KR102578138B1 - Airport robot and system including the same - Google Patents

Abstract

An airport robot according to an embodiment of the present invention includes a travel driver that travels the travel path of the airport robot at a predetermined travel speed; and an object recognition unit that detects a person and characteristics related to the person; and a control unit that controls the travel driving unit to drive at the predetermined travel speed, but to adjust the predetermined travel speed in response to characteristics related to the person when the person is present in an area within a predetermined distance from the airport robot. Includes.

Description

Airport robot and system including same {AIRPORT ROBOT AND SYSTEM INCLUDING THE SAME}

The present invention relates to an airport robot and a system including the same, and more specifically, to an airport robot and a system including the airport robot that adjusts the traveling speed in response when a person is detected around the driving path of the airport robot.

Due to the recent explosive increase in the number of airport users and efforts to make a leap forward as a smart airport, plans to provide services through robots within the airport are being discussed. When intelligent robots are introduced to airports, it is expected that the robots will be able to perform the unique roles of humans that existing computer systems could not replace, contributing to the quantitative and qualitative improvement of the services provided.

One of the important functions related to robot driving is obstacle avoidance. In particular, airports are places where many people gather, so accidents involving collisions between robots and people can frequently occur. Therefore, for airport robots, obstacle avoidance function is of utmost importance.

Existing robots are designed to detect surrounding obstacles while driving and avoid collisions. Therefore, when the robot detects a person located in front of the driving direction while driving, it changes the driving direction to avoid collision with the person.

The present invention provides an airport robot that can avoid collisions with people and a system including the same.

In addition, the present invention provides an airport robot and a system including the same that can avoid collisions with people by reflecting the driving situation.

In addition, the present invention provides an airport robot and a system including the same that can efficiently avoid collisions with people by reflecting the surrounding environment in which the airport robot travels.

Additionally, the present invention provides an airport robot and a system including the same that can prevent collisions with people in situations where there is a high possibility of collision.

Furthermore, the present invention provides an airport robot and a system including the same that effectively prevents collisions with people by reflecting the detected characteristics of the person.

According to an embodiment of the present invention, an airport robot includes an object recognition unit that detects characteristics related to people; and a control unit that adjusts the traveling speed in response to characteristics related to the person when a person exists in an area within a predetermined distance from the airport robot. According to this, when a person is detected around the driving path while driving, a collision with a person can be avoided by adjusting the driving speed of the airport robot.

The control unit may reduce the traveling speed as the distance between the person and the airport robot becomes closer. According to this, collisions with people can be avoided by reflecting the driving situation.

The control unit may reduce the traveling speed as more people are crowded around the airport robot. According to this, collisions with people can be efficiently avoided by reflecting the surrounding environment in which the airport robot drives.

The control unit may stop the airport robot from running when a person exists within a critical distance. According to this, it is possible to prevent a collision with a person in a situation where there is a high possibility of collision.

The control unit may reduce the traveling speed of the airport robot as the detected height of the person becomes shorter. According to this, collisions with people can be efficiently prevented by reflecting the detected characteristics of the person.

According to another embodiment of the present invention, a server that controls an airport robot includes a communication unit that communicates with the airport robot; And when the communication unit receives data about whether a person exists in an area within a predetermined distance from the airport robot and the characteristics related to the person, it includes a control unit that adjusts the driving speed in response to the characteristics related to the person.

According to another embodiment of the present invention, a system including an airport robot includes: an airport robot that detects whether a person is present in an area within a predetermined distance and the characteristics related to the person and transmits the information to a server; and a server that controls the airport robot to adjust its travel speed in response to human-related characteristics.

According to another embodiment of the present invention, in a computer-readable recording medium on which a program for performing a driving method of an airport robot is recorded, the driving method includes: detecting characteristics related to a person; and, when a person exists in an area within a predetermined distance from the airport robot, adjusting the traveling speed in response to characteristics related to the person.

According to an embodiment of the present invention, an airport robot can avoid collisions with people.

According to another embodiment of the present invention, an airport robot can avoid collisions with people by reflecting the driving situation.

According to another embodiment of the present invention, an airport robot can efficiently avoid collisions with people by reflecting the surrounding environment in which the airport robot drives.

According to another embodiment of the present invention, an airport robot can prevent a collision with a person in a situation where there is a high possibility of collision.

According to another embodiment of the present invention, an airport robot can effectively prevent collisions with people by reflecting the detected characteristics of the person.

Figure 1 is a diagram showing the hardware configuration of an airport robot according to an embodiment of the present invention.
Figure 2 is a diagram showing the structure of a software platform of an airport robot according to an embodiment of the present invention.
Figure 3 is a diagram showing the configuration of an airport robot system according to an embodiment of the present invention.
Figure 4 is a diagram showing the driving process of an airport robot according to an embodiment of the present invention.
5A to 5C are diagrams for explaining a driving method of an airport robot according to an embodiment of the present invention.
Figure 6 is a diagram showing the driving process of an airport robot according to another embodiment of the present invention.
7A to 7C are diagrams for explaining a driving method of an airport robot according to another embodiment of the present invention.
Figure 8 is a diagram showing the driving process of an airport robot according to another embodiment of the present invention.
9A and 9B are diagrams for explaining a driving method of an airport robot according to another embodiment of the present invention.
Figure 10 is a diagram showing the driving process of an airport robot according to another embodiment of the present invention.
Figures 11a and 11b are diagrams for explaining a driving method of an airport robot according to another embodiment of the present invention.

