KR102241997B1 - System amd method for determining location and computer readable recording medium - Google Patents

Abstract

A system, method and computer-readable recording medium are disclosed. The location determination system according to an embodiment of the present invention includes a scanning unit including a laser sensor mounted on a moving object to scan a surrounding space, and the scanning in consideration of reference map data corresponding to a space to be scanned. A scan condition setting unit that sets a scan position of the scanning unit in a target space and a scan angle at the scan position, and sets a moving path of the moving object, and scan data and the reference obtained through the scanning unit at the scan position And a location determination unit that compares map data to determine the location of the moving object.

Description

Location determination system, method, and computer-readable recording medium {SYSTEM AMD METHOD FOR DETERMINING LOCATION AND COMPUTER READABLE RECORDING MEDIUM}

The present invention relates to a position determination system, a method, and a computer-readable recording medium, and more specifically, a position determination system, a method, and a computer-readable recording medium capable of determining one's position using scan data using a laser sensor. It is about.

When using a robot that performs a specific task in space, it is important to accurately detect the position of the robot. When an operator outside the space directly controls the robot, it may not be necessary to determine its own position by the robot, and the operator may determine the position of the robot using a GPS sensor or the like.

When an operator directly controls the robot's motion, it is difficult to expect an effect beyond saving human labor. However, as the development of artificial intelligence (AI) technology becomes active, robots that minimize direct human control have emerged, and robots that perform tasks while moving in a specific space need a function to determine their own position by themselves. .

An object of the present invention is to provide a location determination system, a method, and a computer-readable recording medium capable of accurately determining its own position in a space.

The position determination system according to an embodiment of the present invention includes a scanning unit including a laser sensor mounted on a moving object to scan a surrounding space, and the reference map data corresponding to the scan target space. A scan condition setting unit that sets a scan position of the scanning unit in the scan target space and a scan angle at the scan position, and sets a moving path of the moving object, and scan data obtained through the scanning unit at the scan position and the And a location determination unit that compares reference map data to determine the location of the moving object.

In addition, a reference map generation unit for generating the reference map from the scan data obtained through the scanning unit at an arbitrary reference position in the scan target space may be further included.

In addition, the moving path of the moving object may include the scan position.

In addition, it further comprises a position correction unit for correcting the position of the moving object, wherein the position correction unit moves the position of the moving object when the position of the moving object determined by the position determining unit deviates from the movement path by more than a predetermined range. It can be adjusted to correspond to the route.

In addition, the scan data includes distance and angle data to an object, the reference map data includes grid data, and the location determination unit converts the grid data to correspond to the distance and angle data, The position of the moving object may be determined by comparing the converted grid data with the distance and angle data.

In addition, the scan condition setting unit may set the scan position and the scan angle in consideration of a position of an object in the scan target space and a signal reflection degree of the laser sensor.

On the other hand, a position determination method according to an embodiment of the present invention is a position determination method performed through a position determination device including a laser sensor mounted on a moving object and scanning a surrounding space, which corresponds to a space to be scanned. Setting a scan position of the laser sensor in the scan target space and a scan angle at the scan position in consideration of reference map data, setting a moving path of the moving object, at the scan position And comparing the scan data obtained through the scanning unit with the reference map data to determine the location of the moving object, and comparing the moving path of the moving object with the position of the moving object to correct the position of the moving object.

In addition, the method may further include generating the reference map from the scan data acquired through the laser sensor at an arbitrary reference position in the scan target space.

In addition, the moving path of the moving object may include the scan position.

In addition, in the step of correcting the position of the moving object, when the position of the moving object determined in the step of determining the position of the moving object deviates from the moving path by more than a predetermined range, the position of the moving object is adjusted to correspond to the moving path. I can.

In addition, the scan data includes distance and angle data to an object, the reference map data includes grid data, and in determining the position of the moving object, the grid data is converted to the distance and angle data. It may be converted to correspond, and the position of the moving object may be determined by comparing the converted grid data with the distance and angle data.

In the step of setting the scan position and the scan angle, the scan position and the scan angle may be set in consideration of a position of an object in the scan target space and a signal reflection degree of the laser sensor.

Meanwhile, a computer-readable recording medium in which a program for performing the location determination method according to the present invention is recorded may be provided.

The present invention can provide a location determination system, a method, and a computer-readable recording medium capable of accurately determining its own position in a space.

