KR101272422B1 - Device and method for locationing using laser scanner and landmark matching - Google Patents

Abstract

PURPOSE: A location detection device and a method thereof are provided to measure a standard point by rotating a laser scanner and to match the measurement with the absolute coordinates of the standard point, thereby minimizing measuring errors. CONSTITUTION: A location detection device (1) includes a scanner (10) which scans a standard point placed in a vertical or horizontal direction, a memory (50) which stores the absolute coordinates of the standard point scanned in a Cartesian coordinate system, a POI (Point of Interest) generating unit (30) which converts the relative coordinates of the standard point scanned in a polar coordinate system into Cartesian coordinates, and a matching unit (70) which measures the number of points whose distance of a POI is shorter than a certain distance, and sets the average location on an x-axis and a y-axis at an angle where the most number of points are measured as a current location. [Reference numerals] (10) Scanner; (30) POI(Point of Interest) generating unit; (50) Memory; (70) Matching unit

Description

Position measuring device and method using laser scanner and artificial marker matching {DEVICE AND METHOD FOR LOCATIONING USING LASER SCANNER AND LANDMARK MATCHING}

Embodiments of the present invention relate to a position measuring device and method using a laser scanner and artificial marker matching, and more particularly, matching a laser scanner and artificial marker matching the exact position by matching the absolute coordinates and relative coordinates It relates to a position measuring apparatus and method using.

Recently, with increasing interest in moving objects moving indoors such as mobile robots, various kinds of moving objects have been proposed, and many researches and developments have been made.

In particular, it is used throughout human daily life, such as a mobile robot for guidance in public facilities, a robot for transporting logistics in factories, a moving object for helping the disabled, and an indoor driverless cleaner.

In order to use these indoor moving objects in various applications, a map building function and a localization function for determining the structure of the indoor environment and the location of the object are necessary.

However, when performing location recognition using these functions, if the map is made incorrectly, the location estimation performance based on the location will be remarkably degraded, and if the map is created based on the location, the error will be greater. Will be.

Therefore, a technique called Simulaneous Localization And Mapping (SLAM) has been developed to increase the accuracy of both functions at the same time, but its performance is not stable to use in actual application technology.

Therefore, in order to use a moving object such as a mobile robot in an actual application field, a method of estimating an accurate position of the artificial marker by using an artificial marker in the surrounding environment and using the initial position thereof is mainly used. The accuracy of the values is a major factor in the position estimation performance of the moving object calculated by the artificial markers.

Accordingly, several methods for accurately measuring the initial position of the artificial marker have been researched and developed, which can be classified into two types. The first method is to initially install the artificial marker into the surrounding environment, and the user directly The second method is to measure the position of the artificial marker, and the second method is a mobile object such as a mobile robot to automatically detect the artificial marker and automatically measure the initial position data of the artificial marker.

A method for detecting an artificial marker using the second method is disclosed in Korean Patent Laid-Open No. 10-2009-0047639, which will be described with reference to FIG. The technique disclosed in FIG. 1 captures artificial markers and obtains position information from the moving object's distance and direction information from the data, but obtains distance information by sensing the surrounding environment, and detects the position of artificial markers in a specific area. After that, it is necessary to synchronize the location information and distance information, check whether it matches the stored map information, if it does not match, correct the position of the moving object, correct the position of the artificial marker, and map the specific area. .

However, although it is said that the artificial marker is not photographed, in order to check whether the actual marker is matched with the position of the artificial marker detected by the moving object, the absolute coordinate which is the actual map where the actual marker is photographed or stored again is checked. Since the first movement of the moving object is to create a map to determine the absolute position of the artificial marker, and the second coordinate of the absolute coordinates of the artificial marker to determine whether the map made by the moving object is correct. Since there must be a criterion, there are problems such as double operation or driving.

Korean Patent Publication No. 10-2009-0034007

An embodiment of the present invention was devised to solve the above-described problems, and by measuring the artificial marker by rotating the laser scanner 360 degrees, matching the absolute coordinates and the absolute coordinates, but matching the absolute coordinates and relative coordinates It is an object of the present invention to provide a laser scanner and a position measuring apparatus and method using artificial marker matching configured to find a point having a minimum error distance by rotating 360 degrees.

