KR101516540B1 - Robot used for ship, and apparatus for setting driving section of robot - Google Patents

Abstract

A ship robot and a robot travel section setting apparatus are disclosed. The ship robot according to an embodiment of the present invention includes a curvature measuring unit attached to a robot running on an outer wall of a hull and measuring a curvature value of the hull outer wall at a predetermined position by height; A travel section setting section for setting a travelable section of the robot by height based on the measured curvature value; And a travel direction controller for controlling the travel direction of the robot within a travelable section.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a robot,

The present invention relates to a ship robot and a robot travel section setting apparatus.

The outer surface of the hull of the ship is clogged with various foreign substances such as barnacles, water moss, etc., which may hurt the appearance or obstruct the efficient operation of the ship. However, when a worker carries out a cleaning work using a water tap or a bare hand, it is very inefficient, and it is difficult to ensure the reliability of the cleaning work and the safety of the worker. Recently, various types of cleaning robots have been used.

The cleaning robot has a magnetic driving wheel and can travel while attached to the outer wall of the ship. In addition, the cleaning robot is equipped with a camera, and can photograph the bottom condition or the like while traveling, and transmit the captured image to a remote operation system. At this time, a specialist who has been trained by a professional pilot manipulates the traveling direction of the cleaning robot by using the steering wheel while checking the photographed image through the monitor screen connected to the operating system.

On the other hand, since the outer shell of the ship is usually formed to have a curved surface, the section in which the robot can travel must be set clearly. In other words, even if the robot travels with the magnet attached to the outer wall of the hull, the drive wheel can not be completely attached to the point due to the curved surface of the hull outer wall when it reaches a certain point of the bow or stern, have.

In addition, since the image quality of the robot camera transmitted to the operating system is not clear due to the external environment underwater, it is difficult to accurately grasp where the robot reaches the outer surface of the hull, even when the expert directly manages the robot remotely The risk of falling is still present. Korean Patent Laid-Open Publication No. 2008-0093536 (published on October 22, 2008) discloses a cleaning robot for cleaning a barn and a water mug attached to an outer wall of a hull and moving while photographing the bottom of the hull by using a camera There is a bar.

Korean Patent Publication No. 2008-0093536 (published on October 22, 2008)

An embodiment of the present invention is to provide a ship robot and a robot travel section setting apparatus which can set a travelable section on the basis of the curvature value of the outer shell of a ship and can safely run the robot on the outer wall of the ship having a curved surface.

According to an aspect of the present invention, there is provided a hull comprising: a curvature measuring unit attached to a robot running on an outer wall of a hull and measuring a curvature value of the hull outer wall at a predetermined position by height; A travel section setting section for setting a travelable section of the robot by the height based on the measured curvature value; And a travel direction controller for controlling the travel direction of the robot within the travelable section.

Wherein the curvature measuring unit measures a vertical vector at each predetermined position of the outer wall of the hull by sensing the attitude of the robot which changes according to the surface shape of the outer wall of the hull, The curvature value can be calculated.

The robot includes a position sensor for measuring the position of the robot, a position sensor for measuring the position of the robot, a position sensor for measuring a position of the robot, And an external force measuring sensor for measuring an operating direction of the hull, and a calculating unit for calculating a curvature value of the hull outer wall by using at least one of the information measured by the sensor unit.

The travel section setting section may calculate a curvature pattern for each height based on the curvature value and set a travelable section for each height using the calculated curvature pattern on the basis of a fore and aft boundary.

”자 형태로 상기 주행경로를 설정할 수 있다.Further comprising a travel route setting unit for setting a travel route of the robot within the travelable section, wherein the travel route setting unit is configured to set the travelable route so that the robot continuously runs the travelable interval set for each height,

The traveling route can be set in a "

Wherein the travel direction control unit changes the travel direction of the robot when the travel direction control unit is located within a predetermined distance from the boundary of the travelable section of the first height that moves along the travel route and travels along the travel route to a travelable section of the second height Can be moved.

According to another aspect of the present invention, there is provided a navigation system comprising: a receiver for receiving a curvature value of an outer wall of a hull, which is measured at a predetermined position according to traveling information and height of the robot from a robot traveling on an outer wall of the hull; And a travel section setting unit that sets a travelable section of the robot by the height based on the measured curvature value.

