KR101714987B1 - Apparatus for tracking of module combined robot - Google Patents

Abstract

The present invention relates to a follow-up control device for a module combination type robot. According to the embodiment of the present invention, the follow-up control device for the module combination type robot connected with a mobile communication module comprises: a subject recognition unit recognizing a subject using the mobile communication module; a driving information generating unit generating a first moving path to follow up the subject, generating driving information on the first moving path; a driving information correction unit generating a second moving path detouring the first moving path in case there is an obstacle on the first moving path, and correcting the driving information; and a control unit comparing a moving pattern of the subject with a predetermined subject pattern by obtaining the moving pattern of the subject at predetermined time intervals enabling a robot to follow up the subject in case of a normal mode, wherein the control unit enables the robot to transmit a danger signal on the subject to a predetermined network in case of an abnormal mode. As such, the follow-up control device is able to correct the path to detour the obstacle on the path to follow up the subject.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a tracking control apparatus for a module-

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a tracking control apparatus for a module-coupled robot, and more particularly to a technique for a robot to recognize and follow the movement of an object.

Recently, robots have been used in various fields due to diversification of scope and purpose of use of robots. Robots can be roughly divided into industrial robots and personal robots. A personal robot is called a human coexistence type humanoid robot having intelligence that can improve the convenience of personal life, and can be classified into a home robot supporting home automation and an entertainment robot for human play.

Korean Patent Registration No. 1643751 (published on June 28, 2016) discloses a robot having an object tracking function. The robot includes a traveling robot body, a traveling driving unit for traveling the robot body, A reception unit provided in the robot body and capable of communicating with the transmission unit so as to be able to receive signal information transmitted from the transmission unit; A controller for controlling the travel driving unit to move the robot body to a point adjacent to the object when the transmitter is out of a predetermined distance or more from the receiver, And a control unit.

However, the above-described conventional technology simply follows the point adjacent to the object through communication with the signal information of the object to be tracked. If there is an obstacle in the follow-up process, there is a risk that the object following robot collides with an obstacle and is damaged. In addition, there is a limitation in that an object following the object on the ground can not follow in an area where obstacles are present or the ground movement is impossible.

SUMMARY OF THE INVENTION The object of the present invention is to provide a method and apparatus for tracking an object by following an obstacle along an obstacle along an object, And to provide a tracking control apparatus of a module-coupled robot capable of mitigating an impact upon collision with obstacles on the path.

The tracking control apparatus of a modular combined robot to which a mobile communication module according to an exemplary embodiment of the present invention is coupled includes an object recognition unit for recognizing an object using the mobile communication module, a first movement path for following the object, And generates a second movement route that bypasses the first movement route when there is a failure on the first movement route, and generates a second movement route that bypasses the first travel route, A movement information modifying unit that acquires movement patterns of the object at predetermined time intervals and compares the movement patterns with a predetermined object pattern so that the robot follows the object when the robot is in the normal mode; And a controller for sending a risk signal for the object to a predetermined network.

In addition, a flight module is coupled to the module-coupled robot, and when the travel information correcting unit generates a fault in which the walking movement is impossible on the first travel route, the second travel route is generated using the flight module, Information can be modified.

The mobile communication module may further include an image information acquiring unit acquiring image information of the object and its surroundings using the mobile communication module, and the controller may transmit the image information to the network when the mobile communication module is in the abnormal mode.

The mobile communication module may further include a power management unit for managing a power state of the mobile communication module when the mobile communication module is coupled to the robot and a temperature management unit for maintaining the temperature of the mobile communication module, May control the power management unit or the temperature management unit to maintain a predetermined power or temperature according to the power or temperature state of the mobile communication module.

The module-coupled robot may further include a buffer unit coupled to the air tube module and protecting the robot from an external impact while the air tube module is expanded when an impact is sensed.

Thus, the path can be modified to bypass the obstacle on the path following the object. In addition, the object can be followed by changing to the upright walking mode, the traveling mode, and the flight mode according to the state of the obstacle on the route. In addition, it can alleviate the impact when colliding with obstacles on the path.

