KR200364712Y1 - absolute coordinate perception apparatus for navigation system of position self control robot - Google Patents

Abstract

The present invention relates to an absolute coordinate recognition apparatus of an autonomous mobile robot navigation system having a main body equipped with a moving means, and more particularly, the bottom surface of the light having a wavelength of a specific region is installed at a predetermined position below the main body. A light emitting element adapted to be irradiated toward; A barcode reader installed at a predetermined position under the main body to read a two-dimensional barcode printed with a colorless or secret ink colored by light emitted by a light emitting element; And a control unit installed in the main body to recognize the absolute coordinate as a unique coordinate value of the two-dimensional barcode on the bottom read by the barcode reader.

Therefore, the two-dimensional bar code is printed with the beautiful appearance of the flooring undamaged, and the two-dimensional bar code printed with colorless secret ink, which is not normally colored in sunlight, is exposed to color and exposed so that the barcode reader can read it. The present invention provides an absolute coordinate recognition device of an autonomous mobile navigation system that enables the autonomous mobile navigation system to obtain an accurate absolute coordinate value without damaging the indoor environment by allowing the unique absolute coordinate value of the barcode to be recognized. .

Description

Absolute coordinate perception apparatus for navigation system of position self control robot}

The present invention relates to an absolute coordinate recognition device of an autonomous mobile navigation system having a main body equipped with a moving means, and in particular, a two-dimensional bar code is printed in a state in which the beautiful appearance of the flooring is not damaged, and it is not usually colored in sunlight. The colorless secret ink is printed and exposed to the two-dimensional barcode, and the barcode reader can read the unique absolute coordinates of the two-dimensional barcode to recognize the unique coordinates of the autonomous mobile robot without compromising the indoor environment. The present invention relates to an absolute coordinate recognition device of an autonomous mobile navigation system that enables a system to obtain an accurate absolute coordinate value.

In general, in homes, officetels, and public offices, vinyl flooring, marble, tiles, and the like are installed on the floor to make a person's feet comfortable or beautiful.

In addition, autonomous mobile robots, which are essentially unmanned operation, are emerging as a topic in modern home automation. Currently, autonomous mobile robots are moving in order to perform autonomous mobile robots in a moving space or area. Or, the most important part is to correctly recognize the absolute position information where the autonomous mobile robot to start moving is located.

Therefore, in the related art, in order for the autonomous mobile robot to recognize the absolute position in the moving area, the absolute coordinate information is installed on the bottom surface so that the autonomous mobile robot acquires the absolute coordinate, thereby calculating the relative coordinates from the absolute coordinates and the direction of movement, The distance can be calculated quickly and accurately.

Here, the conventional method of installing the absolute coordinate information on the bottom surface is a method of embedding the RFID card 1 on the bottom surface 2, this method is a bottom surface having a double structure (as shown in FIG. It has a structure for embedding the RFID card 1 in 2), the structure is complicated and the embedding work is very troublesome.

In addition, in the position and direction recognition method using the RFID, the accuracy of position and direction recognition of the autonomous mobile robot 3 is determined according to the distribution density of the RFID card 1. If the distribution density of the RFID card 1 is too low, the precise position and direction recognition of the autonomous mobile robot 3 cannot be expected. If the distribution density of the RFID card 1 is too high, the RFID card ( An error may occur in reading the unique number due to mutual interference between RF signals output from 1a) (1b) and 1c.

Therefore, in order to prevent an error from occurring, the embedding distribution density of the RFID card 1 must be limited to an appropriate range, which causes a decrease in the accuracy of the position and orientation recognition method using the RFID. In addition, an error may occur when there is an object absorbing a magnetic field in a place where the RFID cards 1 are embedded.

In addition, in the RFID method described above, in order to recognize a direction, the RFID card reader 4 must simultaneously recognize at least two RFID cards 1a, 1b, and 1c. If the density is not high enough, it becomes difficult to recognize the direction.

