KR101798837B1 - System and method for detecting localization of mobile robot using magnetic landmark - Google Patents

System and method for detecting localization of mobile robot using magnetic landmark Download PDF

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Publication number
KR101798837B1
KR101798837B1 KR1020160008641A KR20160008641A KR101798837B1 KR 101798837 B1 KR101798837 B1 KR 101798837B1 KR 1020160008641 A KR1020160008641 A KR 1020160008641A KR 20160008641 A KR20160008641 A KR 20160008641A KR 101798837 B1 KR101798837 B1 KR 101798837B1
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KR
South Korea
Prior art keywords
magnetic
marker
mobile robot
pole
landmark
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KR1020160008641A
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Korean (ko)
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KR20170088582A (en
Inventor
박태형
허성우
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충북대학교 산학협력단
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Priority to KR1020160008641A priority Critical patent/KR101798837B1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1684—Tracking a line or surface by means of sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic

Abstract

The present invention relates to a position recognition system and method for a mobile robot, and in a mobile robot position recognition system for recognizing the position of the mobile robot of the present invention, A marker recognition unit for constructing a magnetic landmark based on the magnetic marker information sensed by the magnetic sensor unit, and position information corresponding to a predetermined magnetic landmark, based on the magnetic marker information detected by the magnetic sensor unit, And a position determination unit for determining the position information corresponding to the magnetic landmark configured in the marker recognition unit as the position of the current mobile robot.
According to the present invention, since the position recognition method of the mobile robot using the magnetic landmark is implemented, there is no need to embed the magnetic line in all the paths in the general indoor environment, and the cost for the line can be reduced.

Description

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

The present invention relates to a position recognition system and method for a mobile robot, and more particularly, to a mobile robot capable of autonomous movement, a mobile robot equipped with a magnetic sensor is used to recognize a magnetic marker, And recognizing the position of the mobile robot as a single landmark and using the same as a landmark.

With recent advances in control and sensor technology, robots are used in a variety of applications including precision control, medical and service, and personal assistance. Among them, mobile robots are being developed and used in various fields such as transportation of goods in indoor environment, exploration of difficult areas, transportation of goods, and defense / disaster countermeasures.

In the mobile robot, position recognition is the most basic and essential technique. It acquires information about the surrounding environment of the robot through sensors such as ultrasonic waves, laser, camera, and magnetic, It says. This is an essential technology for performing work in the indoor / outdoor environment through the mobile robot.

Such a location recognition technology has been studied along with the history of the mobile robot, and many studies have been carried out to date depending on the importance thereof. In particular, in the case of using a robot's odormetery method and a magnetic sensor, there is no need for a sensor such as a conventional laser or a camera, and the advantage of being able to recognize the position of the robot at a low cost Many studies have been conducted.

However, in the case of the existing odometry method, the traveling error leads to the error of travel, which makes it difficult to accurately recognize the position. In the case of the technology using the magnetic marker used to overcome this problem, And it is difficult to recognize the exact position when the robot returns from the path after departing from the path.

Korean Patent Laid-Open Publication No. 10-2012-0071058 (published December 12, 2013)

SUMMARY OF THE INVENTION The present invention has been conceived to solve the problems as described above, and it is an object of the present invention to provide an apparatus and a method for minimizing a position error of an orthometry method and a magnetic marker, The present invention provides a position recognition system and method of a mobile robot that minimizes the cost of embedding a marker.

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

In order to accomplish the above object, there is provided a mobile robot position recognition system for recognizing a position of a mobile robot according to the present invention. The system includes a magnetic sensor for detecting a magnetic marker installed on a moving path of a mobile robot, And a magnetic landmark formed on the marker recognition unit, based on the magnetic marker information detected by the magnetic sensor unit, the marker recognition unit configuring the magnetic landmark, and the position information corresponding to the predetermined magnetic landmark, And a position determination unit for determining the corresponding position information as a position of the current mobile robot.

The mobile robot position recognition system may further include a travel controller for controlling the travel of the mobile robot on the basis of the position determined by the position determiner.

The marker recognizing unit recognizes the magnetic markers sensed from the magnetic sensor unit in order to generate a magnetic landmark.

When the n magnetic markers are predetermined as one landmark, the marker recognizing unit may generate n magnetic markers in the order of the detected magnetic landmarks.

Wherein the magnetic marker has a polarity of an S pole or an N pole and the marker recognizing unit can generate 2 n magnetic landmarks composed of n magnetic markers having polarities of N poles or S poles, The position of the current mobile robot can be determined according to the position information corresponding to the 2 n magnetic landmarks.