Embodiment of the present invention, in order to match the absolute coordinates and the relative coordinates, the position of the absolute coordinates in parallel to the origin to generate a point of interest (POI), and rotated 360 degrees while the error distance is disposed below a certain distance The purpose of the present invention is to provide a laser scanner and a method for measuring position using artificial marker matching, which store the sum of the number of POIs and the sum of distances and select the angle of the maximum number of POIs, thereby finding the current position with the minimum error rate. do.

Since the embodiment of the present invention uses absolute coordinates, which are coordinates of artificial marks actually placed, uses images scanned in one rotation, which is a 360 degree rotation, as relative coordinates, and finds a matching point by rotating the obtained coordinates. To provide a laser scanner and a position measuring apparatus using artificial marker matching that can drastically reduce the computation and cost of matching relative coordinates of an acquired image to absolute coordinates without obtaining a large number of images. It is done.

In order to achieve the object as described above, the present invention in the position measuring device for measuring the position by using a matching laser scanner and artificial marker, in the embodiment, the artificial marker which is rotated 360 degrees and disposed in the vertical or horizontal direction Scan unit for scanning the; A memory in which absolute coordinates, the rectangular coordinates of which the artificial indicia is scanned, are stored; A POI generation unit for converting the relative coordinates of the polar coordinate system scanned by the artificial marker into a rectangular coordinate system, and generating a point of interest (POI) using the artificial marker as an origin; Rotation of the relative coordinates from 0 degrees to 359 degrees in units of a certain angle while measuring the sum of the number of distances of the POI equal to or less than a certain distance and the distance from the predetermined distance or less, and the position of the angle at which the measured number is maximum A matching unit for setting the position of the x, y-axis average of the current position; It is made to solve the problem by using a laser scanner and a position measuring device using artificial marker matching.

Among the embodiments, in the position measuring device for measuring the position by matching the laser scanner and the artificial marker, the artificial marker located indoors or outdoors is scanned in a Cartesian coordinate system to store absolute coordinates in the form of a map of the artificial marker. A first step of becoming; A second step of scanning the artificial mark located indoors or outdoors by rotating the camera 360 degrees in the vertical or horizontal direction by the scanning unit and storing the coordinates in relative coordinates; A third step of converting the relative coordinates of the polar coordinate system from which the artificial marker is scanned into a rectangular coordinate system, and generating the point of interest (POI) using the artificial marker as the origin; Rotation of the relative coordinates from 0 degrees to 359 degrees in units of a certain angle while measuring the sum of the number of distances of the POI equal to or less than a certain distance and the distance from the predetermined distance or less, and the position of the angle at which the measured number is maximum A fourth step of setting the position of the x, y-axis average of the current position; It is made to solve the problem by using a position measuring method using a laser scanner and artificial marker matching including.

As described above, the disclosed technique of the present invention having the configuration as described above measures the artificial marker by rotating the laser scanner 360 degrees, while matching the absolute coordinate with the actual artificial marker is positioned, the absolute coordinate and relative coordinate Rotate 360 degrees to match and find the point with minimum error distance, and to match absolute and relative coordinates, create a POI (Point Of Interest) by moving the position of the absolute coordinates in parallel to the origin, It also rotates and stores the sum of the number and distance of POIs whose error distance is below a certain distance, and by selecting the angle with the maximum number of POIs, the current position can be found with the minimum error rate, When using absolute coordinates, coordinates, scanned images in one rotation of 360 degrees as relative coordinates, and rotating matching coordinates to find matching points. In, the lifting operation and costs in matching proximate the relative position of the image capture Even without acquiring an image number in an absolute coordinate can achieve effects such that greatly reduced.

1 is a view for explaining an apparatus and method for obtaining the position of the artificial marker according to the prior art.
2 is a block diagram illustrating a position measuring device using a laser scanner and artificial marker matching according to the present invention.
3 is a flowchart illustrating a position measuring method using a laser scanner and artificial marker matching according to the present invention.
4 is a diagram illustrating an example of a relative coordinate of an artificial mark measured by the position measuring apparatus of FIG. 3 and an absolute coordinate of an artificial mark measured in advance.
FIG. 5 illustrates an example of POI position when the number of POIs is maximum by rotating the absolute coordinates 360 degrees based on the relative coordinates of FIG. 4.
FIG. 6 is a diagram illustrating an exemplary position of a laser scanner found as a result of the matching of FIG. 5.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, a detailed description of known techniques well known to those skilled in the art may be omitted.

