KR102349044B1 - Server and method of controlling raser irradiation of path of robot, and robot of moving based on the irradiated path - Google Patents

Abstract

The present invention relates to a server and method for controlling laser irradiation of a moving path of a robot and a robot moving based thereon, and the main server for controlling laser irradiation of a moving path of the robot according to an embodiment of the present invention is a camera module It includes a positioning unit for confirming the position of the robot in the captured image, and a control unit for generating a movement path of the robot and controlling the transmission of the movement path to a laser irradiation module capable of outputting the movement path to the periphery of the robot with a laser .

Description

A server and method for controlling laser irradiation of a moving path of a robot, and a robot moving based on the same

The present invention relates to a server and method for controlling laser irradiation of a movement path of a robot, and a technology related to a robot moving based thereon.

Robots can travel in a variety of ways. You can save a map for the entire space and create a movement route on the map. Alternatively, the robot may sense the obstacles around it without a separate map to create a path to avoid the sensed obstacles.

In this way, the robot must directly form a predetermined path, which means that the robot needs computing power to generate the path. In addition, there is a limit to the movement speed of the robot in that various sensors must be combined to detect various obstacles, and the path is recalculated at the time of movement.

On the other hand, US Patent 2,629,028 registered in the United States uses a laser pointer to mark the moving target point of the robot, and the robot moves the target point. It will be looked at in more detail in FIG. 1 .

1 is a diagram showing a configuration for irradiating a target point to a robot with a conventional laser pointer. As shown in FIG. 1 , a laser pointer 16 irradiates (or scans) a laser beam to indicate a direction to the robot 12 . A laser beam installed on the ceiling indicates where the robot should go next, and the robot uses its own built-in camera to discover the beam and recognize its direction through image analysis. This presents the robot with a technical configuration that allows the robot to move by marking the target point with a laser.

In the configuration shown in FIG. 1 , the robot may move along the irradiated laser beam. However, since the irradiated area of the laser beam is provided as a point, it is necessary to create a path necessary to move to a target point, and there is a problem that the robot must also sense an obstacle.

That is, the amount of computation required by the robot is still high, and there is a limit in that it requires additional computing resources to avoid obstacles. This also limits the robot's moving speed.

Accordingly, in the present specification, a method for examining a high-speed path in movement of a robot and recognizing it and moving the robot is proposed.

In this specification, in order to solve the above-described problem, the robot receives the path through the main server without sensing an external obstacle or calculating the path in the process of moving, and displays the path with a laser to enable high-speed driving. I want to implement a robot.

In addition, in the present specification, it is intended to present a method and apparatus for generating information and a path on the movement space of the robot in the main server and providing the final result of the path to the robot.

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. It will also be readily apparent that the objects and advantages of the present invention may be realized by the means and combinations thereof indicated in the appended claims.

The main server for controlling the laser irradiation of the moving path of the robot according to an embodiment of the present invention includes a positioning unit that confirms the position of the robot in the image captured by the camera module, and generates the moving path of the robot, and and a controller for controlling the transmission of the moving path to the laser irradiation module capable of outputting the moving path as a laser.

A robot moving based on laser irradiation of a movement path according to an embodiment of the present invention includes a laser sensing unit sensing a laser output on the ground, a driving unit driving the robot, and a robot according to the laser sensed by the laser sensing unit It includes a control unit for moving the robot by controlling the driving unit of the.

The method of controlling the laser irradiation of the moving path of the robot according to an embodiment of the present invention comprises the steps of: a communication unit receiving an image photographed by a camera module from a guiding device including a camera module or a camera module, a positioning unit camera module Checking the position of the robot in the captured image, the control unit generating a movement path of the robot, the control unit selecting a laser irradiation module capable of outputting a movement path around the robot with a laser, and the laser selected by the communication unit It includes the step of transmitting the movement path to the guiding device including the irradiation module or laser irradiation module.

When the embodiments of the present invention are applied, a movement path corresponding to the position of the robot is irradiated with a laser on the ground, and the robot can move by sensing the irradiated movement path.

When the embodiments of the present invention are applied, the main server may check the position of the robot through the camera module, calculate a path necessary for the robot to move, and transmit it to the laser irradiation module.

In addition, when the embodiment of the present invention is applied, the main server can check the obstacles disposed around the robot using the camera module and the laser irradiation module, and can recalculate the path based on this.

