KR102585353B1 - Unmanned moving object, method and program for controlling docking of unmanned moving object using ridar and v-shaped marker - Google Patents

Abstract

The present disclosure provides a method for controlling docking of an unmanned moving object using LiDAR and a V-shaped marker, including the steps of acquiring LiDAR point cloud data transmitted to a V-shaped marker and reflected and returned through LiDAR; Obtaining location information about a marker based on LiDAR point cloud data; Generating a docking path to a docking station including a marker based on location information; If the location information for the marker is a position orthogonal to the docking line of the docking station, moving to a preset first point along the docking path; When the movement to the first point is completed, aligning the main body to meet a preset level based on the position information about the marker so that it is parallel to the docking station; and when alignment is completed, moving to a preset docking point along the docking path to complete docking; may include.

Description

Unmanned moving object, docking control method and program for unmanned moving object using lidar and V-shaped marker {UNMANNED MOVING OBJECT, METHOD AND PROGRAM FOR CONTROLLING DOCKING OF UNMANNED MOVING OBJECT USING RIDAR AND V-SHAPED MARKER}

This disclosure relates to unmanned vehicles. More specifically, the present disclosure relates to a docking control method and program for an unmanned vehicle using an unmanned vehicle, LiDAR, and a V-shaped marker.

In the era of the 4th Industrial Revolution, the introduction of unmanned service vehicles is increasing in various spaces such as hospitals, airports, and malls.

Generally, before docking at a docking station, an unmanned vehicle arrives at a home point through autonomous driving and begins docking at the arrived point.

However, conventional unmanned vehicles arrive at the home point with errors due to position estimation, control error, arrival decision logic, etc.

Therefore, the conventional unmanned vehicle took a long time to complete docking to the docking station.

Accordingly, research on unmanned vehicles that can efficiently reduce docking completion time has been continuously conducted in recent years.

Republic of Korea Patent Publication No. 10-2004-0086939 (October 13, 2004)

The purpose of the embodiment disclosed in the present disclosure is to provide something that can efficiently reduce docking completion time.

In addition, the purpose of the embodiment disclosed in the present disclosure is to provide a method that can efficiently reduce the docking completion time while efficiently avoiding obstacles to the docking station or notifying the situation of the obstacle.

The problems to be solved by the present disclosure are not limited to the problems mentioned above, and other problems not mentioned can be clearly understood by those skilled in the art from the description below.

In order to achieve the above-mentioned technical problem, the docking control method of an unmanned vehicle using LiDAR and a V-shaped marker according to one aspect of the present disclosure is to transmit a signal to the V-shaped marker through the LiDAR and reflect back. acquiring LiDAR point cloud data; Obtaining location information about the marker based on the LIDAR point cloud data; generating a docking path to a docking station including the marker based on the location information; If the location information for the marker is a position orthogonal to the docking line of the docking station, moving to a preset first point along the docking path; When the movement to the first point is completed, aligning the main body to meet a preset level based on the position information about the marker so that it is parallel to the docking station; and when the alignment is completed, moving to a preset docking point along the docking path to complete docking; may include.

In addition, in the moving to the first point step, based on the location information about the marker, if the angle formed between the line looking at the location information about the marker and the docking line is a preset angle, moving to the first point It can be characterized as:

In addition, in the step of moving to the docking point, if location information about the marker is not received, it is determined that there is an obstacle, and if the distance between the docking point and the obstacle is outside a preset range, the obstacle It may be characterized in that it moves to the docking point while avoiding and stops moving to the docking point when the distance between the docking point and the obstacle is within a preset range.

In addition, the docking step includes re-performing the docking or completing the docking based on a docking success notification signal received from the docking station during a preset time when movement to the docking point is completed. It can be characterized.

Additionally, the docking step may be characterized in that, if the central portion of the main body deviates from the docking line, the docking is performed again or the docking is completed.

Additionally, an unmanned mobile device according to another aspect of the present disclosure includes a memory storing a docking path to a docking station including a V-shaped marker; And a processor that controls an operation for docking to the docking station, wherein the processor acquires LiDAR point cloud data transmitted to the V-shaped marker and reflected and returned through the LiDAR, and the LiDAR Obtains location information about the marker based on point cloud data, generates a docking path to a docking station including the marker based on the location information, and provides location information about the marker to the dock of the docking station. If the position is perpendicular to the line, it is controlled to move to a preset first point along the docking path, and when movement to the first point is completed, based on the position information about the marker so that it is parallel to the docking station. The main body is aligned to satisfy a preset level, and when the alignment is completed, docking can be completed by controlling the main body to move to a preset docking point along the docking path.

