KR101689067B1 - Autonomous mobile robot and system for monitoring drive of the same - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unmanned mobile robot and an unmanned mobile robot running monitoring system that move on a traveling path provided with magnetic guiding lines.
According to an embodiment of the present invention, there is provided an unmanned mobile robot, which is set to move along a guide line laid on a floor of a predetermined traveling path, A plurality of magnetic sensors arranged in a line so as to sense magnetic signals below the magnetic sensors; A display unit for externally displaying information on the plurality of magnetic sensors; And a controller for controlling movement of the unmanned mobile robot based on magnetic signals from the plurality of magnetic sensors. Wherein the control unit receives the magnetic signals from the plurality of magnetic sensors and controls the display unit to display the magnetic information.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a monitoring system for an automobile robot,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unmanned mobile robot and an unmanned mobile robot running monitoring system, and more particularly, to an unmanned mobile robot and an unmanned mobile robot running monitoring system that move on a traveling path provided with magnetic guiding lines.

In general, an unmanned mobile robot is used as a means for automating the loading and transportation of objects. In particular, an unmanned mobile robot can move the production line through which the product is manufactured in the factory and transport the parts necessary for manufacturing the product to the place where the process is performed.

Such an unmanned mobile robot can move to a target position on a traveling route along a guideline installed on a floor, or can be controlled by a system capable of tracking a position in real time, such as a gps, to perform a role by moving to a predetermined target position. As a method in which such an unmanned mobile robot moves along a guideline, a method of detecting a guide line generally magnetized through a magnetic detection element such as a hall sensor or a method of optically guiding a guide line have.

Among them, an autonomous mobile robot that senses a magnetic signal of a guideline moves a magnetic sensor toward a floor surface, and detects the guideline installed on the floor surface, thereby adjusting the direction and moving. In this case, the guiding line of the bottom surface is recognized by the magnetic sensor array including a plurality of magnetic sensors, and the moving direction of the unmanned mobile robot can be controlled based on the magnetic intensity detected for each magnetic sensor.

At this time, in the case of the conventional unmanned mobile robot, as the unmanned mobile robot moves on the traveling path, it is determined whether any magnetic sensor senses the magnetic signal of the guide line at each position, It is difficult for the user to monitor the intensity of the signal and the position of the unmanned mobile robot from the outside in real time. Accordingly, a guideline was previously verified with an unmanned robot for verification, and the operation state of the magnetic sensor disposed in the unmanned mobile robot was individually checked, and the position of the unmanned mobile robot was visually confirmed.

On the other hand, when the unmanned mobile robot moves on the traveling route, the smooth running of the unmanned mobile robot is continuously maintained with respect to the strength of the magnetic field detected from the guideline of each position, the stability of the direction in which the unmanned mobile robot moves, There is a need for a system that can separately store the data of the driving process and reproduce and verify the data. In particular, such a monitoring system is required in solving the problem that the magnetic strength of a guideline at a specific position is weak or the sensitivity is weak due to a geographical problem at a specific position.

In addition, when an unmanned mobile robot travels, a signal is wirelessly transmitted and received between the travel guide module and the travel controller. However, the output values of signals required for the travel guide module are different according to specifications of the travel controller, There is a problem that a module must be manufactured separately.

KR10-2013-0099613A Publication "Path control apparatus and method in unmanned conveyance system" (June 3, 2013)

Disclosure of Invention Technical Problem [10] The present invention has been made to solve the above-described problems of the conventional unmanned mobile robot and an unmanned mobile robot running monitoring system. When a part of a plurality of magnetic sensors detects a magnetic signal of a guide line, An object of the present invention is to provide an unmanned mobile robot and an unmanned mobile robot traveling control system which can easily grasp the position of the mobile robot as a light emitting element and can obtain traveling data based on the magnetic information and the position information .

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

An unmanned mobile robot according to an embodiment of the present invention for solving the above problem is an unmanned mobile robot set to be moved along a guide line laid on a floor of a predetermined traveling path, A plurality of magnetic sensors arranged in a line so as to be perpendicular to each other and sensing a magnetic signal thereunder; A display unit for externally displaying information on a plurality of magnetic sensors; And a control unit for controlling movement of the unmanned mobile robot based on magnetic signals from the plurality of magnetic sensors. And the control unit receives the magnetic signals from the plurality of magnetic sensors and controls the display unit to display the magnetic information.

