KR102009479B1 - Apparatus and method for controlling mobile robot - Google Patents

Apparatus and method for controlling mobile robot Download PDF

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Publication number
KR102009479B1
KR102009479B1 KR1020150081534A KR20150081534A KR102009479B1 KR 102009479 B1 KR102009479 B1 KR 102009479B1 KR 1020150081534 A KR1020150081534 A KR 1020150081534A KR 20150081534 A KR20150081534 A KR 20150081534A KR 102009479 B1 KR102009479 B1 KR 102009479B1
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mobile robot
circle
area
error
obstacle
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KR1020150081534A
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Korean (ko)
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KR20160144848A (en
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이진한
오정석
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한화디펜스 주식회사
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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
    • B25J9/1656—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
    • B25J9/1656—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
    • B25J9/1666—Avoiding collision or forbidden zones
    • 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
    • B25J9/1676—Avoiding collision or forbidden zones

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

A mobile robot control apparatus according to an embodiment of the present invention is a device for controlling a mobile robot region composed of at least one circle, wherein the error is an extra area in which the at least one circle is not placed. A user interface for receiving a user input for selecting a size and a mobile robot region, extracting a mobile robot skeleton at which the center point of the at least one circle is located within the mobile robot region, and placing it on the mobile robot skeleton And a controller configured to calculate the number and positions of the at least one circle and to compare at least one of a distance value of an obstacle included in a pixel including the center point of the at least one circle and a radius of the at least one circle.

Description

Apparatus and method for controlling mobile robot}

The present invention relates to a mobile robot control apparatus and method for generating a path plan of a mobile robot.

A mobile robot is a device that automatically performs a task or operation, and is used to replace or assist a human in various fields. It is important to control the movement of a mobile robot in order to perform a task or service given to the mobile robot. The most basic task of researching mobile robots is safe driving in a dynamic environment. Research is underway on a control algorithm that ensures the safe operation of a mobile robot in a dynamic environment where a dynamically moving obstacle exists or the target point of the mobile robot changes. One of the basic studies aimed at safe driving of such a mobile robot is path planning, which generates a connected path from a starting point to a target point.

In the path planning, the distance information between the mobile robot and the obstacle is important information for determining whether the mobile robot collides with the obstacle.

Domestic Patent No. 1105139

An object of the present invention is to provide a mobile robot control apparatus and method for generating a path plan of a mobile robot accurately and quickly. The problem to be solved by the embodiments of the present invention is not limited to the above problem, and further problems can be inferred from the following embodiments.

In a mobile robot control apparatus according to an embodiment of the present invention, the mobile robot control apparatus determines a path of a mobile robot using a distance between an obstacle and a mobile robot region having a first area. A user interface for receiving a user input for selecting a magnitude of an error that is a maximum size of a third area excluding the second area from the first area to fill with at least one circle having a second area smaller than one area; and Specify a mobile robot region, extract a mobile robot skeleton at which the center point of the at least one circle is located in the mobile robot region, and use the magnitude of the error to determine the at least one circle to be placed on the mobile robot skeleton; Calculate the number and position of the at least one circle; and And a controller for comparing the distance value between the obstacles with a radius of the at least one circle.

In the present embodiment, the mobile robot skeleton includes at least one main axis, the control unit on the main axis by using the maximum length of the first area, the minimum length of the first area and the size of the error. The number and position of the main circles to be placed in can be calculated.

In the present embodiment, the mobile robot skeleton includes at least one diagonal axis shorter than the main axis, and the controller is at least one to be placed on the diagonal axis using the position of the at least one main circle and the magnitude of the error. It is possible to calculate the number and position of diagonal circles in.

In the present embodiment, when the distance value is larger than the radius of the at least one circle, the controller may determine that the at least one circle does not collide with the obstacle.

In a mobile robot control method according to an embodiment of the present invention, in the mobile robot control method of determining a path of a mobile robot by using a distance between an obstacle and a mobile robot area having a first area, Receiving a user input for selecting a magnitude of an error that is a maximum size of the third area excluding the second area from the first area to fill with at least one circle having a second area smaller than one area, pre-moving Specifying a robot region, extracting a mobile robot skeleton in which the center point of the at least one circle is located in the mobile robot region, and using the magnitude of the error, the at least one circle to be placed on the mobile robot skeleton Calculating a number and positions of the pixels; and calculating the number and positions of the pixels; Comparing the distance value between the obstacles to the radius of the at least one circle and determining that the at least one circle does not collide with the obstacle if the distance value is greater than the radius of the at least one circle. do.

According to the embodiments described above, it is possible to provide a mobile robot control apparatus and method for generating a path plan of a mobile robot accurately and quickly.

