KR102158772B1 - Intelligent robot and its return method to a docking station - Google Patents

Abstract

Disclosed is a docking station returning method for an intelligent robot. The docking station returning method for an intelligent robot includes: a step in which the intelligent robot checks the flickering of an LED array arranged on the surface of a docking station by analyzing an image of the docking station photographed through a camera included in the intelligent robot; a step in which when the flickering of the LED array arranged in the docking station is checked, the intelligent robot controls a wheel motor of the intelligent robot by calculating an angle between the camera included in the intelligent robot and the docking station in accordance with a result of the image analysis; a step in which the intelligent robot approaches the docking station in accordance with the control of the wheel motor; a step in which when the intelligent robot approaches within a predetermined range of the docking station, a processor of the intelligent robot controls a first distance sensor included in the intelligent robot such that the first distance sensor delivers a first distance signal to a second distance sensor included in the docking station in order to operate the second distance sensor; a step in which the first distance sensor included in the intelligent robot a second distance sensor including position information about the docking station from the second distance sensor included in the docking station; a step in which the intelligent robot controls the wheel motor of the intelligent robot in accordance with the received second distance signal; and a step in which the intelligent robot approaches the docking station in accordance with the control of the wheel motor. Therefore, the docking station returning method is capable of enabling an intelligent robot to easily return to a docking station by identifying a position of the docking station.

Description

Intelligent robot and its return method to a docking station}

The present invention relates to an intelligent robot and a docking station return method thereof, and more particularly, to an intelligent robot capable of efficiently returning the intelligent robot to a docking station, and a docking station return method thereof.

Intelligent robot refers to a robot that is programmed to make any movement or selection. Intelligent robots can be used in various fields such as factories, homes, military, or hospitals.

Intelligent robots contain batteries. When the intelligent robot's battery power is low, the intelligent robot contains a docking algorithm that returns to a docking station that the intelligent robot can access to charge the battery. The docking station is implemented as an electrical charging system with connection terminals. Power is supplied to the intelligent robot through the connection terminals.

In the conventional docking station, since it is difficult to accurately connect with an intelligent robot, the size of the connection terminals of the docking station is increased. If the size of the connection terminals is increased, not only the manufacturing cost will increase, but also the aesthetic beauty of the docking station may decrease. In addition, when the connection terminals of the intelligent robot and the docking station are not connected, there is a problem in that the docking algorithm included in the intelligent robot must be repeated from the beginning because it is difficult to know how far the intelligent robot is from the connection terminals. In addition, the conventional docking algorithm has a problem in that charging is not performed well or charging efficiency is inferior because it is difficult to accurately connect the intelligent robot and the connection terminals.

In addition, the conventional docking station uses an infrared signal to inform the intelligent robot of its location. However, when the docking station and the intelligent robot are far apart, there is a problem in that the infrared signal cannot be transmitted far due to the limitation of the output of the infrared signal. In addition, since the number of infrared sensors implemented in the docking station is limited, there may be cases where the docking station cannot transmit infrared signals to the intelligent robot.

Korean Registered Patent Publication No. 10-1650178 (2016.08.16.)

The technical problem to be achieved by the present invention is to provide an intelligent robot capable of efficiently returning the intelligent robot to the docking station and a method for returning the same to the docking station.

In the method of controlling docking of an intelligent robot according to an embodiment of the present invention, the intelligent robot determines whether the power value of the battery of the intelligent robot is less than or equal to an arbitrary value, and the power value of the battery of the intelligent robot is the arbitrary value When the following, the intelligent robot is approaching the docking station, determining whether the intelligent robot is within a certain distance from the docking station, and when the intelligent robot is determined to be within the certain distance from the docking station, the intelligent The robot receiving a first power from the docking station at a first time point, the intelligent robot analyzing a value of the first power received from the docking station, the received first power at the first time point. When the value is less than the threshold value, the intelligent robot moves in a random direction by a certain distance, and the intelligent robot moves in the random direction by the certain distance, and then removes from the docking station at a second point in time. 2 receiving power, and when the value of the second power at the second time point is equal to or greater than the threshold value, the intelligent robot receives power from the docking station.

The docking control method of the intelligent robot includes the step of receiving power from the docking station when the value of the first power is greater than or equal to the threshold value at the first time point.

The docking control method of the intelligent robot includes the step of adjusting the position of the intelligent robot when the value of the second power is less than or equal to the threshold value at the second time point.

The intelligent robot receiving power in a magnetic induction method from a docking station according to an embodiment of the present invention includes a processor that executes commands, a memory that stores the commands, a charging module, a wheel that moves the intelligent robot, and controls the wheel. Includes a wheel motor.

The commands determine whether the value of the power of the battery is less than or equal to a certain value, control the intelligent robot to access the docking station when the value of the power of the battery is less than the certain value, and the intelligent robot It determines whether it is within a certain distance from and, and when the intelligent robot is determined to be within the certain distance from the docking station, controls the charging module to receive first power from the docking station at a first time point, and the docking station Analyzes the value of the first power received from and controls the wheel motor to move the intelligent robot by a certain distance in a certain direction when the value of the received first power at the first time point is less than or equal to the threshold value. And, the intelligent robot controls the charging module to receive second power from the docking station at a second time point after moving by the random distance in the random direction, and the second power at the second time point. When the value of is equal to or greater than the threshold value, the intelligent robot is implemented to control the charging module to receive power from the docking station.

The intelligent robot may further include a distance sensor to determine whether the intelligent robot is within a certain distance from the docking station.

According to another embodiment of the present invention, a method of returning to a docking station of an intelligent robot is performed by analyzing an image of a docking station captured by a camera included in the intelligent robot, and blinking the LED array arranged on the surface of the docking station. The step of confirming, when the blinking of the LED array arranged in the docking station is confirmed, the intelligent robot calculates the angle between the docking station and the camera included in the intelligent robot according to the image analysis result, and the intelligent robot Controlling the wheel motor of, the intelligent robot approaching the docking station according to the control of the wheel motor, when the intelligent robot approaches within a certain distance of the docking station, the processor of the intelligent robot is Controlling the first distance sensor so that a first distance sensor included in the intelligent robot transmits a first distance signal to the second distance sensor in order to operate a second distance sensor included in the station, and the intelligent robot The included first distance sensor receiving a second distance signal including location information on the docking station from a second distance sensor included in the docking station, the intelligent robot according to the received second distance signal Controlling a wheel motor of the intelligent robot, and accessing the intelligent robot to the docking station according to the control of the wheel motor.