1 is a diagram schematically showing a configuration of a location determination system according to an embodiment of the present invention.
2 is a diagram schematically showing the configuration of a scanning unit included in the position determination system according to the present invention.
3 is a diagram schematically illustrating a configuration of a location determination system according to another embodiment of the present invention.
4 is a diagram illustrating a reference map obtained through a location determination system according to an exemplary embodiment of the present invention.
5 is a diagram illustrating a scan position and a scan angle set by a position determination system according to an exemplary embodiment of the present invention.
6 is a diagram schematically showing a configuration of a location determination system according to another embodiment of the present invention.
7 is a diagram illustrating a data conversion process for comparing reference map data and scan data by way of example.
8 is a flowchart schematically illustrating a flow of a method for determining a location according to an embodiment of the present invention.
9 is a flowchart schematically illustrating a flow of a method for determining a location according to another embodiment of the present invention.

Advantages and features of the present invention, and a method of achieving them will become apparent with reference to embodiments described in detail together with the accompanying drawings. However, it should be understood that the present invention is not limited to the embodiments presented below, but may be implemented in a variety of different forms, and includes all transformations, equivalents, or substitutes included in the spirit and scope of the present invention. do. The embodiments presented below are provided to complete the disclosure of the present invention, and to completely inform the scope of the invention to those of ordinary skill in the art to which the present invention pertains. In describing the present invention, when it is determined that a detailed description of a related known technology may obscure the subject matter of the present invention, a detailed description thereof will be omitted.

The terms used in the present application are only used 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 this application, terms such as "comprises" or "have" are intended to designate the presence of features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, but one or more other features. It is to be understood that the presence or addition of elements or numbers, steps, actions, components, parts, or combinations thereof does not preclude in advance. Terms such as first and second may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another component.

1 is a diagram schematically showing a configuration of a location determination system according to an embodiment of the present invention.

Referring to FIG. 1, a position determination system 100 according to an embodiment of the present invention includes a scanning unit 110, a scan condition setting unit 120, and a position determination unit 130.

The scanning unit 110 includes a laser sensor mounted on a moving body (not shown) to scan a surrounding space. The moving body can receive power from various types of power devices, can move in an arbitrary space, and can perform various operations in the space. For example, the moving object can calculate the area or volume of an arbitrary space, and can draw a picture in an arbitrary space or mark a specific location.

The position determination system 100 according to an embodiment of the present invention aims to determine the position of the moving object in an arbitrary space, and by determining the exact position of the moving object, the moving object moves accurately in the arbitrary space. Can be done.

The laser sensor may be understood as scanning a space around the moving object, and the scanning unit 110 may acquire location information of an object in the surrounding space using information reflected by the laser signal output from the laser sensor. In addition, the location information may be expressed in a polar coordinate format.

Meanwhile, the scan angle may mean a scanning angle of the laser sensor at the scan position, and may be expressed in degrees or radians. In addition, the size of the scan angle may be expressed based on the x-axis, or may be expressed based on the angle of the laser sensor at a time point at which the scanning operation at the immediately preceding scan position is ended.

In one embodiment, the laser sensor may be a LiDAR sensor, and the scanning unit 110 uses the laser sensor to provide information on an object or pillar disposed in a space, a wall surrounding the space, etc. Information that can be a characteristic of the space can be obtained.

The information on the characteristics of the space acquired by the scanning unit 110 is used to determine the location of the moving object, and the more accurate the information on the characteristics of the space is, the more accurately the location of the moving object can be determined. Hereinafter, the space will be referred to as a scan target space.

The scan condition setting unit 120 sets a scan position of the scanning unit 110 in the scan target space and a scan angle at the scan position in consideration of reference map data corresponding to the scan target space. And, a moving path of the moving object is set. The reference map may be a type of drawing including information on the scan target space, and in an embodiment, the reference map may be a CAD drawing.

The reference map may be used as basic information for setting a moving path of the moving object, a scan position of the scanning unit 110 and a scan angle at the scan position. In addition, the reference map may provide comparison data for determining the location of the moving object by the location determination unit 130.

Meanwhile, since the scanning unit 110 includes the laser sensor and is mounted on the moving object, the scanning position of the scanning unit 110 may be the same as the scan position of the moving object or the laser sensor. In addition, the scan angle may have the same meaning as the scan angle of the laser sensor.

