KR20170115188A - Transport Robot For Industry Place - Google Patents

Abstract

The present invention relates to an industrial field carrying robot, which uses a signal intensity value received from a user equipment to calculate a distance from a user, tracks a user while maintaining a certain distance from a user, Which can prevent collision with an industrial field. A method of controlling an industrial field-carrying robot communicating with a user device, the method comprising: receiving a signal from the user device; Calculating an intensity value of the received signal; Calculating a separation distance from the user using the intensity value of the signal; Comparing the calculated distance with the calculated distance; Maintaining a state in which the user is away from the predetermined distance by using the comparison result; Transmitting ultrasound to the outside using an ultrasonic sensor; Determining whether a surrounding object is present using the feedback of the transmitted ultrasonic wave; And stopping the movement if the neighboring object exists.

Description

BACKGROUND ART [0002] Transport robot for industry place [0003]

The present invention relates to an industrial field carrying robot, which uses a signal intensity value received from a user equipment to calculate a distance from a user, tracks a user while maintaining a certain distance from a user, Which can prevent collision with an industrial field.

Unlike a robot arm, a mobile robot is not fixedly installed at one place, but is a robot that can be relatively freely moved by being driven by a wheel or a robot leg.

Mobile robots carry out the work of moving and assembling products in the industrial field, and they also carry out cleaning or moving objects at home.

Thus, in order to utilize a mobile robot in an industrial field or a home, it is most important that the mobile robot correctly recognize its position and direction.

The self-position recognition technology of the mobile robot includes a technique of recognizing the relative position of the mobile robot using an odometer such as an encoder, a distance measuring device such as an ultrasonic sensor and a laser, A technique of recognizing an absolute position of a mobile robot by detecting the position of an artificial marker or a natural object attached to a predetermined position in a room using an image processing apparatus.

The relative position recognition technology is characterized in that even if environmental information to be traveled by the mobile robot is not given in advance, it is possible to use a distance measuring device or an encoder using an ultrasonic sensor or a laser mounted on the mobile robot, In the case of an encoder, which is an odometer, the position error can be accumulated due to the slip phenomenon due to an increase in travel time. In particular, such a position error is caused by a collision or avoidance operation . Also, when the position of the mobile robot is artificially changed by a person, the self position may not be recognized.

On the other hand, in the technique of recognizing the absolute position of the mobile robot, the robot uses artificial landmarks as a means for recognizing its own position.

An artificial landmark is a specific landmark that is distinguished from the background. The artificial landmark is photographed with a camera of the robot in the state of being attached to the interior space, and the image signal obtained by processing the image signal is recognized to recognize the artificial landmark. will be.

The position of the robot is implemented by referring to the coordinates of the image of the recognized artificial landmark and the coordinate information on the interior space previously stored for the artificial landmark.

A geometric specific pattern such as a circle or a rectangle is usually used for artificial landmarks. In order to accurately locate the robot, the image processing process of this specific pattern must be preceded. However, there is a problem that it is difficult to obtain a stable recognition performance in a general indoor environment because a video signal for an indoor space entering through a camera is greatly influenced by a distance, a direction, and the like from a lighting or a camera.

Therefore, there is a need for a robot that can prevent a collision with other objects while tracking a user corresponding to a changed user position without a separate artificial marker.

Korean Intellectual Property Office Registration No. 10-0811885

The present invention calculates a distance from a user by using a signal intensity value received from a user equipment, tracks a user while maintaining a certain distance from the user, and can prevent a user from colliding with nearby objects using an ultrasonic sensor We propose an industrial field transportation robot.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not restrictive of the invention, unless further departing from the spirit and scope of the invention as defined by the appended claims. It will be possible.

According to an aspect of the present invention, there is provided a method of controlling an industrial field carrying robot communicating with a user equipment, the method comprising: receiving a signal from the user equipment; Calculating an intensity value of the received signal; Calculating a separation distance from the user using the intensity value of the signal; Comparing the calculated distance with the calculated distance; Maintaining a state in which the user is away from the predetermined distance by using the comparison result; Transmitting ultrasound to the outside using an ultrasonic sensor; Determining whether a surrounding object is present using the feedback of the transmitted ultrasonic wave; And stopping the movement if the neighboring object exists.

