KR102306162B1 - Method of configuring blocking region by indentifying blocking apparatus and robot implementing thereof - Google Patents

Abstract

The present invention relates to a method of identifying a blocking device to set a blocking area and a robot implementing the same. Sensing an object placed outside of setting an area, and the control unit storing the blocking device and information on the blocking area in a map storage unit.

Description

A method of identifying a blocking device to set a blocking area and a robot implementing it

The present invention relates to a method for identifying a blocking device to set a blocking area and a robot implementing the same.

In order for the robot to operate in a space where human and material exchanges actively occur, such as cultural facilities such as airports, schools, government offices, hotels, offices, factories, gyms, and performance halls, it is necessary to have a map of the entire space. On the other hand, the map is created based on a certain point in time, and in some cases, dynamically blocking the entry of a robot in the space is helpful in space operation.

In particular, in a space where a large number of people move, such as an airport, a port, or a train station, various devices can be arranged for the convenience of people or to prohibit entry into a specific space. In some cases, this cannot be confirmed through the map. In order to prevent this, it is necessary for the robot to change the traveling path of the robot or to identify a space where entry is blocked during the driving process. Otherwise, the robot may have problems colliding with people or entering the area being repaired or refurbished. Therefore, in order to solve this problem, in the present specification, an attempt is made to identify an area where the robot is blocked from entering and analyze it to propose a method for the robot to move.

In this specification, in order to solve the above-described problem, blocking devices disposed on the path of the robot are identified and avoided, or information about the area where the blocking devices are disposed is calculated and stored on the map, and it is avoided and driven. An object of the present invention is to provide a method and an apparatus for implementing the same.

In addition, in the present specification, information on the blocking device is maintained in a database to check the area where the robot is blocked from entering, and the physical characteristics of the blocking devices are checked using a vision sensing unit, a depth sensing unit, and other sensing units. , to provide a method for determining a blocking area when these features are sensed, and an apparatus for implementing the same.

The objects of the present invention are not limited to the above-mentioned objects, and other objects and advantages of the present invention not mentioned may be understood by the following description, and will be more clearly understood by the examples of the present invention. Moreover, it will be readily apparent that the objects and advantages of the present invention may be realized by the means and combinations thereof indicated in the claims.

The method of identifying a blocking device and setting a blocking area according to an embodiment of the present invention includes the steps of: a blocking device detecting unit of a robot sensing an object disposed outside the robot; checking whether the object is a blocking device, the control unit of the robot setting a blocking area based on the blocking device, and the control unit storing information on the blocking device and the blocking area in a map storage unit including storing it in

A robot for identifying a blocking device and setting a blocking area according to another embodiment of the present invention includes a moving unit that provides a driving function of the robot, a blocking device sensing unit sensing an object disposed outside, and a blocking device sensing unit When the object is a blocking device, it includes a control unit for setting a blocking area based on the blocking device, and a map storage unit for storing information on the blocking device and the blocking area.

When the embodiments of the present invention are applied, the robot can identify blocking devices that are variously arranged in a large-area space using a vision sensing unit and a depth sensing unit, or optionally a lidar sensing unit and an infrared sensing unit, When these blocking devices are disposed in a group, the corresponding area may be set as the blocking area, and the robot and other robots may be controlled to avoid the blocking area and run.

In addition, in the present specification, the above-described robot provides a sensor and a database that confirms the physical characteristics of the blocking devices, and uses them to sense the physical and positional characteristics of the blocking device and the blocking area so that the robot can interact with the blocking device or people. It allows you to drive without crashing.

The effects of the present invention are not limited to the above-described effects, and those skilled in the art can easily derive various effects of the present invention from the configuration of the present invention.

1 is a view showing the shapes of blocking devices according to an embodiment of the present invention.
2 is a view showing the configuration of the blocking device detecting unit constituting the robot according to an embodiment of the present invention.
3 is a view showing the components of a robot according to an embodiment of the present invention.
4 is a diagram illustrating a process in which the blocking device detecting unit 100 determines an external object according to an embodiment of the present invention.
5 is a view showing a process in which the robot according to an embodiment of the present invention identifies a guideline-type blocking rod.
6 is a view showing a process of identifying a blocking device according to another embodiment of the present invention.
7 is a view showing a process of identifying a blocking device according to an embodiment of the present invention and setting an entry prohibited area.
8 is a diagram in which blocking areas are registered on a map according to an embodiment of the present invention.
9 is a view showing a process in which the robot sets a blocking area according to an embodiment of the present invention.
10 and 11 are diagrams illustrating a process of setting a blocking area when the robot detects a blocking device according to an embodiment of the present invention.
12 to 13 are diagrams illustrating a process of setting a blocking area when blocking devices according to another embodiment of the present invention are grouped.
14 is a diagram illustrating a process of transmitting and receiving information on a blocking device and a blocking area between a plurality of robots according to an embodiment of the present invention.
15 is a view for setting a blocking area according to the depth of the blocking device according to an embodiment of the present invention.
16 is a view for confirming a movable area in a space in which the robot according to an embodiment of the present invention is set as a blocking area.

Hereinafter, with reference to the drawings, embodiments of the present invention will be described in detail so that those of ordinary skill in the art to which the present invention pertains can easily implement them. The present invention may be embodied in many different forms and is not limited to the embodiments described herein.

In order to clearly explain the present invention, parts irrelevant to the description are omitted, and the same reference numerals are given to the same or similar elements throughout the specification. Further, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In adding reference numerals to components of each drawing, the same components may have the same reference numerals as much as possible even though they are indicated in different drawings. In addition, in describing the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description may be omitted.

In describing the components of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only for distinguishing the elements from other elements, and the essence, order, order, or number of the elements are not limited by the terms. When it is described that a component is “connected”, “coupled” or “connected” to another component, the component may be directly connected or connected to the other component, but other components may be interposed between each component. It will be understood that each component may be “interposed” or “connected”, “coupled” or “connected” through another component.

In addition, in implementing the present invention, components may be subdivided for convenience of description, but these components may be implemented in one device or module, or one component may include a plurality of devices or modules. It may be implemented by being divided into .

Hereinafter, in the present specification, a robot includes a device that moves while having a specific purpose (cleaning, security, monitoring, guidance, etc.) or providing a function according to the characteristics of the space in which the robot moves. Accordingly, a robot in the present specification refers to a device that has a moving means that can move using predetermined information and a sensor and provides a predetermined function.