In addition, the processor is characterized in that, based on the location information about the marker, if the angle formed between the line looking at the location information about the marker and the docking line is a preset angle, the processor controls the marker to move to the first point. You can do this.

In addition, if the processor does not receive location information about the marker, it determines that there is an obstacle, and if the distance between the point for docking and the obstacle is outside a preset range, the processor performs the docking while avoiding the obstacle. The device may be controlled to move to the docking point, and if the distance between the docking point and the obstacle is within a preset range, the docking point may be controlled to stop moving to the docking point.

In addition, when the movement to the docking point is completed, the processor controls to re-perform the docking or complete the docking based on a docking success notification signal received from the docking station for a preset time. It can be characterized as:

Additionally, the processor may control the docking to be re-performed or the docking to be completed if the central portion of the main body deviates from the docking line.

In addition to this, a computer program stored in a computer-readable recording medium for execution to implement the present disclosure may be further provided.

In addition, a computer-readable recording medium recording a computer program for executing a method for implementing the present disclosure may be further provided.

According to the means for solving the above-described problem of the present disclosure, docking completion time can be efficiently reduced.

In addition, according to the means for solving the above-described problem of the present disclosure, it is possible to efficiently avoid obstacles to the docking station or notify the status of obstacles, while efficiently reducing docking completion time.

The effects of the present disclosure are not limited to the effects mentioned above, and other effects not mentioned may be clearly understood by those skilled in the art from the description below.

1 is a diagram showing the configuration of an unmanned mobile vehicle according to the present disclosure.
Figure 2 is a flowchart showing a docking control method for an unmanned mobile device according to the present disclosure.
FIG. 3 is a diagram showing a docking station including the V-shaped marker of FIG. 1.
FIGS. 4 and 5 are diagrams illustrating an example of a process for obtaining location information about a V-shaped marker based on LiDAR point cloud data through the processor of FIG. 1.
Figures 6 to 15 are diagrams showing an example of the process until docking is completed through the processor of Figure 1.

Like reference numerals refer to like elements throughout this disclosure. The present disclosure does not describe all elements of the embodiments, and general content or overlapping content between the embodiments in the technical field to which the present disclosure pertains is omitted. The term 'part, module, member, block' used in the specification may be implemented as software or hardware, and depending on the embodiment, a plurality of 'part, module, member, block' may be implemented as a single component, or It is also possible for one 'part, module, member, or block' to include multiple components.

Throughout the specification, when a part is said to be “connected” to another part, this includes not only direct connection but also indirect connection, and indirect connection includes connection through a wireless communication network. do.

Additionally, when a part "includes" a certain component, this means that it may further include other components rather than excluding other components, unless specifically stated to the contrary.

Throughout the specification, when a member is said to be located “on” another member, this includes not only cases where a member is in contact with another member, but also cases where another member exists between the two members.

Terms such as first and second are used to distinguish one component from another component, and the components are not limited by the above-mentioned terms.

Singular expressions include plural expressions unless the context clearly makes an exception.

The identification code for each step is used for convenience of explanation. The identification code does not explain the order of each step, and each step may be performed differently from the specified order unless a specific order is clearly stated in the context. there is.

Hereinafter, the operating principle and embodiments of the present disclosure will be described with reference to the attached drawings.

In this specification, the control unit of the unmanned mobile device according to the present disclosure includes various devices that can perform calculation processing and provide results to the user. For example, the control unit according to the present disclosure may include both a computer and a server, or may take any form.

Here, the computer may include, for example, a laptop equipped with a web browser, a desktop, a laptop, a tablet PC, a slate PC, a single board computer, etc.

A server device is a server that processes information by communicating with external devices and may include an application server, computing server, database server, file server, mail server, proxy server, and web server.

