KR102286656B1 - Method of modifying path using around map and robot implementing thereof - Google Patents

Abstract

The present invention relates to a method for modifying a route using an around map and a technology for a robot implementing the same. In the method for changing a route using an around map according to an embodiment of the present invention, the controller of the robot is Creating a main path based on the stored total map and driving the robot according to the main path, the sensing module of the robot senses the positions of objects disposed in the first area having a size smaller than the area corresponding to the total map, The control unit generates a first around map for storing the positions of the objects, the control unit compares the first around map with the total map to identify the moving object, and the first area or an obstacle area partially or all overlapping with the first area setting, the control unit generating a local path different from the main path according to the maintenance period of the obstacle area, and controlling the moving unit of the robot so that the robot moves according to the local path.

Description

A method of changing a route using an around map and a robot implementing it

The present invention relates to a method for correcting a path using an around map and a technology for a robot implementing the same.

In order for the robot to operate in a space where human and material exchanges actively occur such as airports, schools, government offices, hotels, offices, factories, etc., having a map of the entire space helps to set the driving route. In addition, it is necessary to check the dynamic changes that occur in the entire space and for the robot to respond to temporary space changes caused by dynamic changes. In particular, in spaces where a large number of people move, such as airports, ports, train stations, department stores, hotels, hospitals, amusement parks, etc. It is necessary for the robot to understand

However, in the aforementioned large-area floating population space, a lot of people always use and move, and a situation in which various objects are arranged occurs. Therefore, there is a need for a method for the robot to distinguish it from the fixed area of the map. In order to solve this problem, in the present specification, the robot intends to propose a method of calculating a path by combining information on the first recognized space and information on the newly recognized space.

In this specification, to solve the above-mentioned problems, it is an object of the present specification to provide a method of resetting or changing a route by generating an around map so that the robot can efficiently travel in a space with frequent changes, and a robot implementing the same.

In addition, in the present specification, when floating populations and objects are continuously arranged in a specific area, the problem of lowering the running speed or functional efficiency of the robot that occurs in the process of moving the area by determining the area as an obstacle area is solved. The purpose of this study is to provide a method for effectively driving a robot by creating a new path to move by avoiding obstacles, and a robot that implements it.

The objects of the present invention are not limited to the above-mentioned objects, and other objects and advantages of the present invention not mentioned may be understood by the following description, and will be more clearly understood by the examples of the present invention. Moreover, it will be readily apparent that the objects and advantages of the present invention may be realized by the means and combinations thereof indicated in the claims.

A method of changing a path using an around map according to an embodiment of the present invention includes the steps of: generating a main path by the control unit of the robot based on the total map stored in the map storage unit and driving the robot according to the main path; The sensing module of the sensing module senses the positions of the objects arranged in the first area having a size smaller than the area corresponding to the total map, the control unit generating a first around map storing the positions of the objects, the control unit is the first around map and the total map to identify the moving object and set the first area or an obstacle area partially or entirely overlapping with the first area. and controlling a moving part of the robot so that the robot moves according to a local path.

A robot that changes a path using an around map according to another embodiment of the present invention is a moving unit that controls the movement of the robot, a total map for the entire space in which the robot moves, and an area corresponding to the total map. A map storage unit that stores an around map that stores the positions of objects disposed in area 1, a sensing module that senses an object disposed outside of the robot, and a moving unit, a map storage unit, and a sensing module that control the total map and A main route and a local route are generated by referring to the around map, and a moving object is identified by comparing the first around map and the total map to set a first area or an obstacle area partially or entirely overlapping with the first area, and a controller for controlling the moving part of the robot so that a local path different from the main path is generated according to the maintenance period of the area so that the robot moves according to the local path.

When the embodiments of the present invention are applied, an around map is created using a sensor, an obstacle is distinguished by comparing it with a total map, and a path can be maintained or modified according to the distribution of these obstacles, so that the robot can perform real-time spatial situation According to this, it is possible to create a driving route that enables the shortest or best performance of the function and drive accordingly.

In addition, when the embodiments of the present invention are applied, in a space with frequent changes, the robot can generate a main route for the entire space and a local route for responding to obstacles in some areas in real time, thereby efficiently driving can do.

In addition, when applying the embodiments of the present invention, when floating populations and objects are continuously arranged in a specific area, it is possible to avoid the robot from forcibly entering the corresponding area and lowering the running speed and function expression efficiency of the robot, By effectively avoiding obstacles and creating a new path to move, the robot can travel.

The effects of the present invention are not limited to the above-described effects, and those skilled in the art can easily derive various effects of the present invention from the configuration of the present invention.

1 is a diagram showing the configuration of a robot according to an embodiment of the present invention.
2 and 3 are diagrams showing the configuration of a total map according to an embodiment of the present invention.
4 is a view showing an around map according to an embodiment of the present invention.
5 is a diagram in which a local path is generated based on the around map of FIG. 4 according to an embodiment of the present invention.
6 is a diagram illustrating a local path generated based on the determination of the obstacle area 221 according to an embodiment of the present invention.
7 is a view showing a local path generated based on the determination of the obstacle area 221 according to another embodiment of the present invention.
8 is a diagram illustrating a process in which a robot performs a specific function in a space in which a large-scale floating population moves according to an embodiment of the present invention.
9 is a view showing a running process of a robot according to an embodiment of the present invention.
10 is a diagram for setting and storing a path according to an embodiment of the present invention.
11 is a diagram comparing an around map and a total map according to an embodiment of the present invention.
12 is a diagram for setting an obstacle area according to an embodiment of the present invention.
13 is a view showing a process in which the robot according to an embodiment of the present invention confirms the period during which the obstacle area is maintained.
14 is a diagram illustrating a path through which a robot returns to a non-functional area and performs a function according to an embodiment of the present invention.
15 is a diagram showing the configuration of an obstacle area storage unit according to an embodiment of the present invention.
16 is a diagram showing a non-functional area and a functional performing area separately on the total map according to an embodiment of the present invention.

Hereinafter, with reference to the drawings, embodiments of the present invention will be described in detail so that those of ordinary skill in the art to which the present invention pertains can easily implement them. The present invention may be embodied in many different forms and is not limited to the embodiments described herein.

In order to clearly explain the present invention, parts irrelevant to the description are omitted, and the same reference numerals are given to the same or similar elements throughout the specification. Further, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In adding reference numerals to components of each drawing, the same components may have the same reference numerals as much as possible even though they are indicated in different drawings. In addition, in describing the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description may be omitted.

In describing the components of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only for distinguishing the elements from other elements, and the essence, order, order, or number of the elements are not limited by the terms. When it is described that a component is “connected”, “coupled” or “connected” to another component, the component may be directly connected or connected to the other component, but other components may be interposed between each component. It will be understood that each component may be “interposed” or “connected”, “coupled” or “connected” through another component.

In addition, in implementing the present invention, components may be subdivided for convenience of description, but these components may be implemented in one device or module, or one component may include a plurality of devices or modules. It may be implemented by being divided into .

Hereinafter, in the present specification, a robot includes a device that moves while having a specific purpose (cleaning, security, monitoring, guidance, etc.) or providing a function according to the characteristics of the space in which the robot moves. Accordingly, a robot in the present specification refers to a device that has a moving means that can move using predetermined information and a sensor and provides a predetermined function.

In this specification, the robot can move while holding the map. Maps can be classified into two types. First, a map in which information about fixed walls, stairs, etc. that are confirmed not to move in space is stored and information about the entire space in which the robot travels is called a total map. On the other hand, a map in which information on objects in some space of the entire space or information on functions performed by the robot in them is stored is called an around map.