The intelligent robot calculating the angle between the docking station and the camera included in the intelligent robot according to the image analysis result and controlling the wheel motor of the intelligent robot includes a plurality of images already stored in the memory of the intelligent robot. The angle between the docking station and the camera included in the intelligent robot is calculated using the blinking position information included in,

According to an embodiment, the method for returning the intelligent robot to the docking station is, after the intelligent robot approaches the docking station under the control of the wheel motor, the intelligent robot uses the camera included in the intelligent robot to dock the Controlling the camera to take a picture of a station, when the intelligent robot approaches the docking station under the control of the wheel motor and the intelligent robot and the docking station become close, characters in the image captured by the intelligent robot Recognizing a recognition code, the intelligent robot controlling the wheel motor of the intelligent robot so that the intelligent robot approaches the docking station by identifying coordinates of the docking station included in the character recognition code. can do.

The intelligent robot returning to the docking station according to an embodiment of the present invention includes a processor that executes instructions, a memory that stores the instructions, a wheel that moves the intelligent robot, a wheel motor that controls the wheel, a camera, and a first distance. Includes a sensor.

The commands analyze the image of the docking station photographed by the camera to confirm the blinking of the LED array arranged on the surface of the docking station, and when the blinking of the LED array arranged on the docking station is confirmed, the The wheel motor is controlled by calculating an angle between the docking station and the camera according to an image analysis result, and the intelligent robot approaches the docking station according to the control of the wheel motor, and the intelligent robot When approaching within a certain distance, the first distance sensor controls the first distance sensor to transmit a first distance signal to the second distance sensor in order to operate a second distance sensor included in the docking station, and the The first distance sensor receives a second distance signal including position information on the docking station from a second distance sensor included in the docking station, and controls the wheel motor according to the received second distance signal, It is implemented to access the docking station under the control of the wheel motor.

The intelligent robot and its docking station return method according to an embodiment of the present invention use a camera included in the intelligent robot to check the blinking of the LED array arranged in the docking station, so that even if the intelligent robot and the docking station are far apart, the intelligent robot There is an effect that you can easily return to the docking station by identifying the location of the docking station.

A detailed description of each drawing is provided in order to more fully understand the drawings cited in the detailed description of the present invention.
1 is a block diagram of an intelligent robot system according to an embodiment of the present invention.
2 shows a block diagram of an embodiment of the intelligent robot shown in FIG. 1.
3 shows an embodiment in which the intelligent robot shown in FIG. 1 is positioned at a specific location in a docking station for charging.
4 shows another embodiment in which the intelligent robot shown in FIG. 1 is located at a specific location in a docking station for charging.
5 shows another embodiment in which the intelligent robot shown in FIG. 1 is located at a specific location in a docking station for charging.
6 shows another embodiment in which the intelligent robot shown in FIG. 1 is positioned at a specific location in a docking station for charging.
FIG. 7 shows another embodiment in which the intelligent robot shown in FIG. 1 is positioned at a specific location in a docking station for charging.
8 shows a block diagram of another embodiment of the intelligent robot shown in FIG. 1.
9 is a flowchart illustrating an intelligent robot and a docking control method thereof according to an embodiment of the present invention.
10 is a block diagram of an intelligent robot system according to another embodiment of the present invention.
11 shows a block diagram of an embodiment of the intelligent robot shown in FIG. 10.
12 is a block diagram illustrating an operation between the intelligent robot and the docking station shown in FIG. 10.
13 shows images stored in the intelligent robot for calculating the angle between the camera and the docking station of the intelligent robot shown in FIG. 10.

Specific structural or functional descriptions of the embodiments according to the concept of the present invention disclosed in the present specification are exemplified only for the purpose of describing the embodiments according to the concept of the present invention, and the embodiments according to the concept of the present invention are It may be implemented in various forms and is not limited to the embodiments described herein.

Since the embodiments according to the concept of the present invention can apply various changes and have various forms, the embodiments will be illustrated in the drawings and described in detail in the present specification. However, this is not intended to limit the embodiments according to the concept of the present invention to specific disclosed forms, and includes all changes, equivalents, or substitutes included in the spirit and scope of the present invention.

Terms such as first or second may be used to describe various elements, but the elements should not be limited by the terms. The terms are only for the purpose of distinguishing one component from other components, for example, without departing from the scope of the rights according to the concept of the present invention, the first component may be referred to as the second component, and similarly The second component may also be referred to as a first component.

When a component is referred to as being "connected" or "connected" to another component, it is understood that it may be directly connected or connected to the other component, but other components may exist in the middle. Should be. On the other hand, when a component is referred to as being "directly connected" or "directly connected" to another component, it should be understood that there is no other component in the middle. Other expressions describing the relationship between components, such as "between" and "just between" or "adjacent to" and "directly adjacent to" should be interpreted as well.

The terms used in this specification are used only to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In the present specification, terms such as "comprise" or "have" are intended to designate the presence of a set feature, number, step, action, component, part, or combination thereof, but one or more other features or numbers It is to be understood that the possibility of addition or presence of, steps, actions, components, parts, or combinations thereof is not preliminarily excluded.

Unless otherwise defined, 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 the present invention belongs. Terms as defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and should not be interpreted as an ideal or excessively formal meaning unless explicitly defined in this specification. Does not.

Hereinafter, the present invention will be described in detail by describing a preferred embodiment of the present invention with reference to the accompanying drawings.

1 is a block diagram of an intelligent robot system according to an embodiment of the present invention.

Referring to FIG. 1, the intelligent robot system 200 includes a docking station 10 and an intelligent robot 100.

The intelligent robot 100 is operated by a battery. The intelligent robot 100 is a robot that can be used for various purposes in various fields such as factories, homes, military, or hospitals. According to an embodiment, the intelligent robot 100 may be referred to in various terms such as a mobile robot, an industrial robot, a home robot, or a military robot. The intelligent robot 100 moves by itself to perform various tasks. The intelligent robot 100 returns to the docking station 10 when the battery needs to be charged.

The docking station 10 supplies power to the intelligent robot 100 in a magnetic induction method. The docking station 10 may be referred to as a charger, a charging cradle, or a charging station in various terms.

2 shows a block diagram of an embodiment of the intelligent robot shown in FIG. 1.

1 and 2, the intelligent robot 100 includes a processor 110, a memory 120, a battery 130, a charging module 135, a distance sensor 140, a wheel motor 150, and a wheel. Includes 160. According to an embodiment, the intelligent robot 100 may further include various components such as an obstacle monitoring sensor.

Processor 110 executes instructions. The memory 120 stores instructions executed by the processor 110. Hereinafter, operations performed by the processor 110 are implemented as instructions.