1 is a block diagram of a mobile robot control apparatus according to an embodiment of the present invention.
2 is a flowchart illustrating a mobile robot control method according to an embodiment of the present invention.
3 to 7 are views for explaining a process of generating a two-dimensional modeling image of a mobile robot for controlling the mobile robot according to an embodiment of the present invention.

As the inventive concept allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the written description. However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all transformations, equivalents, and substitutes included in the spirit and scope of the present invention. In the following description of the present invention, if it is determined that the detailed description of the related known technology may obscure the gist of the present invention, the detailed description thereof will be omitted.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, and in the following description with reference to the accompanying drawings, the same or corresponding components are given the same reference numerals and redundant description thereof will be omitted. Shall be.

1 is a block diagram of a mobile robot control apparatus according to an embodiment of the present invention.

Referring to FIG. 1, the mobile robot control apparatus 100 includes a controller 110, an environment information generator 120, a user interface 130, a route plan generator 140, and a database 150.

The controller 110 controls the overall operation of the mobile robot control apparatus 100. Hereinafter, specific operations of the controller 110 will be described with other components.

The environment information generator 120 generates environment information by using information collected by using a distance sensor (not shown) or an image photographing unit (not shown) under the control of the controller 110.

The distance measuring sensor (not shown) may collect information that recognizes a space to which the mobile robot moves, including, for example, an ultrasonic sensor, an infrared sensor, and a laser sensor.

The image capturing unit (not shown) may collect information photographing a space to which the mobile robot moves, including, for example, a camera or a stereo camera.

The environment information may include static environment maps, dynamic obstacle information, road information, and the like, and may be mission information such as navigation, patrols, and destination arrivals given to the mobile robot.

The controller 110 receives environment information from the environment information generator 120, generates distance information between the mobile robot and the obstacle using the environment information, and converts the distance information between the mobile robot and the obstacle from the path plan generation unit ( 140).

The controller 110 specifies the mobile robot area and the obstacle as a two-dimensional image having a predetermined area by using the environment information, and controls the mobile robot area by a circle unit including pixels instead of pixels. The 2D modeling image of the mobile robot may be generated by extracting a mobile robot skeleton at which the center point of the at least one circle is located and calculating the number and positions of the at least one circle to be placed on the mobile robot skeleton. have.

When the area of the mobile robot area is called the first area, the area of at least one circle to be placed on the mobile robot skeleton is called the second area, and the area of the area excluding the second area from the first area is called the third area. The controller 110 may determine a first area based on environmental information, determine a magnitude of an error that is the maximum size of the third area according to a user input, and determine a second area based on the first area and the magnitude of the error. have.

The controller 110 may extract a mobile robot skeleton including a main axis and at least one diagonal axis shorter than the main axis.

The controller 110 calculates the number and positions of the main circles to be placed on the main axis by using the maximum length of the first area, the minimum length of the first area, and the magnitude of the error, and calculates the position and the magnitude of the main circle. Can be used to calculate the number and position of diagonal circles on a diagonal axis.

The controller 110 compares the distance value between the pixel including the center point of the at least one circle and the obstacle to the radius of the at least one circle, and at least one when the distance value is greater than the radius of the at least one circle. It is possible to generate a result of determining that the circle does not collide with the obstacle and transmit it to the route plan generation unit 140. When the distance value is smaller than the radius of the at least one circle, the controller 110 may generate a result determined that the at least one circle collides with the obstacle and transmit the result to the route plan generation unit 140.

The user interface 130 receives at least one of a user input for selecting coordinates for each of a start point and a target point of a path to be moved by the mobile robot, a user input for selecting an error magnitude, and a user input including a work command. . The controller 110 may generate distance information between the mobile robot and the obstacle based on a user input for selecting the magnitude of the error received from the user interface 130.

The route plan generation unit 140 generates a route plan using distance information between the obstacle and the mobile robot received from the controller 110.

The database 150 stores environment information, user input, and route plan.

The mobile robot control apparatus 100 may be implemented to be included in the mobile robot, or may be implemented as a separate device from the mobile robot. Alternatively, a part of the mobile robot control apparatus 100 may be implemented to be included in the mobile robot while the other part may be implemented as a separate device from the mobile robot, but is not limited thereto.

Hereinafter, referring to FIGS. 2 to 7, the mobile robot control apparatus 100 according to an embodiment of the present invention generates distance information between the mobile robot and an obstacle through a two-dimensional modeling image to control the operation of the mobile robot. The method will be described in detail.

2 is a flowchart illustrating a mobile robot control method according to an embodiment of the present invention.

Referring to FIG. 2, the controller 110 specifies a mobile robot region (S101).

3 to 7 are views for explaining a process of generating a two-dimensional modeling image of a mobile robot for controlling the mobile robot according to an embodiment of the present invention.

Referring to FIG. 3, the controller 110 may specify the mobile robot region by representing the mobile robot as a 2D modeling image 10. For example, the controller 110 may specify a quadrangular two-dimensional modeling image 10 having a predetermined length l and a predetermined width w as a mobile robot region.