Hereinafter, embodiments disclosed in the present specification will be described in detail with reference to the attached drawings. However, identical or similar components will be assigned the same reference numbers regardless of reference numerals, and duplicate descriptions thereof will be omitted. The suffixes “module” and “part” for components used in the following description are given or used interchangeably only for the ease of preparing the specification, and do not have distinct meanings or roles in themselves. Additionally, in describing the embodiments disclosed in this specification, if it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed in this specification, the detailed descriptions will be omitted. In addition, the attached drawings are only for easy understanding of the embodiments disclosed in this specification, and the technical idea disclosed in this specification is not limited by the attached drawings, and all changes included in the spirit and technical scope of the present invention are not limited. , should be understood to include equivalents or substitutes.

Figure 1 is a diagram showing the hardware configuration of an airport robot according to an embodiment of the present invention.

The airport robot 100 according to an embodiment of the present invention includes a microcomputer 110, a power supply unit 120, an obstacle recognition unit 130, a travel driver 140, an application processor 150, a user interface unit 160, It may include an object recognition unit 170, a location recognition unit 180, and a LAN module 190.

The airport robot 100 configured in this way may be composed of a part controlled by the microcomputer 110 and a part controlled by the application processor 150. The part controlled by the microcomputer 110 may include the microcomputer 110, the power supply unit 120, the obstacle recognition unit 130, and the travel driver 140. The part controlled by the application processor 150 may include the application processor 150, the user interface unit 160, the object recognition unit 170, the location recognition unit 180, and the LAN module 190. In this case, the microcomputer 110 and the application processor 150 can perform UART communication.

A microcomputer (Micom, 110) may be a miniature computer made of a microprocessor with a central processing unit (CPU) integrated into a single high-density integrated circuit (LSI) chip. The microcomputer 110 can generally control the overall operation of the airport robot 100. The microcomputer 110 can provide or process appropriate information or functions to the user by processing signals, data, and information input or output through components controlled by the microcomputer 110. Additionally, in order to drive the airport robot 100, the microcomputer 110 may control at least some of the components shown in FIG. 1 or may operate by combining at least two or more of them.

The power unit 120 receives external or internal power under the control of the microcomputer 110 and supplies power to each component included in the airport robot 100. For this purpose, the power supply unit 120 may include a battery driver (121) and a battery (122).

The battery driver 121 can control charging and discharging of the battery 122.

The battery 122 may supply power to drive the airport robot 100. Depending on the embodiment, the battery 122 may be composed of a lithium-ion battery (Li-Ion Battery) consisting of two 24V/102A lithium-ion batteries connected in parallel, or a lead acid battery that is a rechargeable secondary battery. The battery 122 may be implemented as a built-in or replaceable type.

The obstacle recognition unit 130 can detect obstacles located around the airport robot 100. To this end, the obstacle recognition unit 130 may include one or more sensors for detecting at least one of information within the airport robot 100, information on the surrounding environment surrounding the airport robot 100, and user information. Specifically, the obstacle recognition unit 130 may include an IR remote control receiver 131, USS 132, Cliff PSD 133, ARS 134, Bumper 135, and OFS 136.

The IR remote control receiver 131 may include a sensor that detects a signal from an infrared (IR) remote control for remotely controlling the airport robot 100. The ultrasonic sensor (USS) 132 can detect distance, thickness, and movement by using the characteristics of ultrasonic waves or by generating ultrasonic waves. For example, the ultrasonic sensor 132 may determine the distance between an obstacle and the airport robot 100 using an ultrasonic signal. Cliff PSD 133 may include a sensor to detect cliffs or cliffs in the 360-degree omni-directional airport robot driving range. ARS (Attitude Reference System, 134) may include a sensor capable of detecting the attitude of the airport robot 100. To this end, the ARS 134 may include a sensor consisting of three acceleration axes and three gyro axes for detecting the rotation amount of the airport robot 100. Bumper 135 may include a sensor that detects a collision between the airport robot 100 and an obstacle. The sensor included in the bumper 135 can detect a collision between the airport robot 100 and an obstacle in a 360-degree range. The Optical Flow Sensor (OFS) 136 may include a sensor that can measure the spinning phenomenon of the airport robot 100 while driving and the driving distance of the airport robot 100 on various floor surfaces.

The travel driver 140 can drive the airport robot 100 autonomously. For this purpose, the traveling drive unit 140 includes motor drivers (Motor Drivers, 141), wheel motors (142), rotation motors (143), main brush motors (Main Brush, 144), side brush motors (Side Brush, 145), and It may include a suction motor (Suction, 146).

