KR100794226B1 - Virtual mapping method of absolute coordinate for sheet of floor - Google Patents

Abstract

The present invention is to install any one of a plurality of flooring material having the same coordinate area portion consisting of a plurality of absolute coordinates information in a region of a predetermined size in a predetermined position on the floor, adjacent to the absolute coordinates formed adjacent to the outer edge of the flooring Absolute coordinate virtual mapping method for mapping the absolute coordinates of the constructed flooring material to virtual coordinates in the memory of the autonomous mobile robot after cutting the outer edges of the flooring material to a predetermined width so that the absolute coordinates formed adjacent to the outer edges of other flooring materials are different. will be.

Therefore, even if a plurality of flooring materials (floors, floors, tiles, etc.) in which the same absolute coordinates are formed in the same sized area are installed at a predetermined place, the overall absolute coordinates are relative to the autonomous mobile robot based on the area boundary of the flooring material. Relative coordinates can be given to the autonomous mobile robot to be recognized as virtual absolute coordinates, thereby reducing the hassle and economic and time burden of having to form different absolute coordinates on multiple floors. Provides a virtual mapping method.

Description

Virtual mapping method of absolute coordinate for sheet of floor}

1 is a view showing a floor covering and a floor covering having the same coordinate region.

Figure 2 is a view showing a state and the absolute coordinates installed the flooring material of FIG.

Figure 3 is a view showing a virtual coordinate of the virtual mapping is made to the flooring according to the present invention.

Figure 4 is a flow chart illustrating an absolute coordinate virtual mapping method according to the present invention.

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

101: flooring material 102: coordinate area

103: absolute coordinates 104: autonomous mobile robot

105: virtual coordinate 106: the bottom surface

The present invention relates to an absolute virtual mapping method, and in particular, even if a plurality of flooring materials (floors, floors, tiles, etc.) in which the same absolute coordinates are formed in an area of the same size is installed in a predetermined place, the overall boundary of the flooring material Therefore, each absolute coordinate can be given as a relative coordinate to the autonomous mobile robot, and the relative coordinate can be recognized as a virtual absolute coordinate by the autonomous mobile robot again, so that the different absolute coordinates must be formed on a plurality of flooring materials one by one. The present invention relates to an absolute virtual mapping method that can reduce the burden, economic and time burden.

The floor plate or flooring material formed with the absolute coordinates forms figures, symbols, numbers, two-dimensional barcodes, etc. on the surface of the flooring material (floorboard, tiles, floors, etc.), so that they may include different absolute coordinate information.

For example, a plurality of two-dimensional barcodes are formed on a surface of a sheet of paper at predetermined intervals, and the two-dimensional barcodes include different absolute coordinates, thereby reading the two-dimensional barcode with a barcode reader while the autonomous mobile robot travels on the sheet. This means that the current position of the autonomous robot can be recognized according to the world coordinate value.

The technology related to the two-dimensional bar code, autonomous mobile robot and barcode reader is described in Korean Patent Application Nos. 2004-20981, 2004-48356 and Utility Model Registration Nos. 2004-08728, 2004-18102, 2004- 18103, 2004-24013, 2004-24014 and the like are described in detail.

However, in order to allow the autonomous mobile robot to identify a location while traveling in a predetermined space, different absolute coordinate information must be formed on a plurality of flooring materials installed in the predetermined space. The process of including the absolute coordinate information had to be additionally performed.

That is, due to the characteristics of the flooring, the two-dimensional barcodes and figures formed on the flooring in the process of mass production of flooring having the same size and size must have different absolute coordinate information formed on each flooring, so the work is very troublesome. The need to include absolute coordinates makes mass production of flooring difficult.

The present invention devised to solve the above problems is made in the same standard and size, and the figures, characters, two-dimensional bar code, etc. are formed to include different absolute coordinate information, and the same between each flooring having the same specification and size When a plurality of flooring materials having the same group of absolute coordinate information are formed in a predetermined space so that the absolute coordinate region can be formed, the autonomous mobile robot first reads the absolute coordinate information and assigns virtual coordinates to each absolute coordinate information to provide absolute coordinates. The purpose of this is to make the information and virtual coordinates match, and to move the autonomous mobile robot with reference to the virtual coordinates matched to the absolute coordinate information read while driving, and to recognize the absolute position by the virtual coordinates.