The effects of the present invention are not limited to the aforementioned 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 a configuration for irradiating a target point to a robot with a conventional laser pointer.
2 is a view showing the relationship between the main server, the camera module and the laser irradiation module controlled by the main server according to an embodiment of the present invention.
3 and 4 are views showing the configuration of a guiding device according to an embodiment of the present invention.
5 is a diagram showing the configuration of a mobile robot according to an embodiment of the present invention.
6 is a view showing the interaction between each component according to an embodiment of the present invention.
7 is a diagram illustrating space information stored in a map storage unit according to an embodiment of the present invention.
8 is a view showing a process of outputting a path by the laser irradiation module of G1 according to an embodiment of the present invention.
9 is a view showing a process of outputting a path by the laser irradiation module of G2 according to an embodiment of the present invention.
10 is a view showing a process of outputting a path by the laser irradiation module of G3 according to an embodiment of the present invention.
11 is a view showing a result of path correction according to an embodiment of the present invention.
12 is a diagram illustrating a process in which a robot moves according to an embodiment of the present invention.
13 is a view showing an example of a laser output in which characteristics of a movement path are reflected according to an embodiment of the present invention.
14 is a view showing an example of laser irradiation when two marks are disposed on a robot 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 assigned to the same or similar components 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 should 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 this specification, a robot collectively refers to a device that performs a specific function and travels. The functions performed by the robot include functions such as cleaning, method, and guidance, and various functions that a moving device can provide, such as security functions.

2 is a view showing the relationship between the main server, the camera module and the laser irradiation module controlled by the main server according to an embodiment of the present invention.

The main server 100 is a computer that functions as a kind of server as an embodiment. The main server 100 estimates the position of the robot. For example, it is possible to estimate the position of the robot (mobile robot) by analyzing an image obtained by the camera module. Also, the main server 100 creates a route through route planning. For example, the main server 100 performs calculations necessary for planning a complex route to a destination using the obtained robot position, and outputs the calculated route to the periphery of the robot through the laser irradiation module. And the main server 100 may recalculate the path based on the movement of the robot and changes in surrounding conditions.

It includes a control unit 150 , a communication unit 180 , a location check unit 110 , and optionally a map storage unit 120 . The camera modules 210a and 210b and the laser irradiation modules 250a and 250b may be integrally included in one guiding device 200a and 200b. Alternatively, the camera module 210z and the laser irradiation module 250z may be independently disposed.

The communication unit 180 communicates with the camera modules (210a, 210b, 210z) and the laser irradiation module (250a, 250b, 250z). Alternatively, it may communicate with the guiding device 200a, 200b including these two modules. The communication unit 180 may receive an image captured by the camera modules 210a, 210b, and 210z. This image may include an image of the robot and a mark placed on the robot so that the position or direction of the robot can be confirmed.

The communication unit 180 receives an image including a mark disposed on the robot from the camera modules (210a, 210b). In addition, the communication unit 180 may transmit detailed information about the laser signal to be output by the laser irradiation modules (250a, 250b, 250z).

The positioning unit 110 confirms the position of the robot in the image captured by the camera modules 210a, 210b, and 210z. The positioning unit 110 may confirm the absolute position information of the robot based on the physical information of the camera modules 210a, 210b, and 210z and the relative position information of the robot in the image.

The controller 150 creates a movement path of the robot. And it controls the transmission of the movement path to the laser irradiation module capable of outputting the movement path to the periphery of the robot.

Meanwhile, the main server 100 may selectively include a map storage unit 120 for storing the position of each robot, the position of the camera module, the laser irradiation module, and the position of the obstacle. The location of the obstacle stored in the map storage unit 120 allows the main server 100 to check the area to be avoided in generating the path the robot moves.

In addition, depending on the position of each camera module and laser irradiation module, even if the robot goes out of range of a specific camera module or laser irradiation module during movement, the robot can continue to check the path through other adjacent camera modules and laser irradiation modules. let it be

In this specification, the system for examining the path to the robot is mainly composed of three components. A main server 100 that checks the position of a specific robot and calculates a path so that the robot can move, a camera module 210 that captures the position of the robot or surrounding objects, and a path output device that scans a path around the robot It is composed of a laser irradiation module (250). These sets can be configured independently and can transmit and receive information through a communication function.

In FIG. 2 , a light irradiation module for irradiating light having a characteristic such as a different wavelength or a different frequency may be disposed instead of the laser irradiation module. In this case, a light irradiation module may be disposed in the guiding device, and a laser sensing unit of a robot, which will be described later, may also be replaced with a light sensing unit.

3 and 4 are views showing the configuration of a guiding device according to an embodiment of the present invention. The guiding device 200 may include one camera module 210 and one laser irradiation module 250 as shown in FIG. 3 . A communication unit 280 may be disposed in the guiding device 200 . The camera module 210 is attached to the ceiling or wall, and recognizes the position mark mounted on the robot to find out the current position of the robot. The laser irradiation module 250 projects a line laser on the floor surface with respect to the path the robot will move.

Alternatively, as shown in FIG. 4 , the communication unit 218 may be disposed within the camera module 210 , or the communication unit may be disposed within the laser module 250 . When the communication unit is disposed in only one of the two modules, the other module may use the communication unit.