The intelligent robot 100 is operated by the battery 130. The processor 110 monitors the power value of the battery 130 in real time. The processor 110 determines whether the power value of the battery 130 is less than or equal to a certain value. When the power value of the battery 130 is less than or equal to the arbitrary value, the processor 110 controls the wheel motor 150 so that the intelligent robot 100 approaches the docking station 10 for charging the battery 130 do. The intelligent robot 100 is moved according to the movement of the wheel 160 under the control of the wheel motor 150. The intelligent robot 100 may be moved in various directions D1 to D8. In FIG. 1, the movement in eight directions is illustrated, but the present invention is not limited thereto, and 360 degree movement is possible according to an exemplary embodiment.

The processor 110 determines whether the intelligent robot 100 is within a certain distance from the docking station 10. The distance sensor 140 may be used to determine whether the intelligent robot 100 is within the predetermined distance from the docking station 10. The distance sensor 140 may be implemented with various sensors such as an ultrasonic sensor, a ToF sensor, or a laser sensor. When the processor 110 determines that the intelligent robot 100 is within the predetermined distance from the docking station 10, the charging module 135 transmits the first power in a magnetic induction method from the docking station 10 at the first time point. Receive. Since the intelligent robot 100 receives power from the docking station 10 in a magnetic induction method, it does not include connection terminals. The charging module 135 supplies the received power to the battery 130.

3 shows an embodiment in which the intelligent robot shown in FIG. 1 is positioned at a specific location in a docking station for charging. 3 is a case in which the intelligent robot shown in FIG. 1 is properly positioned in the docking station.

Referring to FIGS. 1 to 3, when the intelligent robot 100 is properly positioned in the docking station 10, the intelligent robot 100 may stably receive power from the docking station 10. The processor 110 analyzes the value P1 of the first power received at the first time point T1 from the charging module 135 to determine whether the intelligent robot 100 is properly positioned in the docking station 10. Properly positioned means when the intelligent robot 100 is positioned at a distance that can stably receive power from the docking station 10 as shown in FIG. 3. Analyzing refers to an operation of breaking whether the value P1 of the first power received at the first time point T1 is equal to or greater than the threshold value Pth.

As shown in Fig. 3, the intelligent robot 100 is properly attached to the docking station 10. When located, the value P1 of the first power received at the first time point T1 is equal to or greater than the threshold value Pth. When the value P1 of the first power is equal to or greater than the threshold Pth at the first time point T1, the intelligent robot 100 receives power from the docking station 10. That is, the intelligent robot 100 starts to charge the battery 130 through the charging module 135. The threshold value Pth refers to an arbitrary value at which the battery 130 of the intelligent robot 100 can stably receive power from the docking station 10.

4 shows another embodiment in which the intelligent robot shown in FIG. 1 is located at a specific location in a docking station for charging.

1, 2, and 4, when the intelligent robot 100 is not properly positioned in the docking station 10 as shown in FIG. 4, the intelligent robot 100 powers stably from the docking station 10. There is a problem that it cannot be supplied.

When the intelligent robot 100 is not properly positioned in the docking station 10, the value P1 of the first power received at the first time point T1 is equal to or less than the threshold value Pth. When the intelligent robot 100 is not positioned properly, as shown in FIG. 4, the intelligent robot 100 is not positioned at a distance sufficient to receive power from the docking station 10. When the value P1 of the first power at the first time point T1 is less than or equal to the threshold value Pth, the intelligent robot 100 does not receive power from the docking station 10, and the intelligent robot 100 is It moves an arbitrary distance in the direction. The processor 110 controls the wheel motor 150 so that the wheel 160 moves in the arbitrary direction by the arbitrary distance. The arbitrary direction refers to a forward, left, right direction (e.g., D1, D2, D3, D7, or D8 in FIG. 1) based on the center C of the intelligent robot 100, and a backward direction (e.g., D4, D5, or D6) is excluded. By excluding the reverse direction from the arbitrary direction, the docking efficiency of the intelligent robot 100 and the docking station 10 may be increased. If it is possible to move in the reverse direction, the intelligent robot 100 faces a greater possibility of movement, so that the docking efficiency of the docking station 10 will decrease.

1, the arbitrary direction includes a first direction (D1), a second direction (D2), a third direction (D3), a seventh direction (D7), and an eighth direction (D8), The fourth to sixth directions D4 to D6 are excluded. The arbitrary direction may be determined by a random number generated by the processor 110. In the other directions (eg, the first direction (D1), the second direction (D2), the third direction (D3), the seventh direction (D7), and the eighth direction (D8)) by a random number Any one direction (eg, the third direction D3 or the seventh direction D7) may be selected. The wheel motor 150 is controlled so that the wheel 160 moves in the arbitrary direction according to the direction determined by the processor 110.

For example, when the direction determined by the processor 110 is the second direction (D2) or the third direction (D3), the processor 110 is the intelligent robot in the second direction (D2) or the third direction (D3). The wheel motor 150 is controlled so that 100 moves. After the intelligent robot 100 moves in the arbitrary direction (eg, the second direction (D2) or the third direction (D3)) by the arbitrary distance (eg, RD1), the charging module 135 The second power is received from the docking station 10 at a second time point T2. The processor 110 determines whether the value P2 of the second power received at the second time point T2 is greater than the value P1 of the first power received at the first time point T1. When the intelligent robot 100 moves in the second direction D2 or the third direction D3, the value of the second power P2 is greater than the value of the first power P1. This is because the position of the intelligent robot 100 at the second point of view T2 is closer to the docking station 10 than the position of the intelligent robot 100 at the first point of view T1. When the second power value P2 received at the second time point T2 is greater than the first power value P1 received at the first time point T1, the second time point T2 It is determined whether the value P2 of the second power received at is equal to or greater than the threshold value Pth. When the value P2 of the second power received at the second time point T2 is greater than or equal to the threshold value Pth, the intelligent robot 100 receives power from the docking station 10. That is, the intelligent robot 100 starts to charge the battery 130 through the charging module 135. At the second time point T2, the value P2 of the second power may be less than or equal to the threshold value Pth. The operation at this time will be described in detail later.

5 shows another embodiment in which the intelligent robot shown in FIG. 1 is located at a specific location in a docking station for charging.

1, 2, and 5, when the value P1 of the first power received at the first point in time T1 is less than or equal to the threshold value Pth, the intelligent robot 100 is the docking station 10 Without being supplied with power from, the intelligent robot 100 moves in an arbitrary direction by an arbitrary distance. The processor 110 controls the wheel motor 150 so that the wheel 160 moves in the arbitrary direction by the arbitrary distance. The arbitrary direction refers to a forward, left, and right direction based on the center C of the intelligent robot 100, and the backward direction is excluded. The wheel motor 150 is controlled so that the wheel 160 moves in the arbitrary direction according to the direction determined by the processor 110.

