KR101625825B1 - Method for remote control of mobile robot using force rendering and mobile robot - Google Patents

Abstract

A remote control method of a mobile robot by force rendering is disclosed. A method for remotely controlling a mobile robot by force rendering according to an embodiment of the present invention includes the steps of: (a) receiving a steering signal transmitted from a remote controller at a robot body; (b) detecting an obstacle by a sensing unit installed on the robot body during movement according to the steering signal received by the robot body; And (c) if the obstacle is sensed by the sensing unit, feedback by the control unit of the reaction force reflecting the magnitude of the obstacle to the remote controller.

Description

METHOD FOR REMOTE CONTROL OF MOBILE ROBOT USING FOR RENDERING AND MOBILE ROBOT

The present invention relates to a remote control method of a mobile robot by force rendering and a mobile robot, and more particularly, to a remote control method of a mobile robot by force rendering, The present invention relates to a remote control method and a mobile robot for a mobile robot by a force rendering method, in which a reaction force reflecting the magnitude of an obstacle is fed back to a remote controller to prevent distortion or exaggeration of information on an obstacle.

In recent years, as researches for overcoming the limitations of an autonomous mobile robot have progressed actively, there has been an increasing interest in a remote control technology of a mobile robot. Here, a remote mobile robot includes a robot configured to control the user it means.

In addition, since the remote mobile robot needs to be able to control the robot not only in the room but also outdoors, there is a need to develop a user interface (UI) that can remotely access the robot and adjust the robot conveniently and safely.

On the other hand, video communication using a camera and distance measurement using sensor devices are used to control a robot remotely.

That is, when a user at a remote location operates the autonomous mobile robot at a remote location, the autonomous mobile robot is operated while being fed back with environmental information from a sensor device for detecting an obstacle or the like.

In the conventional case, a virtual repulsive force acting on the autonomous mobile robot is generated from an obstacle around the autonomous mobile robot. When the autonomous mobile robot approaches the obstacle, the reaction force corresponding to the virtual repulsive force is manipulated by the user A user is allowed to recognize the obstacle around the autonomous mobile robot.

However, in the conventional method of feedbacking the reaction force corresponding to the virtual repulsive force to the remote controller, since the reaction force is fed back in inverse proportion only to the distance between the autonomous mobile robot and the obstacle regardless of the size of the obstacle, Information about the robot can be distorted or exaggerated, thereby limiting the operation of the autonomous mobile robot.

Korea Registered Patent Registration No: 10-0952893 (Date of Announcement: Apr. 16, 2010)

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a robot control system and a robot control method thereof, which can prevent a reaction force reflecting a magnitude of an obstacle when an obstacle is detected during an autonomous running of the robot body through a remote controller, A remote control method of a mobile robot by force rendering capable of improving the accuracy of operation of the robot body, and a mobile robot.

According to an aspect of the present invention, there is provided a robot control method comprising the steps of: (a) receiving a control signal transmitted from a remote controller at a robot body; (b) detecting an obstacle by a sensing unit installed on the robot body during movement according to the steering signal received from the robot body; And (c) feedback, by the control unit, a reaction force reflecting the magnitude of the obstacle and the distance between the robot body and the obstacle when the obstacle is detected by the sensing unit, to the remote controller, The step (c) includes the steps of: determining a length of the obstacle width element corresponding to the width of the obstacle detected by the sensing unit and a length of the obstacle width element in inverse proportion to the size of the first area formed by the distance from the sensing unit to the left and right edges And a step of determining the magnitude of the reaction force may be provided.

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The step (c) may further include feeding back a reaction force reflecting a virtual thickness element that is virtually separated from the obstacle to the remote controller.

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The step (c) may further include determining the magnitude of the reaction force in inverse proportion to the volume of the area multiplied by the height of the obstacle unit height element corresponding to the unit height of the obstacle.