Also, the intensity value of the signal may be a signal strength indicator.

In addition, the user equipment and the industrial site carrying robot communicate using at least one of short-distance communication and long-distance communication, and the short-range communication is performed using Bluetooth, Radio Frequency Identification (RFID) ), UWB (Ultra Wideband), ZigBee, and Wi-Fi (Wireless Fidelity) technologies. The long distance communication includes code division multiple access (CDMA), frequency division multiple access (FDMA), time division multiple access (TDMA) Orthogonal frequency division multiple access (OFDMA), and single carrier frequency division multiple access (SC-FDMA) techniques.

The present invention calculates a distance from a user by using a signal intensity value received from a user equipment, tracks a user while maintaining a certain distance from the user, and can prevent a user from colliding with nearby objects using an ultrasonic sensor An industrial field transportation robot can be provided.

It should be understood, however, that the effects obtained by the present invention are not limited to the above-mentioned effects, and other effects not mentioned may be clearly understood by those skilled in the art from the following description It will be possible.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a block diagram for explaining a robot proposed by the present invention or a device carried by a user.
FIG. 2 shows a specific example of a receiving unit and a control unit applied to the robot proposed by the present invention.
3A and 3B illustrate a concrete example of a transmitter applied to a robot proposed by the present invention.
FIG. 4 is a flowchart illustrating a method of tracking a user using a robot proposed by the present invention and preventing a collision with neighboring objects in advance.

There is a possibility that a collision occurs between the mobile robots if the shortest distance is calculated and traveled without considering the motion of the other mobile robots.

In such a case, if the mobile robot is stopped to avoid collision with other mobile robots while traveling along the calculated path path, the operation efficiency may be lowered, or a plurality of mobile robots may fall into a deadlock state If you can not achieve the goal, it will come up.

There are two main ways to generate paths for individual mobile robots that can avoid collisions in multi-robot systems.

The first is the centralized method and the other is the decoupled method.

The centralized method simultaneously generates the paths of all the mobile robots in one cycle. When generating the path of each mobile robot, the path is generated considering the number of all the other mobile robots.

However, the centralized method provides an advantage of generating an optimum path, but the computational complexity increases exponentially as the number of mobile robots increases, which is disadvantageous when a large number of mobile robots are applied .

In addition, even if the centralized method generates the optimal route considering all the paths of the mobile robots in advance,

If the path travel time of the mobile robot is different from the expected one due to the delay of the obstacle or the work, it is necessary to regenerate the path of all the mobile robots from time to time. In this case, the complexity of the calculation mentioned above occurs during traveling, .

On the other hand, the decentralized method is a method for avoiding collision by individually generating paths of respective mobile robots, detecting a situation in which collision occurs between the mobile robots, and then modifying the collision path or controlling the speed.

The distributed method has the advantage of low individual computation amount, but it is difficult to guarantee the optimum path.

For example, the technique disclosed in Korean Patent No. 10-0670565 is a decentralized method, in which a region where a collision occurs is calculated and a speed profile is adjusted according to a priority to avoid a collision. However, the method disclosed in the above-mentioned Korean Patents has a possibility that the mobile robots are put into a deadlock state because they only avoid the collision by adjusting the speed of the mobile robot in a fixed path. For example, when two mobile robots face each other and change their positions, the above method does not provide a method of avoiding collision.

Accordingly, in the present specification, a distance from the user is calculated using the signal intensity value received from the user equipment, and the user is tracked while maintaining a certain distance from the user, and at the same time, collision with neighboring objects can be prevented using the ultrasonic sensor We propose an industrial field transportation robot.

Basically, in order for the robot proposed by the present invention to be applied, a device and a mobile robot for carrying the robot with the user are necessary.