The above purpose is to form a coordinate region 102 having the same size in which the absolute coordinates 103 are formed in the form of a column in which the columns gradually increase from the lower left to the right and the rows gradually increase upward from the lower left. A plurality of flooring materials 101 are installed on the bottom surface, but formed on one side end of the flooring material 101 installed adjacent to the other side than the value corresponding to the first column of absolute coordinates 103 formed on one side of any flooring material 101. Absolute coordinate 103 The value corresponding to the first column is as large as '1', the absolute formed on the bottom of the flooring material 101 installed adjacent to the upper side than the value corresponding to the first row formed at the bottom of any one flooring 101 Of the flooring material 101, the flooring material 101 is cut and constructed with the same size in the horizontal axis direction and the vertical axis direction of all the flooring material 101 such that the value corresponding to the first row of the coordinate 103 is increased by '1'. Absolute coordinate (103) of autonomous mobile robot's memory In the absolute coordinate virtual mapping method for mapping to virtual coordinates, (a) while the autonomous mobile robot 104 travels in a predetermined manner on the upper surface of the flooring material 101 installed on the floor surface, the absolute coordinate 103 information is used. Acquiring with a coordinate reader (not shown); (b) storing the absolute coordinate 103 information obtained by the coordinate reader in a memory (not shown), wherein the absolute coordinate violates any one of ascending and descending rules among the driving directions of the autonomous mobile robot 104. (103) when the information is obtained, displaying the acquired absolute coordinates 103 and the previously obtained absolute coordinates 103 by the same boundary and storing them in a memory; (c) The absolute value of the absolute coordinates of the absolute coordinates 103 stored in the memory of the autonomous mobile robot 104, which is one of the columns of the absolute coordinates 103 indicated by the boundary line, is linked to one of ascending and descending order. Calculating the number of coordinates 103 in a M (row) x N (column) manner and designating the number of coordinates as one different area; (d) The virtual coordinates 105 are sequentially allocated based on any one absolute coordinate 103 formed in any one region in a plurality of regions designated as one different region, but the virtual coordinates 105 are allocated in one region. When the virtual coordinates 105 are assigned to the adjacent boundary line is assigned to the virtual coordinates 105 in order of extension by the order of the ascending and descending order when the absolute boundary virtual mapping characterized in that it comprises a Is achieved by the method.

The acquiring of the absolute coordinate 103 information as a coordinate reader may include: (a1) the autonomous mobile robot 104 traveling on the outer edge of the space where the flooring material 101 is installed, and the flooring material 101 and the flooring material 101. ), The horizontal axis of the flooring material 101 formed between the boundary line and the boundary line on the horizontal axis and the vertical axis, the absolute coordinate 103 information, the horizontal axis other absolute coordinate 103 information, and the vertical axis lower absolute coordinate 103 information. It is preferable to calculate the absolute coordinate 103 information formed in any one of the flooring materials 101 by calculating the upper absolute coordinate 103 information on the vertical axis, the number of boundary lines and the increment value of the matrix.

On the other hand, if the coordinate reader of the autonomous mobile robot 104 which moves the bottom surface 106 to which the virtual coordinate 105 is attached to the absolute coordinate 103 acquires the absolute coordinate 103, the control unit (not shown) Allowing the virtual coordinates 105 of the memory matching the obtained absolute coordinates 103 to be referred to the autonomous movement algorithm; The absolute coordinate 103 obtained by the coordinate reader of the autonomous mobile robot 104 is compared with the absolute coordinate 103 obtained immediately before, and if the rule of any one of ascending and descending order is violated, the area of the corresponding absolute coordinate 103. The absolute coordinates 103 obtained before the movement and the absolute coordinates 103 obtained after the movement are searched in the memory for the boundary absolute coordinates 103 matching to obtain a region after the movement, and then the acquired absolute coordinates 103 The step of allowing reference to the autonomous movement algorithm enables the absolute position to be recognized as a virtual coordinate.