For example, when the communication unit 218 is disposed only in the camera module 210 , the laser irradiation module 250 may communicate with the main server 100 through the camera module 210 . Similarly, when the communication unit 258 is disposed only in the laser irradiation module 250 , the camera module 210 may communicate with the main server 100 through the laser irradiation module 250 .

Unlike FIGS. 3 and 4 , one guiding device 200 may include m camera modules 210 and n laser irradiation modules 250 (m and n are both natural numbers greater than or equal to 1).

3 and 4 , the camera module 210 includes an image acquisition unit 212 for capturing an image, and an angle of view adjustment unit 214 for image acquisition accuracy. In addition, when the camera module 210 transmits an image to the main server 100 , information on which direction and at what magnification the image was captured may be transmitted together.

3 and 4 , the laser irradiation module 250 includes a laser output unit 252 for outputting a laser and an output pattern storage unit 254 . The laser output unit 252 specifically outputs a laser according to an instruction from the main server 100 . When outputting the laser, the output pattern storage unit 254 stores a pattern such as a shape, color, or frequency of the laser to be output. This allows the robot to run according to the laser output of the pattern assigned to it, even when a path is arranged adjacently by outputting a laser in a different pattern for each robot.

In addition, in FIGS. 3 and 4 , the laser irradiation module 250 may further include an obstacle sensing unit 256 . In this case, the obstacle sensing unit 256 senses the signal reflected after the laser output, and it can be confirmed whether there is an obstacle on the ground on which the laser is projected according to the characteristics of the reflected signal.

Of course, when the image acquisition unit 212 of the camera module 210 continuously acquires an image and a different object is photographed and not a robot, the photographed object may be identified as an obstacle. The main server 100 may check whether an obstacle is newly placed in real time using the camera module 210 or the laser irradiation module 250 and update the map storage unit 120 .

The communication unit shown in FIG. 3 or FIG. 4 may communicate with the main server in a suitable manner, either wired or wirelessly.

5 is a diagram showing the configuration of a mobile robot according to an embodiment of the present invention. The mobile robot 300 includes a laser sensing unit 310 for sensing a laser output on the ground and a driving unit 320 for driving the robot. The control unit 350 moves the robot by controlling the traveling unit 320 of the robot according to the laser sensed by the laser sensing unit 310 . The laser sensing unit 310 may include sensor arrays for sensing a laser. The laser sensing unit 310 may be disposed toward the ground to sense a laser displayed on the ground.

The function unit 370 is an element configured to allow the mobile robot to perform a specific function, and may provide a cleaning function in the case of a cleaning robot and a security and security function in the case of a security robot.

In addition, it may optionally further include a communication unit 380 , which receives information from any one or more of the main server 100 , the camera module 210 , or the laser irradiation module 250 . Of course, the communication unit 380 may receive information from the guiding device 200 including the camera module 210 or the laser irradiation module 250 .

When communicating with the main server, the communication unit 380 may be configured not to separately receive information on a path. This is because the path is marked on the ground through the laser irradiation module 250 . However, for functions such as receiving instruction information from the main server 100 so that the mobile robot 300 performs a specific function, or upgrading the mobile robot 300, the communication unit 380 communicates with the main server 100 wirelessly. can communicate with

In addition, the mark 390 may also be included in the mobile robot 300 to identify the robot from the image captured by the camera unit 210 or to confirm the direction of the robot. The mark 390 may be a fixed image, a QR code, a barcode, or the like. Alternatively, the mark 390 may include a kind of electronic display device. It is composed of a small LCD (liquid crystal display device) or a small OLED (organic light emitting field device) to output a specific image or a specific color under the control of the controller 350 .

When the mark 390 is photographed by the camera module 210 and transmitted to the main server 100 , the main server 100 may confirm identification information of the robot photographed in the image. In addition, when the laser sensing unit 310 of the robot is disposed at a specific position of the robot 300, the mark 390 may be disposed so that the front or back of the robot 300 can be checked in the image for more precise control. .

Also, more than one mark 390 may be disposed. According to an embodiment of the present invention, a mark adjacent to the laser sensing unit 310 and a mark disposed far away are configured to be different so that the moving direction (front or rear) of the robot can be easily confirmed in the image.

6 is a view showing the interaction between each component according to an embodiment of the present invention. The main server 100 controls the camera module 210 (S31), and according to the control, the camera module 210 adjusts the angle and magnification of the camera (S32). For example, the image acquisition unit 212 may control the image acquisition unit 212 to face the robot or adjust the direction to find the robot so that the image acquisition unit 212 may acquire an image of the robot and the robot's mark.

As in the above-described example, a camera module and a laser irradiation module may be included in one guiding device, and the communication unit 180 of the main server 100 captures an image taken by the camera module by the camera module or guiding including the camera module. can be received from the device.