The total map can be stored using various sensing units possessed by the robot. In addition, the total map may be stored by converting the design of the space in addition to the sensing units of the robot. Objects that are fixed in the entire space are not easily removed or re-arranged because they have a certain fixedness. However, since these fixed objects can also be changed, these changes can be confirmed through the around map.

The robot can set the travel route (main route) of the entire space using the total map. If only fixed objects arranged on the total map are arranged in the space where the robot needs to travel, the robot can move in the same way without changing the main path.

However, such a main path may need to be modified depending on the arrangement of various moving objects or the change of fixed objects encountered in the course of the actual robot movement. Therefore, in the present specification, a fixed object and a moving object in the current space are determined by using various sensing units of the robot to generate an around map, and this is compared with the total map to determine the situation in which the moving objects are arranged in the space, and the robot This allows the previously set driving route to be changed.

1 is a diagram showing the configuration of a robot according to an embodiment of the present invention. The robot 1000 includes a sensing module 100 for sensing a moving object or a fixed object disposed outside, a map storage unit 200 for storing a map, a moving unit 300 for controlling the movement of the robot, and a predetermined value of the robot. It includes a function unit 400 that performs a function, a communication unit 500 that transmits and receives information or map information about a map or a moving object with another robot, a fixed object, and a control unit 900 that controls each of these components .

Although the configuration of the robot is hierarchically configured in FIG. 1, this is by logically representing the components of the robot, and the physical configuration may be different from this. A plurality of logical components may be included in one physical component, or a plurality of physical components may implement one logical component.

The sensing module 100 senses external objects and provides sensed information to the controller 900 . In one embodiment, the sensing module 100 is a lidar that calculates the material and distance of external objects such as walls, glass, and metallic doors from the current position of the robot as the intensity of the signal and the reflected time (speed). It may include a sensing unit 110 . Also, the sensing module 100 may include a depth sensing unit 120 that calculates depth information of objects disposed within a predetermined distance from the robot 1000 .

Meanwhile, the sensing module 100 may include an infrared sensing unit 130 that senses the temperature of an object disposed within a predetermined distance from the robot 1000 , in particular, the body temperature of people. The infrared sensing unit 130 provides main information for confirming whether the moving object is a person in the process of sensing the moving object.

In addition, the sensing module 100 may include a plurality of auxiliary sensing units 141, ..., 149 in addition to the above-described sensing units. In an embodiment, an ultrasonic sensing unit, a vision sensing unit, or a thermal sensing unit may be an embodiment of these auxiliary sensing units, and these are auxiliary information necessary for sensing an external object in generating the above-described total map and around map. provides In addition, these auxiliary sensing units also provide information by sensing an object disposed outside when the robot travels.

The sensing data analysis unit 150 analyzes information sensed by a plurality of sensing units and transmits it to the control unit 900 . For example, when an external object is detected, the characteristic and distance of the object may be calculated by combining values sensed by two or more sensing units and transmitted to the controller 900 .

The map storage unit 200 stores information on objects arranged in a space in which the robot moves. The map storage unit 200 includes a total map 210 that stores information on objects arranged in the entire space in which the robot moves, particularly fixed objects and highly fixed moving objects, and A difference occurs between the around map 220 that stores information of objects arranged in space, and the total map 210 and the around map 220, so that the moving objects are clustered and arranged in the total map 210 for a certain period of time or longer. and an obstacle area storage unit 230 in which information on an obstacle area in which moving objects are confirmed to be maintained is stored.

The above-mentioned moving objects with high fixedness are accumulated and stored around map 220 by the control unit 900, and the moving objects continuously arranged in a specific space for a long period of time, for example, for a day or a week, have high fixedness. can be done as In this case, the controller 900 may update the total map 210 by analyzing the around maps 220 accumulated at regular intervals. Of course, such map information may be received by the robot 1000 from another server or other robots through the communication unit 500 or may be transmitted to these servers and other robots, and the controller 900 may transmit and receive map information and a stored map. can be compared and updated.

In addition, the map storage unit 200 includes a path storage unit 240 that stores a path generated by the control unit 900 based on various pieces of information stored in the map storage unit 200 . In summary, the map storage unit 200 stores the total map 210 for the entire space in which the robot moves and the around map ( 220) is stored.

A plurality of the around maps 220 may be stored in an overlapping manner according to various locations and sensed times. The map storage unit 200 may store a plurality of around maps 220 according to locations and viewpoints. Detailed embodiments of the total map 210 and the around map 220, the obstacle area storage 230, and the path storage 240 constituting the map storage unit 200 will be described later.

The moving unit 300 is a means for moving the robot 1000 like a wheel, and moves the robot 1000 under the control of the controller 900 . In this case, the control unit 900 may provide a movement signal to the moving unit 300 by checking the current position of the robot 1000 in the area stored in the map storage unit 200 . The control unit 900 may move the robot according to the path stored in the path storage unit 240 , and all of the control unit 900 controls the robot using a wired electrical signal or a wireless signal. According to the characteristics of the moving unit 300 , the controller 900 may generate a main path and a local path.

For example, when the time required for the moving unit 300 to rotate the robot or the speed required to decelerate to rotate the robot is large, the controller 900 generates a path that reduces the number of rotations of the robot in configuring the path. can In addition, the control unit 900 may configure the rotation angle so as not to significantly decrease the speed. For example, a short-distance path to avoid obstacles is a right angle or 180-degree rotation, but if this rotation takes a lot of time, rather it designates an obstacle area up to the area adjacent to the obstacle and creates a local path so that the robot can move at a faster speed can do.

The function unit 400 means providing a specialized function of the robot. For example, in the case of a cleaning robot, the functional unit 400 includes components necessary for cleaning. In the case of a guide robot, the functional unit 400 includes components necessary for guidance. In the case of a security robot, the functional unit 400 includes components necessary for security. The function unit 400 may include various components according to functions provided by the robot, but the present invention is not limited thereto.

The controller 900 of the robot 1000 may control the operation of the functional unit 400 according to characteristics of various objects disposed on a path. For example, when it is confirmed that only fixed objects are arranged on the path, since there are no people around, the function unit 400 may be controlled to function faster with higher noise. Conversely, when the sensing module 100 detects that a large number of people exist in the vicinity of the robot 1000 , the function unit 400 may be controlled to function more slowly with less noise.

In particular, when a cleaning or guidance function is provided, the robot can variously control and operate each detailed function depending on whether a person exists outside or when only a fixed object is placed, and in this process, the control unit 900 Information sensed by the sensing module 100 and information about the surroundings stored in the map storage unit 200 may be referred to.

In more detail, the controller 900 may generate a main route and a local route with reference to the total map 210 and the around map 220 . In particular, the control unit 900 compares the around map 220 with the total map 210 to identify a moving object, and identifies a first area corresponding to the around map 220 or an obstacle area partially overlapping with the first area or the first area. can be set.

Also, the controller 900 may control the moving unit 300 of the robot to move according to the local path by generating a local path different from the main path according to the maintenance period of the obstacle area.

2 and 3 are diagrams showing the configuration of a total map according to an embodiment of the present invention. As described above, the total map includes locations and additional information of fixed objects or highly fixed objects. Examples 210a and 210b of the total map of FIGS. 2 and 3 divide the entire space in which the robot travels into cells of a total size of 20x20 and store the presence or absence of an object disposed in each cell or the characteristics of the object. Through this, it is possible to check where the object is placed in the entire space. Each cell may be indicated correspondingly by (X-axis-a number arranged at the bottom, Y-axis-a number arranged on the left side). For example, the lower left cell may be indicated as (0, 0), and the upper right cell may be indicated as (19, 19).

