KR100825919B1 - Distance measurement sensor, moving robot having the distance measurement sensor and driving method for moving robot using the moving robot - Google Patents

Abstract

A distance measuring sensor built with relatively simple structure at low cost, a robot equipped with the distance measuring sensor and a method of driving the robot are provided to measure very short distance between a light source and a target surface, and to accurately determine the place at where height is changed. A distance measuring sensor includes a light source(110) apart from a target surface with an angle, a camera unit(120) taking images of the target surface containing a point created by the light source, a point position calculating unit extracting and outputting position information on the point on the image taken by the camera unit, a distance table describing distance corresponding to the position information, and a distance calculation unit calculating and outputting the distance between the light source and the target surface by looking up the distance table corresponding to the position calculated by the point position calculating unit.

Description

Distance measurement sensor, Moving robot having the Distance measurement sensor and Driving method for moving robot using the Moving robot}

1A is a schematic diagram schematically illustrating a distance measuring sensor according to an exemplary embodiment of the present invention.

1B is a schematic diagram schematically illustrating a change in position of a pointer for each distance in an image captured by a distance measuring sensor according to an exemplary embodiment of the present invention.

2 is a block diagram schematically illustrating a distance measuring sensor according to an exemplary embodiment of the present invention.

Figure 3 is a block diagram schematically showing a mobile robot according to an embodiment of the present invention.

4 is a flowchart schematically illustrating a driving process of a mobile robot according to an exemplary embodiment of the present invention.

5 is a flowchart schematically illustrating a driving process of a mobile robot according to a second embodiment of the present invention.

The present invention relates to a distance measuring technique, and more particularly, to measure a position of a beam point on a measuring surface that changes according to a change in distance of a light source emitting a beam at a predetermined angle between the measuring surface and the measuring surface. The present invention relates to a technique for calculating a close distance to a face.

Commonly used methods of measuring the proximity distance include an infrared intensity measuring method, a PSD (Position Sensing Device) method, and an ultrasonic sensor. Infrared intensity measurement method is a method of estimating distance by measuring the intensity of infrared rays reflected back to the measurement surface by measuring the infrared ray, but the proximity distance can be measured, but the measured distance is incorrect because it is estimated by the intensity of the reflected infrared ray. In addition, the PSD measurement method is a relatively accurate method using a PSD sensor that measures the distance by infrared triangulation method, but the price of the PSD sensor is expensive, the proximity distance within 3cm is impossible to measure. In addition, the method using the ultrasonic sensor is a method of measuring the distance by transmitting the ultrasonic wave to the target and reflecting the return time, but relatively accurate measurement is possible, but it is difficult to measure the proximity distance within 3 cm.

Meanwhile, robots have been developed for industrial purposes and used as part of factory automation, or have been used to collect or collect information on behalf of humans in extreme environments that humans cannot tolerate. This field of robotics has been developed in recent years as it is used in the cutting-edge space development industry, and recently, until a human-friendly home robot was developed. A representative example of such a human-friendly home robot is a cleaning robot.

A cleaning robot, a mobile robot, is a device that inhales dust or foreign substances while driving itself in a certain cleaning area such as a house or an office. In addition to the configuration of a general vacuum cleaner that sucks in dust or foreign matter, such a cleaning robot includes a driving means including a right wheel and a left wheel motor for driving the cleaning robot, and a plurality of driving means for driving without colliding with various obstacles in the cleaning area. It consists of a sensor and a microcomputer to control the whole device.

Such a cleaning robot detects an area having a different height, such as an obstacle or a threshold that prevents cleaning, such as an object or furniture, through a sensor installed in the cleaner while driving the cleaning area, and switches the direction of travel. Continue cleaning of the cleaning area by avoiding obstacles.

However, in the case of a structure that can interfere with the performance of the mission due to the height change like the threshold unlike the obstacle in the mission area of the mobile robot, it is generally difficult to detect the obstacle by means of obstacle detection means. It detects only to reset the driving route, and the technology that leaves the area has been applied.

Accordingly, a sensor for measuring proximity distance is installed on the bottom of the mobile robot to measure a change in the proximity distance to detect a structure that may impede the performance of the mission, and to avoid this. As described above, the conventional method for measuring the proximity distance has a disadvantage in that the accuracy of the proximity distance measurement is not possible even if the measurement of the proximity distance of about 3cm or even using an expensive sensor or an expensive sensor.