In describing the constituent elements of the present invention, the same reference numerals may be given to constituent elements having the same name, and the same reference numerals may be given thereto even though they are different from each other. However, even in such a case, it does not mean that the corresponding component has different functions according to the embodiment, or does not mean that the different components have the same function. It should be judged based on the description of each component in the example.

In the following description of the embodiments of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In addition, in describing the component of this invention, terms, such as 1st, 2nd, A, B, (a), (b), can be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected or connected to the other component, Quot; may be "connected," "coupled," or "connected. &Quot;

It should be understood that the singular " include "or" have "are to be construed as including a stated feature, number, step, operation, component, It is to be understood that the combination is intended to specify that it does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

In each step, the identification code (e.g., a, b, c, etc.) is used for convenience of explanation, the identification code does not describe the order of each step, It may occur differently from the order specified. That is, each step may occur in the same order as described, may be performed substantially concurrently, or may be performed in reverse order.

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

2 is a block diagram illustrating a position measuring device using a laser scanner and artificial marker matching according to the present invention. Referring to FIG. 2, the position measuring device 1 using the laser scanner and the artificial marker matching according to the present invention includes a scan unit 10, a POI generation unit 30, a memory 50, and a matching unit 70. do.

The scanning unit 10 is made of a laser scanner or a scanning device that performs the same function, and rotates 360 degrees in the horizontal or vertical direction about the place where the current position measuring device 1 is located and performs artificial marking. It is made so that it can be detected.

The POI generation unit 30 converts the relative coordinates of the polar coordinate system in which the artificial mark is scanned into a rectangular coordinate system, and generates a POI (Point Of Interest) with the artificial mark as the origin. It is used for matching to measure the distance between the absolute coordinates and the relative coordinates, and can be made to reduce the error between the relative coordinates and the absolute coordinates by using this point of interest (POI).

Point of Interest (POI) refers to data that displays coordinates of facilities, stations, airports, terminals, hotels, etc. in coordinates of interest on an electronic digital map. Usually, the data can be classified into search data used for searching for a destination and background data displayed only on the desktop. If the user knows the information about the destination, that is, the address, telephone number or the exact name of the destination, the destination can be directly searched by directly inputting the data. On the contrary, if the user does not have accurate information about the destination, the final destination is searched step by step according to the genre.

In the embodiment of the present invention, it may be the position of a laser scanner or an object such as a moving object or a robot equipped with a laser scanner, in order to measure the error between the absolute coordinates and relative coordinates, the absolute coordinates actually photographed It may be the position of the artificial markers of, or vice versa may be the position of the artificial markers of the relative coordinates taken by the laser scanner if the reference is different.

In the present invention, the absolute coordinates are coordinates made by a person or another subject in a place of indoor or outdoor where an artificial mark having a reflectance such as a reflector is set to a predetermined value or more and photographed to form a map, which may be an absolute standard. On the other hand, relative coordinates means that the position of the artificial marker scanned while rotating 360 degrees from the coordinates where the laser scanner or the moving object equipped with the laser scanner is currently located.

For example, suppose you installed an artificial marker, such as a mirror ball, around 360 degrees around the same height of your living room. These markers first photograph the reference coordinates, ie, absolute coordinates, such as a map, for a person to pinpoint their location. This can be an absolute criterion. On the other hand, suppose that the robot mouse is placed in the living room, and the place where the robot mouse should go is (3.0) on the X and Y coordinates based on the absolute coordinates. Currently, the robot mouse can recognize only the distance, that is, relative coordinates, based on the current location using the current location and the moved location unless the location of the robot mouse is confirmed through GPS. The robot mouse performs a laser scan around 360 degrees to go to (3.0). Relative coordinates corresponding to images captured at the current location may coincide with absolute coordinates, but the probability of matching is extremely low. Therefore, it is necessary to match the origin of the relative coordinates with respect to the absolute coordinates, rotate the relative coordinates by 1 degree with respect to the origin, and find the point with the highest matching rate. In order to use this principle, the present invention defines relative and absolute coordinates.

The memory 50 may be a place where absolute coordinates, which are Cartesian coordinates, in which artificial marks are scanned, are stored.