The motor driver 141 can drive a wheel motor, a rotation motor, a brush motor, and a suction motor for driving and cleaning the airport robot 100. The wheel motor 142 can drive a plurality of wheels for the airport robot 100 to travel. The rotation motor 143 may be driven to rotate the main body of the airport robot 100 or the head of the airport robot 100 left and right and up and down, or may be driven to change the direction or rotate the wheels of the airport robot 100. there is. The main brush motor 144 may drive a brush that sweeps up dirt from the airport floor 100. The side brush motor 145 can drive a brush that sweeps away dirt from the area around the outer surface of the airport robot 100. The suction motor 146 may be driven to suction dirt from the airport floor.

Application Processor (AP 150) may function as a central processing unit, that is, a control unit, that manages the entire hardware module system of the airport robot 100. Specifically, the application processor 150 receives input through various sensors. Using the location information, an application for driving can be run, or user input/output information can be transmitted to the microcomputer 110 to control the operation of a motor, etc.

The user interface unit 160 is responsible for user input and output, and includes a user interface processor (UI Processor) 161, an LTE router (162), a WIFI SSID (163), a microphone board (164), and a barcode reader (165). , may include a touch monitor 166 and a speaker 167.

The user interface processor 161 may control the operation of the user interface unit 160. The LTE router 162 can receive necessary information from the outside and perform LTE communication to transmit information to the user. The WIFI SSID 163 can perform location recognition of a specific object or the airport robot 100 by analyzing WiFi signal strength. The microphone board 164 can receive a plurality of microphone signals, process the voice signal into voice data, which is a digital signal, and analyze the direction of the voice signal and the corresponding voice signal. The barcode reader 165 can read barcode information written on a plurality of tickets used at the airport. The touch monitor 166 may include a touch panel configured to receive user input and a monitor to display output information. The speaker 167 may perform the role of informing the user of specific information by voice.

The object recognition unit 170 may include a 2D camera 171, an RGBD camera 172, and a recognition data processing module 173.

The 2D camera 171 may operate as a sensor that recognizes people or objects based on two-dimensional images. RGBD camera (Red, Green, Blue, Distance, 172) is a sensor for detecting people or objects using captured images with depth data obtained from cameras with RGBD sensors or other similar 3D imaging devices. It can work. The recognition data processing module 173 can recognize people or objects by processing signals such as 2D images/videos or 3D images/videos obtained from the 2D camera 171 and the RGBD camera 172.

The location recognition unit 180 recognizes the current location of the airport robot 100 and may include a stereo board (Stereo B/D) 181, Lidar (182), and a SLAM camera (183).

The stereo board 181 processes and processes sensing data collected from the lidar 182 and the SLAM camera 183, and may be responsible for data management for location recognition and obstacle recognition of the airport robot 100. SLAM cameras (Simultaneous Localization And Mapping cameras, 183) can implement simultaneous location tracking and mapping technology. As a result, the airport robot 100 can detect surrounding environment information using the SLAM camera 183, process the obtained information, create a map corresponding to the mission performance space, and simultaneously estimate its absolute position. LIght Detection And Ranging (LIDAR, 182) is a laser radar and may be a sensor that performs location recognition by irradiating a laser beam and collecting and analyzing backscattered light among the light absorbed or scattered by aerosol.

The LAN 190 may communicate with the user interface processor 161, the recognition data processing module 173, the stereo board 181, and the AP 150.

Meanwhile, the components shown in FIG. 1 are not essential for implementing the airport robot 100, so the airport robot 100 described in this specification includes more or fewer components than the components listed above. You can have it. That is, the airport robot 100 according to an embodiment of the present invention may include only some of the components shown in FIG. 1 depending on the specialized functions it performs. For example, the airport robot 100 may commonly include components for recognizing obstacles or locations, and may include components specialized for cleaning or guiding roles only when performing the corresponding functions.

Figure 2 is a diagram showing the structure of a software platform of an airport robot according to an embodiment of the present invention.

In order to control the recognition, operation, and driving of the airport robot 100, the microcomputer 210 and the application processor 220 may include a software platform with various structures depending on the embodiment.

According to one embodiment, as shown in FIG. 2, the microcomputer 210 includes a data acquisition module (Data Acquisition module, 211), an emergency module (Emergency module, 212), and a motor driver module (Motor Driver module, 213). , It may include a battery manager module (214) and a data access service module (Data Access Service module (215)).

The data acquisition module 211 may acquire sensed data from a plurality of sensors included in the airport robot 100 and transmit it to the data access service module 215. The emergency module 212 is a module that can detect an abnormal state of the airport robot 100. When the airport robot 100 performs a predetermined type of action, it detects that the airport robot 100 has entered an abnormal state. can do. The motor driver module 213 can manage drive control of the wheels, brushes, and suction motors for driving and cleaning of the airport robot 100. The battery manager module 214 is responsible for charging and discharging the battery 122 of FIG. 1 and can transmit the battery status of the airport robot 100 to the data access service module 215. The data access service module 215 may control the operations of the data acquisition module 211, the emergency module 212, the motor driver module 213, and the battery manager module 214.

The application processor 220 may receive user input from various cameras and sensors, recognize and process the input, and control the operation of the airport robot 100. To this end, the application processor 220 includes an interaction module (Interaction module, 221), a user interface module (U/I module, 222), a display unit 223, a user input unit 224, and a state machine module (State Machine module, 225), a planning module (226), a navigation module (227), and a motion module (228).

