KR102318841B1 - Movable Marking System, Controlling Method For Movable Marking Apparatus and Computer Readable Recording Medium - Google Patents

Abstract

Driving type marking system according to an embodiment of the present invention, in a driving type marking system including a driving type marking device, a data receiving unit for receiving information about the scan target space, providing power to the driving type marking device Scan for setting a driving unit, a sensing unit for scanning the scan target space, and a movement path of the driving type marking device, and scanning the scan target space in consideration of reference map data corresponding to the scan target space A position of the driving type marking device by comparing the scan data obtained through the scanning unit at the scan position and the scan data obtained through the scanning unit at the scan position and the scan condition setting unit for setting a position, and setting a scan angle of the scanning unit at the scan position, and the reference map data It includes a position detection unit for detecting the.

Description

Driven Marking System, Control Method of Driven Marking Device, and Computer-readable Recording Medium

The present invention relates to a driving type marking system, a control method of a driving type marking device, and a computer-readable recording medium, and more particularly, a driving type marking capable of self-correcting its position in space using a laser scan signal. It relates to a system, a method for controlling a driving type marking device, and a computer-readable recording medium.

Limitations and/or problems between drawings and actual interpretation appear not only at the construction site of construction and/or civil engineering works, but also when trying to display specific content on the working surface in general. That is, when trying to display specific content such as advertisements on the work surface, since the operator must manually display the drawing on the work surface after seeing the original drawing, all tasks inevitably depend on the skill level of the operator. This is very poorly accurate and is even more problematic when the same content is displayed over and over again. Such a problem may occur not only in the construction field, but also in the overall field requiring marking according to position measurement, such as a heavy industry field or an urban planning field.

In addition, in the case of performing work using a machine/robot, a function for determining an accurate position of the working machine/robot by itself is required.

An object of the present invention is to provide a driving type marking system, a control method of a driving type marking device, and a computer-readable recording medium that can determine the environment of a scan target space or work target space and more accurately determine its location .

Driving type marking system according to an embodiment of the present invention, in a driving type marking system including a driving type marking device, a data receiving unit for receiving information about the scan target space, providing power to the driving type marking device Scan for setting a driving unit, a sensing unit for scanning the scan target space, and a movement path of the driving type marking device, and scanning the scan target space in consideration of reference map data corresponding to the scan target space A position of the driving type marking device by comparing the scan data obtained through the scanning unit at the scan position and the scan data obtained through the scanning unit at the scan position and the scan condition setting unit for setting a position, and setting a scan angle of the scanning unit at the scan position, and the reference map data It includes a position detection unit for detecting the.

The method may further include a map generator configured to generate the reference map from scan data acquired through the sensing unit at an arbitrary reference position.

Also, the reference map may be generated from a drawing corresponding to the scan target space.

In addition, it may further include a position correction unit for compensating the position of the driving type marking device by comparing the movement path with the position of the driving type marking device detected by the position detection unit.

In addition, the position correction unit may correct the position of the driving type marking device to correspond to the movement path when the position of the driving type marking device is out of a predetermined range or more in the movement path.

In addition, further comprising a control unit for controlling the position of the driving type marking device and the marking unit, the control unit when the position of the driving type marking device detected by the position detection unit is out of a predetermined range or more in the movement path, the The position of the driving type marking device may be adjusted to correspond to the movement path, and when the position of the driving type marking device is out of less than the predetermined range, the position of the marking unit may be adjusted to correspond to the movement path.

Also, the scan position may exist on the movement path.

In addition, further comprising a marking unit for performing a marking operation in response to the marking data for the working surface, the movement path of the driving type marking device may be set in response to the marking data.

In addition, the position detection unit may receive a position signal output from a transmitter installed at an arbitrary position, and determine the position of the driving type marking device from the position signal.

In addition, the position detection unit determines the position of the marking unit by comparing the marking data and data corresponding to the work result of the marking unit, and considers the distance between the driving type marking unit and the marking unit of the driving type marking device location can be determined.

On the other hand, the driving type marking system according to another embodiment of the present invention, in the driving type marking system including the driving type marking device, a data receiving unit for receiving information about the scan target space, power to the driving type marking device Comparing a driving unit that provides, a sensing unit for scanning the scan target space, and reference map data corresponding to the scan target space with the scan data obtained from the sensing unit to detect the position of the driving type marking device It includes a position detection unit.

In addition, the position detection unit extracts some scan data from all the scan data acquired through the sensing unit and compares it with the reference map data, wherein the partial scan data is the scan data for the scan target space at the location where the scan data is obtained. It can be extracted considering the amount of information.

In addition, the position detection unit determines a scan position and a scan angle range at the scan position in consideration of the amount of information obtainable for the scan target space, and extracts scan data corresponding to the determined scan position and scan angle to extract the reference map data can be compared.

On the other hand, the control method of the driving type marking device according to an embodiment of the present invention, as a control method of the driving type marking device including a rotatable scanning sensor and a driving device, the step of receiving information about the scanning target space, the Setting a movement path of the driving type marking device, setting a scan position for scanning the scan target space in consideration of reference map data corresponding to the scan target space, and the scanning at the scan position Comprising the steps of setting a scan angle of the sensor and determining the position of the driving type marking device by comparing the scan data obtained through the scanning sensor and the reference map data at the scan position.

In addition, comparing the position of the driving type marking device and the movement path, further comprising the step of correcting the position of the driving type marking device, in the step of correcting the position of the driving type marking device in the position determination step When the determined position of the driving type marking device is out of a predetermined range or more in the moving path, the position of the driving type marking device may be corrected to correspond to the moving path.

In addition, in the step of receiving the information on the scan target space, further receiving the marking data for the work surface included in the scan target space, and in the step of setting the movement path, the driving type corresponding to the marking data The movement path of the marking device can be set.

The method may further include rotating the scanning sensor at an arbitrary reference position to obtain scan data of the scan target space, and generating the reference map of the scan target space from the scan data.

Also, the reference map may be generated from a drawing corresponding to the scan target space.

Also, the scan position may exist on the movement path.

On the other hand, a computer-readable recording medium in which a program for performing the control method of the driving type marking device according to the present invention is recorded may be provided.

The present invention can provide a driving-type marking system, a control method of a driving-type marking device, and a computer-readable recording medium that can determine the environment of the scan target space or the work target space and more accurately determine its location.

1 is a diagram schematically showing the configuration of a driving type marking system according to an embodiment of the present invention.
2 is a diagram exemplarily illustrating a process of setting a scan position and a scan angle.
3 is a diagram exemplarily illustrating a data conversion process of comparing reference map data and scan data in order to determine the position of the driving type marking device.
4 is a diagram schematically showing the configuration of a sensing unit according to another embodiment of the present invention.
5 exemplarily shows an acquisition cycle of data through a scanning sensor, an IMU, and an encoder.
6 is a diagram exemplarily illustrating a process of performing a marking operation by comparing an initial map and scan data.
7 is a diagram schematically illustrating a moving path and a method of determining a marking path of a mobile marking device.
8 is a diagram exemplarily illustrating a method of correcting marking data.
9 is a diagram schematically showing the configuration of a driving type marking system according to another embodiment of the present invention.
10 is a diagram schematically showing the configuration of a driving type marking system according to another embodiment of the present invention.
11 is a diagram exemplarily illustrating an operation of correcting a position in space by a driving type marking system according to the present invention.
12 is a diagram schematically showing the configuration of a marking unit according to an embodiment of the present invention.
13 is a diagram schematically showing the configuration of a marking module according to another embodiment of the present invention.
14 is a view exemplarily showing a plan view of a driving type marking device according to an embodiment of the present invention.
15 is a diagram illustrating a movement path of a driving type marking device according to an embodiment of the present invention.
16 is a view exemplarily showing a reference map obtained through a driving type marking device according to another embodiment of the present invention.
17 is a flowchart schematically showing the flow of a control method of a driving type marking device according to an embodiment of the present invention.
18 is a view schematically showing the flow of a control method of a driving type marking device according to another embodiment of the present invention.
19 is a diagram schematically showing the configuration of a driving type marking system according to another embodiment of the present invention.
20 is a diagram schematically showing the configuration of a sensing unit according to another embodiment of the present invention.
21 is a diagram exemplarily illustrating a method of using a reference position according to another embodiment of the present invention.

Advantages and features of the present invention and methods of achieving them will become apparent with reference to the detailed description in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments presented below, it can be implemented in various different forms, and should be understood to include all transformations, equivalents, and substitutes included in the spirit and scope of the present invention. do. The embodiments presented below are provided to complete the disclosure of the present invention, and to fully inform those of ordinary skill in the art to the scope of the present invention. In describing the present invention, if it is determined that a detailed description of a related known technology may obscure the gist of the present invention, the detailed description thereof will be omitted.

The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present application, terms such as "comprises" or "have" are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof. Terms such as first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

1 is a diagram schematically showing the configuration of a driving type marking system according to an embodiment of the present invention.

Referring to FIG. 1 , the driving type marking system 100 according to an embodiment of the present invention includes a driving type marking device 10 , a data receiving unit 110 , a driving unit 120 , a sensing unit 130 , It includes a scan condition setting unit 140 and a position detection unit 150 .

The data receiving unit 110 receives information on the scan target space. The scan target space means a space in which the driving type marking device 10 performs an operation, and the information received by the data receiving unit 110 includes a drawing corresponding to the scan target space, a wall existing in the scan target space, It may include information about the location and size of columns, windows, etc. In addition, the data receiver 110 may receive information on a task to be performed by the driving type marking device 10 in the scan target space.

On the other hand, the information about the scan target space may include information about the allowable movement range of the driving type marking device (10). For example, the scan target space may include a space in which a wall, a column, a window, etc. are to be installed, and there may be a space in which the driving type moving device 10 is prevented from entering the space before installation. In a space where a wall is erected or an elevator is installed, the floor may be cut off before actual work is performed, and in some cases, there may be a risk that the driving type moving device 10 may fall.

Accordingly, the information on the scan target space may include information on the allowable movement range to limit the movement range of the driving type marking device 10 .

The data receiving unit 110 may be connected to the sensing unit 130 by wire or wirelessly to receive data obtained from the sensing unit 130 . In addition, the data receiving unit 110 may include a terminal to which an external storage medium such as a USB port and a CD-ROM can be connected to receive data about the scan target space stored in the external storage medium.

The driving unit 120 provides power to the driving type marking device 10 . The driving unit 120 may be of any shape to provide mobility by providing power to the driving type marking device 10. For example, the driving unit 120 may include wheels or caterpillars, or may include wings or propellers. .

The sensing unit 130 scans the scan target space. The sensing unit 130 may include a scanning sensor and a motor for controlling a rotation operation of the scanning sensor. The driving type marking device 10 may include a data receiving unit 110 , a driving unit 120 , and a sensing unit 130 , and the scan condition setting unit 140 and the position detecting unit 150 are the driving type marking device 10 . ) and may exist independently of the driving type marking device 10 at a spaced position.

