KR102420090B1 - Method of drawing map by identifying moving object and robot implementing thereof - Google Patents

Abstract

The present invention relates to a method for creating a map by identifying a moving object and a technology for a robot implementing the same. In the method for creating a map by identifying a moving object according to an embodiment of the present invention, a sensing unit of the robot is installed outside the robot. Sensing the arranged first object, the step of calculating the sensed mobility of the first object by the control unit of the robot, and when the mobility of the first object calculated by the control unit of the robot is lower than a preset criterion, and storing the sensed information and the sensed time information as a fixed object on the map.

Description

METHOD OF DRAWING MAP BY IDENTIFYING MOVING OBJECT AND ROBOT IMPLEMENTING THEREOF

The present invention relates to a method for creating a map by identifying a moving object, 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., it is necessary to have a map of the entire space. It is necessary to distinguish between temporary spatial changes caused by In particular, in a space where a large number of people move, such as an airport, a port, or a train station, it is necessary to understand the movement of various moving objects as well as the structure of the building.

However, since there is a problem in that moving objects exist in spaces that are constantly used by people, such as airports, ports, and train stations, a method for the robot to distinguish them from the fixed areas of the map is required. Therefore, in order to solve this problem, in the present specification, a method of accumulating information on a moving object detected by the robot while moving and analyzing it is proposed to distinguish it from an area in which a fixed object is disposed on a map.

An object of the present specification is to provide a method for allowing the robot to perform a function by distinguishing a fixed object from a moving object in a space with frequent changes and a robot implementing the same in order to solve the above-mentioned problems.

In addition, in order to solve the above-mentioned problems, in the present specification, it is an object of the present specification to provide a method of using internal map information to distinguish whether objects sensed from the outside are fixed objects or moving objects, and a robot implementing the same.

In addition, an object of the present specification is to provide a method for solving a problem that the robot cannot enter even in an actual empty space due to a result of continuously sensing floating populations, and a robot implementing the same.

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 method for creating a map by identifying a moving object according to an embodiment of the present invention includes the steps of: a sensing unit of a robot senses a first object disposed outside the robot; and a control unit of the robot calculates mobility of the sensed first object and storing the sensed information and the sensed time information of the first object as a fixed object on a map when the mobility of the first object calculated by the control unit of the robot is lower than a preset reference.

A robot for creating a map by identifying a moving object according to another embodiment of the present invention includes a moving unit that controls the movement of the robot, a map storage unit that stores a map referenced when the robot moves, and a first object disposed outside the robot. a sensing unit sensing the Stores the sensed information and the sensed time information in the map as a fixed object.

When the embodiments of the present invention are applied, dynamic obstacles are distinguished and stored in the process of creating or modifying a map using a sensor, so that the robot can drive with accurate map information.

In addition, when the embodiment of the present invention is applied, even if it is sensed as a moving object, if it is placed in the corresponding position for a certain period of time or longer, it can be stored as a fixed object so that it can be checked when the robot is driving.

In addition, when an embodiment of the present invention is applied, the robot can enter or drive to perform a function according to the periodicity of a moving object stored as a fixed object.

In addition, when an embodiment of the present invention is applied, when a moving object stored as a fixed object is removed, the robot senses it and reflects it on the map so that the robot can drive based on the accurate map.

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 the configuration of a lidar sensor according to an embodiment of the present invention.
2 is a diagram showing the configuration of a robot according to an embodiment of the present invention.
3 is a diagram in which a space according to an embodiment of the present invention is configured as a map composed of unit areas.
4 is a diagram illustrating a moving object storage unit in which information on a moving object is stored according to an embodiment of the present invention.
5 is a diagram illustrating a process in which a controller of a robot senses a moving object different from a map according to an embodiment of the present invention.
6 is a diagram illustrating a process in which a sensing unit senses an external object at a time interval according to an embodiment of the present invention.
7 and 8 are diagrams illustrating a process of calculating the mobility of a sensed object according to an embodiment of the present invention.
9 is a diagram illustrating a process of exchanging information on a moving object between a plurality of robots or between a robot and a server according to an embodiment of the present invention.
10 is a diagram for storing periodicity of a moving object in a moving object storage unit according to an embodiment of the present invention.
11 is a view showing a process of controlling the driving of the robot according to an embodiment of the present invention.
12 is a diagram illustrating an embodiment in which a moving object of the map storage unit is displayed on a map and an embodiment in which the moving object is not displayed according to an embodiment of the present invention.
14 is a diagram showing the configuration of a sensing unit according to another embodiment of the present invention.
15 is a diagram illustrating the configuration of a server 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 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 capable of moving using predetermined information and a sensor and provides a predetermined function.