SUMMARY OF THE INVENTION The present invention has been made to solve this problem, and an object thereof is to provide a distance measuring sensor capable of measuring a very close distance through a simple structure and a low-cost optical sensor.

Furthermore, the mobile robot and the mobile robot using it can calculate the accurate distance information between the mobile robot and the floor surface through the distance measuring sensor that can measure the ultra close distance, and thus can more accurately determine the area where the height varies by the structure. To provide a way.

Furthermore, the present invention provides a mobile robot capable of driving a mobile robot and a driving method using the same while maintaining a predetermined distance from a wall surface when the mobile robot is driving a wall following a distance measuring sensor capable of measuring a close distance.

The distance measuring sensor according to the aspect of the present invention described above detects the position change of the point of the beam in the measurement plane that changes according to the distance change of the light source emitting the beam to the measurement plane and the measurement plane and the distance between the light source and the measurement plane. Calculate Accordingly, the distance measuring sensor according to the present invention includes an image pickup unit for capturing an image of a measurement plane including a light source spaced apart from the measurement plane at a predetermined angle and emitting a beam, and a point generated on the measurement plane by the light source, and an image pickup unit. A point position calculation unit which extracts and outputs the point position information in the image of the measurement plane imaged by the distance, a distance information table storing distance information for each point position in the measurement plane image, and a point position calculation unit And a distance calculator configured to calculate and output a distance between the light source and the measurement surface by referring to the distance information between the light source and the measurement surface corresponding to the point position information from the distance information table.

Therefore, the distance measuring sensor according to the present invention detects the positional change of the point of the beam on the measuring surface that changes according to the distance change of the measuring surface and the light source through a simple structure and an inexpensive optical sensor, thereby approaching the light source and the measuring surface. By calculating the distance, it is possible to measure inexpensive ultra close distance.

The foregoing and further aspects of the present invention will become more apparent through the preferred embodiments described with reference to the accompanying drawings. Hereinafter, the present invention will be described in detail to enable those skilled in the art to easily understand and reproduce the present invention.

1A is a schematic diagram schematically illustrating a distance measuring sensor according to an exemplary embodiment of the present invention, and FIG. 1B is a change in position of a pointer for each distance in an image captured by the distance measuring sensor according to an exemplary embodiment of the present invention. 2 is a schematic view schematically illustrating a distance measurement sensor according to an exemplary embodiment of the present invention. As shown, the distance measuring sensor 100 according to the present invention detects a change in the position of the point of the beam on the measurement surface that changes in accordance with the distance change of the light source 110 that emits the beam to the measurement surface and the measurement surface The distance between the light source 110 and the measurement surface is calculated.

The distance measuring sensor 100 includes an image of a measurement surface including a light source 110 that emits a beam in a direction spaced at a predetermined angle from a vertical direction of the measurement surface, and a point generated on the measurement surface by the light source 110. 120 for capturing the image, a point position calculator 130 for extracting and outputting position information of a point in the measurement plane image captured by the imaging unit 120, and a distance for each point position in the measurement plane image. The distance between the light source 110 corresponding to the point position information from the distance information table 140 and the measurement surface through the distance information table 140 in which the information is stored and the position information calculated by the point position calculator 130. And a distance calculator 150 for calculating and outputting a distance between the light source 110 and the measurement surface with reference to the information. In addition, the light source 110 may include a focusing lens for focusing the beam emitted from the light source 110, and the imaging unit 120 may also include one or more lenses for photographing the measurement surface.

The light source 110 may be configured of, for example, a light emitting device such as an LED 111 or a laser pointer having a straightness, so that the beam is irradiated to the measurement surface in a direction spaced apart from the vertical direction of the measurement surface by a predetermined angle. Is formed. The beam emitted through the light source 110 is preferably composed of colors that can be easily distinguished from the measurement surface.

The light source 110 is installed at a predetermined angle vertically with respect to the imaging unit 120 to emit a beam having a predetermined width, and the emitted beam reaches a measurement surface to generate a point. The reason why the light source 110 is installed at a predetermined angle in the vertical direction is to change the position of the point according to the change of the distance between the light source 110 and the measurement surface.