In this specification, the robot can move while holding the map. The map refers to information about fixed walls, stairs, etc. that have been confirmed not to move in space. In addition, the robot can dynamically store information on separate objects on the map. For example, information about blocking access to a specific area may also be stored. Since such information is temporarily blocked from entering, information about it may be dynamically stored.

1 is a view showing the shapes of blocking devices according to an embodiment of the present invention. In cultural facilities such as airports, schools, government offices, hotels, offices, factories, gymnasiums, and performance halls (hereinafter referred to as "large-area floating population space"), the blocking device (a.k.a. blocking rod) indicated in 11 for the safe and rapid movement of people can be placed. 11 is a shape in which the guide line 11c connects between the two blocking rods 11a and 11b.

In addition, since repair or maintenance work is always in progress in a large floating population space, signs such as 12 or 13 to prevent people from entering may be placed. 12 or 13 is a case in which the shape confirmed from the front side and the shape confirmed from the side are different from the case where it is arranged spread out at a certain angle (eg, an acute angle).

As described above, various blocking devices may be disposed according to the change situation for each zone of the large-area floating population. Therefore, it is necessary for the robot to discriminate and drive.

To this end, the robot uses a method for identifying a blocking device, a method for identifying whether the blocking devices are clustered, a method for calculating an area that cannot be entered through arrangement of blocking devices, and an area that can be entered from among the areas that cannot be entered through the arrangement of blocking devices. It is possible to implement a method of selecting a robot, and a method of updating the information on these areas on the map or providing it to other robots. Let's look at this in more detail.

2 is a view showing the configuration of the blocking device detecting unit constituting the robot according to an embodiment of the present invention. The blocking device detecting unit 100 includes a blocking device database unit 110 for storing information on the blocking device, a vision sensing unit 120 for sensing the blocking device as an image, and a depth sensing unit 130 for sensing the blocking device as a depth. ), and a detection control unit 150 for controlling the blocking device database unit 110 and the sensing units 120 and 130, and storing information on the newly identified blocking device in the blocking device database unit 110 as described above. do.

Meanwhile, in addition to this, the blocking device detecting unit 100 may include a plurality of auxiliary sensing units 141 and 149 for sensing an external object. A lidar sensor, an ultrasonic sensor, an infrared sensor, etc. may constitute the above-described auxiliary sensing units. These auxiliary sensing units, and the aforementioned vision sensing unit 120 and depth sensing unit 130 may be used to sense a surrounding object in order for the robot to move by identifying a blocking device.

The blocking device database unit 110 stores various information of the blocking device. In one embodiment, image information on the front, rear, side, etc. of the blocking device may be stored so that it can be checked whether the image calculated by the vision sensing unit 120 corresponds to the blocking device. In addition, in another embodiment, the blocking device database unit 110 stores depth information on the front, rear, side, etc. of the blocking device so that it can be checked whether the depth data calculated by the depth sensing unit 130 corresponds to the blocking device. can The robot may receive information generated by another robot or another system and store it in the blocking device database unit 110 .

Also, among the blocking devices sensed by the vision sensing unit 120 , a blocking device having a new appearance that is not stored in the blocking device database unit 110 may be detected by the robot in proximity to the blocking device. That is, the vision sensing unit 120 and the depth sensing unit 130 precisely sense and store the sensed information in the blocking device database unit 110 so that the robot can sense the blocking device of the same appearance when the robot moves later.

The vision sensing unit 120 captures objects around the robot and calculates them as images. When the degree of similarity to the blocking device among the image information captured by the vision sensing unit 120 is greater than or equal to a certain level, the detection control unit 150 may compare the captured image information with images stored in the blocking device database unit 110 .

Similarly, the depth sensing unit 130 also calculates depths of objects around the robot. In particular, depth information may be calculated centering on an object having a high similarity to the blocking device among images captured by the vision sensing unit 120, and the corresponding image information and depth information may be combined. In addition, the sensing control unit 150 may identify the blocking device by comparing the depth information stored in the blocking device database unit 110 with the depth information of the external object.

In addition, since the robot is movable, when the degree of agreement between the external object and the blocking device is within the effective range but is not high, it moves around the external object and the vision sensing unit 120 and the depth sensing unit 130 described above. may calculate the image and depth information for the external object and compare it with the image and depth information stored in the blocking device database unit 110 again.

Hereinafter, a process in which the robot identifies a blocking device in a large-area floating population space in combination with other components of the robot and changes the driving path accordingly will be described.

3 is a view showing the components of a robot according to an embodiment of the present invention.

The robot 1000 includes a blocking device detection unit 100 for sensing an object disposed outside, a map storage unit 200 for storing a map, and a moving unit for providing a driving function of the robot, that is, controlling the movement of the robot ( 300), a function unit 400 that performs a predetermined function of the robot, a communication unit 500 that transmits and receives information about a blocking device with another robot or transmits and receives information about an area that cannot be entered due to such a blocking device, and these It is composed of a control unit 900 that controls the components.

The blocking device detection unit 100 is the same as previously described in FIG. 2 . The map storage unit 200 stores information on which fixed/moving objects are arranged in a space in which the robot moves, or which obstacles are arranged. The map storage unit 200 may also store locations of fixed/moving objects and characteristic information (information about the fixedness, and material characteristic information of the objects) that they have.

When the object sensed by the above-described blocking device detecting unit 100 is a blocking device, the control unit 900 may set a blocking area based on the blocking device. This will look at the process of setting the blocking area in various embodiments to be described later.

In addition, the map storage unit 200 stores not only information on fixed objects, but also information on the blocking device and the blocking area.

The moving unit is a means for moving the robot 1000 like a wheel, and moves the robot 1000 under the control of the controller 900 . In this case, the control unit 900 may provide a movement signal to the moving unit 300 by checking the current position of the robot 1000 in the area stored in the map storage unit 200 . In addition, the control unit 900 analyzes the information on the external blocking device sensed by the blocking device detecting unit 100 to check whether there is an area that cannot be entered in the moving direction, and then controls the movement of the moving unit 300 . can do.

