KR100769464B1 - Mobile robot positioning system using frequency transmitter - Google Patents

Abstract

A mobile robot positioning system using a frequency transmitter installed on a station is provided to enable a mobile robot to determine a distance and a direction from the station by measuring a present position of the mobile robot through a frequency receiver and the frequency transmitter. A mobile robot positioning system using a frequency transmitter installed on a station includes a frequency transmitter(100), a frequency receiver(200), a memory unit(400) and a processor(300). The frequency transmitter(100) is installed on the station, synchronizes infrared rays or visible rays of different frequencies, and transmits the synchronized infrared rays or visible rays in a pulse form. The frequency receiver(200) is installed on the mobile robot, and receives the pulse signal transmitted from the frequency transmitter(100). The memory unit(400) is installed on the mobile robot, and stores position information for a corresponding region which is classified according to the number of pulses per one period received from the frequency receiver(200). The processor unit(300) is installed on the mobile robot, and calculates the number of pulses per one period of the pulse signal received from the frequency receiver(200). The processor unit(300) recognizes a present position of the mobile robot by searching the position information for the corresponding region to the number of calculated pulses in the memory unit(400). The frequency transmitter(100) is arrayed in a row on a linear line, or is radially arrayed on an arc line.

Description

Mobile Robot Positioning System using Frequency Transmitter in Mobile Station {Mobile Robot Positioning System using Frequency Transmitter}

1 is a block diagram conceptually showing the main components constituting the present invention.

FIG. 2 shows a corresponding section divided according to a frequency transmitter and a frequency provided in a station.

FIG. 3 shows that the number of pulses received in a region where the pulse signals overlap and a non-overlapping region varies according to the pulse signal generated in each frequency transmitter having different frequencies.

Figure 4 shows that the corresponding zone is changed when the frequency transmitter rotates.

<Description of the symbols for the main parts of the drawings>

11: mobile robot

22: station

100: frequency transmitter

200: frequency receiver

300: processor unit

400: memory section

A: Zone where only pulse signal of A is received

B: Zone where only pulse signal of B is received

A + B: Zone where pulse signal of A and pulse signal of B overlap

Field of technology

The present invention relates to a system for recognizing a position of a mobile robot, and more particularly, a plurality of frequency transmitters provided in a station generates a synchronized pulse signal according to different frequencies, and a pulse signal in a frequency receiver provided in the mobile robot. The present invention relates to a system for recognizing the current position of a mobile robot by receiving and counting the number of pulses per cycle.

Prior art

In the case of a mobile robot, there is a restriction on the time driven during a single charge, so it is necessary to dock and charge the station before the driving time elapses, and to dock the station, the relative position of the mobile robot with respect to the station must be determined.

As such, the method of using a camera and expensive equipment such as a laser scanner have already been developed as a method of finding a station by finding a relative position with a mobile robot, but using pulse signals according to different frequencies. No system has been developed to recognize the current position of the mobile robot and find the station.

The present invention recognizes the current position of a mobile robot and locates a mobile robot using a frequency receiver provided at a different station and a frequency receiver provided at a mobile robot without using a camera or a laser scanner. The aim is to provide a recognition system.

The configuration of the present invention created to achieve the above object is as follows.

The present invention is provided in the station and a plurality of frequency transmitter for transmitting in the form of a pulse by synchronizing infrared or visible light of different frequencies; A frequency receiver provided in the mobile robot and receiving a pulse signal transmitted from the frequency transmitter; A memory unit which is provided in the mobile robot and stores location information on a corresponding area divided according to the number of pulses per cycle received from the frequency receiver; And counting the number of pulses per one cycle of the pulse signal received by the frequency receiver, and searching the position information of the corresponding area corresponding to the counted pulses in the memory unit in the mobile robot to search the current position of the mobile robot. It is configured to include; a processor unit for recognizing.

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

FIG. 2 shows a corresponding area divided according to a frequency transmitter and a frequency provided in a station, and FIG. 3 shows an area not overlapping with an area where a pulse signal overlaps according to a pulse signal generated by each frequency transmitter having a different frequency. Shows how the number of pulses received varies.

The frequency transmitter 100 provided in the station 22 transmits infrared or visible light of different frequencies in a pulse form and is arranged in a line in a straight line as shown in FIG. It may be arranged radially on an arc as shown in (b). Of course, the frequency transmitter 100 may be arranged in various forms as necessary, and the accompanying drawings are merely examples of typical arrangements. In addition, each frequency transmitter 100 transmits in the form of a pulse by synchronizing infrared or visible light of different frequencies.

In addition, when the number of the frequency transmitters 100 provided is increased and closer to each other, the corresponding area may be further subdivided, thereby obtaining more accurate location information.

As shown in FIG. 3 (a), when two frequency generators A and B are installed, the corresponding zones may be divided into three by A and B. FIG. That is, it is divided into a zone A where only the pulse signal of A is received, a zone B where only the pulse signal of B is received, and a zone A + B where the pulse signals of A and B overlap.