1 is an exemplary view for explaining a modular combined type robot according to an embodiment of the present invention;
FIG. 2 is a block diagram of a tracking control apparatus for a modular combined robot according to FIG. 1,
FIG. 3 is an exemplary view for explaining an obstacle detection and path change in the tracking control apparatus of the module-coupled robot according to FIG. 2;
FIG. 4 is an exemplary diagram for explaining an obstacle detection and a path change to a flight module in the tracking control apparatus of the modular combined type robot according to FIG. 2;
FIG. 5 is an exemplary diagram for explaining power and temperature management in the tracking control apparatus of the modular combined type robot according to FIG. 2;
FIG. 6 is an exemplary diagram for explaining impact mitigation using an air tube module in the tracking control apparatus of the modular combined type robot according to FIG. 2;
FIG. 7 is an exemplary diagram for explaining spraying of the spray liquid using the spray module in the tracking control apparatus of the modular combined type robot according to FIG. 2;

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The terms used are terms selected in consideration of the functions in the embodiments, and the meaning of the terms may vary depending on the user, the intention or the precedent of the operator, and the like. Therefore, the meaning of the terms used in the following embodiments is defined according to the definition when specifically defined in this specification, and unless otherwise defined, it should be interpreted in a sense generally recognized by those skilled in the art.

1 is an exemplary view for explaining a modular combined type robot according to an embodiment of the present invention.

Referring to FIG. 1, the module-coupled robot 10 according to an embodiment of the present invention is a device capable of moving in an upright walking mode, a traveling mode, and a flight mode in combination with the mobile communication module 20. In this case, the module-coupled robot 10 can be coupled to the mobile communication module 20 with minimum coupling, and further, the flight module, the air tube module, and the injection module can be combined. The module-coupled robot 10 may be driven using an internal power source, and may be driven using the power of the mobile communication module 20 as needed. The module-coupled robot 10 is electrically connected to the mobile communication module 20 and can communicate through power line communication or wireless communication.

Further, the module-coupled robot 10 can be moved to the upright walking mode by the articulated leg capable of upright walking or to the traveling mode using the wheels. The module-coupled robot 10 can be controlled by communication with the mobile communication module 20 by incorporating a tracking control device 100 to be described later. In this case, it is also possible to install an application in the mobile communication module 20 to replace the follow-up control device 100. [ The tracking control apparatus 100 controls the overall operation of the module-coupled robot 10. It is also possible that the module-coupled robot 10 receives a user's input through the display of the mobile communication module 20.

The mobile communication module 20 is a communication device that includes a display, a camera, and a sensor and is capable of network communication. The mobile communication module 20 can be electrically connected to the module-coupled robot 10 to charge and discharge the power source. Also, the mobile communication module 20 is capable of wireless communication with an external server (not shown) or the module-coupled robot 10. [ The mobile communication module 20 recognizes the object 200 using a camera or a sensor and the module coupled robot 10 is driven to follow the object 200 recognized by the mobile communication module 20. [ In this case, the mobile communication module 20 can grasp the object 200 using the shape, color, motion, and identification signal of the object 200. In this case, the object 200 may be a creature with motion or a wearable device that outputs an electronic signal.

Hereinafter, the tracking control apparatus 100 of the modular combined robot will be described in detail with reference to FIG.

FIG. 2 is a block diagram of a tracking control apparatus for a modular combined robot according to FIG. 1;

2, the tracking control apparatus 100 of the modular combined robot according to the embodiment of the present invention includes an object recognition unit 110, a travel information generating unit 120, a travel information collecting unit 130, 140).

The object recognition unit 110 recognizes an object using a mobile communication module. The object recognition unit 110 can acquire the shape, color, motion, identification signal, temperature, and sound wave of the object through the mobile communication module. In this case, the object may be a creature with motion or a wearable device that outputs an electronic signal. The object recognition unit 110 may compare the object information with the object information to determine whether the object is an authenticated object. For example, the user's face, color, movement pattern, and electrical signals of the wearable device worn by the user can be used to recognize the object. It is also possible to set the object recognition to objects close to the module-coupled robot within a predetermined distance.

The object recognition unit 110 may capture an identification code generated from a wearable device worn by a user, record an ultrasound signal, or recognize a movement pattern to recognize an object as an authenticated user. When object recognition is completed through the object recognition unit 110, the object is tracked until an object release signal is received. The object recognition unit 110 may send an object release signal from the object to the control unit 140 to stop the object tracking of the module combining robot. In this case, the object release signal can be set variously according to the setting of the user.

The travel information generating unit 120 generates a first travel route for following the object. The first movement path means a movement path of the shortest distance for following the object. The driving information generating unit 120 generates driving information on the first moving route and outputs the generated driving information to the controller 140. The driving information may include not only physical information such as direction and speed for following the object, but also driving mode information for following the object. The driving mode information may include an upright walking mode, a traveling mode, and a flight mode. The upright walking mode is to move using the legs of the module-coupled robot, the traveling mode is to travel using wheels, and the flight mode means to travel using the flight module.