The function unit 400 means providing a specialized function of the robot. For example, in the case of a cleaning robot, the functional unit 400 includes components necessary for cleaning. In the case of a guide robot, the functional unit 400 includes components necessary for guidance. In the case of a security robot, the functional unit 400 includes components necessary for security. The function unit 400 may include various components according to functions provided by the robot, but the present invention is not limited thereto.

Hereinafter, in the present specification, when a robot detects a blocking device and a plurality of these blocking devices are disposed, a process of driving by separately setting an area that the robot cannot enter will be described.

4 is a diagram illustrating a process in which the blocking device detecting unit 100 determines an external object according to an embodiment of the present invention.

In the process of the robot traveling, the blocking device detecting unit 100 detects an object disposed in the vicinity (S410). In one embodiment, the method includes detecting the blocking device (movable blocking rod, guideline, entry prohibition sign, etc.) exemplarily shown in FIG. 1 using the vision sensing unit 120 and the depth sensing unit 130 . When an object is detected, the detection control unit 150 compares the detected object with object information stored in the blocking device database unit 110 to calculate a similarity (S420).

In more detail, by comparing the information of the object sensed by the vision sensing unit 120 and the depth sensing unit 130 with information stored in the blocking device database unit 110 of the robot, the blocking device database unit 110 is shape can be recognized. And, the shape of the blocking device may be recognized based on the recognized depth of the blocking device. Based on the size and shape of the recognized object, the degree of similarity is calculated by comparing it with the object information of the previously stored blocking device database unit.

When it is determined that the calculated similarity is similar to the blocking device, for example, when the similarity is greater than the preset standard “Sim_Blocking_Factor1”, the recognized object is identified as the blocking device and the location of the blocking device is checked (S440) ). This may use the depth sensing unit 130 . Alternatively, a distance or location from the blocking device may be checked using a plurality of auxiliary sensing units 141 and 149 . And the blocking device detection unit 100 transmits the location information of the blocking device to the control unit (S450). The control unit changes the driving route according to the location of the blocking device (S460), and operates as an obstacle avoidance operation scenario for the blocking device (S470).

Meanwhile, in S430, when the similarity is smaller than the preset reference "Sim_Blocking_Factor1" but greater than "Sim_Blocking_Factor2" (S432), the object is detected by increasing the detection accuracy (S434). To increase the detection accuracy, the robot moves close to the object or moves around the object so that the vision sensing unit 120 and the depth sensing unit 130 can detect the shape, color, etc. of the object from multiple angles. do. With respect to the detected result, a similarity is calculated again in step S420, and a subsequent process is performed.

If the degree of similarity is smaller than "Sim_Blocking_Factor2" in S430, it is determined that there is no blocking device and the robot can continue driving (S436).

Here, Sim_Blocking_Factor1 and Sim_Blocking_Factor2 may maintain the following relationship.

Sim_Blocking_Factor1 > Sim_Blocking_Factor2

Here, Sim_Blocking_Factor1 and Sim_Blocking_Factor2 may be changed while the robot detects a blocking device or may be set to new values from the outside. In an embodiment, Sim_Blocking_Factor1 may be 90% and Sim_Blocking_Factor2 may be 60%. When the detection control unit 150 compares the information of the object sensed by the robot and the information stored in the blocking device database unit 110 and the degree of similarity is 90% or more, the blocking device may be used. On the other hand, when the detection control unit 150 compares the object information sensed by the robot with the information stored in the blocking device database unit 110 and the similarity is less than 90% but greater than 60%, additional confirmation is required through more precise sensing. do. In this case, the robot may move to accurately sense the object or sense it from a different angle, or may additionally acquire information about the object by using other auxiliary sensing units.

The blocking devices shown in FIG. 1 may be divided into two classes. As shown in 11, the blocking rods 11a, 11b and the guide line 11c are selectively arranged and the shape is free from deformation, and as shown in 12 and 13, when the shape is fixed compared to 11, it can be divided.

A blocking device as shown in 11 of FIG. 1 is called a guideline-type blocking rod, and such a guideline-type blocking rod may be disposed to prevent people from entering or to allow people to line up in a specific space. Therefore, the process of recognizing the guideline-type blocking rod as shown in 11 of FIG. 1 will be described in more detail.

5 is a view showing a process in which the robot according to an embodiment of the present invention identifies a guideline-type blocking rod. The guideline type blocking device is composed of blocking rods 11a and 11b and a guideline 11c as shown in FIG. 1 . The guideline 11c may be selectively disposed.

Step S410 of FIG. 4 will be described in more detail.

The blocking device detecting unit 100 of the robot detects two or more blocking rods disposed in the front during the driving process (S411). The shape of the blocking rod detected by the vision sensing unit 120 is compared with the blocking device database unit 110 (S412). Here, unlike S420 of FIG. 4 , it means a primary comparison. It can be compared with the information stored in the blocking device database unit 110 based on the shape of the blocking rod, for example, a structure in which a shape such as a disk is disposed below a vertical bar type.

And the depth sensing unit 130 calculates depth information of the blocking rod (S413). The calculation of the depth information includes calculating information on the direction in which the object is disposed, such as whether the detected blocking rods are two but different in size, whether they are detected from the front or from the side. Also, the depth sensing unit 130 or the vision sensing unit 120 senses whether the guide line 11c is disposed between the blocking rods (S414).

If information (shape, depth, color, etc.) of the blocking rod that can be compared with the blocking device database unit is calculated through the above-described processes ( S415 ), the process proceeds to step S420 of FIG. 4 .

Afterwards, in the process S460 of FIG. 4 , even if there is no guideline between the blocking rods, or even if the guideline is at a height that the robot can pass, since the blocking device called the blocking rod is a space in which the blocking device is disposed, the entire blocking rod is used as a blocking device. It can be identified and the driving route can be changed.

6 is a view showing a process of identifying a blocking device according to another embodiment of the present invention. It is a view showing a process of identifying a blocking device such as 12 or 13 of FIG. 1 . 12 or 13 of FIG. 1 is different from the shape of the blocking device at the front and the shape at the side. Accordingly, the robot can convert the detected shape of the blocking device into a front image.

First, the blocking device detecting unit 100 of the robot detects an object disposed in the front during the driving process (S611). The image of the object detected by the vision sensing unit 120 is converted into a front image (S612). For example, if the robot is in an oblique position instead of in front of the object, the obliquely detected image of the object can be converted into an image of the front side. It is checked whether the converted front image provides enough information to compare with the blocking device database unit 110 (S613).