That is, by adjusting the direction or magnification of the camera module 210, the mark of the mobile robot 300 is photographed by the camera (S33, S34). The camera module 210 acquires an image by photographing the mark of the mobile robot 300 (S34), and transmits the image to the main server 100 (S35). Heading to the camera module 210 with a dotted line in S33 is to indicate that the mobile robot 300 does not transmit separate data to the camera module 210, but acquires information called a mark through the mobile robot 300. .

Next, the main server 100 detects a mark in the transmitted image (S41). If the mark is not clearly detected or if it is necessary to acquire a more accurate image, step S31 is restarted.

And the main server 100 estimates the position of the robot using the mark in the image (S42). Then, a route is generated using information on the destination to which the mobile robot should arrive and the location information of the robot (S43). In this case, the route may use a map stored in the main server 100 .

If there is no obstacle between the destination and the current position of the robot, a path can be created in a straight line. Otherwise, the main server 100 subdivides and creates a path through which the mobile robot 300 must travel.

And so that the path can be output as a laser in the front part of the robot, the main server 100 selects the laser irradiation module, controls the selected laser irradiation module, and transmits the path to the laser irradiation module (S44). The laser irradiation module 250 by the main server 100 changes the direction of the laser output unit in the direction to be irradiated with the laser (S52), and outputs the laser (S53).

In addition, the laser sensing unit 310 of the mobile robot 300 senses the output laser (S54) and performs high-class driving according to the sensing result (S55). The laser output (S53) toward the mobile robot 300 in a dotted line does not mean that the laser irradiation module 250 transmits separate data to the mobile robot 300, but information that the mobile robot 300 is a path through the laser output. to indicate that the acquisition of

The process of FIG. 6 is summarized as follows. The camera module 210 takes an image, and transmits it to the main server 100 (S31 to S35). Thereafter, the main server 100 analyzes the transmitted image to detect the robot position mark, and based on this, recognizes the current position of the robot (S41, S42).

Also, the main server 100 generates a path by performing path planning using the robot's current position and target movement point (S43). Thereafter, the main server 100 projects the path onto the floor using the laser irradiation module 250 (S51 to S53), and the mobile robot 300 projects using the laser sensing unit 310 composed of a laser sensor array. The detected laser is detected (S54).

The mobile robot 300 travels at high speed to the target point along the path of the projected laser (S55). Processes S31 to S55 are repeatedly performed. At this time, a position error occurring during movement or a change in the target point may be newly updated through an iterative routine and reflected in path planning and generation, and through this process, the mobile robot 300 arrives to the target point.

6 , the laser irradiation module 250 may output a laser in the form of a line. In addition, in order to control the speed of the mobile robot 300 , the dot-shaped laser is output, but the distance between the dots may be increased or decreased to control the speed of the mobile robot 300 . Alternatively, the laser may be output in the form of a line to control the speed of the mobile robot 300, but the width or color of the line may be configured differently.

When the above-described embodiment is applied, a path is irradiated based on a laser for the robot to travel at a high speed, and the robot can recognize it and travel at a high speed. At this time, since the amount of computation that may be generated when planning a route for high-speed driving of the robot is performed in the main server 100, the robot solves the problem of computational amount in generating a route.

That is, since the actual operation required for path generation is processed in the main server computer, path planning and the resulting path generation are outputted to the floor through a laser. Therefore, each robot can travel at high speed only by laser sensing and motor control without needing to calculate its own path.

When applying the embodiment of Figures 2 and 6, the laser irradiates the path the robot moves to the ground around the robot using a fixed camera module and a laser. The robot can recognize the investigated path and travel at high speed.

According to the function of the robot in the above-described implementation, it can be applied to a security robot, a cleaning robot, a security robot, a guide robot, and the like. A security robot or security robot needs high-speed driving in case of an emergency. However, if the robot is driven with only the computational power of the robot, the amount of computation required for obstacle search and path generation increases dramatically, which may slow down the movement speed.

However, when applying the embodiment of Fig. 6, in order to overcome this technical limitation, the camera module fixed on the upper part is linked with the main server, and the laser irradiation module has a line or dot shape for the high-speed driving route calculated by the main server Injection so that it is marked on the floor with

As a result, the robot can run at high speed by following the line or dot without additional calculation using a laser sensing unit specialized in detecting lasers such as lines or dots.

The main server may control a fixed pan-tilt camera module such as a guiding device and a laser irradiation module that outputs a laser in lines or dots. And the laser irradiation module continuously irradiates a virtual line on the ground according to the position and speed of the robot.

The robot is equipped with a sensor array module (laser sensing unit) capable of detecting lines or dots irradiated with a laser, and the control unit 350 of the robot reads the information sensed from each sensor array and the driving unit 320 without separate calculation. directly to the motor of As a result, based on the control method directly connected to the laser path on the ground, the laser sensing unit, and the driving unit, the amount of calculation required for the path movement of the robot is reduced, thereby enabling the robot to travel at high speed.