When the direction determined by the processor 110 is the seventh direction (D7) or the eighth direction (D8), the processor 110 moves the intelligent robot 100 in the seventh direction (D7) or the eighth direction (D8). ) Controls the wheel motor 150 to move. After the intelligent robot 100 moves the arbitrary distance (eg, LD1) in the arbitrary direction (eg, the seventh direction (D7) or the eighth direction (D8)), the charging module 135 The second power is received from the docking station 10 at a second time point T2. The processor 110 determines whether the value P2 of the second power received at the second time point T2 is greater than the value P1 of the first power received at the first time point T1. When the intelligent robot 100 moves in the seventh direction (D7) or the eighth direction (D8), the second power value P2 received at the second time point T2 is determined at the first time point T1. It is a value smaller than the value of 1 power (P1). This is because the position of the intelligent robot 100 at the second time point T2 is farther from the docking station 10 than the position of the intelligent robot 100 at the first time point T1. When the value P2 of the second power received at the second time point T2 is less than the value P1 of the first power received at the first time point T1, the processor 110 The wheel motor 150 is controlled to move in the opposite direction (eg, the second direction D2 or the third direction D3). The intelligent robot 100 will again move in the opposite direction (eg, the second direction D2 or the third direction D3) by a certain distance (eg, RD1). The width of the arbitrary distance (eg, RD1) and the width of the arbitrary distance (eg, LD1) are the same. The time after the intelligent robot 100 moves again in the opposite direction (e.g., the second direction (D2) or the third direction (D3)) by an arbitrary distance (e.g., RD1) is the third time point (T3), The position of the intelligent robot 100 at the third point of view T3 is the same as the position of the intelligent robot 100 at the first point of view T1. At this time, the processor 110 controls the charging module 135 to prevent the intelligent robot 100 from receiving power from the docking station 10. Power loss of the battery 130 of the intelligent robot 100 may be prevented by preventing the intelligent robot 100 from receiving power from the docking station 10 at the third time point T3.

The processor 110 is the wheel motor 150 so as to move a certain distance (eg, RD2) in an arbitrary direction (eg, a second direction (D2) or a third direction (D3)) from the third point of view (T3). The width of the arbitrary distance (eg, RD2) and the width of the arbitrary distance (eg, RD1) are the same. The intelligent robot 100 controls the arbitrary direction (eg, the second direction (D2), Alternatively, after moving by the predetermined distance (eg, RD2) in the third direction D3), the charging module 135 receives the third power from the docking station 10 at the fourth point T4. Processor 110 determines whether the value P3 of the third power received at the fourth time point T4 is greater than the value P1 of the first power received at the first time point T1. The processor 110 When the value of the third power P3 received at the fourth time point T4 is greater than the value P1 of the first power received at the first time point T1, the third power received at the fourth time point T4 It is determined whether the power value P3 is greater than or equal to the threshold value Pth When the third power value P3 received at the fourth time point T4 is greater than or equal to the threshold value Pth, the intelligent robot 100 is docked. Power is supplied from the station 10. That is, the intelligent robot 100 starts to charge the battery 130 through the charging module 135.

According to an embodiment, when the second power value P2 received at the second time point T2 is less than the first power value P1 received at the first time point T1, the processor 110 is Instead of controlling the wheel motor 150 so that the robot 100 moves in the opposite direction (eg, the second direction (D2) or the third direction (D3)) by an arbitrary distance (eg, RD1), the processor ( 110) is a wheel so that the intelligent robot 100 moves in the opposite direction (e.g., in the second direction (D2) or in the third direction (D3)) by twice (RD1 + RD2) of an arbitrary distance (e.g., RD1). It is possible to control the motor 150. By controlling the wheel motor 150 to move twice (RD1 + RD2) of an arbitrary distance (RD1), the fourth time point (T4) when moving by twice (RD1 + RD2) of the arbitrary distance (RD1) The viewpoint is that the processor 110 moves the intelligent robot 100 in the opposite direction (e.g., the second direction (D2) or the third direction (D3)) by an arbitrary distance (e.g., RD1), and again in an arbitrary direction. (For example, the second direction (D2) or the third direction (D3)) may be faster than the fourth time point (T4) when controlling the wheel motor 150 to move by a certain distance (eg, RD2). . That is, the docking of the intelligent robot 100 may be relatively faster.

6 shows another embodiment in which the intelligent robot shown in FIG. 1 is positioned at a specific location in a docking station for charging.

1, 2, and 6, when the value P1 of the first power received at the first time point T1 is less than or equal to the threshold value Pth, the intelligent robot 100 is Without receiving power from, the intelligent robot 100 moves in a first random direction (eg, a second direction (D2) or a third direction (D3)) by a first random distance (eg, RD1). . The processor 110 is configured to move the wheel 160 in the first arbitrary direction (eg, the second direction (D2) or the third direction (D3)) by the first arbitrary distance (eg, RD1). Control the motor 150.

The intelligent robot 100 moves in the first arbitrary direction (eg, the second direction (D2) or the third direction (D3)) by the first arbitrary distance (eg, RD1), and then the charging module ( 135) receives the second power from the docking station 10 at a second time point T2. The processor 110 determines whether the value P2 of the second power received at the second time point T2 is greater than the value P1 of the first power received at the first time point T1.

When the second power value P2 received at the second time point T2 is greater than the first power value P1 received at the first time point T1, the second time point T2 It is determined whether the value P2 of the second power received at is equal to or greater than the threshold value Pth. When the value P2 of the second power received at the second time point T2 is less than the threshold value Pth, the processor 110 causes the wheel 160 to move in the second arbitrary direction (eg, the second direction ( The wheel motor 150 is controlled to move by the second arbitrary distance (eg, RD2) in D2) or in the third direction D3). According to the control of the wheel motor 150, the intelligent robot 100 is operated in a second arbitrary direction (eg, a second direction (D2), or a third direction (D3)) by a second arbitrary distance (eg, RD2). Move. The second random distance RD2 is twice the first random distance RD1.

The intelligent robot 100 moves in the second arbitrary direction (eg, the second direction (D2) or the third direction (D3)) by the second random distance (eg, RD2), and then the charging module ( 135) receives the third power from the docking station 10 at a third time point T3. The processor 110 determines whether the value P3 of the third power received at the third time point T3 is greater than the value P1 of the first power received at the first time point T1.

