WO2021100890A1

WO2021100890A1 - System for controlling driving to recognize and avoid obstacle, and method thereof

Info

Publication number: WO2021100890A1
Application number: PCT/KR2019/015788
Authority: WO
Inventors: 최귀철; 장영진
Original assignee: (주)한스이엔지
Priority date: 2019-11-18
Filing date: 2019-11-18
Publication date: 2021-05-27

Abstract

Disclosed are a system for controlling driving to recognize and avoid an obstacle, and a method thereof. The system for controlling driving to recognize and avoid an obstacle comprises: a direction switch control unit for switching directions by controlling the operation of omni-wheels; a display unit for outputting a guidance message; an image capturing unit for capturing a surrounding environment; and a driving path calculation unit for calculating a driving path.

Description

Obstacle recognition and avoidance driving control system and method thereof

The present invention relates to an obstacle recognition and avoidance driving control system, and more particularly, to a system that recognizes and avoids an obstacle in an autonomous driving process and controls the driving.

In general, in order for a robot to run autonomously along a predetermined path, technology related to the movement of various joints constituting the robot, technology to recognize obstacles, technology to avoid recognized obstacles, etc. are organically combined to control the movement of the robot. .

Conventionally, a technology for driving by avoiding obstacles such as an infant electric vehicle such as Korean Utility Model No. 200481135 has been disclosed, but there is a problem that it is difficult to effectively avoid obstacles due to a low recognition rate.

Therefore, there is a need for research on a system for more effectively recognizing the existence of obstacles and successfully avoiding the recognized obstacles in the process of moving the robot.

The present invention is an obstacle recognition and avoidance driving control system that effectively solves an obstacle collision problem that may occur in the autonomous driving process of the robot by recognizing the existence of an obstacle through a camera during autonomous driving of the robot and calculating an obstacle avoidance path to avoid driving. Provides.

In addition, the present invention provides an obstacle recognition and avoidance driving control system through which the autonomous driving robot can periodically monitor the patient's state by grasping the patient's state through the patient's gait.

In addition, the present invention provides an obstacle recognition and avoidance driving control system that can help the patient's mental treatment by becoming a patient-tailored conversation partner using the patient's prior information.

An obstacle recognition and avoidance driving control system according to an embodiment of the present invention includes a direction change control unit for controlling an operation of an omni wheel to change direction, a display unit for outputting a guide message, an image capturing unit for photographing a surrounding environment, and And a travel route calculation unit that calculates a travel route.

The obstacle recognition and avoidance driving control system according to an embodiment of the present invention may further include a hospital room monitoring unit for diagnosing and monitoring the movement of a ward environment and a surgical patient from the surrounding environment data captured through the image capturing unit.

The obstacle recognition and avoidance driving control system according to an embodiment of the present invention may further include a gait analysis unit that analyzes the patient’s gait and analyzes the patient’s health status.

The obstacle recognition and avoidance driving control system according to an embodiment of the present invention may further include a Malbot control unit for controlling to proceed with a query response based on the patient's prior information by approaching within a preset distance of the patient.

According to an embodiment of the present invention, the obstacle collision problem that may occur in the autonomous driving process of the robot can be effectively solved by recognizing whether an obstacle exists through a camera through a camera and calculating an obstacle avoidance path to avoid driving. .

In addition, according to the present invention, the autonomous driving robot can periodically monitor the patient's state by grasping the patient's state through the patient's gait.

In addition, the present invention can help the patient's mental treatment by becoming a personalized conversation partner using the patient's prior information.

1 is a diagram showing the configuration of an obstacle recognition and avoidance driving control system according to an embodiment of the present invention.

2 is a view for explaining a process in which patient-customized care is performed through the obstacle recognition and avoidance driving control system according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the contents described in the accompanying drawings. However, the present invention is not limited or limited by the embodiments. The same reference numerals shown in each drawing indicate the same members.

Referring to FIG. 1, the obstacle recognition and avoidance driving control system 100 includes a direction change control unit 110, a display unit 120, an image capturing unit 130, and a driving route calculation unit 140.

The direction change control unit 110 may change the direction by controlling the operation of an omni wheel.

At this time, the omni wheel is composed of three barrels that are free to rotate in the axial direction of the wheel on the outer circumference of the wheel frame, and can be configured to move in all directions by arranging a plurality of barrels on the movable column in the body of a mobile robot. have.

For example, three omniwheels can be used for a mobile robot, and three omniwheels are installed at 120° intervals based on the center of the mobile robot, and the direction and speed of the three omniwheels are controlled by the direction change control unit 110. By being controlled, the traveling direction of the mobile robot can be determined.

The display 120 may output a guide message. That is, the robot equipped with the obstacle recognition and avoidance driving control system 100 can move to display and provide information to patients, hospital personnel, etc., or perform instructions, commands, etc., so that patients and hospital personnel can use the mobile robot. You can easily receive information.