The magnetic sensor unit may include an S-pole magnetic sensor for sensing an S-pole magnetic marker and an N-pole magnetic sensor for sensing an N-pole magnetic marker.

The distance between the S-pole magnetic sensor and the N-pole magnetic sensor must be farther than the distance between the magnetic markers.

The magnetic marker may be formed of a double-sided tape having one side of S-pole and the other side of N-pole.

A method for recognizing a position of a mobile robot in a mobile robot position recognition system for recognizing a position of a mobile robot according to the present invention comprises the steps of sensing a magnetic marker installed on a movement path of the mobile robot while traveling along a movement path, Comprising the steps of: constructing a magnetic landmark based on marker information; determining position information corresponding to the configured magnetic landmark as a position of the current mobile robot according to position information corresponding to a predetermined magnetic landmark; And controlling the travel of the mobile robot on the basis of the position.

The magnetic landmark can be generated by sequentially recognizing the magnetic markers detected in the step of constructing the magnetic landmark.

When n magnetic markers are predetermined as one landmark, n magnetic markers may be generated as one magnetic landmark in the order of detection in the step of constructing the magnetic landmark.

Wherein the magnetic marker has a polarity of S pole or N pole and in the step of constructing the magnetic landmark, 2 n magnetic landmarks composed of n magnetic markers having polarities of N pole or S pole can be generated In the step of determining the position of the mobile robot, the position of the current mobile robot may be determined according to the position information corresponding to the 2 n magnetic landmarks.

According to the present invention, since the position recognition method of the mobile robot using the magnetic landmark is implemented, there is no need to embed the magnetic line in all the paths in the general indoor environment, and the cost for the line can be reduced.

In addition, in the present invention, when the mobile robot returns from the route after returning from the route, it is possible to recognize the location through the landmark, thereby enabling accurate position recognition.

1 is a view for explaining a magnetic landmark according to an embodiment of the present invention.
2 is a view for explaining a method of recognizing a position of a mobile robot using a landmark according to an embodiment of the present invention.
3 is a diagram illustrating a manner in which a mobile robot recognizes a landmark according to an embodiment of the present invention.
4 is a block diagram showing a mobile robot position recognition system using a magnetic landmark according to an embodiment of the present invention.
5 is a flowchart illustrating a method of recognizing a position of a mobile robot using a magnetic landmark according to an embodiment of the present invention.
6 is a flowchart illustrating a method for recognizing a position of a mobile robot using a magnetic landmark according to an exemplary embodiment of the present invention.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted in an ideal or overly formal sense unless expressly defined in the present application Do not.

In the following description of the present invention with reference to the accompanying drawings, the same components are denoted by the same reference numerals regardless of the reference numerals, and redundant explanations thereof will be omitted. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

1 is a view for explaining a magnetic landmark according to an embodiment of the present invention.

In the present invention, a magnetic landmark 2 is an artificial marker composed of n magnetic markers. In the embodiment of FIG. 1, three magnetic markers 3, 4 and 5 are illustrated.

In the present invention, n predefined magnetic markers are classified into one landmark. In FIG. 1, three magnetic markers (3, 4, 5) are recognized as one landmark (2) As shown in FIG.

Referring to FIG. 1, magnetic markers 3, 4, and 5 are provided in the path of the mobile robot, and the number of landmarks 2 that can be formed by the three markers is 2 3 = 8 in total.

If the three magnetic markers 3, 4 and 5 are recognized as one landmark 2, since the ID (1) is defined in advance by the user in each landmark 2, Then, the mobile robot is continuously controlled by correcting the position of the mobile robot by the error of the current position of the mobile robot and the obtained landmark 2.

2 is a view for explaining a method of recognizing a position of a mobile robot using a landmark according to an embodiment of the present invention.

2, the magnetic markers 7, 8 and 9 are provided on the moving path of the mobile robot, and each magnetic marker has polarities of the N pole 7, S pole 8 and N pole 9 Have.

The mobile robot senses these magnetic markers 7, 8 and 9 through a magnetic sensor attached to the mobile robot while traveling. Then, using the information 11 detected through the magnetic sensor for detecting the S pole magnetic marker and the information 12 detected through the magnetic sensor for detecting the N pole magnetic marker, 7, NS pole 8 and N pole 9 NSN landmark 13, respectively.

3 is a diagram illustrating a manner in which a mobile robot recognizes a landmark according to an embodiment of the present invention.