In particular, the RFID method is inconvenient to embed the RFID card (1) on the bottom surface 2, if the RFID card (1) is damaged, repair the entire floor or extract only the RFID card (1) In addition, since the RFID card 1 needs to be embedded again, there is a problem in that the appearance is not good.

In addition, when the RFID card 1 is used in a large area, a plurality of RFID cards 1 must be used, so that an expensive installation cost is required in operating the autonomous mobile robot 3 as well as during maintenance. In addition, it is necessary to pay attention to damage, and expensive maintenance costs are caused.

Therefore, in order to solve the above problem, the applicant filed a floor plate (Application No. 20-2004-0008728) printed with a two-dimensional bar code on March 30, 2004, but flooring materials such as floor boards, floors, tiles, etc. already installed. B. Because the two-dimensional bar code that can be visually identified is exposed on the surface of newly manufactured flooring materials, the design of the flooring materials such as colorful or original floor coverings, tiles, floors, etc. is harmed, making the indoor environment coarse or not balanced overall. This is rising.

Accordingly, the present applicant filed a sheet or flooring material to which a two-dimensional bar code was assigned with a transparent or secret ink which was not visually identified as the patent application No. 10-2004-0048356 at the same time as the present application, and accordingly, the autonomous mobile robot There is a need for an absolute coordinate recognition device capable of identifying and recognizing two-dimensional barcodes that are not identified.

The present invention devised by solving the above problems and needs to develop a two-dimensional bar code that is not identified with the printed naked eye so as not to harm the appearance of the flooring material and to recognize the unique information (absolute coordinates) of the two-dimensional bar code by reading it. The purpose is.

1 is a view showing the structure of a bottom plate or flooring with a conventional RFID card embedded.

Figure 2 is a schematic diagram showing the structure of the present invention.

Fig. 3a shows a sheet on which a two-dimensional bar code is printed by colored ink;

Fig. 3B shows a sheet on which a two-dimensional barcode is printed by colorless secret ink.

<Description of the symbols for the main parts of the drawings>

101: autonomous mobile robot

102a: Two-dimensional barcode printed with colored ink

102b: Two-dimensional barcode printed with invisible ink

103 main body 104 light emitting element

105: barcode reader 106: sheet

107: Flooring

The above object is the absolute coordinate recognition apparatus of the autonomous mobile robot navigation system having a main body 103 equipped with a moving means, the bottom of the main body 103 is installed at a predetermined position to have a light having a wavelength of a specific area A light emitting element 104 which is irradiated toward the surface; A barcode reader 105 installed at a predetermined position under the main body 103 to read a two-dimensional barcode 102 printed with a colorless or secret ink colored by light emitted by the light emitting element 104; And a control unit (not shown) installed in the main body 103 to recognize absolute coordinates as a unique coordinate value of the two-dimensional barcode 102 of the bottom surface read by the barcode reader 105. It is achieved by the absolute coordinate recognition device of autonomous mobile navigation system.

Here, the light irradiated from the light emitting device 104 is preferably to have a wavelength range of 600nm ~ 850nm.

Hereinafter, the configuration and operation of the present invention will be described with reference to the accompanying drawings 2 to 3 as follows.

First, the absolute coordinate recognition apparatus of the present invention is a device for recognizing the unique information, that is, the absolute coordinates of the two-dimensional bar code by reading the two-dimensional bar code 102, the surface of the flooring material 107 such as flooring, tiles, floors, etc. The two-dimensional barcode printed on the sheet, the sheet 106a on which the colored two-dimensional barcode 102a is printed as shown in FIG. When attached to the same surface of the flooring material 107, the two-dimensional bar code 102b of the sheet 106b can be read.

The two-dimensional bar code 102 described above may be a two-dimensional bar code 102a printed with colored ink, that is, an opaque ink, as shown in FIG. 3A, and the colorless secret ink shown in FIG. 3B, that is, not visually identified. It may be a two-dimensional bar code 102b.

Here, the colorless secret ink, which is not identified by the naked eye, is commonly used as a color and is colorless and does not show symbols (including numbers), letters, and figures even when printed on securities or security paper such as banknotes, checks, and gift certificates. In other words, the scanner or copier does not scan and copy.