The scanning unit 110 may further include a motor (not shown) that rotates the laser sensor, and the motor allows the laser sensor to rotate 360°, and the direction of rotation of the laser sensor can be varied as needed. Can be controlled.

The scan position and scan angle may be set in consideration of the reference map data. For example, the scan position and the scan angle may be set to a position and angle to avoid pillars, windows, and obstacles existing in the scan target space. In addition, since it may be difficult to acquire scan data in a space in which an object to reflect the scan signal output from the laser sensor does not exist, the scan position and the scan angle are arranged in an empty space within the scan target space to provide a column or an obstacle. It can be set to a position and angle to scan the back.

Meanwhile, the scan positions may be set to a finite number of positions, but are not necessarily limited thereto, and the scanning unit 110 may continuously perform a scanning operation on the moving path.

The location determination unit 130 determines the location of the moving object by comparing scan data acquired through the scanning unit 110 at the scan location and the reference map data.

As described above, since the reference map can provide information on the scan target space, the position of the moving object can be estimated by comparing the reference map data with the scan data obtained through the laser sensor in the scanning unit 110. I can.

The scan data may include information on a distance from the moving object and an angle from the moving object of an object existing in the scan target space. When the scan data and the reference map data are compared, the position of the moving object is estimated. One or two or more points or coordinates may be detected.

The location determination unit 130 may estimate the most reliable point or coordinate as the location of the moving object by comparing a plurality of distance/angle data included in the scan data with the reference map data.

2 is a diagram schematically showing the configuration of a scanning unit included in the position determination system according to the present invention.

Referring to FIG. 2, the scanning unit may include a laser sensor and may be mounted on a moving body V. The moving body (V) shown in FIG. 2 may be moved using a pair of wheels disposed on both sides, and the moving body (V) may further include at least one wheel at the bottom thereof, thereby achieving balance. I can keep it.

Meanwhile, the configuration for moving the moving body V is not necessarily limited to wheels, and the moving body V may be moved through a caterpillar or may be configured to be able to fly. That is, it will be apparent to a person skilled in the art that any configuration that allows the moving object V to move freely within the scan target space may be included.

As described with reference to FIG. 1, since the position of the moving object V can be determined through the laser sensor, it can be understood that the position of the moving object V is substantially the same as the position of the laser sensor.

In addition, the position of the moving body V, that is, the position of the laser sensor may be expressed in a coordinate format of _{(p x} , p _{y ).} In addition, the laser sensor can be rotated by a motor, and the direction of rotation can be variously controlled as necessary. In this case, the angle of the laser sensor may be expressed based on the x-axis of FIG. 2, and the position of the object detected by the laser sensor may be expressed in the form of polar coordinates _{of (θ L, d).} Here, d means the distance to the detected object.

Meanwhile, since the laser sensor is mounted on the moving body V and can rotate independently from the moving body V, a direction in which the laser sensor faces and a direction in which the moving body V faces may be different. Accordingly, the rotation angle of the moving body V may be calculated separately from the angle from the laser sensor to the detected object.

3 is a diagram schematically illustrating a configuration of a location determination system according to another embodiment of the present invention.

Referring to FIG. 3, a location determination system 200 according to another embodiment of the present invention includes a scanning unit 210, a scan condition setting unit 220, a location determination unit 230, and a reference map generation unit 240. Includes. The scanning unit 210, the scan condition setting unit 220, and the position determining unit 230 are substantially connected to the scanning unit 110, the scan condition setting unit 120, and the position determining unit 130 described with reference to FIG. 1. As it performs the same function, a detailed description will be omitted for overlapping content.

The reference map generation unit 240 may generate a reference map corresponding to the scan target space, for example, from scan data obtained through the scanning unit 210 at an arbitrary reference position in the scan target space. Create a Reference Map.

The reference position may be an arbitrary position in the scan target space, and in general, it may be preferable to be selected as a center point of the scan target space, and a position close to a window or a position where an obstacle close to the window exists is the reference May not be suitable as a location. It may be a problem in obtaining scan data because there is a high probability that the scan signal output from the laser sensor is not reflected in the glass window, and it may be difficult to obtain scan data for the space behind the obstacle if there is an obstacle in a nearby location. to be.

In addition, since it may be difficult to obtain scan data in a space where no object to reflect the scan signal output from the laser sensor exists, the reference position is arranged in an empty space within the scan target space to scan pillars or obstacles. It can be set to a position that can be done.