7 is a diagram illustrating space information stored in a map storage unit according to an embodiment of the present invention. For convenience of description, it is assumed that the camera module and the laser irradiation module are disposed in one guiding device, and the range in which the camera module can photograph and the range in which the laser irradiation module can output the laser are the same.

However, as described above, the camera module and the laser irradiation module may be configured as m:n, and the respective shooting range and irradiation range may be different.

The guiding device is installed on the ceiling at the points marked G1, G2 and G3. That is, G1, G2, and G3 mean positions at which the camera module and the laser irradiation module are disposed. 61 denotes the shooting range of the camera module of G1 and the laser output range of the laser irradiation module. 62 is the shooting range of the camera module of G2 and the laser output range of the laser irradiation module. 63 denotes a shooting range of the G3 camera module and a laser output range of the laser irradiation module.

R is the position of the robot, and the position the robot wants to arrive is "X". Using the image captured in G1, the main server 100 creates a path to move R through the process of FIG. 6 .

In an embodiment, the communication unit 180 of the main server 100 receives an image including a mark disposed on the robot from the camera module of G1. In this case, the communication unit 180 may confirm that the position of the robot is (2, 15) based on the image capturing direction of the camera module, the image capturing magnification, and the size of the mark.

In addition, if the mark indicates the front or rear side of the robot, or is disposed around the laser sensing unit 310, or if two or more marks are placed on the robot, the main server 100 is not only the position of the robot in the captured image. You can also check the direction of the robot.

In addition, the positioning unit 110 may confirm the direction of the robot based on the position where the mark is placed in the robot or the relative position between two or more marks of the robot.

Thereafter, the control unit 150 of the main server 100 includes information on the destination (X) to which the robot will reach, absolute position information (2, 15) of the robot, and positions (G1, G2, G3) of the laser irradiation modules and The laser irradiation module generates a movement path based on the irradiation range 61, 62, 63 capable of irradiating the laser.

The generated path is indicated by an arrow in FIG. 7 . Since the map of FIG. 7 represents the actual space as it is, hereinafter, the laser output is displayed through the map.

8 is a view showing a process of outputting a path by the laser irradiation module of G1 according to an embodiment of the present invention. The laser irradiation module of G1 outputs the path the robot can move as in L1. The output of L1 is made according to the control of the main server 100 from (2, 14) to (2, 11). The laser sensing unit of the robot R identifies the laser output on the floor and moves from (2, 14) to (2, 11).

As a result of the movement, when the boundary line between 61 and 62 is closely approached, the main server 100 controls G2 to also output a path with a laser. For example, when the robot R reaches the point (2, 12), the main server 100 controls the laser irradiation module of G2. See FIG. 9 .

9 is a view showing a process of outputting a path by the laser irradiation module of G2 according to an embodiment of the present invention. The laser irradiation module of G2 outputs the path the robot can move as in L2. The output of L2 is made according to the control of the main server 100 from (2, 10) to (13, 3). The laser sensing unit of the robot R identifies the laser output on the floor and moves from (2, 14) to (2, 10) to (13, 3).

In addition, the main server 100 stops the laser output of the laser irradiation module of G1 when the robot moves to the area of G2 so that L1 is no longer displayed on the ground.

As a result of the movement, when the boundary line between 62 and 63 is closely approached, the main server 100 controls G3 to also output a path with a laser. For example, when the robot R reaches the point (12, 4), the main server 100 controls the laser irradiation module of G3. Look at FIG. 10 .

10 is a view showing a process of outputting a path by the laser irradiation module of G3 according to an embodiment of the present invention.

The laser irradiation result L2 previously irradiated by G2 is displayed only in the moving direction of the robot as the robot moves, and the main server 100 may control the previous area so that the laser is not irradiated. 10 shows a result partially output by L2. In addition, it can be confirmed that L3 is output to the destination (X) by G3. After the robot moves to area 63 and senses L3, it can reach the destination X.

When a path is output as a laser on the ground by three laser irradiation modules as shown in FIGS. 8 to 10 , the robot can sense it and travel at a high speed.

In addition, three camera modules can check the robot's current position by photographing the robot's moving direction in real time during the robot's movement.

In addition, the obstacle sensing unit 256 of the laser irradiation module 200 checks the transmitted signal while outputting the path to the ground. The main server 100 may be notified, and in this case, the main server 100 may recalculate the route.

That is, paths are primarily generated in FIGS. 8 to 10 . And when an obstacle is identified on the path in the process of outputting the generated ground with a laser on the ground, the main server 100 may directly correct the path and output it on the ground anew.

11 is a view showing a result of path correction according to an embodiment of the present invention. In the embodiment of FIG. 9 , an obstacle is sensed by a camera module or a laser irradiation module while the robot is traveling.

