KR100709073B1 - Position Information Emitting Apparatus And Robot - Google Patents

Abstract

The present invention relates to a position information transmitting device and a robot. The position information transmitting device according to the present invention includes a main body; A motion detector for detecting a motion of the main body; An information sending unit which sends predetermined information; And a sending control unit which controls the information sending unit to transmit the motion information of any one of the presence or absence of movement of the main body and the degree of movement of the main body according to the detection result of the movement detecting unit. Thereby, by detecting whether the position of the position information sending device is changed, it is possible to prevent the robot from judging its position incorrectly.

Description

Position Information Emitting Apparatus And Robot}

1 is a control block diagram of a position information transmitting apparatus and a robot according to the present invention,

Figure 2a is a view showing a cross-sectional view of the position information transmitting apparatus according to the present invention,

2B to 2J are views illustrating a motion detection unit provided in the location information transmitting device according to the embodiment of the present invention.

3 is a control flowchart of a position information transmitting apparatus and a robot according to the present invention.

* Explanation of symbols for the main parts of the drawings

100: location information transmission device 300: robot

10: information transmitter 11: ultrasonic transmitter

13 light transmitting unit 15 transmitting unit

16: phase adjuster 16a: reflection mirror

16b: rotating shaft 16c: motor

17: motion detection unit 19: the main body

30: information receiver 31: ultrasonic receiver

33: light receiving unit 35: position measuring unit

The present invention relates to a position information sending device and a robot, and more particularly, to a position information sending device and a robot for detecting the position and / or the direction of travel of the robot by light and / or ultrasonic waves transmitted from the position information sending device. will be.

Robots are increasingly used throughout the industry, and robots for household chores are being developed.

In the past, robots operated in a fixed state in a fixed work space or moved by a fixed track only, but recently, robots that autonomously move away from a fixed space or a fixed track and perform work are being developed.

Such a robot capable of autonomous movement has been developed in various ways such as detecting a guide line and the like installed on the movement path as a method for moving to the destination.

In general, the robot system includes a location information transmitting device and a robot as in Korean Patent Application No. 2004-0107933. The robot receives at least one of light and ultrasonic waves from the position information transmitting device and determines the relative position of the robot based on the position information transmitting device using the at least one of light and ultrasonic waves.

In the conventional position information transmitter and the robot, when the position information transmitter is moved by a user or the like, the relative position of the robot is changed. However, the conventional robot system cannot determine whether the location information transmitting device is moved, and thus, if the location information transmitting device is arbitrarily moved, there is a problem of incorrectly determining the position of the robot.

Accordingly, it is an object of the present invention to provide a location information sending device and a robot that can detect whether the position of the location information sending device is changed and prevent the robot from judging its position incorrectly.

The above object is, according to the present invention, a position information transmitting apparatus having a main body, comprising: a movement detecting unit for detecting a movement of the main body; An information sending unit which sends predetermined information; And a sending control unit for controlling the information sending unit so as to transmit the motion information of any one of the presence or absence of movement of the main body and the degree of movement of the main body according to the detection result of the motion detecting unit. .

The information transmitted by the information transmitter may include at least one of light and ultrasonic waves having phase information.

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On the other hand, according to the present invention, the robot, in the robot, information receiving unit for receiving any one of the movement information of the presence or absence of movement of the main body and the degree of movement of the main body transmitted from the position information transmitting apparatus according to claim 1; When it is determined that the position of the main body of the position information transmitting device is changed as a result of the determination of the motion information, when the motion information includes information about the changed position of the main body, the relative position with respect to the changed position of the position information transmitting device It is achieved by a robot comprising a position measuring unit for measuring the.

Here, the position measuring unit may not measure the relative position with respect to the position information transmitting device, if the motion information does not include information about the changed position of the main body.

Hereinafter, with reference to the accompanying drawings will be described in detail with respect to the present invention.

Robot system according to the present invention, as shown in Figure 1, includes a position information transmitting device 100 and the robot 300.

The position information sending device 100 includes an information sending unit 10 for transmitting predetermined information, a motion detecting unit 17 for detecting a movement of the main body 19 of the position information sending device 100, and controlling them. The delivery control part 15 is included. In addition, the position information transmitting apparatus 100 according to the present invention may further include a phase adjusting unit 16 for adjusting the phase of information transmitted from the information transmitting unit 10.

The motion detector 17 detects whether the main body 19 of the position information transmitting device 100 is moved. The motion detector 17 may be provided in various ways as shown in FIGS. 2A to 2I as described below.
In this case, the motion detector 17 stores the counting variable transmitted from the information transmitter 10 transmitted and compares the counting variable with the currently received counting variable, thereby determining whether the main body of the transmitting apparatus moves.
The information transmitting unit 10 may include a light transmitting unit 13 for transmitting light having position information, and an ultrasonic sending unit 11 for transmitting ultrasonic waves. Hereinafter, an example in which the information transmitting unit 10 includes the light transmitting unit 13 and the ultrasonic transmitting unit 11 will be described.