This is to distinguish between a case in which a front image cannot be accurately generated when the robot is placed on the side of an object and a case in which the robot is placed in a position close to the front of the object. In the former case, since the front image does not provide enough information to compare with the blocking device database unit 110, the robot moves and the vision sensing unit 120 detects the other side of the object (S614). Thereafter, as in the process S612, the vision sensing unit 120 converts the image of the newly sensed object into the front image, and then proceeds to the process S613. As a result, if sufficient information is provided, it proceeds to S616 and calculates information on the blocking device that can be compared with the blocking device database unit 110 in the front image (S615).

Meanwhile, since the blocking device database unit 110 stores information (image information, depth information, etc.) acquired in various directions of the blocking devices in advance, the process of converting the blocking device into a front image may be omitted.

4 to 6 are summarized as follows.

In the process of sensing the object, as described above, any one or more of the vision sensing unit 120 and the depth sensing unit 130 of the blocking device sensing unit 100 calculates any one or more of image information or depth information of the object. includes the process of

In addition, as shown in S420 to S430, the process of determining whether the sensed object is a blocking device compares any one or more of image information or depth information with information stored in the blocking device database unit 110 to calculate the similarity. include

In particular, in order to more accurately detect the blocking device, if the similarity falls within an ambiguous range in which the degree of similarity is unclear after calculating the degree of similarity (S420), for example, the range of similarity in FIG. 4 is smaller than Sim_Blocking_Factor1 but larger than Sim_Blocking_Factor2. If it belongs, the object may be detected by increasing the detection accuracy (S434). In one embodiment, in order to more accurately detect an object, the controller 900 controls the moving unit 300 to move the robot 1000 to change a distance or angle with the object, and detects a blocking device at the moved position. The unit 100 may detect an object. In this case, since various shapes of the object can be detected closer to the object or from different angles, it is possible to more accurately determine whether the object corresponds to the blocking device.

7 is a view showing a process of identifying a blocking device according to an embodiment of the present invention and setting an entry prohibited area. 7 shows an embodiment of the map 210 stored in the map storage unit.

First, the map 210 will be briefly described. The map means information about a space in which the robot 1000 can move. The map divides the entire space into subdivided unit areas and stores information on whether a fixed object or a blocking device is disposed in the unit area. In the case of FIG. 7 , a predetermined space is divided by 20 horizontally (x-axis) and vertically (y-axis). When each cell is displayed in black, it means that a fixed object is placed. Each cell can store information of a certain size. That is, the map can be configured in various ways, and is divided into a certain unit area (cell) as shown in FIG. 7 to determine whether a fixed object exists in each unit area, whether a blocking device is disposed, or whether a blocking area exists. information can be stored.

Also, the map storage unit 200 may store not only a fixed object but also a blocking device such as 1 or 2.

In FIG. 7, a straight line from (4, 13) to (9, 13) and (4, 5) to (6,5), (6, 5) to (6,10), (6, 10) to (9) , 10) are all marked as "1" on the map by the blocking device as shown in 11 of FIG. 1 detected by the robot.

On the other hand, at (16, 12), the blocking device as shown in 12 of FIG. 1 is detected by the robot and is displayed as "2" on the map.

In addition, at (14, 4), the blocking device as shown in 13 of FIG. 1 is detected by the robot and marked as "3" on the map.

In the configuration shown in FIG. 7 , the robot is in a situation in which it can sufficiently enter if there is a space of one cell. Accordingly, the robot may also enter the area indicated by 710 . However, if the blocking devices marked with “1” on the map form a closed curve together with fixed objects depending on the location of the arrangement, or if their configuration is a blocking device that distinguishes the surrounding space from the surrounding space, the robot is It is set as an area that cannot be entered without entering, that is, a blocked area.

Similarly, even with respect to the blocking device (indicated by “3”) disposed at (14, 4), the robot can sufficiently enter the space 720 disposed between the two fixed objects, but when the blocking device is disposed at the doorway The space indicated by 720 is set as a blocking area.

On the other hand, there is only one blocking device disposed at (16, 12), and there are no other fixed objects around. This can be regarded as a situation that can prohibit entry into the vicinity of the blocking device. Accordingly, the robot can set the blocking area 750 while maintaining an interval by a certain distance with respect to the cell in which the blocking device is disposed. In this case, as an embodiment, the area indicated at 750 is set as a blocking area that does not enter into an area separated by a cell size of one cell in the vertical, left, right, and diagonal directions from the cell in which the blocking device is disposed. In another embodiment, the robot may sense the material of the floor using auxiliary sensing units, and may set areas in which the material of the floor is changed around the blocking device as the blocking area.

After the robot identifies the blocking device as shown in FIG. 7 , cells that are temporarily unable to enter can be separately displayed on the map as a blocking area.

8 is a diagram in which blocking areas are registered on a map according to an embodiment of the present invention. In the configuration of FIG. 7 , a value of “9” is set in the cells indicated by 710, 750, and 720. This value is a predefined value and means that it is registered on the map as not entering when adjacent blocking devices are placed as they are.

In FIGS. 7 and 8 , a value indicating a specific blocking device, a fixed object, and a temporarily inaccessible blocking area may be variously selected according to a method of implementing a map, and the present invention is limited to these values or a storage method it's not going to be

9 is a view showing a process in which the robot sets a blocking area according to an embodiment of the present invention.

The blocking device detection unit 100 of the robot 1000 senses an object disposed outside the robot (S910). Thereafter, it is checked whether the object sensed by the blocking device detection unit 100 is a blocking device (S920). This may include some of the processes S410 to S450 of FIG. 4 above. In addition, in order to increase the detection accuracy of the blocking device, as in the embodiments of FIGS. 5 and 6 , an object may be detected differently depending on the appearance of the blocking device.

Thereafter, when the sensed object is a blocking device (S930), the controller 900 of the robot 1000 sets a blocking area based on the blocking device (S940). This has been described earlier in FIGS. 7 and 8 that the blocking area can be set in various ways according to the arrangement of the blocking device, the distance from other fixed objects, the clustering of the blocking device, and the like.

