KR102046351B1 - Wearable robot control system using augmented reality and method for controlling wearable robot using the same - Google Patents

Abstract

In the wearable robot control system using augmented reality and the wearable robot control method using the same, the wearable robot control system includes a wearable robot and an augmented reality device. The wearable robot is mounted directly on a user to perform an operation. The augmented reality device obtains environmental information or object information of a specific environment, recognizes a specific environment from the obtained information, grasps the intention of the user and informs the user, and the wearable robot to match the user's intention in a specific environment Direct control. The augmented reality device is fixed to the user, and obtains the same information as the information of the specific environment obtained from the user's point of view.

Description

Wearable Robot Control System Using Augmented Reality and Wearable Robot Control Method {WEARABLE ROBOT CONTROL SYSTEM USING AUGMENTED REALITY AND METHOD FOR CONTROLLING WEARABLE ROBOT USING THE SAME}

The present invention relates to a wearable robot control system and a wearable robot control method using the same. More particularly, the present invention is applied to a wearable robot directly worn by a user, to grasp the intention of the wearer's operation based on the surrounding environment information. The present invention relates to a wearable robot control system using augmented reality that can notify a user and control a wearable robot, and a wearable robot control method using the same.

Recently, technologies using augmented reality have been applied to various technical fields, and are also applied to the control technology of robots. 1 is a block diagram schematically showing a robot control technology using augmented reality in the prior art, and shows the core configuration of technologies such as Republic of Korea Patent No. 10-1108927, Republic of Korea Patent Publication No. 10-2001-0076786 This can be called.

That is, as shown in Figure 1, in the conventional robot control technology using augmented reality, the environment that requires the operation of the robot, for example, the surgical robot, the surgical site of the patient, if the cleaning robot environment from the cleaning area, etc. By acquiring the information 10 and applying the augmented reality 11 technology based on the environment information, the augmented reality or virtual reality coupled to the environment information is provided to the user 12.

Then, the user 12 provides a control signal for performing a necessary operation to the robot 13 located in a specific environment 20 based on the augmented reality, and based on this control signal, the robot 13 is a series of An operation, for example, to perform an operation such as a surgical operation or a cleaning operation.

That is, the conventional augmented reality technology is merely to provide information about a specific environment 20, the user generates a control signal for the operation of the robot separately based on the information provided to perform the operation required in a specific environment It was only to carry out. In this case, the robot is limited to being located in a specific environment 20 for providing environmental information.

Furthermore, in recent years, as the technology for the wearable robot is developed, a technology for the wearable robot to grasp the intention of the user and perform the necessary driving is also developed.

On the other hand, in the wearable robot, as a technique for determining the intention of the user, a method of directly informing a doctor, a method of using an electromyography (EMG) sensor, a method of using an brain wave, and the like are applied. In the case of transmitting a method, it is difficult to apply an appropriate external force for transmitting a user's intention, and in the case of using the EMG sensor, there is a problem in which noise included in an EMG signal or a separate signal processing is required. In the case of using the method, it is impossible to grasp the intention of the detailed operation through the EEG, and there is a problem that the user cannot easily induce EEG.

Accordingly, there is a need for a new method of detecting a user's intention in a wearable robot.

Republic of Korea Patent No. 10-1108927 Republic of Korea Patent Publication No. 10-2001-0076786

Accordingly, the technical problem of the present invention has been conceived in this respect, and the object of the present invention is to provide a wearable robot worn by the user directly with environmental information, so that the user can easily grasp the operation intention of the user based on the environmental information. The present invention relates to a wearable robot control system using augmented reality that can feed back to a user and implement a necessary motion more immediately and accurately.

In addition, another object of the present invention relates to a wearable robot control method using the wearable robot control system.

Wearable robot control system according to an embodiment for realizing the object of the present invention includes a wearable robot and augmented reality device. The wearable robot is mounted directly on a user to perform an operation. The augmented reality device obtains environmental information or object information of a specific environment, recognizes a specific environment from the obtained information, grasps the user's intention, and directly controls the wearable robot to meet the user's intention in a specific environment. . The augmented reality device is fixed to the user, and obtains the same information as the information of the specific environment obtained from the user's point of view.

In an embodiment, the augmented reality device may be worn on a user's face to obtain image information identical to visual information acquired by the user.

In an embodiment, the object information obtained by the augmented reality device may be a type, a location, or a shape of an object or an obstacle located in a specific environment.