According to another aspect of the present invention, there is provided a robot control method comprising the steps of: (a) receiving a control signal transmitted from a remote controller at a robot body; (b) detecting an obstacle by a sensing unit installed on the robot body during movement according to the steering signal received from the robot body; And (c) feedback, by the control unit, a reaction force reflecting the magnitude of the obstacle and the distance between the robot body and the obstacle when the obstacle is detected by the sensing unit, to the remote controller, wherein the step (c) comprises: detecting the size of the first area formed by the length of the obstacle width element corresponding to the width of the obstacle detected by the sensing unit and the distance to the left and right edges of the obstacle, A line extending from the unit in the direction of the obstacle maximum sensing distance element corresponding to the maximum distance that the sensing unit can sense the obstacle through the edge of the obstacle and the obstacle width element being translated in the direction of the obstacle maximum sensing distance element Determining the magnitude of the reaction force in proportion to the magnitude of the third area minus the second area of the width element A method for remotely controlling the mobile robot by force rendering can be provided.

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In the embodiments of the present invention, when an obstacle is detected at the time of self-driving of the robot body through the remote controller, the reaction force reflecting the size of the obstacle is fed back to the remote controller to prevent the information about the obstacle from being distorted or exaggerated, The accuracy of operation of the main body can be improved.

1 is a schematic perspective view of a mobile robot by force rendering according to a first embodiment of the present invention.
2 (a) to 2 (c) are diagrams showing areas for reflecting obstacle sizes in a remote control method of a mobile robot by force rendering according to a second embodiment of the present invention.
3 is a view showing an approximate area for reflecting the size of an obstacle in a remote control method of a mobile robot by force rendering according to a second embodiment of the present invention.
FIG. 4 is a graph showing a correlation graph of virtual masses according to the distance between the obstacle and the robot body according to the obstacle width factor in the remote control method of the mobile robot by the force rendering according to the second embodiment of the present invention.
5A is a graph showing a correlation graph of the density function of the force according to the distance between the obstacle and the robot body according to the virtual thickness factor in the remote control method of the mobile robot by the force rendering according to the second embodiment of the present invention. FIG. 5 (b) is a graph showing the relationship between the distance between the obstacle and the robot body according to the parameters for determining the change of the reaction force in the remote control method of the mobile robot by the force rendering according to the second embodiment of the present invention Density function in the case of the first embodiment of the present invention.
6A and 6B are views for explaining the case where the robot body is oriented toward the direction in which the obstacle is located and the case where the obstacle is not located in the remote control method of the mobile robot by the POS rendering according to the second embodiment of the present invention Fig.

In order to fully understand the present invention, operational advantages of the present invention, and objects achieved by the practice of the present invention, reference should be made to the accompanying drawings and the accompanying drawings which illustrate preferred embodiments of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Like reference symbols in the drawings denote like elements.

The terms " one side " and " other side " used in this specification may mean a specified side, or do not mean a specified side, but any side of a plurality of sides may be referred to as one side, And the other side is referred to as the other side.

Further, the term " bonding " or " connection ", as used herein, refers not only to a case where one member and another member are directly bonded or connected directly, but also when one member is indirectly bonded to another member through a joint member , Or indirectly connected.

The mobile robot according to the first embodiment of the present invention includes a receiving unit 600 for receiving a steering signal transmitted from a remote controller 400, A detection unit 200 for detecting the obstacle 500 and a reaction force reflecting the distance between the obstacle 500 and the obstacle 500 when the obstacle 500 is detected by the sensing unit 200 And a control unit 300 for feeding back to the remote controller 400.

1 is a schematic perspective view of a mobile robot by force rendering according to a first embodiment of the present invention.

Referring to FIG. 1, a user can manipulate the robot body 100 using a remote controller 400 connected to a mobile robot by wire or wireless. The remote controller 400, which is connected by wire or wirelessly, The receiving unit 600 of the robot main body 100 receives the steering signal.

When the receiving unit 600 of the robot main body 100 receives the steering signal of the remote controller 400, the receiving unit 600 operates so as to correspond to the received steering signal. When the obstacle 500 is detected by the sensing unit 200 installed on the robot body 100 while the robot body 100 moves to correspond to the control signal, the control unit 300 controls the obstacle 500 And the distance between the obstacle 500 and the obstacle 500 may be fed back to the remote controller 400. Hereinafter, this will be described in detail.