1 illustrates that the scan condition setting unit 140 and the position detection unit 150 are included in the separate computing device 11, this is only an embodiment and the present invention is not necessarily limited to this configuration. . Accordingly, the computing device 11 may be coupled to the driving type marking device 10 , wherein the scan condition setting unit 140 and the position detection unit 150 function as a component of the driving type marking device 10 . possible.

Meanwhile, the scanning sensor is a sensor for scanning the shape of an object, and the scanning sensor may measure a distance to an object or scan a shape using a laser or sound waves. When the scanning sensor includes a laser sensor, a lidar (LiDAR) sensor may be included as an example of the laser sensor.

The driving type marking device 10 may scan the surrounding space using the scanning sensor, and obtain the position of an object in the surrounding space in a polar coordinate format using the information reflected by the scan signal output from the scanning sensor. can The motor may rotate the scanning sensor 360°, and the rotation direction of the scanning sensor may be variously controlled as needed.

Meanwhile, horizontal rotation, tilt, and/or vertical movement of the scanning sensor may be controlled by a separate driving unit. Horizontal rotation, tilt, and vertical movement of the scanning sensor may be controlled independently of each other, and a control signal for controlling the horizontal rotation, tilt, and vertical movement may also be independently generated and provided to the driving unit.

The scan condition setting unit 140 sets a movement path of the driving type marking device, and sets a scan position in the scan target space in consideration of reference map data corresponding to the scan target space, A scan angle of the scanning unit at the scan position is set.

The scan condition setting unit 140 sets the moving path, designates an arbitrary point on the moving path, and sets the designated point as a scan position. In addition, the scan position may be set to a plurality of positions if necessary according to the scan target space. Correspondingly, when the driving type marking device 10 reaches the scan position, the scanning sensor performs a scanning operation. And at this time, the scanning sensor rotates according to the scan angle set by the scan condition setting unit 140 .

Meanwhile, in another embodiment of the present invention, the scan height of the scanning sensor may be adjusted, and the scan condition setting unit 140 may set both the scan angle and the scan height of the scanning sensor at a set scan position.

Meanwhile, the scan position and the scan angle are set in consideration of the reference map data. For example, the scan position and the scan angle may be set to a position and angle that can avoid columns, windows, obstacles, etc. existing in the scan target space.

In addition, since it may be difficult to acquire scan data in a space where there is no object to reflect the scan signal output from the sensing unit 130, the scan position and the scan angle are arranged in an empty space in the scan target space, It can be set to a position and an angle that can scan an obstacle or the like.

Meanwhile, when a drawing of the scan target space exists, the scan condition setting unit 140 may set the movement path, the scan position, and the scan angle of the scanning sensor at the scan position in consideration of the drawing.

It may be understood that the driving type marking device 10 performs a scanning operation at a specific position on the movement path. And, the specific scan position is designated in order to accurately grasp the position of the driving type marking device (10).

The specific position may be set as a finite number of positions, but is not limited thereto, and a scanning operation may be continuously performed while moving on the movement path.

Meanwhile, the scan angle means a scanning angle of the scanning sensor at each scan position, and can be expressed in degrees or radians. In addition, the size of the scan angle may be expressed based on the x-axis or the angle of the scanning sensor at the time when the scanning operation at the previous scan position is finished.

In one embodiment of the present invention, the driving-type marking device 10 is stopped at each of the scan positions, and the scanning sensor is rotated in a state of being stopped at the scan position to scan the surrounding space. Alternatively, in another embodiment of the present invention, the driving type marking device 10 may not stop at the scan position, and may move and scan the surrounding space through the scanning sensor. The position detection unit 150 detects the position of the driving type marking device 10 by comparing the scan data acquired through the sensing unit 130 at the plurality of scan positions with the reference map data.

The reference map data may be expressed as coordinates of pixels included in an image frame, and coordinates of pixels corresponding to positions of objects may have different values from coordinates of pixels corresponding to empty positions. As described above, the data obtained through the scanning sensor may be obtained in the form of polar coordinates, and when the reference map data and the scan data are compared, the position of the driving type marking device 10 in the scan target space is determined. can judge

More specifically, the location detector 150 may convert the reference map data into polar coordinate data obtained through the scanning sensor, and compare the converted data with the scan data.

In another embodiment of the present invention, the position detection unit 150 may receive a position signal output from a transmitter (not shown) installed at an arbitrary position, and determine the position of the driving type marking device from the position signal. . When the position of the transmitter is determined, the transmitter may determine the position of the driving type marking device 10 based on its position, and provide the determined position information to the position detection unit 150 . Alternatively, it will be possible for the position detection unit 150 to determine the position of the driving type marking device 10 in consideration of the distance from the driving type marking device 10 to the transmitter, angle data, and the position information of the transmitter.

The operation performed by the position detection unit 150 aims to determine the position of the driving type marking device 10 as accurately as possible, and the transmitter is attached to an arbitrary position in the scan target space, for example, a pillar or a wall, and the position signal can be transmitted.

However, the position of the transmitter is not limited to an arbitrary position inside the scan target space. For example, when the scan target space is an open space, even if the transmitter is located outside the scan target space, the position of the driving type marking device 10 can be tracked.

The driving type marking device 10 may include a receiver (not shown) capable of receiving the position signal and determining the position of the transmitter that has transmitted the received position signal and the distance and/or angle to the transmitter, , the receiver may determine the position of the driving type marking device 10 in consideration of the position signals received from the plurality of transmitters.

The transmitter may be configured through a marker or a beacon, and may be used when it is not easy to determine the exact position of the driving type marking device 10 through comparison of the scan data and the reference map data. have.

For example, the marker may display a specific color or shape or a predetermined number, and the receiver may determine the position of the driving type marking device by recognizing the color, shape or number.

2 is a diagram exemplarily illustrating a process of setting a scan position and a scan angle.

In another embodiment of the present invention, the scan condition setting unit 140 obtains the scan data according to the scan angle of the scanning sensor on the moving path of the driving type marking device 10 in the scan target space (S). In consideration of , the scan angle at each scan position can be set. This is because more accurate information about the scan target space S can be obtained as the amount of scan data acquired increases.

When the scan position and the scan angle are changed in the scan target space, the data acquisition amount of the scan data acquired through the scanning sensor may vary. Referring to FIG. 2 , the positions A, B, and C exemplarily indicate scan positions existing on the movement path of the driving type marking device 10, and the scan angle of the scanning sensor is set to the northeast at position A. In the case of setting, it can be expected that the largest amount of scan data will be acquired. This may be understood because the sensing range of the scanning sensor is limited to a certain angle, and in an embodiment, the sensing range of the scanning sensor may be 180°. However, the sensing range of the scanning sensor is not limited to 180°.

On the other hand, at location B, it can be determined that a relatively similar amount of scan data can be obtained no matter which direction the scan angle is set, and at location C, when the scan angle is set to the northwest, the largest amount of scan data can be expected to obtain.

The scan condition setting unit 140 may set a scan angle at which the scan data is expected to be obtained the most, and as described above, the scan angle may be set differently at each scan position.

Meanwhile, the scan condition setting unit 140 may use the reference map data to set the scan angle and the scan position, and sense the scanning sensor at the scan position to set the scan angle at each scan position. In consideration of the range, the scan data acquisition amount for various sensing angles may be simulated.

Meanwhile, the scan condition setting unit 140 may consider the speed of the driving type marking device 10 in order to determine the scan position. The scanning sensor that continuously performs a scanning operation may acquire more accurate scan data in a section where the speed of the driving type marking device 10 is slow. Conversely, scan data obtained in a section where the speed of the driving type marking device 10 is high may have relatively low accuracy.

Simulation of the scan data acquisition amount may be performed at all positions on the movement path of the driving type marking device 10, but since the operation speed may be slowed when the amount of computation increases, some positions may be set as the scan positions .

Accordingly, the scan condition setting unit 140 may set the scan angle of the scanning sensor at a point where the speed of the driving type marking device 10 is equal to or greater than a predetermined value.

The moving speed of the driving type marking device 10 in the straight section may be faster than the moving speed in the curved section. Since the moving speed of the driving type marking device 10 may be predetermined corresponding to the moving path of the driving type marking device 10, the scan condition setting unit 140 may set the scan position in consideration of the moving path. .

When the speed of the driving type marking device 10 at positions A, B and C in FIG. 2 is equal to or greater than a predetermined value, the positions A, B and C may be set as scan positions. And, when the scan angle at position A is 45° (north-east) and the scan angle at position B is 270° (south-facing), the driving type marking device 10 moves from position A to position B along a predetermined movement path. , and correspondingly, the scan angle of the scanning sensor may be continuously changed from 45° to 270°. At this time, the change direction of the scan angle, that is, the rotation direction of the scanning sensor is not limited to either a clockwise direction or a counterclockwise direction, the distance between the position A and the position B, the movement of the driving type marking device (10) It may be determined in a direction in which the maximum amount of scan data can be acquired in consideration of the speed.

3 is a diagram exemplarily illustrating a data conversion process of comparing reference map data and scan data in order to determine the position of the driving type marking device.

Referring to FIG. 3 , the reference map data may be displayed in a grid format, and a darkened portion compared to other grid areas indicates that there is an object reflecting the scan signal of the laser sensor. Each grid region may be expressed in a coordinate format such as _{(x m,i} , y _m,i ), (x _m,l , y _{m,l ).}

The position detection unit 150 according to an embodiment of the present invention described with reference to FIG. 1 performs an operation of comparing the reference map data and the scan data to determine the position of the driving type marking device 10, Unlike the reference map data including grid data, the scan data includes data on a distance and an angle to an object. Accordingly, the position detection unit 150 may convert the reference map data in a grid format into distance and angle data in order to compare the reference map data and the scan data.

Referring to FIG. 3 , the positions expressed by the coordinates of _{(x m,i} , y _m,i ) and (x _m,l , y _{m,l ) in the reference map data are, respectively, (Φ m,i} , d _m,i ) and (Φ _m,l , d _m,l ) can be converted into data in a polar coordinate format, and the polar coordinate data matches the data format of the scan data. Accordingly, the position detection unit 150 may directly compare the converted reference map data with the scan data, and may determine the position of the driving type marking device 10 using the comparison result.

However, the reference map data and the scan data are not limited to a grid format and a polar coordinate format, respectively, and are not necessarily limited to converting the grid format data into a polar coordinate format in order to compare the two types of data. Therefore, the reference map data and the scan data may be expressed as data other than a grid format or a polar coordinate format, and it is also possible to compare the two types of data by converting the scan data to correspond to the format of the reference map data. possible.

In FIG. 3 , the plurality of grid areas may be understood to correspond to respective pixels when expressed through the display device, but the present invention is not limited thereto, and one grid area corresponds to a plurality of pixel aggregates. it could be The reference point for polar coordinate transformation is not necessarily limited to the origin (0) as shown in FIG. 3 .