The driving information correction unit 130 determines whether or not there is a fault on the first movement route. For example, the travel information correction unit 130 generates a second travel route that bypasses the first travel route when the obstacle is located on the first travel route. The second movement path means a path that is close to the first movement path and may not collide with the obstacle. When the second movement route is generated, the driving information correction unit 130 corrects the driving information for the second movement route. For example, when the modular combined robot can not follow the object in the upright walking mode or the traveling mode on the first movement route, the traveling information can be modified to the flight mode to avoid an obstacle.

The controller 140 acquires a motion pattern of the object at a predetermined time interval and compares the motion pattern with a predetermined object pattern. For example, when the object is a dementia patient or a child, a predetermined movement pattern is set, and the movement of the module-coupled robot can be controlled depending on whether the robot is in the normal mode or the abnormal mode. The robot may follow the object in the normal mode and the robot may transmit the danger signal for the object to the predetermined network in the abnormal mode. This is for the purpose of making it possible to quickly contact the network of the hospital, the police, the fire department, etc. in response to the abnormal movement pattern of the demented patient or the infant.

FIG. 3 is an exemplary diagram for explaining an obstacle detection and path change in the tracking control apparatus of the modular combined type robot according to FIG. 2;

3, when the module-coupled robot 10 moves through the first movement path (1), when it detects the obstacle 1 through the mobile communication module 20, it collides with the obstacle 1 It is possible to change the travel information by setting the second travel route (2) in order to avoid travel. This is to prevent movement of the module-coupled robot 10 by the obstacle 1 in the course of simply following the object, or to prevent damage due to collision. The tracking control apparatus 100 can control the movement by searching the second movement route (2) through the bypass route of the shortest distance from the first movement route (1). The tracking control apparatus 100 can detect an obstacle 1 on the ground between the object and the object at a predetermined time interval. The tracking control apparatus 100 can output an alarm signal in the form of a character or voice when the obstacle 1 is found on the movement route.

FIG. 4 is an exemplary view for explaining an obstacle detection and a path change to a flight module in the tracking control apparatus of the modular combined type robot according to FIG. 2;

Referring to FIG. 4, when the module-coupled robot 10 moves through the first movement path (1), the obstacle 1 is detected through the mobile communication module 20, The travel information can be changed by using the flight module when the second movement route (2) in the second travel route exceeds the preset value. For example, if the obstacle 1 on the first movement route (1) is difficult to find a detour route like the fence, or is difficult to move to the ground like a river or sea, the second movement route (2) Can be set. The flight module is a device that can be coupled to the module-coupled robot 10 to fly. The flight module can be driven by the power of the mobile communication module 20 or the module-coupled robot 10. [

The tracking control apparatus 100 corrects the traveling information so as to operate in the flight mode when the second traveling route (2) is searched from the first traveling route (1) to the bypass route with the shortest distance, . In addition, the tracking control apparatus 100 can correct the driving information to the flight module when the tracking control apparatus 100 can not move to the ground, such as the river or the sea, using the position information. For example, the tracking control apparatus 100 may output a character or voice alarm signal to notify the user that a flight module is needed if the flight module is not coupled to the module-coupled robot 10.

Referring to FIG. 2 again, the tracking control apparatus 100 of the modular combined robot according to the embodiment of the present invention may further include an image information obtaining unit 150.

The image information obtaining unit 150 obtains the image information of the object and its surroundings using the mobile communication module. In this case, the controller 140 may control the image information to be transmitted to the network when the movement pattern of the object is abnormal. The image information obtaining unit 150 obtains and stores image information about an object image and a surrounding environment while following the object. In addition, the image information obtaining unit 150 may transmit image information to an external server through a mobile communication module in a streaming manner. When the user recognizes the face of the user, the image information obtaining unit 150 may notify the existence of the intruder by transmitting the unauthenticated face to a network such as a police or a fire department.

In addition, the image information acquisition unit 150 may acquire environment information on the moving route following the object as an image, and may transmit the movement pattern of the user to an external server. For example, in the case of a living organism in which communication is not smooth as in the case of a dementia patient, a puppy, and an infant, it is also possible to acquire a motion at a predetermined time interval and store it as an image to analyze a movement pattern during a day . Therefore, it is possible to acquire behavior patterns such as whether there is a mental disease of an object, and transmit it to a network of a hospital or the like, thereby enabling a diagnosis through a specialist.