Referring to FIG. 1, when an obstacle 500 is detected in the current movement path of the robot body 100 through the sensing unit 200 during movement of the robot body 100, the control unit 300 controls the movement of the obstacle 500 A reaction force proportional to the obstacle width element W corresponding to the width, that is, a reaction force proportional to the obstacle width element W, is fed back to the remote controller 400. [

Here, the sensing unit 200 may be provided to sense the essential distance element d corresponding to the distance between the obstacle 500 and the robot main body 100, and may be provided to detect the obstacle width element W .

That is, the sensing unit 200 may be provided as a unit having a function capable of detecting the essential distance element d and the obstacle width element W irrespective of the type of sensor, various kinds of equipment, and the like.

When the width of the obstacle 500 is large, the user receives a relatively large reaction force through the remote controller 400. When the width of the obstacle 500 is small, the user receives a relatively small reaction force through the remote controller 400 do.

Thus, since the magnitude of the width of the obstacle 500 is reflected in the reaction force, the user can operate the robot in consideration of the width of the obstacle 500.

Meanwhile, a specific control method of the mobile robot by the POS rendering according to the first embodiment of the present invention will be described later in the second embodiment, and a part common to the mobile robot of the first embodiment will be replaced with the following description do.

A description will be made of a remote control method of the mobile robot by the POS rendering according to the second embodiment of the present invention. The parts common to those described in the mobile robot by the POS rendering according to the first embodiment of the present invention are described above .

The remote control method of the mobile robot by the POS rendering according to the second embodiment of the present invention includes a step of receiving the control signal transmitted from the remote controller 400 by the robot main body 100, Detecting the obstacle 500 by the sensing unit 200 installed on the robot body 100 while the robot is moving according to the control signal transmitted from the robot unit 100 when the obstacle 500 is sensed by the sensing unit 200, 300 to feedback to the remote controller 400. The remote controller 400 includes a controller 400,

2 (a) to 2 (c) are diagrams showing areas for reflecting obstacle sizes in a remote control method of a mobile robot by force rendering according to a second embodiment of the present invention.

As described above, the reaction force can be determined in consideration of the obstacle width element W. However, the reaction force can be determined by the area formed by reflecting the essential distance element d corresponding to the distance between the obstacle 500 and the robot body 100 In this case, the essential distance element d corresponding to the distance between the obstacle 500 and the robot main body 100 can be measured by the sensing unit 200.

Here, the area formed by reflecting the essential distance element d corresponding to the distance between the obstacle 500 and the robot main body 100 is considered considering the essential distance element d and the obstacle width element W And the reaction force corresponding to the area may be fed back to the remote controller 400. [

Since the area includes the obstacle width element W, when the widths of the plurality of obstacles 500 are different from each other, the area in which the obstacle width element W is considered also differs, and the feedback reaction force also differs.

As a result, the reaction force fed back to the user through the remote controller 400 can take into consideration the size of the obstacle 500, and thus the accuracy of operation of the robot body 100 can be improved.

An area formed in consideration of the essential distance element d and the obstacle width element W corresponding to the distance between the obstacle 500 and the robot main body 100 may vary. For example, (The area of the L portion in Fig. 2 (a)) formed by the essential distance element d and the obstacle width element W between the robot body 100 and the robot body 100 .

2 (a), as the robot main body 100 approaches the obstacle 500, the area of the L portion decreases. Here, the essential distance element d is defined as 2 (a), the reaction force fed back to the remote controller 400 may be determined to be in inverse proportion to the size of the area of the L portion in FIG. 2 (a).

The third area formed by reflecting the essential distance element (d) may be provided as the area of the M portion in Fig. 2 (a). Here, the area of the M portion is determined by the difference between the obstacle maximum sensing distance element R and the essential distance element d corresponding to the maximum distance at which the sensing unit 200 can sense the obstacle 500, (W) corresponding to the obstacle width element (W) and a corresponding width element (W ') corresponding to the obstacle width element (W).

That is, the area of the M portion in FIG. 2 (a) corresponds to an obstacle maximum sensing distance element R corresponding to the maximum distance at which the sensing unit 200 can sense the obstacle 500, (D) formed by the essential distance element (d) and the obstacle width element (W) from the second area (the area of the N part of Fig. 2 (b)) formed by the corresponding width element W ' 1 area (the area of the L portion in Fig. 2 (c)).