In this specification, the robot can move while holding the map. The map means information about fixed walls and stairs that do not move in space. Also, the robot may store information on separate objects on the map. For example, a guide platform attached to a fixed wall, a newly installed vending machine, etc. are not fixed objects, but are fixed for a certain period of time, so they need to be stored as additional fixtures on the map. On the other hand, even if a person is always present in any space, the person's movement is predicted, so if the map is configured with a fixed obstacle in the space, the function for the space may not be completed.

1 is a diagram showing the configuration of a lidar sensor according to an embodiment of the present invention. In an embodiment of the present invention, the robot may use a lidar sensor to supplement a map or identify a moving object. The lidar sensor can check the distance or direction to an object, the speed or temperature of the object, or the distribution and concentration of substances through the reflection of the laser emitted toward an external obstacle or moving object. To this end, the sensing unit 100 including the lidar sensor may include a laser transmitting unit 110 and a laser receiving unit 120 that emit a laser, and in addition, a sensing data analysis unit 130 that analyzes the received signal. can be composed of The laser transmitter 110 may use a laser of a specific wavelength or a laser light source capable of varying the wavelength. The sensing data analysis unit 130 may analyze information such as a distance to a sensed object or a temperature or speed of the sensed object and provide it to the robot equipped with the sensing unit 100 .

1 shows a configuration of a lidar sensor using a laser as an embodiment of the sensing unit, but the present invention is not limited thereto, and a moving object may be identified using various sensors such as an ultrasonic sensor and an infrared sensor. In addition, two or more sensors may be used and the moving object may be identified by reflecting the characteristics of the information identified by each sensor.

2 is a diagram showing the configuration of a robot according to an embodiment of the present invention. The robot 1000 includes a sensing unit 100 for sensing an external moving object or a fixed object, a map storage unit 200 for storing a map, a moving unit 300 for controlling movement, and performing a predetermined function of the robot. It includes a functional unit 400 , a communication unit 500 for transmitting and receiving information about a map or moving object and a fixed object with another robot, and a control unit 900 for controlling each of these components. When there is a sensed object, the controller 900 may calculate the mobility of the object. In addition, depending on whether the sensed object is a fixed object or a moving object, it may be stored in different methods and information in the map storage unit 200 .

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 . In addition, the controller 900 may determine whether or not an external object sensed by the sensing unit 100 exists to control the movement of the moving unit 300 . The function unit 400 means to provide 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. The function unit 400 may include various components according to functions provided by the robot.

The map storage 200 includes a map 210 . The map means information about a space in which the robot 1000 can move. The map divides the entire space into subdivided unit areas to store whether a fixed object is placed in the unit area, or the height or material of the fixed object.

Also, the map storage unit may further include a moving object storage unit 220 that stores information on moving objects as well as a map. For example, moving objects found at a specific location and information on the time at which the moving objects are sensed or periodically sensed time information are stored in the moving object storage 220 . This is to allow the robot 1000 to move to a corresponding position even if it is determined as a moving object.

According to an embodiment of the present invention, the map 210 stores information on fixed objects, and usually stores information on fixed structures such as walls, glass, and columns. On the other hand, the moving object storage 220 stores information about a moving object or a temporarily placed object. Alternatively, in another embodiment of the present invention, as shown in FIG. 13 , the map 210 and the moving object storage 220 may be integrated, but the fixed object and the moving object may be stored separately.

Meanwhile, the map storage unit 200 may further include a history storage unit 230 . This means accumulating and storing time information when an object is sensed at a specific location. The history storage unit 230 may be built in a separate server that provides information to the robot 1000 .

In FIG. 2 , the map storage unit 200 is included in the robot 1000 , but according to another embodiment, the map storage unit 200 may be disposed in the server. In this case, the robot 1000 may receive the map stored in the server in real time or at regular time intervals using communication with the communication unit of the server. Also, the robot 1000 may transmit information to be additionally stored to the server.

The map may be configured in a variety of ways. In an embodiment, information on whether a fixed object or a moving object is disposed in each unit area may be stored by dividing the entire space into X and Y axes.

The control unit 900 according to an embodiment of the present invention calculates the mobility of the object sensed by the sensing unit 100, and when the value of the mobility is lower than a preset reference, it is determined as a fixed object or a periodically arranged object, The sensed information (location information) and the sensed time information of the sensed object are stored in the map as a fixed object.

Meanwhile, the control unit 900 calculates the mobility of the object sensed by the sensing unit 100 and, when the value of the mobility is higher than or equal to a preset reference, the control unit moves the sensed information of the sensed object and the sensed time information It may be stored in the object storage 220 .

Hereinafter, in the present specification, the map storage unit 200 includes a map 210 of FIG. 3 as an embodiment and a moving object storage unit with 220 of FIG. 4 as an embodiment.