In the case of 210a, whether a fixed object is arranged is displayed as binary information such as on/off. Cells in which objects are placed are displayed in black, and cells in which no objects are placed are displayed in white cells. In 210a, it can be seen that walls and columns are arranged in the entire space.

In the case of 210b, the properties of the object are stored together with information on which the object is disposed at a specific location and displayed as shown in FIG. 3 . Objects can be divided into numbers according to their characteristics. For example, "9" in FIG. 3 means that an object made of a rigid material such as concrete is disposed. In the case of "7", it means that an object made of a material such as glass is disposed. In the case of “5”, it means that a metal object is disposed. As will be described later, “1” or “3” may be configured to indicate a moving object.

The materials and positions of these objects may be generated by combining information sensed by any one or more of the lidar sensing unit 110 and the depth sensing unit 120 of FIG. 1 described above. For example, when the laser signal transmitted by the lidar sensing unit 110 is received by the lidar sensing unit 110 again, the distance between the object material and the object using the intensity of the received signal and reflected time information can be calculated. In addition, even when the signal transmitted from the lidar sensing unit 110 is reflected or transmitted using the depth sensing unit 120 , the distance to the object disposed at the corresponding position may be calculated.

In addition, the robot can create a map while traveling in the space of FIG. 2 or 3 and recognize a location, which is called SLAM (Simultaneous localization and mapping). Through the SLAM process, the robot according to an embodiment of the present invention can create a total map for the entire space, and update it after creating it.

According to an embodiment, the total map as shown in FIGS. 2 and 3 is created and stored based on a result sensed by the sensing unit of the robot. In another embodiment, the subject operating the system converts map information generated based on a different format and stores the converted map information as a total map. The stored tota map may be updated according to a predetermined criterion.

In the space shown in FIG. 2 or FIG. 3, the robot performs a predetermined function in a space of a large area. In order to efficiently perform the function, it is necessary to create a path. The above-described controller 900 may generate a route based on the total map. However, the robot can recognize a new obstacle in the process of moving according to the generated path. That is, the sensing module 100 may sense that the object is not registered on the map but is disposed outside during the driving process.

For example, in the case of an airport, obstacles that are not registered in the total map, such as carts and mobile blocking rods used and collected by airport users, are sensed at some point and not sensed at some point, that is, objects are placed and then removed. can be repeated. Similarly, information boards and guidelines for users can be dynamically arranged in amusement parks.

Therefore, the robot according to the embodiment of the present invention is the depth sensing unit 120 and the lidar in a state of stopping for a predetermined time at the starting position in a predetermined space before performing a specific function (cleaning, security, guidance, etc.) The sensing unit 110 may generate an around map by determining fixed objects and dynamic objects (moving obstacles) using the data sensed, and may change a path or create a new one based thereon.

In particular, since the lidar sensing module 100 can scan up to 30 meters according to its performance and resolution, the information sensed by the lidar sensing module 100 can be used to create a path in the total map that is the entire space. .

On the other hand, since the depth sensing unit 120 using a depth camera as an embodiment can determine obstacles up to about 8 meters, the information of objects is reflected in the around map for determining obstacles around the robot to determine the robot's ability to cope with obstacles and thus Driving ability can be improved accordingly.

The path of the robot based on the total map of FIGS. 2 and 3 is stored as a main path in the path storage unit 240 . In this case, the path through which the robot can operate most optimally or efficiently based on the fixed objects registered in the total map is taken as an embodiment. Of course, a plurality of main routes are also created, so that a specific main route can be selected in the process of the robot moving based on the total map. Also, the main route may include route information branching at a specific point.

For example, as indicated by a dotted line in FIG. 3, the robot has one main path from (19, 1) to (16, 1), and path information that branches into two at (16, 1). includes As shown, both the first main path moving from (16, 1) to (5, 1) and the second main path moving from (16, 1) to (16, 19) are the path storage unit 240 . can be stored in

The control unit 900 may generate a path as a method of reducing the number of rotations as an embodiment to prevent increase or decrease in the moving speed due to a speed change occurring while the robot rotates in the process of generating the main path.

Also, in the total map 210b, there is a point that must be passed, that is, a point that must be included in the main route, for example, a point such as (5, 8) or (5, 7). It is a point where the robot cannot move to other areas unless it passes through this point, and the main route can be configured to include these points. Hereinafter, a point such as (5, 7) or (5, 8) is referred to as an articulation point.

In summary, the robot can drive by creating a main route using the previous SLAM process or a total map stored from outside. And in the state in which the total map is stored, the robot scans the surrounding objects using the lidar sensing unit 110 and the depth sensing unit 120 for a predetermined time at the first point before performing a specific function and is identified as a fixed obstacle. Objects are newly updated in the total map, and an existing main route may be primarily changed based on this, or a new main route may be created. Thereafter, the robot may change the above-mentioned main route by using the around map in the process of driving.

4 is a view showing an around map according to an embodiment of the present invention. For convenience of explanation, the space indicated by 211a of FIG. 3 is enlarged in the total map 210b and displayed as a part of the total map. In the part 211a of the enlarged total map 210b, the first main path generated for the robot to move is indicated by a dotted line.

The robot can move along a predetermined first main path (dotted line) at the position (13, 1) (indicated by "R"). Before moving, the robot creates an around map at the position (13, 1). That is, using (13, 1) as a starting point, objects disposed around are scanned and sensed using the lidar sensing unit 110 and the depth sensing unit 120 within a predetermined range for a predetermined time. During the scan, fixed objects (fixed obstacles) and moving objects (moving obstacles) are determined. The around map may be created within a smaller range than the total map. In the embodiment of FIG. 4 , information of sensed objects may be stored within a 5x5 cell range in which (9, 0) is the lower left cell and (13, 4) is the upper right cell.

According to an embodiment, the robot registers a plurality of sensed external objects by displaying "x" on the around map 220a. In this embodiment, the position of external objects sensed from the current position of the robot by using the depth sensing unit 120 is stored.

Also, in another embodiment, the robot may additionally generate the around map 220b reflecting the characteristics of external objects by using the lidar sensing unit 110 . For example, "1" and "3" mean that the characteristics of the moving object are different.

In another embodiment, the robot may additionally use the infrared sensing unit 130 to reflect whether the external objects are people or objects and display them separately on the around map 220b. "1" can be represented as a person and "3" as a thing.

Thereafter, the robot controller 900 compares the positions of the fixed objects arranged on the total maps 210b and 211a with the information of the fixed objects of the around map 220a or 220b so that the around map 220a or 220b is displayed in the entire space. You can check where you belong. Of course, in this process, the robot can estimate the current position of the robot based on information about the starting point on the total map and the distance and direction the robot has moved.

In the case of using an around map such as 220a, an area in which overlapping objects are arranged may be determined by matching the current position of the robot to the total maps 210b and 211a. When using an around map such as 220b, the current position of the robot may be matched to the total maps 210b and 211a, and characteristics (numbers) of additionally sensed objects may be compared to match. Hereinafter, the around map of 220b will be mainly described.

As a result, the robot senses objects indicated by "1" and "3" arranged in front. “1” indicates that the external object is a human by using sensing units such as a vision sensing unit among the infrared sensing unit 130 or auxiliary sensing units. "3" is an object that is temporarily placed like a guide plate made of a material such as plastic. It is confirmed that it is impossible to move to the first main path indicated by a dotted line on a part 211a of the total map of FIG. 4 due to the sensed objects.

Accordingly, the control unit 900 of the robot compares the around map 220b and the total map 210b or 211a which is a part thereof to generate a new optimal path. In this case, the controller 900 may change the path in a direction to increase consistency with the main path other than the area identified in the around map 220b. That is, when new objects are sensed in the around map 220b, other main paths may be maintained or minimally changed except for them.