”자 형태로 주행경로를 설정하는 주행경로설정부를 더 포함할 수 있다.Wherein the travel section setting unit calculates a curvature pattern for each height based on the curvature value and sets a travelable zone by the height using the calculated curvature pattern on the basis of a fore and aft boundary, And the robot is allowed to continuously run the set travelable section,

Quot; driving route setting section "

The display unit may further include a display unit configured to generate a graphical image of the travelable section and the travel route set for the height, and to display the graphic image on the screen.

And an interface unit for receiving control information for controlling the robot from the control handle, wherein the control information may include at least one of a steering direction, a steering angle, and a steering speed of the steering wheel.

Wherein the traveling information includes at least one of a traveling direction, a traveling speed, a position, an attitude of the robot, and information on a magnitude and an operating direction of an external force acting on the robot on the traveling route, Further comprising a haptic information generating unit for generating haptic feedback information using at least one of a distance between the boundary and the robot, a traveling direction, a traveling speed, a magnitude of the external force, can do.

The ship robot and the robot travel section setting apparatus according to the embodiment of the present invention can set the section in which the robot can travel according to the curvature pattern of the outer wall of the ship and can safely run the robot on the outer wall of the ship having a curved surface.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description of the claims.

”자 형태로 설정된 모습을 도시한다.
도 6은 도 2에 도시된 선체 외벽의 각 높이별로 미리 설정된 위치에서 측정된 곡률 값을 이용하여 로봇의 주행 가능한 구간을 설정하는 장치를 블록도로 도시한 것이다.1 is a block diagram of a marine robot according to an embodiment of the present invention.
FIG. 2 shows the outer wall of the hull according to the embodiment of the present invention divided by predetermined heights.
FIG. 3 is a view for explaining a curvature measuring method by taking two predetermined points Pn and Pn + 1 at the second height shown in FIG. 2 as an example.
FIG. 4 is a graphical representation of the curvature patterns of the respective heights based on the curvature values measured at predetermined positions according to the heights shown in FIG.
Fig. 5 is a view showing a case where the traveling path is "

&Quot; and "
FIG. 6 is a block diagram of an apparatus for setting a travelable section of the robot using curvature values measured at predetermined positions for respective heights of the outer shell of the ship shown in FIG.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The embodiments described below are provided by way of example so that those skilled in the art will be able to fully understand the spirit of the present invention. The present invention is not limited to the embodiments described below, but may be embodied in other forms. In order to clearly explain the present invention, parts not related to the description are omitted from the drawings, and the width, length, thickness, etc. of the components may be exaggerated for convenience. Like reference numerals designate like elements throughout the specification.

Referring to FIGS. 1 and 2, a marine robot 100 (hereinafter referred to as a "robot") according to an embodiment of the present invention carries out a cleaning operation using the brush 101 while traveling on the outer wall of the hull 2 A cleaning robot may be included. The robot 100 may include various types of work robots for performing work such as painting, welding, and repair while traveling on the outer wall of the hull 2. Hereinafter, it is assumed that the robot 100 is a cleaning robot that performs a cleaning operation while traveling on the outer wall of the hull 2.

The robot 100 can be driven while being attached to the outer wall of the hull 2 with the driving wheel 102 having magnetism. The robot 100 may be controlled by a steering wheel 30 (see FIG. 6) connected to a remote operation system, or may be automatically driven by an auto function. The robot 100 includes a curvature measuring unit 110, a first travel section setting unit 120, a first travel path setting unit 130, a travel direction control unit 140, and a first storage unit 150 .

The curvature measuring unit 110 is attached to the robot 100 running on the outer wall of the hull 2 at preset heights H1 to H3 and is arranged at a predetermined position for each of the heights H1 to H3, ) Measure curvature value of outer wall. Through this, a curvature pattern can be obtained for each height (H1 to H3) of the outer wall of the ship 2. The predetermined positions for measuring the curvature value of the outer wall of the ship 2 can be set at predetermined intervals for the heights H1 to H3 or set at random.

For example, the predetermined height H1 to H3 of the outer wall of the ship 2 may be set below the waterline. It is assumed that the first and second heights H1 and H2 are set on the bulb 3 and the third height H3 is set on the bottom of the bulb 3 based on the bulb 3.