According to a characteristic aspect of the present invention, the light source 110 according to the present invention includes an LED 111 and a light focusing unit 112 for focusing light emitted from the LED 111 into a beam having a predetermined width and straightness. It can be configured by. In general, since the light output from the LED 111 is emitted without straightness, it cannot generate a constant point on the measurement surface. Therefore, the light focusing unit 112 focuses the light emitted from the LED 111 into a beam having a predetermined width and straightness. The light focusing unit 112 may be implemented in an array of one or more lenses, but in the preferred embodiment of the present invention, the light focusing unit 112 is coupled to the LED 111 and is formed of a cover in which holes of a predetermined size are formed. The cover is formed of a material that can not transmit light, and the light emitted from the LED 111 is emitted through the hole so that it is possible to output a load having a straightness by simply combining the cover.

The imaging unit 120 may be formed in parallel with the measurement surface, and may be an optical sensor for capturing and outputting an image of a measurement surface including a point generated on the measurement surface by a beam emitted from the light source 110. The imaging unit 120 captures an image of a measurement plane including a point that varies depending on a distance between the light source 110 and the measurement plane, and outputs the image to the point position calculator 130.

The point position calculator 130 receives the measurement plane image output through the imaging unit 120, extracts a point from the measurement plane image, and extracts the point from the measurement plane image. The position information is calculated and the calculated position information is output to the distance calculator 150. The point position calculator 130 extracts a point generated by a beam having a different color from the measurement plane by using a color information difference from the measurement plane, and calculates a position at which the point is generated in the measurement plane image. The location information is transmitted to the distance information calculator.

The distance information table 140 may be, for example, a flash memory having a compact size and capable of reading and writing. The distance information table 140 stores distance information between the light source 110 and the measurement plane corresponding to each point position in the measurement plane image calculated by the experiment. The data stored in this way is accessed and controlled by the distance calculator 150.

The distance calculator 150 receives the location information of the point output from the point location calculator 130 and accesses the distance between the light source 110 and the measurement surface corresponding thereto using the distance information from the distance information table. , To provide it.

The calculation process of the point position calculator 130 and the distance calculator 150 will be described in more detail with reference to FIG. 1. As shown, the light emitted by the light source 110 is focused by the light focusing unit 112 into a beam having a straightness and irradiated to the measurement surface. At this time, a point generated by the beam is generated on the measurement surface, and the point changes according to the distance between the light source 110 and the measurement surface as shown.

The distance calculator 150 calculates distance information between the light source 110 and the measurement plane through the correlation of the positional change of the point according to the distance change between the light source 110 and the measurement plane. As described above, the distance-specific distance information of the point is sampled, and the measured information calculated by the experiment is sampled and stored in the distance information table 140, and the distance calculator 150 is determined by the corresponding point position calculator 130. The distance information corresponding to the position information is accessed and output from the distance information table 140 using the calculated position information of the point.

Hereinafter, the mobile robot using the above-described distance sensor will be described in detail so that those skilled in the art can easily understand and reproduce the present invention.

Figure 3 is a block diagram schematically showing a cleaning robot as an example of a mobile robot according to an embodiment of the present invention. As shown, the cleaning robot 200 according to the present invention detects and outputs a measurement surface image including a point generated by the beam by irradiating the beam to the measurement surface in addition to the basic configuration of the cleaning robot 200 distance measurement The sensor 210 and the microcomputer 270 for calculating the distance between the distance measuring sensor 210 and the measurement surface according to the change of the position of the beam point in the measurement image output from the distance measurement sensor 210.

The distance measuring sensor 210 detects and outputs a measurement surface image including a point generated by the beam by irradiating the beam to the measurement surface, and emits the beam in a direction spaced at a predetermined angle from the vertical direction of the measurement surface. 211 and an imaging unit 212 for capturing and outputting a measurement surface image including a beam point generated on the measurement surface by the beam irradiated from the light source 211 to the microcomputer 270. In addition, it may include a focusing lens for focusing the beam emitted from the light source 211, and the imaging unit 212 may also include one or more lenses for photographing the measurement surface.

The light source 211 may be configured of, for example, a light emitting element such as the LED 111 or a laser pointer having straightness, so that the beam can be irradiated to the measurement surface in a direction spaced apart from the vertical direction of the measurement surface by a predetermined angle. Is formed. The beam emitted through the light source 211 is preferably composed of a color that can be easily distinguished from the measurement surface.

The light source 211 is installed at a predetermined angle vertically with respect to the imaging unit 212 to emit a beam having a predetermined width, and the emitted beam reaches a measurement surface to generate a point. The reason why the light source 211 is installed at a predetermined angle vertically is to change the position of the point according to the change of the distance between the light source 211 and the measurement surface.