The interaction module 221 combines the recognition data received from the recognition data processing module 173 and the user input received from the user interface module 222, and provides software that allows the user and the airport robot 100 to interact with each other. ) may be a module that oversees.

The user interface module 222 receives the user's short-range commands input through the display unit 223, which is a monitor for providing current status and operation/information of the airport robot 100, and keys, touch screens, readers, etc. Receives or manages user input received from the user input unit 224, which receives a long-distance signal such as a signal from an IR remote control for remote control of the airport robot 100, or receives a user input signal from a microphone or barcode reader, etc. can do. When at least one user input is received, the user interface module 222 may transmit the user input information to the state management module 225.

The state management module 225 that receives the user input information can manage the overall state of the airport robot 100 and issue appropriate commands in response to the user input.

The planning module 226 determines the start and end time/actions for a specific operation of the airport robot 100 according to the command received from the status management module 225, and determines which path the airport robot 100 should move. It can be calculated.

The navigation module 227 performs the overall function of driving the airport robot 100 and can control the airport robot 100 to drive according to the driving path calculated by the planning module 226.

The motion module 228 can be controlled to perform basic operations of the airport robot 100 in addition to driving.

Additionally, the airport robot 100 according to an embodiment of the present invention may include a location recognition unit 230 and a map management module 240.

The location recognition unit 230 may include a relative location recognition unit 231 and an absolute location recognition unit 234. The relative position recognition unit 231 can correct the movement amount of the airport robot 100 through the RGM Mono (232) sensor and calculate the movement amount of the airport robot 100 for a certain period of time. Additionally, the relative position recognition unit 231 can recognize the current surrounding environment of the airport robot 100 through the LiDAR 233. The absolute location recognition unit 234 may include a Wifi SSID 235 and UWB 236. The Wifi SSID 235 is a sensor module for recognizing the absolute location of the airport robot 100, and is a WIFI module for estimating the current location through Wifi SSID detection. The Wifi SSID 235 can recognize the location of the airport robot 100 by analyzing the Wifi signal strength. The UWB 236 can sense the absolute position of the airport robot 100 by calculating the distance between the transmitter and the receiver.

The map management module 240 may include a grid module 241, a path planning module 242, and a map division module 243. The grid module 241 can manage a grid-shaped map generated by the airport robot 100 through a SLAM camera or map data of the surrounding environment for location recognition input to the airport robot 100 in advance. The path planning module 242 may be responsible for calculating the driving paths of the airport robots 100 in dividing the map for collaboration between the plurality of airport robots 100. Additionally, the path planning module 242 can also calculate the driving path that the airport robot 100 must travel in an environment in which one airport robot 100 operates. The map division module 243 can calculate in real time the areas that each of the plurality of airport robots 100 should be responsible for.

Data sensed and calculated from the location recognition unit 230 and the map management module 240 may be transmitted back to the state management module 225. The state management module 225 sends a control command to the planning module 226 to control the operation of the airport robot 100 based on the data sensed and calculated from the location recognition unit 230 and the map management module 240. You can get off.

The software platform structure of the airport robot 100 shown in FIG. 2 can be changed depending on the specialized functions it performs. For example, the airport robot 100 may include a state management module 225, a planning module 226, a navigation module 227, and The motion module 228 and the like may be implemented differently.

Figure 3 is a diagram showing the configuration of an airport robot system according to an embodiment of the present invention.

The airport robot system according to an embodiment of the present invention may include an airport robot 100, a mobile terminal 200, a server 300, and a camera 400.

The airport robot 100 drives autonomously within the airport and can perform roles such as patrolling, guiding, cleaning, quarantine, and transportation.

To this end, the airport robot 100 may communicate with at least one of the mobile terminal 200, the server 300, and the camera 400. For example, the airport robot 100 can transmit and receive data including situation information within the airport with the server 300. Additionally, the airport robot 100 can receive image data captured from each area of the airport from the camera 400 installed within the airport. In this case, the airport robot 100 can monitor the overall situation of the airport based on the image data captured by the airport robot 100 and the image data received from the camera 400.

The airport robot 100 can receive commands directly from the user. For example, a command can be received directly from the user through a user input that touches the display unit provided on the airport robot 100 or a voice input. The airport robot 100 can autonomously drive within the airport according to commands received from a user, server 300, or mobile terminal 200 and perform operations such as patrolling, guiding, and cleaning.

The server 300 may receive information from the airport robot 100, the mobile terminal 200, and/or the camera 400. The server 300 can integrate, store, and manage information received from each device. The server 300 may transmit the stored information to the airport robot 100 or the mobile terminal 200. Additionally, the server 300 may transmit a control command to each of the plurality of airport robots 100 deployed at the airport.

The camera 400 may include a camera installed within the airport. For example, the camera 400 may include a plurality of CCTV (Closed Circuit TeleVision) cameras installed within the airport, an infrared heat detection camera, etc. The camera 400 may transmit the captured image to at least one of the airport robot 100, the mobile terminal 200, and the server 300.