2 (a) and 2 (b), the corresponding width element W 'corresponds to the obstacle width element W and is formed so as to be formed at the maximum sensing distance of the obstacle maximum sensing distance element R .

Here, the area of the N portion in FIG. 2 (b) can be obtained by the expansion method of the following expression.

2 (b), R1 * cos (? 1 +? 2 +? 3) = R * cos (? 2 +? 3) = R2 * cos?

The area of the N portion is 1/2 * R1 * cos (? 1 +? 2 +? 3) * (W '+ x') -

             X * R * cos (? 2 +? 3) * (W '+ x') - 1 /

             = 1/2 * R * cos (? 2 +? 3) * (W ')

             = 1/2 * R * cos ([theta]) * (W ').

The area of the L portion in Fig. 2 (c) can be obtained by a developing method of the following expression.

2 (c), since d1 * cos (? 1 +? 2 +? 3) = d * cos (? 2 +? 3) = d2 * cos?

1/2 * d2 * cos (? 3) * x (1 + 2)

             = 1/2 * d * cos (? 2 +? 3) * (W +

             = 1/2 * d * cos (? 2 +? 3) * (W)

             = 1/2 * d * cos ([theta]) * (W).

Here, the area of the M portion in Fig. 2 (a) can be obtained by the expansion method of the following expression.

Area of M portion = area of N portion - area of L portion

             (W) - 1/2 * d * cos (?) * (W)

             = 1/2 * {R * (W ') - d * (W)} * cos (?).

With respect to the area of the M portion in FIG. 2 (a), as the robot main body 100 approaches the obstacle 500, the required distance element d decreases and the area of the M portion increases. Here, if the area formed by reflecting the essential distance element (d) is provided as the area of the M portion in FIG. 2 (a), the reaction force fed back to the remote controller 400 is equal to the area of the M portion of FIG. Can be determined to be proportional to the size.

That is, as the robot main body 100 approaches the obstacle 500, the area of the M portion of FIG. 2 (a) increases and the reaction force fed back to the remote controller 400 becomes larger than the area of the M portion of FIG. It can be arranged to increase in proportion to the increase.

Here, the area of the M portion of FIG. 2 (a) includes an obstacle width element W, which changes depending on the size of the obstacle 500, and the size of the obstacle 500 is reflected in the feedback reaction .

As described later, the essential distance element d decreases as the robot body 100 approaches the obstacle 500. The required distance element d is included in the area of the M portion of FIG. 2 (a) The distance between the robot main body 100 and the obstacle 500 can be reflected by the feedback reaction.

That is, the method for remotely controlling the mobile robot by force rendering according to the second embodiment of the present invention is not limited to the distance from the robot main body 100 to the obstacle 500, Can be determined.

3 is a view showing an approximate area for reflecting the size of an obstacle in a remote control method of a mobile robot by force rendering according to a second embodiment of the present invention.

The absolute magnitude of the area formed by the difference between the obstacle maximum sensing distance element R and the essential distance element d and the corresponding width element W 'corresponding to the obstacle width element W must And it is possible to achieve a desired object if the area is increased or decreased as the robot body 100 approaches the obstacle 500. [

Therefore, the difference between the obstacle maximum sensing distance element R and the essential distance element d corresponding to the maximum distance at which the sensing unit 200 can sense the obstacle 500, the difference between the obstacle width element W, The area of the portion M of FIG. 2A formed by the corresponding width element W 'corresponding to the width element W is an area Z of FIG. 3 which is an approximate area determined by an approximate value of the corresponding width element W' May be provided to use the area of the portion.

That is, the corresponding width element W 'necessary for calculating the area of the M portion in FIG. 2 (a) is approximated by the obstacle width element W to obtain the area of the Z portion in FIG.

Here, the area of the Z portion, which is an approximate area, can be obtained by a developing method of the following expression.

Referring to FIG. 3, since h = R * cos (?) - d * cos (?),

Z area = 1/2 * h * (W)

             = 1/2 * {R * cos (?) - d * cos (?)} * (W)

             = 1/2 * (R-d) * (W) * cos (?).