Hereinafter, the present invention will be described with reference to the accompanying drawings, FIGS. 1 to 4.

First, as shown in FIG. 1, the flooring 101 is formed with a predetermined rule in a manner of descending or ascending order of the absolute coordinate 103 information in the up, down, left, and right directions.

Here, all the drawings referred to in the present invention describe the two-dimensional arrangement as shown, but this is expressed or illustrated in order to support a clear interpretation of the drawings and the detailed description of the present invention, the absolute coordinate 103 information is shown. As shown, the form of the two-dimensional array is not limited.

Accordingly, as shown, the flooring 101 is formed at predetermined intervals in a predetermined interval through the rules of ascending order in the right direction and the upper direction from (1,1) at the lower left end to (100,100) at the upper right end. Will be.

On the other hand, when installing a flooring material for absolute virtual mapping, the flooring material 101, the same coordinate area 102 is formed as described above in the area of the predetermined size to install the flooring material 101, a plurality of flooring materials When any one of the 101 is installed at the bottom surface 106 at a predetermined position, the outer surface 103 is proximate to the outer edge of another flooring material 101 installed adjacent to the absolute coordinate 103a formed adjacent to the outer edge of the flooring material 101. The absolute coordinates 103b are constructed differently as shown in FIG. 2.
That is, the value corresponding to the first column of the flooring 101, which is constructed on the right side of the outer edges of the flooring 101, which is first constructed, may be larger than the value corresponding to the first column of the flooring 101, which is initially constructed. Bar, all the flooring is installed to the right in this manner is to cut the flooring 101 is constructed in such a way that the value corresponding to the first column gradually increases by '1'.
In other words, the floor covering 101 constructed on the left side of the first floor covering 101 should be constructed in such a manner that the value corresponding to the row of the first column decreases by '1'.
In addition, the value corresponding to the column of the first row of the flooring 101, which is constructed on the upper part of the outer edge of the flooring 101, which was first constructed, is '1' than the value corresponding to the column of the first row of the flooring 101 which is the first construction. As the construction is large, all the flooring material installed in the upper part in this manner is constructed by cutting the flooring material 101 in such a way that the value corresponding to the column of the first row is gradually increased by '1'. The value corresponding to the row of the first floor of the floor covering, which is constructed below the first floor covering 101, is constructed in such a manner that '1' is decreased.

In other words, by cutting a predetermined width of the outer edge of the flooring 101 to be installed to install the flooring 101 adjacent, so that a plurality of flooring 101 is installed adjacent, the horizontal axis direction and the vertical axis of any one flooring 101 Floor materials 101 of the same specification are constructed in each axial direction of the floor material 101 installed in the direction.

Therefore, as shown in FIG. 2, the absolute coordinate information in the form of m × n (row, column) has a format in which a column increases in the right direction, and has an format in an ascending order in which a row increases in the upper direction. The boundary between the ① flooring material 101 and ② the flooring material 101 violates the rule of increasing by one, and the pair of absolute coordinates 103 formed at the boundary between the flooring material 101 and the flooring material 101 ( 1,95) (1,2)... (55,55)... The same (95, 95) (96, 2) cannot occur at the boundary between the installed flooring (101) and the flooring (101) (in other words, the same pair of absolute coordinates 103 are not formed at the boundary as described above). So that the flooring material 101 can be constructed by cutting the flooring material 101).

As shown in FIG. 2, when the flooring material 101 is installed, any one adjacent absolute coordinate 103a information forming the boundary between the flooring material 101 and the flooring material 101 is adjacent to the boundary line between another flooring material 101. By not having the same coordinate group as the absolute coordinate 103b information, each flooring material 101 can be recognized by the autonomous mobile robot 104 as a unique area as described below.

On the other hand, the absolute coordinate virtual mapping method according to the present invention, as shown in Figure 4, while the autonomous mobile robot 104 is traveling in a predetermined manner on the floor surface 106 is installed on the absolute coordinate 103 information To obtain the coordinate reader (a).