According to a characteristic aspect of the present invention, the light source 211 according to the present invention includes an LED 111 and a light focusing unit 112 for focusing light emitted from the LED 111 into a beam having a predetermined width and linearity. It can be configured by. In general, since the light output from the LED 111 is emitted without straightness, it cannot generate a constant point on the measurement surface.

Therefore, the light focusing unit 112 focuses the light emitted from the LED 111 into a beam having a predetermined width and straightness. The light focusing unit 112 may be implemented in an array of one or more lenses, but in the preferred embodiment of the present invention, the light focusing unit 112 is coupled to the LED 111 and is formed of a cover in which holes of a predetermined size are formed. The cover is formed of a material that can not transmit light, and the light emitted from the LED 111 is emitted through the hole so that it is possible to output a load having a straightness by simply combining the cover.

The imaging unit 212 may be an optical sensor that is formed in parallel with the measurement surface and captures and outputs an image of the measurement surface including a point generated on the measurement surface by a beam emitted from the light source 211. The imaging unit 212 captures a measurement surface image including a point that varies depending on a distance between the light source 211 and the measurement surface, and outputs the image to the microcomputer 270.

Looking at the basic configuration of the cleaning robot 200 includes a dust detection sensor for detecting dust or foreign matter in the cleaning area, the suction means 221 for sucking the dust or foreign matter detected by the dust detection sensor, and the suction means 221 Vacuum cleaning means 220 including a dust storage means 222 for storing dust and foreign matter collected by the), the traveling means 230 for driving the cleaning robot 200, vacuum cleaning means 220 and A battery 240 for supplying driving power to the driving means 230, a battery detection circuit 250 for detecting a residual amount of the battery 240 at a predetermined cycle and outputting a battery charge request signal when the value is less than a predetermined value; The driving program of the cleaning robot 200 is stored, the memory 260 in which the position information of the charging stand 100 calculated from the guide signal is stored, and the input unit 280 for receiving a user's operation command and the driving state of the cleaning robot are stored. To display The display unit 290 is included.

The vacuum cleaning means 220, the battery 240 and the battery detection circuit 250 of the configuration of the cleaning robot 200 may be a well-known configuration, and a detailed description thereof will be omitted.

The memory 260 is configured of, for example, a nonvolatile memory device such as an EEPROM or a flash memory, and stores an operating program for driving the mobile robot 200. In addition, according to a characteristic aspect of the present invention, the memory 260 stores distance information for each point position in the measurement plane image. As described above, the distance information for each point position of the point is sampled and stored. The data is then access controlled by the microcomputer 270.

The driving means 230 drives the mobile robot 200 by driving the right wheel and left wheel motors 221 and 222 according to a control signal output from the microcomputer 270. The right wheel and left wheel motors 221 and 222 of the driving means 230 are connected to the left / right wheels for driving the mobile robot 200. Therefore, the mobile robot 200 travels forward, backward, left and right according to the rotational speeds and the rotational directions of the right and left wheel motors 221 and 222.

The microcomputer 270 controls the overall apparatus of the mobile robot 200 according to the operating program stored in the memory 260, and the distance measuring sensor according to the position change of the beam point in the measurement plane image output from the distance measuring sensor 210 ( 210 and calculates the distance between the measurement surface, and reset the driving direction if necessary according to the calculated distance information.

The function of the microcomputer 270 is one of the functional modules of the operating program mounted on the mobile robot 200, and can be simply implemented in a software language.

The microcomputer 270 receives the driving control unit 271 that controls the driving of the driving means 230 and the measurement surface image output from the distance measuring sensor 210, extracts a point, and calculates the extracted point position. The location calculator 272 and the distance information corresponding to the point location information through the location information calculated by the point location calculator 272 may be referred to the memory 260 to determine the distance between the distance sensor 210 and the measurement surface. And a distance calculator 273 for calculating the distance.

The driving control unit 271 controls the driving means 230 for driving the mobile robot 200 according to a control command output from the operating program of the mobile robot 200.

The point position calculator 272 receives the measurement plane image output through the imaging unit 212 to extract a point in the measurement plane image, and calculates the position information in the measurement plane image of the extracted point. The position information is output to the distance calculator 273. The point position calculator 272 extracts a point generated by a beam having a different color from the measurement plane by using a color information difference from the measurement plane, and calculates a position at which the point is generated in the measurement plane image. The location information is transmitted to the distance information calculator.

