement of the obstacle.

In more detail, the position of the point irradiated to the plane and the point irradiated to the object having the volume at the point photographed through the camera image unit is seen as a change in position of each pixel when checked through the camera.

At this time, the area of the object is calculated by counting the number of located transform pixels.

The number of points irradiated by the object is determined by comparing the number of pixels of the previous image by capturing the current image.

The change of the pixel is expressed by Equation 1 below.

은 현재 영상 촬영한 픽셀의 개수를 말하고,

는 이전 영상의 픽셀 개수를 말한다.here,

Is the number of pixels currently taken,

Refers to the number of pixels of the previous image.

As such, the motion identification mode 295g-1 according to the present invention distinguishes a background from a moving object by using two image differences, calculates the size of the moving object, and calculates an image signal of a motion of an object captured by the image camera unit. Identifies and controls whether is a moving object.

The obstacle distance calculation mode 295g-2 receives the infrared detection signal for the movement of the front object detected through the infrared receiver and calculates the distance to the front obstacle.

First, the speed of the infrared light is determined by the following equation (2), f is the frequency for infrared emission, and λ is the wavelength of the infrared light.

이라고 하면 장애물에 도달하여 반사되어 되돌아오는 적외선 속도는 다음의 수학식 3과 같이 표현된다.Here, the time for emitting infrared rays toward the obstacle

In this case, the infrared speed which reaches and reflects the obstacle is expressed by Equation 3 below.

At this time, by substituting Equation 2 into Equation 3, the distance from the robot that emits infrared rays to the obstacle can be expressed as Equation 4.

시간동안 방출된 적외선으로부터 떨어져 있는 장애물까지의 거리는 다음의 수학식 5로 표현된다.Thus, random time

The distance from the infrared rays emitted during time to the obstacle away is represented by the following equation (5).

Using Equation 5, the distance between the obstacle and the robot can be calculated.

As shown in Fig. 8, a plurality of distance data are input to the infrared receiver unit according to the present invention.

의 시간이 증가할 때 입력되는 적외선 센서에 의하여 계산되는 거리는

로 연산된다.In other words,

The distance calculated by the infrared sensor that is input when the time of

Is calculated as

The smallest value is extracted among them and set as the distance from the obstacle.

The obstacle avoidance mode 295g-3 serves to avoid the robot body after discriminating and controlling whether it is an obstacle that can be avoided or an object to stop and wait according to the size of the moving object transmitted from the movement identification mode.

The magnetic location tracking mode 295g-4 generates a transport path based on building CAD data from the start point to the destination RF tag unit according to the navigation MAP application, and serves to track the current location of the child.

It is built with a navigation MAP application for path generation.

The navigation MAP application is downloaded from the central control server and activated in the microcomputer unit or activated by program setting, and generates a transport path based on the building CAD data from the start point to the destination RF tag unit.

That is, the magnetic location tracking mode (295g-4), as shown in FIG. 10, tracks the magnetic location through the navigation MAP application, processes the image with an image processing algorithm through the location transmission mode, and then, via the WiFi wireless communication unit. It transmits the current robot's position to the central control server.

Next, the central control server 300 according to the present invention will be described.

The central control server 300 is connected to the tug robot and the wireless Internet network, and serves to manage the movement of the tug robot while tracking the position of the tug robot with a navigation map.

As shown in FIG. 11, the navigation MAP application 310 includes a navigation robot control command unit 320 and a data receiver 330.

As illustrated in FIG. 12, the navigation MAP application 310 establishes a transfer path of a tug robot from a start point to a destination RF tag unit and transmits it to the robot control module while performing bidirectional communication with the tug robot through a wireless communication network. Play a role.

The tugrobot control command unit 320 transmits a path confirmation command signal and an avoidance command signal for an obstacle to the tug robot.

The data receiver 330 receives and monitors the current position signal of the tug bot, an infrared detection signal for the movement of the front object, and an image signal for the movement of the object photographed by the image camera unit.

Hereinafter, a method for driving a tug robot for transporting objects excellent in magnetic position tracking and obstacle avoidance according to the present invention will be described in detail.

First, a destination RF tag unit is installed at a destination point of an article (S100).

Subsequently, by setting the navigation MAP application transmitted from the central control server to the microcomputer unit of the tugrobot to generate a transport path based on the building CAD data from the start point to the destination RF tag unit (S200).

Subsequently, the tug robot is installed on the lift stacking cart (S300).

Subsequently, the article is loaded on the cart body of the lift stacking cart under the control of the tug robot (S400).

Subsequently, the tug-bot communicates with the central control server via the wireless communication network, while the motion identification mode (295g-1), the obstacle distance calculation mode (295g-2), the obstacle avoidance mode (295g-3), and the magnetic position tracking mode. Driving (295g-4) is transferred from the start point to the destination RF tag portion (S500).

Subsequently, while tracking the position of the tug robot in the navigation map in the central control server, it manages the movement of the tug robot (S600).