Here, when the autonomous mobile robot 104 travels the bottom surface 106 to obtain the absolute coordinate 103 information, the autonomous mobile robot 104 of the entire floor surface 106 on which the flooring material 101 is installed. While driving the outer edge as shown in FIG. 2, the absolute coordinate 103 information is obtained and the absolute coordinate 103 information of the boundary line formed between the flooring 101 and the flooring 101 is obtained.

In addition, the absolute axis 103 information, the horizontal axis other absolute coordinate 103 information, the vertical axis lower absolute coordinate 103 information, and the vertical axis upper absolute coordinate 103 information of the horizontal axis of the flooring material 101 formed on the horizontal axis and the vertical axis boundary line. It is preferable to calculate the absolute coordinate 103 information formed in any one of the flooring material 101 with reference to (a1).

That is, as in the case of installing the flooring material, the flooring material 101 installed in the horizontal axis direction and the vertical axis direction has the same size as each other in each axial direction, and the absolute coordinates 103 of the outer edge of the flooring material 101 which are adjacently installed. ) Differently installed information bar, adjacent flooring 101 is a pattern in which the value of the first row of the bottommost bottom of the flooring 101 is increased by '1' as shown in FIG. The value of the first column of the leftmost end of the flooring material 101 to be constructed is also a pattern of increasing by '1'.
Therefore, if the horizontal and vertical axis lines are acquired, `` (horizontal axis line + 1) * (vertical axis line + 1) = total number of flooring materials '' can be obtained, and the absolute coordinate information on the outside of the horizontal axis and the absolute outside the vertical axis are obtained. When acquiring the coordinate information, the absolute coordinate information of the left-most bottom formed in the flooring 101 installed inside the right side of the flooring 101 disposed on the outside is the value (m) of the left-most bottom absolute coordinate of the left-most flooring 101. Since (m, n + 1) can be calculated from, n), the coordinate values can be sequentially obtained.
Here, the absolute coordinate information of the left bottom end of the flooring constructed on the upper side of the flooring 101 calculated by the above calculation is obtained from the absolute coordinates (m, n + 1) of the bottom left end of the calculated flooring 101. When the value is increased to '1', it is obtained as (m + 1, n + 1), so that the absolute coordinates of the flooring material 101 installed inside can be easily obtained from the outermost flooring material 101. will be.
On the other hand, when the autonomous mobile robot 104 acquires the absolute coordinate information, although absolute coordinate information should be obtained by a predetermined rule, as shown in FIG. By violating the absolute coordinate information is obtained, the autonomous mobile robot 104 is to recognize that the boundary of any one flooring 101 is in violation of the arrangement rules of the absolute coordinate 103 information.

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At this time, the autonomous mobile robot 104 displays the absolute coordinate 103 information of the horizontal axis obtained between the boundary line and the boundary line as one area while traveling in the horizontal axis direction of the entire floor surface 106 as one area (b). .

In addition, even when the autonomous mobile robot 104 travels in the vertical axis, the boundary line of the vertical axis obtains the absolute coordinates 103 information arranged in the ascending or descending order in the longitudinal axis direction. 103) The point where the information is obtained is recognized as a boundary and stored in the memory (b).

Accordingly, any one of the arrays of the absolute coordinates 103 indicated by the boundary among the absolute coordinates 103 stored in the memory of the autonomous mobile robot 104 is linked to one part of the ascending and descending order. The horizontal axis extends to the boundary line and the other end boundary line, and the vertical axis is designated as the lower boundary line and the upper boundary line, and the number of absolute coordinates 103 stored in the memory is calculated by M (row) × N (column) method, so that the flooring material 101 The absolute coordinate 103 information can be obtained without the autonomous mobile robot 104 traveling inside.

As described above, when the absolute coordinate 103 group is formed by using the information and the number of the absolute coordinates 103 on the horizontal axis and the vertical axis, the area is designated as a specific area (c).

Meanwhile, virtual coordinates 105 are sequentially assigned to the absolute coordinates 103 calculated inside the horizontal axis and the vertical axis, and the bottom surface 106 is obtained by obtaining the absolute coordinates 103 information of the entire bottom surface 106. When divided into a plurality of regions, the virtual coordinates 105 are sequentially assigned based on any one of the divided regions and based on one absolute coordinate 103 formed in the reference region (d).