The matching unit 70 rotates the relative coordinates from 0 degrees to 359 degrees in units of an angle, and measures the sum of the number of distances of the POI equal to or less than a certain distance and the distance from the predetermined distance or less, and the measured number is maximum. Set the position of the x, y axis average of the position of the angle to the current position. Here, when the measured number is the same, the position of the x and y-axis averages may be set as the current position at the position of the point where the sum of the POI distances having the same number is the minimum. Also, when the matching unit rotates from 0 degrees to 359 degrees, the matching unit may rotate by matching the origin of the relative coordinate with respect to the origin of the absolute coordinate. Alternatively, when rotating from 0 degrees to 359 degrees, it is possible to rotate by matching the origin of the relative coordinates based on one of the at least one artificial marker of the absolute coordinates. In addition, if the rotation is not rotated from 0 degrees to 359 degrees, it is determined that the artificial marker is not matched, and until the rotation is completed, the distance of POI is continuously added to the sum of the number of distances below a certain distance and the distance below a certain distance. It may be stored in the memory 50. In addition, when the rotation is completed from 0 degrees to 359 degrees, the matching unit 60 calculates the sum of the distances of the POIs when the distance of the POIs is calculated at least one of a number less than or equal to a predetermined distance, and the sum of the POI distances. This minimum angle can be selected and set to the position of the maximum angle. When the matching unit 60 sets the positions of the x and y axis averages of the positions of the maximum measured number as the current position, the matching unit 60 may replace the average with a normal distribution function. In addition, it may be provided to find the point where the error rate between the POI is the lowest to determine its position.

Here, the predetermined angle may be 0.01 degrees to 90 degrees, and preferably, 0.1 degrees to 1 degree.

This operation will be described with this configuration.

First, the absolute information such as a map is generated by taking any one of photographing, scanning, and measuring the position information of the artificial marker, and the memory 50 of the moving object attached to the scanning unit 10 such as a laser scanner. Store in

The moving object rotates from 0 degrees to 359 degrees (ie one wheel 360 degrees) around the scanning unit 10 to determine the position where it is located, and the artificial markers measured according to the header angle are relative to the polar coordinate system. Express coordinates.

Relative coordinates in polar coordinates are converted to Cartesian coordinates for matching with absolute coordinates. Here, Polar Coordinates is a method of representing a point on a plane as an angle θ between the origin r and a distance r, and Orthogonal Coordinate is a plane based on a meeting point of two straight lines perpendicular to the plane. Refers to the real coordinates represented by (x, y), etc., on the point of the phase. Since absolute coordinates may be Cartesian coordinates, in order to match them, the relative coordinates expressed in three dimensions in a three-dimensional space are converted into two dimensions represented in a plane.

Referring to FIG. 4, since the laser scanner measures the distance and angle of the measured artificial mark while rotating by 360 degrees, the angle and distance of the artificial markers are measured in the form of a polar coordinate system based on the position of the laser scanner. Artificial markers are pre-installed in the work space, and the locations of these artificial markers are stored in memory 50 in advance. This is for calculating the position by matching the artificial mark measured by the scanning unit 60 such as a laser scanner with the actual position of the artificial mark known in advance. Therefore, the polar coordinate system must be converted to a Cartesian coordinate system for matching. 4 is an embodiment showing the actual position of the artificial marker (real reflector in absolute coordinates) and the measured position of the artificial marker (artificial marker in relative coordinates: Mea Reflector) converted to the Cartesian coordinate system.

The POI generation unit 30 generates the POI by matching the origin of the relative coordinate with the absolute coordinate as the origin. Referring to FIG. 5, the positions of the measured artificial marks are expressed in a Cartesian coordinate system, and POIs are generated by moving all the positions of the artificial marks, that is, the absolute coordinates, in parallel to the origin.

At this time, the matching unit 70 stores the sum of the number and the distance of the POI disposed at a distance within a predetermined distance, for example, within 180mm to 250mm while rotating the artificial mark of the relative coordinates by 1 degree from 0 degree to 359 degree. For each rotation, the total number of measured POIs and distances is 360. After rotating once, the matching unit 70 extracts the position of the POI within 180mm to 250mm at the angle of the maximum number of POIs.

Referring to FIG. 6, the location of the POI may be found by using an average and a normal distribution function. In this case, when the maximum number of POIs is the same, the sum of distances of POIs may be compared to find an angle at which the sum is lowest, and the position may be found. That is, the position can be measured using the average of the X and Y axes at the position where the measured number is the maximum. If the maximum number is the same, the position is determined using the average of the X and Y axes at the point where the sum of distances is the minimum. Can be measured.