3 is a diagram in which a space according to an embodiment of the present invention is configured as a map composed of unit areas. As shown in 210 of FIG. 3 , when the unit area is configured as 20x20 and the color of the unit area of the map is black, information is stored as a space in which a fixed object such as a wall or glass is disposed. When the unit area of the map is white, the corresponding space is a space in which the robot 1000 can move because objects such as obstacles do not exist.

210 of FIG. 3 may be configured as a kind of bitmap. In the bitmap of the image file, each bit can be configured to represent one unit area. For each unit area, the lower left may be indicated by (0, 0) and the upper right may be indicated by (19, 19). Also, 210 of FIG. 3 may have a data structure of a 20x20 structure. For example, it may include information on whether an object is disposed for each location. Information is arranged like a matrix, and when a fixed object is arranged, the value of the matrix can be set to a preset value.

In addition, the map storage unit 200 may store information on moving objects in addition to the map 210 composed of fixed objects.

4 is a diagram illustrating a moving object storage unit in which information on a moving object is stored according to an embodiment of the present invention. According to an embodiment of the present invention, when the sensing unit 100 of the robot 1000 identifies an object that is not recorded on the map 210 , location information and sensing of the object sensed in the moving object storage unit 220 . It is possible to store information about the time of day. 220 of FIG. 4 presents information on sensed moving objects.

Looking at the item 220, the serial number (Serial), the sensed location information (Xpos, Ypos) of the moving object, and the sensed time (Time) are stored. In addition, information on a duration (Duration) during which the sensing of the moving object is sensed at the corresponding position and the interval (Period) during which the moving object is sensed at the corresponding position may be stored together. In addition, information on the mobility of the corresponding object may be optionally stored together. According to an embodiment, the mobility value is set to have a value between 0 and 5, but the present invention is not limited thereto.

For example, a moving object with serial number 432 was sensed at "2016-12-13 11:35" at (2, 4), and it can be confirmed that it is an object that has not been sensed before through the "Duration" field. Also, the moving object with serial number 433 was sensed at "2016-12-13 14:35" at (10, 17), and it can be confirmed that it is an object that has not been sensed before through the "Duration" field as well.

For example, a moving object with serial number 434 was sensed at "2016-12-13 16:24" at (16, 15), and through the "Duration" field, it is confirmed that it is an object that has been sensed since 12 hours and 53 minutes. can Whether the sensing continues or not may be calculated based on information sensed while the corresponding robot 1000 moves to the same location at different times. Also, according to another embodiment, the communication unit 500 may receive and update information provided by another robot.

According to the above-described configuration, a process of determining dynamically moving obstacles by using each component of the robot 1000 to distinguish these obstacles from fixed objects on a map will be described.

5 is a diagram illustrating a process in which a controller of a robot senses a moving object different from a map according to an embodiment of the present invention.

First, the sensing unit 100 of the robot senses a first object disposed outside the robot (S510). In a manner in which the sensing unit 100 senses the external first object, the laser transmitter 110 constituting the lidar sensor transmits a laser signal, and then the signal received from the laser receiver 120 is analyzed by the sensing data analysis unit. (130) includes the analysis results.

Thereafter, the controller 900 calculates the sensed mobility of the first object ( S520 ). Mobility means checking what kind of mobility the sensed object has. For example, although it is not a fixed object such as a wall or glass, a trash bin or a guide sign that is maintained for a certain period after being installed once is sensed once and then continues to be sensed, its mobility is lowered and can be fixed according to a fixed object. An embodiment of mobility may be calculated based on a time sensed when a corresponding object exists at a corresponding location. For example, when a period that can be determined as a fixed object is one day (24 hours), the closer to 24 hours, the lower the mobility may be.

Thereafter, when the mobility of the first object calculated by the robot controller 900 is lower than the preset reference (S530), it is an object with a low probability of moving, so that when the robot moves in the future, the first object can be determined based on the fixed object. Using the sensed information of one object and the sensed time information, it is stored as a fixed object in the map (S540). However, if it has mobility, it can be distinguished from other fixed objects. For example, the map shown in FIG. 3 may not be displayed in black color, but may be stored separately from a completely fixed structure, such as displayed in gray.

Meanwhile, when the mobility of the first object is higher than or equal to the preset reference in S530, the sensed information of the first object and the sensed time information may be stored in the moving object storage unit 220 of FIG. 4 .

Also, the sensed information may include location information. For the position in the sensed information, distance or direction information between the current position of the robot and the sensed object may be used. The current position of the robot may be confirmed in the map 210 by reflecting the result of movement of the map 210 and the moving unit 300 . In another embodiment, the robot may receive the current position accurately positioned from the outside.

6 is a diagram illustrating a process in which a sensing unit senses an external object at a time interval according to an embodiment of the present invention. The sensing unit 100 according to an embodiment of the present invention checks whether the sensed object is a moving obstacle or a fixed object. In the case where the sensed object is a moving obstacle, for example, a person or luggage, it is highly likely to move rather than stay in one place.