According to another aspect of the present invention, the display unit includes a plurality of sensitivity display units corresponding to the plurality of magnetic sensors, respectively, and configured so that one sensitivity display unit displays the magnetic information about one magnetic sensor on the outside .

According to another aspect of the present invention, the control unit controls the display unit such that a part of the sensitivity display units corresponding to a part of the magnetic sensors, in which the magnetic signals of the intensity exceeding the preset reference are detected, among the plurality of magnetic sensors, Is controlled.

According to another aspect of the present invention, the sensitivity display unit includes a plurality of LEDs.

According to another aspect of the present invention, the display unit further includes a numerical value display unit capable of displaying numerals externally, wherein the control unit generates position information on the traveling path of the unmanned mobile robot, and the numerical value display unit displays the self information or the position information And controls the display unit to display the number as an external number.

According to another aspect of the present invention, the numerical value display unit is configured to include a seven segment device.

According to another aspect of the present invention, there is provided an unmanned mobile robot traveling monitoring system including: an unmanned mobile robot set to move along a guide line laid on a floor of a predetermined traveling path; And a control unit wirelessly connected to the unmanned mobile robot; And the unmanned mobile robot includes a plurality of magnetic sensors arranged in a line so that the longitudinal direction thereof is perpendicular to the moving direction and sensing a magnetic signal beneath the plurality of magnetic sensors, And a wireless transmission unit for transmitting the magnetic information about the plurality of magnetic sensors and the position information of the unmanned mobile robot to the outside, wherein the control unit receives the magnetic information and the position information from the wireless transmission unit Data on a change in the magnetic signal sensed by one of the plurality of magnetic sensors according to the position on the traveling route and data on the change in the magnetic signal detected by the magnetic sensors on the basis of the magnetic information and the position information, And an information processing unit for generating data capable of comparing the magnetic signals sensed by the magnetic sensors .

According to another aspect of the present invention, an autonomous mobile robot further includes a display unit for externally displaying magnetic information relating to the plurality of magnetic sensors, and the control unit stores the magnetic information, the position information, or the data generated by the information processing unit And a display unit for externally displaying the magnetic information, the position information, or the data generated by the information processing unit.

According to another aspect of the present invention, the control unit further includes an alarm device for generating a sound signal, wherein data on the initial state of the magnetic signal for each position of the guideline is previously stored in the memory, The control unit compares the data of the initial state that can be received from the information processing unit with the data generated by the information processing unit in real time and controls the alarm device to generate a sound signal when an error of more than a preset reference value occurs.

According to another aspect of the present invention, an unmanned mobile robot further includes a photographing device, wherein data on the initial state of the magnetic signal is stored in advance in the memory unit according to the position of the guideline, The data of the initial state is compared with the data generated from the information processing unit in real time so that the image capturing device controls the image capturing when an error of more than a preset reference value occurs.

According to the present invention, by acquiring information on the guideline and the magnetic sensor as the robot moves, a procedure for verifying the damage, loss and magnetization of the guideline by the verification robot, It is possible to easily judge the state of the magnetic sensor or the guideline without performing the procedure, thereby securing the running stability of the unmanned mobile robot, thereby improving the operation efficiency of the production line and improving the productivity of the product.

1 is a schematic structural view of an unmanned mobile robot running monitoring system according to an embodiment of the present invention.
2 is a schematic side view showing a magnetic sensor of the unmanned mobile robot of FIG.
3 is a schematic side view showing a display unit of the unmanned mobile robot of FIG.
FIG. 4 is a schematic view showing the traveling path of the unmanned mobile robot of FIG. 1;
5 is an exemplary graph showing the sensitivity of the magnetic signal according to the position on the travel path.
6 is an exemplary graph showing the sensitivity of the magnetic signal in each magnetic sensor.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention, and the manner of achieving them, will be apparent from and elucidated with reference to the embodiments described hereinafter in conjunction with the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Is provided to fully convey the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims.