Then, the control unit 900 stores the blocking device and the blocking area in the map storage unit 200 (S950). "Storing" means storing the blocking device and the blocking area in the corresponding location on the map by distinguishing them from the fixed objects. Examples in which the blocking device and the blocking area are registered have been described in FIGS. 7 and 8 .

On the other hand, if the object detected in S930 is not the blocking device, the robot performs an obstacle avoiding operation on the object (S960).

In summary, the robot 1000 registers the positions of the blocking devices temporarily disposed during the driving process on the map, and blocks these blocking devices in a cluster (in the case of 710), or blocks a specific space in relation to a fixed object (in the case of 720), even if the space is physically possible to enter, it is set as an area that cannot be entered so that the robot does not enter. In addition, this information can be transmitted to other robots so that other robots do not enter when the same blocking devices are placed as they are.

In S940 of FIG. 9 , an embodiment of setting a blocking area may be classified according to a case in which one or a plurality of blocking devices are disposed or a case in which the blocking devices are disposed adjacent to a fixed object.

10 and 11 are diagrams illustrating a process of setting a blocking area when the robot detects a blocking device according to an embodiment of the present invention. 10 and 11 show the positions of the robot and the objects from above, and these positions may be stored in the map storage unit corresponding to the cell size.

First, the robot 1000a approaches the external object indicated at 1010 in the driving process. As a result of detecting the appearance of this object, it was confirmed that it was a blocking device, and the location of the object, that is, the blocking device, was marked as "1" on the map.

Hereinafter, 1001a to 1006a of FIG. 10 indicate the above-described blocking device as “1” and the position of the robot as “R” on the map. Each represents a different spatial situation. 1001b to 1006b of FIG. 11 are diagrams in which blocking areas are set corresponding to 1001a to 1006a of FIG. 10 .

In one embodiment, the blocking device and the robot do not have the same fixed object as 1001a. The presence or absence of a fixed object may be stored on the map, and a result of sensing while the robot travels in real time may be stored.

In a configuration such as 1001a, the robot has no other blocking devices or stationary objects within a certain distance (for example, a distance of 3 cells) around the area where the blocking device 1010 is placed (the area marked with “1”). check That is, when the robot confirms that there is no fixed object or blocking device around the object that is the blocking device 1010, as shown in 1001b of FIG. At least one of the areas divided according to the floor material is set as the blocking area.

A certain range around the blocking device can be calculated in units of cells, and all indicated areas such as 1101 can be set to “5” and registered on the map as a blocking area. In another embodiment, a floor material around the blocking device may be checked using the vision sensing unit 120 or auxiliary sensing units, and only an area having the same floor material as the area in which the blocking device is disposed may be set as the blocking area. For example, as in 1102, if the floor materials in the area 2 spaces up on the y-axis and 1 space to the right on the x-axis centering on the area where the blocking device is placed are the same, and the floor materials in other areas are different, this It is determined that the area is under construction or for a specific treatment, and the area indicated by 1102 can be set as a blocking area.

Next, look at 1002a, 1003a, and 1004a. This shows the case where the distance between the blocking device (displayed as “1”) and the fixed object detected by the robot is farther than the set standard. In all of 1002a, 1003a, and 1004a, a blocking device is disposed in the direction of entry of the robot, and the distance between the blocking device and the surrounding fixed object is 3 cells per cell. When the predetermined criterion is 2 spaces, the distance between the fixed object and the blocking device is greater than the criterion.

At this time, the control unit 900 of the robot checks whether the opposite side of the fixed object is an open space or a closed space. Also, if it is an open space, check if there is another blocking device on the other side.

In the case of 1002a, the opposite side 1011 of the robot is an open space based on the blocking device, and there is no other blocking device on the opposite side. In this case, the robot sets only the periphery of the blocking device to the blocking area as shown in 1103 as shown in 1002b of FIG. 11 . Of course, the robot can move out of the blocking area like a dotted line.

In the case of 1003a, the opposite side 1012 of the robot with respect to the blocking device is a closed space. It can be seen that when the fixed object and the blocking device are connected, a predetermined closed curve is formed. In this case, as shown in 1003b of FIG. 11 , the robot detects that all of the closed curve area including the blocking device and surrounding fixed objects is blocked, and sets the corresponding closed curve area as the blocking area as shown in 1104 . The robot can move out of the blocking area like a dotted line.

In the case of 1004a, it was sensed that two blocking devices were disposed on the opposite side 1013 of the robot with respect to the blocking device. This may be a result of direct sensing by the robot 1000a, or a result of receiving information of a blocking device sensed by another robot and registered in the map.

Accordingly, the opposite side 1013 is not a space blocked by a fixed object, but a space blocked by blocking devices. In this case, as shown in 1004b of FIG. 11, the robot detects that all of the closed curve area including the blocking device and surrounding fixed objects is blocked, and sets the corresponding closed curve area as the blocking area as shown in 1105. The robot can move out of the blocking area like a dotted line.

In the case of 1005a, the robot is included in the closed curve 1014 connecting the location of the blocking device and the surrounding fixed objects. In contrast, the robot can determine that the entry to the rear side of the blocking device is blocked. In this case, the robot sets only the surrounding part of the blocking device as the blocking area, excluding the fixed object. A blocking area is set as indicated by 1106 in 1005b of FIG. 11 . The robot moves backwards like the dotted line.

In the case of 1006a, since the distance between the location of the blocking device and the surrounding fixed object is adjacent (the distance of one cell), a closed curve area 1015 including the stationary object and the blocking device is set and this is set as the blocking area. The blocking area is set as indicated by 1107 in 1006b of FIG. 11 . The robot can travel like a dotted line.

10 and 11 are summarized as follows.

The control unit 900 identifies a fixed object adjacent to the blocking device 1010 in order to set the blocking area. In the confirmation process, a fixed object may be identified using a map stored in the map storage unit 200 or using auxiliary sensing units, particularly, a lidar sensing unit. Further, the controller 900 sets a closed curve region including the fixed object and the blocking device 1010 based on the distance between the fixed object and the blocking device 1010 , and sets the closed curved region as the blocking region.

Also, in order to set the blocking area, if the control unit 900 determines that there is no fixed object or blocking device around the object in the process of checking the fixed object adjacent to the blocking device 1010, the control unit 900 controls the object Any one or more of an area of a certain range around an area or an area divided according to the material of the floor around the object is set as the blocking area. It looked at 1001a/1001b of FIGS. 10 and 11 .