Referring back to FIG. 2, the controller 110 extracts the mobile robot skeleton (S103).

Referring to FIG. 3 again, the mobile robot skeleton 20 may refer to a skeleton in which a center point of at least one circle in the two-dimensional modeling image 10 of the mobile robot is located. At least one circle inside the 2D modeling image 10 may be a reference unit for generating distance information between the mobile robot and the obstacle.

In constructing the rectangular 2D modeling image 10 in the unit of circle instead of the unit of pixel in the form of rectangle, in order to improve the accuracy of the path planning, a plurality of circles of different sizes are overlapped so that an extra area is minimized. You need to configure it.

The mobile robot skeleton 20 may include at least one main axis 21. At least one circle to be placed on the main shaft 21 may be configured in the same size.

The mobile robot skeleton 20 may include at least one diagonal axis 22. The length of the diagonal shaft 22 may be shorter than the length of the main shaft 21. The at least one circle to be placed on the diagonal axis 22 may be of a different size than the at least one circle to be placed on the main axis 21. A plurality of circles of different sizes may be placed on the diagonal axis 22.

Referring back to FIG. 2, the controller 110 calculates the number and position of circles to be placed on the main axis of the mobile robot skeleton (S105).

Referring to FIGS. 4 and 5, the controller 110 may halve a predetermined width w of the two-dimensional modeling image 10 on at least one main axis 21 of the mobile robot skeleton. The radius r 0 of the main circles C 11 to C 1n may be determined, and the magnitude of the error e may be determined in response to the user input received from the user interface 130.

The control unit 110 has a radius (r 0), and when the size of the error (e) is determined, and the center point (a) of the first main circle (C 11), using the equation (1), a first main circle (C 11) And a difference x between the center points b of the overlapping regions of the second main circle C 12 .

Figure 112015055643799-pat00001

The control unit 110 includes a first center point (a) of the main circle (C 11), a first main source difference between the (C 11) and a second center point of the overlapping area of the main circle (C 12) (b) (x Is calculated, the minimum number n of at least one main circle C 11 to C 1n to be placed on the main axis 21 of the mobile robot skeleton may be calculated using Equation 2.

Figure 112015055643799-pat00002

Since the minimum number n is a positive integer, when the minimum number n calculated through Equation 2 is not a positive integer, the minimum number n, which is a positive integer, is calculated again using the decimal point rounding, 1 the center of the main circle (C 11) (a), a first main circle (C 11) and a second main circle (C 12) to re-calculate the difference (x) between the center point of the overlap region (b) of have.

For example, the controller 110 may position the first main circle C 11 to contact the edge of the two-dimensional modeling image 10, and may be spaced apart from the center point a of the first main circle C 11 by a difference x. where the second main circle (C 12) and the overlap region of the center point (b) is in a manner placing the second main circle (C 12) to be positioned, the main placed on the main shaft 21 of the mobile robot backbone circle (C 11 to C 1n ) may be calculated, but is not limited thereto.

Referring back to FIG. 2, the controller 110 calculates the number and position of circles to be placed on the diagonal axis of the mobile robot skeleton (S107).

Referring to FIG. 6, the controller 110 determines a position where the first main circle C 11 abuts on the left edge 11 inside the 2D modeling image 10 as reference coordinates (0,0), and the user. In response to the user input received from the interface 130, the magnitude of the error e may be determined.

When the reference coordinates (0,0) and the magnitude (e) of the error are determined, the controller 110 may calculate the coordinates (x e , y e ) of the error by using Equation 3.

Figure 112015055643799-pat00003

The controller 110 may derive Equation 4 and Equation 5 with reference to FIG. 6.

Figure 112015055643799-pat00004

Figure 112015055643799-pat00005

Figure 112015055643799-pat00006

Figure 112015055643799-pat00007

Figure 112015055643799-pat00008

As described above, the control unit 110 is based on the position where the first main circle C 11 abuts on the left edge 11 inside the two-dimensional modeling image 10, and coordinates of the error (x e , y e ), and diagonal lines Coordinates (x c , y c ) of the center point of the first diagonal circle C 21 to be placed on the axis 22, that is, the size and position of the first diagonal circle C 21 may be sequentially calculated.

The controller 110 has an extra size e 'of the diagonal axis 22 of the mobile robot skeleton in which the first main circle C 11 and the first diagonal circle C 21 are not placed. If larger, as described above with reference to FIG. 4, the second diagonal to be placed on the diagonal axis 22 of the mobile robot skeleton overlapping the first diagonal circle C 21 , using the magnitude of the error e. The size and position of the circle (not shown) can be calculated. The controller 110 may generate at least one circle until the distance from the boundary of the region where the at least one circle is placed to the boundary of the mobile robot skeleton 20 is smaller than the error size e.