In an embodiment, information sensed for obstacle information disposed within a range in which the camera module of the G2 can photograph a camera is transmitted to the main server 100 . The control unit 150 of the main server 100 creates a movement path of the robot using the sensed information. According to an embodiment, the sensed information includes an image including an object different from that of a previously captured image.

In another embodiment, information sensed by the laser irradiation module of the G2 about obstacle information disposed within the irradiation range in which the irradiation module can radiate the laser is transmitted to the main server 100 . The control unit 150 of the main server 100 creates a movement path of the robot using the sensed information. The sensed information refers to a case in which a laser is reflected from a position higher than the ground in the process of irradiating a laser and an object is newly placed.

The guiding device G2 transmits the sensed obstacle position information to the main server 100 . And the main server 100 reconfigures the path. As a result, as shown in FIG. 11 , G2 outputs a laser through the paths of L2_1 and L2_2.

In FIG. 11 , the main server 100 may generate a new path in consideration of the robot's speed and possible rotational angular velocity in the process of moving the robot to avoid obstacles.

In addition, in FIGS. 7 to 11 , the main server 100 may control the angle of view adjusting unit 214 of the camera so that the camera can photograph the area irradiated with a laser in order to track the movement process of the robot. In this case, the angle-of-view adjustment unit 214 of the camera may be controlled by the main server 100 to photograph the area to which the laser is irradiated as a candidate while tracking the robot in response to the movement of the robot.

12 is a diagram illustrating a process in which a robot moves according to an embodiment of the present invention. Two guiding devices 200a and 200b are disposed on the ceiling of FIG. 12 . Each of the guiding devices 200a and 200b includes camera modules 210a and 210b, laser irradiation modules 250a and 250b, and communication units 280a and 280b.

For example, in FIGS. 7 to 11 , the first guiding device 200a corresponding to G1 recognizes the mark 390 of the robot 300 by vision sensing and shoots it (S34), and sends the image to the communication unit 280a. sent to the main server. And in the process of FIG. 6 through the processes of S35 to S52, the laser irradiation module 250 irradiates the laser like L1 (S53a, S53b). In this case, the sensing accuracy may be increased by irradiating the laser around the laser sensing unit 310 of the robot 300 .

As a result, the robot 300 travels a distance corresponding to L1 at high speed along the sensed laser. And when the second guiding device 200b approaches the irradiated area, the second guiding device 200b outputs the path as L2 (S53c, S53d). Of course, the first main server 100 creates a path and transmits all path information to the two guiding devices 200a and 200b, and the two laser irradiation modules 250a and 250b simultaneously output L1 and L2. It is possible to enable the robot 300 to travel at high speed.

Since a plurality of camera modules 210a and 210b are disposed in FIG. 12 , the changed position of the robot is continuously photographed by the camera modules 210a and 210b while the robot moves. In addition, the communication unit 180 of the main server 100 receives an image including the changed position of the robot from the camera modules 210a and 210b.

And the control unit 150 of the main server 100 selects a second laser irradiation module to output a laser corresponding to the movement path of the robot. And the main server 100 controls the transmission of the movement path to the selected second laser irradiation module. Therefore, when a plurality of laser irradiation modules are disposed in a large space, the main server 100 may generate a movement path for each area and transmit the generated movement paths to these laser irradiation modules.

13 is a view showing an example of a laser output in which characteristics of a movement path are reflected according to an embodiment of the present invention.

The laser irradiation module may output a laser in a line shape or a dot shape according to an instruction of the controller 150 of the main server 100 . In addition, in order to control the speed, the width of the line may be reduced or the size of the dot may be modified.

In addition, in outputting a path as a laser so that a plurality of robots can each travel the path, the color or frequency of the output laser may be differently adjusted.

In FIG. 13 , in outputting a path with a laser, there are a line output method and a dot output method. When the moving direction is the arrow direction with respect to the robot R, the output shape of the laser displayed in front of the robot may be different depending on the speed.

That is, in the case of a high-speed traveling path of the line output method, the laser irradiation module outputs the path with a laser so that there is no difference in line width. On the other hand, in the case of a speed-reducing path in the line output method, the laser irradiation module outputs the laser so that the width of the line is reduced. As a result, the robot slows down when the width of the line decreases while moving along the path output by the laser.

Similarly, in the case of a high-speed traveling path of the dot output method, the laser irradiation module outputs the laser to form a path in a dot shape of a certain size. On the other hand, in the case of a speed reducing path in the dot output method, the laser irradiation module outputs the laser so that the dot spacing increases or the dot length decreases. As a result, in the process of moving along the path output by the laser, if the dot spacing increases or the dot length decreases, the robot slows down.

13 is an example, and the width of the line may be adjusted to be in inverse proportion to the traveling speed, and the size or spacing of dots may also be output opposite to the example of FIG. 13 .