Here, the area of the Z portion can be obtained simply in comparison with the area of the M portion, thereby improving the convenience of calculation and simplifying implementation.

On the other hand, as described above, the reaction force may be fed back so as to correspond not only to the considered area including the essential distance element (d) and the obstacle width element (W) but also to the volume in which the obstacle unit height element is considered.

Here, since the area is obtained by a common method described above, a detailed description thereof will be omitted, and a volume can be obtained by multiplying the area obtained in this manner by an obstacle unit height element corresponding to a preset value.

However, in the case of the volume, it may be calculated not by the obstacle unit height element but by the height of the obstacle 500 sensed by the sensing unit 200.

The method for remotely controlling the mobile robot by force rendering according to the second embodiment of the present invention is a method for remotely controlling the mobile robot 100 by using a reaction force reflecting not only the size of the obstacle 500 but also the distance between the robot body 100 and the obstacle 500 And may be provided to feed back to the remote controller 400. [

As described above, in the case of the considered area including the essential distance element d and the obstacle width element W, the size of the obstacle 500 in the reaction force fed back by the obstacle width element W Can be reflected.

When the robot main body 100 approaches or moves away from the obstacle 500, the essential distance element d also changes. Therefore, the robot body 100 and the obstacle 500 may be reflected.

That is, in the case of the prior art, the reaction force fed back to the remote controller is determined only by the distance between the robot body and the obstacle. However, in the remote control method of the mobile robot by the force rendering according to the second embodiment of the present invention, Since the reaction force fed back to the robot 400 is determined by both the distance between the robot body 100 and the obstacle 500 and the size of the obstacle 500, the information about the obstacle 500 is prevented from being distorted or exaggerated, Thereby, the accuracy of the operation of the robot main body 100 can be improved.

2 (a), the control unit 300 may be provided to feedback the reaction force reflecting the imaginary thickness component T, which is virtually spaced from the obstacle 500, to the remote controller 400 .

The virtual thickness component T is feedback of the reaction force assuming that a virtual thickness is formed from the end of the obstacle 500 toward the robot body 100 side, And serves as a kind of virtual safety fence so as to prevent the contact with the contact surface 500.

That is, when the sensing unit 200 senses the obstacle 500 for the first time, the reaction force starts to be fed back, and as the robot body 100 approaches the obstacle 500, the reaction force increases.

When there is no virtual thickness element T, the maximum reaction force is fed back when the robot body 100 contacts the obstacle 500. In this case, the robot body 100 is in a state in which the robot body 100 has already contacted the obstacle 500 It is not preferable from the viewpoint of operation of the robot main body 100.

However, if the virtual thickness component T is considered, the maximum reaction force is fed back from the obstacle 500 at a position spaced apart by the virtual thickness component T. In this case, the robot body 100 and the obstacle 500 The robot body 100 can avoid the obstacle 500 by the operation of the user because there is a distance corresponding to the virtual thickness element T. [

The virtual thickness component T may be determined experimentally in consideration of the average speed or acceleration of the robot body 100 and the environment in which the robot body 100 moves, T, the reaction force to be fed back to the remote controller 400 decreases as the imaginary thickness component T increases.

That is, if the virtual thickness element T increases, even if the robot body 100 moves to the virtual thickness element T, since there is a virtual thickness distance between the robot body 100 and the obstacle 500, The user can avoid the obstacle 500 by operating the robot body 100 even if a small reaction force is fed back.

However, if the virtual thickness element T decreases, the distance between the robot body 100 and the obstacle 500 when the robot body 100 moves to the virtual thickness element T avoids the obstacle 500 A relatively large reaction force is fed back so that the user can operate the remote controller 400 at an early stage.

On the other hand, the reaction force that the obstacle 500 is detected and fed back to the remote controller 400 can be calculated by the following equation.

은 원격조종기(400)로 피드백되는 반력이고,

는 가상질량이며,

는 로봇본체(100)의 가속도이고,

는 힘의 밀도함수이며,

는 부피이고,

는 면적이며,

는 장애물단위높이요소를 의미한다.here,

Is a reaction force fed back to the remote controller 400,

Is a virtual mass,

Is the acceleration of the robot body 100,

Is the density function of the force,

Lt; / RTI >

Is an area,

Means the obstacle unit height element.