Referring to FIG. 3, it can be seen that the magnetic landmark 18 is installed in the moving path of the mobile robot 14. [ As the mobile robot 14 travels along the movement path in the travel direction 17, the mobile robot 14 passes through the place where the magnetic markers are installed. The N-pole magnetic sensor (for detecting the N pole located at the center of the mobile robot 14) 15, and an S-pole magnetic sensor 16 for sensing the S-pole.

In order to detect the magnetic markers constituting the landmark in order, the distance dx (19) between the N-pole magnetic sensor 15 and the S-pole magnetic sensor 16 is set to be smaller than the distance dx The distance dy (20) must be farther away.

The mobile robot 14 travels along the movement path, acquires information about the polarity of each magnetic marker provided on the movement path, and counts the number of magnetic markers. At this time, if n pieces of magnetic marker information predefined by the user are acquired, they are recognized as one magnetic landmark 18.

The coordinates of the corresponding landmark 18 previously defined by the user are obtained based on the N pole and S pole pattern information of the recognized landmark 18 and this is the position of the mobile robot 14. [ That is, the mobile robot 14 travels on the movement route and recognizes the landmark 18 through the magnetic sensors 15 and 16, thereby locating the current position of the mobile robot 14.

4 is a block diagram showing a mobile robot position recognition system using a magnetic landmark according to an embodiment of the present invention.

Referring to FIG. 4, the mobile robot position recognition system according to an embodiment of the present invention includes a magnetic sensor unit 410, a marker recognition unit 420, a position determination unit 430, and a travel control unit 440.

The magnetic sensor unit 410 is attached to the mobile robot and serves to detect a magnetic marker installed on a moving path of the mobile robot.

The marker recognition unit 420 forms a magnetic landmark based on the magnetic marker information detected by the magnetic sensor unit 410.

The position determination unit 430 determines the position information corresponding to the magnetic landmark configured in the marker recognition unit 420 as the current position of the mobile robot, based on the position information corresponding to the predetermined magnetic landmark.

The travel controller 440 controls the travel of the mobile robot on the basis of the position determined by the position determiner 430. That is, the travel controller 440 corrects the error of the mobile robot from the determined position to control the travel of the mobile robot.

In the present invention, the marker recognition unit 420 can generate a magnetic landmark by sequentially recognizing the magnetic markers sensed by the magnetic sensor unit 410.

If n magnetic markers are predetermined as one landmark, the marker recognizing unit 420 may generate n magnetic markers in the sensed order as one magnetic landmark.

In the present invention, the magnetic marker has the polarity of the S pole or the N pole, and the marker recognizing section 420 can generate 2 n magnetic landmarks composed of n magnetic markers having polarities of N poles or S poles . The position determination unit 430 can determine the position of the current mobile robot according to the position information corresponding to 2 n magnetic landmarks.

In an embodiment of the present invention, the magnetic sensor unit 410 may include an S-pole magnetic sensor for sensing the S-pole magnetic marker and an N-pole magnetic sensor for sensing the N-pole magnetic marker.

According to the present invention, in order to sequentially detect the magnetic markers constituting the magnetic landmark, the condition that the distance between the magnetic markers must be farther than the distance between the S-pole magnetic sensor and the N-pole magnetic sensor must be satisfied.

In one embodiment of the present invention, the magnetic marker may be formed of a double-sided tape having one side of S-pole and the other side of N-pole.

5 is a flowchart illustrating a method of recognizing a position of a mobile robot using a magnetic landmark according to an embodiment of the present invention.

Referring to FIG. 5, the mobile robot senses a magnetic marker installed on a movement path along a movement path (S510).

Then, a magnetic landmark is formed based on the detected magnetic marker information (S520).

Then, in accordance with the position information corresponding to the predetermined magnetic landmark, the position information corresponding to the configured magnetic landmark is determined as the position of the current mobile robot (S530).

Then, the travel of the mobile robot is controlled based on the determined position of the mobile robot (S540).

The magnetic landmark can be generated by sequentially recognizing the magnetic markers detected in the step S520 of constructing the magnetic landmarks.

If n magnetic markers are predetermined as one landmark, n magnetic markers may be generated as one magnetic landmark in the order of detection in the step S520 of constructing the magnetic landmark.

In the present invention, the magnetic marker has the polarity of the S pole or the N pole, and in the step of constructing the magnetic landmark (S520), 2 n magnetic landmarks, which are composed of n magnetic markers having polarities of N pole or S pole, Lt; / RTI > Then, in step S530 of determining the position of the mobile robot, the position of the current mobile robot can be determined according to the position information corresponding to 2n magnetic landmarks.