The secret ink may be an organic fluorescent material, a quencher, and a curable resin composition that emit light in the wavelength region of 651 nm to 900 nm by a light emitting element that emits a wavelength of 550 nm to 850 nm. EC (EC: 2-ethoxyethanol (2 -ETHOXYETHANOL; Molecular formula: C4H10O2)), 40% to 20% of MT (methyl alcohol) is mixed to prepare 1L of solution A, and to the solution A, puenonor futadan and fusiral resin or CKR resin (Mgo-reactive Alkyl Phenol). Resin) 10g to 20g and 130g to 170g, and 15cc to 25cc of OX (orenoic acid: C17H23CO2H) heated to 180 ℃ ~ 220 ℃ and may be made by mixing 0.01g ~ 0.001g Si The present invention is not limited to this, but the transparent ink or the secret ink should be visually identified by the light emitting device irradiating light in the wavelength range of 550 nm to 850 nm.

Therefore, when using inks that are not visible to the naked eye, the naked eye is not usually identified, which has the advantage that the beautiful appearance of the flooring material 107 can be maintained as it is, and when the autonomous mobile robot 101 autonomously moves, the surface irradiated with light. Absolute coordinate values can be obtained.

To develop a two-dimensional barcode 102b that is not visually identified as described above, the outer edge of the barcode reader 105 mounted on the bottom of the autonomous mobile robot 101 can be irradiated with light toward the ground. When the autonomous mobile robot 101 starts autonomous movement by mounting at least one light emitting device 104 as described above, a two-dimensional barcode that is not identified by irradiating light having a wavelength range of 550 nm to 850 nm while power is applied to the light emitting device. The control unit acquires the unique information (absolute coordinates) of the two-dimensional bar code 102b by causing the color 102b to develop, and at this time, the barcode reader 105 reads the color-coded two-dimensional bar code 102b and transmits it to a control unit (not shown). You can do it.

That is, the barcode reader 105 according to the present invention is not only able to identify the two-dimensional barcode 102a that is visually identified, but also the two-dimensional barcode 102b that is not visually recognized is recognized by the light emitting device 104. It becomes possible.

Therefore, the autonomous mobile robot 101 moving above the two-dimensional bar code 102 scans the two-dimensional bar code 102 each time the two-dimensional bar code 102 passes, allowing the controller to acquire unique position information. In the navigation system of the autonomous mobile robot 101 with reference to the acquired position information, it is possible to maintain and change the current position in the moving area, the path, direction, and speed to be moved forward.

As described above, the present invention simultaneously develops and develops a two-dimensional bar code that is not identified by the printed naked eye at the same time as the autonomous mobile robot's autonomous mobile robot, in order to maintain the beautiful appearance of flooring materials such as floor coverings, tiles, and wooden floors. By scanning the two-dimensional bar code that can be identified by the control unit, the control unit can acquire the unique information of the two-dimensional bar code. Thus, the navigation system of the autonomous mobile robot has the effect of smoothly autonomous mobile movement with the acquisition of absolute coordinates. Have

In other words, while maintaining the beautiful appearance of the flooring as it is, it has the effect of not inhibiting the autonomous movement of the autonomous mobile robot.

Claims (2)

In the absolute coordinate recognition device of the autonomous mobile navigation system having a main body equipped with a moving means, A light emitting device installed at a predetermined position under the main body to irradiate light having a wavelength of a specific region toward the bottom surface; A barcode reader installed at a predetermined position under the main body to read a two-dimensional barcode printed with a colorless or secret ink colored by light emitted by a light emitting element; And a control unit installed in the main body and configured to recognize absolute coordinates as a unique coordinate value of a two-dimensional bar code of a floor read by a barcode reader. The method of claim 1, The light irradiated from the light emitting device is an absolute coordinate recognition apparatus of the autonomous mobile navigation system, characterized in that having a wavelength range of 600nm ~ 850nm.