On the other hand, when the sensing unit 130 obtains scan data for an object existing in the scan target space, the position detecting unit 150 compares the distance/angle data corresponding to the scan data with the converted reference map data. It can be determined whether matching data exists.

Multiple pieces of matching data may exist according to the determination result, and the location detection unit 150 may compare a plurality of scan data with the converted reference map data to improve the accuracy of location determination with respect to the moving object.

The position detection unit 150 may determine the most reliable position as the position of the moving object by comparing each of the plurality of scan data with the reference map data.

For example, when first to n-th scan data are obtained using the scanning sensor at the same location, the location detector 150 may search for reference map data corresponding to the first scan data. As a result of the search, there may be m pieces of reference map data corresponding to the first scan data, and the location detector 150 compares the second scan data with the m pieces of reference map data. When this process is repeatedly performed, the position at which the first to n-th scan data is finally obtained, that is, the position of the driving type marking device 10 can be detected.

On the other hand, in order to detect the position of the driving type marking device 10 by comparing the reference map data and the scan data, the position detection unit 150 may use the most recently acquired scan data.

In FIG. 3, positions a, b, and c exemplarily indicate some positions present on the movement path of the driving type marking device 10, and the driving type marking device 10 moves from position a to position c and scans. The sensor will be described on the assumption that it looks in the direction from the position a to the position c.

The scanning sensor may acquire scan data by performing a scanning operation at positions a, b, and c. When the scanning sensor can scan only a limited range, for example, the scanning sensor is ±90° with respect to the front. In the case in which a total 180° range is scannable, with reference to FIG. 3 , data amounts of scan data acquired through the scanning sensor at respective positions a, b, and c may be different from each other.

For example, the data amount of the scan data acquired at the location a may be greater than the data amount of the scan data acquired at the location c. At this time, in detecting the position of the driving type marking device 10 by comparing the reference map data and the scan data when the driving type marking device 10 is present at the position c, the position detection unit 150 scans obtained at the position b Data may be compared with the reference map data.

Since the scan data obtained at the location a includes a larger amount of data than the scan data obtained at the location b, the operation speed may be increased by comparing the scan data obtained at the location b with the reference map data.

The scanning sensor acquires scan data by continuously performing scanning, and the position detection unit 150 can continuously detect the exact position of the driving type marking device 10 using the scan data, so that the closest Using data acquired at a point in time can be a way to improve the accuracy of position detection.

4 is a diagram schematically showing the configuration of a sensing unit according to another embodiment of the present invention.

Referring to FIG. 4 , the sensing unit 130 according to another embodiment of the present invention includes a scanning sensor 131 , a sensor driving unit 132 , a second sensor 133 , and a third sensor 134 . As described with reference to FIG. 1 , the scanning sensor 131 is a sensor that scans the shape of an object, and may measure the distance to the object or scan the shape using a laser or sound waves. The sensor driver 132 performs a function of physically controlling the operation of the scanning sensor 131 , and may control rotational driving, tilt driving, and/or vertical driving of the scanning sensor 131 .

As an embodiment, the sensor driving unit 132 includes a horizontal rotation driving unit (not shown), a tilt driving unit (not shown) and/or a vertical driving unit for controlling rotational driving, tilt driving, and/or vertical driving of the scanning sensor 131 . (not shown) may be included. The horizontal rotation driving unit may control a horizontal rotation operation of the scanning sensor 131 , and the tilt driving unit may control a vertical scan angle of the scanning sensor 131 . The vertical driving unit may control the scanning sensor 131 to be vertically driven to adjust its height.

The horizontal rotation driving unit, the tilt driving unit, and the vertical driving unit can be driven independently of each other, and the operation of the other driving unit is not limited or dependent on the operation of any one driving unit. Accordingly, it can be understood that the horizontal rotation driving unit, the tilt driving unit, and the vertical driving unit operate according to different control signals, and are physically driven independently.

By controlling the vertical scan angle of the scanning sensor 131, it is possible to perform a vertical scan on an object existing in the scan target space. The vertical scanning operation may be performed by the tilt driving unit and/or the vertical driving unit, but is not limited thereto, and a plurality of scanning sensors may be arranged at different angles with respect to the work surface to perform vertical scanning. do.

The second sensor 133 and the third sensor 134 are sensors that measure different types of data from the scanning sensor 131 , and are driven together with the scan data obtained from the scanning sensor 131 of the driving type marking device 10 . It is possible to measure the data used to determine the location.

In an embodiment, the second sensor 133 may include an Inertial Measurement Unit (IMU), and the third sensor 134 may include an encoder.

The IMU may measure acceleration and angular velocity data of the driving type marking device 10 , and the acceleration and angular velocity data may be used to calculate the velocity and attitude angle of the driving type marking device 10 . And, the encoder may provide data regarding the movement distance of the driving type marking device 10 as a position sensor capable of measuring the displacement of the driving type marking device (10).

The scan data obtained from the scanning sensor 131, the angular velocity and acceleration data obtained from the IMU, and the displacement data obtained from the encoder may be provided to the position detection unit 150, and the position detection unit 150 aggregates each measurement data. To detect the position of the driving type marking device (10).

Accordingly, it is possible to provide an effect of accurately detecting the position of the driving type marking device 10 even when the accuracy of some measurement data is low.

Meanwhile, in another embodiment of the present invention, the sensing unit 130 may not include at least a horizontal rotation driving unit of the sensor driving unit 132 . For example, when using the 360° rotationally drivable scanning sensor as described above, since the scanning sensor 131 can be driven to rotate by itself, the sensor driver 132 for controlling the rotational operation of the scanning sensor 131 may not be required. . However, even in this case, the tilt driving unit and the vertical driving unit may be included.

5 exemplarily shows an acquisition cycle of data through a scanning sensor, an IMU, and an encoder.

As described with reference to FIG. 4, the sensing unit 130 may include a scanning sensor 131, a second sensor (eg, IMU, 133) and a third sensor (eg, an encoder, 134), and a position detection unit ( 150) can consider both the scan data obtained through the scanning sensor 131 and the data about acceleration and angular velocity obtained through the second sensor 133 in order to determine the exact position of the driving type marking device 10, , along with the distance data of the driving type marking device 10 obtained from the third sensor 134 may be considered.

In this case, a reliability value may be assigned in consideration of the measurement accuracy of the scanning sensor 131 , the second sensor 133 , and the third sensor 134 , and scan data and IMU data (acceleration and angular velocity) reflecting the reliability value may be assigned. data) and distance data.

The reliability of the data obtained from the scanning sensor 131 , the IMU 133 , and the encoder 134 may be determined by considering an error rate appearing in a specific specification of each measuring device. Therefore, a higher reliability value can be given to data provided from a measuring device that provides more accurate data compared to other measuring devices, and through this, the position of the driving type marking device 10 can be detected more accurately.

Meanwhile, the reliability value may vary over time. For example, when the driving type marking device 10 is set to move at a speed of 1 m/s, the distance moved by the driving type marking device 10 for 1 second should be measured as 1 m. In addition, in consideration of the distance data measured through the encoder 134 for 1 second and an error rate according to the specification of the encoder 134 , the reliability value for the distance data may be differently applied after the first second.

Assuming that the error rate of the encoder 134 is ±1%, in the previous example, the distance data may be expected to exist within the range of 99 cm to 101 cm. Nevertheless, when the distance data does not exist within the range of 99 cm to 101 cm, a lower reliability value may be assigned to the distance data. Conversely, as the distance data is closer to 1 m, a higher reliability value may be assigned to the distance data.

Accordingly, if the distance data is acquired every 1 second, it may be understood that the reliability value for the distance data is updated every 1 second.

On the other hand, when the time period during which the scan data, the IMU data, and the distance data are acquired are different from each other, the reliability value assigned to each data based on the data having the longest data acquisition period is the first reliability value. can be reset to

Referring to FIG. 5 , it can be seen that the acquisition period of the distance data acquired through the encoder is the shortest and the acquisition period of the scan data acquired through the scanning sensor 131 is the longest.

Accordingly, the reliability value of the distance data may be updated with the shortest cycle, and the reliability value of the scan data may be updated with the longest cycle. In addition, as described with reference to FIG. 2 , when the scan data having the longest data acquisition period is acquired, the reliability values for all data may be reset to the initial reliability values.

That is, it can be understood that the reliability values given to each data at the _{time point t 1} and the time point t _{5 are the same.}

6 is a diagram exemplarily illustrating a process of performing a marking operation by comparing an initial map and scan data.

The initial map means a map including information about the scan target space and marking data corresponding to the scan target space, and in an embodiment, the initial map may be a CAD drawing. That is, the initial map may be understood as a reference map including the marking data, and the initial map is the scan target even before the scan data for the scan target space is acquired by the sensing unit 130 . It can provide information about space.

6( a ) shows an initial map, and may include information and marking data on a scan target space. Referring to Figure 6 (a), the scan target space includes a first space (S1) and a second space (S2) divided by a wall, the first space (S1) contains circular marking data, The second space (S2) contains the marking data of the triangle.

Since the information about the scan target space obtained from the initial map may be different from the actual one, the driving type marking apparatus according to an embodiment of the present invention scans at any one point in the scan target space before performing the marking operation. A reference map may be generated using the sensor.

Although the operation of the scanning sensor for generating the reference map is not started in FIG. 1, the scanning sensor acquires scan data for determining the position of the driving type marking device, as well as information on the scan target space. For this purpose, a scanning operation may be performed on the scan target space and scan data may be obtained therefrom.

FIG. 6( b ) shows a reference map generated at a position D in the first space S1 , a space indicated by a solid line indicates a space obtainable through a scanning sensor at a position D, and a space indicated by a dotted line is a position D represents an unobtainable space. Accordingly, it can be understood that the information on the space indicated by the dotted line in FIG. 6(b) is not included in the scan data acquired at the location D. As shown in FIG.

On the other hand, when the scan data acquired at the location D and the initial map are compared, the information on the second space S2 does not match, and accordingly, in order to obtain information on the second space S2, the It can be seen that scan data acquisition is required. In one embodiment, the driving type marking device may perform a marking operation in the first space (S1) to display a circle, and move to the position E to perform the scanning operation again.

The new scan data acquired at position E may include information on the second space S2, and the scan condition setting unit 140 shows the new scan data acquired at position E and FIG. 6(b). The reference map can be finally updated by merging the corresponding scan data.

Meanwhile, in another embodiment of the present invention, the reference map may be generated from sub-scan data obtained through a sub-scan sensor (not shown) installed in a scan target space. A plurality of sub-scanning sensors may be installed according to the characteristics of the scan target space. For example, as shown in FIG. 6 , when the entire scanning target space includes two separate spaces S1 and S2, two sub-scanning sensors are installed to respectively install the first space S1 and the second space (S1) and the second space (S2). Sub-scan data for S2) may be obtained.