The shapes, sizes, ratios, angles, numbers, and the like disclosed in the drawings for describing the embodiments of the present invention are illustrative, and thus the present invention is not limited thereto. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. Where the terms "comprises", "having", "done", and the like are used in this specification, other portions may be added unless "only" is used. Unless the context clearly dictates otherwise, including the plural unless the context clearly dictates otherwise.

In interpreting the constituent elements, it is construed to include the error range even if there is no separate description.

In the case of a description of the positional relationship, for example, if the positional relationship between two parts is described as 'on', 'on top', 'under', and 'next to' Or " direct " is not used, one or more other portions may be located between the two portions.

It is to be understood that elements or layers are referred to as being "on " other elements or layers, including both intervening layers or other elements directly on or in between. Like reference numerals refer to like elements throughout the specification.

Although the first, second, etc. are used to describe various components, it goes without saying that these components are not limited by these terms. These terms are used only to distinguish one component from another. Therefore, it goes without saying that the first component mentioned below may be the second component within the technical scope of the present invention.

The sizes and thicknesses of the individual components shown in the figures are shown for convenience of explanation and the present invention is not necessarily limited to the size and thickness of the components shown.

It is to be understood that each of the features of the various embodiments of the present invention may be combined or combined with each other partially or entirely and technically various interlocking and driving is possible as will be appreciated by those skilled in the art, It may be possible to cooperate with each other in association.

Hereinafter, an unmanned mobile robot and an unmanned mobile robot running monitoring system according to the present invention will be described with reference to the accompanying drawings.

FIG. 2 is a schematic side view showing a magnetic sensor of the unmanned mobile robot of FIG. 1, and FIG. 3 is a schematic view of the unmanned mobile robot running monitoring system of FIG. 1 according to an embodiment of the present invention. 4 is a schematic side view showing a display unit of the mobile robot, and Fig. 4 is a schematic view showing a traveling path of the unmanned mobile robot of Fig.

Referring to FIG. 1, an unmanned mobile robot running monitoring system 100 according to an embodiment of the present invention includes an unmanned mobile robot 110 and a control unit 180.

The unmanned mobile robot 110 includes a magnetic sensor 111, a display unit 121, a numerical value display unit 125, a control unit 131, a radio transmission unit 141 and a driving unit 151, Is set to move along the guide line (10) attached to the surface.

The guide line 10 may be formed of a magnetic material such as a magnetic tape on the bottom surface of the traveling path on which the robot 110 moves. The guideline 10 may be in the form of a continuous magnetic stripe from the start point to the end point of the travel path. At this time, the number of lines, shape, width, As shown in FIG.

The magnetic sensor 111 measures the magnitude or direction of a magnetic field or magnetic force line, and a hall sensor or the like can be used as the magnetic sensor 111. The magnetic sensor 111 may be employed without limitation to a variety of known magnetic sensors 111 capable of sensing a magnetic signal from the guideline 10.

The magnetic sensor 111 is disposed below the automatic guided mobile robot 110 and senses a magnetic signal beneath it. The magnetic sensor 111 is moved to the guiding line 10 so as to be spaced apart from the guideline 10 by a suitable distance in consideration of the intensity of the magnetic signal from the guideline 10 or the type of the magnetic sensor 111, . 2, a magnetic sensor 111 includes a plurality of magnetic sensors 111, at least a magnetic sensor 111a disposed directly on the guide line 10, Can be placed at a distance from the guideline 10 so as to be able to detect the guiding line 10.

Also, a plurality of magnetic sensors 111 are arranged in a line, and the longitudinal direction in which the magnetic sensors 111 are arranged is perpendicular to the moving direction of the unmanned mobile robot 110. That is, the plurality of magnetic sensors 111 are arranged in a direction perpendicular to the moving direction of the UAV 110, and the respective magnetic sensors 111 are arranged in a line at predetermined intervals.

The magnetic sensor 111 is disposed such that the entire length of the plurality of magnetic sensors 111 is longer than the width of the guide line 10 and the magnetic sensor 111a disposed directly above the guide line 10, And the remaining magnetic sensors 111b are arranged such that the intensities of the magnetic signals sensed by the magnetic sensors 111a and 111b are different from each other. That is, the distances from the guideline 10 to the respective magnetic sensors 111a and 111b are different, and the magnitudes of the magnetic signals sensed by the respective magnetic sensors 111 are distinguishable from each other. Can be spaced apart. As a result, it can be confirmed that the magnetic signal sensed by some of the magnetic sensors 111 is relatively strong, and the relative position of the guiding line 10 with respect to the unmanned mobile robot 110 can be grasped.