Prior to the description of the present invention, the apparatus and the mobile robot for carrying a user with the robot and communicating with the robot will be described with reference to FIG.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a block diagram for explaining a robot proposed by the present invention or a device carried by a user.

1, the robot or device 100 includes a wireless communication unit 110, an A / V input unit 120, a user input unit 130, a sensing unit 140, an output unit 150, A memory 160, an interface unit 170, a control unit 180, a power supply unit 190, and the like.

However, the components shown in Fig. 1 are not essential, so that a robot or a device having more or fewer components may be implemented.

Hereinafter, the components will be described in order.

The wireless communication unit 110 may include one or more modules that enable wireless communication between a robot or a device and a wireless communication system or between a device and a network in which the device is located.

For example, the wireless communication unit 110 may include a broadcast receiving module 111, a mobile communication module 112, a wireless Internet module 113, a short range communication module 114, and a location information module 115 .

The broadcast receiving module 111 receives broadcast signals and / or broadcast-related information from an external broadcast management server through a broadcast channel.

The broadcast channel may include a satellite channel and a terrestrial channel. The broadcast management server may be a server for generating and transmitting broadcast signals and / or broadcast-related information, or a server for receiving broadcast signals and / or broadcast-related information generated in advance and transmitting the broadcast signals and / or broadcast-related information to a robot or a device. The broadcast signal may include a TV broadcast signal, a radio broadcast signal, a data broadcast signal, and a broadcast signal in which a data broadcast signal is combined with a TV broadcast signal or a radio broadcast signal.

The broadcast-related information may refer to a broadcast channel, a broadcast program, or information related to a broadcast service provider. The broadcast-related information may also be provided through a mobile communication network. In this case, it may be received by the mobile communication module 112.

The broadcast-related information may exist in various forms. For example, an EPG (Electronic Program Guide) of DMB (Digital Multimedia Broadcasting) or an ESG (Electronic Service Guide) of Digital Video Broadcast-Handheld (DVB-H).

For example, the broadcast receiving module 111 may be a Digital Multimedia Broadcasting-Terrestrial (DMB-T), a Digital Multimedia Broadcasting-Satellite (DMB-S), a Media Forward Link Only And a Digital Broadcasting System (ISDB-T) (Integrated Services Digital Broadcast-Terrestrial). Of course, the broadcast receiving module 111 may be adapted to other broadcasting systems as well as the digital broadcasting system described above.

The broadcast signal and / or broadcast related information received through the broadcast receiving module 111 may be stored in the memory 160.

The mobile communication module 112 transmits and receives a radio signal to at least one of a base station, an external device, and a server on a mobile communication network.

And various types of data according to transmission / reception of text / multimedia messages.

The wireless Internet module 113 refers to a module for wireless Internet access, and may be built in or enclosed in a robot or a device. WLAN (Wi-Fi), Wibro (Wireless broadband), Wimax (World Interoperability for Microwave Access), HSDPA (High Speed Downlink Packet Access) and the like can be used as wireless Internet technologies.

The short-range communication module 114 refers to a module for short-range communication. (Bluetooth), Radio Frequency Identification (RFID), infrared data association (IrDA), Ultra Wideband (UWB), ZigBee, WiFi Can be used.

The position information module 115 is a module for acquiring the position of a robot or a device, and a representative example thereof is a global positioning system (GPS) module.

Referring to FIG. 1, an A / V (Audio / Video) input unit 120 is for inputting an audio signal or a video signal, and may include a camera 121 and a microphone 122. The camera 121 processes an image frame such as a still image or a moving image obtained by the image sensor in the photographing mode. The processed image frame can be displayed on the display unit 151. [

The image frame processed by the camera 121 may be stored in the memory 160 or transmitted to the outside through the wireless communication unit 110. [ Two or more cameras 121 may be provided depending on the use environment.

The microphone 122 receives an external sound signal by a microphone in a recording mode, a voice recognition mode, or the like, and processes it as electrical voice data. The processed voice data can be converted into a form that can be transmitted to the mobile communication base station through the mobile communication module 112 and output. Various noise reduction algorithms may be implemented in the microphone 122 to remove noise generated in receiving an external sound signal.