In this case, the sub-scan data may be acquired in advance even if a scanning operation by the sensing unit 130 is not performed, and the data receiving unit 110 may receive the sub-scan data and generate the reference map. Accordingly, the process of generating the reference map through the sensing unit 130 at an arbitrary location before performing the operation in the scan target space may be omitted.

In addition, the scan condition setting unit 140 may set the scan position and the scan angle in consideration of the reference map generated through the sub-scan data.

In addition, as shown in FIG. 6 , even when it is not easy to obtain scan data for the entire space through one scanning operation, it is possible to provide an effect of more easily generating a reference map for the entire space. .

7 is a diagram schematically illustrating a moving path and a method of determining a marking path of a mobile marking device.

The figure shown in FIG. 7 exemplarily represents the marking data, and the driving type marking device described with reference to the preceding drawings may move in the scan target space and perform a task corresponding to the marking data.

As described with reference to FIG. 1 , the scan condition setting unit 140 sets a movement path of the driving type marking device corresponding to the marking data. In an embodiment of the present invention, the scan condition setting unit 140 can set a marking path that can minimize the movement distance of the driving type marking device in consideration of the marking data.

The scan condition setting unit 140 may extract at least one or more figures, lines, etc. from the marking data received through the data receiving unit 110, and a plurality of figures connected to each other in consideration of the connection relationship between the figures, lines, etc.; Lines, etc. can be designated as a group.

In addition, the scan condition setting unit 140 may calculate a marking path that can draw the figures, lines, etc. designated as a group the fastest, as an example, a path ( It can be determined whether Eulerian path) exists.

Referring to FIG. 7A , since there are a triangle on the left and a line connected thereto, and a circle on the right and a rectangle connected thereto, the scan condition setting unit 140 sets the triangle and the line as one group (hereinafter, referred to as a first group). ), and the circle and the rectangle may be set as another group (hereinafter, a second group).

Thereafter, the scan condition setting unit 140 may determine whether one brush drawing is possible for each group, and if possible, calculate a marking path. Since all the figures shown in Fig. 7 can be drawn with one brush, the scan condition setting unit 140 can set the starting point and the ending point of the marking path for each group, as shown in Fig. 7(b). have.

When the first group starts at point P1, one brush drawing is possible, and in this case, the end point becomes point P2. In the second group, since the point P3 becomes the starting point and the ending point at the same time, the movement path can be set so that the driven marking device moves from the point P2 to the point P3 without a marking operation.

7 shows, as an example, marking data including figures and lines that can be drawn with one brush, but not all marking data can be drawn with one brush. The marking data can be divided up to the smallest possible unit.

In addition, the movement path between the marking data that are not connected to each other may be set as a path capable of minimizing the movement distance of the driving type marking device.

8 is a diagram exemplarily illustrating a method of correcting marking data.

Fig. 8 (a) exemplarily shows a scan target space (S) including marking data, and Fig. 8 (b) is a scan target space (S ') corrected through scan data obtained through a scanning sensor. show That is, the scan target space S shown in FIG. 8(a) may be understood as an initial map (eg, a CAD drawing) including information on the scan target space S. FIG.

8(a) and 8(b), the scan target space S' corresponding to the scan data acquired through the scanning sensor is different from the scan target space S corresponding to the initial map. can have Although the initial map includes information on the scan target space, it may include information different from the actual work environment. In this case, the initial map is generated using the scan data obtained using the scanning sensor. Can be modified/updated.

Meanwhile, the initial map may include marking data. Referring to FIG. 8( a ), it can be seen that the rectangular marking data is present in the lower right corner of the scan target space (S). In this case, the scan condition setting unit 140 may correct the marking data by reflecting the correction/update information on the scan target space (S).

Figure 8 (c) shows the marking data corrected according to the scan data, the marking in proportion to the difference in the size of the scan target space (S) of the initial map and the scan target space (S') corresponding to the scan data It can be seen that the size of the data has been modified.

In addition, the scan condition setting unit 140 may correct the position of the marking data in response to the scan target space correction. For example, when the horizontal length of the scan target space is shortened, the interval between the marking data and the vertical wall may be corrected to be narrowed.

In another embodiment, the scan condition setting unit 140 informs the operator that the size of the scan target space is measured differently before correcting the marking data even if the size of the scan target space is changed, and allows the operator to make the marking You can choose whether or not to modify the size and location of the data.

9 is a diagram schematically showing the configuration of a driving type marking system according to another embodiment of the present invention.

Referring to FIG. 9 , the driving type marking system 200 according to another embodiment of the present invention includes a data receiving unit 210 , a driving unit 220 , a sensing unit 230 , a marking unit 240 , and a map generating unit 250 . ), a scan condition setting unit 260 , a position detecting unit 270 , and a position correcting unit 280 .

The driving type marking system 200 in FIG. 9, the driving type marking system 100 described with reference to FIG. 1 further includes a marking unit 240, a map generation unit 250 and a position correction unit 280 Although shown to be, the driving type marking system 200 in another embodiment of the present invention may further include only one component of the marking unit 240 , the map generation unit 250 , or the position correction unit 280 . have.

The marking unit 240 performs a marking operation in response to the marking data for the working surface. The working surface means a surface to be marked existing in the scan target space, and the working surface may be included in the scan target space. And, the driving type marking device 20 can move on the working surface.

The marking unit 240 is provided to mark the content corresponding to the marking data on the working surface, and any tool capable of marking such as ink, photosensitizer, light, sound wave, etc. is applicable. In addition, a method of marking by applying a physical pressure to the working surface is also applicable.

The marking data may include design data and text data, and the design data and text data are distinguished from each other. For example, the design data may include information on figures, etc. described with reference to FIGS. 6 to 8, and the text data corresponds to explanations, comments, etc. that can provide information to workers with respect to the design data. I can understand.

The marking unit 240 may mark at least one of one-dimensional or two-dimensional data on the work surface, and mark the three-dimensional data on the scan target space including the work surface. For example, the marking unit 240 may mark the three-dimensional data in a stacked form by marking the required number of times on the marked working surface.

The map generating unit 250 may generate a reference map corresponding to the scan target space, and more specifically, the map generating unit 250 is a scanning unit included in the sensing unit 230 at an arbitrary reference position. The reference map may be generated from the scan data obtained through the sensor.

The reference position may be any position within the scan target space, and in general, it may be preferable to be selected as a center point of the scan target space. A position close to the window or a position in which an obstacle is present may not be suitable as the reference position. However, if necessary, the reference position may be any position outside the scan target space.

Since the reflection of the scan signal output from the scanning sensor may not be properly reflected in the glass window, there may be a problem in obtaining the scan data. because there is

In addition, since it may be difficult to obtain scan data in a space where there is no object to reflect the scan signal output from the scanning sensor, the reference position is placed in an empty space in the scan target space to scan a pillar or an obstacle. It can be set to a position where it can be done.

On the other hand, when it is difficult to obtain complete scan data due to an obstacle or a pillar, after performing the primary scanning at the reference position, the second scanning is performed by designating an arbitrary position behind the obstacle or pillar to obtain more complete scan data. can be obtained.

In a state in which the driving type marking device 20 is stopped at the reference position, the scanning sensor rotates 360° to scan the scan target space to generate the scan data. In addition, if necessary, the scanning angle of the scanning sensor included in the sensing unit 230 may be controlled in the vertical direction through tilt control or the like. However, in the process of generating the scan data for generating the reference map, the position of the driving type marking device is not necessarily fixed to the reference position, and the scanning sensor is rotated while moving within a predetermined reference space. It is also possible to generate the scan data.

The map generator 250 may generate a reference map of the scan target space from the scan data, and may generate the reference map by applying a SLAM algorithm to the scan data acquired at the reference position. SLAM stands for Simultaneous Localization and Mapping, and is also called Concurrent Mapping and Localization (CML). SLAM refers to an algorithm that generates a map while sensing the surrounding environment with the sensor and estimates the location of the sensor on the map when no map is given and the location of the sensor on the map cannot be determined. do.

Meanwhile, the reference map may include image data of pixels included in an image frame corresponding to the scan data. For example, when the scan target space is represented by one frame, a pixel corresponding to a position where an object exists may be displayed in black, and a pixel corresponding to an empty space may be displayed in white. have.

However, this means an embodiment of a data format that the reference map data can include, and is not limited to including color information for individual pixels, and the reference map data is expressed in the form of vectors, polar coordinates, etc. can be

In another embodiment of the present invention, the map generator 250 may generate the reference map by receiving a drawing corresponding to the scan target space. The drawing may be understood as including information on the scan target space, and in an embodiment, the drawing may be a CAD drawing. Accordingly, when the drawing exists, the drawing may serve as the reference map.

However, even if a drawing corresponding to the scan target space exists, information on the scan target space shown in the drawing may not be accurate, so the map generator 250 may newly generate the reference map. In this case, the drawing and the reference map generated by the map generator 250 may be used together.

On the other hand, when the information on the scan target space included in the drawing and the reference map does not match, a weight is given to the drawing and the reference map, respectively, and a scan target space usable in the scan condition setting unit 260 . information can be provided.

In another embodiment, the map generator 250 may modify the initial map by comparing an initial map including information on the scan target space with scan data obtained through the scanning sensor. . In addition, the scan condition setting unit 260 may use the modified initial map as the reference map.

For example, the initial map may be a diagram corresponding to the scan target space as described above, and may include marking data in the scan target space.

The information expressed through the initial map may not match the characteristics of the scan target space. In this case, the scan data obtained through the scanning sensor may provide more accurate information about the scan target space. .

However, when the result of comparing the initial map and the scan data is out of a preset error range, the map generator 250 may output an alarm. The alarm may be understood as a kind of error reporting. Conversely, when the result of comparing the initial map and the scan data is within the error range, the initial map may be corrected based on the scan data.

The scan condition setting unit 260 may use the initial map modified by the map generation unit 250 as a reference map, and thus, the scan condition for the driving type marking device 20 in consideration of the data included in the reference map. can be set.

Meanwhile, an error may occur in the process of converting data by the position detection unit 270 and comparing the converted data with the scan data. For example, a problem in which the position of the driving type marking device 20 determined by the position detection unit 270 changes momentarily abruptly or the position of the driving type marking device 20 changes discontinuously may occur.

In order to solve this problem, the position correction unit 280 compares the position of the driving type marking device 20 detected by the position detection unit 270 with the movement path set by the scan condition setting unit 260 and the driving type marking device ( 20) can be corrected.

As an embodiment, the position corrector 280 may correct the position of the driving type marking device 20 using an Inertial Measurement Unit (IMU) included in the sensing unit 230 . The IMU may provide the acceleration sensor data and the earth magnetic field sensor data, and the position detection unit 270 uses the acceleration sensor data and the earth magnetic field sensor data to detect an error generated in the process of comparing the reference map data and the scan data. can be corrected by

On the other hand, a device used to correct the reference map data and the scan data is not necessarily limited to the IMU, and any type of sensor capable of correcting the position of the driving type marking device is applicable to those skilled in the art. will be self-evident to

On the other hand, the scan condition setting unit 260 may set a movement path of the driving type marking device 20 in response to the marking data, and the scan in consideration of reference map data corresponding to the scan target space. A scan position in the target space is set, and a scan angle of the scanning unit at the scan position is set.