On the other hand, when it is difficult to obtain complete scan data due to an obstacle or a pillar, after performing the first scanning at the reference position, a second scanning is performed by designating an arbitrary position behind the obstacle or pillar to obtain more complete scan data. Can be obtained.

While the moving object is stationary at the reference position, the laser sensor rotates 360° to scan the scan target space to generate the scan data. In addition, if necessary, the laser sensor included in the scanning unit 210 may have a scan angle controlled in the high and low directions through tilt control or the like.

The reference map generator 240 may generate the reference map by applying a SLAM algorithm to the scan data acquired at the reference position. SLAM stands for Simultaneous Localization and Mapping, and is also called Concurrent Mapping and Localization (CML). The SLAM algorithm generates a map while detecting the surrounding environment with the sensor when the map is not given and the location of the sensor in the map cannot be determined, and an algorithm that estimates the location of the sensor in the map is used. it means.

Meanwhile, the reference map may be composed of image data of pixels included in an image frame corresponding to the scan data. For example, when the space to be scanned is expressed as one frame, pixels corresponding to a location where an object exists may be displayed in black, and pixels corresponding to an empty space may be displayed in white. have.

In another embodiment of the present invention, the reference map generator 240 may generate the reference map by receiving a drawing corresponding to the scan target space. The drawing may be understood as including information on the scan target space, and in an embodiment, the drawing may be a CAD drawing. Accordingly, when the drawing is present, the drawing may serve as the reference map.

4 is a diagram illustrating a reference map obtained through a location determination system according to an exemplary embodiment of the present invention.

The reference map shown in FIG. 4 may be understood as being generated by the reference map generator 240 described with reference to FIG. 3. That is, the reference map of FIG. 4 may be generated using scan data obtained by rotating a laser sensor included in the scanning unit 210 at an arbitrary reference position. Accordingly, when a drawing (eg, a CAD drawing, a design drawing, etc.) corresponding to the scan target space exists, a reference map having a shape different from that of the reference map shown in FIG. 4 may be used.

Referring to FIG. 4, in a reference map generated using scan data acquired through the laser sensor at the reference position, a scan output from the laser sensor is performed at a location where a glass is present. It can be seen that the normal scan data from the position of the glass window to the reference position is not obtained because the signal is not properly reflected.

In addition, it can be seen that the scan data is not normally acquired from the space behind the pillar. Accordingly, when the reference map is generated through the scan data acquired through the laser sensor, a location where a glass window exists and a location where a pillar or an obstacle exists in a scan target space can be roughly determined.

Meanwhile, when the reference map is generated using scan data obtained by rotating a scanning sensor in a stationary state, the scan distance may vary depending on the environment (eg, the size of the space) of the space to be scanned. The accuracy of the reference map may be degraded. Therefore, it is preferable to use the reference map as reference data to set the moving path, the scan position, and the scan angle of the moving object.

In addition, when a drawing of the scan target space exists, using the drawing and the reference map together may help to implement a more accurate operation of the driven marking device.

On the other hand, the moving path, the scan position, and the scan angle of the driven marking device are set to obtain accurate scan data for the scan target space, and in FIG. 4, a glass window including the reference position The position and angle that are spaced apart from the pillar as much as possible can be set.

5 is a diagram illustrating a scan position and a scan angle set by a position determination system according to an exemplary embodiment of the present invention.

The path of FIG. 5 is shown as an example of the moving path of the moving object, and the moving path of the moving object may include the scan position. Referring to FIG. 5, the moving object may perform a scanning operation using the laser sensor at a first point (x1, y1, θ1) to a seventh point (x7, y7, θ7).

5 shows a number of specific scan positions at which the moving object performs a scanning operation, which can be understood as a position for accurately grasping the position of the moving object.

However, in the position determination system according to another embodiment of the present invention, a specific scan position is not designated for the moving object, and a scanning operation can be continuously performed while moving along the set movement path.

Meanwhile, the scan angle means a scanning angle of the scanning sensor at each scan position, and can be expressed in degrees or radians. In addition, the size of the scan angle may be expressed based on the x-axis, or may be expressed based on the angle of the scanning sensor at a time point at which the scanning operation at the immediately preceding scan position is ended.