The display unit 121 displays information on a plurality of magnetic sensors 111 on the outside. The display unit 121 may include a light emitting device such as an LED or a liquid crystal display panel, and various other known display devices may be employed.

3 (a), the display unit 121 may include a plurality of sensitivity display units 123 corresponding to the plurality of magnetic sensors 111, respectively. That is, the display unit 121 may include a plurality of sensitivity display units 123 configured to display the magnetic information about one magnetic sensor 111 on the outside of the one sensitivity display unit 123.

The sensitivity display unit 123 can distinguish the information about the magnetic sensors 111 according to the magnetic signal detection states of the respective magnetic sensors 111 by emitting monochromatic light in an on-off manner or emitting multi-colored light . Thereby, it is possible to individually and visually confirm the information on the plurality of magnetic sensors 111 through the plurality of sensitivity display parts 123, and the details thereof will be described later.

Further, the display unit 121 may include a numerical value display unit 125. [ The numerical value display unit 125 displays input information as a numerical value on the outside, and may include a seven-segment device. The numerical value display unit 125 may sequentially display the intensity of the magnetic signal sensed by each magnetic sensor 111 or display the position information of the unmanned mobile robot 110, .

Referring to FIG. 3 (b), the display unit 121 'may be configured to form a sensitivity display unit 123' and a numerical value display unit 125 'on a single screen. For example, on one liquid crystal display panel displaying an image, some areas may be configured to display information about the magnetic sensor 111, and some other areas may be configured to display various numerical information. It should be noted that the size, number, arrangement or shape of the sensitivity display units 123 and 123 'and the numerical value display units 125 and 125' are not limited to those shown in FIG. 3 and can be variously modified do.

The control unit 131 can receive the magnetic signal sensed by the magnetic sensor 111 and generate magnetic information relating to the magnetic signal detection state in each magnetic sensor 111. [ For example, the control unit 131 can generate the intensity of the magnetic signal sensed by each magnetic sensor 111 with magnetic information, and generate the sensitivity of each magnetic sensor 111 with magnetic information . Meanwhile, the control unit 131 can receive a magnetic signal from the magnetic sensor 111 by being electrically connected or wirelessly connected to the magnetic sensor 111 via a separate connector (not shown).

The control unit 131 can receive the magnetic signals from the plurality of magnetic sensors 111 and control the display unit 121 so that the display unit 121 displays information on the plurality of magnetic sensors 111. [ That is, the control unit 131 receives the magnetic signals sensed by the respective magnetic sensors 111 from the magnetic sensor 111, and based on the received magnetic signals, It is possible to control the display unit 121 to display the magnetic signal detection state in the display unit 111 to the outside.

The control unit 131 may further include a part of the sensitivity display unit 123 corresponding to a part of the magnetic sensors 111 in which a magnetic signal of a strength exceeding a preset reference is detected among the plurality of magnetic sensors 111, It is possible to control the display unit 121 to emit light differently from the display unit 123. [ For example, when only the magnitude of the magnetic signal sensed by the magnetic sensor 111a located directly above the guideline 10 in FIG. 2 exceeds a preset reference, the guideline 10, as shown in FIG. 3, The sensitivity display portion 123a corresponding to the magnetic sensor 111a located on the right side of the sensitivity display portion 123b emits light differently from the remaining sensitivity display portion 123b. As a result, it is possible to visually distinguish the magnetic sensor 111, from which a magnetic signal of a strength exceeding the reference is sensed, out of the plurality of magnetic sensors 111.

In addition, the control unit 131 can generate positional information on the traveling route of the unmanned mobile robot 110. [ For example, the control unit 131 is stored in advance in a separate memory unit (not shown) in which information that can identify the position on the travel route can be stored according to the travel distance, It is possible to generate information about the position on the traveling route of the UAV 110 by comparing the distance traveled on the route.