When the robot 1000 according to an embodiment of the present invention provides a cleaning function or a detection function for detecting each space, it is necessary to enter the space after the aforementioned obstacle moves and perform a predetermined function. Therefore, the sensing unit 100 of the present specification, when an external object is sensed, notifies the control unit 900 immediately and confirms whether the object is sensed even after a certain period of time has elapsed, rather than confirming it as a moving object, and then continues to be sensed. In this case, this may be notified to the controller 900 .

That is, the sensing unit 100 may be configured not to notify the controller 900 of the robot about the first external object that is not sensed again after being sensed for a short time. This may cause a phenomenon in which the first object is continuously sensed and then disappears again in a space with a large floating population. Therefore, the sensing unit 100 attempts to sense the first object again after a preset time Sensing_Period_Time (0.1 second or 1 second, etc.) has elapsed even if the first object is sensed according to the movement of the floating population, and the first object detects the Sensing_Period_Time It is possible to notify the controller 900 of the robot only when it is confirmed that it exists for a longer period of time. To this end, the control unit 900 may provide the sensing unit 100 with information that there is no fixed object within a predetermined range based on the map information of the map storage unit 200 .

The aforementioned Sensing_Period_Time may be set in advance or may be automatically changed according to the characteristics of the time the robot 1000 travels. For example, when the floating population is very high, people may move and then new people may move to the same location again. In this case, Sensing_Period_Time can be set longer. In addition, since there are not many people who move during the time when the floating population is small, there is not much possibility that people are constantly waiting in a specific location, so the Sensing_Period_Time can be set short.

Alternatively, unlike the above, since a sensed object may constantly exist due to an increase in the floating population, it is possible to check whether the object is a moving object by setting the Sensing_Period_Time to be rather short.

The above-described process will be described in more detail. The control unit 900 provides the sensing unit 100 with information on a fixed object within a senseable range ( S501 ). For example, when the sensing unit 100 senses a distance of 5 meters, information that there is no fixed object within 5 meters or information that there is a fixed object at a point 3 meters on the left within 5 meters is provided. included in Using this information, when an external object is sensed and it is determined that the object is a fixed object, the sensing unit 100 may immediately notify the controller 900 as a fixed object. And if it is determined that the moving object is not a fixed object, the moving object may be sensed again as shown in FIG. 6 .

When the first object is sensed (S502), the sensing unit 100 senses the same position again after Sensing_Period_Time, which is a preset time (S503). If the first object is sensed even after sensing again (S504), it is determined that the first object has been continuously sensed, and the sensing unit 100 provides the sensed information of the first object to the controller 900 (S505).

Here, if person A moves to a specific location and person B moves thereafter, the sensing unit 100 may sequentially sense person A and person B to determine that the first object exists. That is, in FIG. 6 , the first object sensed by the sensing unit 100 at S502 is not necessarily the same as the first object sensed by the sensing unit 100 at S505 .

In the embodiment of FIG. 6 , depending on the type of sensor, the robot may perform the process of FIG. 6 while moving. For example, when the sensing distance is long like a lidar sensor, and when there is an object sensed from a long distance, the sensing data analysis unit 130 stores the information and senses it again while proceeding. If an object is sensed in the moving direction and the corresponding object is not sensed during the movement, the sensing data analysis unit 130 deletes it and does not notify the control unit 900 .

On the other hand, when the sensed object in the moving direction is continuously sensed, the controller 900 is notified about this.

To this end, the sensing data analysis unit 130 may compare the object sensed primarily with the object sensed after movement.

For example, when an object is sensed 10 meters ahead in the direction of travel, the sensing data analysis unit 130 stores information indicating that the object exists 10 meters ahead. And if an object is still sensed 5 meters ahead after proceeding 5 meters, and an object is sensed 1 meter ahead after proceeding 1 meter again, information that the object is sensed 1 meter ahead in the direction of travel is provided to the controller 900 do.

On the other hand, when the moving direction is north and an object is sensed 5 meters in front of the northeast, the sensing data analysis unit 130 stores this information. After moving 2.23 meters north, if an object is sensed at 2.23 meters east, it means that the previously sensed object is placed as it is. In this regard, information is provided to the control unit 900 that the object is sensed at 2.23 meters east in the moving direction. do.

In order to implement the above-described embodiment, the sensing data analysis unit 130 may additionally retain the moving object storage unit 220 illustrated in FIG. 4 .

7 and 8 are diagrams illustrating a process of calculating the mobility of a sensed object according to an embodiment of the present invention. 5 shows an embodiment of S520.