5 is a diagram in which a local path is generated based on the around map of FIG. 4 according to an embodiment of the present invention. A newly changed path in the part 211a of the total map 210b may be configured as in 211b. For convenience of description, an object identified in the around map 220b is displayed on a part 211b of the total map 210b. The newly created route is indicated by a solid line so that it can be compared with the previous main route (dotted line).

In FIG. 5 , when objects with high mobility such as people are sensed in the area where the around map 220b was previously created, they are highly likely to move soon. Therefore, they first move along a local path in an adjacent area, and (9, 4) At the location, the robot can again generate an around map. And when objects are no longer sensed by the sensing module 100 at the point indicated by “1” or “3” above, or when most of the objects are not sensed and only some remain, the area indicated by 221 Create a local route in (obstacle area).

Alternatively, in the process of generating the local path, the controller 900 may generate the optimal local path by reflecting the path returning to the obstacle area 221 . In the obstacle area 221 , the local path generated when the sensed moving objects other than the fixed object are predicted to be disposed for a long period of time is different from the local path generated when the object is predicted to move and disappear after a short time. configurable.

For example, when the robot receives information about the obstacle area 221 from the outside or infers it based on other information, it may return to perform a function after a time has elapsed with respect to the obstacle area 221 . Therefore, it is possible to reflect on the local route whether or not to drive the areas that are excessive in the process of returning to the obstacle area 221 from another area.

6 is a diagram illustrating a local path generated based on the determination of the obstacle area 221 according to an embodiment of the present invention. In the embodiment of FIG. 6 , it can be confirmed information that the obstacle area 221 is a space with a large number of floating populations for a certain period of time. In the case of airports, ticketing booths are installed, it is confirmed that they are being used as special event areas in department stores, or information on areas on display in schools or museums can be obtained. Such information may be received by the communication unit 500 from an external server or other robots.

Also, in another embodiment, the robot may calculate the moving speed of people in the obstacle area 221 based on information sensed by the sensing module 100 . The distribution of people is checked using the depth sensing unit 120 and the infrared sensing unit 130, and after a certain time has elapsed, the distribution is checked again, and the movement speed or characteristics of people (a tendency to leave an obstacle area or a tendency to enter) cognition, etc.).

When the robot that collects various information calculates that the moving objects in the obstacle area 221 are to be arranged above a predetermined standard, the control unit 900 of the robot passes through the above-described breakpoints 5 and 8 in another area. After performing the function, it may be determined to perform the function in the obstacle area 221 by returning again. As a result, the obstacle area 221 and adjacent areas may be determined to perform a function later and a local path may be set to pass through the breakpoints 5 and 8 . That is, the obstacle area 221 and the area disposed to the left thereof may be set as an area in which the robot will function later (non-functional area), and a local path may be set as shown in FIG. 6 . Setting the non-functional area includes cells disposed on a path moving back to the obstacle area 221 through the above-described disconnection points 5 and 8, and prevents the robot from moving overlapping cells, so that the robot moves efficiently is to increase

According to the characteristics of the moving unit 300 of the robot, the control unit 900 of the robot calculates a local path as shown in FIG. can do. In addition, the calculated local path may partially overlap the main path.

7 is a view showing a local path generated based on the determination of the obstacle area 221 according to another embodiment of the present invention. 6 shows an example in which the local path is newly calculated according to the prediction that the moving objects in the obstacle area 221 will not move for a long time and thus the time of performing the function for the corresponding space is changed.

Meanwhile, FIG. 7 shows a local path generated when the robot predicts that moving objects of the obstacle area 221 will move within a short time according to the various criteria discussed in FIG. 6 and that the moving objects sensed in the obstacle area 221 will disappear. am. Since the function can be performed for the obstacle area 221 in a short time, a local path is set to perform the function for other adjacent areas before passing the breakpoints 5 and 8 . And when the robot arrives at the position (12, 5) after performing a function on the adjacent areas, whether the robot performs the function in the obstacle area 221 by sensing again the moving objects disposed in the obstacle area 221 . can decide whether

When it is sensed that the moving objects in the obstacle area 221 have disappeared, the controller 900 may control the moving unit 300 to cause the robot to enter the obstacle area 221 to perform a function. According to the characteristics of the moving part 300 of the robot, the control unit 900 of the robot calculates a local path as shown in FIG. can do. In addition, the calculated local path may partially overlap the main path.

6 and 7 , local paths may be set differently depending on whether moving objects remain in the obstacle area 221 for a long time or move after a short time.

A summary of the above is as follows. The robot maintains a total map to perform specific functions (cleaning, security, guidance, etc.) in a space accommodating a large floating population, and also creates an around map while starting to run to perform the above-mentioned functions. The around map senses various moving objects arranged within a certain range as shown in 220b of FIG. 4 , and uses the depth sensing unit 120 , the lidar sensing unit 110 , and the infrared sensing unit 130 in front of the robot 7 Obstacles within a range of ~8 m are determined and registered in the around map (220b in FIG. 4).

In addition, the controller 900 compares the obstacles registered in the around map with the total map, and if there are obstacles in the same location, it is determined as a fixed object set in the previous total map. And the inconsistent objects are judged as moving objects (moving obstacles) and a certain function is performed by avoiding them.

In this process, if the moving objects are clustered, they may not be entered by judging the entire area as an obstacle area. In addition, the robot can drive by creating a local route that partially corrects the main route created based on the total map previously. In addition, after the robot performs and completes the function in the next line or adjacent area of the obstacle area, the robot moves to the area where the above-described moving object is arranged and performs the function, thereby reducing the efficiency of the function performed by the robot. without moving quickly.

As an embodiment of generating a local path, if it is determined as a space where people stay for a long time as shown in FIG. 6 , the controller 900 generates a local path for returning after performing functions on more other areas. On the other hand, as shown in FIG. 7 , when it is determined that the space is a space in which people move quickly and an obstacle is not sensed, the controller 900 generates a local path for returning after performing a function on a nearby area.

That is, as shown in FIG. 6 or FIG. 7 , the local path may be configured differently depending on the case where the period (maintenance period) during which the obstacle area is maintained is longer or shorter than the predefined period. The predefined period can be calculated based on the time information required for the robot to travel the entire space of the total map, such as 30 minutes or one hour. In addition, the maintenance period of the obstacle area may be determined based on the time required to travel the main route within the above-described disconnection point in the total map and perform a function.

In summary, as shown in FIG. 7 , when the maintenance period of the obstacle area 221 is shorter than the predefined period, the controller 900 generates a first local path for traveling to a second area adjacent to the obstacle area, and the controller ( 900) generates a second local path in which the robot travels to the obstacle area after traveling on the first local path. 7, the first local path is (8, 4), (8,1), (7,1), (7,4), (6,4), (6, 1), (5) , 1), and (5, 4) mean driving in the area corresponding to The first local path is configured as a path completely different from the main path.

On the other hand, the second local path is (5, 5) and (12, 5) overlapping with the main path only in a direction different from that of the main path. The robot may sense moving objects in the obstacle area again at (12, 5).

This means that the second local path to quickly return to the obstacle area is generated because the maintenance period is short. That is, the local path that the robot generates differently from the main path includes these first and second local paths.

On the other hand, when the maintenance period of the obstacle area 221 is longer than the predefined period as shown in FIG. 6 , the controller 900 generates a first local path for traveling to a second area adjacent to the obstacle area, and in the second area A second local path that travels to a third area that is not adjacent to the obstacle area may be generated.

This means that the robot generates a local path to return to the obstacle area after performing a function in a third area that is not adjacent to the obstacle area, for example, in another area past the break point. In FIG. 6 , not only the obstacle area but also adjacent areas are set as non-functional areas and not driven. This is to increase the driving efficiency of the robot by driving the non-functional areas in the process of the robot returning to the obstacle area later.