When the value P3 of the third power received at the third time point T3 is greater than the value P1 of the first power received at the first time point T1, the processor 110 is at a third time point T3. It is determined whether the value P3 of the third power received at is equal to or greater than the threshold value Pth. When the value P3 of the third power received at the third time point T3 is smaller than the threshold value Pth, the processor 110 causes the wheel 160 to move in the third arbitrary direction (eg, the second direction ( D2) or the wheel motor 150 is controlled to move by the third arbitrary distance (eg, RD3) in the third direction (D3)). According to the control of the wheel motor 150, the intelligent robot 100 is operated in a third arbitrary direction (eg, a second direction (D2) or a third direction (D3)) by a third arbitrary distance (eg, RD3). Move. The third random distance RD3 is twice the second random distance RD2, and is four times the first random distance RD1. That is, the third arbitrary distance RD3 increases exponentially.

The intelligent robot 100 moves in the third arbitrary direction (eg, the second direction (D2) or the third direction (D3)) by the third arbitrary distance (eg, RD3), and then the charging module ( 135) receives the fourth power from the docking station 10 at a fourth time point T4. The processor 110 determines whether the value P4 of the fourth power received at the fourth time point T4 is greater than the value P1 of the first power received at the first time point T1.

When the value P4 of the fourth power received at the fourth time point T4 is greater than the value P1 of the first power received at the first time point T1, the fourth time point T4 It is determined whether the value P4 of the fourth power received at is equal to or greater than the threshold value Pth. When the fourth power value P4 received at the fourth time point T4 is equal to or greater than the threshold value Pth, the intelligent robot 100 receives power from the docking station 10. That is, the intelligent robot 100 starts to charge the battery 130 through the charging module 135.

FIG. 7 shows another embodiment in which the intelligent robot shown in FIG. 1 is positioned at a specific location in a docking station for charging.

The difference between FIGS. 7 and 6 is that there is a difference in the number of threshold values and the operation at the fourth time point T4 and the fifth time point T5.

1, 2, and 7, when the value P1 of the first power received at the first time point T1 is less than or equal to the first threshold value Pth1, the intelligent robot 100 is 10), without being supplied with power, the intelligent robot 100 is in a first random direction (eg, a second direction (D2) or a third direction (D3)) by a first random distance (eg, RD1). Move. That is, in FIG. 6, one threshold value Pth is used, but in FIG. 7, the first threshold value Pth1 or the second threshold value Pth2 is used. The second threshold value Pth2 is larger than the first threshold value Pth1.

The intelligent robot 100 moves in the first arbitrary direction (eg, the second direction (D2) or the third direction (D3)) by the first arbitrary distance (eg, RD1), and then the charging module ( 135) receives the second power from the docking station 10 at a second time point T2. The processor 110 determines whether the value P2 of the second power received at the second time point T2 is greater than the value P1 of the first power received at the first time point T1.

When the second power value P2 received at the second time point T2 is greater than the first power value P1 received at the first time point T1, the second time point T2 It is determined whether the value P2 of the second power received at is equal to or greater than the first threshold value Pth1. When the value P2 of the second power received at the second time point T2 is less than the first threshold Pth1, the processor 110 moves the wheel 160 in the second arbitrary direction (eg, the second The wheel motor 150 is controlled to move in the direction D2 or the third direction D3 by the second arbitrary distance (eg, RD2). According to the control of the wheel motor 150, the intelligent robot 100 is operated in a second arbitrary direction (eg, a second direction (D2), or a third direction (D3)) by a second arbitrary distance (eg, RD2). Move. The second random distance RD2 is twice the first random distance RD1.

The intelligent robot 100 moves in the second arbitrary direction (eg, the second direction (D2) or the third direction (D3)) by the second random distance (eg, RD2), and then the charging module ( 135) receives the third power from the docking station 10 at a third time point T3. The processor 110 determines whether the value P3 of the third power received at the third time point T3 is greater than the value P1 of the first power received at the first time point T1.

When the value P3 of the third power received at the third time point T3 is greater than the value P1 of the first power received at the first time point T1, the processor 110 is at a third time point T3. It is determined whether the value P3 of the third power received at is equal to or greater than the first threshold value Pth1. When the value P3 of the third power received at the third time point T3 is less than the first threshold Pth1, the processor 110 moves the wheel 160 in the third arbitrary direction (e.g., the second The wheel motor 150 is controlled to move in the direction D2 or the third direction D3 by the third arbitrary distance (eg, RD3). According to the control of the wheel motor 150, the intelligent robot 100 is operated in a third arbitrary direction (eg, a second direction (D2) or a third direction (D3)) by a third arbitrary distance (eg, RD3). Move. The third random distance RD3 is twice the second random distance RD2, and is four times the first random distance RD1. That is, the third arbitrary distance RD3 increases exponentially.

The intelligent robot 100 moves in the third arbitrary direction (eg, the second direction (D2) or the third direction (D3)) by the third arbitrary distance (eg, RD3), and then the charging module ( 135) receives the fourth power from the docking station 10 at a fourth time point T4. The processor 110 determines whether the value P4 of the fourth power received at the fourth time point T4 is greater than the value P1 of the first power received at the first time point T1.

When the value P4 of the fourth power received at the fourth time point T4 is greater than the value P1 of the first power received at the first time point T1, the fourth time point T4 It is determined whether the value P4 of the fourth power received at is equal to or greater than the first threshold value Pth1. When the value P4 of the fourth power received at the fourth time point T4 is equal to or greater than the first threshold value Pth1, the intelligent robot 100 is the value P4 of the fourth power received at the fourth time point T4. ) Is equal to or greater than the second threshold Pth2.

When the fourth power value P4 received at the fourth time point T4 is greater than or equal to the first threshold value Pth1 and less than or equal to the second threshold value Pth2, the processor 110 returns the wheel 160 4 The wheel motor 150 is controlled to move the fourth arbitrary distance (eg, RD4) in an arbitrary direction (eg, the second direction D2 or the third direction D3). The fourth arbitrary distance (eg, RD4) is equal to the first random distance (eg, RD1). When the fourth power value P4 received at the fourth time point T4 is greater than or equal to the first threshold value Pth1 and less than or equal to the second threshold value Pth2, the fourth arbitrary distance (eg, RD4) is By making it equal to the first arbitrary distance (eg, RD1), the intelligent robot 100 can precisely dock with the docking station 10. The distance is exponentially increased from the first arbitrary distance (eg, RD1) to a third random distance (eg, RD3) so that the intelligent robot 100 quickly approaches the docking station 10, and the fourth Any distance (e.g., RD4) allows the precise intelligent robot 100 to precisely dock with the docking station 10 by reducing the distance again.