The image capturing unit 130 may photograph the surrounding environment. That is, it is possible to photograph the surroundings of the mobile robot through a 3D camera, etc., and by analyzing image data received from the photographed image, it is possible to recognize the surrounding situation and generate basic data for driving route control.

The driving route calculation unit 140 may calculate a driving route. By receiving the data captured and analyzed through the imaging unit 130, calculates a driving path for moving to a specific patient, a specific object, or a specific place, and when an obstacle is recognized on the driving path, it is optimal to avoid the obstacle. The driving route of can be calculated in real time.

The obstacle recognition and avoidance driving control system 100 may further include a gait analysis unit 150, a malbot control unit 160, and a hospital room monitoring unit 170 to monitor and control the patient's condition and the environment of the ward. .

The gait analysis unit 150 may analyze the patient’s gait to analyze the patient’s health status.

For example, when the patient is walking while striking the left leg, it may be determined that the progress of the recovery of the left leg is in progress, and the rehabilitation speed and state may be determined by comparing with the walking image taken immediately before.

The Malbot control unit 160 may control to access within a preset distance of the patient and proceed with a query response based on the patient's prior information. As the patient's mental stress and loneliness, as well as physical therapy, have a great influence on the treatment outcome, the robot can be controlled to continue inquiries and responses to the patient's prior information and interests based on the patient's preliminary information, helping the patient's mental treatment. Can give

For example, if Mr. Hong Gil-dong, who is in the basic stage of depression, is currently located in a hospital room on the 6th floor of the hospital, the robot moves by receiving data from the location sensor worn by Mr. Hong Gil-dong through a wearable device and using the location of Mr. Hong as a destination. And, if you approach a location within a preset radius with Mr. Hong Gil-dong, you can continue inquiries and responses to become a friend to Mr. Hong.

The ward monitoring unit 170 may diagnose and monitor the ward environment and the movement of a patient for surgery from the surrounding environment data photographed through the image capturing unit. That is, it is possible to analyze changes in the ward environment and whether or not the patient moves through the image data photographed through the image capturing unit, and the conditions such as temperature and humidity of the ward can be monitored through various sensors provided in the robot.

Meanwhile, the obstacle recognition and avoidance driving control system 100 may perform other various functions, which will be described in more detail below with reference to FIG. 2.

Referring to Figure 2, the patient's motion measurement, fluid level measurement, urine measurement, pulse wave measurement, sleep time measurement, blood glucose measurement, fire detection, body temperature measurement, temperature and humidity measurement, fine dust measurement, stress measurement, etc. You can receive and monitor various types of information.

As described above, according to an embodiment of the present invention, the obstacle collision problem that may occur in the autonomous driving process of the robot is solved by recognizing whether there is an obstacle through the camera and calculating the obstacle avoidance path through the camera during autonomous driving of the robot. It can be solved effectively.

In addition, the obstacle recognition and avoidance driving control method according to an embodiment of the present invention may be recorded in a computer-readable medium including program instructions for performing various computer-implemented operations. The computer-readable medium may include program instructions, data files, data structures, etc. alone or in combination. The medium may be a program instruction specially designed and configured for the present invention, or may be known and usable to a person skilled in computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. -A hardware device specially configured to store and execute program instructions such as magneto-optical media, and ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine language codes such as those produced by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like.

As described above, although an embodiment of the present invention has been described by a limited embodiment and the drawings, an embodiment of the present invention is not limited to the above-described embodiment, which is a common knowledge in the field to which the present invention pertains. Anyone who has it can make various modifications and variations from these substrates. Accordingly, one embodiment of the present invention should be grasped only by the claims described below, and all equivalent or equivalent modifications thereof will be said to belong to the scope of the inventive concept.

100: obstacle recognition and avoidance driving control system

110: image recording unit

120: driving route calculation unit

130: direction change control unit

140: display unit

150: gait analysis unit

160: Malbot control unit

170: hospital room monitoring unit

Claims

A direction change control unit for changing a direction by controlling the operation of the omni wheel;

A display unit for outputting a guide message;

An image photographing unit for photographing the surrounding environment; And

Driving route calculation unit that calculates the driving route

Obstacle recognition and avoidance driving control system comprising a.
The method of claim 1,

A hospital room monitoring unit that diagnoses and monitors the ward environment and the movement of the surgical patient from the surrounding environment data photographed through the imaging unit.

Obstacle recognition and avoidance driving control system comprising a further.
The method of claim 1,

Gait analysis unit that analyzes the patient's gait and analyzes the patient's health status

Obstacle recognition and avoidance driving control system comprising a further.
The method of claim 1,

Malbot control unit that controls to access within a preset distance of the patient and proceed with a query response based on the patient's prior information

Obstacle recognition and avoidance driving control system comprising a further.