According to an embodiment of the present invention, the position can be measured by using a laser scan to measure the position of the artificial marker while rotating 360 degrees, can be used to replace the existing expensive laser navigation, it is suitable in the environment, such as corridor It can be used, and since the position is measured by matching the artificial marker scan, it is possible to move autonomously. Therefore, when applied to a positioning technology such as an unmanned transport vehicle, a guide robot used indoors, it can have a high performance and safety.

3 is a flowchart illustrating a position measuring method using a laser scanner and artificial marker matching according to the present invention. First, it starts while inputting the absolute coordinates of the artificial marker in advance in the memory (S10).

Then, the scanning unit such as a laser scan is rotated 360 degrees and the artificial marker is measured and stored as relative coordinates (S20), the relative coordinates photographed with the polar coordinate system are converted into a rectangular coordinate system (S30), and the absolute coordinates in the POI generation unit. POI is generated based on the origin of and the relative coordinates are rotated by an angle unit to measure the distance between the POIs (S50).

For each angular unit, the number of POIs below a certain distance is stored and the sum of the distances of the POIs is stored (S60). It is checked whether the POI is stored all by one rotation (360 degrees) in a predetermined angle unit (S70), and the average position of the POI at the angle at which the maximum number of POIs is maximum is calculated (S80). In this step (S80), when the number is the same, the smallest sum of the distances between the POIs, that is, the angle of the smallest sum can be selected to measure the position using the average of the X and Y axes. Although not described in this embodiment, the above-described parts are redundant and will be omitted. However, it will be apparent that the overlapped parts can be made in a manner.

The disclosed technology of the present invention is to rotate the laser scanner 360 degrees to measure the artificial marker, and to match the absolute coordinate where the actual artificial marker is located, but to rotate the 360 degrees to match the absolute coordinate and relative coordinates and the minimum error distance It is configured to find a point, and in order to match the absolute coordinates and relative coordinates, to translate the position of the absolute coordinates to the origin to generate a point of interest (PoI), and rotated 360 degrees, the error distance is located below a certain distance By storing the sum of the number of POIs and the distance, and selecting the angle with the maximum number of POIs, the current position can be found with the minimum error rate, using absolute coordinates, which are the coordinates of the artificial markers actually placed, and rotating 360 degrees. Since the image scanned in one rotation is used as the relative coordinate, and the matching point is found by rotating the already acquired coordinates, it is possible to obtain the image even without obtaining a large number of images. The computation and cost of matching relative coordinates to absolute coordinates can be dramatically reduced.

The present invention is not necessarily limited to these embodiments, as all the constituent elements constituting the embodiment of the present invention are described as being combined or operated in one operation. In other words, within the scope of the present invention, all of the components may be selectively operated in combination with one or more. In addition, although all of the components may be implemented as one independent hardware, some or all of the components may be selectively combined to perform a part or all of the functions in one or a plurality of hardware. As shown in FIG. In addition, such a computer program may be stored in a computer-readable medium such as a USB memory, a CD disk, a flash memory, etc., and read and executed by a computer, thereby implementing embodiments of the present invention. As the storage medium of the computer program, a magnetic recording medium, an optical recording medium, a carrier wave medium, or the like may be included.

Furthermore, all terms including technical or scientific terms have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined in the Detailed Description. Terms used generally, such as terms defined in a dictionary, should be interpreted to coincide with the contextual meaning of the related art, and shall not be interpreted in an ideal or excessively formal sense unless explicitly defined in the present invention.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. In addition, the embodiments disclosed in the present invention are not intended to limit the scope of the present invention but to limit the scope of the technical idea of the present invention. Therefore, the protection scope of the present invention should be interpreted by the claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

1: Object Searching System Using Visual Neural Circuitry
10: conversion unit 30: reference value applying unit
50: weighting unit 90: detection unit

Claims (10)