The control unit 900 may compare the sensed object with the map 210 of FIG. 7 regarding a fixed structure such as a fixed object in the map storage unit 200 . It is checked whether the sensed first object 710 provided by the sensing unit 100 matches the fixed object in the map 210 . If a fixed object exists adjacent to the first object 710 , it may be determined as a fixed object. However, when the position of the fixed object on the map and the position of the sensed first object do not match, the controller 900 of the robot may increase mobility.

8 shows an embodiment in which the value of the object's mobility is increased and stored as 710a in the moving object storage unit 220a to have a value of 5. As shown in FIG. If the control unit 900 of the robot does not completely match the positions of the fixed object on the map and the sensed first object, but partially overlaps, the fixed object may be caused by an error in the map or a mechanical error occurring during the movement of the robot. Since there is a possibility of judging as a moving object, in this case, the value of mobility is set as low as 3 or 4. In the next driving or other movement, if the corresponding object is still sensed and no movement occurs, it is determined as a fixed object and the map can be modified. This includes a function to correct errors that occurred in the process of initially generating the map by the robot.

On the other hand, when the object 720 is sensed again from a location previously stored in the moving object storage unit, the controller 900 may calculate the mobility even for this. That is, 720 is an object sensed at the same location as the object of serial number 433 of the moving object storage 220 of FIG. 4 . That is, the controller may check whether the second object corresponding to the location of the first object is stored in the moving object storage unit and the storage period or storage interval, and change the mobility according to the checked information. In FIG. 8, 720a, it can be seen that SensingTime and Duration are changed, and the value of Movability indicating mobility is changed from 5 to 2. If the object indicated by 720 of FIG. 7 is sensed again, its mobility, ie, mobility, becomes 1, and the map may be updated by recognizing it as a fixed object. The criterion for judging a fixed object can be variously configured according to the operating environment of the system and robot.

If the above-described embodiment is applied, it is not directly registered on the map all information coming in from the laser distance sensor, such as a lidar sensor, but it is continuously determined whether the sensed object is a static obstacle or a moving obstacle, Only information that is determined to be can be registered on the map. This is because the x and y of the entire map coordinate system can be extracted when the distance information and angle information of a specific object obtained from the laser sensor are calculated as the robot's current position information, so the x and y coordinate values of the specific object are shown in FIGS. 4 and 8 It is stored in the moving object storage units 220 and 220a as described above, and if the same location is shown for a certain period of time, it is determined as a static obstacle and registered on the map. If the coordinates change, it is determined as a dynamic obstacle and not registered on the map.

In addition, even if it is registered as a static obstacle on the map, when the corresponding point is scanned again after a certain period of time, if there is no corresponding obstacle, it is determined as a dynamic obstacle and can be removed from the existing map. For example, even if the object indicated by 720 is stored as a static or fixed object on the map, the stored state is maintained in the moving object storage unit 220a, and then the robot attempts to sense the object 720 while driving. Therefore, if the corresponding object 720 is not sensed, it can be deleted from the map 210 and also from the moving object storage 220a.

In this case, even if the object 720 is determined as a static obstacle and stored as a fixed object on the map when it indicates the same position for a certain period of time at the confirmed coordinates (10, 17), when the object 720 at the corresponding position moves, it is a map This is so that it can be applied as it is and deleted from the map. That is, non-removable fixed objects such as completely fixed structures (walls, glass, columns) are stored only in the map, but objects that can be moved or removed to some extent (information desk, sign, trash can, etc.) are stored in the moving object storage unit. If the state stored in 220a is maintained, it can be easily reflected when the above-described removable objects are moved or removed later.

For example, if a person may not move at a specific point for a certain period of time, if there are always people coming and going at that location, or because an object may remain in a state where it is placed, it may be judged as a static obstacle and registered as a fixed object on the map. However, in this case, if there are no obstacles when the point is scanned again after a specific time, the obstacle can be removed from the existing map. For this purpose, even if it is registered as a fixed object in the map, information of the corresponding object may be stored in the moving object storage unit. For example, if the mobility is 0 or 1 in the moving object storage unit, it is stored in the map, but if the object does not exist by sensing the position again, it can be deleted from the map.

Also, the contents stored in the moving object storage unit may exchange information with other robots through the communication unit 500 .

9 is a diagram illustrating a process of exchanging information on a moving object between a plurality of robots or between a robot and a server according to an embodiment of the present invention.

The server 2000 downloads (S901, S902) information on the moving object to the plurality of robots 1000a, ..., 1000z. The robots 1000a, ..., 1000z update the received moving object information to the moving object storage 220 . The server 2000 analyzes information on a moving object transmitted by a plurality of robots 1000a, ..., 1000z, and updates the duplicated sensed information at the same location to store it as information on one moving object. can In addition, by accumulating history information on whether there is an object repeatedly appearing and disappearing at a specific location, information on the mobility of the moving object may be corrected, and download transmission may be performed.