The curvature measuring unit 110 includes an attitude measuring sensor 113 for measuring the attitude of the robot 100, a depth sensor 115 for measuring the depth of the robot 100 located in the water, A sensor unit 111 including an external force measuring sensor 119 for measuring the magnitude and direction of an external force acting on the robot 100 and the like; And calculating a curvature value of the outer wall of the hull 2 using the information obtained by the calculation unit 112. [

The attitude measuring sensor 113 senses the attitude of the robot 100 which changes according to the surface shape of the outer wall of the hull 2 at a predetermined position for each of the heights H1 to H3 and measures the vertical vector using the attitude. The attitude measuring sensor 113 may include an Attitude Heading Reference System (AHRS), for example, and can measure the attitude and orientation of the robot 100. The attitude measuring sensor 113 may include an acceleration sensor, a gyro sensor, a magnetic sensor, or the like.

The depth sensor 115 measures the depth of the robot 100 located underwater. Through this, it is possible to know at which heights (H1 to H3) the robot 100 is located with respect to the water surface. The depth sensor 115 may include, for example, a pressure sensor or the like.

The position sensor 117 can measure the current position of the robot 100 in the form of a coordinate value. The position sensor 117 may include, for example, a GPS, an electronic compass, and the like.

The external force measuring sensor 119 measures the magnitude and the direction of the wave or wind pressure caused by, for example, waves, winds and the like. In addition, the external force measuring sensor 119 can measure a force to bend the ship in the longitudinal direction, a force to deform the transverse section of the ship, a force to twist the ship, and the like. The external force measurement sensor 119 can calculate a result of summing the magnitude and direction of the external force acting on the robot 100.

The calculation unit 112 calculates the curvature value of the outer wall of the hull 2 using at least one of the information measured by the sensor unit 111. [ At this time, the calculation unit 112 can calculate the curvature value of the outer wall of the hull 2 using the vertical vector between adjacent positions. Through this, a curvature pattern can be obtained for each height (H1 to H3) of the outer wall of the ship 2.

)은 아래 수학식 1에 의해 산출될 수 있다.3, at the height H2 of the outer wall of the ship 2, for example, the curvature at the Pi position (

) Can be calculated by the following equation (1).

[Equation 1]

,

)에 의해 형성되는 각도를 나타낸다. In Equation (1), ds represents a travel distance from Pi + 1 to Pi, and d? Is a vertical vector at the position Pi and Pi + 1

,

). ≪ / RTI >

The outer wall of the hull 2 is divided into the predetermined heights H1 to H3 and the robot 100 is run in the lateral direction at the respective heights H1 to H3, And the curvature value of the outer wall of the hull 2 is calculated by using the vertical vector between positions adjacent to each other. As a result, as shown in FIG. 4, (2) The curvature pattern of the outer wall can be calculated.

The first travel section setting section 120 sets a travelable section of the robot 100 according to heights H1 to H3 based on the curvature values measured for the respective heights H1 to H3. At this time, the first travel section setting unit 120 may calculate a curvature pattern for each of the heights H1 to H3 using the curvature values measured for the heights H1 to H3. The first travel section setting section 120 can set a section that can travel for each of the heights (H1 to H3) using the curvature pattern calculated based on the fore and aft boundaries. Here, the boundary can be determined based on the curvature value measured for each height. Hereinafter, it is assumed that the curvature value of the flat surface of the outer wall of the hull 2 is set to 0 (zero), and when the curvature value has a negative value, the greater the value, the more concave the curved surface.

2 and 4A, the curvature pattern of the outer wall of the hull 2 at the first height H1 of the outer wall of the hull 2 has a zero curvature value toward the stern 2b And has a pattern of a negative drop at the boundary (M1). Also, the curvature has a minimum value at the boundary M2 portion after the curvature maintains a zero value toward the player 2a and then falls to a negative value. At this time, a section between the borders M1 and M2 of the bow 2a and the stern 2b is a section in which the robot 100 can travel. The values of the boundaries M1 and M2 displayed on the curvature pattern represent the curvature values at the specific positions M1 and M2 of the actual hull 2, respectively. Please refer to FIG. 5 for this.