The movement path may include a pattern or line according to the marking data. In one embodiment, the driving type marking device 20 may be used to make a specific mark at a position desired by the operator within a specific space, and the driving type marking device 20 moves along the movement path, but in the marking data. A mark or a line may be drawn on the work surface by using the marking unit 240 at the included position.

Meanwhile, in another embodiment of the present invention, the sensing unit 230 may include an imaging unit (not shown) and an image signal generating unit (not shown). The imaging unit may include a camera unit such as a CCD camera, and may photograph the work surface using the camera unit.

The image signal generating unit is electrically connected to the image capturing unit to generate an image signal based on the image captured by the image capturing unit. The position detection unit 270 may calculate and/or confirm the position of the driving type marking device 20 on the marking data based on the image signal.

The imaging unit may photograph a result of the operation performed by the marking unit 240 in response to the marking data, and the image signal may be compared with the marking data as data corresponding to the result. Therefore, the position detection unit 270 can determine the position of the driving type marking device 20 by comparing the image signal and the marking data, and the marking unit 240 corresponds to the marking data, the operator wants the operation You can determine whether you are doing it or not. In addition, the position detection unit 270 may provide the operator with the result obtained through the imaging unit, and may provide the current working state through the image signal or as data in another format.

That is, the work result corresponding to the marking data is provided to the operator in the form of an image signal obtained through the imaging unit, or data obtained through a sensor capable of recognizing the work result (eg, corresponding to the work result position data, data including a result of comparing the work result with the marking data, etc.) may be provided to the operator.

Through this configuration, even when the operator is located in a space separated from the driving type marking device 20, it is possible to obtain the effect of confirming the marking operation performed through the driving type marking device 20 in real time.

In addition, the position detection unit 270 may consider the relative positions of the driving type marking device 20 and the marking unit 240 . For example, the position of the driving type marking device 20 and the position of the marking unit 240 can be defined as a first position and a second position, respectively, and when the driving type marking device 20 is in an idle state that does not operate The first and second positions may be defined as coincident.

The marking unit 240 may move independently of the driving type marking device 20 , and when the driving type marking device 20 operates, the second position and the first position may not coincide with each other.

On the other hand, the marking unit 240 can move independently of the driving type marking device 20, the marking unit can freely move in various directions, including up and down, left and right. Therefore, in a state in which the driving type marking device 20 does not move, the marking unit 240 descends vertically to perform a function of setting the current position as a reference point through an operation of marking the current position, etc. can do.

Alternatively, when the driving type marking device 20 is moved in a state in which the marking unit 240 is fixed, the position of the marking unit 240 may change dependently in response to the position of the driving type marking device 20 . In this case, the driving type marking device 20 will be able to move along a movement path corresponding to the marking data.

Alternatively, the marking unit 240 may move regardless of the moving direction of the driving type marking device 20 . As an example, the driving type marking device 20 moves along a predetermined movement path, and at the same time, the marking unit 240 may perform a marking operation corresponding to the marking data independent of the movement path. As another embodiment, the marking unit 240 in a state in which the driving type marking device 20 does not move may perform a marking operation in response to the marking data.

On the other hand, a sub-sensor (not shown) for determining the position of the marking unit 240 that operates independently of the driving type marking device 20 may be included. The sub-sensor may be included in the sensing unit 230 , and the position detection unit 270 determines the position (second position) of the marking unit 240 using the data measured through the sub-sensor, thereby driving type marking. The distance between the device 20 and the marking unit 240 may be calculated.

Since the driving type marking device 20 and the marking unit 240 according to another embodiment of the present invention can move independently of each other as described above, they can operate appropriately in response to the work situation.

The position detection unit 270 may calculate the first position, which is the position of the driving type marking device 20, by using the second position and the distance between the driving type marking device 20 and the marking unit 240, or Correspondingly, the second position that is the position of the marking unit 240 may be calculated using the first position and the distance between the driving type marking device 20 and the marking unit 240 .

Here, since the second position means the position of the marking unit 240 , the position detection unit 270 compares the marking data with the image signal reflecting the result of the operation performed by the marking unit 240 . The second position may be determined.

Therefore, even if the position of the driving type marking device 20 determined through the comparison result of the map data and the scan data is not accurate, the accuracy of determining the position of the driving type marking device 20 using the second position can be improved

In addition, the position detection unit 270 may include an alarm module (not shown) that outputs an alarm when the position of the driving type marking device 20 and the movement path are not matched by comparison. Through the alarm, the operator can recognize that the position of the driving type marking device 20 is out of a pre-planned position, and can control the subsequent operation of the driving type marking device 20 .

The position correction unit 280 is a driving type when the position of the driving type marking device 20 determined using the position (second position) of the IMU or the marking unit 240 is out of a predetermined range or more in the movement path. The position of the marking device 20 may be corrected to correspond to the movement path. In this case, the position correction unit 280 may control the position of the driving type marking device 20 by controlling the driving unit 220 .

That is, the position correction unit 280 may determine whether to correct the position of the driving type marking device 20 according to the degree of discrepancy between the position of the driving type marking device 20 and the movement path. In addition, whether to correct the position of the driving type marking device 20 may be performed by an operator who has confirmed the alarm.

On the other hand, as described with reference to FIG. 4 , the sensing unit 230 may include an encoder, and the position correcting unit 280 is a displacement of the driving type marking device 20 provided by the encoder. The position of the driving type marking device 20 may be corrected using the data.

On the other hand, in one embodiment of the present invention, the marking unit 240 uses the imaging unit (not shown) and the image signal generating unit (not shown) to photograph the work result for the work surface, and a data receiving unit It can be compared with the marking data input to (210). Alternatively, instead of acquiring the work result as an image, it may be acquired in another form using a photosensitizer, light wave, or the like.

As a result of comparing the work result and the marking data, if there is an error in the work result, the marking unit 240 deletes the erroneously marked part at the point where the error occurs, or marks the erroneously marked part by overcoating. work can be done again.

Alternatively, by providing a result of comparing the operation result and the marking data to the user, the user may determine whether to perform the marking operation again.

Meanwhile, in another embodiment of the present invention, the scan condition setting unit 260 causes the sensing unit 230 to perform secondary scanning of the scan target space before the driving type marking device 20 starts a marking operation. can make it work.

For example, when the reference map is generated using the scanning sensor, a case may occur in which an operator in the scanning target space is recognized as an object, and while the driving type marking device 20 performs the operation, the operator It may not exist in the scan target space.

In this case, by updating the reference map using the scan data obtained through the secondary scanning, unnecessary data may be removed and then the marking operation may be performed.

Alternatively, when a moving object is detected during a scanning operation for generating reference map data by including an imaging device in the sensing unit 230, the scanning operation may be stopped and the scanning operation may be resumed after a predetermined time elapses.

10 is a diagram schematically showing the configuration of a driving type marking system according to another embodiment of the present invention.

Referring to FIG. 10 , the driving type marking system 300 according to another embodiment of the present invention includes a driving type marking device 30 and a computing device 31 , and the driving type marking device 30 is a data receiving unit 310 , a driving unit 320 , and a sensing unit 330 may be included. In addition, the computing device 31 may include a map generation unit 340 , a scan condition setting unit 350 , and a position detection unit 360 , and the driving type marking device 30 may further include a control unit 370 . can

The data receiving unit 310 , the driving unit 320 , the sensing unit 330 , the map generating unit 340 , the scan condition setting unit 350 , and the position detecting unit 360 are the data receiving unit 210 described with reference to FIG. 9 . , the driving unit 220 , the sensing unit 230 , the map generating unit 250 , the scan condition setting unit 260 , and the position detecting unit 270 perform substantially the same functions, so that a detailed description of the overlapping content will be omitted. do.

Meanwhile, although the map generator 340 , the scan condition setter 350 , and the location detector 360 are illustrated as being included in the separate computing device 31 , this is only an embodiment and must be viewed as such a configuration. The invention is not limited. Accordingly, as described with reference to FIG. 1 , the computing device 31 may be coupled to the driving type marking device 30 , in which case the map generation unit 340 , the scan condition setting unit 350 and the position detection unit ( 360 may also function as a component of the driven marking device 30 .

The control unit 370 controls the position of the driving type marking device 30, and when the position of the driving type marking device 30 detected by the position detection unit 360 is out of a predetermined range or more in a preset movement path, the driving The position of the type marking device 30 may be adjusted to correspond to the movement path.

On the other hand, when the driving type marking system 300 shown in FIG. 10 includes the same configuration as the marking unit described with reference to FIG. 9 , the control unit 370 may control the position of the marking unit, and the driving type marking When the position of the device 30 is out of the predetermined range, the position of the marking unit may be adjusted to correspond to the movement path.

The marking unit is freely movable, including up and down, left and right, independently of the driving type marking device 30 . Therefore, when the driving type marking device 30 is slightly deviated from the moving path, by adjusting the position of the marking unit without moving the driving type marking device 30, the position corresponding to the marking data existing on the moving path. Marking can be done.

On the other hand, the driving type marking device 30 may include a plurality of marking parts, wherein the plurality of marking parts are separated from the driving type marking device 30, it is also possible to perform the marking operation at different positions at the same time.

When the control unit 370 performs an operation to adjust the position of the driving type marking device 30, it can be understood that it performs substantially the same function as the function of the position correction unit 280 described with reference to FIG. . Therefore, when the controller 370 is out of the position of the driving type marking device 30 determined using the position (second position) of the IMU or the marking unit described with reference to FIG. 9 by more than a predetermined range in the movement path The position of the driving type marking device 30 may be corrected to correspond to the movement path.

In this case, the controller 370 may control the position of the driving type marking device 30 by controlling a driving device (not shown) that provides power to the driving type marking device 30 .

11 is a diagram exemplarily illustrating an operation of correcting a position in space by a driving type marking system according to the present invention.

As described with reference to the preceding drawings, the scan condition setting unit 140 , 260 , 350 sets the movement path of the driving type marking device in response to the marking data, and considers the reference map data corresponding to the scan target space. A scan position in the scan target space may be set, and a scan angle of the scanning units 130 , 230 , and 330 may be set at the scan position.

In FIG. 11 , a dotted line indicates the movement path set by the scan condition setting units 140 , 260 , and 350 , and a solid line indicates an actual movement path of the driving type marking device. The moving paths shown in FIG. 11 are used by way of example for the description of the present invention, and the present invention is not limited by the moving paths.

As described with reference to FIGS. 9 and 10 , the position correcting unit 280 and the control unit 370 include the position of the driving type marking device detected by the position detecting units 270 and 360 and the scan condition setting unit 260, 350) may be compared to the set movement path to correct the position of the driving type marking device.