은, 장애물(500)의 폭에 해당되는 장애물폭요소(W)와 필수거리요소(d)에 의해 형성되는 가상질량

와, 로봇본체(100)의 가속도

의 곱의 형태로 표현될 수 있다.Describing this, the feedback force

Which is formed by the obstacle width element W corresponding to the width of the obstacle 500 and the essential distance element d,

And the acceleration of the robot body 100

In the form of a product.

는 힘의 밀도함수

와, 부피

의 곱의 형태로 나타내어진다. Here, since the mass is expressed in the form of the product of the density and the volume,

Density function of force

And volume

Of the product.

는, 장애물(500)과 로봇본체(100) 사이의 거리에 해당되는 필수거리요소(d)를 반영하여 형성되는 면적

과 장애물단위높이요소인

의 곱의 형태로 표현될 수 있다.Then,

Is formed by reflecting the essential distance element (d) corresponding to the distance between the obstacle (500) and the robot main body (100)

And the obstacle unit height

In the form of a product.

과 장애물단위높이요소

는 전술한 바에 의해 구해질 수 있다.Here,

And the obstacle unit height element

Can be obtained as described above.

FIG. 4 is a graph showing a correlation graph of virtual masses according to the distance between the obstacle and the robot body according to the obstacle width factor in the remote control method of the mobile robot by the force rendering according to the second embodiment of the present invention.

는 증가하게 되므로, 원격조종기(400)로 피드백되는 반력도 증가하게 된다.4, at an arbitrary value of the essential distance element d, which is the distance between the robot main body 100 and the obstacle 500, when the obstacle width element W increases,

The reaction force fed back to the remote controller 400 is also increased.

와 로봇본체(100)의 가속도

의 곱의 형태로 나타내어지므로, 반력은 장애물폭요소(W)와 필수거리요소(d)뿐만 아니라 로봇본체(100)의 가속도 역시 반영되어 결정되도록 마련될 수 있다.In this case, the reaction force fed back to the remote controller 400 is a virtual mass

And the acceleration of the robot main body 100

The reaction force can be determined not only by the obstacle width element W and the essential distance element d but also by the acceleration of the robot body 100 as well.

는 아래 식에 의해 산출될 수 있다.On the other hand,

Can be calculated by the following equation.

는 로봇본체(100)와 장애물(500) 사이의 거리에 따라 피드백되는 반력의 변화를 결정하는 파라미터를 의미한다.Here, R is a preset value as an obstacle maximum sensing distance element of the sensing unit 200, d is a required distance element, T is a virtual thickness element,

Refers to a parameter for determining a change in the reaction force that is fed back depending on the distance between the robot main body 100 and the obstacle 500.

5A is a graph showing a correlation graph of the density function of the force according to the distance between the obstacle and the robot body according to the virtual thickness factor in the remote control method of the mobile robot by the force rendering according to the second embodiment of the present invention. FIG. 5 (b) is a graph showing the relationship between the distance between the obstacle and the robot body according to the parameters for determining the change of the reaction force in the remote control method of the mobile robot by the force rendering according to the second embodiment of the present invention Density function in the case of the first embodiment of the present invention.

는 증가하게 된다. 즉, 로봇본체(100)가 장애물(500)에 가까워지게 되면 힘의 밀도함수가 증가하므로 원격조종기(400)로 피드백되는 반력 역시 증가하게 된다.5 (a) and 5 (b), when the distance d between the robot main body 100 and the obstacle 500 decreases, the force density function

Is increased. That is, when the robot main body 100 approaches the obstacle 500, the force density function increases and the reaction force fed back to the remote controller 400 also increases.

는 감소하게 된다. 5 (a), at an arbitrary value of the essential distance element d, which is the distance between the robot main body 100 and the obstacle 500, when the virtual thickness element T increases, Density function of

.

가 감소하여 피드백되는 반력이 감소되더라도 무방하다.That is, as the virtual thickness element T has a large value, it can perform the virtual safety fence well, so that the density function of the force

And the feedback force to be fed back may be reduced.