In one embodiment, the wearable robot may be an upper limb worn robot worn on a user's hand or arm.

In one embodiment, the object information obtained by the augmented reality device may further include information of the wearable robot located in a specific environment.

In one embodiment, the augmented reality device, the wearable robot may control to hold the object according to the user's intention.

In one embodiment, the wearable robot may be a leg wearable robot worn on the user's foot or lower body.

In one embodiment, the augmented reality device, the wearable robot may control to avoid the obstacle or walk in a walking mode suitable for a specific environment according to the user's intention.

In one embodiment, the augmented reality device, an image acquisition unit for obtaining environmental information or object information of a specific environment, an image recognition unit for recognizing an environment or an object from the obtained information, based on the recognized environment or object An intention grasping unit for grasping a user's intention, an image display unit for displaying the recognized environment or object, and an intention of the user to the outside, and a control for generating a control signal for operating the wearable robot according to the user's intention It may include a signal generator.

Wearable robot control method according to an embodiment for realizing another object of the present invention to control a wearable robot that is mounted directly to the user to perform an operation, by obtaining the environmental information or object information of a specific environment Recognizing a specific environment from the obtained information and grasping the user's intention, generating a control signal for controlling the wearable robot to meet the user's intention in a specific environment, and by the generated control signal The wearable robot is driven.

In an embodiment, the obtained environmental information or object information may be image information identical to visual information acquired by a user.

In one embodiment, when the wearable robot is an upper limb worn robot, the obtained object information may include information of the wearable robot located in a specific environment.

In an embodiment, the generating of the control signal from the information of the specific environment may include obtaining environment information or object information of the specific environment, recognizing an environment or an object from the obtained information, and the recognized environment. Or determining the intention of the user based on an object, displaying the recognized environment or object, and the intention of the user to the outside, and generating a control signal for operating the wearable robot according to the user's intention. It may include a step.

According to embodiments of the present invention, by solving an error or a problem in a method of driving a wearable robot that detects the intention of the conventional user, if the intention of the user is directly detected based on the information recognized by the augmented reality device As the wearable robot is directly controlled to meet the intention, it is possible to grasp the user's intention based on more objective data such as image information, thereby improving the accuracy of driving the wearable robot and enabling more immediate operation. Done.

In particular, the image acquisition unit of the augmented reality device obtains the environmental information of a specific environment through the image, but obtains the same information as the information observed at the same time as the user equipped with the wearable robot, direct control of the wearable robot In performing, it is possible to perform the optimal motion control considering the physical location of the user.

In this case, the obtained information is environmental information or object information, and includes information for more accurately performing the operation of the wearable robot by grasping the characteristics of the environment.

In addition, by displaying the user's intention grasped from the environment information or object information to the outside, the user can check whether the user's intention is accurately reflected as the user receives the feedback, and thus the operation to be implemented through the wearable robot It can be implemented correctly.

In particular, when the wearable robot is an upper limb wearable robot, in most cases, the object is moved or grabbed. Therefore, the information about the wearable robot is simultaneously acquired in acquiring information on the environment in consideration of this. In this way, it is possible to more precisely and intuitively control the operation to be performed for the movement or grabbing of the object within the obtained information.

On the other hand, if the wearable robot is a wearable robot for the lower limb, it is often walking in consideration of ground conditions or obstacles, and thus obtains data based on information on obstacles or ground conditions as information recognized by the AR device. Based on this, a control such as selecting an appropriate walking mode or selecting a walking direction can be directly performed to more precisely control the operation of the wearable robot.

As described above, according to the type of the wearable robot, by changing the information recognized from the augmented reality device, it is possible to perform the operations performed mainly by the wearable robot more accurately and directly.

1 is a block diagram schematically showing a robot control technology using augmented reality in the prior art.
2 is a block diagram showing a wearable robot control system using augmented reality according to an embodiment of the present invention.
3 is a block diagram illustrating in detail the wearable robot control system of FIG. 2.
4 is a block diagram illustrating an example in which the upper limb wearable robot is applied as the wearable robot in the wearable robot control system of FIG. 2.
5 is an exemplary view illustrating a wearable robot control system to which an upper limb worn robot of FIG. 4 is applied.
6 is a block diagram illustrating an example in which a wearable robot is applied as a wearable robot in the wearable robot control system of FIG. 2.
7 is a flowchart illustrating a wearable robot control method using the wearable robot control system of FIG. 2.