At this time, when the position of the driving type marking device is out of a preset movement path by more than a certain range, the position correction unit 280 and the control unit 370 drive the driving type marking device so that the position of the driving type marking device corresponds to the preset movement path. The position of the type marking device can be adjusted.

11, the first correction point (Z1) and the second correction point (Z2) indicate a point at which the position of the driving type marking device deviates from the preset movement path by more than the predetermined range. The position detection units 270 and 360 may continuously detect the position of the driving type marking device, and the position correction unit 280 and the control unit 370 are the detected positions and the preset movement path of the driving type marking device. can be compared.

In the first correction point (Z1) and the second correction point (Z2), since it can be determined that the position of the driving type marking device is out of a predetermined range or more from the preset movement path, the position correction unit 280 and the control unit ( 370) may be adjusted so that the driving-type marking device approaches the preset movement path in response thereto.

In order for the driving type marking device to perform an accurate marking operation in response to the marking data, it is preferable that the error range for correcting the position of the driving type marking device is set as narrow as possible, and also, the position determination of the driving type marking device It is important to improve the accuracy.

In order to accurately detect the position of the driving type marking device, and to adjust or correct the position of the driving type marking device through this, the driving type marking system according to the present invention uses an auxiliary device such as an IMU or to the driving type marking device. The location of the included marking unit may be used. Alternatively, as described above, it is also possible to use a transmitter installed at an arbitrary location and a receiver that can be disposed in the driving type marking device.

12 is a diagram schematically showing the configuration of a marking unit according to an embodiment of the present invention.

Referring to FIG. 12 , the marking unit 240 according to an embodiment of the present invention includes a first marking module 241 and a second marking module 242 . As described with reference to FIG. 9 , the marking unit 240 performs a marking operation on the working surface in response to the marking data, and the marking data may include design data and text data.

The first marking module 241 performs a marking operation corresponding to the design data, and the second marking module 242 performs a marking operation corresponding to the text data. The first marking module 241 and the second marking module 242 are driven independently of each other, and for this purpose, the first marking module 241 and the second marking module 242 are each separate driving module (not shown) may include

In addition, as described with reference to FIG. 9, the marking unit 240 may use any tool capable of performing a marking operation on the working surface, such as ink, photosensitizer, light, sound wave, etc., which is the first marking module ( It can be understood as being applied to 241) and the second marking module 242.

13 is a diagram schematically showing the configuration of a marking module according to another embodiment of the present invention.

As described with reference to FIG. 12, the marking unit 240 includes a first marking module 241 and a second marking module 242, and the first marking module 241 is a design data, a second marking module ( 242) may each perform a marking operation corresponding to the text data. FIG. 13 exemplarily shows the configuration of the first marking module 241 , and the configuration of the second marking module 242 may also be substantially the same as the configuration shown in FIG. 13 .

Referring to FIG. 13 , the first marking module 241 includes an ink supply unit 241c, a first nozzle unit 241a, and a second nozzle unit 241b. The first nozzle unit 241a is responsible for marking in a first direction, and the second nozzle unit 241b is responsible for marking in a second direction different from the first direction.

Meanwhile, the first marking module 241 may further include a third nozzle unit (not shown) and a fourth nozzle unit (not shown) other than the first and second nozzle units 241a and 241b, and The third and fourth nozzle units may be in charge of marking in a direction different from the first and second directions, respectively. Accordingly, the first marking module 241 may perform a marking operation in various directions using a plurality of sub nozzle units.

In an embodiment of the present invention, the plurality of sub-nozzle units may be arranged in a line, and the spacing between the plurality of sub-nozzle units is not fixed, and the operating environment of the driving type marking device 10 , 20 or the characteristics of the marking data can be flexibly changed accordingly.

The first marking module 241 may perform a marking operation by selecting some of the sub-nozzle units necessary for the operation from among the plurality of sub-nozzle units, or by adjusting the interval between the plurality of sub-nozzle units to perform the marking operation. may be

13 , the first direction and the second direction may mean an X-axis direction and a Y-axis direction, respectively, but the first and second directions are not necessarily limited thereto. The first nozzle unit 241a and the second nozzle unit 241b are connected to the ink supply unit 241c and may each include one or more nozzles.

The first marking module 241 is not limited to spraying liquid-type pigments such as ink, and may spray solid or gel-type pigments. The first marking module 241 uses a pen or brush-type unit to apply an emulsion or gel-type pigment such as ink or paste directly to the work surface, or apply a solid pigment directly to the work surface. can make it

In addition, the first marking module 241 may be provided so as to make a marking on the working surface by applying a physical change to the working surface. For example, the first marking module 241 may be provided so that marking is made by applying a scratch to the surface of the working surface.

It will be apparent to those skilled in the art that the configuration and operation of the first marking module 241 described above can be equally applied to the second marking module 242 described with reference to FIG. 12 .

Meanwhile, in another embodiment of the present invention, the marking unit 240 may perform a mock marking operation prior to performing the actual marking operation. In this case, the marking unit 240 may control only the position of the nozzle in response to the marking data without performing an actual marking operation.

The sensing unit 230 may further include a nozzle position sensor (not shown) for calculating the position of the nozzle, and the nozzle position sensor may generate data regarding the position of the nozzle during the mock marking operation. have.

The marking unit 240 may compare the marking data with the data regarding the position of the nozzle, and predict whether a problem will occur while performing the actual marking operation. For example, at a position where the marking data and the data regarding the position of the nozzle do not match, the marking unit 240 may perform the simulation marking operation again.

If the position of the nozzle does not correspond to the marking data even after the simulation marking operation is performed more than a preset number of times, the marking unit 240 may output an error alarm. In response to the alarm, the user may determine whether to actually perform the marking operation by comparing the data regarding the position of the nozzle with the marking data. Alternatively, the marking unit 240 may induce the user to identify a problem occurring at a location where the two data do not match each other through the alarm.

For example, if the two data are uneven, such as the work surface is dented in a position that does not match with each other, maintenance work may be required to perform a marking operation on the corresponding work surface, so when data discrepancy occurs, an alarm is sent to the user By outputting , the marking operation can be performed smoothly.

On the other hand, there is a discrepancy between the marking data and the data regarding the position of the nozzle, so that the mock marking operation may be performed again. Accordingly, when the data on the position of the nozzle newly acquired within the preset number of times matches the marking data, the marking unit 240 determines that a temporary problem has occurred, and may perform the actual marking operation.

14 is a view exemplarily showing a plan view of a driving type marking device according to an embodiment of the present invention.

Referring to FIG. 14 , the driving type marking device may be moved using a pair of wheels disposed on both sides, and may include a scanning sensor. In addition, although not shown in FIG. 14 , the driving type marking device may further include at least one wheel at the lower portion, thereby maintaining a balance. However, the driving type marking device is not limited by the configuration shown in FIG. 13, for example, the pair of wheels, and may include any configuration that provides power to the driving type marking device to move it to an arbitrary position. can

For example, the driving type marking device may be configured to be able to fly like a drone, and may be configured through a plurality of pairs of driving devices.

As described with reference to FIG. 1 , since the position of the driving type marking device can be determined through the scanning sensor, it can be understood that the position of the driving type marking device is substantially the same as the position of the scanning sensor.

In addition, the position of the driving type marking device, that is, the position of the scanning sensor _{may be expressed in coordinates of (p x} , p _y ) and can be rotated by a motor. In addition, the rotation direction of the scanning sensor may be variously controlled as needed. In this case, the angle of the scanning sensor may be expressed based on the x-axis of FIG. 14 , and the position of the object detected by the scanning sensor may be expressed as polar coordinates _{of (θ L , d).} Here, d means the distance to the detected object.

On the other hand, the driving type marking device includes a marking unit (not shown) at a position corresponding to the lower scanning sensor. The marking unit is provided to move freely, including up and down, left and right, in order to perform a work corresponding to the marking data, and in response to the marking data, a certain mark at a specific position of the work surface or draw a line on the movement path action can be performed.

15 is a view illustrating a movement path of a driving type marking device according to an embodiment of the present invention.

The movement path of the driving type marking device includes information about a plurality of scan positions and scan angles of the scanning sensor. Referring to FIG. 15 , the driving type marking device performs a scanning operation using the scanning sensor at first points (x1, y1, θ1) to seventh points (x7, y7, θ7).

15 shows several specific scan positions at which the driving type marking device performs a scanning operation, which is to accurately identify the positions of the driving type marking device.

However, the driving type marking device according to another embodiment of the present invention can continuously perform a scanning operation while moving along the set movement path without designating a specific scan position.

Meanwhile, the scan angle means a scanning angle of the scanning sensor at each scan position, and can be expressed in degrees or radians. In addition, the size of the scan angle may be expressed based on the x-axis or the angle of the scanning sensor at the time when the scanning operation at the previous scan position is finished.

At each of the scan positions, the driving type marking device is stopped, and in a state of being stopped at the scan position, the scanning sensor is rotated to scan the surrounding space. However, as described above, the driving type marking device may continuously perform a scanning operation while moving along the set movement path without designating a specific scan position. Therefore, in this case, it can be understood that the operation of stopping at the scan position is not performed.

In addition, by comparing the scan data obtained through the scanning operation with the reference map data, it is possible to determine whether the position of the driving type marking device matches the movement path.

Therefore, through the driving type marking system according to an embodiment of the present invention, the driving type marking device moves along a set movement path and performs an operation of making a specific mark or drawing a line at a corresponding position according to the marking data can do.

In addition, at the same time, it is determined whether or not its own position matches the preset movement path through a scanning operation through a scanning sensor at a plurality of scan positions, and if it does not match the movement path, it moves along the movement path. The position can be controlled.

On the other hand, although a total of seven scan positions are shown in FIG. 15, the present invention is not necessarily limited to the seven scan positions, and the scan positions vary depending on the positions of pillars, glass windows, obstacles, etc. existing in the scan target space. can be changed to In addition, when an empty space exists in the scan target space, since a scan signal cannot be reflected in the empty space, the plurality of scan positions and scan angles may be set in consideration of the positions of the empty space.

16 is a view exemplarily showing a reference map obtained through a driving type marking device according to another embodiment of the present invention.

16 shows a reference map obtained through scan data obtained through a scanning sensor at a reference position, and the reflection of the scan signal does not occur at the position where the glass is present, so that the glass window It can be seen that normal scan data is not obtained from the position of ) to the reference position.

Also, it can be seen that scan data is not normally acquired from the space behind the pillar. Accordingly, when the reference map is generated through the scan data obtained through the scanning sensor, it is possible to roughly determine the position of the window and the position of the pillar or obstacle in the scan target space.

On the other hand, when the reference map is generated using the scan data obtained by rotating the scanning sensor in a stationary state, the scan distance becomes longer according to the size of the scan target space, and thus the accuracy may be lowered. Therefore, the reference map is preferably used as reference data for setting the movement path, scan position, and scan angle of the driving type marking device.