The intelligent robot 100 moves in the fourth arbitrary direction (eg, the second direction (D2) or the third direction (D3)) by the fourth arbitrary distance (eg, RD4), and then the charging module ( 135) receives the fifth power from the docking station 10 at a fifth time point T5. The processor 110 determines whether the value P5 of the fifth power received at the fifth time point T5 is greater than the value P1 of the first power received at the first time point T1. When the value P5 of the fifth power received at the fifth time point T5 is greater than the value P1 of the first power received at the first time point T1, the processor 110 is at a fifth time point T5. It is determined whether the value P5 of the fifth power received at is equal to or greater than the first threshold value Pth1. When the value P5 of the fifth power received at the fifth time point T5 is equal to or greater than the first threshold value Pth1, the intelligent robot 100 is configured to the value P5 of the fifth power received at the fifth time point T5. ) Is equal to or greater than the second threshold Pth2.

When the value P5 of the fifth power received at the fifth time point T5 is greater than or equal to the first threshold value Pth1 and greater than or equal to the second threshold value Pth2, the intelligent robot 100 is transmitted from the docking station 10. Receive power. That is, the intelligent robot 100 starts to charge the battery 130 through the charging module 135.

8 shows a block diagram of another embodiment of the intelligent robot shown in FIG. 1.

1 and 8, the intelligent robot 100-1 includes a processor 110-1, a memory 120-1, a battery 130-1, a first charging module 135-1, and a second It includes a charging module 137, a distance sensor 140-1, a wheel motor 150-1, and a wheel 160-1. It is the same and similar to the components shown in FIG. 2, but differs in that it includes a plurality of charging modules 135-1 and 137 in FIG. 8. Components other than the plurality of charging modules 135-1 and 137 are the same and similar to the components illustrated in FIG. 2, and thus detailed descriptions thereof will be omitted.

The first charging module 135-1 and the second charging module 137 are uniformly separated from the intelligent robot 100-1, so that the first charging module 135-1 receives stable power from the docking station 10. Although it may be supplied, the second charging module 137 may not receive stable power from the docking station 10.

In FIG. 4, when the value P1 of the first power at the first time point T1 is less than or equal to the threshold value Pth, the intelligent robot 100 does not receive power from the docking station 10, and the intelligent robot 100 It has been described that is moved in an arbitrary direction by an arbitrary distance, and that the arbitrary direction can be determined by a random number generated by the processor 110. However, according to an embodiment, the arbitrary direction may be determined using the charging modules 135-1 and 137. Hereinafter, a method of determining the arbitrary direction using the charging modules 135-1 and 137 will be described.

Each of the first charging module 135-1 and the second charging module 137 receives a plurality of first powers from the docking station 10 in a magnetic induction manner at a first time point.

The processor 110 analyzes the values of the plurality of first powers received from the first charging module 135-1 and the second charging module 137 at a first time point T1.

When the value of the first power received from the first charging module 135-1 is greater than the value of the first power received from the second charging module 137, the processor 110 turns the intelligent robot 100 to the right. The wheel motor 150 can be controlled to move by an arbitrary distance. Conversely, when the value of the first power received from the first charging module 135-1 is less than the value of the first power received from the second charging module 137, the processor 110 The wheel motor 150 may be controlled to move in the left direction by an arbitrary distance. In this case, the first charging module 135-1 may be located on the right side of the intelligent robot 100, and the second charging module 137 may be located on the left side of the intelligent robot 100.

9 is a flowchart illustrating an intelligent robot and a docking control method thereof according to an embodiment of the present invention.

1, 2, and 9, the intelligent robot 100 determines whether the power value of the battery 130 of the intelligent robot 100 is less than or equal to a certain value (S10).

When the power value of the battery 130 of the intelligent robot 100 is less than or equal to the predetermined value, the intelligent robot 100 approaches the docking station 10 (S20).

It is determined whether the intelligent robot 100 is within a certain distance from the docking station 10 (S30).

When the intelligent robot 100 is determined to be within the predetermined distance from the docking station 10, the intelligent robot 100 receives a first power from the docking station 10 at a first point in time (S40).

The intelligent robot 100 analyzes the value of the first power received from the docking station 10 (S50). The intelligent robot 100 determines whether the value of the first power received from the docking station 10 is less than or equal to a threshold value.

When the value of the received first power at the first time point is less than or equal to the threshold value, the intelligent robot 100 moves in a random direction by a certain distance (S60).

The intelligent robot 100 moves in the arbitrary direction by the arbitrary distance and then receives the second power from the docking station 10 at a second point in time (S70).

When the value of the second power is equal to or greater than the threshold value at the second point in time, the intelligent robot 100 receives power from the docking station 10 (S80).

The intelligent robot and its docking station return method according to an embodiment of the present invention have an effect of reducing charging time and increasing charging efficiency by controlling the docking of the intelligent robot by analyzing the value of the power received from the docking station. .

10 is a block diagram of an intelligent robot system according to another embodiment of the present invention.

Referring to FIG. 10, the intelligent robot system 500 includes a docking station 400 and an intelligent robot 300. The docking station 400 may be referred to in various terms such as a charger, a charging cradle, or a charging station, and corresponds to the docking station 10 shown in FIG. 1. The intelligent robot 300 is operated by a battery. The intelligent robot 300 is a robot that can be used for various purposes in various fields such as a factory, home, military, or hospital, and corresponds to the intelligent robot 100 shown in FIG. 1. The intelligent robot 300 returns to the docking station 400 when the battery needs to be charged. In FIG. 10 an intelligent robot 300 is shown that may be in various locations L1, L2, and L3 in the vicinity of the docking station 400. Depending on the embodiment, the position of the intelligent robot 300 may vary. In addition, although the shape of the docking station 400 is shown in a cylindrical shape in FIG. 10, the shape of the docking station 400 may vary according to embodiments.

11 shows a block diagram of an embodiment of the intelligent robot shown in FIG. 10.

10 and 11, the intelligent robot 300 includes a processor 310, a memory 320, a battery 330, a charging module 335, a distance sensor 340, a wheel motor 350, and a wheel. 360), and a camera 370. According to an embodiment, the intelligent robot 300 may further include various components such as an obstacle monitoring sensor.

Processor 310 executes instructions. The memory 320 stores instructions executed by the processor 110. Hereinafter, operations performed by the processor 310 are implemented as instructions. The operations performed by the intelligent robot 300 should be understood as operations performed by the processor 310.