The mobile terminal 200 can transmit and receive data with the server 300 within the airport. For example, the mobile terminal 200 may receive airport-related data such as flight time schedule, airport map, etc. from the server 300. The user can obtain necessary information by receiving it from the server 300 at the airport through the mobile terminal 200. Additionally, the mobile terminal 200 can transmit data such as photos, videos, messages, etc. to the server 300. For example, a user can register a lost child by sending a photo of a missing child they are looking for to the server 300, or request cleaning of the area by taking a photo of an area that needs cleaning in the airport with a camera and sending it to the server 300. there is.

Additionally, the mobile terminal 200 can transmit and receive data with the airport robot 100. For example, the mobile terminal 200 may transmit a signal calling the airport robot 100, a signal commanding the airport robot 100 to perform a specific operation, or an information request signal to the airport robot 100. The airport robot 100 may move to the location of the mobile terminal 200 in response to a call signal received from the mobile terminal 200 or perform an operation corresponding to a command signal. Alternatively, the airport robot 100 may transmit data corresponding to the information request signal to each user's mobile terminal 200.

Hereinafter, various embodiments of adjusting the driving speed based on whether and how much an obstacle is detected when the airport robot configured as above autonomously drives within the airport will be described in detail.

Driving according to distance from people control of speed

Figure 4 is a diagram showing the driving process of an airport robot according to an embodiment of the present invention.

According to an embodiment of the present invention, the airport robot 100 can adjust its traveling speed in response to the distance from the person. Specifically, when the airport robot 100 detects a person, the driving speed may decrease as it gets closer to the person. Additionally, the airport robot 100 may increase its traveling speed as it moves away from a person.

As shown in FIG. 4, the airport robot 100 begins driving within the airport (S401).

The airport robot 100 can autonomously drive within the airport or travel a designated route within the airport in order to provide services to airport users or perform its role. When driving autonomously, the airport robot 100 can autonomously create a route and drive toward the destination without lines on the airport floor or GPS equipment. When driving on a predetermined route, the airport robot 100 may follow a line on the airport floor or travel on a preset route.

Services provided by the airport robot 100 may include guidance, patrol, surveillance, notification, advertising, cleaning, and delivery and transportation of goods. In this case, the airport robot 100 may specialize in at least one service and provide only that service, or may provide all types of services requested by a user or administrator without a specialized service.

According to one embodiment, the airport robot 100 may autonomously drive within the airport or travel a designated route within the airport in response to the type of service provided by the airport robot 100. For example, the airport robot 100 that provides guidance or product delivery services can autonomously drive within the airport. Additionally, the airport robot 100, which provides cleaning or surveillance services, can travel a set route within a certain area allocated to it.

The airport robot 100 detects obstacles around the driving path (S402).

The airport robot 100 may detect obstacles located around the driving path based on map information about the interior of the airport and/or data sensed by the obstacle recognition unit 130 of the airport robot 100.

Specifically, the application processor 150 of the airport robot 100 compares the current location of the airport robot 100 recognized by the location recognition unit 180 with map information about the inside of the airport to detect obstacles located around the driving path. can be detected. To this end, the airport robot 100 can store map information about the inside of the airport in its internal memory or receive it from the server 300.

Additionally, the obstacle recognition unit 130 of the airport robot 100 can detect obstacles located around the driving path using various types of sensors. For example, the obstacle recognition unit 130 can measure the presence and location of an obstacle by measuring whether a laser or ultrasonic wave transmitted in a predetermined direction is reflected and returned.

In this case, the airport robot 100 may use both map information about the interior of the airport and data sensed by the obstacle recognition unit 130 to detect obstacles more accurately.

The airport robot 100 determines whether a person is detected (S403).

To this end, the airport robot 100 can detect whether the object is an object or a person based on at least one of the object's movement, detected temperature, and sound.

If it is determined that a person is detected (S403-Yes), the airport robot 100 measures the distance between the airport robot 100 and the person (S404).

The obstacle recognition unit 130 of the airport robot 100 can detect the distance to people located around the driving path using various types of sensors. For example, the obstacle recognition unit 130 can measure the distance between the airport robot 100 and the person by measuring the time it takes for a laser or ultrasonic wave, etc. transmitted in a predetermined direction, to be reflected by the person and return.

Meanwhile, if it is determined that no person is detected in step S403 (S403-No), the airport robot 100 returns to step S401 and continues driving within the airport.

The airport robot 100 adjusts its traveling speed based on the measured distance (S405).

Specifically, when the airport robot 100 detects a person while driving at a normal speed, the airport robot 100 may reduce the driving speed as it gets closer to the person. Additionally, the airport robot 100 can increase its traveling speed as it moves away from a person.

5A to 5C are diagrams for explaining a driving method of an airport robot according to an embodiment of the present invention.

Figure 5a shows a case where the airport robot 100 is traveling normally. The airport robot 100 is traveling inside the airport at a predetermined speed, that is, 2 km/h. In this case, the airport robot 100 detects a person located ahead in the driving direction.