In this case, when the virtual coordinate 105 is allocated to one region, the virtual coordinate 105 is allocated to the absolute coordinate 103 designated as an adjacent boundary in order of extension and stored in the memory in accordance with the ascending and descending rules (d). ).

That is, as shown in FIG. 2, virtual coordinates 105 (1,1) are assigned to the absolute coordinates 103 (1,1) of the floor covering 101, ①, and (1,2) to (1,2). The virtual coordinate 105 of 2) is assigned.

This virtual coordinate 105 allocation method will be described with reference to FIGS. 2 and 3 as an example.

Format: (absolute coordinate (103) (row), absolute coordinate (103) (column))-> (virtual coordinate (105) (row), virtual coordinate (105) (column))

(1,1)-> (1,1), (1,2)-> (1,2)... (1,94)-> (1,94), (1,95)-> (1,95), and the horizontal axis of flooring material 101 is (1,2)-> (1,96) , (1,3)-> (1,97)... (1,95)-> (1,189), (1,96)-> (1,190), and the horizontal axis of flooring material No. ③ is (1,3)-> (1,191), (1,4) -> (1,192)... (1,96)-> (1,284), (1,97)-> (1,285).

That is, ① flooring material (101) to ④ flooring material (101) ④ is sequentially assigned as the column increases by 1 in the row, ① flooring material 101 to ⑤ flooring material 101 and ⑤, ⑨, ⑬ direction When the virtual coordinates 105 are allocated, the virtual coordinates 105 are mapped by assigning the virtual coordinates 105 as shown in FIG.

* After mapping the virtual coordinate 105 to the absolute coordinate 103 as described above, in order for the autonomous mobile robot 104 to recognize the current position using the virtual coordinate 105, the autonomous mobile robot 104 When the coordinate reader acquires the absolute coordinate 103, the virtual coordinate 105 of the absolute coordinate 103 of the corresponding region is already stored in the memory because the area of the flooring material 101 on which the autonomous mobile robot 104 is located is already stored in the memory. ), The absolute coordinate 103 information can be referred to the virtual coordinate 105 in the algorithm required for turning and autonomous movement while driving.

However, since the position recognition using the virtual coordinate 105 is a state in which the autonomous mobile robot 104 is always storing an area where the autonomous mobile robot 104 is located before the movement, the user arbitrarily lifts the autonomous mobile robot 104 to another area. In this case, the autonomous mobile robot 104 may confuse the area in which it is currently located, thereby erroneously refering to the virtual coordinate 105 according to the absolute coordinate 103.

That is, as shown in FIG. 3, the area where the autonomous mobile robot 104 is located is the flooring No. ⑥ but the user lifts the autonomous mobile robot 104 and places it on the flooring No. 101-in other words, When the absolute coordinates 103 are acquired from the flooring material 101 (area) to the flooring 101 (area) ⑥, and do not move while referring to the virtual coordinates 105 of the absolute coordinates 103- When the autonomous mobile robot 104 moves in the flooring 101, the autonomous mobile robot 104 does not travel while referring to the virtual coordinates 105 assigned to the absolute coordinates 103 of the flooring 101. The control is opaque because it recognizes 103 as the absolute coordinate 103 formed on the floor covering 101 and refers to the virtual coordinate 105 assigned to the absolute coordinate 103 of the floor covering 101. Can cause malfunction.

Therefore, in this case, when the absolute coordinate 103 information is obtained at a time passing through one of the left and right boundary lines, the absolute coordinate 103 obtained by the immediately preceding coordinate leader is compared with the absolute coordinate 103 obtained immediately before, If any of the rules in descending order is violated, the boundary absolute coordinate 103 in which the absolute coordinate 103 acquired before moving the area of the absolute coordinate 103 and the obtained absolute coordinate 103 after moving is matched is searched in the memory. do.

The virtual coordinate 105 allocated to the acquired absolute coordinate 103 may be referred to the autonomous movement algorithm after storing the region corresponding to the moved region in the memory with reference to the absolute coordinate 103 of the retrieved boundary line. To be.