For example, the controller 110 specifies a mobile robot region having a length l of 1.69 m and a width w of 1.2 m, and corresponding to a user input received through the user interface 130. By determining the size of the error to 0.015m, according to embodiments of the present invention can be calculated as 25 circles to be placed in the mobile robot area. According to the embodiments of the present invention, in the case of controlling the mobile robot based on the pixel of 0.1m resolution for the same mobile robot area, 204 pixels are calculated, and in the case of controlling the mobile robot based on the pixel of 0.07m resolution The difference is that 408 pixels are calculated.

Referring back to FIG. 2, the controller 110 compares a distance value of a pixel including a center point of at least one circle constituting the mobile robot area with a radius of the at least one circle (S109). As a result of the comparison, when the distance value is larger than the radius of the at least one circle, the controller 110 may determine that the at least one circle does not collide with the obstacle.

Referring to FIG. 7, the controller 110 may include, for example, a pixel P including a center point a of the first main circle C 11 constituting the two-dimensional modeling image 10 of the mobile robot region. 30) can be compared with the distance value (d) and the radius (r o ) of the first main circle (C 11 ) . When the distance value d is greater than the radius r o , the controller 110 may determine that the first main circle C 11 does not collide with the obstacle 30. When the distance value d is smaller than the radius r o , the controller 110 may determine that the first main circle C 11 collides with the obstacle 30.

When the path plan of the mobile robot is generated based on the circle according to the embodiments of the present invention, the calculation amount is reduced compared to the case of generating the path plan of the mobile robot on a pixel basis, thereby enabling faster processing.

For example, if a mobile robot region having a length l of 1.69 m and a width w of 1.2 m is specified, according to the pixel-based processing method, the obstacles of each of 204 or 408 pixels are determined. It is necessary to determine whether or not the collision with the obstacle from the distance value. However, according to embodiments of the present disclosure, the controller 110 compares a distance value of a pixel including a center point of 25 circles with a radius of the at least one circle to determine whether there is a collision between the at least one circle and an obstacle. As can be determined, the calculation amount can be significantly reduced while maintaining almost the same accuracy as the pixel-based processing method.

Meanwhile, the present invention can be embodied as computer readable codes on a computer readable recording medium. The computer-readable recording medium includes all kinds of recording devices in which data that can be read by a computer system is stored.

Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disks, optical data storage devices, and the like, which may also be implemented in the form of carrier waves (for example, transmission over the Internet). Include. The computer readable recording medium can also be distributed over network coupled computer systems so that the computer readable code is stored and executed in a distributed fashion. And functional programs, codes and code segments for implementing the present invention can be easily inferred by programmers in the art to which the present invention belongs.

So far I looked at the center with respect to the embodiment. Those skilled in the art will understand that the present invention can be embodied in a modified form without departing from the essential characteristics of the present invention. Therefore, the disclosed embodiments should be considered in descriptive sense only and not for purposes of limitation. The scope of the present invention is shown not in the above description but in the claims, and all differences within the scope should be construed as being included in the present invention.

100: mobile robot control device
110: control unit
120: environmental information generation unit
130: user interface
140: route plan generation unit
150: database

Claims (5)

In the mobile robot control apparatus for determining the path of the mobile robot using the distance between the mobile robot area having a first area and the obstacle,
A user input for selecting a magnitude of an error that is a maximum size of a third area excluding the second area from the first area so as to fill the mobile robot area with at least one circle having a second area smaller than the first area A user interface for receiving a message; And
Specify the mobile robot area, extract a mobile robot skeleton in which the center point of the at least one circle is located in the mobile robot area, and use the error size to place the at least one circle on the mobile robot skeleton And a controller configured to calculate a number and a position of the at least one and to compare a distance value between the pixel and the obstacle included in the pixel including the center point of the at least one circle with a radius of the at least one circle. The method of claim 1,
The mobile robot skeleton includes at least one main axis,
The control unit calculates the number and position of the main circle to be placed on the main axis, using the maximum length of the first area, the minimum length of the first area and the size of the error. delete delete In the mobile robot control method for determining the path of the mobile robot using the distance between the mobile robot area having a first area and the obstacle,
A user input for selecting a magnitude of an error that is a maximum size of a third area excluding the second area from the first area so as to fill the mobile robot area with at least one circle having a second area smaller than the first area Receiving;
Specifying the mobile robot area;
Extracting a mobile robot skeleton in which the center point of the at least one circle is located in the mobile robot area;
Calculating the number and position of the at least one circle to be placed on the mobile robot skeleton using the magnitude of the error;
Comparing a distance value between the pixel and the obstacle included in the pixel including the center point of the at least one circle with a radius of the at least one circle; And
And determining that the at least one circle does not collide with the obstacle when the distance value is greater than the radius of the at least one circle.
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