On the other hand, in the case of a blocking device composed of a blocking rod and a guideline as shown in 11 of FIG. 1, one blocking rod or two blocking rods and a guideline selectively coupled may be determined as one blocking device. And when there is only one of them, the blocking area may be set by applying the embodiment applied in FIGS. 10 and 11 . In particular, in a large-area floating population space, a blocking device as shown in FIG. 1 11 is disposed when guiding the movement path of people. Accordingly, the blocking area may be set differently depending on the blocking device or when the blocking devices are disposed in a group.

12 to 13 are diagrams illustrating a process of setting a blocking area when blocking devices according to another embodiment of the present invention are grouped.

Black cells from (0, 2) to (0, 13) mean fixed devices.

As shown in 1201 of FIG. 12 , “1” in one cell means one blocking device (11 in FIG. 1). The blocking device detection unit 100 of the robot (indicated by "R") located at (11, 2) detects the blocking device (indicated by "1") disposed at (11, 5) as shown by a dotted line. Here, the robot checks whether other blocking devices are placed around it, detects blocking devices that are sequentially identified at the position of the robot, and registers them on the map As a result, as shown in 1202 of Fig. ) detects multiple blocking devices like the dotted line in addition to the first blocking device arranged in (11, 5) and registers it as “1” on the map.

Looking at the shape in which the blocking devices are arranged in 1202 , the control unit 900 of the robot can confirm that it constitutes a part of the area of the regular rectangle 1202r. However, since it is not possible to check all blocking devices at the robot's location, the robot moves to check other blocking devices adjacent to it.

As shown in 1301 of FIG. 13 , the blocking device detecting unit 100 of the robot moving from (11, 2) to (9, 2) as shown by a solid line detects a plurality of blocking devices as indicated by a dotted line. The blocking devices that were previously placed behind (11, 5) are detected and their location information is also stored in the map. Distance information may be calculated based on the depth information of the blocking devices calculated by the depth sensing unit 130 , and the calculated distance information may be registered on the map.

Even when the robot can enter between the blocking devices, the control unit 900 of the robot 1000 checks whether the blocking devices constitute a predetermined closed curve 1202r, and sets the blocking area for 1202r.

As an embodiment of setting the blocking area, as described above with reference to FIG. 8 , the entire blocking area may be registered as “9” to be set as the blocking area. In another embodiment, the boundary portion of the blocking area may be registered as “9” to be set as the blocking area.

In 1302 of FIG. 13 , a boundary portion of the blocking area extending to the boundary line constituted by the blocking devices may be marked as “9” and registered on the map. In this case, since the blocking area is a closed curved area composed of "9" and "1", the robot does not enter the corresponding area.

In summary, in the embodiment of FIGS. 12 and 13 , the blocking device detecting unit 100 of the robot additionally senses one or more second objects around the object to confirm that the second object is the blocking device ( FIG. 12 ), The controller 900 sets a closed curve area including the object and the second object ( 1202 in FIG. 12 ). In this process, the control unit 900 and the blocking device detecting unit 100 can sense more blocking devices by moving the robot as shown in FIG. 13 . Then, the control unit 900 sets the closed curve area as the blocking area and prevents the robot from entering the corresponding area (1302 in FIG. 13).

When the vision sensing unit 120 acquires a plurality of blocking devices as images in FIGS. 12 and 13 , the depth sensing unit is used to identify the distance between these blocking devices, or a lidar sensing unit as an embodiment of the auxiliary sensing unit is used. so you can check the distance. In addition, in the case of the lidar sensing unit, the height of the blocking devices is adjusted to identify the distances of other blocking devices disposed behind the blocking devices.

Since the robot cannot enter the area configured as the blocking area in FIG. 13, the corresponding area becomes an area in which the robot does not function. Therefore, after the robot performs a specific function (eg, cleaning, security, etc.) for another area, it returns to the space set as the blocking area and checks whether the blocking device is still placed in the space, and then the blocking device is activated. If not, a specific function (eg, cleaning, security, etc.) can be newly performed only for the space designated as the blocking area.

In the process of detecting the blocking device in FIGS. 12 and 13 , it can be checked whether the blocking devices of the same shape are arranged. To this end, the vision sensing unit 120 senses the appearance and color of the blocking devices, and the sensing control unit 150 may determine the sensed objects as a plurality of group blocking devices. That is, whether the blocking devices are clustered can be calculated according to the appearance and color of the blocking devices, and the distance between them. In particular, in the case of the blocking rod shape as shown in 11 of FIG. 1 , the degree of clustering of the blocking devices can be confirmed based on the distance between the blocking rods when the intermediate guide line 11c is present and when there is not. This will be described in more detail with reference to FIG. 15 .

14 is a diagram illustrating a process of transmitting and receiving information on a blocking device and a blocking area between a plurality of robots according to an embodiment of the present invention. The embodiment of FIG. 14 includes a first robot 1000b and a second robot 1000c, and optionally a server 2000 .

The control unit 900 of the second robot 1000c stores the blocking device and the blocking area disposed on the travel route in the map storage unit (S1410). In addition, the communication unit 500 of the second robot 1000c transmits information on the blocking device and the blocking area to the server 2000 or the first robot 1000b. This is possible both in the first method of transmitting to the robots in a broadcasting manner and in the second method in which the server 2000 transmits to the robots after being transmitted to the server 2000 .

Upon receiving the information on the blocking device and the blocking area, the first robot 1000b updates it using the information received in the map storage unit (S1430).

Then, the first robot 1000b senses the change state of the blocking device and blocking area updated in S1430 during the subsequent driving process and updates the map storage unit (S1440). This means updating by reflecting changes in the map storage, such as moving or adding some of the previously deployed blocking devices, or completely removing the blocking devices defining the blocking area.

In response to the changed matter, the first robot 1000b transmits updated information on the blocking device and the blocking area (S1450). The first method of transmitting this part to the robots in a broadcasting method and the second method of transmitting the part to the robots by the server 2000 after being transmitted to the server 2000 are both possible.

The second robot 1000c receives the updated information on the blocking device and the blocking area and stores it in the map storage unit (S1460).