As the inventive concept allows for various changes and numerous modifications, the embodiments will be described in detail in the text. However, this is not intended to limit the present invention to a specific disclosed form, it should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention. In describing the drawings, similar reference numerals are used for similar elements. Terms such as first and second 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. The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise.

In this application, the terms "comprise" or "consist of" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. Terms such as those defined in the commonly used dictionaries should be construed as having meanings consistent with the meanings in the context of the related art and shall not be construed in ideal or excessively formal meanings unless expressly defined in this application. Do not.

Hereinafter, with reference to the accompanying drawings, it will be described in detail a preferred embodiment of the present invention.

2 is a block diagram showing a wearable robot control system using augmented reality according to an embodiment of the present invention. 3 is a block diagram illustrating in detail the wearable robot control system of FIG. 2.

2 and 3, the wearable robot control system 2 according to the present embodiment includes an augmented reality device 100 and a wearable robot 200.

First, in FIG. 2, the specific environment 20 may be defined as an area in which the wearable robot 200 performs an operation, and may be defined as a three-dimensional space. In addition, the specific environment 20 may be a fixed area or may be an area that is moved according to the operation of the wearable robot 200.

On the other hand, the specific environment 20 may include a variety of information, for example, the size or area of the space defined as the specific environment 20, as well as whether there is an uphill or downhill, there is a staircase, the interior space The wearable robot 200 may include all environmental features such as whether it is an external space or the like.

Accordingly, all the environmental features of the specific environment 20 will be described below as the environment information 10.

Furthermore, various objects or obstacles may be located in the specific environment 20, and the objects or obstacles may be located in various positions, types, arrangements, postures, and the like. Things such as an object or an obstacle are defined and described as the object information 15.

In the wearable robot control system 2 in the present embodiment, the technology related to the control system for the wearable robot 200 performing an operation defined or controlled in the specific environment 20 defined as above, The wearable robot 200 in the present embodiment is not remotely spaced apart from the augmented reality device 100 that controls it, and the operation is performed in a state constrained by the same user 30.

That is, in the case of the conventional robot control using the augmented reality device, as shown in Figure 1, the robot is generally located inside the specific environment 20 which is a position away from the position where the user or the control system is located, Operation is implemented without departing from the specific environment 20.

On the other hand, in the present embodiment, the wearable robot 200 is a robot that is directly worn by the user 30 and operates together with the user's motion, and thus may not necessarily be located only in the specific environment 20. Furthermore, in the present embodiment, the augmented reality device 100 that directly controls the operation of the wearable robot 200 is also directly mounted to the user 30, and the wearable robot 200 is a control unit for controlling the same. Augmented reality device 100 and its position will be constrained.

More specifically, the augmented reality apparatus 100 includes an image acquisition unit 110, an image recognition unit 120, an intention grasping unit 130, an image display unit 140, and a control signal generator 150.

The image acquisition unit 110 acquires environmental information 10 or object information 15 of the specific environment 20, which will be described later, but also obtains information of the wearable robot 200 as necessary.

The image acquisition unit 110 may acquire the environment information 10 or the object information 15 through an image or an image, for example, as an image photographing device such as a camera.

Furthermore, in the present embodiment, the augmented reality device 100, as shown in Figure 6, may be fixed to the face of the user in the form of goggles, etc., so that the image acquisition unit 110 is It may be fixed to the front surface.

That is, the image acquired through the image acquisition unit 110 is an image acquired at the same position as the position of the eye of the user, and may be the same image information as the visual information acquired by the user through vision.

Therefore, the information about the specific environment 20 that is identified through the augmented reality device 100 is matched with the information that the user grasps through vision, thereby controlling the driving of the wearable robot 200. The user can generate a control signal centered on the user.

The image recognition unit 120 recognizes an environment or an object of the specific environment 20 from the information obtained through the image acquisition unit 110.

In this case, the image recognition unit 120 grasps the contents of the specific environment 20 from an image or an image acquired through the image acquisition unit 110 in one dimension, and the specific environment 20. Since it includes the environment information and the object information as described above, through the image recognition unit 120 to grasp the environmental characteristics of the specific environment 20 or the characteristics of the object.