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The light emitting unit 13 outputs light having linearity, such as infrared rays or electromagnetic waves. Here, the light emitter 13 may include various types of information in the output light through phase shift keying, frequency shift keying, or the like. According to the method, the light output through the light transmitting unit 13 includes phase information on the phase at which the light determined by the phase adjusting unit 16 is transmitted. Here, when the light output from the light transmitting unit 13 is infrared, phase information may be included in the infrared through infrared data association (IrDA) infrared communication.

The phase adjuster 16 adjusts the light transmission direction so that the light output from the light transmission unit is output in a direction corresponding to the phase information of the light output from the light transmission unit 13.
2A is a diagram illustrating an example of a location information transmitting device 100 according to the present invention. As shown in the figure, the phase adjuster 16 may include a reflection mirror 16a, a rotation shaft 16b, and a motor 16c.

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The reflection mirror 16a is connected to the rotating shaft 16b and is inclined at a predetermined angle with respect to the traveling direction of the light output from the light emitting unit 13 so that the light output from the light transmitting unit 13 is reflected with a predetermined incident angle. do.

The rotation shaft 16b is connected to the reflection mirror 16a to transmit the rotational force of the motor 16c to the reflection mirror 16a. Then, the motor 16c rotates the rotation shaft 16b so that the reflective mirror 16a is rotated at a predetermined angular speed. Here, the motor 16c rotates the entire 360-degree section to adjust the direction in which light is output from the light emitting section 13.
In the robot as described above, since the optical signal transmitted from the position information transmitting device 100 may not be received in which direction, the reflective mirror 16a may be installed to receive the optical signal in any direction. In addition, the robot calculates a relative position with respect to the transmission device using the angle information and the distance information obtained from the reflection mirror 16a.

Referring back to FIG. 1, the phase information transmitting apparatus according to the present invention includes a transmitting control unit 15.

Here, the transmission control unit 15 performs coding or modulation so that the motion information according to the detection result of the motion detection unit 17 is included in the light output from the light transmission unit 13.

Then, the transmission control unit 15 receives the information on the phase according to the actual rotation of the current motor 16c from the motor 16c, and the information on the phase according to the actual rotation of the motor 16c is transmitted to the light emitting unit 13. Coding or modulation is performed to include the phase information in the light generated in the " Thereby, the sending direction of the light output from the light emitting part 13 is adjusted.
The transmission control unit 15 may include phase information in the light using a phase shift method, a frequency shift method, or a pulse width modulation (PWM) method, as described above, according to the shape of the light.

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In addition, the position information transmitting apparatus 100 according to the present invention may include an ultrasonic output unit for outputting ultrasonic waves synchronized with the light transmitted from the light transmitting unit 13. Here, the transmitting control unit 15 may control the ultrasonic transmitting unit 11 to output ultrasonic waves at a predetermined period in synchronization with the light generated by the light transmitting unit 13. The ultrasonic transmitter 11 according to the present invention generates ultrasonic waves every time the motor 16c rotates once, that is, whenever the phase according to the phase information included in the light transmitted from the optical transmitter 13 is 0 °. The output is an example.

According to the above configuration, the light and ultrasonic waves transmitted from the position information transmitting device 100 will be described.

First, with reference to the case where the phase of the motor 16c is 0 °, the motor 16c rotates at a predetermined angular speed. At this time, the transmission control unit 15 controls the light emitting unit 13 to generate and output light having phase information of 0 ° when the motor 16c is rotated and the phase of the motor 16c is 0 °. do. In addition, the transmitting control unit 15 controls the ultrasonic transmitting unit 11 to transmit ultrasonic waves while generating and outputting light having phase information of 0 ° from the light transmitting unit 13.

In addition, the output control unit 15 controls the light output unit 13 to output light in a predetermined predetermined phase unit, for example, 1 ° unit, in response to the rotation of the motor 16c, and outputs the unit in 1 ° unit. Phase information about the phase is included in the light.
Referring back to FIG. 1, the robot 300 according to the present invention may include an information receiver 30 and a position measuring unit 35.

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Here, the information receiving unit 30 is an optical receiving unit 33 for receiving the light transmitted from the light transmitting unit 13 of the position information transmitting device 100, and the ultrasonic wave receiving the ultrasonic wave transmitted from the ultrasonic transmitting unit 11 It may include a receiver 31.