는 증가하게 된다. In addition, at any value of the essential distance element d, which is the distance between the robot body 100 and the obstacle 500, when the imaginary thickness element T decreases,

Is increased.

가 증가하여 피드백되는 반력도 증가하도록 마련될 수 있다.That is, as the virtual thickness element (T) has a smaller value, it may not be sufficient to perform a virtual safety fence role,

And the feedback force to be fed back also increases.

는 로봇본체(100)와 장애물(500) 사이의 거리에 따라 피드백되는 반력의 변화를 결정하는 파라미터이며, 실험적으로 그 값이 결정될 수 있다. Meanwhile,

Is a parameter for determining a change in the reaction force that is fed back depending on the distance between the robot main body 100 and the obstacle 500, and the value thereof can be determined experimentally.

값이 증가하게 되면 피드백되는 반력이 감소하게 되고, 파라미터

값이 감소하게 되면 반력이 증가하게 된다.Here, as shown in Fig. 5 (b), at any value of the essential distance element d, which is the distance between the robot main body 100 and the obstacle 500,

As the value increases, the feedback reaction force decreases,

As the value decreases, the reaction force increases.

의 크기를 줄여 로봇본체(100)와 장애물(500) 사이의 거리에 따라 피드백되는 반력이 증가하도록 조정될 수 있다.That is, when the robot main body 100 moves in an environment in which a relatively dangerous obstacle 500 is disposed,

The feedback force can be adjusted to increase depending on the distance between the robot main body 100 and the obstacle 500.

On the other hand, the density function of the force may be provided so as to satisfy the following condition.

(이하, 2번 조건이라 함)을 모두 만족하도록 마련될 수 있다.That is, the density function of the above-mentioned force is expressed by T <d <R (hereinafter referred to as 1 st condition)

(Hereinafter referred to as &quot; second condition &quot;).

은 로봇본체(100) 진행방향의 단위벡터이고,

은 로봇본체(100)로부터 장애물(500)의 일측단부에 대한 거리벡터이며,

는 로봇본체(100)로부터 장애물(500)의 타측단부에 대한 거리벡터이고,

는 로봇본체(100)로부터 장애물(500)로 향하는 거리벡터를 의미한다.here,

Is a unit vector of the traveling direction of the robot body 100,

Is a distance vector with respect to one end of the obstacle 500 from the robot main body 100,

Is a distance vector from the robot main body 100 to the other end of the obstacle 500,

Means a distance vector from the robot main body 100 to the obstacle 500.

As described above, since the virtual thickness element T serves as a virtual safety fence, the required distance element (distance) between the obstacle 500 and the robot main body 100, (d) is provided to have a larger value than the imaginary thickness element (T).

If the essential distance element d has a value smaller than the virtual thickness element T, the robot body 100 has already passed the virtual thickness element T, The role can not be expected.

As described above, the approximate area of the area formed by reflecting the essential distance element d can be obtained as 1/2 * (Rd) * (W) * cos (?), I.e., Rd &gt; 0, R &gt; d is also satisfied.

6A and 6B are diagrams for explaining the case where the robot body 100 is oriented toward the direction in which the obstacle is located and the case where the robot body 100 is oriented in the direction in which the obstacle is located in the remote control method of the mobile robot by the POS rendering according to the second embodiment of the present invention Fig.

Referring to FIG. 6A and FIG. 6B, the second condition will be described. In the case of the second condition, when the robot body 100 is moving toward the direction in which the obstacle 500 is located, And the reaction force is not fed back when the robot body 100 is traveling in a direction different from the direction in which the obstacle 500 is located.

방향, 즉,

방향으로 진행하여

방향과

방향이 일치하는 경우, 로봇본체(100)의 진행방향에는 장애물(500)이 위치하게 된다. 그리고, 이 경우, 벡터의 곱에 해당되는 2번 조건, 즉,

이 만족될 수 있게 된다.That is, as shown in Fig. 6 (a), when the robot main body 100

Direction, i.e.,

In the direction of

Direction and

The obstacle 500 is positioned in the traveling direction of the robot main body 100. As shown in FIG. In this case, the second condition corresponding to the product of the vector, that is,

Can be satisfied.