Thereafter, the robots 1000a, ..., 1000z update the moving object information in the driving process (S910, S920). In one embodiment, it includes updating information of a moving object storage unit held by each robot. In addition, information on a newly acquired moving object may be shared among robots located adjacently among robots (S915). In this case, the sharing of information on the moving object can be provided only to robots that are close to each other within a certain range. Alternatively, it may be provided to a robot that is scheduled to move to the corresponding space after the robot.

And, each of the robots 1000a, ..., 1000z uploads (S911, S921) the moving object information acquired while driving to the server and transmits them.

The server 2000 updates the received moving object information (S930), and in this process, the duplicated information is arranged as information about one object, or when a change in the mobility value is necessary, the moving object information is newly updated. Download (S931, S932). The change in the mobility value means that when multiple robots accumulate and sense the existence of an object at a specific location at different times and upload information about it, the mobility value of the object at the location is lowered based on this information, or it is stored on a fixed map. means to add. Accordingly, in the moving object information download process, change information on the map may also be downloaded.

As shown in FIG. 9 or by using the control unit 900 and the map storage unit 200 of the robot described above, it can be confirmed that the object is located in a specific position with periodicity. For example, when accumulating and storing the time points at which an object is sensed at a specific location, a rule in which an object is disposed with a cycle at the location may be created, and based on this, the robot 1000 will prevent the object from being disposed at the location. You can move to a point in time and perform a function. In addition, information that an object is disposed at a specific location with periodicity is provided from the outside, and the robot 1000 can move based on this.

10 is a diagram for storing periodicity of a moving object in a moving object storage unit according to an embodiment of the present invention.

In order to store the periodicity of the moving object in the moving object storage unit, in an embodiment of the present invention, the map storage unit 200 may further include a history storage unit 230 . The history storage unit 230 stores the time when the object is sensed at a specific location, which may store time information sensed by not only the corresponding robot but also other robots. In the process of FIG. 9 , information on objects sensed in various processes of downloading or sharing moving object information may be stored.

Looking at the information stored in the history storage unit 230, positions where objects are sensed are accumulated and stored at positions (3, 5). Looking at the stored temporal pattern, it was sensed that the object was present every Tuesday from 10:15 am to 13:15 am. Therefore, at position (3, 5) a moving object is placed every Tuesday between 10:15 AM and 13:15 AM (or more time before or after this time), so avoid this time and move the robot (1000) at that location. ) to perform this function. Looking at the embodiment of the moving object storage 220b reflecting the contents of 230, it may be stored as shown in 730. Thereafter, if the object is not sensed in (3, 5), information that is not sensed for a predetermined period may be checked and then removed from the moving object storage unit 220b.

The process of FIG. 10 may be performed by the robot 1000 or may be performed by the server 2000 described above. The server 2000 may collect information provided by a plurality of robots, correct an error in a value sensed by the robot, confirm the periodicity of a specific location, and provide it to the plurality of robots again.

11 is a view showing a process of controlling the driving of the robot according to an embodiment of the present invention.

The control unit 900 of the robot may generate a movement routine before starting movement or in the course of movement. In this case, the movement routine may be generated by checking the information on the temporal periodicity of the object discussed with reference to FIG. 10 . In addition, by adjusting the movement routine, it is possible to perform a function by moving to a corresponding position at a time when the object is not expected to be located.

The control unit 900 of the robot creates a movement routine of the robot (S1110). In this process, the control unit 900 checks whether an object is expected to be periodically arranged at a position included in the movement routine (S1120). If periodic arrangement is expected as a result of the check, the time period in which the object is not sensed is calculated according to the temporal periodicity of the object. That is, a time period in which an object is not sensed is calculated using the temporal periodicity in which the object is arranged ( S1130 ). Thereafter, the control unit 900 generates a movement routine so that the robot moves to the corresponding position on the map in a time period that is not sensed, and the control unit controls the movement unit 300 to perform a function by moving according to the routine (S1135). can do.

Meanwhile, when the periodic arrangement of the object is not expected, the controller may control the moving unit 300 to move according to the generated movement routine to perform a function.

12 is a diagram illustrating an embodiment in which a moving object of the map storage unit is displayed on a map and an embodiment in which the moving object is not displayed according to an embodiment of the present invention.

1210 is an area in which both fixed and moving objects are displayed. 1220 is an area where only fixed objects are displayed. Reference numeral 1210 denotes a combination of all information of the map 210 and the moving object storage 220 , and reference numeral 1220 denotes only information on the map 210 . The robot 1000 may move to perform a specific function in a space in which only a fixed object is disposed by using the information of 1220 in the process of generating a movement routine or moving to a specific location. In addition, information on the moving object sensed newly in the moving process may be accumulated and stored, and the map may be updated by checking whether the moving object is fixedly disposed.