The user input unit 130 generates input data for controlling the operation of the robot or the user by the user. The user input unit 130 may include a key pad dome switch, a touch pad (static / static), a jog wheel, a jog switch, and the like.

The sensing unit 140 senses the current state of the robot or the device, such as the open or closed state of the robot or the device, the position of the robot or the device, the user's contact, the orientation of the robot or the device, And generates a sensing signal for controlling the operation of the sensor.

The sensing unit 140 may sense whether the power supply unit 190 is powered on, whether the interface unit 170 is connected to an external device, and the like.

Meanwhile, the sensing unit 140 may include a proximity sensor 141.

In addition, the sensing unit 140 may further include an ultrasonic sensor 142.

The ultrasonic sensor 142 refers to a sensor using characteristics of an ultrasonic wave having a high frequency (about 20 KHz or more) that can not be heard by the human ear.

Ultrasonic waves can be used for air, liquid, and solid. Since the frequency is high and the wavelength is short, there is a feature that high resolution can be measured.

The wavelength used for the ultrasonic sensor 142 is determined according to the frequency of the sound velocity and the sound wave of the medium and is 1 mm to 100 mm for a fish finder or sonar in the sea, 0.5 mm to 15 mm for a metal probe, Mm.

The ultrasonic sensor 142 is the same as a transmitting element and a receiving element of ultrasonic waves, and a magnetostrictive material (ferrite or the like), a voltage, an electric deformation material (rocuronite, barium titanate, etc.) are used as a sensor material.

The output unit 150 is for generating an output relating to visual, auditory or tactile sense and includes a display unit 151, an acoustic output module 152, an alarm unit 153, a haptic module 154, 155, and the like.

The display unit 151 displays (outputs) information processed by the robot or the device.

The display unit 151 may be a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), a flexible display display, and a 3D display.

Some of these displays may be transparent or light transmissive so that they can be seen through. This can be referred to as a transparent display, and a typical example of the transparent display is TOLED (Transparent OLED) and the like. The rear structure of the display unit 151 may also be of a light transmission type. With this structure, the user can see the robot or the object located behind the device body through the area occupied by the robot or the display unit 151 of the device body.

There may be two or more display units 151 depending on the robot or the implementation of the device. For example, a robot or a device may have a plurality of display portions separated from each other on one surface or may be disposed integrally with each other, or may be disposed on different surfaces.

(Hereinafter, referred to as a 'touch screen') in which a display unit 151 and a sensor for sensing a touch operation (hereinafter, referred to as 'touch sensor') form a mutual layer structure, It can also be used as an input device. The touch sensor may have the form of, for example, a touch film, a touch sheet, a touch pad, or the like.

The touch sensor may be configured to convert a change in a pressure applied to a specific portion of the display unit 151 or a capacitance generated in a specific portion of the display unit 151 into an electrical input signal. The touch sensor can be configured to detect not only the position and area to be touched but also the pressure at the time of touch.

If there is a touch input to the touch sensor, the corresponding signal (s) is sent to the touch controller. The touch controller processes the signal (s) and transmits the corresponding data to the controller 180. Thus, the control unit 180 can know which area of the display unit 151 is touched or the like.

The proximity sensor 141 may be disposed within a robot or a device enclosed by the touch screen or in the vicinity of the touch screen. The proximity sensor refers to a sensor that detects the presence or absence of an object approaching a predetermined detection surface or a nearby object without mechanical contact using the force of an electromagnetic field or infrared rays. The proximity sensor has a longer life span than the contact sensor and its utilization is also high.

Examples of the proximity sensor include a transmission type photoelectric sensor, a direct reflection type photoelectric sensor, a mirror reflection type photoelectric sensor, a high frequency oscillation type proximity sensor, a capacitive proximity sensor, a magnetic proximity sensor, and an infrared proximity sensor. And to detect the proximity of the pointer by the change of the electric field along the proximity of the pointer when the touch screen is electrostatic. In this case, the touch screen (touch sensor) may be classified as a proximity sensor.