In other words, information on the maintenance period of the obstacle area, that is, the space where people quickly disappear and the space where they stay for a long time, is stored in the information of the total map in advance, and based on this information, the control unit can efficiently and quickly move the robot in a short time. By creating a local path, the robot can perform its functions efficiently. In this case, identification information on the obstacle space may be separately stored in the total map. Alternatively, the robot may determine in real time information about the time people stay or the time that people stay in the obstacle area 221 , or may receive it through communication from another server or robot.

In addition, the robot performs a function in another area and moves back to the obstacle area to check whether people have moved or not, accumulating the information acquired by the robot, that is, data on areas where people stay for a while and areas where people do not. With this, the average time people stay is created and stored as data, so that the next time the same area is cleaned, security, guidance, etc., it can be reflected and a route can be created. That is, the robot can store information about the area and time in which a moving object such as an obstacle or a person is widely distributed with respect to the identified obstacle area, and reflect it in generating a path at a specific function time.

8 is a diagram illustrating a process in which a robot performs a specific function in a space in which a large-scale floating population moves according to an embodiment of the present invention.

In FIG. 8 , cleaning is mainly described as an embodiment of the function, but the present invention is not limited thereto. The robot starts cleaning and sets the main route (S810). The main route can be saved in advance or created before the robot starts driving using the total map. Then, while driving along the main route, the sensing module 100 scans surrounding obstacles and generates an around map storing their positions (S820). The control unit 900 of the robot determines the moving objects by comparing the fixed objects of the total map based on the location of the robot and the obstacle stored in the around map (S825).

As described above with reference to FIG. 4 , it is an embodiment to apply the current position of the robot to the total map and compare external objects sensed in the around map with the fixed object of the total map. As a result of the determination, it may be determined whether moving objects (people or obstacles moving or temporarily disposed) are arranged in a cluster in a specific area on the around map (S830).

If the moving objects other than the fixed object are not arranged in a cluster or the number is small, the moving object may be moved according to a predetermined main path and may be operated according to a scenario in which the moving object is recognized ( S835 ). That is, if the range in which the moving objects are distributed within a certain range is small or the corresponding space is an essential functional area, the robot can move along the main path in the corresponding area according to the obstacle avoidance scenario.

Operating according to a scenario for recognizing a moving object means driving along the main route without colliding with people or obstacles other than fixed objects in the area specified in the around map. After step S835, it moves along the main route to an area other than the area specified in the around map (S838), and repeats step S820.

On the other hand, when the moving objects are arranged in a cluster in S830, the robot moves to a human or temporarily arranged by the control unit 900 checking the mobility of a specific area on the around map or an area in which smaller moving objects are clustered, that is, an obstacle area. It is checked whether the objects are moving soon (S840). As an embodiment of the checking method, the control unit 900 and the sensing module 100 may determine the degree of crowding and movement of people in the obstacle area.

In another embodiment, the control unit 900 and the communication unit 500 may receive information from an external server or other robot that a specific task (ticketing booth installation, event venue installation, etc.) is performed at the location of the obstacle area. According to the result of the check, a local route may be generated differently according to an area to which people and objects move soon among the entire cleaning area and an area to which the people and objects are not, among the entire cleaning area. That is, as shown in FIGS. 6 and 7 , it is possible to newly set a path for efficiently cleaning all areas in a short time according to the characteristics of the corresponding area.

If the obstacles (moving objects) in the obstacle area are moving soon, as shown in FIG. 7 , a local path moving to the adjacent area of the obstacle area is created and cleaned, and then moved to the obstacle area and cleaning is performed. do. The controller 900 may generate a local path suitable for the cleaning path. That is, when a moving object, for example, people or temporarily placed objects, is a moving area, the control unit 900 generates a local path for cleaning adjacent areas (S842) and performs movement and cleaning according to the local path (S842). After (844), a new around map is generated by scanning the moving objects in the specific area in the obstacle area, that is, in the previously around map (S846). (S848). Thereafter, as in step S838, it moves to a new area along the main path.

On the other hand, when the obstacles (moving objects) of the obstacle area do not move immediately, that is, in the area where the moving objects stay for a long period of time, as shown in FIG. function area) is set (S850). Since cleaning is performed after a certain period of time has elapsed for the obstacle area, the areas arranged in the process of returning after the robot performs cleaning in a distant area are set as cleaning smoke areas to shorten the movement path of the robot or to increase cleaning efficiency.

Thereafter, the controller 900 creates a new local path except for the cleaning smoke area (S852). Then, the robot moves according to the local path and performs cleaning (S854). In this process, the robot can perform cleaning by moving along the main path to an area far away from the obstacle area beyond the above-mentioned breaking point. Thereafter, the robot moves to a new area to clean, and then returns to the cleaning smoke area to perform cleaning (S856).

The robot always checks whether there are obstacles within a certain range while moving along the local path or the main path.

In addition, when the obstacle area is identified through the around map, a local path for the area is newly created, but the local path may be set differently according to the characteristics of the obstacle area. In particular, when it is confirmed that the obstacle area is an area where the obstacle is disposed for a long period of time, the controller 900 sets the areas disposed in the process of returning to the obstacle area again as the cleaning smoke area after completing cleaning in another area. Paths can be created efficiently.

When the embodiment of FIG. 8 is applied, cleaning, guidance, security, etc. can be performed on a large area at the time of starting cleaning using the data of the lidar sensing unit 110 and information of fixed objects stored in the total map. You can create a main route. And in the process of moving the robot according to the main path, an around map is generated around the robot in real time using the depth sensing unit 120, and using this, the robot responds to obstacles in real time and creates a new local path make it possible In addition, in the process of generating the around map, the control unit 900 and the sensing module 100 use the lidar sensing unit 110 or the infrared sensing unit 130 together to identify the tendency of people to move, and then to the obstacle area. It is possible to determine when to perform the function.

When an embodiment of the present invention is applied, the lidar sensing unit in the process of creating a route so that the robot performing functions such as cleaning, security, and guidance can efficiently operate in a large area such as an airport, hospital, amusement park, etc. When the around map and the local path are generated using the sensed data of the 110 and the depth sensing unit 120, and a function is performed accordingly, the robot operates according to an efficient path even when the movement of the floating population is frequent. can

In particular, by maintaining both the total map and the around map, the robot recognizes moving/fixed obstacles at the moment of performing functions such as cleaning, security, and guidance and reflects them on the robot's travel path to improve function performance efficiency and improve obstacle response ability can do it

9 is a view showing a running process of a robot according to an embodiment of the present invention. The control unit 900 of the robot drives the robot according to the main path generated based on the total map 210 stored in the map storage unit 200 (S910). The main route includes all embodiments previously generated by the controller 900, generated just before driving, or received from an external server or other robot.

The main path may be composed of positions of cells in which the robot moves in the configuration of the map as in FIG. 2 or FIG. 3 described above. From the cell identification information or location information (x, y) of the starting point to the point where the direction is changed or rotated when driving in a straight line can be stored as one path, and these paths can be combined to become one main path. The main path may be stored in the above-described path storage unit 240 .

In another embodiment, the main route may have two junctions in one cell, in case it is no longer possible to travel in a specific cell constituting the main route. As an embodiment, the branching point in the main route reflects the local route accumulated in the course of driving the robot in the past. The branching point will be described later.

Thereafter, the sensing module 100 of the robot generates a first around map that stores the positions of objects disposed in the first area having a size smaller than the area corresponding to the total map (S920). Like the two types of around maps 220a and 220b in FIG. 4 , the sensing module 100 of the robot may generate the around map using the depth sensing unit 120 .