The distance calculator 273 receives the location information of the point output from the point location calculator 272, and accesses the distance between the light source 211 and the measurement surface corresponding thereto using the distance information from the memory 260. And print it out.

According to an additional aspect of the present invention, the mobile robot 200 according to the present invention installs the above-described distance measuring sensor 210 on a bottom thereof and moves with an obstacle and a bottom surface through the distance information measured by the distance calculator 273. It is possible to leave the area by determining the impossible area to perform the task, such as the threshold that the height between the robot 200 is different. Accordingly, the microcomputer 270 according to the present invention determines that the distance between the measurement planes calculated by the distance calculator 273 is out of a predetermined error range as an obstacle, and resets the driving direction so as to travel according to the reset driving direction. The apparatus further includes a driving direction setting unit 274 for outputting a control signal to the driving control unit 271.

The driving direction setting unit 274 receives the distance information output from the distance calculating unit 273 to determine whether the driving direction falls within the error range of the preset reference distance information, and when the deviation is out of the error range of the predetermined reference distance information, the movement is performed. It is determined that the area in which the robot 200 is driving is a mission impossible area or an obstacle area, the driving direction is reset so as to deviate from the corresponding area, and the driving control unit 271 is configured to move the mobile robot 200 according to the reset driving direction. Outputs a control signal.

Therefore, the mobile robot 200 according to the present invention calculates accurate distance information between the mobile robot 200 and the floor surface through the distance measuring sensor 210 capable of measuring the ultra close distance, and thus the area of which the height varies according to the structure. Can be judged more accurately, and it can be avoided.

According to an additional aspect of the present invention, the mobile robot 200 according to the present invention may install the above-described distance measuring sensor 210 on the side of the mobile robot 200 so as to travel at regular intervals from the corresponding wall surface during the wall following the driving. do. Accordingly, the driving direction setting unit 274 of the microcomputer 270 according to the present invention compares the distance with the measured surface calculated by the distance calculator 273 with the set distance information and sets the distance with the measured surface. The driving direction is reset so as to remain within the error range of and the control signal is output to the driving control unit 271 to travel in accordance with the reset driving direction.

The driving direction setting unit 274 receives distance information between the mobile robot 200 and the wall surface output from the distance calculator 273 and determines whether the driving direction setting unit 274 falls within an error range of preset reference distance information. If within the error range of the mobile robot 200 to maintain the direction of travel, if outside the error range of the wall so that the distance is maintained within the error range of the set reference distance information by resetting the traveling direction of the mobile robot 200 A control signal is output to the driving controller 271 so that the mobile robot 200 travels according to the reset driving direction.

Therefore, the mobile robot 200 according to the present invention calculates accurate distance information between the mobile robot 200 and the wall through the distance measuring sensor 210 capable of measuring the ultra-close distance, and is constant during the wall following driving that runs along the wall. It has the advantage of being able to drive at intervals.

According to an additional aspect of the present invention, the mobile robot 200 according to the present invention allows a user to be notified when the above-mentioned distance measuring sensor 210 is in an unmeasurable situation. Accordingly, the microcomputer 270 according to the present invention measures by notifying the user of a measurement error through the speaker 300 or the display unit 290 when no point exists in the measurement plane image by the point position calculator 272. An error notification unit 275 is further included.

The point position calculation unit 272 extracts a point from an image of the measurement plane transmitted from the imaging unit 212. If the point does not exist in the image of the measurement plane and cannot calculate the position of the point, a measurement error notification unit ( 275) output an error signal. If a point does not exist in the image of the measurement plane, it may be determined that the distance between the distance sensor 210 and the measurement plane is out of the imaging area of the imaging unit 212. Accordingly, the measurement error notification unit 275 receives the error signal and outputs voice or graphic data through the speaker 300 or the display unit 290 provided in the mobile robot 200 to notify the user of the measurement error.

Hereinafter, the driving method of the mobile robot using the distance measuring sensor 210 according to an exemplary embodiment of the present invention will be described in more detail with reference to FIGS. 4 and 5.