In addition, when a drawing for the scan target space exists, using the drawing and the reference map together may help to implement a more accurate operation of the driving type marking device.

On the other hand, the movement path, scan position, and scan angle of the driving type marking device are set to obtain accurate scan data for the scan target space, and in FIG. 9, including the reference position (reference) A position and an angle that are spaced apart from each other as much as possible from the pillar may be set.

17 is a flowchart schematically showing the flow of a control method of a driving type marking device according to an embodiment of the present invention.

Referring to Figure 17, the control method of the driving type marking device according to an embodiment of the present invention, information receiving step (S110), moving path setting step (S120), scan position and scan angle setting step (S130), marking It includes a device position determination step (S140), a marking device position correction step (S150).

The driving type marking device controllable according to the control method of the driving type marking device according to the present invention may move through a driving device (not shown) that provides power and may include a scanning sensor. The driving device may be of any type capable of moving to an arbitrary position by providing power to the driving type marking device. For example, the driving type marking device may be configured to be able to fly like a drone, or a plurality of pairs of driving devices It can also be configured through

Meanwhile, the scanning sensor is a sensor that scans the shape of an object, and the scanning sensor may measure a distance to an object or scan a shape using a light wave such as a laser or a sound wave. When the scanning sensor includes a laser sensor, a lidar (LiDAR) sensor may be included as an example of the laser sensor.

The driving type marking device may scan the surrounding space using the scanning sensor, and may acquire the position of an object in the surrounding space in a polar coordinate format using information reflected by the scan signal output from the scanning sensor. . The motor may rotate the scanning sensor 360°, and the rotation direction of the scanning sensor may be variously controlled as needed.

In the information receiving step (S110), information on the scan target space is received. The scan target space means a space in which the driving type marking device performs an operation, and the information corresponding to the scan target space relates to the location and size of drawings, walls, columns, windows, etc. existing in the scan target space. may contain information. In addition, the information on the scan target space may include information on a task to be performed by the driving type marking device in the scan target space.

Meanwhile, in the information receiving step ( S110 ), marking data for the work surface included in the scan target space may be received. The marking data means data that causes the driving type marking device to mark or draw a specific pattern on the working surface, and the driving type marking device uses a separate marking unit (not shown) to mark the working plane. An operation of displaying or drawing a line corresponding to the marking data may be performed.

In the moving path setting step (S120), the moving path of the driving type marking device is set. The moving path may be determined in consideration of the operation characteristics of the driving type marking device, but in an embodiment, the moving path may include a pattern or a line according to the marking data. In one embodiment, the driving type marking device may be used to make a specific mark at a position desired by an operator within a specific space, and the driving type marking device moves along the movement path but at a position included in the marking data. A marking unit may be used to mark or draw a line on the work surface.

In the scan position and scan angle setting step S130, a plurality of scan positions in the scan target space and scan angles of the scanning sensor at each scan position are set in consideration of reference map data. .

The reference map may be understood as a map indicating the shape of the scan target space, and in an embodiment, the reference map may be a plan view corresponding to the scan target space.

The step of setting the scan position and the scan angle ( S130 ) is a step of setting a scan condition of the scanning sensor in the scan target space. When the moving path of the driving type marking device is set in the moving path setting step (S120), in the scan position and scan angle setting step (S130), an arbitrary point on the moving path is designated and the designated point is set as the scan position do. Correspondingly, when the driving type marking device reaches the scan position, the scanning sensor performs a scanning operation. And at this time, the scanning sensor is rotated according to the scan angle set in the scan position and scan angle setting step (S130).

Meanwhile, the scan position and the scan angle are set in consideration of the reference map data. For example, the scan position and the scan angle may be set to a position and angle that can avoid pillars, glass windows, obstacles, etc. existing in the scan target space. In addition, when an empty space exists in the scan target space, since a scan signal cannot be reflected in the empty space, the plurality of scan positions and scan angles may be set in consideration of the positions of the empty space.

In the determination of the location of the marking device ( S140 ), the location of the driving type marking device is determined by comparing the scan data acquired through the scanning sensor at the scan location with the reference map data.

The reference map data may be expressed as coordinates of pixels included in an image frame, and coordinates of pixels corresponding to positions of objects may have different values from coordinates of pixels corresponding to empty positions. As described above, the data obtained through the scanning sensor can be obtained in the form of polar coordinates, and when the reference map data and the scan data are compared, the position of the driving type marking device in the scan target space can be determined. can

Meanwhile, the reference map data and the scan data are not limited to pixel coordinate data and polar coordinate data, respectively, and the reference map data may also include vector and polar coordinate format data. It can contain data in grid format.

More specifically, in the determination of the location of the marking device ( S140 ), the reference map data may be converted into data in the form of polar coordinates obtained through the scanning sensor, and the converted data may be compared with the scan data.

On the other hand, in the step of determining the position of the marking device ( S140 ), the position of the driving type marking device can be more accurately determined by using an Inertial Measurement Unit (IMU). The IMU may provide acceleration sensor data and earth magnetic field sensor data, and in the marking device position determination step ( S140 ), an error generated in the process of comparing the reference map data and the scan data with the acceleration sensor data and the earth magnetic field It can be calibrated using sensor data.

On the other hand, a device used to correct the reference map data and the scan data is not necessarily limited to the IMU, and an encoder capable of providing displacement data of the driving type marking device may be utilized. In other words, it will be apparent to those skilled in the art that any kind of sensor capable of correcting the position of the driving type marking device is applicable.

On the other hand, in the marking device position determination step (S140), a position signal output from a transmitter installed at an arbitrary position may be received, and the position of the driving type marking device may be determined from the position signal.

The operation performed in the marking device position determination step (S140) aims to determine the position of the driving type marking device as accurately as possible, and the transmitter is attached to an arbitrary position of the scan target space, for example, a pillar or a wall. The position signal may be transmitted.

However, the position of the transmitter is not limited to an arbitrary position inside the scan target space. For example, when the scan target space is an open space, even if the transmitter is located outside the scan target space, the position of the driving type marking device can be tracked.

The driving type marking device may include a receiver capable of determining the position of the transmitter and the distance and/or angle to the transmitter by receiving the position signal and transmitting the received position signal, the receiver includes a plurality of The position of the driving type marking device may be determined in consideration of the position signal received from the transmitter.

The transmitter may be configured through a marker or a beacon, and may be used when it is not easy to determine the exact position of the driving type marking device through comparison of the scan data and reference map data.

For example, the marker may display a specific color or shape or a predetermined number, and the receiver may determine the position of the driving type marking device by recognizing the color, shape or number.

18 is a view schematically showing the flow of a control method of a driving type marking device according to another embodiment of the present invention.

Referring to Figure 18, the control method of the driving type marking device according to another embodiment of the present invention, information receiving step (S210), moving path setting step (S220), scan data acquisition step (S230), reference map generation step (S240), a scan position and scan angle setting step (S250), a marking device position determination step (S260), and a marking device position correction step (S270).

In the information receiving step (S210), the movement path setting step (S220), the scan position and scan angle setting step (S250), the marking device position determination step (S260) and the marking device position correction step (S270) with reference to FIG. 17 Substantially the same operation as the operation performed in the information receiving step (S110), the movement path setting step (S120), the scan position and scan angle setting step (S130) and the marking device position determination step (S140) described above can be performed, so there is no overlap A detailed description will be omitted.

In the scan data acquisition step (S230), the scan data of the scan target space is acquired by rotating the scanning sensor of the driving type marking device at an arbitrary reference position in the scan target space.

The reference position may be any position within the scan target space, and in general, it may be preferable to be selected as a center point of the scan target space. However, the reference position is not necessarily limited to a position within the scan target space, and if necessary, the reference position may be selected outside the scan target space.

A position close to the window or a position in which an obstacle is present may not be suitable as the reference position. Since there is a high probability that the scan signal output from the scanning sensor is not reflected from the glass window, there may be a problem in obtaining the scan data. Because.

In addition, since it may be difficult to obtain scan data in a space where there is no object to reflect the scan signal output from the scanning sensor, the reference position is placed in an empty space in the scan target space to scan a pillar or an obstacle. It can be set to a position where it can be done.

In a state in which the driving type marking device is stopped at the reference position, the scanning sensor may rotate 360° to scan the scan target space to generate the scan data. Also, if necessary, the scanning angle of the scanning sensor may be controlled in the high and low direction through tilt control or the like.

In the reference map generation step ( S240 ), a reference map for the scan target space is generated from the scan data. In the scan position and scan angle setting step (S250), it is possible to set the scan condition of the driving type marking device in consideration of the reference map generated in the reference map generation step (S240).

Meanwhile, in an embodiment of the present invention, in the reference map generation step S240 , the reference map may be generated by applying a Simultaneous Localization and Mapping (SLAM) algorithm to the scan data.

Meanwhile, the reference map may include image data of pixels included in an image frame corresponding to the scan data. For example, when the scan target space is represented by one frame, a pixel corresponding to a position where an object exists may be displayed in black, and a pixel corresponding to an empty space may be displayed in white. have.

However, this means an embodiment of a data format that the reference map data can include, and is not limited to including color information for individual pixels, and the reference map data is expressed in the form of vectors, polar coordinates, etc. can be

In another embodiment of the present invention, the method may further include omitting the scan data acquisition step ( S230 ) and receiving a drawing corresponding to the scan target space.

The drawing includes information about the space to be scanned. If the drawing exists, the drawing may serve as the reference map, and in the scan position and scan angle setting step (S250), the drawing A plurality of scan positions and a scan angle of the scanning sensor at each scan position may be set in consideration of the .

If the drawing exists, the process of generating the reference map from scan data may not be necessary, but in the present invention, the drawing and the reference map may be used together. For example, when the accuracy of the drawing is not sufficiently reliable, the reference map generated using the scan data and the drawing may be used simultaneously.

Therefore, in the scan position and scan angle setting step (S250), the scan position of the driving type marking device and the scan angle at the scan position may be set in consideration of the reference map and the drawing together.

In addition, in the determination of the location of the marking device ( S260 ), the location of the driving type marking device may be determined by comparing the scan data obtained at the scan location, the reference map, and the drawing.

In the marking device position correction step (S270), the driving type marking device and the moving path are compared, and the position of the driving type marking device is corrected.

An error may occur in the process of converting data in the marking device position determination step (S260) and comparing the converted data with the scan data. For example, the marking device position determination step (S260) determines the There may be problems in that the position of the driving type marking device is suddenly suddenly changed or the position of the driving type marking device is discontinuously changed. In this case, the driving type marking device may deviate from the movement path.

In the marking device position correction step (S270), when the position of the driving type marking device determined in the marking device position determination step (S260) is out of a predetermined range or more in the movement path, the position of the driving type marking device is determined in the movement path can be corrected accordingly.

19 is a diagram schematically showing the configuration of a driving type marking system according to another embodiment of the present invention.