The moving object may be stopped at each of the scan positions, and the laser sensor is rotated while being stopped at the scan position to scan the surrounding space. However, as described above, in a state in which a specific scan position for the moving object is not designated, the moving object may continuously perform a scanning operation while moving along the set movement path. Therefore, in this case, it can be understood that the stop operation at the scan position is not performed.

In addition, it is possible to determine whether the location of the moving object coincides with the movement path by comparing the scan data obtained through the scanning operation with the reference map data.

Meanwhile, a total of 7 scan positions are shown in FIG. 5, but the present invention is not necessarily limited to the seven scan positions, and the scan positions are based on positions of pillars, windows, and obstacles existing in the scan target space. It can be changed in various ways. In addition, when an empty space exists in the scan target space, since a scan signal cannot be reflected in the empty space, the plurality of scan positions and scan angles may be set in consideration of the positions of the empty spaces.

6 is a diagram schematically showing a configuration of a location determination system according to another embodiment of the present invention.

6, a position determination system 300 according to another embodiment of the present invention includes a scanning unit 310, a scan condition setting unit 320, a position determination unit 330, and a position correction unit 340. Includes. The scanning unit 310, the scan condition setting unit 320, and the position determining unit 330 include the scanning units 110 and 210, the scan condition setting units 120 and 220, and the position described with reference to FIGS. Since it performs substantially the same function as the determination units 130 and 230, detailed descriptions of overlapping contents will be omitted.

The position correction unit 340 corrects the position of the moving object, and when the position of the moving object determined by the position determining unit 330 deviates from the moving path by more than a preset range, the position of the moving object corresponds to the moving path. Adjust to do it.

As described with reference to the preceding drawings, the position determination unit 330 can continuously determine the position of the moving object, and the position correction unit 340 includes the determination result of the position determination unit 330 and the preset moving object. You can compare the path of movement.

In order for the moving object to accurately perform a given operation in the scan target space, it may be desirable to determine an exact position of the moving object in the scan target space and move along the preset movement path. Therefore, it is preferable that the error range for correcting the position of the moving object is set as narrow as possible.

In order to accurately detect the position of the moving object and adjust or correct the position of the moving object through this, the position determination system according to the present invention may use an auxiliary device such as an IMU sensor.

The IMU sensor may provide acceleration information of the moving object to the position determining unit 330, and the position determining unit 330 may generate information on the moving direction and the moving distance of the moving object by integrating the acceleration information. have. The location determination unit 330 may increase the accuracy of determining the location of the moving object by using the information on the moving direction and the moving distance.

On the other hand, the device used to correct the position of the moving object is not necessarily limited to the IMU sensor, for example, a transmitter installed at an arbitrary position to output a position signal and a receiver attached to the moving object to receive the position signal It is also possible to correct the position using. That is, it will be apparent to a person skilled in the art that any type of sensor capable of correcting the position of the moving object can be applied.

7 is a diagram illustrating a data conversion process for comparing reference map data and scan data by way of example.

Referring to FIG. 7, the reference map data may be displayed in a grid format, and a portion darkened compared to other grid regions indicates that there is an object reflecting the scan signal of the laser sensor. Each grid area may be displayed in a coordinate format such as _{(x m,i} , y _m,i ) and (x _m,l , y _{m,l ).}

The location determination unit 130, 230, 330 according to the present invention performs an operation of comparing the reference map data and the scan data to determine the location of the moving object. Unlike the reference map data including grid data, The scan data includes data on the distance and angle to the object. Accordingly, the location determination units 130, 230, and 330 may convert the reference map data in a grid format into distance and angle data in order to compare the reference map data and the scan data.

Referring to FIG. 7, positions represented by coordinates of _{(x m,i} , y _m,i ) and (x _m,l , y _{m,l ) in the reference map data are respectively (Φ m,i} ,d _m,i ) and (Φ _m,l ,d _m,l ) can be converted into polar coordinate data, and the polar coordinate data matches the data format of the scan data. Accordingly, the location determination units 130, 230, and 330 may directly compare the converted reference map data and the scan data, and may determine the location of the moving object using the comparison result.

In FIG. 7, each grid area surrounded by a broken line can be understood as corresponding to each pixel when expressed through a display device, and the reference point for polar coordinate conversion must be an origin ( It is not limited to 0, 0).

On the other hand, when the scanning unit 110, 210, 310 obtains the scan data for the object existing in the scan target space, the position determination unit 130, 230, 330 and the distance / angle data corresponding to the scan data The converted reference map data may be compared to determine whether there is matching data.