Portable terminals are, for example, wireless communication devices that ensure portability and mobility, such as PCS (Personal Communication System), GSM (Global System for Mobile communications), PDC (Personal Digital Cellular), PHS (Personal Handyphone System), and PDA ( Personal Digital Assistant), IMT (International Mobile Telecommunication)-2000, CDMA (Code Division Multiple Access)-2000, W-CDMA (W-Code Division Multiple Access), WiBro (Wireless Broadband Internet) terminal, smart phone All types of handheld wireless communication devices, such as watches, rings, bracelets, anklets, necklaces, glasses, contact lenses, or head-mounted-device (HMD), etc. It can be included.

The unmanned mobile device according to the present disclosure generates a docking path to a docking station including a V-shaped marker, acquires LiDAR point cloud data that is transmitted to the marker through LiDAR and is reflected and returned, and LiDAR point cloud data Based on , location information about the marker is acquired, and if the location information about the marker is a position orthogonal to the docking line of the docking station, it moves to a preset first point according to the docking path, and movement to the first point When completed, align the main body to meet the preset level based on the position information about the marker so that it is parallel to the docking station. When alignment is completed, move to the preset docking point along the docking path and dock. It can be completed.

Such an unmanned vehicle can not only efficiently reduce the docking completion time, but also efficiently reduce the docking completion time by efficiently avoiding obstacles or notifying the status of obstacles to the docking station.

Below, we will look at the unmanned mobile device in detail.

1 is a diagram showing the configuration of an unmanned mobile vehicle according to the present disclosure.

Referring to FIG. 1, the unmanned mobile vehicle 100 may be a mobile vehicle that recognizes the external environment, judges the situation, and performs a mission on its own without human assistance. For example, the unmanned mobile object 100 may be a mobile robot. The unmanned mobile device 100 may include a communication unit 110, a control unit 120, and a driving unit 130.

The communication unit 110 may be electrically connected to the control unit 120 and may communicate with the docking station 10 for charging. The communication unit 110 may receive a charging signal from the docking station 10. At this time, the communication unit 110 includes global system for mobile communication (GSM), code division multiple access (CDMA), wideband code division multiple access (WCDMA), and universal wireless communication (UMTS) modules, in addition to the Wi-Fi module and the wireless broadband module. It may include a wireless communication module that supports various wireless communication methods, such as mobile telecommunications system), Time Division Multiple Access (TDMA), Long Term Evolution (LTE), 4G, 5G, and 6G.

The control unit 120 performs the above-described operations using a memory 121 that stores data for an algorithm for controlling the operation of components in the device or a program that reproduces the algorithm, and the data stored in the memory 121. It may be implemented with at least one processor 122. Here, the memory 121 and the processor 122 may each be implemented as separate chips. Additionally, the memory 121 and processor 122 may be implemented as a single chip.

The memory 121 can store data supporting various functions of the device and a program for the operation of the control unit, can store input/output data, and can store a plurality of application programs (application programs or applications) running on the device. (application)), data and commands for operation of the device can be stored. At least some of these applications may be downloaded from an external server via wireless communication.

The memory 121 may be a flash memory type, a hard disk type, a solid state disk type, an SDD type (Silicon Disk Drive type), or a multimedia card micro type. micro type), card type memory (e.g. SD or XD memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), EEPROM (electrically erasable) It may include at least one type of storage medium among programmable read-only memory (PROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, and optical disk. Additionally, the memory 211 is separate from the device, but may be a database connected by wire or wirelessly.

The memory 121 may store a docking path to the docking station 10 including a V-shaped marker. The processor 122 may control operations for docking to the docking station 10 .

The processor 122 generates a docking path to the docking station 10, acquires LiDAR point cloud data that is transmitted to the marker through LiDAR 140 and is reflected and returned, and based on the LiDAR point cloud data Location information about the marker can be obtained.

If the location information about the marker is a position orthogonal to the docking line of the docking station 10, the processor 122 may control the marker to move to a preset first point along the docking path. At this time, based on the location information about the marker, the processor 122 can control the marker to move to the first point if the angle formed between the line looking at the location information about the marker and the docking line is a preset angle. When the movement to the first point is completed, the processor 122 can first align the main body (unmanned mobile object) to satisfy a preset level based on the position information about the marker so that it is parallel to the docking station 10. there is.