Meanwhile, the tracking control apparatus 100 of the modular combined robot according to the embodiment of the present invention may further include a power management unit 160 and a temperature management unit 170.

When the mobile communication module is coupled with the robot, the power management unit 160 grasps the power state of the mobile communication module and manages the power source. In this case, the mobile communication module can be charged or discharged by comparing the voltage difference or the current difference between the module-coupled robot and the mobile communication module. Accordingly, the module-coupled robot can be driven by the power of the mobile communication module, and conversely, the mobile communication module can be driven through the module-coupled robot. In this case, the control unit 140 may control the power management unit 160 to maintain a predetermined power state according to the power state of the mobile communication module.

Also, the power management unit 160 may correct the movement path to a position where the power can be charged when the power of the module-coupled robot or the mobile communication module is less than a preset value. In this case, the position where the battery can be charged can be set in advance by user setting. The driving information correction unit 130 of the tracking control apparatus 100 of the modular combined type robot can modify the driving information so that the power of the modular combined type robot is less than the predetermined value and passes through the charging station for power charging on the moving route.

In addition, the power management unit 160 may generate electricity by using a solar cell, or may generate electric power to charge the power source when the module-coupled robot forms a piezoelectric element on a surface contacting the ground, . In this case, the energy efficiency of the module-coupled robot can be increased.

The temperature management unit 170 maintains the temperature of the mobile communication module. The performance of the mobile communication module is degraded when the mobile communication module is overheated, so that the temperature of the mobile communication module can be stably maintained by maintaining the predetermined temperature range. The temperature management unit 170 can reduce the heat of the mobile communication module by using the cooling fan. In this case, the control unit 140 controls the temperature management unit 170 according to the temperature state of the mobile communication module to maintain a predetermined temperature.

5 is an exemplary diagram for explaining power and temperature management in the tracking control apparatus of the modular combined type robot according to FIG.

5, the module-coupled robot 10 may include a power source terminal 11, a solar cell 12, a sensing unit 13, and a cooling fan 14. The power supply terminal 11 is for charging or discharging power when the mobile communication module is connected. The shape of the power terminal 11 may be changed by the mobile communication module, and various mobile communication modules may be connected through the conversion gender.

The solar cell 12 generates the self-power of the module-coupled robot 10. The solar cell 12 converts sunlight into electricity, and its size and position can be changed by user setting. When the tracking control apparatus 100 generates power by the solar cell 12, the tracking control apparatus 100 can modify the movement path for tracking the object according to the position of the sunlight. In this case, it is possible to correct the travel route only when the charged amount of the solar cell 12 is larger than the power consumption due to the travel route correction.

The sensing unit 13 may include an illuminance sensor or a touch sensor. The sensing unit 13 senses whether or not the mobile communication module is close to the module-coupled robot 10. The sensing unit 13 transmits sensing information in which the mobile communication module is located within a predetermined distance to the tracking control apparatus 100. The tracking control apparatus 100 can prepare for or initiate an operation for tracking an object at the close proximity of the mobile communication module. In contrast, the tracking control apparatus 100 can terminate the object tracking when the mobile communication module moves away from the module-coupled robot 10 or moves away.

The cooling fan 14 is formed on the contact surface of the mobile communication module to lower the temperature of the mobile communication module. In this case, the tracking control apparatus 100 can acquire internal temperature information when the mobile communication module is connected to the module-coupled robot 10. [ The rotation speed and the operation time of the cooling fan 14 are controlled by the tracking control device 100. Accordingly, it is possible to prevent the mobile communication module from overheating.

Referring again to FIG. 2, the tracking controller 100 of the modular combined robot according to the embodiment of the present invention may further include a buffer 180. The shock absorber 180 protects the robot from external impacts when the air-tube module expands when an impact is sensed by the module-coupled robot or the mobile communication terminal. In this case, an air tube module which is inflated by air pressure to one side is coupled to the module-combining type robot. The buffer 180 allows the air tube module to mitigate and center the impact, in case the module-coupled robot crashes or loses its center due to a nearby obstacle. Also, the buffering unit 180 may be configured to drive the air tube module to prevent an impact when the module-coupled robot is in the flight mode when the robot is falling.