4 (b), at the second height H2 of the outer wall of the ship 2, the curvature pattern of the outer wall of the ship 2 maintains a zero value as it goes toward the stern 2b, (M3). ≪ / RTI > In addition, the curvature value is maintained at 0 (zero) toward the player 2a, and after the minimum value S 1 after passing the minimum value, the curvature value has a pattern rising beyond a predetermined value. At this time, if the curvature value further increases beyond the boundary M4 of the forehead 2a, it is determined that the robot 100 can not travel, and the boundaries M3 and M4 of the forehead 2a and the stern 2b, Is a section in which the robot 100 can travel.

4 (c), at the third height H3 of the outer wall of the hull 2, the curvature pattern of the outer wall of the hull 2 maintains a zero value as it goes toward the stern 2b, (M5). ≪ / RTI > In addition, the curvature value is maintained to be 0 (zero) as it goes toward the player 2a, and after passing the minimum value S2 of curvature after it has fallen to a negative value, . Here, the region (section) descending again beyond the boundary 2a of the robot 2a is determined as an area which the robot 100 can not travel, and the boundaries M5 and M6 of the forehead 2a and the stern 2b Is a section in which the robot 100 can travel.

)은 아래의 수학식 2에 의해 정의될 수 있다.On the other hand, a curvature value (a), which determines the above-mentioned boundaries (M2, M4, M6)

) Can be defined by the following equation (2).

&Quot; (2) "

In Equation (2), k may be a value preset by the user. If the value of k is set large, the first travel section setting unit 120 sets the curvature to the minimum value S1 ), It is judged to be an area that can not be traveled even if it is increased a little more. If the value of k is set to be small, it is determined that the curvature must be increased to almost zero as shown in (c) of FIG.

”자 형태로 주행경로(5)를 설정할 수 있다. 이를 통해, 신속하고 효과적인 주행이 이루어져 청소 등의 작업이 원활하게 이루어질 수 있다.The first travel path setting unit 130 sets the travel path of the robot 100 within a travelable range set for each of the heights H1 to H3. 5, the first travel route setting unit 130 sets the heights H1 to H3 based on the values of the boundaries M1 to M6 (see FIG. 4) at the respective heights H1 to H3, Quot; so that the robot 100 continuously travels in the "

The driving route 5 can be set in the form of a letter. As a result, a quick and effective running can be performed, and the work such as cleaning can be performed smoothly.

The travel direction control unit 140 controls the travel direction of the robot 100 along the travel route 5 within a travelable interval set for each of the heights H1 to H3. The travel direction control unit 140 controls the travel directions 5 (H1 to H3) within the travelable range set on the heights H1 to H3 based on the height information H1 to H3 of the robot 100 measured by the depth sensor 115 The direction of travel of the robot 100 can be controlled. The travel direction control unit 140 may move the robot 100 along the travel path 5 of the first height H1 to a predetermined distance from the boundaries M1 and M2 of the travelable section of the first height H1 The robot 100 can be moved along the travel route 5 to a travelable section of the second height H2 below the travel route 5 by changing the traveling direction of the robot 100. [

The first storage unit 150 may store, for example, information measured by the sensor unit 111, a boundary at each of the heights H1 to H3, a travelable section, a travel route, and the like. Here, the first storage unit 150 may store a travelable section and a travel route for each of the heights (H1 to H3) in the form of a map. This is to allow the robot 100 to smoothly run the outer wall of the hull 2 using the map information. In addition, the first storage unit 150 may store various set values for controlling the robot 100, a program, an algorithm for communication between the devices, and the like.

The robot 100 may test the outer wall of the hull 2 by the heights H1 to H3 to measure the curvature value of the outer wall of the hull 2 by the heights H1 to H3. After the curvature value of the outer wall of the ship 2 is measured, a travelable section and a travel route can be set for each of the heights H1 to H3 and the main travel can be performed.

The first travel section setting section 120, the first travel route setting section 130, and the travel direction control section 140 may be omitted in other embodiments. At this time, the traveling information of the robot 100 and the curvature values of the outer wall of the hull 2 by the heights H1 to H3 measured by the curvature measuring unit 110 are transmitted to the robot traveling section setting apparatus 200 , A travelable section, a travel route, and the like of the robot 100 described above can be set by the robot travel section setting device 200. [

6, the robot travel section setting apparatus 200 includes a receiving section 210, a second travel section setting section 220, a second travel path setting section 230, a haptic information generating section 240, a display section 250, an interface unit 260, a second storage unit 270, and a control unit 280. The robot travel section setting apparatus 200 may be included in an operation system (not shown) for remotely controlling the robot 100.