When the present invention is implemented, blocking devices such as guide lines, danger signs, and guide signs for prohibition of entry can be recognized using the vision sensing unit 120 and the depth sensing unit 130 of the blocking device sensing unit. . In particular, by using the image information sensed by the vision sensing unit 120, the robot recognizes by comparing it with the appearances of the blocking devices in the blocking device database 110 possessed by the robot, and the depth information of the recognized blocking device is recognized by the depth sensing unit. By sensing using 130 , it is possible to check the accessible or blocked areas according to the positions of these blocking devices. For example, when the depths of the blocking rods are close to each other in the blocking rod 11 of FIG. 1 , it may be determined that the guideline is placed on the blocking rod. In addition, regardless of the height of the blocking rod and the guide line, it is possible to prevent the robot from entering even if it is at a height that the robot can enter.

In particular, the area in which the blocking devices such as blocking rods (11 in FIG. 1) or guide signs (12, 13 in FIG. 1, etc.) are arranged is registered on the map and a specific function (eg, cleaning) is completed in a designated area. When cleaning an area that has not been cleaned (such as an uncleaned area), a scenario can be configured so that the same judgment and action are not repeated and inefficiently cleaned.

In addition, the area divided by the triangular pyramid guide plate as shown in 12 and 13 of FIG. 1 installed in the construction area in addition to the blocking rod is recognized by the vision sensing unit 120 and then blocked by designating the blocking area using the depth sensing unit 130 It can be updated on the map with areas (clean-restricted areas, security-restricted areas). Embodiments of the present specification prevent the robot from entering the blocked space in a space of a large area in which various blocking devices such as a blocking rod and a triangular pyramid to indicate a construction area can be disposed in a space where large-scale personnel such as airports, department stores, and amusement parks move In addition, information about them is maintained so that it is possible to enter and perform functions when the block is released later.

15 is a view for setting a blocking area according to the depth of the blocking device according to an embodiment of the present invention. In 1501, the vision sensing unit 120 senses the two blocking rods 1511a and 1511b in front of the robot 1000a. Also, the depth sensing unit 130 calculates depth information of the two blocking rods 1511a and 1511b and senses that they are disposed at the same distance from the robot. Therefore, even when a separate guide line (such as 11c in FIG. 1) is not disposed between the two blocking rods 1511a and 1511b, the two blocking rods 1511a and 1511b are set as one blocking device or the two blocking rods The space between (1511a, 1511b) is set as the blocking area.

As a result, the control unit 900 of the robot registers the two blocking rods 1511a and 1511b as blocking devices on the map 1501m, respectively. For reference, the position of the robot is indicated by "R".

On the other hand, the control unit 900 is set not to enter even if the width between the two blocking devices can pass the robot. In order to set a space between the previously described or two blocking rods 1511a and 1511b as a blocking area, "9" is registered on the map 1501m. If the control unit 900 sets the two blocking rods 1511a and 1511b as one blocking device, it may be set to “1” instead of “9”.

In another embodiment, the vision sensing unit 120 senses the two blocking rods 1512a and 1512b in front of the 1502 as well as the robot 1000a. Also, the depth sensing unit 130 calculates depth information of the two blocking rods 1512a and 1512b and senses that they are disposed at different distances from the robot. This distance can be compared with the reference distance possessed by the robot (the length where the guideline can be extended, such as 1 meter), and it can be determined that the two blocking rods 1512a and 1512b are separate blocking devices.

The control unit 900 of the robot registers the two blocking rods 1512a and 1512b as separate blocking devices on the map 1502m, respectively, with “1”. For reference, the position of the robot is indicated by "R". Also, if the width between the two blocking devices is enough for the robot to pass, it can pass between them like a solid line.

16 is a view for confirming a movable area in a space in which the robot according to an embodiment of the present invention is set as a blocking area. Previously, in FIG. 13 , the robot indicated the positions of the sensed blocking devices as “1”, and based on the positions of these blocking devices, the blocking area was set according to the closed curve 1202r. However, when the robot located at (9, 2) in 1302 of FIG. 13 moves to (1, 2) as shown in 1601 of FIG. 16 and senses the blocking devices anew, the blocking device is located in the 1601r area previously set as the blocking area. The control unit 900 may confirm that there is no In this case, as in 1602, the robot moves to (1, 6) and newly sets the blocking area 1602r. As a result of the additional sensing by the robot, the boundary of the blocking area in which the robot does not move is changed differently from 1302 of FIG. 13 , and the robot can move as indicated by the dotted line of 1602 . Of course, in this process, if the robot senses other obstacles or a large number of people, it can move according to the obstacle avoidance scenario.

When the above-described embodiments of the present invention are applied, the robot that performs the role of guidance, security, cleaning, etc. in autonomous driving in a large area recognizes the blocking devices (blocking rods and guide signs in FIG. 1, etc.) You can dodge the area and perform your role. In particular, in environments such as airports, terminals, hospitals, schools, department stores, amusement parks, etc., there are many areas where movement is restricted by guidelines of ticketing booths and events with movable blocking rods, so it is necessary to recognize them and drive. Since there are many cases where people are not allowed to enter the inside of the blocking bar or people are lining up for ticketing, etc., when the embodiment of the present invention is applied, the robot can set this area as a blocking area so as not to drive. If, in the embodiment shown in Fig. 15, the robot enters through the two blocking rods 1511a and 1511b, there is a case where it cannot get out due to the complex structure of the blocking rod. Therefore, when the present invention is applied, it is possible to control the running of the robot so as not to cause damage to the person by not entering the area where people wait in line.

In addition, in a large-scale space, an entry prohibition sign (12, 13, etc. in FIG. 1) may be installed for separate construction or cleaning.

Therefore, the robot recognizes the blocking devices of various shapes and prevents them from approaching the space adjacent to the blocking devices. In addition, when blocking devices are clustered, an area where they cannot enter is set through a scanning process of registering on the map by using their arranged location as a blocking area, and for this, the robot returns later to perform a predetermined function.

In particular, when the fixed objects, the blocking device, and the blocking area are distinguishably stored on the map according to the embodiment of the present invention, the robot reflects the blocking devices arranged in real time on the map, and when these blocking devices are removed, it is also displayed on the map. Since it can be removed, it is possible to increase the radius of motion of the robot and shorten the travel path.