FIG. 6 is an exemplary diagram for explaining impact mitigation using the air tube module in the tracking control apparatus of the modular combined type robot according to FIG. 2;

6, an air tube module 40 is formed at a lower portion of the module-coupled robot 10, and when an impact is generated, the air tube of the air tube module 40 is inflated downward, . In this case, the forming position of the air tube module 40 may be changed depending on user setting. The tracking control apparatus 100 can sense an impact from the module-coupled robot 10 or the mobile communication module 20 and can detect an obstacle 1 by using the sensor, Can be set to expand. Accordingly, the shock can be alleviated when the module-coupled robot 10 is tilted or impelled by an obstacle while moving, and the shock can be alleviated even when the robot 10 falls during a flight, thereby reducing the risk of a second accident .

Referring to FIG. 2 again, the tracking control apparatus 100 of the modular combined robot according to the embodiment of the present invention may further include an elimination liquid spraying unit 190.

When the unauthenticated user is recognized as an object through the object recognition, the repellent spraying unit 190 ejects the repellent liquid through the spraying module. In this case, the injection module may be coupled to the module-coupled robot. The elimination liquid spraying unit 190 grasps whether the user is authenticated through the object recognition unit 110, and injects an erasure liquid when the user is not authenticated. If an intruder moves, he or she can recognize it as an object and follow it, and inject an intruder with an attack liquid. The eraser liquid splashing section 190 can output an alarm signal of a character or sound type together. The repellent spraying unit 190 can notify the user of an insufficient amount of the repellent solution by an alarm signal.

FIG. 7 is an exemplary diagram for explaining spraying of the spray liquid using the spray module in the tracking control apparatus of the modular combined type robot according to FIG. 2;

Referring to FIG. 7, the mobile communication module 20 and the injection module 50 are coupled to the module-coupled robot 10. Specifically, the injection module 50 includes a repellent liquid containing portion 51, a connection terminal 52, and a spray nozzle 53. [ The repellent liquid containing portion 51 receives a jetting liquid such as capsaicin and tear liquid. The connection terminal 52 is configured to fix the injection module 50 while being electrically connected to the module-coupled robot 10. The injection liquid in the repellent liquid containing portion 51 is injected in accordance with the electrical control signal of the tracking control device 100 through the connection terminal 52. [ The spray nozzle 53 is a nozzle for spraying the spray liquid stored in the spray liquid storing portion 51. In this case, the injection nozzle 53 can be rotated in the up, down, left, and right directions to inject the spray liquid at various angles. In this case, the direction and speed at which the jetting liquid is jetted may vary depending on the user setting. Accordingly, when an intruder is detected in the house, it is possible to recognize the face of the intruder and spray the spray liquid.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, Therefore, the present invention should be construed as a description of the claims which are intended to cover obvious variations that can be derived from the described embodiments.

10: Robot
11: Power terminal
12: Solar cell
13:
14: Cooling fan
20: Mobile communication module
30: Flight module
40: air tube module
50: injection module
51:
52: connection terminal
53: injection nozzle
100: tracking control device
110: Object recognition unit
120:
130: Operation information management
140:
150: Image information acquisition unit
160: Power management unit
170:
180: buffer
190:
200: object

Claims (5)

1. A tracking control apparatus for a modular combined robot in which a mobile communication module is coupled,
An object recognition unit for recognizing an object using the mobile communication module;
A travel information generating unit for generating a first travel route for following the object and generating travel information on the first travel route;
Wherein the module combining robot is coupled to the flight module and generates a second travel route that bypasses the first travel route when there is a fault on the first travel route, A travel information generating unit that generates the second travel route using the flight module and corrects the travel information;
Wherein the module-coupled robot is coupled to an air tube module, and when the impact is sensed, the air tube module expands and protects the robot from an external impact;
An ejection liquid spraying unit coupled to the module coupling robot and spraying an eradication liquid while following an unauthorized intruder moving through the object recognizing unit; And
The robot moves the object according to the movement pattern of the object at a predetermined time interval and compares the movement pattern with a predetermined object pattern so that the robot follows the object when the robot is in the normal mode, And a control unit for transmitting the control information to the established network. delete The method according to claim 1,
Further comprising an image information acquiring unit acquiring image information of the object and its surroundings using the mobile communication module,
Wherein,
And transmits the image information to the network in the abnormal mode. The method according to claim 1,
A power management unit for managing a power state of the mobile communication module when the mobile communication module is coupled with the robot, And
Further comprising a temperature management unit for maintaining a temperature of the mobile communication module,
Wherein,
And controls the power management unit or the temperature management unit to maintain a predetermined power or temperature according to a power or a temperature state of the mobile communication module. delete

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