For example, the environmental characteristics such as whether the space of the specific environment 20 is the downhill / uphill space, whether there is a staircase, indoor / outdoor, and the like of objects or obstacles located in the specific environment 20 The characteristics of the object such as the type, position, shape, and arrangement are identified.

Furthermore, in recognizing the environmental feature of the specific environment 20 or the feature of the object, the image recognition unit 120 applies an augmented reality technology to the environmental feature of the specific environment 20 based on augmented reality or You can create features of an object.

In this case, augmented reality technology can be applied in various ways, and the three-dimensional virtual image overlapping the specific environment 20 assists the driving of the wearable robot 200 or induces more accurate and intuitive driving. It may be an image for the purpose, may be an image for more accurate content grasp of the specific environment 20, or, alternatively, may be a virtual image generated for various purposes.

The intention determiner 130 detects the intention of the user based on an environmental feature or an object characteristic of the specific environment 20 recognized by the image recognizer 120.

In this case, the feature recognized by the image recognizer 120 may be a feature recognized by incorporating augmented reality as described above. Thus, the intention grasping unit 130 may be an entity of the specific environment 20. The user's intention is identified from the combination of the features and the necessary virtual images.

To this end, the intention grasping unit 130 includes a database and a determination unit, and the database includes a user's state, types and operable information of the wearable robot 200 worn by the user, a driving history of the wearable robot, and the like. The information of the user must be stored in advance, and the determination unit determines the intention of the user based on the contents of the database and the information about the recognized specific environment provided from the image recognition unit 120.

For example, when the user is difficult to walk and is assisted with a wearable robot, and the user has a history of walking to the present, and there is information on a target destination, the intention identifying unit 130 ) May determine the user's intention that the user will walk to the target destination from the information about the recognized specific environment.

On the contrary, if the user is wearing a wearable robot in his hand and the user aims to move a specific object, the intention grasping unit 130 may be configured to display the user from the information about the recognized specific environment. You can determine the user's intention to move a particular object.

The image display unit 140 displays the contents of the environment or the object of the specific environment 20 recognized by the image recognition unit 120, and the intention of the user identified by the intention determining unit 130 to the outside. .

In this case, the displayed image includes contents recognized by the image recognition unit 120 from the specific environment 20 and contents of an environmental feature or an object generated by combining the augmented reality technology. .

In addition, the intention of the user grasped by the intention grasping unit 130 may be displayed in a displayable form. For example, if it is determined that the user's intention is a walking movement to the destination, the movement path to the destination may be displayed as the user's intention. Alternatively, if it is determined that the user's intention is the movement of a particular object, the movement path of the specific object may be displayed as the user's intention.

In addition, the displayed image may be an image that the user can visually recognize through the glass window of the goggles, if the augmented reality device is fixed to the face of the user, for example, in the form of goggles.

Alternatively, the image may be displayed through a separate display window.

Thus, the user can again check whether or not the user's intention is consistent with the intention based on the contents displayed by the user's intention.

The control signal generation unit 150 generates a control signal for operating the wearable robot 200 as determined by the user.

For example, in a situation in which the wearable robot 200 is assisted with walking, if the intention of the user determined by the intention grasping unit 130 is a walking to a destination, the control signal generator 150 may A control signal for moving the wearable robot 200 is generated based on whether there is an obstacle or other area that needs to be avoided on the generated optimal path to the destination.

On the contrary, in a situation where the movement of the object is assisted by the wearable robot 200, if the intention of the user determined by the intention grasping unit 130 is to move a specific object, the control signal generator 150 may be configured to move the specific object. The wearable robot 200 generates a control signal capable of implementing an operation in which the wearable robot 200 should be operated to move a specific object.

As described above, in the present embodiment, the control signal generator 150 directly generates a control signal capable of directly operating the wearable robot 200 as the recognized user intends, and thus generates the control signal. Is directly provided to the wearable robot 200.

The wearable robot 200 is a robot that is directly worn on the user's body to assist the user's physical activity, for example, a prosthesis worn on a hand or an arm, a prosthesis worn on a leg or a foot, an image worn on an exoskeletal / It may be a variety of wearable robots, such as a lower limb robot.

In addition, the wearable robot 200 in the present embodiment is directly controlled by the augmented reality device 100, and worn directly on the user to operate together with the user, in the specific environment 20 Although necessary operations may be performed, alternatively, the necessary operations may be performed outside of the specific environment 20 based on information on the inside of the specific environment 20 as described above.