In addition, the main server 100 stores in advance the physical characteristics (color, frequency) of the laser to be output for each robot, and enables the laser irradiation module to output the laser in a different color, a different frequency, or a different wavelength for each robot. . The physical properties (shape, color, wavelength, frequency, etc.) of the laser may be set in various ways.

And since this information is also transmitted to the robots, even if the robot senses the laser on the ground, the color or frequency of the sensed laser is assigned to the color or frequency. If it is not a wavelength, it does not move along the output path of the ground.

This prevents the robot from moving along the path of another robot when multiple robots are placed in a space. In addition, even if an unauthorized laser signal other than the laser irradiation module is displayed on the ground, the robots do not recognize it as a path.

That is, the control unit 150 of the main server 100 may control the physical characteristics of the output laser of the laser irradiation module in response to the robot.

Then, the control unit 350 of the robot 300 checks whether the laser output corresponds to the driving of the robot 300 according to the physical characteristics of the laser sensed by the laser sensing unit 310, and the driving unit 320 . to control

13 shows the physical properties of the laser for indicating the movement path on the ground, including any one or more of the shape, wavelength, frequency, color, etc. of the output laser. That is, it is possible to control the running speed of the robot by variously configuring these physical characteristics.

14 is a view showing an example of laser irradiation when two marks are disposed on a robot according to an embodiment of the present invention.

14, the first mark 390a indicating the position of the laser sensing unit 310 and the second mark 390b indicating the position of the rear surface of the robot are disposed on the upper surface of the robot.

Through the image captured by the camera module, the main server confirms that the path the robot will move is backward (arrow direction). However, instead of commanding the robot to move backward, a path is scanned toward the laser sensing unit 310 like L4 to control the robot to move backward (arrow direction) along the path. 14, if two types of marks are used, the forward and backward directions of the robot can be checked, and accordingly, a movement path for controlling the movement of the robot can be irradiated on the ground of the robot more flexibly.

In an embodiment of the present invention, a path to be moved by the robot is irradiated to the floor surface with a laser (eg, a line laser or a dot laser). In this way, all calculations are performed by the main server linked to the camera, and the final result, the path, is provided to the robot. In addition, the camera recognizes the robot and provides information right in front of the robot via pan-tilt motion, allowing the use of an array of sensors for immediate recognition instead of computationally intensive vision.

Therefore, the robot does not need complicated calculations related to driving, and the provided path reflects the characteristics of the robot, so it can perform stable driving without deviation from the path even at high speed. In addition, since the information provided is continuous information such as lines or dots, the robot's motion can be maintained stably, and there is no need to make a sudden change of direction unless there is a major departure from the path, making it suitable for high-speed driving.

In addition, in the case of the prior art shown in FIG. 1, since a target point is provided with a point laser, it is a technique for providing only a final target far away from the robot as a point. Therefore, the remaining tasks such as obstacle recognition and path calculation must be performed by the robot itself, and a separate computing power for this must be mounted on the robot.

In other words, the robot cannot make a long-term plan for driving, and it takes a reactive action that recalculates each time according to the position of the point. Therefore, if the calculation speed is not fast enough, there is a technical limit in which the operation is cut off.

However, in the embodiment of the present invention, the path itself to be moved by a line laser or a dot laser is irradiated to the ground in the moving direction of the robot. All calculations are done by the system linked to the camera, providing the robot with the final result, a path, and allowing the robot to move in a fast manner.

Accordingly, when the embodiments of the present invention are implemented, the robot can move based on the path information provided from the outside even when the absolute position in space cannot be accurately known. Conventionally, when only a point is displayed as shown in FIG. 1, information moving to a specific location in space may be provided, but such point indication could not provide path information moving to the corresponding location. However, when the embodiments of the present invention are applied, the path is displayed by avoiding the obstacle, and the robot can identify it and move at a high speed.

In particular, since the camera module and the laser irradiation module disposed on the wall or ceiling can check the obstacles disposed in the moving direction of the robot, the path can be modified again even after the moving path is created.

In the present specification, embodiments of the invention have been described based on laser irradiation, but the present invention is not limited thereto. That is, all modules for irradiating light of various wavelengths that can be sensed by the robot correspond to the laser irradiation module of the present specification.

Even though all components constituting the 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 within the scope of the object of the present invention, all components may be one or more may be selectively combined to operate. In addition, although all the components may be implemented as one independent hardware, some or all of the components are selectively combined to perform some or all of the functions of the combined hardware 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 inferred 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.