Referring to FIG. 19 , the driving type marking system 400 according to another embodiment of the present invention includes a data receiving unit 410 , a driving unit 420 , a sensing unit 430 , and a position detecting unit 440 .

The driving type marking system 400 shown in FIG. 19 has a configuration in which the scan condition setting unit 140 is excluded from the driving type marking system 100 described with reference to FIG. 1 . That is, it does not include a configuration for setting a scan position and a scan angle of the driving type marking device in the scan target space.

19 , the sensing unit 430 includes a scanning sensor that does not have a limited angular range and acquires scan data while rotating 360°. In the case of using a scanning sensor that can acquire scan data only within a limited angular range, the amount of scan data acquired may vary depending on the direction the scanning sensor looks, so the scan position and It is necessary to set the scan angle at each scan position.

On the other hand, when the scanning sensor is rotatable by 360°, scan data corresponding to the scan target space can be acquired at all positions, so it is not necessary to set the scan position and the scan angle. Accordingly, the driving type marking system 400 according to another embodiment of the present invention may include only the data receiving unit 410 , the driving unit 420 , the sensing unit 430 , and the position detecting unit 440 .

Meanwhile, the sensing unit 430 may include a vertical driving unit (not shown) for controlling the scan height of the scanning sensor, and may control the height of the scanning sensor according to the position of the driving type marking device. Accordingly, it can be understood that the height of the scanning sensor is controllable even when the scan angle and the scan position are not previously set by the scan condition setting unit 140 described with reference to FIG. 1 .

The position detection unit 440 may detect the position of the driving type marking device by extracting some scan data from the scan data obtained by the sensing unit 430, wherein the extracted scan data provides accurate information about the scan target space. It can be understood as scan data that can be provided.

On the other hand, the position detection unit 440 may include a data extraction module (not shown) for extracting scan data necessary to detect the position of the driving type marking device.

The data extraction module may use the method as described with reference to FIG. 2 to extract scan data that can provide more accurate information among scan data acquired through the sensing unit 430 .

For example, a position at which a larger amount of scan data can be obtained within the scan target space and a scan angle range of the scanning sensor may be considered. Referring back to FIG. 2 , when the driving type marking device moves from position A to position B through position C, scan data within the range of 135° to -45° among the scan data acquired at position A can be extracted. .

Similarly, scan data within a range of 0° to 180° may be extracted from the scan data acquired at position B, and scan data within a range of 45° to 225° may be extracted from scan data acquired at position C.

The above-described method is only an embodiment that can be used to extract some scan data when a 360° rotatable scanning sensor is used, and the present invention is not limited to the above-described method. Accordingly, it will be apparent to those skilled in the art that a process of extracting a part of the scan data is not necessarily required, and various methods may be used to extract the part of the scan data.

Meanwhile, although not shown in FIG. 19 , the driving type marking system 400 may include a tilt driving unit and/or a vertical driving unit that can be adjusted to enable vertical scanning of the scanning sensor.

20 is a diagram schematically showing the configuration of a sensing unit according to another embodiment of the present invention.

Referring to FIG. 20 , the sensing unit 430 according to another embodiment of the present invention includes a scanning sensor 431 and a fourth sensor 432 . The scanning sensor 431 performs the same operation as the scanning sensor described with reference to the preceding drawings.

The fourth sensor 432 recognizes a reference position set in the scan target space. The reference position provides information for determining the position of the driving type marking device with respect to the scan target space.

The driving type marking system described with reference to the preceding drawings may determine the position of the driving type marking device from scan data obtained through a scanning sensor, and the reference position set at an arbitrary position in the scan target space is the It allows the position detection unit 440 to detect the position of the driving type marking device regardless of whether scan data is acquired.

The reference position may be set to an arbitrary position on the floor, wall, and/or ceiling of the scan target space, and a mark recognizable by the fourth sensor 432 and a communication device may be installed at the reference position. have.

For example, the fourth sensor 432 may be a camera, and captures a mark displayed on the floor surface of the scan target space through the camera, and the position detection unit 440 analyzes the shape, size, etc. It is possible to detect the position where the mark was photographed. To this end, the position detection unit 440 may store the image of the mark photographed at the reference position. The position detection unit 440 compares the image of the mark photographed at the reference position with the image of the mark photographed at an arbitrary position in the scan target space, and when the size and shape of the two images are the same, at this time the It may be determined that the driving type marking device is in the reference position.

As the moving distance of the driving type marking device that performs various tasks including scanning while moving in the scan target space increases, a problem of accumulating and increasing position determination errors may occur. By recognizing the reference position periodically or according to a user's request through the sensor 432, it is possible to provide an effect of correcting the position of the driving type marking device.

21 is a diagram exemplarily illustrating a method of using a reference position according to another embodiment of the present invention.

First, FIG. 21 ( a ) shows an example of displaying a reference position on the floor surface of the scan target space S . Referring to FIG. 21 ( a ), a reference position R may be displayed on the bottom surface of the scan target space S, and the fourth sensor 432 described with reference to FIG. 20 may recognize the reference position R. can

The coordinates or relative positions of the reference position R in the scan target space may be stored in the position detection unit 440, and based on the reference position R, while the driving type marking device performs an operation, periodically or The driving type marking device may be moved to the reference position R according to a user's request.

By photographing the mark displayed at the reference position R through the fourth sensor 432 at the reference position R, and comparing the photographed image and the image of the mark stored in the position detection unit 440, the position of the driving type marking device can be detected.

21( b ) exemplarily shows a plurality of reference positions installed in the scan target space S . Referring to FIG. 21(b) , four pillars are installed in the scan target space S, and each pillar serves as a reference position in the scan target space S. A communication device capable of communicating with the fourth sensor 432 may be installed on each of the pillars. The fourth sensor 432 may calculate a distance to each of the pillars, and transmit information about the calculated distance to the location detection unit 440 .

The position detection unit 440 may detect the position of the driving type marking device by using the information about the distance and the position information of each of the pillars in the scan target space (S).

Controlling the driving-type marking device to be located at an arbitrary point in the scan target space S (eg, the center of the scan target space S) through the embodiments disclosed in FIGS. 21 ( a ) and 21 ( b ) After resetting the position of the driving type marking device, it is possible to control the driving type marking device to perform the following operation.

Meanwhile, the present invention can be implemented as computer-readable codes on a computer-readable recording medium. The computer-readable recording medium includes all types of recording devices in which data readable by a computer system is stored. Examples of the computer-readable recording medium include ROM, RAM, CD-ROM, magnetic tape, floppy disk, and optical data storage device.

In addition, the computer-readable recording medium may be distributed in a network-connected computer system, and the computer-readable code may be stored and executed in a distributed manner. And functional programs, codes, and code segments for implementing the present invention can be easily inferred by programmers in the technical field to which the present invention pertains.

The steps constituting the method according to the present invention may be performed in an appropriate order, unless there is an explicit order or description to the contrary. The present invention is not necessarily limited to the order in which the steps are described.

The use of all examples or exemplary terms (eg, etc.) in the present invention is merely for the purpose of describing the present invention in detail, and the scope of the present invention is not limited by the examples or exemplary terms unless limited by the claims. It is not limited. In addition, those skilled in the art can appreciate that various modifications, combinations, and changes can be made according to design conditions and factors within the scope of the appended claims or equivalents thereof.

Therefore, the spirit of the present invention should not be limited to the above-described embodiments, and not only the claims described below, but also all ranges equivalent to or changed from these claims are of the spirit of the present invention. would be said to belong to the category.

100, 200, 300, 400: driven marking system
110, 210, 310, 410: data receiving unit
120, 220, 320, 420: drive unit
121, 221, 321: marking unit
122, 222, 322: drive unit
130, 230, 330, 430: sensing unit
131, 431: scanning sensor
132: sensor driving unit
133: second sensor
134: third sensor
432: fourth sensor
240: marking unit
241: first marking module
242: second marking module
250, 340: map generator
140, 260, 350: scan condition setting unit
150, 270, 360, 440: position detection unit
280: position correction unit
370: control unit
10, 20, 30: driven marking device

Claims (20)

A driven marking system comprising a driven marking device, comprising:
a data receiving unit for receiving information on a scan target space;
a driving unit for providing power to the driving type marking device;
a sensing unit for laser scanning the scan target space;
Set a movement path of the driving type marking device, and scan the scan target space in consideration of the acquisition amount of reference map (Reference Map) data corresponding to the scan target space and the scan data expected to be acquired through the sensing unit a scan condition setting unit for setting a scan position for performing a scan, and setting a scan angle that is a scan direction of the sensing unit at the scan position; and
a position detection unit for detecting a position of the driving type marking device by comparing the scan data obtained through the sensing unit at the scan position with the reference map data;
A driving type marking system comprising a. delete delete According to claim 1,
A driving type marking system further comprising a position correction unit for compensating the position of the driving type marking device by comparing the movement path with the position of the driving type marking device detected by the position detection unit. delete According to claim 1,
The information on the scan target space includes marking data for the scan target space,
a marking unit for performing a marking operation in response to the marking data; and
Further comprising a control unit for controlling the driving type marking device and the position of the marking unit,
The control unit adjusts the position of the driving type marking device corresponding to the movement path when the position of the driving type marking device detected by the position detection unit is out of a predetermined range or more in the movement path,
A driving type marking system for adjusting the position of the marking unit in response to the movement path when the position of the driving type marking device is out of the predetermined range. 7. The method of claim 6,
A driving type marking system in which the movement path of the driving type marking device is set in response to the marking data. delete According to claim 1,
and the scan position is on the travel path. According to claim 1,
The position detection unit receives a position signal output from a transmitter installed at an arbitrary position, and a driving type marking system for determining the position of the driving type marking device from the position signal. A control method of a driving type marking device including a scanning sensor and a driving device that are rotatable and laser scan a space to be scanned,
receiving information on the scan target space;
setting a movement path of the driving type marking device;
setting a scan position for scanning the scan target space in consideration of reference map data corresponding to the scan target space and an acquisition amount of scan data expected to be acquired through the scanning sensor; setting a scan angle that is a scan direction of the scanning sensor in ; and
determining a position of the driving type marking device by comparing the scan data acquired through the scanning sensor at the scan position with the reference map data;
A control method of a driving type marking device comprising a. 12. The method of claim 11,
Comparing the position of the driving-type marking device and the movement path, the control method of the driving-type marking device further comprising the step of correcting the position of the driving-type marking device. 12. The method of claim 11,
In the step of receiving the information on the scan target space, further receiving marking data for the work surface included in the scan target space,
In the step of setting the moving path, a control method of a driving type marking device for setting a moving path of the driving type marking device in response to the marking data. delete 12. The method of claim 11,
The reference map is a control method of a driving type marking device generated from a drawing corresponding to the scan target space. 12. The method of claim 11,
The scan position is a control method of a driving type marking device that exists on the movement path. A computer-readable recording medium in which a program for performing the method according to any one of claims 11 to 13 and 16 is recorded. delete delete delete

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