Figures 5b and 5c show a case where the airport robot 100 adjusts its traveling speed in response to the distance from the person. When a person is detected, the airport robot 100 adjusts its driving speed in response to the distance from the person. The airport robot 100 reduces the traveling speed to 1.5 km/h when a person approaches, as shown in FIG. 5B, and reduces the traveling speed to 0.5 km/h when a person approaches, as shown in FIG. 5C. .

Meanwhile, when the airport robot 100 passes a person, it can continue driving by increasing the driving speed to the predetermined speed at which the airport robot 100 was traveling before detecting the person, that is, 2 km/h. Additionally, the airport robot 100 may increase its driving speed as it moves away from a person.

Existing robots change their driving path when the presence of an obstacle is detected in order to avoid collision with an obstacle. However, in the case of a robot driving in an airport with a large concentration of people, this driving method is not efficient. For example, even if the robot changes direction, there is a high possibility that there will be another person in the changed direction. In this case, the robot must search the traveling direction again. Additionally, since there are people in all directions ahead of the robot's traveling path, the robot may change direction and return to the path it came on. Therefore, a new driving method should be applied to airport robots instead of the existing driving method of avoiding collisions by changing the driving direction when detecting an obstacle.

According to one embodiment of the present invention, the airport robot operates its traveling speed variably depending on whether or not an obstacle is detected. As a result, the airport robot can drive efficiently while avoiding collisions with obstacles, in accordance with the location characteristics of the airport.

Control of driving speed according to human density

Figure 6 is a diagram showing the driving process of an airport robot according to another embodiment of the present invention.

According to another embodiment of the present invention, the airport robot 100 can adjust its traveling speed based on the density of people. Specifically, when the airport robot 100 detects a person, the driving speed may decrease as the density of people increases. For example, the airport robot 100 may reduce its driving speed if there are many people detected. On the other hand, the airport robot 100 can increase its driving speed when there is little congestion in the airport.

As shown in FIG. 6, the airport robot 100 begins driving within the airport (S601).

The airport robot 100 detects obstacles around the driving path (S602).

The airport robot 100 determines whether a person is detected (S603).

Since steps S601 to S603 have already been described in FIG. 4, detailed description thereof will be omitted.

If it is determined that a person is detected (S603-Yes), the airport robot 100 measures the density of people (S604).

The application processor 150 of the airport robot 100 may determine the density of people around the driving path based on the two-dimensional image acquired by the object recognition unit 170 and the recognized person. Specifically, the application processor 150 analyzes the two-dimensional image, calculates the number of people located in the area around the driving path, and determines the density of people around the driving path by calculating the area of the area divided by the number of people. can do.

To this end, the object recognition unit 170 can acquire two-dimensional images around the driving path using various types of sensors and recognize people or objects based on the acquired images.

Meanwhile, if it is determined that no person is detected in step S603 (S603-No), the airport robot 100 returns to step S601 and continues driving within the airport.

The airport robot 100 adjusts its traveling speed based on the measured density (S605).

Specifically, when the airport robot 100 detects a person in an area around the driving path while driving at a normal speed, if the density of people is greater than a reference value, the airport robot 100 may reduce the driving speed as the density of people increases. Additionally, the airport robot 100 can increase its traveling speed as the density of people decreases.

Meanwhile, depending on the embodiment, the airport robot 100 may adjust its driving speed in response to the level of congestion within the airport that varies depending on the time zone. For example, the number of passengers at an airport varies depending on the time of day. Accordingly, the airport robot 100 can reduce the driving speed during times of high congestion and increase the driving speed during times of low congestion without determining the density of people around the driving path.

7A to 7C are diagrams for explaining a driving method of an airport robot according to another embodiment of the present invention.

Figure 7a shows a case where the airport robot 100 is traveling normally. The airport robot 100 is traveling inside the airport at a predetermined speed, that is, 2 km/h. In this case, the airport robot 100 detects that a person is located in front of the traveling direction.

Figures 7b and 7c show a case where the airport robot 100 adjusts its traveling speed in response to the density of people. When a person is detected, the airport robot 100 determines the density of people and adjusts the driving speed in response to the density of people. As shown in FIG. 7B, the airport robot 100 reduces its traveling speed to 1.5 km/h when the human density is greater than the reference value. In addition, the airport robot 100 reduces the traveling speed to 0.5 km/h when the density of people is higher, as shown in FIG. 7C. Since the density of people in FIG. 7C is higher than in FIG. 7B, the airport robot 100 travels at a lower traveling speed in FIG. 7C than in FIG. 7B.

Meanwhile, when the human density decreases below the standard value, the airport robot 100 can continue driving by increasing the driving speed to the predetermined speed at which the airport robot 100 normally travels, that is, 2 km/h.

As shown in FIGS. 6 to 7C, according to another embodiment of the present invention, the airport robot 100 variably adjusts its traveling speed according to the density of people. As the density of people increases, the possibility of the airport robot 100 colliding with people increases. Accordingly, when the density of people increases, the airport robot 100 lowers its traveling speed, thereby lowering the possibility of a collision accident between the airport robot 100 and a person and preventing such accidents. As a result, the airport robot 100 can drive to avoid collisions with obstacles by reflecting surrounding conditions, such as real-time congestion at the airport.