The receiving unit 210 receives curvature values of the outer wall of the hull 2 measured at a predetermined position for each of the traveling information and the heights H1 to H3 of the robot 100. Here, the travel information may include at least one of the traveling direction, the traveling speed, the position, the attitude, and the information on the direction and direction of the external force acting on the robot on the traveling path of the robot. The running information is a value measured by the sensor unit 111 of the curvature measuring unit 110 described above.

The second travel section setting section 220 and the second travel path setting section 230 are the same as the first travel section setting section 120 and the first travel path setting section 130, do.

The haptic information generating unit 240 may generate at least one of the distance between the boundary and the robot 100, the traveling direction, the traveling speed, the magnitude of the external force, and the direction of operation when the robot 100 is located within a predetermined distance from the boundary of the travelable section To generate haptic feedback information. The haptic feedback information is transmitted to a haptic means (not shown), and the haptic means generates a reaction force using the haptic feedback information and delivers the reaction force to the steering handle 30. At this time, the user who operates the robot through the reaction force can feel the position and the external force of the robot 100 in advance, and can thereby induce the robot direction control and the like. 5, the robot 100 travels along the traveling path 5 toward the stern 2b in the travelable section of the first height H1 and travels from the stern 2b side boundary M1 toward the stern 2b, The user can feel the reaction force corresponding to the distance between the boundary M1 and the robot 100 through the steering wheel 30. [ At this time, the steering handle 30 can be guided by the reaction force to turn the steering direction into a travelable section of the second height H2.

The display unit 250 generates a graphical image and displays the travelable section and the traveling path 5 set for each height H1 to H3 of the outer wall of the ship 2 as a graphic image. The display unit 250 may generate a two-dimensional or three-dimensional graphic image in various ways. In addition, the display unit 250 can generate a graphical image of a travelable section and a traveling route 5 set for each of the heights H1 to H3 on the form of the ship 2, and display the overlapped images. In addition, the display unit 250 can be expressed as a graphical image in the form of the hull 2 using previously stored CAD information including design information of the hull 2. Also, the display unit 250 may display the robot 100 traveling along the traveling route 5 as a virtual image.

The interface unit 260 receives steering information for steering the robot 100 from the steering wheel 30. The steering information may include information about the steering direction of the steering wheel 30, steering angle, steering speed, and the like. The user can remotely control the robot 100 while viewing the screen through the display unit 250 and the interface unit 260. [

The second storage unit 270 may store travel information received from the robot 100 and a curvature value of the outer wall of the ship 2, a travelable section, a travel route, and the like. At this time, the travelable section and the travel route can be stored in the form of a map. The second storage unit 270 may store an algorithm for generating a graphic image, design information of the hull 2, various setting values for controlling the robot 100, various programs, have. The first storage unit 150 and the second storage unit 270 may include a cache, a ROM (Read Only Memory), a PROM (Programmable ROM), an EPROM (Erasable Programmable ROM), an EEPROM (Electrically Erasable Programmable ROM) Volatile memory device such as a flash memory or a volatile memory device such as a random access memory (RAM) or a storage medium such as a hard disk drive (HDD) and a CD-ROM, It does not.

The control unit 280 controls operations between the above-described components 210 to 270. [ For example, the control unit 280 may set a travelable section and a traveling route through the second travel section setting section 220 and the second travel route setting section 230 using the information received by the receiving section 210 . The control unit 280 may generate the haptic feedback information through the haptic information generating unit 240 or may generate the haptic feedback information through the display unit 250 on the basis of the heights H1 to H3 of the outer wall of the hull 2, (5) as a graphic image.

The ship robot and the robot travel section setting apparatus according to the embodiment of the present invention described above can set the travelable section according to the curvature pattern of the outer wall of the ship and can safely run the robot on the outer wall of the ship having a curved surface.

”자 형태로 주행경로를 설정함으로써, 신속하고 효과적인 주행이 이루어져 청소 등의 작업이 원활하게 이루어지도록 할 수 있다.It is also possible to set a section capable of running at each predetermined height on the outer wall of the hull, so that the robot continuously travels a section that can travel at each height,

By setting the traveling path in a " shape ", it is possible to smoothly and efficiently carry out cleaning and the like by making a quick and effective running.