Finally, the tug robot reads the RF tag stamped on the destination RF tag portion and delivers the arrival to the central control server (S700).

100: lift stacking cart 110: cart body
120: lift unit 130: rotary joint connection
140: cart wheel 150: the first ultrasonic sensor
200: Turgbot 300: Central control server

Claims (8)

The cart body 110, the lift unit 120, and the rotary joint connection unit are driven in accordance with the lift driving signal of the tug robot to load and lower the object to a specific height. 130, the lift wheel cart 100, consisting of a cart wheel 140, the first ultrasonic sensor 150,
Located in the head of the lift cart, it transfers along the signal transmitted from the central control server and the set map, and safely operates the lift cart to the destination RF tag unit at a specific location while avoiding obstacles through its own collision avoidance mode. A tug-bot 200 for controlling,
Connected with a tug robot and a wireless Internet network, while tracking the position of the tug robot with a navigation map, the tug robot for self-location tracking and obstacle avoidance that is composed of a central control server 300 that manages the movement of the tug robot is excellent. In the device,
The tug robot 200 is
Robot body 210 formed of a rectangular box shape to protect each device from external pressure,
A second ultrasonic sensor 220 positioned on one side of the robot body and detecting an obstacle approaching during transportation;
An infrared ray source unit 230 positioned at one side of the head of the robot body and emitting infrared rays in a forward direction;
An infrared receiver unit 240 positioned at one side of the infrared source unit and detecting infrared rays when infrared rays emitted from the infrared source unit are reflected on an object;
Is located on one side of the infrared receiver unit, the video camera unit 250 for taking an image while tracking the movement of the front,
A laser scanner unit 260 positioned at one side of the image camera unit and configured to scan the front side with a laser;
Located inside the robot body, the commercial power supply unit 270 for receiving electricity from the commercial power supply to supply electricity to the lithium battery charging unit,
Wheel drive motor 280 for driving the wheel under the control of the robot control module receives power from the lithium battery charging unit,
Located on the bottom of the robot body, the robot wheel portion 290 to rotate to receive power from the wheel drive motor,
Connected to the second ultrasonic sensor, infrared receiver unit, image camera unit, laser scanner unit to control the overall operation of each device, the infrared detection signal for the movement of the front object detected by the infrared receiver unit, and the image camera unit to shoot Identify and control whether or not it is a moving object through the video signal of the movement of the object, and determine whether it is an obstacle that can be avoided or an object to stop and wait by calculating the size of the moving object, and central control through the wireless communication network Tug robot drive device having excellent magnetic position tracking and obstacle avoidance, characterized in that consisting of a robot control module (295) for transmitting and receiving transfer information from the start point to the destination RF tag unit while performing bidirectional communication with the server.
delete delete The method of claim 1, wherein the infrared source unit 230
Tug robot drive device for excellent object tracking and obstacle avoidance, characterized in that attached to the front side of the infrared guide device 231 is configured to emit infrared light in the form of dots.
The method of claim 1, wherein the robot control module 295 is
A lithium battery charging unit 295a configured to charge electricity supplied from a commercial power while maintaining a balance in accordance with a rated charging voltage of a rechargeable battery;
A drive motor controller 295b which receives a 4-channel PWM signal from the microcomputer and drives a 4-channel DC motor driver with a wheel drive motor;
A camera driving control unit 295c which receives a camera driving signal from a microcomputer unit and drives the video camera unit;
WiFi wireless communication unit (295d) to form a central control server and WiFi network,
An image compression unit 295e for compressing an image photographed by a video camera to JPEG;
RF tag reader (295f) which reads RF tag written to destination RF tag part,
According to the navigation MAP application transmitted from the central control server, a path is generated based on the building CAD data from the start point to the destination RF tag unit, and accordingly, the operation of each device is controlled and the path transmitted from the central control server. Receives a confirmation command signal and an avoidance command signal for obstacles, and transmits an infrared detection signal for the movement of the front object and a video signal for the movement of the object photographed by the image camera unit as a response signal. Tug robot drive device for excellent object tracking and obstacle avoidance, characterized in that consisting of a microcomputer (295g).
The method of claim 5, wherein the microcomputer portion (295g)
A motion identification mode (295g-1) for identifying and controlling whether the object is a moving object through an image signal of the movement of the object photographed by the image camera unit;
Obstacle distance calculation mode (295g-2) for receiving the infrared detection signal for the movement of the front object detected through the infrared receiver unit to calculate the distance to the front obstacle,
The obstacle avoidance mode (295g-3) for avoiding the robot body after discriminating and controlling whether it is an obstacle that can be avoided or an object to be stopped and waiting according to the size of the moving object transmitted from the movement identification mode,
According to the navigation MAP application, it generates a transport path based on the building CAD data from the start point to the destination RF tag unit, characterized in that it consists of a magnetic position tracking mode (295g-4) to track the current position of the child Tug robot drive device for excellent object tracking and obstacle avoidance.
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