KR20110080025A - Coordinates recognition method of automatic guided vehicle and apparatus thereof - Google Patents

Abstract

PURPOSE: A method and a device thereof of recognizing the location of manless returning vehicle are provided to easily install and implement a manless returning vehicle, since a plurality of marks are not accurately established on the fixed coordinate. CONSTITUTION: A manless returning vehicle radiates a laser for confirming the coordinate of the reflector of the plurality installed at the wall of the indoor space or the ceiling, converts the local coordinate created based on the angular information into the global coordinate, thereby detecting the coordinate of a plurality of reflectors. And the manless returning vehicle recognizes the locating information of the angle and the direction of present manless returning vehicle located on the indoor space based on the coordinate of a plurality of reflectors.

Description

Coordinates recognition method of automatic guided vehicle and apparatus

The present invention relates to a position recognition method of an unmanned transport vehicle and its apparatus.

In general, various industrial sites use automatic guided vehicles to minimize the management manpower and increase work efficiency. For example, the warehouse management system uses an unmanned carrier vehicle to automatically process the receipt and release of logistics.

As such, in order to control the unmanned vehicle moving in the indoor space, a function of recognizing which position in the indoor space is required is required. At present, the method of calculating the magnetic position of the unmanned transport vehicle can be divided into the method of using artificial marks and the method of using natural marks.

First of all, as a method of using artificial marks, a plurality of marks are installed on the ceiling or wall of an indoor space, photographed with a camera, and then extracted from the image to match the coordinates of the unmanned vehicle with the coordinates of the unmanned vehicle. There is a way to calculate the magnetic position.

However, in the above-described method of using the artificial mark in the magnetic position recognition method of the unmanned vehicle, the coordinates of a plurality of marks installed on the ceiling or the wall of the indoor space are registered in advance in the unmanned vehicle, Since this mark is a method of calculating a magnetic position while comparing a mark photographed by a camera with a pre-registered coordinate, it is necessary to accurately install a plurality of marks on a set coordinate. Etc.) may cause difficulty in installing marks on the set coordinates.

In addition, as a method of using a natural mark in addition to the above-described artificial marks, after photographing the ceiling with a camera and extracting the interface information between the structure and the wall installed in the ceiling from the image, and using this to calculate the magnetic position of the unmanned vehicle Method can be used.

However, the above-described method using a natural mark in the conventional self-recognition method of the unmanned transport vehicle also requires a lot of time and a large amount of data operation as well as the influence of the surrounding light source and the recognition of the interface between the ceiling and the wall. There was a problem that additional memory and additional equipment must be used.

An object of the present invention for solving the above-mentioned problems is to detect the coordinates of each reflector based on information reflected from reflectors (marks) installed at multiple locations on the wall or ceiling of an indoor space in an unmanned vehicle carrying out a laser scan. In addition, the present invention provides a method and apparatus for recognizing a position of an unmanned vehicle, which can accurately recognize a current position such as the direction or angle of an unmanned vehicle using the detected coordinates of each reflector.

Another object of the present invention is to generate local coordinates (relative coordinates) of each reflector using information reflected from the surroundings through laser scanning in an unmanned transport vehicle located in an indoor space, and then convert them to global coordinates (absolute coordinates). The present invention provides a method and apparatus for recognizing a position of an unmanned carrier vehicle for averaging the global coordinates of each reflector collected at various locations in an indoor space in the same manner to detect the final global coordinates of each reflector.

Still another object of the present invention is to detect coordinates of each mark based on camera photographing information of a mark installed on a wall or a ceiling of a plurality of locations in an indoor space in an unmanned vehicle, and use the detected coordinates of the unmanned vehicle The present invention provides a method and apparatus for recognizing a location of an unmanned vehicle for accurately recognizing a current position such as a direction or an angle of a vehicle.

Another object of the present invention, after setting the local coordinates of the nearest mark taken by the camera in the unmanned transport vehicle located in the indoor space as the origin of the global coordinates, and converts the local coordinates of the camera to the global coordinates, The present invention provides a method and apparatus for recognizing a position of an unmanned transport vehicle for detecting the final global coordinate of each mark by using the converted global coordinates of the camera and local coordinates of other marks photographed by the camera.

In order to achieve the above object, a method of recognizing a position of an unmanned transport vehicle according to an embodiment of the present invention includes: (1) irradiating a laser for identifying coordinates of a plurality of reflectors installed on a wall or a ceiling of an indoor space in an unmanned transport vehicle; And converting the local coordinates generated on the basis of the distance and angle information reflected by the plurality of reflectors into global coordinates to detect the coordinates of the plurality of reflectors, and (2) the unmanned transport vehicle through (1). Recognizing position information of the direction and angle of the current unmanned vehicle on the indoor space based on the detected coordinates of the plurality of reflectors.

In the above-mentioned step (1), (1-1) the unmanned vehicle is irradiated with a laser for checking the coordinates of a plurality of reflectors installed on the wall or the ceiling of the indoor space, and (1-2) the unmanned vehicle (B) generating local coordinates of the plurality of reflectors based on the distance and angle information reflected by the plurality of reflectors, and (1-3) the unmanned transport vehicle includes the plurality of reflectors generated in step (1-2). The step of converting the local coordinates into the global coordinates and (1-4) the unmanned transport vehicle repeats the steps (1-1) and later at a plurality of points in the indoor space, thereby performing globalization of the plurality of reflectors according to each position. The step of checking the coordinates and (1-5) the unmanned transport vehicle averages the global coordinates of the plurality of reflectors, which are repeatedly performed through steps (1-4), and detects the average value as the final coordinates of the plurality of reflectors. It is preferred to include the step.