The intelligent robot 300 is operated by the battery 330. The processor 310 monitors the power value of the battery 330 in real time. The processor 310 determines whether the power value of the battery 330 is less than or equal to a certain value. When the power value of the battery 330 is less than or equal to the predetermined value, the processor 310 controls the wheel motor 350 so that the intelligent robot 300 approaches the docking station 400 for charging the battery 330 do. The intelligent robot 300 is moved according to the movement of the wheel 360 under the control of the wheel motor 350.

12 is a block diagram illustrating an operation between the intelligent robot and the docking station shown in FIG. 10.

10 to 12, a docking algorithm in which the intelligent robot 300 returns to the docking station 400 for charging may be executed. After the intelligent robot 300 moves according to the movement of the wheel 360 in order for the intelligent robot 300 to move to the docking station 400, the intelligent robot 300 is included in the intelligent robot 300 at an arbitrary point in time. The image of the docking station 400 photographed by the camera 370 is analyzed to confirm the flicker of the LED array 410 arranged on the surface of the docking station 400 (S10). The image analysis of the docking station 400 is performed when the intelligent robot 300 and the docking station 400 are at a distance (eg, between 2 meters and less than 10 meters) that is more than a certain distance.

The camera 370 is implemented on the front side of the intelligent robot 300 and may photograph the front side of the intelligent robot 300.

When the processor 310 calculates the brightness of the image captured by the camera 370 and confirms an arrangement pattern including an arbitrary brightness or higher, the processor 310 is an LED array arranged on the surface of the docking station 400. It is judged by the blinking of 410. Further, according to the embodiment, the processor 310 detects a difference in brightness by comparing images successively photographed by the camera 370 with each other, and accordingly, the LED array 410 arranged on the surface of the docking station 400 You can also check the blinking.

When the blinking of the LED array 410 arranged in the docking station 400 is confirmed, the intelligent robot 300 performs the camera 370 included in the docking station 400 and the intelligent robot 300 according to the image analysis result. The wheel motor 350 of the intelligent robot 300 is controlled by calculating the angle between them.

The intelligent robot 300 controls the wheel motor 350 of the intelligent robot 300 by calculating the angle between the docking station 400 and the camera 370 included in the intelligent robot 300 according to the image analysis result. .

13 shows images for calculating the angle between the camera and the docking station of the intelligent robot shown in FIG. 10.

Referring to FIGS. 10 to 13, the intelligent robot 300 includes blinking position information PI1 to included in a plurality of images (IMG1 to IMGn; n is a natural number) already stored in the memory 320 of the intelligent robot 300. PIn; n is a natural number) to calculate the angle between the docking station 400 and the camera 370 included in the intelligent robot 300. When the intelligent robot 300 is in various locations L1, L2, and L3 of the docking station 400, a plurality of images (IMG1 to IMGn) already stored in the memory 320 of the intelligent robot 300, These are images previously captured by the camera 370 included in the intelligent robot 300.

The position of the intelligent robot 300 when the intelligent robot 300 is at various positions L1, L2, and L3 of the docking station 400 and a plurality of images IMG1 to IMGn are tables corresponding to each other. It may be stored in the memory 320 of the intelligent robot 300 in the form. According to an embodiment, the position of the intelligent robot 300 when the intelligent robot 300 is in various positions (L1, L2, and L3) of the docking station 400 and a plurality of images (IMG1 to IMGn) The included blink position information PI1 to PIn may be stored in the memory 320 of the intelligent robot 300 in a table format corresponding to each other.

Using the blink position information PI1 to PIn included in a plurality of images (IMG1 to IMGn; n is a natural number) already stored in the memory 320 of the intelligent robot 300 means the following procedures.

First, the processor 310 extracts the blink position information LI of the image IMG photographed by the intelligent robot 300. The blinking position information LI in the image IMG will be brighter than other information in the image IMG. Using this characteristic, the processor 310 may extract the blink position information LI from the image IMG.

Second, the processor 310 stores the blinking position information LI of the extracted image IMG and the blinking position information PI1 to PIn included in the plurality of images IMG1 to IMGn stored in the memory 320. Compare.

Thirdly, the processor 310 includes blink position information PI1 to PIn included in the plurality of images IMG1 to IMGn stored in the memory 320 that is most similar to the blink position information LI of the extracted image IMG. Select ). According to an embodiment, the processor 310 compares the entire extracted image IMG with a plurality of images IMG1 to IMGn stored in the memory 320, and compares the plurality of images IMG1 to IMGn stored in the memory 320 with each other. ), the image most similar to the image IMG extracted by the processor 310 may be selected.

Fourthly, the processor 310 includes position information of any one selected from among the blinking position information PI1 to PIn included in the plurality of images IMG1 to IMGn in the memory 320 and the corresponding docking station 400 Brings the location information of the intelligent robot 300 in the vicinity of.

Fifth, the processor 310 calculates the angle between the docking station 400 and the camera 370 included in the intelligent robot 300 according to the location information of the intelligent robot 300.

Sixth, according to the calculated angle between the docking station 400 and the camera 370 included in the intelligent robot 300, the processor 310 is the intelligent robot so that the intelligent robot 300 is directed to the docking station 400. Controls the wheel motor 350 of 300.

The intelligent robot 300 approaches the docking station 400 by the intelligent robot 300 under the control of the wheel motor 350.

Until now, the description of a docking algorithm for returning to the docking station 400 when the intelligent robot 300 and the docking station 400 are at a long distance (eg, 2 meters or more and 10 meters or less). In the future, a description will be given of a docking algorithm for returning to the docking station 400 when the intelligent robot 300 and the docking station 400 are in a short distance (eg, within 2 meters). Determination of the far and near range may be set in advance. For example, when the intelligent robot 300 approaches the docking station 400 for a certain period of time using the camera 370, the intelligent robot 300 determines that it is in close proximity to the docking station 400 and docks in the short distance The docking algorithm that returns to station 400 is executed.

After the intelligent robot 300 approaches the docking station 400 for a predetermined time (eg, 10 seconds), the processor 310 of the intelligent robot 300 is a second distance sensor included in the docking station 400 ( In order to operate the 420, the first distance sensor 340 included in the intelligent robot 300 controls the first distance sensor 340 to transmit the first distance signal to the second distance sensor 420 (S20). . The first distance sensor 340 or the second distance sensor 420 may be implemented with various sensors such as an infrared sensor, an ultrasonic sensor, a ToF sensor, or a laser sensor. The arbitrary time may be set differently. The control of the first distance sensor 340 is performed when the distance between the intelligent robot 300 and the docking station 400 is a short distance (eg, 2 meters or less).