Stop driving if there are people within a certain area

Figure 8 is a diagram showing the driving process of an airport robot according to another embodiment of the present invention.

According to another embodiment of the present invention, the airport robot 100 may stop driving when a person is detected within a certain area. Specifically, the airport robot 100 may stop driving when it detects a person located within a certain distance from the driving path while driving.

As shown in FIG. 8, the airport robot 100 begins driving within the airport (S801).

The airport robot 100 detects obstacles around the driving path (S802).

Since steps S801 to S802 have already been described in FIG. 4, detailed description thereof will be omitted.

The airport robot 100 determines whether a person is detected within a certain area (S803).

The certain area may be an area within a certain distance from the driving path of the airport robot 100. In this case, a certain area may be set based on a certain distance between the airport robot 100 and a person, who are likely to collide with each other. For example, the predetermined distance may be 50 cm.

According to one embodiment, the size of a certain area may be set in accordance with the characteristics of the service provided by the airport robot 100. For example, in the case of an airport robot 100 that provides services (eg, guidance, advertising, etc.) that require an interface with a person, there is a high possibility that a person will approach the airport robot 100. Therefore, since the possibility of a collision between the airport robot 100 and a person is relatively high, the size of the certain area is set large so that driving can be stopped even if a person from a distance is detected. On the other hand, in the case of the airport robot 100, which generally provides services that do not require interface with humans (e.g., patrol, surveillance, quarantine, etc.), it is unlikely that a person will approach the airport robot 100. Therefore, since the possibility of a collision between the airport robot 100 and a person is relatively low, the size of a certain area is set small so that driving can be stopped only when a person nearby is recognized.

According to another embodiment, the airport robot 100 may adjust the size of a certain area based on at least one of the congestion level within the airport, the density of people in the surrounding area, and the time of day. For example, during busy times at the airport, the possibility of a collision between the airport robot 100 and a person is relatively high, so the robot 100 can drive while avoiding collisions by setting the size of a certain area narrowly. On the other hand, during times when the airport is not busy, the possibility of mutual collision is relatively low, so the size of a certain area can be set to be large for driving.

If it is determined that a person is detected within a certain area (S803-Yes), the airport robot 100 stops driving (S804).

The airport robot 100 can detect whether the object is an object or a person based on at least one of the object's movement, detected temperature, and sound. To this end, the object recognition unit 170 can acquire two-dimensional images around the driving path using various types of sensors and recognize people or objects based on the acquired images.

Meanwhile, if it is determined that no person is detected in step S803 (S803-No), the airport robot 100 returns to step S801 and continues driving within the airport.

The airport robot 100 determines whether a person is detected within a certain area (S805).

If it is determined that no people are detected within a certain area (S805-Yes), the airport robot 100 re-runs the area within the airport (S806). On the other hand, if it is determined that a person is detected (S805-No), the airport robot 100 returns to step S804 and continues to maintain the driving stop state.

9A and 9B are diagrams for explaining a driving method of an airport robot according to another embodiment of the present invention.

Figure 9a shows a case where the airport robot 100 is traveling normally. The airport robot 100 is traveling inside the airport at a predetermined speed, that is, 2 km/h. As shown in FIG. 9A, there is currently no person existing in a certain area, that is, an area within a certain distance from the driving path of the airport robot 100.

Figure 9b shows a case where the airport robot 100 stops traveling. When the airport robot 100 detects the presence of a person in a certain area, which is an area within a certain distance from the driving path, it stops driving. In FIG. 9B, the predetermined area is an area within a predetermined radius on the driving path of the airport robot 100, that is, an area shown in the form of concentric circles. Since a person is detected in the area, the airport robot 100 stops driving.

Meanwhile, the airport robot 100 continues to detect whether a person exists within a certain area while driving is stopped, and when no person exists, it can start driving again.

As shown in FIGS. 8 to 9B, according to another embodiment of the present invention, the airport robot 100 stops traveling when a person exists within a certain area. If a person exists within a certain area, the possibility of a collision between the airport robot 100 and the person increases. Therefore, when a person is located within a certain area, the airport robot 100 stops driving, thereby lowering the possibility of a collision accident between the airport robot 100 and a person and preventing such an accident. As a result, the airport robot 100 can travel to efficiently avoid collisions with obstacles.

Driving speed control according to person's height

Figure 10 is a diagram showing the driving process of an airport robot according to another embodiment of the present invention.

According to another embodiment of the present invention, the airport robot 100 can adjust its traveling speed based on the person's height. Specifically, when the airport robot 100 detects a person, the traveling speed may decrease as the person's height becomes shorter.

As shown in FIG. 10, the airport robot 100 begins driving within the airport (S1001).

The airport robot 100 detects obstacles around the driving path (S1002).

The airport robot 100 determines whether a person is detected (S1003).

Since steps S1001 to S1003 have already been described in FIG. 4, detailed description thereof will be omitted.

If it is determined that a person is detected (S1003-Yes), the airport robot 100 measures the height of the detected person (S1004).