The control unit 131 transmits the generated magnetic information or the positional information to the numerical value display unit 125 so that the numerical value display unit 125 displays the magnetic information or the positional information received from the control unit 131 externally Can be controlled. At this time, the control unit 131 can control the numerical value display unit 125 to alternately display the magnetic information for each magnetic sensor 111, or to display the magnetic information and the position information at the same time. The display method of each information through the numerical value display unit 125 may be variously set in consideration of the convenience of the user.

On the other hand, the control unit 131 controls the movement of the unmanned mobile robot 110 based on the magnetic signals from the plurality of magnetic sensors 111. That is, the control unit 131 can generate information on the relative positions between the guide line 10 and the UAV 110 based on the magnetic signals sensed by the respective magnetic sensors 111, Moving robot 110 in a moving direction in which the robot 150 moves. Meanwhile, various known driving means configured to be capable of changing the moving direction may be used as the driving unit 151 without limitation.

The radio transmission unit 141 transmits the magnetic information and the position information to the outside. Various known wireless transmission devices capable of transmitting input information to the outside as a wireless signal can be used for the wireless transmission unit 141 without limitation.

On the other hand, the radio transmission unit 141 can be controlled by the control unit 131 to transmit a signal having an intermediate value between the maximum value and the minimum value of the output value range required for signal reception. Thus, even if the output value of the signal required for reception is changed as the external travel controller such as the control unit 181, which will be described later, is changed independently of the automatic guided mobile robot 110, It is not necessary to separately replace the radio transmission unit 141. [

1, the control unit 181 includes a wireless receiving unit 183, an information processing unit 185, a memory unit 187, and a display unit 189. [

The wireless receiving unit 183 wirelessly connects the control unit 181 and the unmanned mobile robot 110. That is, the control unit 181 can receive the magnetic information or the position information transmitted from the wireless transmission unit 141 of the autonomous mobile robot 110 as the wireless reception unit 183. [ A variety of known wireless receiving devices capable of receiving information as a wireless signal from the outside can be used as the wireless receiving unit 183 without limitation.

The information processing unit 185 generates data on the magnetic signals sensed by the respective magnetic sensors 111 at the respective positions on the traveling route based on the magnetic information and the position information received by the wireless receiving unit 183. That is, the information processing unit 185 obtains positional information (for example, positions P1 to P6 on the traveling path shown in FIG. 4) according to the distance traveled by the autonomous mobile robot 110, 111) on the basis of the sensitivity of the magnetic signal sensed by the magnetic sensor 111 can be generated on one graph to generate data on the sensitivity of the magnetic signal according to the position on the traveling path for each magnetic sensor 111.

5 is an exemplary graph showing the sensitivity of the magnetic signal according to the position on the travel path.

4 and 5, as the unmanned mobile robot 110 moves from the driving time point P1 to the driving end point P6 through the data as shown in the information processing unit 185, 111) (for example, the magnetic sensor 111 arranged at the center) changes in the sensitivity of the magnetic signal detected. For reference, when the sensitivity is 100 on the graph, the magnetic sensor 111 operating ideally senses the maximum value of the intensity of the magnetic signal emitted from the guide line 10. When the sensitivity is 80 , And detects the minimum value of the magnetic signal intensity that must be sensed by the autonomous mobile robot 110 to operate normally.

5A, when the autonomous mobile robot 110 is at the P2 position, it is in the most ideal state. When the autonomous mobile robot 110 is at the P4 position, the sensitivity less than the minimum value is measured, You can see that a problem has occurred. Through this, for example, it can be understood that the guideline 10 on the P4 position is damaged and the intensity of the magnetic signal from the part is reduced.

5B, the sensitivity of the magnetic signal close to zero after the P4 position is measured, and it can be confirmed that a problem has occurred in the traveling of the UAV 110. FIG. Through this operation, for example, the self-moving robot 110 detects a magnetic signal from the point at which it passes the position P4 due to a problem that the magnetic sensor 111 is damaged or the power supply to the magnetic sensor 111 is stopped It can be seen that the failure occurred.

In addition, the information processing unit 185 can generate data that can compare the magnetic signals sensed by the respective magnetic sensors 111 at a specific position on the travel route. That is, the sensitivity of the magnetic signal sensed by each of the magnetic sensors 111 at one position can be graphically plotted on one graph, so that the magnetic sensors 111 can be individually checked whether they are normally operating.