The light receiver 33 receives the light transmitted from the light transmitter 13 of the position information transmitter 100. The light receiver 33 transmits the received light to the position measuring unit 35. The light receiver 33 is preferably provided in a form capable of receiving light from all directions that are substantially horizontal with respect to the moving direction of the robot 300.

The ultrasonic receiver 31 receives the ultrasonic waves transmitted from the ultrasonic transmitter 11 of the position information transmitter 100. The ultrasonic receiver 31 provides the position measuring unit 35 with information about whether the ultrasonic wave is received.

Here, the robot 300 according to the present invention is based on the light received through the light receiver 33 and the current robot for the position information transmitting device 100 based on the ultrasonic wave received from the ultrasonic receiver 31 ( Measure the relative phase and distance of 300).

The position measuring unit 35 may detect the relative phase and position of the current robot 300 based on the light received through the light receiver 33 and the ultrasonic wave received through the ultrasonic receiver 31.

The position measuring unit 35 reads phase information included in the light received through the light receiving unit 33 and detects a relative phase of the robot 300 with respect to the position information transmitting device 100. The position measuring unit 35 calculates a distance between the robot 300 and the position information transmitting device 100 based on the ultrasonic wave received through the ultrasonic receiver 31 and the light received through the light receiver 33. .

The robot 300 may further include a moving direction detector, which is not shown, to detect the moving direction of the robot 300 based on the incident angle of the light transmitted from the position information transmitting device 100.

2A to 2I are views illustrating a motion detecting unit 17 provided in the position information transmitting device 100 according to the present invention.

2A is a diagram illustrating an example in which the motion detecting unit 17 includes a distance measuring sensor 21. In this case, when the main body 19 is placed on the ground and lifted by the user, the distance from one end of the sensor detected by the distance measuring sensor 21 to the bottom of the main body 19 is changed. That is, when the main body 19 is placed on the ground, the distance detected by the distance measuring sensor 21 is 9 cm, and when the main body 19 is lifted by the user, the distance detected by the distance measuring sensor 21 is 10 cm. Can be.
As a result, the motion detecting unit 17 of the position information transmitting device 100 according to the present invention may detect whether the main body 19 moves.

2B is a diagram illustrating an example in which the motion detector 17 includes an optical sensor 22. In this case, the amount of illuminance detected by the optical sensor 22 changes when the main body 19 is placed on the ground and when it is lifted by the user. Therefore, the motion detector 17 according to the present invention may detect whether the main body 19 moves according to whether the amount of illuminance changes to a predetermined level or more.

2C is a diagram illustrating an example in which the motion detecting unit 17 includes a sensor 23 that detects a pressure such as a switch or a pressure sensor. In this case, when the main body 19 is placed on the ground, the switch may be turned off when the switch is pressed on and lifted by the user. Accordingly, the motion detector 17 according to the present invention may detect whether the main body 19 moves according to whether the switch is pressed. In addition, since the pressure applied to the pressure sensor changes depending on whether the main body 19 is placed on the ground, the motion detecting unit 17 may detect whether the main body 19 moves according to the change in the pressure applied to the pressure sensor. Can be.

2D and 2E illustrate an example in which the motion detector 17 includes a permanent magnet 24. Since the position of the permanent magnet 24 changes depending on whether the main body 19 is placed on the ground, the magnetic force applied to the coil 25 of FIG. 2D or the magnetic sensor 26 of FIG. 2E is changed. Therefore, the motion detector 17 may detect whether the main body 19 moves according to the change in the magnetic force applied to the coil 25 or the magnetic sensor 26.

FIG. 2F is a diagram illustrating an example in which the motion detector 17 includes a sensor 27 such as an acceleration sensor and a geomagnetic sensor. When the main body 19 is moved by a user or the like, the acceleration sensor detects an acceleration according to the movement of the main body 19, and thus the motion detector 17 may detect whether the main body 19 moves according to the change in the acceleration. have. Since the geomagnetic sensor detects a geomagnetism that changes when the main body 19 is moved by a user, the geomagnetic sensor detects whether the main body 19 moves according to whether the geomagnetism changes.

FIG. 2G is a diagram illustrating an example in which the motion detecting unit 17 includes an optical circuit breaker 29 and an optical switch 28. The optical switch 28 switches the light interrupter 29 according to whether the main body 19 is moved by the user or the like, and thus the motion detector 17 may detect whether the main body 19 moves.

FIG. 2H is a diagram illustrating an example in which the motion detector 17 includes an image acquisition unit 41 such as a micro camera. This is the same principle as the image sensor of the optical mouse can detect not only the movement of the main body 19 but also the degree of movement. Therefore, when the motion detector 17 according to the present invention includes the image acquisition unit 41, the motion information further includes information on the degree of movement such as the distance and the direction of movement, as well as whether the main body 19 moves. can do.