In addition, when the robot moves along the travel path of the first height and is located within a predetermined distance from the boundary of the travelable section of the first height, the travel direction of the robot is changed to the travelable section of the second height, The fall can be effectively prevented.

When the robot is located within a predetermined distance from the boundary of the travelable section, haptic feedback information is generated using at least one of the distance between the boundary and the robot, the traveling direction, the traveling speed, the magnitude of the external force, The user can feel the position and the external force of the robot in advance through the steering wheel and efficiently guide the robot direction control and the like.

In addition, a graphical image is generated and displayed on the screen, and the robot can be controlled remotely while the user views the screen.

The foregoing has shown and described specific embodiments. However, it is to be understood that the present invention is not limited to the above-described embodiment, and various changes and modifications may be made without departing from the scope of the technical idea of the present invention described in the following claims It will be possible.

100: robot 110: curvature measuring unit
120, 220: Travel section setting section 130, 230: Travel section setting section
140: traveling direction control unit 150, 270:
210: Receiving unit 240: Haptic information generating unit
250: display unit 260: interface unit
270: second storage unit 280:

Claims (11)

A curvature measuring unit attached to a robot running on an outer wall of the hull and measuring a curvature value of the outer wall of the hull at a predetermined position by height;
A travel section setting section for setting a travelable section of the robot by the height based on the measured curvature value; And
And a traveling direction control unit for controlling the traveling direction of the robot within the travelable section. The method according to claim 1,
Wherein the curvature measuring unit measures a vertical vector at each predetermined position of the outer wall of the hull by sensing the attitude of the robot which changes according to the surface shape of the outer wall of the hull, A shipborne robot that computes curvature values. 3. The method of claim 2,
The robot includes a position sensor for measuring the position of the robot, a position sensor for measuring the position of the robot, a position sensor for measuring a position of the robot, And an external force measuring sensor for measuring an acting direction of the hull; and a calculating unit for calculating a curvature value of the external wall of the hull using at least one of the information measured by the sensor unit. The method according to claim 1,
Wherein the travel section setting unit calculates a curvature pattern for each height based on the curvature value and sets a section that can travel on the basis of the calculated curvature pattern on the basis of the fore and aft boundary. 5. The method of claim 4,
And a traveling route setting unit for setting a traveling route of the robot within the travelable section,
Wherein the travel path setting unit sets the travelable section so that the robot continuously travels the travelable section set for each height,

&Quot;"< / RTI > 6. The method of claim 5,
The travel direction control unit changes the travel direction of the robot and moves to a travelable section of the second height along the travel route when the travel direction control unit moves along the travel route and is located within a predetermined distance from the boundary of the travelable section of the first height The ship robot. A receiving unit for receiving a curvature value of the hull outer wall measured at a predetermined position according to travel information and height of the robot from a robot traveling on an outer wall of the hull; And
And a travel section setting section for setting a travelable section of the robot by the height based on the received curvature value. 8. The method of claim 7,
Wherein the travel section setting unit calculates a curvature pattern for each height based on the curvature value and sets a travelable section by the height using the calculated curvature pattern with reference to a fore and aft boundary,
And the robot is allowed to continuously travel in the travelable section set by the height,

&Quot; a traveling route setting unit for setting a traveling route in a " shape " 9. The method of claim 8,
Further comprising: a display unit configured to generate a graphic image of the travelable section and the travel route set for the height, and to display the generated graphic image on a screen. 8. The method of claim 7,
And an interface unit for receiving control information for controlling the robot from the control handle,
Wherein the steering information includes at least one of a steering direction, a steering angle, and a steering speed of the steering wheel. 9. The method of claim 8,
Wherein the travel information includes at least one of a traveling direction, a traveling speed, a position, an attitude of the robot, and information on a magnitude and an operating direction of an external force acting on the robot on the traveling route,
Generating haptic feedback information using at least one of the distance between the boundary and the robot, the traveling direction, the traveling speed, the magnitude of the external force, and the acting direction when the robot is located within a predetermined distance from the boundary of the travelable section And a haptic information generating unit for generating the haptic information.

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