When the first alignment is completed, the processor 122 may control movement to a preset second point along the docking path. When movement to the second point is completed, the processor 122 may perform a second alignment of the main body (unmanned mobile object) to satisfy a preset level.

When the second alignment is completed, the processor 122 may complete docking by controlling movement to a preset third point for docking along the docking path.

At this time, if the processor 122 does not receive location information about the marker, it may determine that there is an obstacle. If the distance between the third point for docking and the obstacle is outside a preset range, the processor 122 may control the device to move to the third point for docking while avoiding the obstacle. If the distance between the third point for docking and the obstacle is within a preset range, the processor 122 may control movement to the third point for docking to stop.

In addition, when the movement to the third point for docking is completed, the processor 122 re-performs docking or completes docking based on the docking success notification signal received from the docking station 10 for a preset time. You can control it. Additionally, the processor 122 may control docking to be re-performed or docking to be completed if the central portion of the main body (unmanned mobile device) deviates from the docking line.

The driving unit 130 drives the unmanned mobile device 100 to travel from the first to the third point to dock with the docking station 10, based on the driving information along the docking path output through the processor 122. You can. For example, the driving unit 130 includes a battery, an electronic component that receives power from the battery, a wheel or a drive belt that receives power from the battery and drives the unmanned vehicle 100 in order to provide power necessary for driving the unmanned vehicle 100. It may include mechanical driving parts such as.

Figure 2 is a flowchart showing a docking control method for an unmanned mobile device according to the present disclosure. FIG. 3 is a diagram showing a docking station including the V-shaped marker of FIG. 1. FIGS. 4 and 5 are diagrams illustrating an example of a process for obtaining location information about a V-shaped marker based on LiDAR point cloud data through the processor of FIG. 1.

Figures 6 to 15 are diagrams showing an example of the process until docking is completed through the processor of Figure 1.

2 to 15, the docking control method includes a first acquisition step (S210), a second acquisition step (S220), a creation step (S230), a first point movement step (S240), and a first alignment step ( It may include a second point movement step (S260), a second alignment step (S270), a third point movement step (S280), and a docking step (S290).

The first acquisition step is to transmit LiDAR point cloud data (L1 to L5..., R1 to R5...) can be obtained (S210). At this time, as shown in FIG. 3, the V-shaped marker M may be formed with an angle θ11 of 145° and a left side length M1 and a right side length M2 of 16 cm.

In the second acquisition step, location information about the V-shaped marker (M) may be acquired through the processor 122 based on lidar point cloud data (L1 to L5..., R1 to R5...) (S220) . Here, the processor 122 performs a process of finding a vertex (B) forming 145° based on LiDAR point cloud data (L1 to L5..., R1 to R5...) and the length of the left side at the found vertex (B). The process of determining whether (M1) and the length of the right side (M2) is 16cm can be performed.

For example, LiDAR point cloud data (L1 to L5..., R1 to R5...) may be 2D LiDAR point cloud data, and 2D LiDAR point cloud data has a constant angle in one direction relative to the LiDAR. Interval distance information can be measured. At this time, because the processor 122 retrieves sequential distance information at regular angular intervals, a polar coordinate system can be assumed based on the lidar.

Here, because the LIDAR 140 cannot use the approximation of a straight line to measure the angle formed by the left and right sides, the processor 122 uses the LIDAR point cloud data on both sides based on the vertex B ( The angle can be obtained from the triangle formed by L1 to L5..., R1 to R5...) and LIDAR 140. At this time, A is the position of the lidar 140, B is the vertex, L1 to L5... is lidar point cloud data progressing to the left, and R1 to R5... may be lidar point cloud data progressing to the right. Here, the length of line segment BL(BL1~BL5,...) in triangle ABL(ABL1~ABL5,...) is known as AB and AL(AL1~AL5,...), and each BAL(BAL1~BAL5,...) is known. Because we know this, we can find it using the second law of cosines, and because each ABL (ABL1~ABL5, …) knows the lengths of the three sides and the size of one angle, we can find it using the law of sines ( , ). Apply the above process to the right side to obtain the angle of the vertex (B) by calculating the sum of each ABL (ABL1 to ABL5, …) and each ABR ((ABR1 to ABR5, …), and obtain the lidar point cloud data on both sides. (L1 to L5..., R1 to R5...) is repeatedly performed, but if the processor 122 determines that the left side length (M1) and the right side length (M2) at the vertex B are a preset 16 cm, It can be recognized as a V-shaped marker (M).