4 is a block diagram illustrating an example in which the upper limb wearable robot is applied as the wearable robot in the wearable robot control system of FIG. 2.

Referring to FIG. 4, an example of the wearable robot 200 may be an upper limb worn robot 210 worn on a user's hand or arm.

 In the case of the upper limb wearable robot 210, it is worn on the user's hand or arm, and mainly performs the same operation as the user performs through the hand or the arm, such as moving or grasping an object.

Accordingly, the image obtained by the image acquisition unit 110, as shown in Figure 4, in addition to the environmental information 10, the object information 15 in the specific environment 20, the upper limbs wearable robot Information about 210 may be included.

Thus, when moving or grasping an object located in the specific environment 20 through the upper limb wearable robot 210, the position or posture in the specific environment 20 of the upper limb worn robot 210 may be changed. Information about the object can be obtained simultaneously with the information, and the intention of the user is grasped based on this, and the control signal generator 150 operates the upper limb worn robot 210 based on the intention of the user. A control signal can be generated directly, and based on the control signal, the upper limb worn robot 210 performs a necessary operation according to a method of moving or grasping an object.

In this case, the information obtained from the augmented reality device 100 is repeatedly updated based on a predetermined time interval, and accordingly, the control signal generator 150 real-times the movement state of the upper limb wearable robot 210. While monitoring the upper limbs wearable robot 210 to provide a control signal required to move or grip the object in real time.

5 is an exemplary view illustrating a wearable robot control system to which an upper limb worn robot of FIG. 4 is applied.

As an example of the upper limb wearable robot 210, a robot prosthesis as shown in FIG. 5 may be worn on the user's hand, and the user may wear the augmented reality device 100 on the face in the form of goggles. have.

Thus, the augmented reality device 100 is located in the specific environment 20 according to the performance of the environment information 10, the object information 15 and the operation of the inside of the specific environment 20 Acquire information about the upper limb wearable robot 210 to determine the intention of the user, and generate a control signal for the upper limb wearable robot 210 based on the identified user's intention, based on the upper limb The wearable robot 210 is driven.

Meanwhile, the upper limb wearable robot 210 may be worn by the user 30 in various forms, in addition to the example illustrated in FIG. 5, and the driving required may also be variously changed.

6 is a block diagram illustrating an example in which a wearable robot is applied as a wearable robot in the wearable robot control system of FIG. 2.

Referring to FIG. 6, an example of the wearable robot 200 may be a leg worn robot 220 worn on a user's foot or lower body.

 In the case of the lower wearable robot 220, the robot is worn on the user's foot or lower body to perform the same operation as the user performs through the foot or lower body, such as mainly walking or moving the user.

However, in general, in performing an action such as walking or moving, information about the environment of the front or side of the user 30 may be sufficient, and the lower wearable robot 220 may be placed inside the specific environment 20. It does not have to be located.

Accordingly, as illustrated in FIG. 5, the environment information 10 and the object information 15 in the specific environment 20 may be sufficient for the image acquired by the image acquisition unit 110.

Of course, an operation such as moving a specific object through the lower wearable robot 220 should be performed, and thus, the lower wearable robot 220 has information about the lower wearable robot 220 in the image acquired by the image acquirer 110. If it is also necessary to include more accurate operation information about the wearable robot 220 can also be provided to the augmented reality device 100.

Thus, when walking or moving while avoiding an obstacle located in the specific environment 20 through the wearable robot 220, an object such as environmental information 10 and obstacles in the specific environment 20. The object information 15 about the position of the user, etc. should be obtained, and the intention of the user is determined based on this, and the control signal generator 150 determines the lower wearable robot 220 based on the identified user's intention. The control signal for the operation of can be generated directly, based on the control signal, the lower wearable robot 220 performs an operation such as walking or moving while avoiding obstacles. In addition, if the obstacle is a staircase or an incline or the like, in order to overcome the obstacle while walking or moving, the wearable robot 220 should be controlled while changing the stiffness of a driving unit (not shown). The generation unit 150 may simultaneously generate a control signal for changing the stiffness together with the control signal for the operation of the leg worn robot 220.

In this case, the information obtained by the augmented reality device 100 is repeatedly updated based on a predetermined time interval, and accordingly, the control signal generation unit 150 for the movement state of the lower wearable robot 220. Based on the data of the database in which the information is stored, a control signal necessary for performing the movement path or the obstacle avoidance path of the wearable robot 220 may be provided in real time.