Hereinafter, for convenience of explanation, the act of recognizing that the pointer is positioned on the touch screen while the pointer is not in contact with the touch screen is referred to as "proximity touch & The act of actually touching the pointer on the screen is called "contact touch. &Quot; The position where the pointer is proximately touched on the touch screen means a position where the pointer is vertically corresponding to the touch screen when the pointer is touched.

The proximity sensor detects a proximity touch and a proximity touch pattern (e.g., a proximity touch distance, a proximity touch direction, a proximity touch speed, a proximity touch time, a proximity touch position, a proximity touch movement state, and the like). Information corresponding to the detected proximity touch operation and the proximity touch pattern may be output on the touch screen.

The audio output module 152 may output audio data received from the wireless communication unit 110 or stored in the memory 160 in a recording mode, a voice recognition mode, a broadcast receiving mode, or the like. The sound output module 152 also outputs a sound signal related to a function performed by the robot or the device. The audio output module 152 may include a receiver, a speaker, a buzzer, and the like.

The alarm unit 153 outputs a signal for notifying the occurrence of an event of the robot or the device.

The alarm unit 153 may output a signal for notifying the occurrence of an event in a form other than the video signal or the audio signal, for example, vibration.

The video signal or the audio signal may be output through the display unit 151 or the audio output module 152 so that they may be classified as a part of the alarm unit 153.

The haptic module 154 generates various tactile effects that the user can feel. A typical example of the haptic effect generated by the haptic module 154 is vibration. The intensity and pattern of the vibration generated by the hit module 154 can be controlled.

For example, different vibrations may be synthesized and output or sequentially output.

In addition to the vibration, the haptic module 154 may include a pin arrangement vertically moving with respect to the contact skin surface, a spraying force or a suction force of the air through the injection port or the suction port, a touch on the skin surface, contact with an electrode, And various tactile effects such as an effect of reproducing a cold sensation using an endothermic or exothermic element can be generated.

The haptic module 154 can be implemented not only to transmit the tactile effect through the direct contact but also to allow the user to feel the tactile effect through the muscular sensation of the finger or arm. The haptic module 154 may be equipped with two or more haptic modules according to a configuration of a robot or a device.

The projector module 155 is a component for performing an image project function using a robot or a device and is configured to have the same or at least the same image as displayed on the display unit 151 in accordance with a control signal of the controller 180 Some can display other images on an external screen or wall.

Specifically, the projector module 155 includes a light source (not shown) that generates light (for example, laser light) for outputting an image to the outside, a light source And a lens (not shown) for enlarging and outputting the image at a predetermined focal distance to the outside. Further, the projector module 155 may include a device (not shown) capable of mechanically moving the lens or the entire module to adjust the image projection direction.

The projector module 155 can be divided into a CRT (Cathode Ray Tube) module, an LCD (Liquid Crystal Display) module and a DLP (Digital Light Processing) module according to the type of the display means. In particular, the DLP module may be advantageous for miniaturization of the projector module 151 by enlarging and projecting an image generated by reflecting light generated from a light source on a DMD (Digital Micromirror Device) chip.

Preferably, the projector module 155 may be provided longitudinally on the side, front or back side of the robot or appliance. Needless to say, the projector module 155 may be provided at any position of the robot or the apparatus, if necessary.

The memory unit 160 may store programs for processing and control of the controller 180 and may store functions for temporarily storing input / output data (e.g., messages, audio, still images, . ≪ / RTI > The frequency of use of each of the data may be stored in the memory unit 160 as well. In addition, the memory unit 160 may store data on vibration and sound of various patterns output when the touch is input on the touch screen.

The memory 160 may be a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (for example, SD or XD memory), a RAM (Random Access Memory), SRAM (Static Random Access Memory), ROM (Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), PROM A disk, and / or an optical disk. The robot or device may operate in association with a web storage that performs the storage function of the memory 160 on the Internet.