In other words, as shown in FIGS. 4 and 5, the processor 112 stores the value of each ABL (ABL1 to ABL5, …), the value of each ABR (ABR1 to ABR5, …), and the V-shaped marker (M ) The angle (A1) formed by the V-shaped normal vector (DC) and the solid line can be calculated by the difference of half the angle, and the position of the V-shaped marker (M) in the relative coordinate system of the unmanned mobile device 100 is calculated. In the process, the angle θ13 at which the unmanned mobile device 100 looks at the V-shaped marker M may be calculated. Here, VC1, which is the difference between the angle of A1 and the angle of θ13, can be the direction the robot is facing (heading), and the angle formed by VC1 and DC can be calculated. At this time, the angle formed by VC1 and DC may be the angle at which the unmanned mobile device 100 must rotate to look directly at the docking station 10.

In the generation step, the docking paths R1 and R2 to the docking station 10 including the V-shaped marker M may be generated based on the location information through the processor 122 (S230).

As shown in FIGS. 6 and 7, the first point movement step is performed through the processor 122, where the position information for the V-shaped marker (M) is orthogonal to the docking line (DL) of the docking station (10). In the case of the position DP, the driving unit 130 can be controlled to move to the preset first point P1 according to the docking path (S240). At this time, the processor 122 is based on the position information about the V-shaped marker (M), the angle formed by the line (ML) facing the position information about the V-shaped marker (M) and the docking line (DL) ( If θ1) is a preset angle, the driver 130 can be controlled to move to the first point P1. For example, the driver 130 may move the unmanned vehicle 100 in the direction of the docking line DL to approach the first point P1. At this time, the unmanned mobile device 100 may rotate 90 degrees counterclockwise and drive straight to the first point P1 to move to the docking line DL. When the unmanned mobile device 100 completes driving straight to the first point P1, it may rotate 90 degrees clockwise to face the docking station 10. Meanwhile, depending on the location, the unmanned mobile device 100 may rotate 90 degrees clockwise and drive straight to the first point P1 to move to the docking line DL. When the unmanned mobile device 100 completes driving straight to the first point P1, it may rotate 90 degrees counterclockwise to face the docking station 10. Here, the unmanned vehicle 100 can perform rotational motion and straight motion based on odometry.

As shown in FIG. 8, in the first alignment step, when movement to the first point P1 is completed through the processor 122, a V-shaped marker M is placed parallel to the docking station 10. Based on the location information, the main body (unmanned mobile device, 100) can be first aligned (AL1) to satisfy a preset level (S250).

In the second point movement step, the processor 122 may control the driver 130 to move to the preset second point P2 along the docking path when the first alignment AL1 is completed (S260). ). For example, the driver 130 may move the unmanned vehicle 100 in the direction of the docking line DL to approach the second point P2. At this time, the unmanned mobile device 100 may rotate 90 degrees counterclockwise and drive straight to the first point P1 to move to the docking line DL. When the unmanned mobile device 100 completes driving straight to the first point P1, it may rotate 90 degrees clockwise to face the docking station 10. Meanwhile, depending on the location, the unmanned mobile device 100 may rotate 90 degrees clockwise and drive straight to the first point P1 to move to the docking line DL. When the unmanned mobile device 100 completes driving straight to the first point P1, it may rotate 90 degrees counterclockwise to face the docking station 10. Here, the unmanned vehicle 100 may perform rotational motion and straight motion based on odometry.

At this time, as shown in FIG. 9, T is the second point P1 and may be relative coordinates (x, y, θ) with respect to the unmanned mobile object 100. T may be a result value recognized and estimated based on location information about the V-shaped marker (M).

The processor 122 can calculate the angular velocity (w) of the unmanned mobile device 100 using the following [Equation 1] to [Equation 3].

[Equation 1]

[Equation 2]

[Equation 3]

At this time, K may be a value by which the motion of the unmanned moving object is determined, K1 and K2 may be motion constant values, V(k) may be a speed value of the unmanned moving object, and r may be a value between the unmanned moving object and T (second point). It can be the distance value of may be the heading angle of the unmanned vehicle, and W may be the angular velocity of the unmanned vehicle.