As shown in 1220 of FIG. 12 , in the process of creating or updating a map with a laser distance sensor, dynamic obstacles are not registered on the map, but only actual external walls or stationary objects are registered on the map, so that the robot can drive with accurate map information. can In addition, when a specific object is removed from the space of the initially created map, the robot can detect that the object has disappeared and remove it from the map to update the map.

This may use information on which objects stored in the above-described moving object storage unit are arranged or removed.

The map storage unit 200 separates the map 210 and the moving object storage unit 220 and provides information to the controller 900 so that the robot can move.

According to another embodiment of the present invention, both a fixed object and a moving object may be stored in one map.

13 is an embodiment illustrating information on a fixed object and a moving object in one map according to another embodiment of the present invention. In the map 1310 of FIG. 13 , the entire space is divided by 20×20. In this space, fixed objects such as walls and glass are displayed with a value of 1, and other moving objects are displayed with a value of 2 to 5. The higher the number, the more mobile it can be predicted to move dynamically or to be removed soon.

Accordingly, in the course of the robot moving, the map may be reconstructed based on the mobility value in the entire map 1310 . For example, if the controller controls to display only objects having mobility values 1 and 2 on the map 1310 to be displayed, the robot can identify and move only fixed objects and semi-fixed objects. In addition, in a situation with a large floating population, moving objects are also considered to exist, and even objects with a mobility value of 5 are displayed on the map so that the robot can move.

When the above-described embodiments are applied, when a robot creates or updates a map by using a laser sensor, a dynamic obstacle can be removed. If the location information of an object detected by the laser sensor does not change for a certain period of time, it is registered on the map, and when the registered object is scanned again, if the object is not detected in the same location, the object can be removed from the map.

In addition, when a static structure not previously displayed on the map is newly placed, it is checked whether such a structure is continuously placed, and when it is fixedly placed for a certain period or longer, it can be updated as a fixed object of the map. Therefore, it is possible to compose a map by separating dynamically changing spatial changes into moving objects and fixed objects, so that the robot does not become an obstacle to realization of functions due to moving objects. In particular, in a space with a large floating population, such as airports, ports, and terminals, if the robot stops entering the space just because there is a floating population, it may not be possible to fully utilize the functions of the robot in charge of cleaning and security of the space. have. Accordingly, in the present specification, by using a laser sensor such as lidar, it is possible to check the arrangement of objects and record their dynamic movements in time.

14 is a diagram showing the configuration of a sensing unit according to another embodiment of the present invention.

In FIG. 14 , the sensing unit 100 may further include a human body detection sensor 150 in addition to the lidar sensor including the laser transmitting unit 110 and the laser receiving unit 120 . It can be applied in parallel with the lidar sensor. When the moving object detected by the lidar sensor is a human, the human body detection sensor 150 provides information that the human is sensed to the sensing data analysis unit 130 . The sensing data analysis unit 130 provides information indicating that a human body has been detected in the process of providing the sensed information to the control unit 900 so that the control unit 900 can always set the mobility to 5 for the corresponding moving object. .

15 is a diagram illustrating the configuration of a server according to an embodiment of the present invention. The server 2000 includes a map storage unit 2200, a control unit 2900, and a communication unit 2500 that centrally store map information generated by robots, information on moving objects, and a history. The map 2210 stores information about fixed objects. The communication unit 2500 of the server 2000 collects information on moving objects sensed by the robots as they move and stores the information in the moving object storage unit 2220 . In addition, the history storage unit 2230 accumulates and stores information on objects arranged with respect to each location. Based on this, the server 2000 may provide information on whether the arrangement of the sensed object periodically occurs to the robots.

In addition, the server 2000 may reflect information on the arrangement of objects at a specific location provided by an airport, a port, a terminal, etc. on the map 2210 or the moving object storage unit 2220 and provide it to the robots. For example, in the original area where objects are not placed, when an information desk is newly installed for a certain period of time, information about this point is stored in the map 2210 or the moving object storage unit 2220, so that the robot is unnecessary for sensing. It is possible to increase the efficiency of the robot's movement by not modifying the movement routine for re-entry or to re-enter the area.

Also, the server 2000 may additionally include a rule storage unit 2600 . This makes the periodicity of the arrangement of objects a rule using the history storage unit 2230 so that the robots can refer to it when moving. For example, it is confirmed that a moving object is placed every Tuesday at (2, 3), and at the same time that a moving object is placed every Tuesday at (2, 8). ) and (2, 8) regions are coupled to create a rule that the moving object is arranged with periodicity. The rule includes a rule generated based on the periodicity of the arrangement of objects calculated by a kind of history storage unit 2230 .