FIG. 2I is a diagram illustrating an example in which the motion detector 17 includes a slit plate 45 and a ball 43. In this case, the slit plate 45 and the ball 43 can sense not only the movement of the main body 19 but also the degree of movement in the same principle as the ball mouse. Therefore, the motion information may further include information on the degree of movement, such as the distance moved, as well as whether the main body 19 moves.
3 is a control flowchart of the position information transmitting apparatus 100 and the robot 300 according to the present invention.

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As shown in Figure 3, the position information transmitting apparatus 100 according to the present invention detects whether the main body 19 is moved (S11). When it is determined that the main body 19 is moved as a result of the detection of the motion detecting unit 17 (S13), the transmission control unit 15 encodes the motion information including the information that the main body 19 has moved to the light (S15). ). The transmission control unit 15 includes the motion information in the light, and then transmits the light to the robot 300 through the information transmission unit 10. The robot 300 receives the light through the information receiver 30 (S17). As a result of decoding and determining the light, the robot 300 updates the position of the position information transmitting device 100 based on the movement information of the main body 19 when the movement information includes the movement degree of the main body 19 (S19). (S21). Then, the position of the robot 300 is measured based on the updated position of the location information sending device.

When the robot 300 decodes the light and determines that the light information does not include the degree of movement of the main body 19 in the motion information (S19) and only includes information that the main body 19 has moved, the apparatus 100 for transmitting the position information 100. Do not measure the position of the robot 300 based on. At this time, the robot 300 may disable the information received from the position information transmitting device 100 (S23) or block the receiver.

When the degree of movement is not included in the movement information, the robot 300 may operate by measuring the position based on the information received from the separate position information transmitting apparatus 100.

In the above-described embodiment, the motion information is included in the light, but it is natural that the motion information may be transmitted by being included in an ultrasonic wave or a separate signal.

In the above-described embodiment, the motion information is included in the light only when the main body 19 of the position information transmitting device 100 moves, but this is only an example and does not move even when the main body 19 does not move. Motion information may be included in the optical information.

In the above-described embodiment, the ultrasonic transmitter 11 and the ultrasonic receiver 31 have been described, but this is only one embodiment and the information transmitter 10 and the information receiver 30 according to the present invention are only optical. It is sufficient to include only the transmitting section 13 and the light receiving section 33.

In the above-described embodiment, the phase adjuster 16 is shown to include a reflecting mirror 16a, a rotating shaft 16b, a motor 16c, but this is only one embodiment and the phase of the information transmitted from the information transmitting unit is shown. It is enough if you can adjust it.

In the above-described embodiment, the main body 19 includes the rotating shaft 16b and the motor 16c, but this is only one embodiment. That is, the main body 19 may be an object that is a reference of whether the position information transmitting device 100 itself moves, and may be variously configured.

Although some embodiments of the invention have been shown and described, it will be apparent to those skilled in the art that modifications may be made to the embodiment without departing from the spirit or spirit of the invention. . It is intended that the scope of the invention be defined by the claims appended hereto and their equivalents.

As described above, according to the present invention, a position information sending device and a robot capable of detecting whether the position of the position information sending device is changed and preventing the robot from incorrectly determining its position are provided.

That is, when the robot according to the present invention receives the motion information indicating that the location information transmitting device has been changed, if the motion information includes the movement degree of the location information transmitting device, the robot updates the location of the location information transmitting device and updates the updated location. Based on the relative position of the robot can be determined. On the other hand, if the motion information does not include the degree of movement of the position information transmitter, the robot may disable the information received from the position information transmitter.

Therefore, the robot according to the present invention can be prevented from determining the position on the robot by the wrong position information by moving the position information transmitting device arbitrarily.

Claims (5)

In the position information sending device having a main body, A motion detector for detecting a motion of the main body; An information sending unit which sends predetermined information; And a sending control unit which controls the information sending unit so as to transmit the motion information of any one of the presence or absence of movement of the main body and the degree of movement of the main body according to the detection result of the movement detecting unit. delete      And the information transmitted by the information transmitter comprises at least one of light and ultrasonic waves having phase information. In robots, An information receiving unit which receives motion information of any one of the presence or absence of movement of the main body and the degree of movement of the main body transmitted from the positional information transmitting device according to claim 1; When it is determined that the position of the main body of the position information transmitting device is changed as a result of the determination of the motion information, when the motion information includes information about the changed position of the main body, the relative position with respect to the changed position of the position information transmitting device Robot comprising a position measuring unit for measuring. The method of claim 4, wherein The position measuring unit does not measure the relative position with respect to the position information transmitting device, if the movement information does not include information about the changed position of the main body.

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