According to the determination result, there may be several matching data, and the location determination unit 130, 230, 330 compares a plurality of scan data with the converted reference map data to improve the accuracy of position determination for the moving object. I can make it. The scanning units 110, 210, and 310 may acquire a plurality of scan data at the same point, and it may be understood that reference map data corresponding to each of the scan data exists.

Since the position determination unit 130, 230, 330 does not have information on the position of the moving object at the time the moving object starts moving, the position of the moving object is determined by comparing each of a plurality of scan data with the reference map data. The most reliable location can be determined.

For example, when the first to nth scan data are acquired using the laser sensor at the same location, the location determination units 130, 230, 330 may search for reference map data corresponding to the first scan data. have. As a result of the search, m reference map data corresponding to the first scan data may exist, and the location determination units 130, 230 and 330 compare the second scan data with the m reference map data. If this process is repeatedly performed, the position at which the first to nth scan data are finally acquired, that is, the position of the moving object can be estimated.

Meanwhile, as described with reference to FIG. 6, the position determination units 130, 230, and 330 use auxiliary data obtained from an IMU sensor, etc., as noise that may be included in the data acquired by the laser sensor. The resulting error can be compensated. The IMU sensor may provide acceleration information of the moving object, and the position determination units 130, 230, and 330 may obtain information on the moving distance of the moving object from the acceleration information.

8 is a flowchart schematically illustrating a flow of a method for determining a location according to an embodiment of the present invention.

A position determination method according to an embodiment of the present invention is a position determination method performed by a position determination device including a laser sensor mounted on a moving object to scan a surrounding space. Referring to FIG. 8, a scan position And a scan angle setting step (S110), a moving path setting step (S120), a position determination step (S130), and a position correction step (S140).

The moving body can freely move by receiving power from various types of driving devices, can move in an arbitrary space, and can perform various operations in the space. For example, the moving object can calculate the area or volume of an arbitrary space, and can draw a picture in an arbitrary space or mark a specific location.

The position determination method according to an embodiment of the present invention aims to determine the position of the moving object in an arbitrary space, and by determining the exact position of the moving object, the moving object can perform an accurate operation in the arbitrary space. You can do it.

The laser sensor can be understood as scanning a space around the moving object, and by using information reflected by a laser signal output from the laser sensor, position information of an object in the surrounding space can be obtained, and the position information is It can be expressed in polar coordinate format.

In the scan position and scan angle setting step (S110), the scan position of the laser sensor in the scan target space and the scan angle at the scan position are set in consideration of reference map data corresponding to the scan target space. do. The reference map may be a type of drawing including information on the scan target space, and in an embodiment, the reference map may be a CAD drawing.

The reference map is for setting the scan position of the laser sensor and the scan angle at the scan position in the scan position and scan angle setting step (S110), and for setting the moving path of the moving object in the moving path setting step (S120). It can be used as basic information. In addition, the reference map may provide comparison data for determining the location of the moving object in the location determination step S130.

The scan angle may mean a scanning angle of the laser sensor at the scan position, and can be expressed in degrees or radians. In addition, the size of the scan angle may be expressed based on the x-axis, or may be expressed based on the angle of the laser sensor at a time point at which the scanning operation at the immediately preceding scan position is ended.

In one embodiment, the laser sensor may be a LiDAR sensor, and information about an object or pillar arranged in the surrounding space, a wall surrounding the space, in other words, information that may be a characteristic of the surrounding space. Can be obtained.

The information on the characteristics of the space acquired through the laser sensor is used to determine the position of the moving object, and the more accurate the information on the characteristics of the space is, the more accurately the position of the moving object can be determined. Hereinafter, the space will be referred to as a scan target space.

The scan position and scan angle may be set in consideration of the reference map data. For example, the scan position and the scan angle may be set to a position and angle to avoid pillars, windows, and obstacles existing in the scan target space. In addition, since it may be difficult to acquire scan data in a space in which an object to reflect the scan signal output from the laser sensor does not exist, the scan position and the scan angle are arranged in an empty space within the scan target space to provide a column or an obstacle. It can be set to a position and angle to scan the back.

In the moving path setting step S120, a moving path of the moving object is set. As described above, the moving path of the moving object may be set in consideration of the reference map data, and the moving path may include the scan position. Accordingly, when the moving object arrives at the scan position while moving along the set movement path, the laser sensor may scan the scan target space around the moving object.