100: main server 110: positioning unit
120: map storage unit 150: control unit
180: communication unit 210: camera module
250: laser irradiation module 300: mobile robot

Claims (20)

a laser sensing unit for sensing a laser output from one or more laser irradiation modules to the ground under the control of the main server;
a driving unit for driving the robot; and
A control unit for moving the robot by controlling the traveling unit of the robot according to the laser sensed by the laser sensing unit,
The main server captures the moving direction of the robot in real time during the movement process of the robot through the camera module, checks the current position of the robot, calculates the movement path required for the robot to move, and transmits the movement path to the laser irradiation module convey,
The main server controls the angle of view adjustment unit of the camera so that the camera module can photograph the area irradiated with the laser in order to track the movement process of the robot,
The main server generates the movement path by using the information sensed for the obstacle information disposed within the range where the camera module can photograph the camera,
The sensed information is a robot that moves based on laser irradiation of a movement path, which is an image containing a different object compared to a previously photographed image.
delete According to claim 1,
The control unit controls the traveling unit by checking whether the output laser corresponds to traveling of the robot according to the physical characteristics of the laser sensed by the laser sensing unit, and the robot moving based on the laser irradiation of the movement path.
delete According to claim 1,
The main server creates a communication unit communicating with the camera module and the laser irradiation module, a positioning unit for confirming the position of the robot in the image captured by the camera module, and the movement path of the robot, to the periphery of the robot A robot that moves based on laser irradiation of the movement path, comprising a controller for controlling transmission of the movement path to a laser irradiation module capable of outputting the movement path as a laser.
6. The method of claim 5,
The communication unit of the main server receives an image including a mark disposed on the robot from the camera module or a guiding device including the camera module,
The positioning unit of the main server confirms the absolute position information of the robot based on the physical information of the camera module and the relative position information of the robot in the image, the robot moving based on the laser irradiation of the movement path.
delete delete According to claim 1,
When the obstacle sensing unit of the laser irradiation module outputs the movement path to the ground, checks the returned signal, and it is determined that there is an object closer than the original ground, the main server is within the irradiation range that can irradiate the laser A robot that moves based on laser irradiation of the moving path, which corrects the moving path by using the information sensed for the placed obstacle information.
delete delete 6. The method of claim 5,
The communication unit of the main server receives an image including the changed position of the robot from the camera module,
The control unit of the main server selects a second laser irradiation module to output a laser in response to the movement path of the robot and controls the transmission of the movement path to the selected second laser irradiation module. Robots that move based on surveys.
Receiving the image captured by the camera module by the communication unit of the main server from the camera module or a guiding device including the camera module;
confirming the position of the robot in the image captured by the camera module by the positioning unit of the main server;
generating, by the control unit of the main server, a movement path of the robot;
selecting, by the control unit of the main server, a laser irradiation module capable of outputting the movement path to the periphery of the robot with a laser; and,
transmitting the movement path to the guiding device including the selected laser irradiation module or the laser irradiation module by the communication unit of the main server;
outputting, by the laser irradiation module, the movement path to the ground as a laser; and
Sensing the laser output to the ground by the laser sensing unit of the robot;
Controlling the traveling unit of the robot according to the laser sensed by the laser sensing unit to move the robot,
The main server captures the moving direction of the robot in real time during the movement process of the robot through the camera module, checks the current position of the robot, calculates the movement path required for the robot to move, and transmits the movement path to the laser irradiation module convey,
The main server controls the angle of view adjustment unit of the camera so that the camera module can photograph the area irradiated with the laser in order to track the movement process of the robot,
The main server generates the movement path by using the information sensed for the obstacle information disposed within the range where the camera module can photograph the camera,
The sensed information is a method of controlling the laser irradiation of the movement path of the robot, the image containing a different object compared to the previously photographed image was taken.
14. The method of claim 13,
receiving, by the communication unit of the main server, an image including a mark disposed on the robot from the camera module or the guiding device; and
Controlling the laser irradiation of the moving path of the robot, comprising the step of confirming the absolute position information of the robot based on the physical information of the camera module and the relative position information of the robot in the image by the positioning unit of the main server Way.
delete delete 14. The method of claim 13,
When the obstacle sensing unit of the laser irradiation module outputs the movement path to the ground, checks the returned signal, and it is determined that there is an object closer than the original ground, the main server is within the irradiation range that can irradiate the laser The method of controlling the laser irradiation of the moving path of the robot further comprising the step of correcting the moving path by using the sensed information for the placed obstacle information.
14. The method of claim 13,
The control unit of the main server further comprising the step of generating the movement path using information sensed for obstacle information disposed within an irradiation range in which the laser irradiation module can irradiate a laser, further comprising the step of generating the movement path of the robot How to control laser irradiation.
14. The method of claim 13,
The method of controlling the laser irradiation of the movement path of the robot further comprising the step of controlling, by the control unit of the main server, physical characteristics of the output laser of the laser irradiation module in response to the robot.
14. The method of claim 13,
receiving, by the communication unit of the main server, an image including the changed position of the robot from the camera module or the guiding device; and
Selecting, by the control unit of the main server, a second laser irradiation module to output a laser corresponding to the movement path of the robot and controlling the transmission of the movement path to the selected second laser irradiation module , a method of controlling the laser irradiation of the movement path of the robot.

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