방향, 즉,

방향과 다른 방향으로 진행하여

방향과

방향이 일치하지 않는 경우, 로봇본체(100)의 진행방향에는 장애물(500)이 위치하지 않게 된다. However, as shown in Fig. 6 (b), when the robot main body 100

Direction, i.e.,

Proceed in a different direction than

Direction and

If the directions do not coincide with each other, the obstacle 500 is not positioned in the moving direction of the robot main body 100.

이 만족되지 않게 된다.In this case, the second condition corresponding to the product of the vector, that is,

Is not satisfied.

을 만족하게 되면 로봇본체(100)는 장애물(500)을 향해 진행하는 것이 되며, 이 경우에만, 반력을 피드백하도록 마련될 수 있다.As a result,

The robot body 100 advances toward the obstacle 500. In this case, the robot body 100 may be provided to feedback the reaction force only.

Hereinafter, the operation and effects of the remote control method of the mobile robot by the POS rendering according to the second embodiment of the present invention will be described.

First, the mobile robot receives a steering signal transmitted from the remote controller 400 and operates in response to the steering signal.

When the sensing unit 200 installed on the robot main body 100 senses the obstacle 500, the distance between the robot body 100 and the obstacle 500 is determined not only by the size of the obstacle 500, So that the reaction force can be fed back to the manipulator 400.

Here, in order to reflect the size of the obstacle 500 in the reaction force fed back to the remote controller 400, the obstacle width element W may be considered. Alternatively, the area formed by reflecting the essential distance element d corresponding to the distance between the obstacle 500 and the robot main body 100 may be considered. And, the volume by which the area is multiplied by the obstacle unit height element may be considered.

In order to prevent the robot main body 100 from contacting the obstacle 500, a reaction force reflecting the virtual thickness element T acting as a sort of virtual safety fence is fed back to the remote controller 400 .

When an obstacle 500 is detected during the autonomous driving of the robot main body 100 through the remote controller 400, a reaction force reflecting the size of the obstacle 500 is fed back to the remote controller 400, The robot main body 100 is prevented from being distorted or exaggerated, thereby improving the accuracy of operation of the robot main body 100. [

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. Accordingly, such modifications or variations are intended to fall within the scope of the appended claims.

100: robot body 200: sensing unit
300: control unit 400: remote controller
500: obstacle 600: receiving unit

Claims (8)

(a) receiving a control signal transmitted from a remote controller at a robot body;
(b) detecting an obstacle by a sensing unit installed on the robot body during movement according to the steering signal received from the robot body; And
(c) feedback by the control unit, to the remote controller, a reaction force reflecting the size of the obstacle and the distance between the robot body and the obstacle when the obstacle is detected by the sensing unit,
The step (c)
The size of the reaction force is determined in inverse proportion to the length of the obstacle width element corresponding to the width of the obstacle detected by the sensing unit and the size of the first area formed by the distance from the sensing unit and the left and right edges of the obstacle And performing a force rendering operation on the mobile robot. delete The method according to claim 1,
The step (c)
Further comprising the step of feeding back a reaction force reflecting a virtual thickness element that is virtually separated from the obstacle to the remote controller. delete The method according to claim 1,
The step (c)
Further comprising the step of determining the magnitude of the reaction force in inverse proportion to the volume of the area multiplied by the height of the obstacle unit height element corresponding to the unit height of the obstacle. (a) receiving a control signal transmitted from a remote controller at a robot body;
(b) detecting an obstacle by a sensing unit installed on the robot body during movement according to the steering signal received from the robot body; And
(c) feedback by the control unit, to the remote controller, a reaction force reflecting the size of the obstacle and the distance between the robot body and the obstacle when the obstacle is detected by the sensing unit,
The step (c)
Wherein a size of a first area formed by a length of an obstacle width element corresponding to a width of the obstacle detected by the sensing unit and a distance between the sensing unit and the left and right edges of the obstacle, A line extending in the direction of the obstacle maximum sensing distance element corresponding to a maximum distance at which the sensing unit can sense the obstacle and a line extending in the direction of the obstacle maximum sensing distance element, And determining the magnitude of the reaction force in proportion to the size of the third area minus the area of the mobile robot. delete delete

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