As shown in FIGS. 10 and 11, the unmanned moving object can generate a smooth curved trajectory according to the motion constant values of K1 and K2. For example, the motion constant value of the unmanned vehicle may be k1=1 and k2=3 or 10. At this time, as shown in FIG. 10, the shape of the curve when k1 = 1 and k2 = 3 of the motion constant value of the unmanned moving object is, as shown in FIG. 11, k1 = 1 of the motion constant value of the unmanned moving object. It can be seen that it is larger than the shape of the curve when k2=10.

As shown in FIG. 12, in the second alignment step, when movement to the second point P2 is completed through the processor 122, the main body (unmanned mobile device, 100) is aligned to a second level to satisfy a preset level. You can also align (AL2) (S270).

In the third point movement step, when the second alignment (AL2) is completed, the processor 122 can control the driver 130 to move to the third point (P3) for docking that is preset according to the docking path. There is (S280). For example, the driver 130 may move the unmanned vehicle 100 along the docking line DL to approach the third point P3 for docking. At this time, the unmanned mobile device 100 may drive straight to the third point P3 for docking.

As shown in FIG. 13, in the third point movement step, if location information about the V-shaped marker M is not received through the processor 122, it may be determined that there is an obstacle 11. At this time, if the distance D1 between the third point P3 for docking and the obstacle 11 is outside the preset range, the processor 122 moves the third point P3 for docking while avoiding the obstacle 11. The driving unit 130 can be controlled to move. For example, the driver 130 may move the unmanned vehicle 100 along a preset avoidance path to approach the third point P3 for docking. At this time, the unmanned mobile device 100 may perform a curved drive up to the third point P3 for docking.

As shown in FIG. 14, in the third point movement step, if the distance D2 between the third point P3 for docking and the obstacle 11 is within a preset range, the third point movement step for docking is performed through the processor 122. The driving unit 130 can be controlled to stop movement to the third point P3. For example, the driving unit 130 may stop the movement of the unmanned mobile device 100. At this time, if the distance D2 between the third point P3 for docking and the obstacle 11 is within a preset range, the processor 122 may inform the output device of the situation of the obstacle 11. The unmanned mobile device 100 can notify the presence of an obstacle 11 by voice through an output device such as a speaker. In addition, if the processor 122 determines that there is no obstacle 11 located at the third point P3 for docking for a preset time, the processor 122 moves to the preset third point P3 for docking according to the docking path. The driving unit 130 can be controlled. For example, the driver 130 may move the unmanned vehicle 100 along the docking line DL to approach the third point P3 for docking. At this time, the unmanned mobile device 100 may drive straight to the third point P3 for docking.

As shown in FIG. 15, the docking step can control the driver 130 to complete docking when movement to the third point P3 for docking is completed through the processor 122 (S290). .

At this time, when the movement to the third point (P3) for docking is completed, the processor 122 re-performs docking or docking based on the docking success notification signal received from the docking station 10 for a preset time. The driving unit 130 can be controlled to complete . For example, if the processor 122 determines that the docking is abnormal based on the docking success notification signal (first process), it moves backwards by a preset distance at a preset heading direction angle (second process), and performs a backward operation. When this is completed, it rotates to face the docking station 10 (third process), and when the rotation operation is completed, it moves back to the third point (P3) for docking (fourth process), based on a signal notifying whether docking is successful or not. The drive unit 130 can be controlled to perform repetitive backward motions, rotational motions, and moving motions until it is determined that normal docking has occurred.

Additionally, the processor 122 may control the driver 130 to re-perform docking or complete docking when the central portion of the main body (unmanned mobile device, 100) deviates from the docking line (DL). For example, when the center portion of the main body (unmanned mobile device, 100) deviates from the docking line (DL) (first process), the processor 122 moves backwards by a preset distance at a preset heading direction angle (second process). process), when the backward operation is completed, it rotates to face the docking station 10 (third process), and when the rotation operation is completed, it moves back to the third point (P3) for docking (fourth process), and the main body ( The driving unit 130 may be controlled to perform repetitive backward motion, rotation motion, and movement motion until the center portion of the unmanned mobile object (100) is located on the docking line (DL).