That is, the depth sensing unit 120 of the sensing module 100 calculates depth information of objects disposed around the robot, and the sensing data analysis unit 150 of the sensing module 100 transmits the depth information of the objects to the robot. It can be converted into reference distance information. In addition, as shown in FIG. 4 , the around maps 220a and 220b may be generated based on the position of the robot (“R” in FIG. 4 ).

In addition, in this process, in order to increase the accuracy of generating the around map, the lidar sensing unit 110 of the sensing module 100 transmits the laser signal and then the object according to the characteristics (distance and reflection intensity) of the reflected signal from the objects. It is possible to generate an around map as shown in 220b of FIG. 4 by calculating the distance and characteristic information of each of them. In addition, when a large number of people are grouped by using the infrared sensing unit 130, an around map may be generated by reflecting this.

Thereafter, the controller 900 compares the first around map and the total map 210 to identify the sensed objects as moving objects even though they are not fixed objects, so that the first area or an obstacle partially or all overlapping with the first area. An area is set (S930).

Meanwhile, the controller 900 generates a local path different from the main path according to the maintenance period of the obstacle area and controls the moving unit 300 of the robot to move according to the local path ( S940 ). The maintenance period of the obstacle area refers to a period in which moving objects disposed in the obstacle area continue to stay without moving.

This includes, for example, the period during which certain objects are placed, or the period during which people stay in the obstacle area. In addition, in the case where people constantly move, but as a result, people are always present in the obstacle area, the entire time that people are present can be used as the maintenance period. However, even in the case of people or things, if there is only a very small number without a crowd, the controller may drive in a manner of avoiding the obstacle without setting the corresponding area as the obstacle area.

If the control unit confirms that the maintenance period of the aforementioned obstacle area is maintained longer than a predetermined period, for example, 1 hour, the control unit generates a local path so that the robot moves to the obstacle area later to perform a function. can This was looked at in FIG. 6 .

On the other hand, when the controller determines that the maintenance period of the obstacle area is maintained shorter than the predetermined period, the local path may be generated to move to the obstacle area again after driving in another area adjacent to the obstacle area. This was looked at in FIG. 7 .

Hereinafter, detailed examples of each step of FIG. 9 will be described. 10 is a diagram for setting and storing a path according to an embodiment of the present invention. 10 , a bifurcation point according to an embodiment of the present invention will be described. For convenience of explanation, the size of the total map is based on a very small 5x5.

Based on the total map of FIG. 10 , the path storage unit 240 of the robot may store the main path as follows.

(1) first route expression

MainPath = [ (5, 0), (5, 1), (2, 1), (2, 3), (4, 3), (4, 2) ]

This main path is indicated as 1001 of FIG. 10 .

On the other hand, in (4, 1), two paths can be taken. Accordingly, the path storage unit 240 may additionally store information on such a branch point.

(2) second route expression

MainPath = [ (5, 0), (5, 1), (4, 1),

Div_one{ [ (2, 1), (2, 3), (4, 3), (4, 2) ],

[ (4, 3), (2, 3), (2, 1), (3, 1) ] } ]

This means that MainPath is either the first path([ (2, 1), (2, 3), (4, 3), (4, 2) ]) or the second path([ (4, 3), (2, 3) in Div_one. , (2, 1), (4, 1) ]) shows that the branching point is (4, 1).

A path expression when the first path is applied in Div_one is the same as the third path expression, which is consequently the same as the first path expression, which is shown in 1001 of FIG. 10 .

(3) 3rd route expression

MainPath = [ (5, 0), (5, 1), (4, 1), (2, 1), (2, 3), (4, 3), (4, 2) ]

On the other hand, the path expression when the second path is applied in Div_one is the same as the fourth path expression, which is shown in 1002 of FIG. 10 .

(4) 4th route expression

MainPath = [ (5, 0), (5, 1), (4, 1), (4, 3), (2, 3), (2, 1), (3, 1) ]

Alternatively, time information to which each main route is applied may be stored separately. If there is an obstacle area on a specific path in the process of moving the robot, it can be configured to avoid it or to move after driving to another place first. Therefore, for this purpose, the path storage unit may be configured as in 240a. The control unit 900 moves the robot using the path (1001 in FIG. 10) of the third path expression as the main path on Sunday, and the robot using the path (1002 in FIG. 10) of the fourth path expression as the main path. can be moved

Also, the robot may initially store the main path only as a first path expression. After that, when the robot moves and an obstacle area occurs and the same or similar local path is repeatedly generated in the process of setting the local path, this can be reflected in the main path.

As shown in FIG. 6 or FIG. 7 , when the obstacle area for changing the main path is repeatedly identified, the controller 900 identifies the obstacle area as a repetitive and fixed space, and the robot moves efficiently according to the maintenance period. The local path can be reflected in the main path.

11 is a diagram comparing an around map and a total map according to an embodiment of the present invention.

The total map is a map of the entire space that the robot uses the lidar sensing unit 110 or receives and stores from the outside. The around map uses the depth sensing unit 120 and, optionally, the lidar sensing unit 110 and the infrared sensing unit 130 for a space within a partial range based on the robot among the spaces in which the robot moves, to move objects and fix them. It is a map reflecting the result of sensing an object. When the robot generates the around map as shown in FIG. 4 at a specific location, in order to compare it with the total map, it is necessary to first check the current location of the robot.

In FIG. 4 , the robot is confirming its location as an area marked with “R”. In addition, the around map 220a or 220b may be compared with the total map at the position of “R”. However, the around map is not necessarily created to point in the same direction as the total map, because the robot can move in various directions. Therefore, when the depth sensing unit 120 generates the around map as shown in 220c, the robot checks whether there is an area in which the depth information sensed by the depth sensing unit 120 gradually changes.

For example, when depth information values of objects disposed on the left side with respect to the position "R" of the robot in 220c gradually change as in 1121, the controller 900 of the robot may determine this as a fixed object. Accordingly, the controller 900 of the robot may rotate the orientation of the around map by 90 degrees to the left as shown in 220a by comparing the positions of the fixed object disposed on the left and the robot in the total map ( 211a in FIG. 4 ). In addition, by comparing the orientation-corrected around map with the total map 211a of FIG. 4 , only moving objects can be identified, except for the fixed objects of the total map 211a among the objects indicated by x in 220a.

In addition, when the lidar sensing unit 110 is used in addition to the depth sensing unit 120 , an around map such as 220b may be generated using the signal intensity reflected from the sensed objects, which is the total map 211a and to make comparisons easier.

On the other hand, when the information sensed by the infrared sensing unit 130 is combined, a person can be identified from among objects sensed on the around map, so that the around map can be more accurately generated.

In summary, the generation of the around map may be generated by reflecting the characteristic information of the objects complexly calculated using the depth sensing unit 120 , the lidar sensing unit 110 , the infrared sensing unit 130 , and the like. In particular, the depth sensing unit 120 may be applied to identify a fixed object and a moving object that can be compared with the total map by using the depth information. The lidar sensing unit 110 may be applied to identify a moving object by comparing the characteristics of the signals reflected from the objects with the characteristics of the objects stored in the total map. The infrared sensing unit 130 may be applied to identify a person among moving objects.

12 is a diagram for setting an obstacle area according to an embodiment of the present invention. The aforementioned obstacle area is an area set so that the robot does not enter including the clustered range when a plurality of moving objects form a cluster. In addition, the robot may enter the obstacle area after moving the grouped moving objects and perform a specific function. In addition, the controller may change the local path according to the obstacle area. Accordingly, the obstacle area may be calculated in consideration of movement efficiency according to the movement speed and rotation speed of the robot, and the density of the main path of the robot.