The interface unit 170 serves as a path between the robot and all external devices connected to the device. The interface unit 170 receives data from an external device, receives power from the external device, transfers the power to each component in the robot or the device, or transmits data in the robot or device to an external device. For example, a wired / wireless headset port, an external charger port, a wired / wireless data port, a memory card port, a port for connecting a device having an identification module, an audio I / O port, A video input / output (I / O) port, an earphone port, and the like may be included in the interface unit 170.

The identification module is a chip that stores various information for authenticating the use right of the robot or the device. The identification module includes a user identification module (UIM), a subscriber identity module (SIM), a universal user authentication module Identity Module, USIM), and the like. Devices with identification modules (hereinafter referred to as "identification devices") can be manufactured in a smart card format. The identification device can thus be connected to the robot or device through the port.

The interface unit may be a path through which power from the cradle is supplied to the robot or the device when the robot or the device is connected to an external cradle or various command signals input from the cradle by the user are transmitted to the mobile device It can be a passage. The various command signals or the power source input from the cradle may be operated as a signal for recognizing that the mobile device is correctly mounted on the cradle.

The controller 180 typically controls the overall operation of the robot or device.

The control unit 180 may include a multimedia module 181 for multimedia playback. The multimedia module 181 may be implemented in the control unit 180 or may be implemented separately from the control unit 180. [

The controller 180 may perform a pattern recognition process for recognizing handwriting input or drawing input performed on the touch screen as characters and images, respectively.

The power supply unit 190 receives external power and internal power under the control of the controller 180 and supplies power necessary for operation of the respective components.

The various embodiments described herein may be embodied in a recording medium readable by a computer or similar device using, for example, software, hardware, or a combination thereof.

According to a hardware implementation, the embodiments described herein may be implemented as application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays May be implemented using at least one of a processor, controllers, micro-controllers, microprocessors, and other electronic units for performing other functions. In some cases, The embodiments described may be implemented by the control unit 180 itself.

According to a software implementation, embodiments such as the procedures and functions described herein may be implemented with separate software modules. Each of the software modules may perform one or more of the functions and operations described herein. Software code can be implemented in a software application written in a suitable programming language. The software code is stored in the memory 160 and can be executed by the control unit 180. [

FIG. 2 shows a specific example of a receiving unit and a control unit applied to the robot proposed by the present invention.

1 shows an example of a circuit when the wireless communication unit 110 operates as a receiving unit and a circuit applied when the control unit 180 performs a receiving operation together with the wireless communication unit 110. [

3A and 3B illustrate a concrete example of a transmitter applied to a robot proposed by the present invention.

That is, the circuit diagram and the actual circuit state when the wireless communication unit 110 described in FIG. 1 operates as a transmitting unit are shown.

The service provided by the present invention will be described in detail based on the constituent elements of the present invention described above.

A general carrying robot is often used as an industrial robot that moves and memorizes the direction and position to go to the memory itself.

If you give more ideas, you can use robots such as office, shopping, library, restaurants and so on to meet the goal of implementing robots that coexist together without depriving the human occupation according to the changing IT period, It is thought that it will be utilized in various places as a robot for carrying more conveniently, and the present invention has been proposed.

The purpose of the tracing and carrying robot is to implement a robot that coexists together without taking away the occupation of human beings in accordance with the changed IT age, rather than a robot that assists the person's work arbitrarily.

It can be used to carry heavy objects in the industrial field or transform them into the shape of a work platform, or to collect books by collecting them in a library, which can be convenient in various daily situations including industrial sites.

By using such a tracing and carrying robot, human labor saving power can be greatly expected, and it can be used not only in the industrial field but also in daily life, thereby improving the efficiency of work and quality of life.

In the present invention, a control unit 180 such as ATmega 128a may be used to control a wireless communication unit 110 and a motor (not shown) for performing close-range communication such as ZigBee.

Also, in the present invention, the distance between the user and the mobile robot can be measured using the RSSI value such as the gravity or the like according to the control of the controller 180.