6 is a flowchart illustrating a method for recognizing a position of a mobile robot using a magnetic landmark according to an exemplary embodiment of the present invention.

Referring to FIG. 6, the mobile robot senses a magnetic marker installed on the bottom of the movement path using an N-pole magnetic sensor and an S-pole magnetic sensor (S510).

The N pole magnetic sensor and the S pole magnetic sensor respectively count the number of markers, store information about the poles, and form a magnetic landmark based on the information about the markers (S520).

Then, the current absolute coordinate of the mobile robot is acquired through the formed magnetic landmark (S530).

While the present invention has been described with reference to several preferred embodiments, these embodiments are illustrative and not restrictive. It will be understood by those skilled in the art that various changes and modifications may be made therein without departing from the spirit of the invention and the scope of the appended claims.

1 ID 2, 18 magnetic landmark
3, 4, 5 Magnetic marker 14 Mobile robot
15 N pole magnetic sensor 16 S pole magnetic sensor
410 magnetic sensor part 420 marker recognition part
430 Position Determination Unit 440 [

Claims (15)

In the mobile robot position recognition system for recognizing the position of the mobile robot,
A magnetic marker installed above a predetermined minimum interval according to a moving path of the mobile robot;
A magnetic sensor unit attached to the mobile robot for detecting the magnetic marker while the mobile robot is moving;
A marker recognition unit configured to form a magnetic landmark based on the magnetic marker information detected by the magnetic sensor unit;
A position determination unit for determining position information corresponding to a magnetic landmark configured in the marker recognition unit as a position of the current mobile robot according to position information corresponding to a predetermined magnetic landmark; And
And a travel controller for controlling travel of the mobile robot on the basis of the position determined by the position determiner,
The marker recognition unit sequentially recognizes the magnetic markers sensed by the magnetic sensor unit to generate a magnetic landmark,
When n magnetic markers are predetermined as one magnetic land mark, the marker recognizing unit acquires n magnetic markers in the order of sensing, generates them as one magnetic land mark,
Wherein the magnetic marker has an N pole or an S pole and the N pole magnetic marker or the S pole magnetic marker is arranged one by one in the lateral direction of the moving robot in the lateral direction,
The marker recognition unit may generate 2 n magnetic landmarks composed of n magnetic markers having polarities of N poles or S poles, 2 n magnetic landmarks correspond to IDs defined one-to-one each, The position determining unit determines the position of the current mobile robot according to the position information corresponding to the ID,
The magnetic sensor unit includes an S pole magnetic sensor for sensing an S pole magnetic marker and an N pole magnetic sensor for sensing an N pole magnetic marker,
The distance between each magnetic marker is more distant than the distance between the S-pole magnetic sensor and the N-pole magnetic sensor,
The magnetic markers are spaced apart from each other by a predetermined distance on the movement path of the mobile robot,
The marker recognition unit obtains information on the polarity of the magnetic marker from the S pole magnetic sensor and the N pole magnetic sensor, counts the number of magnetic markers sensed together with the magnetic marker, acquires n magnetic markers in the sensed order, And generates a magnetic landmark as one magnetic landmark.
delete delete delete delete delete delete delete The method according to claim 1,
Wherein the magnetic marker is formed of a double-sided tape having one side of S-pole and the other side of N-pole.
delete delete delete delete delete delete
KR1020160008641A 2016-01-25 2016-01-25 System and method for detecting localization of mobile robot using magnetic landmark KR101798837B1 (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190096195A (en) * 2018-02-08 2019-08-19 한국철도기술연구원 Evacuating system having a folding type tunnel

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101151990B1 (en) * 2010-01-08 2012-06-01 성균관대학교산학협력단 method for estimating and correcting position of mobile robot with magnetic landmark
KR101340503B1 (en) * 2012-06-29 2013-12-12 부산대학교 산학협력단 Unipolar magnetic guidance unit and method for guiding agv

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101151990B1 (en) * 2010-01-08 2012-06-01 성균관대학교산학협력단 method for estimating and correcting position of mobile robot with magnetic landmark
KR101340503B1 (en) * 2012-06-29 2013-12-12 부산대학교 산학협력단 Unipolar magnetic guidance unit and method for guiding agv

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190096195A (en) * 2018-02-08 2019-08-19 한국철도기술연구원 Evacuating system having a folding type tunnel
KR102027807B1 (en) * 2018-02-08 2019-10-02 한국철도기술연구원 Evacuating system having a folding type tunnel

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