6 is an exemplary graph showing the sensitivity of the magnetic signal in each magnetic sensor.

6A, the sensitivity gradually decreases from the magnetic sensor S8 and the magnetic sensor S9 arranged on the upper side to the magnetic sensors S1 and S16 arranged on the side, The line 10 is located, and it can be confirmed that all of the magnetic sensors S1 to S16 operate normally.

In the case of FIG. 6 (b), it can be seen that only the sensitivity of the magnetic signal sensed by the magnetic sensor S9 is different from that of FIG. 6 (a). In this manner, it can be confirmed that the magnetic sensor does not operate normally by showing irregular portions rather than a gentle curve on the graph.

In the case of FIG. 6 (c), although the curve is gentle as a whole, it can be seen that the sensitivity of the magnetic signals sensed by all the magnetic sensors S1 to S16 is weakly sensed as compared with the graph of FIG. 6 (a). Thus, it can be seen that all of the magnetic sensors S1 to S16 operate normally at the position, but a problem occurs in the guide line 10, for example, so that the magnetic signal is not normally emitted.

As described above, by monitoring the data on the sensitivity of the magnetic signal sensed by the magnetic sensor 111, it is possible to identify a problem occurring on the guide line 10 or the magnetic sensor 111. In this way, the damaged portion of the guide line 10 or the magnetic sensor 111 can be immediately repaired. When the magnetic signal from the guideline 10 is weak, the driving of the UAV 110 may be temporarily normalized by amplifying the magnetic signal sensed at the corresponding portion.

The memory unit 187 can store the information received from the unmanned mobile robot 110 via the wireless receiving unit 183 or the data generated by the information processing unit 185 based on this information. The information or data stored in the memory unit 187 may be loaded by the information processing unit 185 at any time. The memory unit 187 may store information on the initial state of the magnetic signal for each position of the guideline 10. [ In this way, the stored data can be compared with the newly generated data from the information processing unit 185 to confirm the change in the operation state of the magnetic sensor 111 and the guide line 10, and the difference between the respective data to be compared can be monitored in real time The presence or absence of the problem of the magnetic sensor 111 and the guide line 10 can be confirmed.

The display unit 189 visualizes the information received from the autonomous mobile robot 110 or the data generated by the information processing unit 185 and externally displays the information. As the display unit 189, various known display devices can be used. Thereby, the user can confirm information and data, and can easily monitor whether or not the unmanned mobile robot 110 operates normally. For example, the display unit 189 can be controlled so as to visualize and display the traveling route in a map or the like, and to display a change in the magnetic information at each position.

On the other hand, the control unit 181 may include an alarm device (not shown) for generating a sound signal. The information processing unit 185 compares the data of the initial state of each of the guide lines 10 with the data generated by the information processing unit 185 in real time so that when an error of more than a preset reference value occurs, As shown in Fig.

On the other hand, as a result of monitoring the running state in the information processing unit 185, it is possible to compare the data of the initial state for each position of the guideline 10 with the data generated from the information processing unit 185 in real time, The information processing unit 185 can control the image capturing apparatus (not shown) included in the UOB 110 to capture an image of the corresponding position. At this time, the information processing unit 185 can control the display unit 189 so that the image information generated from the unmanned mobile robot 110 can be displayed on the display unit 189, thereby enabling more accurate monitoring.

The sensitivity of the display unit 121 individually corresponding to each magnetic sensor 111 can be improved by the sensitivity of the display unit 121 corresponding to each magnetic sensor 111. [ It is easy to visually confirm the magnetic detection state of the magnetic sensor 111 through the display unit 123 and the control unit 181 controls the traveling process of the unmanned mobile robot 110 based on the magnetic information and the positional information So that the unmanned mobile robot 110 can continuously and smoothly run.

Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, it is to be understood that the present invention is not limited to those embodiments and various changes and modifications may be made without departing from the scope of the present invention. . Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. Therefore, it should be understood that the above-described embodiments are illustrative in all aspects and not restrictive. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

110 ... Unmanned mobile robot
111, 111a, 111b ... Magnetic sensor
121, 121 '... Display portion
123, 123 ', 123a, 123b ... Sensitivity display section
125, 125 '... Numerical value display section
131 ... The control unit
141 ... Wireless transmitter
151 ... The driving unit
181 ... Control unit
183 ... Wireless receiver
185 ... Information processing section
187 ... The memory unit
189 ... Display portion
100 ... Unmanned mobile robot running monitoring system
10 ... guideline

Claims (10)

Wherein the robot is set to move along a guide line laid on a bottom surface of a predetermined traveling path,
A plurality of magnetic sensors arranged in a line so that the longitudinal direction thereof is perpendicular to the moving direction, and sensing a magnetic signal thereunder;
A display unit for externally displaying information on the plurality of magnetic sensors;
A control unit for controlling movement of the unmanned mobile robot based on magnetic signals from the plurality of magnetic sensors; And
And a plurality of sensitivity display portions for displaying information on the magnetic sensors,
Wherein the control unit receives the magnetic signals from the plurality of magnetic sensors and controls the display unit to display information on the magnetic sensors,
Wherein the plurality of sensitivity display portions are configured to respectively display information on one magnetic sensor corresponding to the plurality of magnetic sensors and one sensitivity display portion on the outside. delete The method according to claim 1,
Wherein the control unit controls the display unit so that a part of the sensitivity display units corresponding to a part of the magnetic sensors in which the magnetic signals of the intensity exceeding a preset reference are detected, Wherein the robot is an unmanned mobile robot. The method of claim 3,
Characterized in that the sensitivity display section includes a plurality of LEDs. The method according to claim 1,
The display unit may further include a numerical value display unit for displaying numbers numerically,
Wherein the control unit generates positional information on the traveling path of the unmanned mobile robot and controls the display unit so that the numerical value display unit displays information on the magnetic sensor or the positional information as a number on the outside, Unmanned mobile robot. 6. The method of claim 5,
Wherein the numerical value display unit comprises a seven-segment device. An unmanned mobile robot set to move along a guide line laid on a bottom surface of a predetermined traveling path; And
A control unit wirelessly connected to the unmanned mobile robot; / RTI >
The unmanned mobile robot includes:
A plurality of magnetic sensors disposed in series such that the longitudinal direction thereof is perpendicular to the moving direction,
A control unit for controlling movement of the unmanned mobile robot based on magnetic signals from the plurality of magnetic sensors,
A display unit for externally displaying information on the plurality of magnetic sensors,
A plurality of sensitivity display portions respectively corresponding to the plurality of magnetic sensors and configured so that one sensitivity display portion displays information on one magnetic sensor,
And a wireless transmission unit for transmitting information on the plurality of magnetic sensors and position information of the unmanned mobile robot to the outside,
The control unit includes:
A wireless receiver for receiving information on the magnetic sensor and the positional information from the wireless transmitter;
Data on a change in a magnetic signal sensed by one of the plurality of magnetic sensors according to a position on the travel route based on the information about the magnetic sensor and the positional information, And an information processing unit for generating data capable of comparing the magnetic signals sensed by each of the plurality of magnetic sensors. 8. The method of claim 7,
The control unit includes:
A memory unit for storing information on the magnetic sensor, the positional information or the data generated by the information processing unit,
Further comprising a display unit for externally displaying information on the magnetic sensor, the positional information, or the data generated by the information processing unit. 9. The method of claim 8,
Wherein the control unit further comprises an alarm device for generating a sound signal,
In the memory, data on the initial state of the magnetic signal for each position of the guide line is stored in advance,
Wherein the information processing unit compares data of the initial state that can be received from the memory unit with data generated by the information processing unit in real time and controls the alarm device to generate a sound signal when an error of a predetermined reference value or more occurs, Wherein the control unit is configured to control the operation of the robot. 9. The method of claim 8,
The unmanned mobile robot may further include a photographing device,
In the memory, data on the initial state of the magnetic signal for each position of the guide line is stored in advance,
Wherein the information processing unit compares data of the initial state that can be received from the memory unit with data generated from the information processing unit in real time and controls the image taking apparatus to take a picture Wherein the control unit is configured to control the operation of the robot.

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