In addition, the ultrasonic sensor 142 can be used to recognize a person or an object to prevent a collision.

FIG. 4 is a flowchart illustrating a method of tracking a user using a robot proposed by the present invention and preventing a collision with neighboring objects in advance.

Referring to FIG. 4, first, a step S100 in which the user's device and the transportation assist robot communicate with each other is performed.

Thereafter, a step S200 of calculating the separation distance from the user using the signal intensity value received from the user equipment by the transportation assist robot is performed.

As a representative example, a distance from the user can be calculated using a signal strength indicator (Signal Strength Indicator).

Further, the transportation assist robot compares the predetermined distance with the calculated distance, thereby performing the step S300 of tracking the user while maintaining the distance between the transportation assist robot and the user.

Thus, it is possible for the user and the mobile robot to perform work while moving to a specific place while maintaining a predetermined distance.

In addition, a step S400 of transmitting the ultrasonic waves to the outside using the ultrasonic sensor 142 is performed by the transportation assist robot.

Thereafter, the transporting assistant robot recognizes the surrounding objects through the feedback of the transmitted ultrasonic waves (S500), and if the surrounding objects are recognized, the transporting assistant robot stops moving to prevent the collision (S600).

Accordingly, the present invention calculates a distance from a user using a signal intensity value received from a user device, tracks a user while maintaining a certain distance from the user, and prevents collision with neighboring objects using an ultrasonic sensor The present invention can provide an industrial field-carrying robot having the above-described structure.

The above-described embodiments of the present invention can be implemented by various means. For example, embodiments of the present invention may be implemented by hardware, firmware, software, or a combination thereof.

In the case of hardware implementation, the method according to embodiments of the present invention may be implemented in one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs) , FPGAs (Field Programmable Gate Arrays), processors, controllers, microcontrollers, microprocessors, and the like.

In the case of an implementation by firmware or software, the method according to embodiments of the present invention may be implemented in the form of a module, a procedure or a function for performing the functions or operations described above. The software code can be stored in a memory unit and driven by the processor. The memory unit may be located inside or outside the processor, and may exchange data with the processor by various well-known means.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The foregoing description of the preferred embodiments of the invention disclosed herein has been presented to enable any person skilled in the art to make and use the present invention. While the present invention has been particularly shown and described with reference to preferred embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. For example, those skilled in the art can utilize each of the configurations described in the above-described embodiments in a manner of mutually combining them. Accordingly, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. Accordingly, the above description should not be construed in a limiting sense in all respects and should be considered illustrative. The scope of the present invention should be determined by rational interpretation of the appended claims, and all changes within the scope of equivalents of the present invention are included in the scope of the present invention. The present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein. In addition, claims that do not have an explicit citation in the claims may be combined to form an embodiment or be included in a new claim by amendment after the filing.

Claims (3)

A method for controlling an industrial field carrying robot communicating with a user equipment,
Receiving a signal from the user equipment;
Calculating an intensity value of the received signal;
Calculating a separation distance from the user using the intensity value of the signal;
Comparing the calculated distance with the calculated distance;
Maintaining a state in which the user is away from the predetermined distance by using the comparison result;
Transmitting ultrasound to the outside using an ultrasonic sensor;
Determining whether a surrounding object is present using the feedback of the transmitted ultrasonic wave; And
And stopping the movement if the neighboring object is present. The method according to claim 1,
Wherein the intensity value of the signal is a signal strength indicator. The method according to claim 1,
Wherein the user equipment and the industrial site carrying robot communicate using at least one of short-distance communication and long-distance communication,
The near-field communication includes Bluetooth, Radio Frequency Identification (RFID), infrared data association (IrDA), Ultra Wideband (UWB), ZigBee, and Wi-Fi (Wireless Fidelity)
The long-distance communication may be performed using a code division multiple access (CDMA), a frequency division multiple access (FDMA), a time division multiple access (TDMA), an orthogonal frequency division multiple access (OFDMA), a single carrier frequency division multiple access Wherein the control unit is configured to control the operation of the industrial field carrying robot.

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