In the position measuring device for measuring the position by matching the laser scanner and artificial marker,
A scan unit which rotates 360 degrees and scans an artificial mark disposed in a vertical or horizontal direction;
A memory in which absolute coordinates, the rectangular coordinates of which the artificial indicia is scanned, are stored;
A POI generation unit for converting the relative coordinates of the polar coordinate system scanned by the artificial marker into a rectangular coordinate system, and generating a point of interest (POI) using the artificial marker as an origin;
Rotation of the relative coordinates from 0 degrees to 359 degrees in units of a certain angle while measuring the sum of the number of distances of the POI equal to or less than a certain distance and the distance from the predetermined distance or less, and the position of the angle at which the measured number is maximum A matching unit for setting the position of the x, y-axis average of the current position;
Position measuring device using a laser scanner and artificial marker matching including.
The method of claim 1,
When the measured number is the same, the matching unit sets the position of the x- and y-axis averages to the current position at a position where the sum of the POI distances having the same number is the minimum, and the predetermined distance is 180 mm to 250 mm. Position measuring device using a laser scanner and artificial marker matching, characterized in that.
The method of claim 1,
When the matching unit rotates from 0 degrees to 359 degrees, the matching unit rotates by matching the origin of the relative coordinates with respect to the origin of the absolute coordinates, or the relative to one of at least one artificial marker of the absolute coordinates. Rotate by matching the origin of the coordinates,
If it is not rotated from 0 degrees to 359 degrees, it is determined that the artificial marker is not matched, and continuously the distance of the POI is equal to or less than a certain distance and the distance from the predetermined distance until the rotation is completed. Store the sum in the memory,
When the rotation is completed from 0 degrees to 359 degrees, if the distance of the POI is calculated at least one number less than a certain distance, the sum of the distance of the POI is calculated, and the angle at which the sum of the POI distance is the minimum Positioning device using a laser scanner and artificial marker matching, characterized in that for selecting and setting the position of the maximum angle.
The method of claim 1,
When the matching unit sets the position of the x, y-axis average of the position of the angle of the maximum measured number as the current position, it is possible to calculate the artificial marker matching with the laser scanner, by replacing the average with a normal distribution function Position measuring device used.
The method of claim 1,
Wherein the artificial marker is a reflector, the predetermined angle is a laser scanner and a position measurement device using artificial marker matching, characterized in that from 0.1 to 1 degree.
In the position measuring device for measuring the position by matching the laser scanner and artificial marker,
A first step in which an artificial mark located indoors or outdoors is scanned with a Cartesian coordinate system so that absolute coordinates are stored in a memory in the form of a map of the artificial mark;
A second step of scanning the artificial mark located indoors or outdoors by rotating the camera 360 degrees in the vertical or horizontal direction by the scanning unit and storing the coordinates in relative coordinates;
A third step of converting the relative coordinates of the polar coordinate system from which the artificial marker is scanned into a rectangular coordinate system, and generating the point of interest (POI) using the artificial marker as the origin;
Rotation of the relative coordinates from 0 degrees to 359 degrees in units of a certain angle while measuring the sum of the number of distances of the POI equal to or less than a certain distance and the distance from the predetermined distance or less, and the position of the angle at which the measured number is maximum A fourth step of setting the position of the x, y-axis average of the current position;
Position measuring method using a laser scanner and artificial marker matching comprising a.
The method according to claim 6,
The fourth step is
If the measured number is the same, setting the position of the x, y-axis average at the position of the point where the sum of the POI distance having the same number is the minimum as the current position,
The predetermined distance is a position measuring method using a scanner and artificial marker matching, characterized in that 180mm to 250mm.
The method according to claim 6,
The fourth step is
When rotating from 0 degrees to 359 degrees, by matching the origin of the relative coordinates relative to the origin of the absolute coordinates, or rotates
Or by matching the origin of the relative coordinates with respect to one of the at least one artificial marker of the absolute coordinates and rotating them,
If it is not rotated from 0 degrees to 359 degrees, it is determined that the artificial marker is not matched, and continuously the distance of the POI is equal to or less than a certain distance and the distance from the predetermined distance until the rotation is completed. Store the sum in the memory,
When the rotation is completed from 0 degrees to 359 degrees, when the distance of the POI is calculated at least one number less than a certain distance, the sum of the distance of the POI is calculated, the angle of which the sum of the POI distance is the minimum Selecting and setting the position of the maximum angle to the position measuring method using a scanner and artificial marker matching, characterized in that.
The method according to claim 6,
The fourth step is
When the position of the x, y-axis average of the position of the angle of the maximum measured number is set to the current position, it is possible to calculate by replacing the average with a normal distribution function, the position measuring method using a scanner and artificial marker matching .
The method according to claim 6,
The predetermined angle is a position measuring method using a scanner and artificial marker matching, characterized in that 0.1 degree to 1 degree.

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