In the setting of the obstacle area, first, the controller 900 calculates the degree of clustering of the moving objects, and the controller 900 determines the clustering degree in the around map or the area adjacent to this area according to the clustering, and the moving object within these areas. You can set the outline where they are placed as an obstacle area.

1220 of FIG. 12 is an around map generated by the control unit of the robot. "x" and "x1", "x2" indicated the positions of objects on the around map. The bold line on the map indicates the boundary of the obstacle area.

The setting of the obstacle area may vary depending on a range of moving objects to be included in the obstacle area by calculating the cluster degree of moving objects, and in what form the obstacle area including them is to be configured.

Using the around map calculated as shown in 1220, the controller 900 may determine that the moving object is a moving object in the same cluster according to the level at which the moving object is closely distributed between cells. For example, in the case of 1221, only when moving objects are disposed in cells that can be recognized as closest in 1220, for example, neighboring cells that are in contact with the top and bottom or left and right sides, these are determined as a cluster and the obstacle area is set. .

In 1221, the cell marked "x1" and the cell marked "x2" are not connected with the cell marked "x" by a plane, so they are not set as obstacle areas. Accordingly, the controller may set the local path so as not to approach the obstacle area configured as shown in 1221 .

On the other hand, when the time required for the robot to rotate is large, the controller 900 may configure the obstacle area as close to a rectangular shape as possible. As shown in 1222, it is "x" that is determined to be a clustered moving object in 1221, but areas where no moving objects are placed are included as obstacle areas, so that in the process of the robot performing a predetermined function in the obstacle area later, the robot's It can be configured to reduce the number of rotations of the moving unit 300 . This may be applied as the same mechanism as when the controller 900 considers the linear movement speed and rotation speed of the robot in the process of generating the local path or the main path.

If the obstacle area is configured to include only the moving object and it is determined that the robot operates in a larger area in advance as the efficiency of the robot, the obstacle area can be set as shown in 1221. On the other hand, when it is determined as the efficiency of the robot that the robot moves quickly and performs a predetermined function in consideration of the movement and rotation speed of the robot, the obstacle area may be set as shown in 1222 .

Meanwhile, in the configuration such as 1222, 3 cells out of 9 cells do not have moving objects. That is, the distribution of moving objects is 66%. In the process of setting the obstacle region, the controller 900 may reset the obstacle region when the distribution of moving objects is low according to a preset criterion. For example, as in 1223, the controller 900 may configure the obstacle region so that the moving object included in the clustering calculation process is not included in the obstacle region.

In addition, in the process of calculating the degree of clustering of moving objects, 1221, 1222, and 1223 were determined to be the same cluster when moving objects were located in cells adjacent to the top and bottom or left and right. In 1231, even if there is a moving object in a cell in the diagonal direction, it is determined as the same cluster. In the same manner as in 1221 , an obstacle area including only a moving object is shown in 1231 .

Meanwhile, the controller 900 may configure the obstacle area as shown in 1232 to configure the obstacle area in a quadrangular shape as shown in 1222 . However, if the obstacle area is configured as shown in 1232, the controller 900 determines that the obstacle area is set excessively wide because the distribution of the above-described moving objects is 43.75%, and may reset the obstacle area as shown in 1222 or 1221 again.

Whether to include x2 as an obstacle area may vary depending on the size of the cell and the size of the robot. If the total map is densely configured and the size of the cell is much smaller than the size of the robot, x2 may also be included in the obstacle area. Accordingly, in setting the obstacle area, it is possible to divide the moving objects into the obstacle area even if the distances of the moving objects are not adjacent cells. The controller 900 may set the obstacle area according to the distance of the moving objects in consideration of the size of the cell, the size of the robot, and the traveling radius.

13 is a view showing a process in which the robot according to an embodiment of the present invention confirms the period during which the obstacle area is maintained.

The control unit 900 and the sensing module 100 of the robot create a new around map for the obstacle area or the area in which the around map is prepared. That is, a new around map (second around map) that stores the positions of objects is generated by sensing objects disposed in the first area where the around map (first around map) was previously generated.

In addition, the controller 900 may calculate a maintenance period of the obstacle area by comparing the first around map and the second around map. For example, after the controller 900 generates the first around map 1220, the second around map 1321 is generated and compared for a predetermined time (for example, 30 seconds or 1 minute) to determine the location of most of the moving objects. When maintaining as it is, especially when the change of moving objects within the area set as the obstacle area is less than a certain range, the maintenance period is calculated in units of time, the corresponding obstacle area is set to be maintained for a long time, and a local route can be created by reflecting this. .

On the other hand, when the second around map is generated as shown in 1322, it is determined that the obstacle area is not maintained for a long time, and the maintenance period of the obstacle area is set to be short, reflecting this, and generating a local path.

When the change of the moving objects is not large as shown in 1321, as shown in FIG. 6, the robot travels to another area farther away from the adjacent area, then returns to the vicinity of the obstacle area, senses the moving objects, and whether the robot enters. can be checked.

When the change of moving objects is large as shown in 1322, as shown in FIG. 7, the robot runs to the adjacent area and performs a predetermined function, then returns to the vicinity of the obstacle area, senses the moving objects, and checks whether the robot enters. can

On the other hand, the control unit 900 and the communication unit 500 of the robot may transmit the location information on the obstacle area to the server or other robot, and receive the working time information of the obstacle area from them. For example, when the robot transmits x/y location information of the obstacle area of 1220 to a server or robot, the server or robot performs a predetermined operation (ticketing, repair, etc.) in a space corresponding to the corresponding x/y location information. You can receive information about time.

As in 1330, information on the space where the work is performed and the work time information (Time: 14:00 to 15:00) may be received together, and the control unit 900 of the robot reflects this and maintains the obstacle area for the corresponding time. It can be determined that it is possible and a local path can be created.

14 is a diagram illustrating a path through which a robot returns to a non-functional area and performs a function according to an embodiment of the present invention.

In the embodiment of FIG. 6, since the maintenance period of the obstacle area set by the robot lasts for a long time, a local path was examined to move to another area to perform a function. It started at the "R" position of (13, 1) in the lower right.

Thereafter, after performing a function in another area, the robot moves through the breakpoints 5 and 8 again. In addition, the robot creates a new around map at the breakpoints 5 and 7 (marked "R") and, when there are no moving objects, creates a local path for non-functional areas. In particular, the controller 900 may control the movement unit 300 of the robot to move to the obstacle area according to the local path by creating a local path to move to the obstacle area previously set.

Since the moving object is no longer disposed in the obstacle area 221 in FIG. 14 , the controller 900 may generate a local path according to the configuration of the non-functional area. In this case, a local path may be generated by reflecting the main path corresponding to the non-functional area.

When the above-described embodiments are applied, the robot moves and functions by optimizing the path determination algorithm for performing functions such as cleaning, security, and guidance in a complex environment of a large area such as airports, hotels, hospitals, amusement parks, etc. efficiency can be improved. In particular, it is possible to improve the robot's ability to respond to obstacles by creating a local route to reflect the information about obstacles around the robot as an around map and to reflect it in the robot's driving, and it is possible to reduce the risk of accidents while increasing the efficiency of functions such as cleaning, guidance, and security. .

In particular, in generating the main path and local path, the most efficient path can be created according to the characteristics of the robot's function or the characteristics of the robot's movement method. raise all

15 is a view showing the configuration of an obstacle area storage unit according to an embodiment of the present invention. According to the serial number (Serial), the area of the obstacle area and the maintenance period (Period) are stored. 002 shows that the obstacle area is defined by two rectangles. The first rectangular region is defined by the lower left cello (2, 0) and the upper right cello (3, 3). The second rectangular region is defined by the lower left cello (3, 4) and the upper right cello (5, 6).