Even if all the 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 all components within the scope of the present invention are one or more may be selectively combined to operate. In addition, although all of 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 one or a plurality of hardware programs module 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 unit
200: map storage unit 210, 1310: map
220: moving object storage unit 230: history storage unit
300: moving unit 400: function unit
500: communication unit 2000: server

Claims (18)

sensing, by a sensing unit of the robot, a first object disposed outside the robot;
calculating, by the control unit of the robot, the sensed mobility of the first object; and
When the mobility of the first object calculated by the control unit of the robot is lower than a preset reference, storing the sensed information of the first object and the sensed time information as a fixed object on a map;
The step of calculating the mobility is
When the positions of the fixed object of the map and the sensed first object do not completely coincide with each other, but partially overlap, a method for creating a map by identifying a moving object, including setting a low value of the mobility of the first object .
According to claim 1,
When the mobility is higher than or equal to a preset criterion, the sensed information of the first object and the sensed time information are stored in a moving object storage unit, a method of identifying a moving object and creating a map.
According to claim 1,
Before the sensing step,
The control unit includes the step of providing information on a fixed object within a sensing possible range to the sensing unit,
The sensing step is
The sensing unit further comprises the step of providing the sensed information of the first object to the control unit by confirming whether the first object is continuously sensed within the senseable range for a preset time or longer, How to write.
According to claim 1,
The step of calculating the mobility is
and increasing, by the control unit of the robot, the mobility when the fixed object of the map and the sensed first object do not match.
According to claim 1,
The step of calculating the mobility is
checking, by the control unit of the robot, whether a second object corresponding to the location of the first object is stored in a moving object storage unit, and a storage period or storage interval; and
and changing the mobility of the first object according to the identified information.
According to claim 1,
The map storage unit stores the temporal periodicity in which the object is sensed, a method of creating a map by identifying a moving object.
7. The method of claim 6,
calculating, by the control unit of the robot, a time period in which the object is not sensed by using the temporal periodicity of the object stored in the map storage unit;
A method of creating a map by identifying a moving object, comprising controlling, by a controller of the robot, to move the robot to the location of the map in the non-sensing time period.
According to claim 1,
Transmitting and receiving information of a moving object to a server by the communication unit of the robot;
The server further comprising the step of lowering the mobility of the second object or adding the second object to a fixed map by using the location information of the second object sensed at a specific location at different times by a plurality of robots, How to create a map by identifying moving objects.
a moving unit for controlling the movement of the robot;
a map storage unit for storing a map referenced when the robot moves;
a sensing unit for sensing a first object disposed outside the robot; and
a control unit for controlling the moving unit, the map storage unit, and the sensing unit, and calculating the sensed mobility of the first object;
When the mobility is lower than a preset criterion, the control unit of the robot stores the sensed information of the first object and the sensed time information as a fixed object on the map,
When the position of the fixed object of the map and the sensed first object do not completely coincide with each other, but partially overlap, the controller sets a low value of the mobility of the first object. A robot that identifies a moving object and creates a map.
10. The method of claim 9,
The map stores information about fixed objects,
The map storage unit further comprises a moving object storage unit for storing information on the moving object, a robot for creating a map by identifying a moving object.
11. The method of claim 10,
When the mobility is higher than or equal to a preset criterion, the controller stores the sensed information of the first object and the sensed time information in the moving object storage unit, a robot that identifies a moving object and creates a map.
10. The method of claim 9,
The control unit provides information on a fixed object within a sensing possible range to the sensing unit,
The sensing unit checks whether the first object is continuously sensed for a preset time or longer within the senseable range, and provides the sensed information of the first object to the control unit. A robot that identifies a moving object and creates a map.
10. The method of claim 9,
When the fixed object of the map and the sensed first object do not match, the controller of the robot creates a map by identifying a moving object to increase the mobility.
10. The method of claim 9,
The control unit of the robot checks whether the second object corresponding to the position of the first object is stored in the moving object storage unit and the storage period or storage interval, and changes the mobility of the first object according to the checked information A robot that creates a map by identifying moving objects.
10. The method of claim 9,
The map storage unit stores the temporal periodicity in which the object is sensed, a robot that identifies a moving object and creates a map.
10. The method of claim 9,
The control unit of the robot calculates a time period in which the object is not sensed by using the temporal periodicity of the object stored in the map storage unit, and moves the robot to the location of the map in the time period in which the object is not sensed. A robot that creates a map by identifying a moving object, in which a controller controls the moving unit.
10. The method of claim 9,
The communication unit of the robot transmits and receives information of the moving object to the server,
After the server lowers the mobility of the second object or adds the second object to a fixed map by using the location information of the second object sensed at a specific location at different times by a plurality of robots, the communication unit of the robot A robot that creates a map by identifying a moving object, which receives the fixed map. delete

Images