At least one component may be added or deleted in response to the performance of the components shown in FIG. 1. Additionally, it will be easily understood by those skilled in the art that the mutual positions of the components may be changed in response to the performance or structure of the system.

Figure 2 depicts a plurality of steps as being sequentially executed, but this is merely an illustrative explanation of the technical idea of this embodiment, and those skilled in the art will understand the essential characteristics of this embodiment. Various modifications and modifications can be made by executing by changing the order shown in FIG. 2 or executing one or more of the plurality of steps in parallel within the scope of the above, so FIG. 2 is not limited to a time-series order. .

Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium that stores instructions executable by a computer. Instructions may be stored in the form of program code, and when executed by a processor, may create program modules to perform operations of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

Computer-readable recording media include all types of recording media storing instructions that can be decoded by a computer. For example, there may be Read Only Memory (ROM), Random Access Memory (RAM), magnetic tape, magnetic disk, flash memory, optical data storage device, etc.

As described above, the disclosed embodiments have been described with reference to the attached drawings. A person skilled in the art to which this disclosure pertains will understand that the present disclosure may be practiced in forms different from the disclosed embodiments without changing the technical idea or essential features of the present disclosure. The disclosed embodiments are illustrative and should not be construed as limiting.

100: Unmanned mobile device 110: Communication department
120: Control unit 121: Memory
122: processor 130: driving unit
140: LIDAR

Claims (10)

In the docking control method of an unmanned vehicle using lidar and V-shaped markers,
Obtaining LiDAR point cloud data transmitted to the V-shaped marker and reflected and returned through the LiDAR;
Obtaining location information about the marker based on the LIDAR point cloud data;
generating a docking path to a docking station including the marker based on the location information;
If the location information for the marker is a position orthogonal to the docking line of the docking station, moving to a preset first point along the docking path;
When the movement to the first point is completed, aligning the main body to meet a preset level based on the position information about the marker so that it is parallel to the docking station; and
When the alignment is completed, moving to a preset docking point along the docking path to complete docking; Including,
The step of moving to the first point is,
Based on the location information about the marker, if the angle between the line looking at the location information about the marker and the docking line is a preset angle, move to the first point,
The step of moving to the docking point is,
If location information for the marker is not received, it is determined that there is an obstacle,
If the distance between the docking point and the obstacle is outside a preset range, move to the docking point while avoiding the obstacle,
When the distance between the docking point and the obstacle is within a preset range, the method is characterized in that movement to the docking point is stopped. delete delete According to paragraph 1,
The step of completing the docking is,
When movement to the docking point is completed, the docking is performed again or the docking is completed based on a docking success notification signal received from the docking station for a preset time. According to paragraph 1,
The step of completing the docking is,
When the central portion of the main body deviates from the docking line, the docking is performed again or the docking is completed. a memory storing a docking path to a docking station including a V-shaped marker; and
Includes a processor that controls operations for docking to the docking station,
The processor,
Through LiDAR, acquire LiDAR point cloud data that is transmitted to the V-shaped marker and reflected back,
Obtain location information about the marker based on the lidar point cloud data,
Generating a docking path to a docking station including the marker based on the location information,
If the location information for the marker is a position orthogonal to the docking line of the docking station, control the marker to move to a preset first point along the docking path,
When the movement to the first point is completed, align the main body to meet a preset level based on the position information about the marker so that it is parallel to the docking station,
When the alignment is completed, docking is completed by controlling to move to a preset docking point along the docking path,
Based on the location information about the marker, if the angle between the line looking at the location information about the marker and the docking line is a preset angle, control to move to the first point,
If location information about the marker is not received, it is determined that there is an obstacle, and if the distance between the docking point and the obstacle is outside a preset range, control is performed to move to the docking point while avoiding the obstacle. And
When the distance between the docking point and the obstacle is within a preset range, the unmanned mobile vehicle is controlled to stop moving to the docking point. delete delete According to clause 6,
The processor,
When the movement to the docking point is completed, the unmanned device is controlled to re-perform the docking or complete the docking based on a docking success notification signal received from the docking station for a preset time. Moving body. According to clause 6,
The processor,
When the central portion of the main body deviates from the docking line, control is performed to re-perform the docking or complete the docking.

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