In the location determination step (S130), the location of the moving object is determined by comparing scan data acquired through the laser sensor at the scan location with the reference map data.

Since the reference map may provide information on the scan target space, the position of the moving object may be estimated by comparing the reference map data with the scan data acquired through a laser sensor.

The scan data may include information on a distance from the moving object and an angle from the moving object of an object existing in the scan target space. When the scan data and the reference map data are compared, the position of the moving object is estimated. One or two or more points or coordinates may be detected.

In the location determination step S130, the most reliable point or coordinate as the location of the moving object may be estimated by comparing a plurality of distance/angle data included in the scan data with the reference map data.

In the position correction step (S140), the position of the moving object is corrected by comparing the moving path of the moving object with the position of the moving object. In the position determination step S130, the position of the moving object may be continuously determined, and in the position correction step S140, the determination result in the position determination step S130 may be compared with a preset movement path of the moving object.

In this case, when the position of the moving object deviates from the moving path by more than a preset range, in the position correction step S140, the position of the moving object may be corrected so that the moving object returns to a position corresponding to the moving path.

In order for the moving object to accurately perform a given operation in the scan target space, it may be desirable to determine an exact position of the moving object in the scan target space and move along the preset movement path. Therefore, it is preferable that the error range for correcting the position of the moving object is set as narrow as possible.

In order to accurately detect the position of the moving object and adjust or correct the position of the moving object through this, the position determination method according to the present invention may use an auxiliary device such as an IMU sensor.

The IMU sensor may provide acceleration information of the moving object, and may generate information about a moving direction and a moving distance of the moving object by integrating the acceleration information in the position determination step S130. In the position determination step S130, the accuracy of the position determination of the moving object may be increased by using the information on the moving direction and the moving distance.

On the other hand, the device used to correct the position of the moving object is not necessarily limited to the IMU sensor, for example, a transmitter installed at an arbitrary position to output a position signal and a receiver attached to the moving object to receive the position signal It is also possible to correct the position using. That is, it will be apparent to a person skilled in the art that any type of sensor capable of correcting the position of the moving object can be applied.

9 is a flowchart schematically illustrating a flow of a method for determining a location according to another embodiment of the present invention.

Referring to FIG. 9, a method for determining a location according to another embodiment of the present invention includes a reference map generation step (S210), a scan position and a scan angle setting step (S220), a moving path setting step (S230), and a position determination step ( S240) and a position correction step (S250). In the scan position and scan angle setting step (S220), the moving path setting step (S230), the position determination step (S240), and the position correction step (S250), the scan position and scan angle setting step (S110) described with reference to FIG. ), the movement path setting step (S120), the position determination step (S130), and the position correction step (S140), since substantially the same operation is performed, a detailed description of overlapping content will be omitted.

In the reference map generation step (S210), the reference map is generated from the scan data acquired through the laser sensor at an arbitrary reference position in the scan target space.

The reference position may be an arbitrary position in the scan target space, and in general, it may be preferable to be selected as a center point of the scan target space, and a position close to a window or a position where an obstacle close to the window exists is the reference May not be suitable as a location. It may be a problem in obtaining scan data because there is a high probability that the scan signal output from the laser sensor is not reflected in the glass window, and it may be difficult to obtain scan data for the space behind the obstacle if there is an obstacle in a nearby location. to be.

In addition, since it may be difficult to obtain scan data in a space where no object to reflect the scan signal output from the laser sensor exists, the reference position is arranged in an empty space within the scan target space to scan pillars or obstacles. It can be set to a position that can be done.

On the other hand, when it is difficult to obtain complete scan data due to an obstacle or a pillar, after performing the first scanning at the reference position, a second scanning is performed by designating an arbitrary position behind the obstacle or pillar to obtain more complete scan data. Can be obtained.

While the moving object is stationary at the reference position, the laser sensor rotates 360° to scan the scan target space to generate the scan data. In addition, if necessary, the laser sensor may control the scan angle in the high and low directions through tilt control or the like. In the reference map generation step S110, the reference map may be generated by applying a SLAM algorithm to the scan data acquired at the reference position.

Meanwhile, the reference map may be composed of image data of pixels included in an image frame corresponding to the scan data. For example, when the space to be scanned is expressed as one frame, pixels corresponding to a location where an object exists may be displayed in black, and pixels corresponding to an empty space may be displayed in white. have.