Therefore, as described above, even if the autonomous mobile robot 104 does not move while acquiring the absolute coordinates 103 sequentially, the flooring material 101 newly reached at the point of time passing through the boundary line of any one flooring material 101. By storing the area of the memory in the memory so that the virtual coordinate 105 can be referred to based on this area, the information and the area information for the virtual coordinate 105 according to the absolute coordinate 103 are updated or corrected.

That is, as described above, the autonomous mobile robot 104 placed on the flooring 101 in the flooring No. ⑥ passes through the boundary line of one of the flooring 101, # 9, and # 9. The autonomous mobile robot 104 is able to recognize the position.

Accordingly, when moving from floor # 101 to floor # 101, the virtual coordinates 105 assigned to the absolute coordinates 103 of floor # 101 are referred to, and the floor # 101 moves to floor # 101. Referring to the virtual coordinates 105 assigned to the absolute coordinates 103 of the flooring 101, ⑨, and moving to the flooring 101, the virtual assigned to the absolute coordinates 103 of the flooring 101. By autonomous movement with reference to the coordinates 105, position correction is possible.

As described above, the present invention constructs a plurality of flooring materials having the same group of absolute coordinate information differently from the absolute coordinates of the boundary line when constructing flooring, and assigns virtual coordinates to these absolute coordinates, so that the autonomous mobile robot can When the absolute coordinates are acquired, the virtual coordinates assigned to the acquired absolute coordinates can be driven so that the movement path of the autonomous mobile robot is not correct. When passing through the flooring material, the autonomous mobile performance of the autonomous mobile robot can be improved by correcting the reference of the wrong virtual coordinate so that the correct virtual coordinate can be referred to.

Claims (2)

Columns are gradually increased from the lower left to the right, and a plurality of floors having the same size are formed on the floor in the form of a matrix in which the rows gradually increase from the lower left to the bottom. The value of the first column of absolute coordinates formed at one end of the flooring material installed adjacent to the other side than the value corresponding to the first column of absolute coordinates formed in the '1' is greater than the value corresponding to the first row formed at the bottom of any one flooring material Absolute coordinates of the flooring material which is installed by cutting the flooring material with the same size in the horizontal axis direction and the vertical axis direction of all flooring materials so that the value of the first row of the absolute coordinates formed at the bottom of the flooring material installed adjacent to the upper side is as large as '1'. In the virtual coordinate mapping method for mapping virtual memory to the memory of the autonomous mobile robot, (a) acquiring absolute coordinate information as a coordinate reader while the autonomous mobile robot travels in a predetermined manner on the upper surface of the flooring constructed on the floor; (b) Arrange and store the absolute coordinate information acquired by the coordinate reader in a memory, but if the absolute coordinate information that violates any one of the ascending and descending order of the traveling direction of the autonomous mobile robot is obtained, Displaying the obtained absolute coordinates with the same boundary and storing them in a memory; (c) The number of absolute coordinates of the absolute coordinates stored in the memory of the autonomous mobile robot, which is represented by a boundary line, connected by one of the ascending and descending rules, is M (row) × N Calculating in a (column) manner and designating one region as a different region; (d) Allocating virtual coordinates sequentially based on any one absolute coordinate formed in one region in a plurality of regions designated as different regions, and when the virtual coordinates are allocated to one region, the absolute coordinates designated as adjacent boundaries. And storing the virtual coordinates in the memory by extending the virtual coordinates according to the ascending and descending rules. The method of claim 1, Acquiring the absolute coordinate information with a coordinate reader, (a1) The autonomous mobile robot acquires a boundary line between the flooring material and the flooring material while traveling on the outer edge of the space in which the flooring material is installed, and the horizontal axis of the flooring material formed between the boundary line and the boundary line on the horizontal axis and the vertical axis. Absolute coordinate virtual mapping method, characterized in that to calculate the absolute coordinate information formed in any one flooring material with reference to the information and the vertical axis bottom absolute coordinate information and the vertical axis top absolute coordinate information.

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