According to one embodiment, the application processor 150 of the airport robot 100 may measure a person's height based on the real-time two-dimensional image acquired by the object recognition unit 170. Specifically, the application processor 150 may display a reference line on a real-time two-dimensional image screen, capture an image of the user located at the reference line, and recognize the tip of the user's head from this image. In this case, the application processor 150 checks the ratio of the height of the tip of the head to the height from the baseline to the top of the captured image, and determines the person's height based on the confirmed ratio and the actual height from the baseline to the top of the captured image. It can be measured.

Meanwhile, if it is determined that no person is detected in step S1003 (S1003-No), the airport robot 100 returns to step S1001 and continues driving within the airport.

The airport robot 100 adjusts its traveling speed based on the measured height (S1005).

When the airport robot 100 detects a person, the traveling speed may decrease as the person's height becomes shorter. Accordingly, when an infant or child is present around the travel path, the airport robot 100 can drive at a relatively greatly reduced driving speed compared to when an adult is detected.

Figures 11a and 11b are diagrams for explaining a driving method of an airport robot according to another embodiment of the present invention.

Figure 11a shows a case where the airport robot 100 detects a tall person while driving. When the height of the detected person is measured above a predetermined standard value, the airport robot 100 determines that the detected person is an adult and reduces the driving speed based on this. Referring to FIG. 11A, the airport robot 100 reduces its traveling speed to 2 km/h.

Figure 11b shows a case where the airport robot 100 detects a person of short stature while driving. When the height of the detected person is measured to be less than a predetermined standard value, the airport robot 100 determines that the detected person is a child or infant and significantly reduces the driving speed based on this. Referring to Figure 11b, the airport robot 100 reduces its traveling speed to 0.5 km/h.

As shown in FIGS. 10 to 11B, according to another embodiment of the present invention, the airport robot 100 reduces the traveling speed as the detected height of the person is measured to be smaller. In the case of infants and children with small stature, their cognitive ability and judgment are poor compared to adults, so it is difficult to appropriately respond to a collision accident with the airport robot 100. Accordingly, as the detected height of the person is measured to be smaller, the airport robot 100 greatly reduces the traveling speed, thereby lowering the possibility of a collision accident between the airport robot 100 and a person and preventing such an accident. As a result, the airport robot 100 can travel to efficiently avoid collisions with obstacles.

The above-described present invention can be implemented as computer-readable code on a program-recorded medium. Computer-readable media includes all types of recording devices that store data that can be read by a computer system. Examples of computer-readable media include HDD (Hard Disk Drive), SSD (Solid State Disk), SDD (Silicon Disk Drive), ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. It also includes those implemented in the form of carrier waves (e.g., transmission via the Internet). Additionally, the computer may include a terminal control unit 180. Accordingly, the above detailed description should not be construed as restrictive in all respects and should be considered illustrative. The scope of the present invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present invention are included in the scope of the present invention.

100: Airport robot 110, 210: Microcomputer
120: Power unit 130: Obstacle recognition unit
140: driving driving unit 150, 220: application processor
160: User interface unit 170: Object recognition unit
180, 230: Location recognition unit 190: LAN module
200: mobile terminal 300: server
400: Camera

Claims (21)

In airport robots,
a travel driving unit that travels the travel path of the airport robot at a predetermined travel speed;
an object recognition unit that detects a person and characteristics related to the person; and
A control unit that controls the travel driving unit to drive at the predetermined travel speed, but to adjust the predetermined travel speed in response to characteristics related to the person when the person is present in an area within a predetermined distance from the airport robot. Contains,
The control unit
If the service provided by the airport robot has a first characteristic that requires accessibility to people, the area is set large, and if the service has a second characteristic that does not require accessibility to people, the area is set large. set small
Airport robot. delete According to paragraph 1,
The predetermined distance is set to correspond to at least one of the congestion level and time zone within the airport. According to paragraph 1,
The characteristic related to the person is the distance between the person and the airport robot,
The control unit is an airport robot that controls the traveling driving unit to reduce the predetermined traveling speed as the distance between the person and the airport robot becomes closer. According to paragraph 1,
The characteristic associated with the person is the density of people, which is the degree to which the person exists in the area,
The control unit is an airport robot that controls the traveling driving unit to reduce the predetermined traveling speed as the density of people increases. According to paragraph 1,
The characteristic related to the person is whether the person exists within a threshold distance shorter than the predetermined distance,
The control unit is an airport robot that controls the traveling driving unit to stop traveling of the airport robot when the person exists within the critical distance. According to paragraph 1,
The characteristic associated with the person is the person's height,
The control unit is an airport robot that controls the traveling driving unit to reduce the predetermined traveling speed as the height of the person becomes shorter. delete delete delete delete delete delete delete In a system including an airport robot,
An airport robot that travels at a predetermined driving speed, detects whether a person is present in an area within a predetermined distance and characteristics related to the person, and transmits data about this to a server; and
A server that controls the airport robot to drive at the predetermined travel speed, and controls the airport robot to adjust the predetermined travel speed in response to characteristics related to the person received from the airport robot,
The server is
If the service provided by the airport robot has a first characteristic that requires accessibility to people, the area is set large, and if the service has a second characteristic that does not require accessibility to people, the area is set large. Set small, system. delete delete delete delete delete delete

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