4 is a flowchart schematically illustrating a driving process of a mobile robot according to an exemplary embodiment of the present invention. As shown, the traveling method of the mobile robot traveling along the wall surface is provided on the side of the mobile robot 200, the distance measuring sensor 210 for outputting a wall image including a point generated by the beam irradiated to the wall surface Receiving a wall image from the wall image; extracting a point from the wall image; calculating the extracted point position information; and using the calculated point position information, distance information corresponding to the point position information is obtained. Computing the distance between the distance measuring sensor 210 and the wall surface with reference to the memory 260 to store the distance information, and compares the calculated distance between the wall surface and the mobile robot 200 and the wall surface The driving direction is reset so that the distance between the vehicle and the vehicle is within the error range of the set distance information, and the control signal to drive the vehicle according to the reset driving direction. It is configured to include the step of outputting.

According to an additional aspect of the present invention, the driving method of the mobile robot 200 according to the present invention includes notifying a measurement error to a user through the speaker 300 or the display unit 290 when a point is not extracted from the floor image. It further includes.

For example, when a user presses a driving command of the mobile robot 200, the input button of the mobile robot 200 or the input button of the remote controller provided at the time of purchase (S101), the microcomputer 270 of the mobile robot 200. ) Receives the driving command and accesses the operating program from the memory 260 to automatically drive the driving command to each part of the mobile robot 200 (S103).

At this time, the microcomputer 270 transmits a driving command to one or more distance measuring sensors 210 provided on the bottom surface of the mobile robot 200 (S105). The distance measuring sensor 210 irradiates a floor surface with a beam having a predetermined width through the light source 211 according to a driving command, and the imaging unit 212 generates a floor image including a point generated on the floor surface by the beam. The image is captured and output to the point position calculator 272 of the microcomputer 270 (S107).

The point position calculator 272 receives the bottom image output from the distance measuring sensor 210, extracts a point in the bottom image, and calculates the position information in the measured surface image of the extracted point. The information is output to the distance calculator 273 (S113).

The distance calculator 273 receives the location information of the point output from the point location calculator 272, and accesses the distance between the light source 211 and the measurement surface corresponding thereto using the distance information from the memory 260. And, this is output to the driving direction setting unit 274 (S115).

The driving direction setting unit 274 receives the distance information output from the distance calculating unit 273 and determines whether the driving direction is within an error range of the preset reference distance information (S117). Maintain driving (S123), if the deviation of the set reference distance information is out of the error range of the mobile robot 200 is determined to be a non-mission area or obstacle area, reset the driving direction to leave the area and In operation S119, a control signal is output to the driving controller 271 such that the mobile robot 200 travels according to the reset driving direction in operation S121. When the pregnancy is complete, the mobile robot 200 stops the driving (S125).

On the other hand, when the point position calculation unit 272 fails to calculate the position of the point because the point does not exist in the image of the bottom surface transmitted from the imaging unit 212 (S109), an error signal is sent to the measurement error notification unit 275. Outputs When the point does not exist in the image of the bottom surface, it may be determined that the distance between the distance sensor 210 and the measurement plane is out of the imaging area of the imaging unit 212. Therefore, the measurement error notification unit 275 receives the error signal and outputs voice or graphic data through the speaker 300 or the display unit 290 provided in the mobile robot 200 to notify the user of the measurement error ( S111).

5 is a flowchart schematically illustrating a driving process of a mobile robot according to a second embodiment of the present invention. As shown, the mobile robot driving method according to the present invention is provided on the side of the mobile robot 200, the wall surface from the distance measuring sensor 210 for outputting a wall image including a point generated by the beam irradiated to the wall surface Receiving an image, extracting a point from the wall image, calculating the extracted point position information, and the distance information corresponding to the point position information through the calculated point position information distance of each point position in the wall image Calculating a distance between the distance measuring sensor 210 and the wall surface by referring to the memory 260 in which the information is stored, and comparing the calculated distance between the wall surface with the preset distance information with the mobile robot 200 and the wall surface. The driving direction is reset so that the distance remains within the error range of the set distance information, and a control signal is output to travel according to the reset driving direction. It is configured to include the steps:

According to an additional aspect of the present invention, the driving method of the mobile robot 200 according to the present invention includes notifying a user of a measurement error through the speaker 300 or the display unit 290 when a point is not extracted from the wall image. It includes more.

For example, when a user presses an input command of the mobile robot 200, an input button of the mobile robot 200 or an input button of a remote controller provided at the time of purchase (S201), the microcomputer 270 of the mobile robot 200 is pressed. ) Receives the driving command and accesses the operating program from the memory 260 to transmit the driving command to each part of the mobile robot 200 so as to drive the wall (S203).