In addition, the blocking device is accurately sensed using the vision sensing unit 120 and the depth sensing unit 130 , and the database 110 for blocking devices is maintained and updated to increase the identification of the blocking device. In addition, when the blocking device for guiding the movement of people is detected as shown in 11 of FIG. 1 , the control unit 900 and the blocking device detecting unit 100 of the robot sense infrared rays among the auxiliary sensing units 141 to 149 in the vicinity thereof. The blocking area may be set by sensing the degree of crowding by using a part or a heat sensing unit. In particular, when a zone is defined with a blocking rod and guideline so that a large number of people can line up, the robot detects the blocking rod and people and prevents them from entering the area, thereby preventing accidents in advance.

Therefore, the robot according to the embodiment of the present invention uses the vision sensing unit 120 and the depth sensing unit 130 to measure the degree of crowding of people around the blocking devices when blocking devices having a shape as shown in 11 of FIG. 1 are disposed. After checking by using the infrared sensing unit or the thermal sensing unit, the blocking area divided by the blocking devices may be set.

On the other hand, if the robot is temporarily registered as a blocking area on the map without identification of the blocking device, it is possible to control the robot not to enter the corresponding area.

In addition, even if all the components constituting the embodiment of the present invention are described as being combined or operated as one, the present invention is not necessarily limited to this embodiment, and all components within the scope of the present invention are One or more may be selectively combined to operate. In addition, although all of the components may be implemented as one independent hardware, some or all of the components are selectively combined to perform some or all functions of the combined hardware in one or a plurality of hardware program modules It may be implemented as a computer program having Codes and code segments constituting the computer program can be easily deduced by those skilled in the art of the present invention. Such a computer program is stored in a computer readable storage medium (Computer Readable Media), read and executed by the computer, thereby implementing the embodiment of the present invention. The storage medium of the computer program includes a magnetic recording medium, an optical recording medium, and a storage medium including a semiconductor recording device. In addition, the computer program implementing the embodiment of the present invention includes a program module that is transmitted in real time through an external device.

In the above, although the embodiment of the present invention has been mainly described, various changes or modifications may be made at the level of those skilled in the art. Accordingly, it will be understood that such changes and modifications are included within the scope of the present invention without departing from the scope of the present invention.

100: blocking device detection unit 110: blocking device database unit
120: vision sensing unit 130: depth sensing unit
141 to 149: auxiliary sensing unit 150: sensing control unit
200: map storage unit 300: moving unit
400: function unit 500: communication unit
900: control unit 1000: robot

Claims (14)

Sensing an object disposed outside of the robot by the blocking device detecting unit of the robot;
determining whether the object sensed by the blocking device detection unit is a blocking device;
when the sensed object is a blocking device, setting, by the control unit of the robot, a blocking area based on the blocking device; and
The control unit includes the step of storing the information of the blocking device and the blocking area in a map storage unit,
Sensing the object includes calculating at least one of image information and depth information of the object at least one of a vision sensing unit and a depth sensing unit of the blocking device sensing unit,
The step of determining whether the sensed object is a blocking device further includes calculating a similarity by comparing any one or more of the image information or the depth information with information stored in a blocking device database unit,
After calculating the similarity
When the degree of similarity falls within an unclear range,
The control unit of the robot may control the moving unit providing the driving function of the robot to move the robot to change a distance or angle with the object; and
The method of setting a blocking area by identifying a blocking device, further comprising the step of sensing the object by the blocking device detecting unit at the moved position.
According to claim 1,
The step of setting the blocking area is
identifying a fixed object adjacent to the blocking device;
setting a closed curve area including the fixed object and the blocking device based on a distance between the fixed object and the blocking device; and
and setting the closed curve area as a blocking area.
According to claim 1,
after the step of confirming
confirming that the second object is a blocking device by additionally sensing one or more second objects around the object by the blocking device detecting unit;
setting, by the control unit, a closed curve area including an object and the second object; and
The method of setting a blocking area by identifying a blocking device, comprising the step of the control unit setting the closed curve area as a blocking area.
According to claim 1,
The step of setting the blocking area is
confirming that there is no fixed object or blocking device around the object; and
A method for setting a blocking area by identifying a blocking device, comprising the step of setting at least one of an area of a certain range around the object or an area divided according to a floor material around the object as a blocking area.
According to claim 1,
After the step of storing the map storage unit
Further comprising the step of transmitting, by the communication unit of the robot, information on the blocking device and the blocking area to another robot or server, the method of identifying the blocking device and setting the blocking area.
a moving unit providing a driving function of the robot;
a blocking device sensing unit for sensing an object disposed outside;
a control unit configured to set a blocking area based on the blocking device when the object sensed by the blocking device detecting unit is a blocking device; and
a map storage unit for storing information on the blocking device and the blocking area;
The blocking device detection unit includes a detection control unit, a vision sensing unit, a depth sensing unit, and a blocking device database unit,
When at least one of the vision sensing unit and the depth sensing unit calculates any one or more of image information and depth information of the object,
The sensing control unit calculates a similarity by comparing any one or more of the image information or the depth information with information stored in the blocking device database unit,
When the degree of similarity falls within an unclear range,
The control unit of the robot controls the moving unit to move the robot to change a distance or angle with the object, and sets a blocking area by identifying a blocking device in which the blocking device sensing unit senses the object at the moved position robot that does.
7. The method of claim 6,
When the blocking device detection unit identifies a fixed object adjacent to the blocking device,
The control unit sets a closed curved area including the fixed object and the blocking device based on the distance between the fixed object and the blocking device, and sets the closed curved area as a blocking area, identifying a blocking device to create a blocking area Robots to set.
7. The method of claim 6,
When the blocking device detecting unit additionally senses one or more second objects around the object and confirms that the second object is a blocking device,
The control unit sets a closed curve area including an object and the second object, and sets the closed curve area as a blocking area, a robot for identifying a blocking device and setting a blocking area.
7. The method of claim 6,
When the blocking device detection unit confirms that there is no fixed object or blocking device around the object,
The control unit identifies a blocking device and sets the blocking area by setting any one or more of an area of a certain range around the object or an area divided according to a floor material around the object as a blocking area.
7. The method of claim 6,
A robot for setting a blocking area by identifying a blocking device, wherein the communication unit of the robot transmits the blocking device and information on the blocking area to another robot or server.
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