In another embodiment of the present invention, in the reference map generation step (S210), the reference map may be generated by receiving a drawing corresponding to the scan target space. The drawing may be understood as including information on the scan target space, and in an embodiment, the drawing may be a CAD drawing. Accordingly, when the drawing is present, the drawing may serve as the reference map.

Meanwhile, the present invention can be implemented as a computer-readable code on a computer-readable recording medium. The computer-readable recording medium includes all types of recording devices that store data that can be read by a computer system. Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tapes, floppy disks, and optical data storage devices.

Further, the computer-readable recording medium is distributed over a computer system connected by a network, so that computer-readable codes can be stored and executed in a distributed manner. In addition, functional programs, codes, and code segments for implementing the present invention can be easily inferred by programmers in the technical field to which the present invention belongs.

If there is no explicit order or contradictory description of the steps constituting the method according to the present invention, the steps may be performed in a suitable order. The present invention is not necessarily limited according to the order of description of the steps.

The use of all examples or illustrative terms (for example, etc.) in the present invention is merely for describing the present invention in detail, and the scope of the present invention is limited by the above examples or illustrative terms unless limited by the claims. It is not limited. In addition, a person skilled in the art may recognize that various modifications, combinations, and changes may be configured according to design conditions and factors within the scope of the appended claims or their equivalents.

Accordingly, the spirit of the present invention is limited to the above-described embodiments and should not be defined, and not only the claims to be described later, but also all ranges equivalent to or equivalently changed from the claims are the spirit of the present invention. It will be said to belong to the category.

100, 200, 300: position determination system
110, 210, 310: scanning unit
120, 220, 320: scan condition setting unit
130, 230, 330: position determination unit
240: reference map generation unit
340: position correction unit

Claims (6)

A scanning unit including a laser sensor mounted on the moving body and scanning the surrounding space;
In consideration of reference map data corresponding to the scan target space and including grid data displayed in a grid format in a position coordinate format, the scan position of the scanning unit in the scan target space and the scan angle at the scan position are determined. A scan condition setting unit that sets and sets a moving path of the moving object;
A location determination unit for determining a location of the moving object by comparing scan data including distance and angle data from the scan position to the object and the reference map data acquired through the scanning unit; And
A position correction unit for correcting the position of the moving object, and adjusting the position of the moving object to correspond to the moving path when the position of the moving object determined by the position determining unit deviates from the moving path by more than a predetermined range;
Including,
The position determining unit converts the grid data to correspond to the distance and angle data, compares the converted grid data with the distance and angle data to determine the position of the moving object,
The changing of the grid data is to convert the data expressed in the grid format position coordinates in the reference map data into data in a format including the distance and angle data, and the location determination unit is in the same format as the scan data. A location determination system that compares the converted reference map data and scan data to determine the location of the moving object. As a position determination method performed through a position determination device including a laser sensor mounted on a moving object to scan the surrounding space,
The scan position of the laser sensor in the scan target space and the scan angle at the scan position in consideration of reference map data corresponding to the scan target space and including grid data displayed in a grid format in a position coordinate format Setting up;
Setting a moving path of the moving object;
Determining a location of the moving object by comparing the reference map data with scan data including distance and angle data from the scan position to the object acquired through the laser sensor;
Compensating the position of the moving object by comparing the moving path of the moving object with the position of the moving object; And
Adjusting the position of the moving object to correspond to the moving path when the position of the moving object deviates from the moving path by more than a predetermined range;
Including,
The determining of the position of the moving object includes converting the grid data to correspond to the distance and angle data, comparing the converted grid data with the distance and angle data to determine the position of the moving object,
The changing of the grid data is to convert data expressed in grid format position coordinates from the reference map data into data in a format including the distance and angle data,
The determining of the location may include comparing the reference map data converted in the same format as the scan data with the scan data to determine the location of the moving object.
The method of claim 1,
A position determination system further comprising a reference map generator configured to generate the reference map from the scan data acquired through the scanning unit at an arbitrary reference position in the scan target space. The method of claim 1,
A position determination system in which the moving path of the moving object includes the scan position. The method of claim 2,
And generating the reference map from the scan data acquired through the laser sensor at an arbitrary reference position in the scan target space. The method of claim 2,
A method for determining a location in which the moving path of the moving object includes the scan location.

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