As described above, the wearable robot control system 2 according to the present exemplary embodiment obtains various image data according to the type of the robot worn by the user 30, and thereby obtains the optimal control signal for driving the wearable robot. Can be generated to drive the wearable robot.

7 is a flowchart illustrating a wearable robot control method using the wearable robot control system of FIG. 2.

Referring to FIG. 7, in the wearable robot control method using the wearable robot control system 2 according to the present embodiment, first, environment information 10 or object information 15 of the specific environment 20 is obtained. By combining the virtual image or the image for augmented reality based on this, a control signal for controlling the wearable robot 200 is generated in accordance with the user's intention in the specific environment 20 (step S10). ).

Thereafter, the wearable robot 200 is driven based on the generated control signal (step S20), and in this case, the environment in which the wearable robot 200 is driven is inside or outside the specific environment 20. It may be as described above.

More specifically, in the generation of the control signal, first, the image acquisition unit 110 obtains environment information 10 or object information 150 for the specific environment 20 (step S11).

In this case, definitions and examples of the environmental information 10 and the object information 150 are the same as described above, and if the wearable robot 200 is, for example, an upper limb worn robot, the image acquisition unit may be used. It may be necessary for accurate and intuitive operation of the actual wearable robot to include information on the upper limb wearable robot in the information obtained at 110.

In contrast, when the wearable robot 200 is, for example, a leg wearable robot, the information obtained by the image acquisition unit 110 may be sufficient as the environmental information 10 or the object information 150.

When the image information is acquired in this way, the image recognition unit 120 recognizes an environment or an object based on the obtained low information (step S12).

In this case, when the image recognition unit 120 recognizes an environment or an object, a virtual image or an image to which augmented reality technology is applied may be recognized by being superimposed on the image information obtained by the image acquisition unit 110. . In this case, the overlapping virtual image or image is to more accurately implement the actual driving or motion of the wearable robot, and more precisely implements the recognized environment or object, or provides detailed information about the environment or object. Or various images or images, such as providing additional information by adding a virtual path or an image.

In addition, in the case of the upper limb wearable robot, the image recognition unit 120 recognizes the recognition information on the upper limb wearable robot in addition to the recognition information on the environment or an object and applies the augmented reality technology. Can be.

Thereafter, the intention grasping unit 130 grasps the intention of the user based on the recognized environment or object (step S13). In this case, an example of the specific user intention grasping in the intention grasping unit 130 has been described above.

Meanwhile, in the case of an environment or an object recognized by the image recognition unit 120, and even an upper limb worn robot, the intention of the user identified by the intention determiner 130 together with the information about the recognized wearable robot may be recalled. The image display unit 140 displays the content to the user through a glass such as a separate display unit or goggles (step S14).

Thus, the user may check whether the user receives feedback through the image display unit 140 as to whether the same as intended.

Further, the control signal generation unit 150 generates a control signal for the wearable robot 200 corresponding to the intention of the user (step S15).

Thus, the control signal generated by the control signal generator 150 is directly provided to the wearable robot 200, the wearable robot 200 is driven based on the control signal to perform a necessary operation of the user To be performed as

According to the embodiments of the present invention as described above, by solving the error or problem in the conventional method of driving the wearable robot to grasp the user's intention, the user's intention is directly based on the information recognized by the augmented reality device If the wearable robot is directly controlled to meet the intention, it is possible to grasp the user's intention based on more objective data such as image information, thereby improving the driving accuracy of the wearable robot and of more immediate operation. Implementation is possible.

In particular, the image acquisition unit of the augmented reality device obtains the environmental information of a specific environment through the image, but obtains the same information as the information observed at the same time as the user equipped with the wearable robot, direct control of the wearable robot In performing, it is possible to perform the optimal motion control considering the physical location of the user.

In this case, the obtained information is environmental information or object information, and includes information for more accurately performing the operation of the wearable robot by grasping the characteristics of the environment.

In addition, by displaying the user's intention grasped from the environment information or object information to the outside, the user can check whether the user's intention is accurately reflected as the user receives the feedback, and thus the operation to be implemented through the wearable robot It can be implemented correctly.