According to an embodiment, after the intelligent robot 300 approaches the docking station 400 under the control of the wheel motor 350, the processor 310 of the intelligent robot 300 is charged for a certain period of time (for example, , 5 seconds), it is possible to control the camera 370 so that the camera 370 photographs the docking station 400. When the intelligent robot 300 and the docking station 400 are far away, the character recognition code (QR) is not recognized in the image (IMG) taken by the camera 370 of the intelligent robot 300 to the docking station 400. I can. However, when the intelligent robot 300 and the docking station 400 get close, the character recognition code QR may be recognized in the image IMG captured by the camera 370 of the intelligent robot 300. The character recognition code (QR) may be implemented as a QR code or a barcode. A character recognition code (QR) is attached to the surface of the docking station 400. The character recognition code (QR) includes the coordinates of the docking station 400. The processor 310 identifies the coordinates of the docking station 400 included in the character recognition code (QR) so that the intelligent robot 300 approaches the docking station 400 by using the wheel motor 350 of the intelligent robot 300. Can be controlled. Under the control of the wheel motor 350, the intelligent robot 300 may approach within a certain distance of the docking station 400.

When the intelligent robot 300 approaches within a certain distance of the docking station 400, the processor 310 of the intelligent robot 300 operates the second distance sensor 420 included in the docking station 400. The first distance sensor 340 may be controlled so that the first distance sensor 340 included in the robot 300 transmits the first distance signal DS1 to the second distance sensor 420. When the second distance sensor 420 included in the docking station 400 receives the first distance signal DS1 from the first distance sensor 340, the second distance sensor 420 is turned on. do.

According to an embodiment, the first distance sensor 340 is a reception for receiving an On/Off distance sensor for turning on the second distance sensor 420 and a second distance signal DS2 from the second distance sensor 420 It can be implemented as a distance sensor.

After the second distance sensor 420 is turned on, the first distance sensor 340 included in the intelligent robot 300 is attached to the docking station 400 from the second distance sensor 420 included in the docking station 400. The second distance signal DS2 including the location information about is received (S30).

The intelligent robot 300 controls the wheel motor 350 of the intelligent robot 300 according to the received second distance signal DS2.

The intelligent robot 300 approaches the docking station 400 under the control of the wheel motor 350. The intelligent robot 300 periodically receives a second distance signal DS2 including location information about the docking station 400 from the docking station 400. The intelligent robot 300 and the docking station 400 use distance sensors 340 and 420 to check whether the intelligent robot 300 properly approaches the docking station 400.

In the past, infrared signals have been used. However, when the distance between the intelligent robot and the docking station is long and the output of the infrared signal output from the docking station is weak, there is a problem that the infrared signal cannot be transmitted to the intelligent robot. In addition, there is a problem in that there may be a blind spot in which the intelligent robot cannot properly receive infrared signals output from the docking station because a certain number of infrared sensors cannot be included in the docking station due to manufacturing cost.

In the case of the present invention, even when the intelligent robot 300 and the docking station 400 are separated by a predetermined distance or more by using the image captured by the camera 370, the intelligent robot 300 is positioned at the docking station 400 There is an effect that can be easily returned to the docking station 400 by grasping.

Although the present invention has been described with reference to the exemplary embodiment shown in the drawings, this is only exemplary, and those of ordinary skill in the art will appreciate that various modifications and other equivalent embodiments are possible therefrom. Therefore, the true technical protection scope of the present invention should be determined by the technical idea of the attached registration claims.

500: intelligent robot system;
400: docking station;
300 intelligent robots;
310: processor;
320: memory;
330: battery;
335: charging module;
340: distance sensor;
350: wheel motor;
360: wheel;

Claims (5)

The intelligent robot analyzes the image of the docking station photographed by the camera included in the intelligent robot to confirm the blinking of the LED array arranged on the surface of the docking station;
When the blinking of the LED array arranged in the docking station is confirmed, the intelligent robot calculates the angle between the docking station and the camera included in the intelligent robot according to the image analysis result, and adjusts the wheel motor of the intelligent robot. Controlling;
Approaching the intelligent robot to the docking station under control of the wheel motor;
When the intelligent robot approaches within a certain distance of the docking station, the processor of the intelligent robot operates a second distance sensor included in the docking station, so that a first distance sensor included in the intelligent robot provides a first distance signal. Controlling the first distance sensor to be transmitted to the second distance sensor;
Receiving, by a first distance sensor included in the intelligent robot, a second distance signal including position information about the docking station from a second distance sensor included in the docking station;
The intelligent robot controlling a wheel motor of the intelligent robot according to the received second distance signal; And
And the intelligent robot approaching the docking station according to the control of the wheel motor. The method of claim 1, wherein the intelligent robot calculates an angle between the docking station and a camera included in the intelligent robot according to the image analysis result to control the wheel motor of the intelligent robot,
An intelligent robot's docking station return method for calculating an angle between the docking station and a camera included in the intelligent robot using blinking position information included in a plurality of images already stored in the memory of the intelligent robot. The method of claim 1, wherein the method of returning the intelligent robot to the docking station,
After the intelligent robot approaches the docking station under control of the wheel motor, the intelligent robot controls the camera so that the camera included in the intelligent robot photographs the docking station every predetermined time;
Recognizing a character recognition code from an image photographed by the intelligent robot when the intelligent robot approaches the docking station under control of the wheel motor and the intelligent robot and the docking station become close;
The intelligent robot returns to the docking station of the intelligent robot, further comprising the step of controlling the wheel motor of the intelligent robot so that the intelligent robot approaches the docking station by identifying the coordinates of the docking station included in the character recognition code. Way. delete In the intelligent robot returning to the docking station,
A processor that executes instructions;
A memory for storing the instructions;
A wheel for moving the intelligent robot;
A wheel motor for controlling the wheel;
camera; And
Including a first distance sensor,
The above commands are:
The image of the docking station captured by the camera is analyzed to confirm the flickering of the LED array arranged on the surface of the docking station, and when the flickering of the LED array arranged in the docking station is confirmed, the image analysis result According to the control of the wheel motor by calculating the angle between the docking station and the camera, the intelligent robot approaches the docking station according to the control of the wheel motor, and the intelligent robot is within a certain distance of the docking station. When approaching, in order to operate a second distance sensor included in the docking station, the first distance sensor controls the first distance sensor to transmit a first distance signal to the second distance sensor, and the first distance The sensor receives a second distance signal including position information on the docking station from a second distance sensor included in the docking station, controls the wheel motor according to the received second distance signal, and the wheel motor An intelligent robot implemented to access the docking station under the control of.

Images