At this time, the microcomputer 270 transmits a driving command to one or more distance measuring sensors 210 provided on the side of the mobile robot 200 (S205). The distance measuring sensor 210 irradiates a wall having a predetermined width to a wall through a light source 211 according to a driving command, and the imaging unit 212 captures a wall image including a point generated on the wall by the beam and receives a microcomputer. It outputs to the point position calculation part 272 of 270 (S207).

The point position calculator 272 receives a wall image output from the distance measuring sensor 210, extracts a point in the wall image, and calculates position information in the measured surface image of the extracted point. It outputs to the distance calculating part 273 (S213).

The distance calculator 273 receives the location information of the point output from the point location calculator 272, and accesses the distance between the light source 211 and the measurement surface corresponding thereto using the distance information from the memory 260. And, this is output to the driving direction setting unit 274 (S215).

The driving direction setting unit 274 receives the distance information between the mobile robot 200 and the wall surface output from the distance calculating unit 273 and determines whether the driving direction is within an error range of preset reference distance information (S217). If it is within the error range of the reference distance information, the moving direction of the mobile robot 200 is maintained (S221), if out of the error range, the mobile robot 200 so that the distance to the wall is maintained within the error range of the set reference distance information The control signal is output to the driving control unit 271 so that the mobile robot 200 travels in accordance with the reset driving direction by resetting the traveling direction of the driving direction (S219). When the pregnancy is complete, the mobile robot 200 stops the driving (S223).

On the other hand, the point position calculation unit 272 outputs an error signal to the measurement error notification unit 275 when the point does not exist in the image of the wall surface transmitted from the imaging unit 212 and thus cannot calculate the position of the point. If the point does not exist in the image of the wall surface, it may be determined that the distance between the distance sensor 210 and the measurement plane is out of the imaging area of the imaging unit 212 (S209). Therefore, the measurement error notification unit 275 receives the error signal and outputs voice or graphic data through the speaker 300 or the display unit 290 provided in the mobile robot 200 to notify the user of the measurement error ( S211).

As described above, the measuring sensor according to the present invention according to the present invention through the simple structure and low-cost optical sensor detects the position change of the point of the beam in the measuring surface that changes according to the distance change of the measuring surface and the light source By calculating the proximity distance between the and the measurement surface, there is an advantage that can provide a sensor that can measure the low-cost ultra close distance.

In addition, the mobile robot according to the present invention calculates accurate distance information between the mobile robot and the floor surface through a distance measuring sensor capable of measuring a very close distance, thereby more accurately determine the area where the height varies by the structure, and avoid this Has the advantage.

In addition, the mobile robot according to the present invention can calculate the accurate distance information between the mobile robot and the wall through the distance measuring sensor capable of measuring the ultra-close distance, it is possible to drive while maintaining a constant interval when running the wall following the wall running Has the advantage.

The present invention has been described above with reference to preferred embodiments, but is not limited thereto, and is interpreted by the appended claims, which are intended to cover many modifications that will be apparent to those skilled in the art without departing from the scope of the present invention. Should be done.

Claims (20)