16 is an embodiment in which a non-functional area and a function-performing area are separately displayed on the total map according to an embodiment of the present invention. In the total map 1620 , the area in which the function has been performed is indicated by "C", and the area in which the function is not performed due to the obstacle area is left blank. In this case, the robot's control unit can generate a local path to return back to the blank area.

The robot (denoted by "R") travels through non-functional areas and non-functional areas to create a local path to perform a function by moving to a non-functional area including an obstacle area after the path ends at (9, 13) A local route may be generated in consideration of a point to be passed through after completion of the process (point (19, 1) in FIG. 16 ). In addition, since it must pass through the breaking point (point (5, 7) in FIG. 16 ), the controller 900 may generate a local path in consideration of this.

Accordingly, the control unit 900 of the robot passes through (9, 13), the current position of the robot, (19, 1), the target point, and (5, 7), the break point, and travels all the non-functional areas to perform the function. It is possible to create a local route to perform, and such a local route may reflect the main route in some areas and not reflect the main route in some areas. In addition, it has been previously described that the control unit 900 can generate a local path and a main path based on variables based on the movement and rotation speed of the robot and the function execution speed.

In addition, an area in which the robot does not perform a function may be displayed through the interface unit installed in the robot. In addition, the robot may provide information on the non-functional area to the server or other robots, so that other robots can perform functions in the process of driving the non-functional area in the same manner.

The robot may transmit/receive information on a non-functional area with an external server or another external robot using the communication unit 500 . In addition, before the robot enters the non-functional area, it receives an around map for the non-functional area from another robot, so that if the non-functional area still has moving objects, the robot may not move. This can reduce unnecessary movement of the robot. In particular, when a plurality of robots are arranged in a space, information on a non-functional area can be efficiently shared.

Even though all components constituting an embodiment of the present invention are described as being combined or operated as one, the present invention is not necessarily limited to this embodiment, and all components within the scope of the present invention are one or more may be selectively combined to operate. In addition, all of the components may be implemented as one independent hardware, but some or all of the components are selectively combined to perform some or all functions of the combined components in one or a plurality of hardware program modules It may be implemented as a computer program having Codes and code segments constituting the computer program can be easily deduced by those skilled in the art of the present invention. Such a computer program is stored in a computer readable storage medium (Computer Readable Media), read and executed by the computer, thereby implementing the embodiment of the present invention. The storage medium of the computer program includes a magnetic recording medium, an optical recording medium, and a storage medium including a semiconductor recording device. In addition, the computer program implementing the embodiment of the present invention includes a program module that is transmitted in real time through an external device.

In the above, although the embodiment of the present invention has been mainly described, various changes or modifications may be made at the level of those skilled in the art. Accordingly, it will be understood that such changes and modifications are included within the scope of the present invention without departing from the scope of the present invention.

1000: robot 100: sensing module
200: map storage unit 210: total map
220: around map 230: obstacle area storage unit
240: path storage unit 300: moving unit
400: function unit 500: communication unit

Claims (16)

generating a main route based on the total map stored in the map storage unit by the controller of the robot and driving the robot according to the main route;
generating, by the sensing module of the robot, the positions of objects arranged in a first area having a size smaller than the area corresponding to the total map, and the control unit generating a first around map storing the positions of the objects;
comparing, by the control unit, the first around map and the total map to identify a moving object, and setting the first area or an obstacle area partially or entirely overlapping with the first area;
The control unit sets a non-functional area among the obstacle areas according to the maintenance period of the obstacle area and creates a new local path that is different from the main path and excludes the non-functional area so that the robot moves according to the local path. A method of changing a path using an around map, comprising controlling the moving part of the robot.
According to claim 1,
The step of generating the first around map is
calculating, by a depth sensing unit of the sensing module, depth information of objects disposed around the robot; and
and converting, by the sensing data analysis unit of the sensing module, the depth information of the objects into distance information based on the robot, a method of changing a path using an around map.
3. The method of claim 2,
The step of generating the first around map is
After the lidar sensing unit of the sensing module transmits a laser signal, the method further comprising calculating distances and characteristic information of the objects according to the characteristics of the signals reflected from the objects, using an around map to change a path method.
According to claim 1,
The step of setting the obstacle area is
calculating, by the controller, a degree of clustering of the moving objects; and
Changing a path using an around map, comprising, by the controller, setting an outline in which the moving objects are disposed in the first area or an area adjacent to the first area as the obstacle area according to the clustering degree method.
According to claim 1,
Transmitting, by the communication unit, location information on the obstacle area to a server or another robot; and
A method of changing a route using an around map, comprising the step of the communication unit receiving work time information of the obstacle area from the server or the other robot.
According to claim 1,
generating, by the sensing module, a second around map for storing the positions of the objects by sensing the objects disposed in the first area; and
and calculating, by the controller, a maintenance period of the obstacle area by comparing the first around map with the second around map.
According to claim 1,
If the holding period is shorter than a predefined period,
generating, by the controller, a first local path for traveling to a second area adjacent to the obstacle area; and
and generating, by the control unit, a second local path through which the robot travels to the obstacle area after traveling on the first local path.
According to claim 1,
If the holding period is longer than a predefined period,
generating, by the controller, a first local path for traveling to a second area adjacent to the obstacle area; and
and generating a second local route for traveling from the second area to a third area not adjacent to the obstacle area.
9. The method of claim 8,
After the step of controlling the moving unit by the control unit so that the robot travels according to the first local path and the second local path,
and controlling, by the controller, a moving unit of the robot to move according to the third local path by generating a third local path moving to the obstacle area.
According to claim 1,
The main path includes one or more breakpoints,
Path using an around map, further comprising: the control unit generating the new local path to include the break point; and the control unit passing the break point and moving the robot to the non-functional area how to change it.
a moving unit for controlling the movement of the robot;
a map storage unit for storing a total map for the entire space in which the robot moves and an around map for storing positions of objects disposed in a first area having a size smaller than an area corresponding to the total map;
a sensing module for sensing an object disposed outside the robot; and
It controls the moving unit, the map storage unit, and the sensing module, generates a main path and a local path by referring to the total map and the around map, compares the around map and the total map to identify a moving object, 1 area or an obstacle area overlapping part or all of the first area is set, and a non-functional area is set among the obstacle areas according to the maintenance period of the obstacle area, and is different from the main route and the non-functional area is excluded A robot for changing a path using an around map, comprising a controller for controlling a movement unit of the robot to generate a new local path to move the robot according to the local path.
12. The method of claim 11,
The sensing module is
a depth sensing unit configured to calculate depth information of objects disposed around the robot; and
A robot for changing a path using an around map, comprising a sensing data analyzer that converts the depth information of the objects into distance information based on the robot.
12. The method of claim 11,
The control unit calculates a degree of clustering of the moving objects, and according to the degree of clustering, sets an outline in which the moving objects are arranged in the first area or an area adjacent to the first area as the obstacle area. A robot that uses it to change its path.
12. The method of claim 11,
If the holding period is shorter than a predefined period,
The control unit generates a first local path that travels to a second area adjacent to the obstacle area, and generates a second local path through which the robot travels to the obstacle area after traveling on the first local path. A robot that uses it to change its path.
12. The method of claim 11,
If the holding period is longer than a predefined period,
The control unit generates a first local path for traveling to a second area adjacent to the obstacle area, and generates a second local path for traveling from the second area to a third area not adjacent to the obstacle area. A robot that changes its path using
12. The method of claim 11,
The main path includes one or more breakpoints,
The control unit generates the new local path to include the break point, and the controller moves the robot to the non-functional area by passing the break point. A robot changing a path using an around map.

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