For example, as shown in Fig. 3 (b), there is a reference clock having 10 pulses in one cycle, the A frequency generator generates the first two pulses, and the B frequency generator generates the pulses of the A frequency transmitter. Synchronizing to generate one pulse at the end point, two pulses are read for one period in zone A where only pulse signal of A is received, and one pulse for one period in zone B where only pulse signal of B is received. Pulses are read. In addition, in the region A + B where the pulse signals of A and B overlap, the pulse signal of A and the pulse signal of B overlap so that three consecutive pulse signals are read for one period.

In addition, the frequency transmitter 100 may be rotated at a predetermined angle to change the direction of transmission, and when rotated at a predetermined angle, the direction of the transmitted pulse signal is changed, as shown in FIG. The location is changed. That is, compared to FIG. 3 (a), in FIG. 4, the region A in which only the pulse signal of A is received, the region B in which only the pulse signal of B is received, and the region in which the pulse signals of A and B overlap ( It can be seen that the position of A + B) is different.

The frequency receiver 200 is provided in the mobile robot 11 and receives the pulse signal transmitted from the frequency transmitter 100 and transmits it to the processor unit 300.

The memory unit 400 is provided in the mobile robot 11, and the position information for the corresponding zone divided according to the number of pulses per cycle received from the frequency receiver 200 is stored in advance.

For example, the zone A in which only the pulse signal of A shown in FIG. 3 (a) is received, the zone B in which only the pulse signal of B is received, and the zone in which the pulse signals of A and B overlap (A +) The position coordinates of the boundary of the relevant area classified as B) are preset and stored. In other words, it is assumed that a map of a boundary line for dividing the corresponding area is stored in the memory unit 400.

The processor unit 300 is provided in the mobile robot 11, and counts the number of pulses per cycle of the pulse signal received by the frequency receiver 200, and stores the position information of the corresponding area corresponding to the counted pulse number. The search unit 400 recognizes the current position of the mobile robot 11.

For example, when the number of pulse signals received by the frequency receiver 200 of the mobile robot 11 is counted as two per cycle, the processor unit 300 corresponds to two pulse signals per cycle in the memory unit 400. The area is called out, and the inside of the area consisting of the position coordinates of the boundary of the area is recognized as the current position of the mobile robot 11.

As described above, the mobile robot 11 only needs to process the operation of counting the number of pulses per cycle of the pulse signal received by the frequency receiver 200 and to retrieve the location information of the corresponding area corresponding to the counted number of pulses from the memory unit 400. You can see which zone you are in.

The memory unit 400 also rotates the frequency transmitter 100 at a predetermined angle to change the direction of the pulse signal and stores the location information of the corresponding zone that is changed when the location of the corresponding zone is changed as shown in FIG. 4. do. That is, the zone A which receives only the pulse signal of A shown in FIG. 3 (a), the zone B which receives only the pulse signal of B, and the zone A + B where the pulse signals of A and B overlap. As shown in FIG. 4, the area A receives only the pulse signal of A whose location is changed, the area B receives only the pulse signal of B, and the pulse signals of A and B overlap with each other. The location information of the zone A + B is also stored, and the processor unit 300 stores the location information of the corresponding zone (that is, the location of the changed boundary line) when the frequency transmitter 100 is rotated at a predetermined angle. Information) is retrieved from the memory unit 400.

Although the present invention has been described with reference to specific embodiments of the present invention as described above, the scope of protection of the present invention is not limited to the specific embodiments, and the addition or deletion of the technology for the main pipe within the scope of the technical idea of the present invention. , Simple design changes, etc. are obvious to fall within the protection scope of the present invention. That is, a system for recognizing a location using overlapping frequencies of different types of light, as well as infrared or visible light, is of course within the scope of the present invention. In addition, the present invention is not limited to the mobile robot, it is clearly apparent that it can be applied to a general moving object.

According to the present invention having the above-described configuration, the mobile robot can determine how far in which direction it is from a station whose current position is a reference point using a frequency transmitter and a frequency receiver. In addition, if you want to dock to the station, you can find the station by yourself using this location information. In the case of finding the station like this, the station may be moved along the boundary line of the corresponding area.

Claims (3)

A system that recognizes the location of a mobile robot using infrared or visible light from a station. A plurality of frequency transmitters provided at the station and configured to transmit infrared or visible light of different frequencies in pulse form; A frequency receiver provided in the mobile robot and receiving a pulse signal transmitted from the frequency transmitter; A memory unit which is provided in the mobile robot and stores location information on a corresponding area divided according to the number of pulses per cycle received from the frequency receiver; And, It is provided in the mobile robot and counts the number of pulses per one cycle of the pulse signal received by the frequency receiver, and recognizes the current position of the mobile robot by searching the location information for the corresponding area corresponding to the counted pulse number in the memory unit. A processor unit; It is configured to include, The frequency generator is arranged in a line on a straight line, or radially arranged on a circular arc position recognition system of a mobile robot using a frequency transmitter provided in the station. The method of claim 1, wherein the frequency transmitter, Rotatable at a predetermined angle to change the outgoing direction, The memory unit also stores the position information for the corresponding area that is changed according to the rotation angle of the frequency transmitter, The processor unit recognizes the current position of the mobile robot by retrieving the position information of the corresponding area changed according to the rotation angle of the frequency transmitter in the memory unit. system. delete

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