And a distance measuring sensor configured to calculate a distance between the light source and the measurement surface by detecting a positional change of a point of a beam on the measurement surface that changes according to a distance change of a light source emitting a beam to a measurement surface and the measurement surface. The method of claim 1, wherein the distance measuring sensor is: An imaging unit 120 for capturing an image of a measurement surface including a point generated on the measurement surface by the light source; A point position calculation unit 130 for extracting and outputting position information of a point in the measurement plane image picked up by the imaging unit 120; A distance information table 140 for storing distance information for each point location in the measurement plane image; The distance between the light source and the measurement surface is determined by referring to distance information between the light source and the measurement surface corresponding to the point position information from the distance information table 140 through the position information calculated by the point position calculation unit 130. A distance calculator 150 for calculating and outputting the calculated distance; Distance measuring sensor comprising a The method of claim 2, wherein the light source is: An LED 111; A light focusing unit 112 for focusing light emitted from the LEDs 111 into a beam; Distance measuring sensor comprising a. The method of claim 3, wherein the light focusing unit: A cover coupled to the LED and having a hole having a predetermined size; Distance measuring sensor, characterized in that. The method according to claim 2, Distance sensor, characterized in that the light source is a laser. A distance measuring sensor 210 that irradiates a beam to a measurement plane and detects and outputs a measurement plane image including a point generated by the beam; A microcomputer 270 that calculates a distance between the distance sensor and the measurement surface according to a change in the position of the beam point in the image of the measurement surface output from the distance sensor 210; Mobile robot comprising a. The method of claim 6, wherein the distance measuring sensor is: A light source for irradiating a beam to the measurement surface; An imaging unit for capturing an image of a measurement plane including a beam point generated on a measurement plane by the beam irradiated from the light source and outputting the image to the microcomputer; Mobile robot, comprising a. The method according to claim 7, The light source is an LED; The light source is: A light focusing unit configured to focus light emitted from the LED into a beam; Mobile robot, characterized in that. The method of claim 8, wherein the light focusing unit: A cover coupled to the LED to radiate light emitted from the LED into a beam, the hole having a predetermined size formed; Mobile robot, characterized in that. The method according to claim 7, A mobile robot, characterized in that the light source is a laser. The sensor of claim 6, wherein the distance measuring sensor is: A mobile robot, characterized in that formed on the bottom or side of the mobile robot. The method of claim 6, wherein the mobile robot: A driving means 230 for driving the mobile robot; A memory 260 for storing distance information for each point position in the measurement plane image; The microcomputer 270 is: A driving controller 271 for controlling the driving of the driving means 230; A point position calculator 272 which receives a measurement surface image output from the distance measuring sensor, extracts a point, and calculates the extracted point position;  A distance calculator configured to calculate a distance between the distance measuring sensor and the measurement surface by referring to the distance information corresponding to the point position information from the memory 260 through the position information calculated by the point position calculator 272 ( 273); Mobile robot, characterized in that. The method according to claim 12, wherein the micom: If the distance between the measurement surface calculated by the distance calculator is out of a predetermined error range of the predetermined reference distance information, it is determined that the obstacle, and the control signal to the driving control unit to reset the driving direction to travel in accordance with the reset driving direction A driving direction setting unit 274 for outputting; Mobile robot, comprising a. The method of claim 13, wherein the driving direction setting unit: Compare the distance with the measurement surface calculated by the distance calculation unit with the set distance information to reset the driving direction so that the distance to the measurement surface is kept within the error range of the preset reference distance information, and according to the reset driving direction Outputting a control signal to the travel control unit to travel; Mobile robot, characterized in that. The method according to claim 12, wherein the micom: A measurement error notification unit 275 for notifying a measurement error to a user through a speaker or a display unit when a point does not exist in the measurement plane image by the point position calculator; Mobile robot, characterized in that it further comprises. The method according to claim 6, Mobile robot, characterized in that the mobile robot is a cleaning robot. Receiving a bottom surface image from a distance measuring sensor that outputs a bottom surface image including a point generated by a beam irradiated to the bottom surface; Extracting points from the bottom image and calculating the extracted point position information; Calculating distance between the distance sensor and the floor surface by referring to the distance information corresponding to the point location information from the memory in which the distance information for each point location in the floor image is stored through the calculated point location information; Determining the area as an obstacle when the calculated distance is out of a predetermined error range of the preset reference distance information, and resetting the driving direction to output a control signal to travel according to the reset driving direction; Traveling method of the mobile robot comprising a. The method of claim 17, wherein the traveling method of the mobile robot comprises: Notifying a measurement error to a user through a speaker or a display unit when a point is not extracted from the bottom image; Driving method of a mobile robot, characterized in that it further comprises. In the traveling method of the mobile robot running along the wall surface, Receiving a wall image from a distance measuring sensor provided at a side of the mobile robot and outputting a wall image including a point generated by a beam irradiated to the wall; Extracting points from the wall image and calculating the extracted point position information; Calculating distance between the distance sensor and the wall surface by referring to distance information corresponding to the point position information from the memory in which the distance information for each point position in the wall image is stored through the calculated point position information; By comparing the calculated distance between the wall surface and the preset distance information, the driving direction is reset so that the distance between the mobile robot and the wall remains within the error range of the set distance information, and a control signal is output to travel according to the reset driving direction. Doing; Traveling method of the mobile robot comprising a. The method of claim 19, wherein the traveling method of the mobile robot comprises: Notifying a measurement error to a user through a speaker or a display unit when a point is not extracted from the wall image; Driving method of a mobile robot, characterized in that it further comprises.

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