In particular, when the wearable robot is an upper limb wearable robot, in most cases, the object is moved or grabbed. Therefore, the information about the wearable robot is simultaneously acquired in acquiring information on the environment in consideration of this. In this way, it is possible to more precisely and intuitively control the operation to be performed for the movement or grabbing of the object within the obtained information.

On the other hand, if the wearable robot is a wearable robot for the lower limb, it is often walking in consideration of ground conditions or obstacles, and thus obtains data based on information on obstacles or ground conditions as information recognized by the AR device. Based on this, a control such as selecting an appropriate walking mode or selecting a walking direction can be directly performed to more precisely control the operation of the wearable robot.

As described above, according to the type of the wearable robot, by changing the information recognized from the augmented reality device, it is possible to perform the operations performed mainly by the wearable robot more accurately and directly.

While the foregoing has been described with reference to preferred embodiments of the present invention, those skilled in the art will be able to variously modify and change the present invention without departing from the spirit and scope of the invention as set forth in the claims below. It will be appreciated.

Wearable robot control system and wearable robot control method using the same according to the present invention has the industrial applicability that can be used in the wearable robot.

1: conventional robot control system 2: wearable robot control system
10: environmental information 15: object information
20: Specific Environment 30: User
100: augmented reality device 110: image acquisition unit
120: image recognition unit 130: intention detection unit
140: image display unit 150: control signal generation unit
200: wearable robot 210: upper limb wearing robot
220: wearable robot

Claims (13)

An upper limb wearable robot operated by being worn on a user's hand or arm or a lower limb worn robot operated by being worn on a user's foot or lower body; And
Enhancement of acquiring environmental information or object information of a specific environment, recognizing a specific environment from the acquired information, and grasping the user's intention, and directly controlling the upper or lower limb worn robot to meet the user's intention in a specific environment. Including a real device,
The augmented reality device is fixed to the user, to obtain the same information as the information of a specific environment obtained from the user's point of view
The augmented reality device, the upper limb wearable robot, to grasp the user's intention, to control to move the object,
The augmented reality device is characterized in that the lower body wearable robot, to grasp the user's intention based on the user's walking history or destination information, to avoid obstacles or to walk in a walking mode suitable for a specific environment. Wearable Robot Control System. According to claim 1, wherein the augmented reality device,
The wearable robot control system, which is worn on a user's face and obtains image information identical to visual information acquired by the user. The method of claim 1,
The object information acquired by the augmented reality device, wearable robot control system, characterized in that the kind, location or shape of the object or obstacle located in a specific environment. delete The method of claim 3,
In the case of the upper limb wearable robot, the object information obtained by the augmented reality device, the wearable robot control system, characterized in that further comprises information of the upper limb wearable robot located in the specific environment. delete delete delete According to claim 1, wherein the augmented reality device,
An image acquisition unit obtaining environment information or object information of a specific environment;
An image recognition unit recognizing an environment or an object from the obtained information;
An intention grasping unit to grasp a user's intention based on the recognized environment or object;
An image display unit which displays the recognized environment or object and the intention of the user to the outside; And
Wearable robot control system comprising a control signal generating unit for generating a control signal for operating the upper or lower limb wearable robot as the user intended. In the control method of the upper limb wearable robot that is worn and operated on the user's hand or arm or the lower limb wearable robot that is worn and operated on the user's foot or lower body,
Control to acquire the environmental information or object information of a specific environment, recognize the specific environment from the obtained information and grasp the user's intention, and control the upper or lower limb worn robot to meet the user's intention in the specific environment. Generating a signal; And
And driving the upper or lower leg worn robot by the generated control signal,
By the control signal, the upper limb worn robot is controlled to grasp the user's intention, to grab and move the object, or the lower limb worn robot to grasp the user's intention based on the user's walking history or destination information, Wearable robot control method characterized in that it is controlled to avoid obstacles or to walk in a walking mode suitable for a specific environment. delete The method of claim 10,
In the case of the upper limb wearable robot,
The acquired object information, wearable robot control method characterized in that it comprises information of the upper limbs wearable robot located in the specific environment. The method of claim 10, wherein the generating of the control signal from the information of the specific environment,
Obtaining environment information or object information of the specific environment;
Recognizing an environment or an object from the obtained information;
Determining a user's intention based on the recognized environment or object
Displaying the recognized environment or object and the intention of the user to the outside; And
Wearing robot control method comprising the step of generating a control signal for operating the upper or lower leg wearable robot as the user intended.

Images