In the above-mentioned step (2), the step (2-1) of the unmanned transport vehicle, the step of identifying and storing the relative distance between each reflector based on the coordinates of the plurality of reflectors detected through the step (1), (2-2 The unmanned carrier vehicle may include identifying and storing a relative distance between the reflector located at the longest distance and the remaining reflectors based on the coordinates of the plurality of reflectors detected through step (1), and (2-3) From the data stored in step (2-1), check the index of the row where the data matching the data stored in step (2-2) with 5% error is stored, and the reflector located at the longest distance from the unmanned carrier vehicle from the index of the row. The position of A and the step (2-4) of the unmanned transport vehicle are 2π / 3 <reflector B≤π, π <reflector based on the reflector A located at the longest distance identified through the step (2-3). Reflectors B and C present in C≤2π / 3 Checking whether there are a plurality, and if there are a plurality, determining the angles having the largest angles with the reflectors B and C, and (2-5) the unmanned vehicle is determined by the position of the reflector A identified in the step (2-3). It is preferable to include the step of calculating the current position of the unmanned transport vehicle using the positions of the reflectors B and C determined in step (2-4).

In addition, the position recognition method of the unmanned vehicle according to another embodiment of the present invention, (A) in the unmanned vehicle is photographed a plurality of marks installed on the wall or ceiling of the interior space, the shortest distance based on the information taken by the camera After setting the local coordinate of the mark as the origin of the global coordinate, convert the local coordinate of the camera to the global coordinate based on the origin, and use a plurality of marks using the local coordinates of the converted camera's global coordinate and other marks taken by the camera. Detecting coordinates of the vehicle and (B) the unmanned transport vehicle recognizes the position information of the direction and angle of the current unmanned transport vehicle located in the indoor space based on the coordinates of the plurality of marks detected through the step (A). It may include a step.

In the above-mentioned step (A), the step (A-1) of the unmanned vehicle is performed by performing camera photography for checking the coordinates of a plurality of marks installed on the wall or the ceiling of the indoor space; The vehicle sets the local coordinates of the mark located at the shortest distance to the origin of the global coordinates based on the information captured by the camera, and (A-3) the unmanned vehicle is the global coordinates set in step (A-2). (B) converting the local coordinates of the camera into global coordinates based on the origin of the camera and checking the global coordinates of the camera; and (A-4) the unmanned transport vehicle, the global coordinates of the camera identified in step (A-3) and the camera. Detecting the global coordinates of the plurality of marks by using the local coordinates of the other marks photographed with (A-5), and the global coordinates of the plurality of marks are detected through (A-4). Whenever a verification is performed to prevent errors It is preferable to include a system.

In the above-mentioned step (B), (B-1) the unmanned transport vehicle, storing the global coordinates of the plurality of marks detected through the step (A) for each unique ID, and (B-2) the unmanned transport vehicle (B) selecting the mark located at the shortest distance from the current position among the coordinates of the plurality of marks detected through step (A), and (B-3) the unmanned vehicle is selected from the data stored in step (B-1). (B-2) checking whether the mark selected in step (b-2) is included through the unique mark ID, and (b-4) the unmanned transport vehicle uses the coordinates of the mark confirmed in (b-3) (b). Step (1) converts the global coordinates to the global coordinates using the data stored in step (1), and (B-5) the unmanned transport vehicle, the position of the mark identified in step (B-3) and the global coordinates in step (B-4). It is preferable to include the step of calculating the current position of the unmanned transport vehicle using the position of the mark converted to.

In addition, the position recognition device of the unmanned vehicle according to an embodiment of the present invention, the plurality of reflectors installed on the wall or ceiling of the interior space reflects the laser, and irradiating the laser to check the coordinates of the plurality of reflectors The coordinates of the plurality of reflectors are detected by converting the local coordinates generated on the basis of the distance and angle information reflected from the reflector to the global coordinates, and based on the detected coordinates of the plurality of reflectors, And an unmanned transport vehicle for recognizing positional information, wherein the unmanned transport vehicle includes a laser scan unit for irradiating a laser while rotating 360 degrees in an interior space and receiving a signal reflected by a plurality of reflectors, and a laser scan unit Local coordinates of a plurality of reflectors are generated based on the input laser reflection signal, and the generated local coordinates are glowed. Coordinate detection unit detecting coordinates of a plurality of the reflector is converted into coordinates, and on the basis of the global coordinates of the plurality of the reflector to be input from the coordinate detection unit may include a position recognition to recognize the current position of the unmanned transporting vehicle.

In addition, the position recognition device of the unmanned vehicle according to another embodiment of the present invention, the camera photographing to check the plurality of marks and the coordinates of the plurality of marks installed on the wall or ceiling of the indoor space, Based on the photographed information, the local coordinate of the shortest distance mark is set as the origin of the global coordinate, and then the global coordinate of the camera is determined based on the origin. A unmanned transport vehicle that detects coordinates of a mark and recognizes position information of a current direction and angle located on the indoor space based on the detected coordinates of the plurality of marks; A mark positioned at the shortest distance of the plurality of marks based on a camera unit photographing the mark Set the local coordinate as the origin of the global coordinate, check the camera's global coordinate by converting the camera's local coordinate to the global coordinate based on the set origin of the global coordinate, and confirm the camera's global coordinate and other marks taken by the camera. And a coordinate detection unit for detecting the global coordinates of the plurality of marks using the local coordinates of the plurality of marks, and a position recognition unit for recognizing the current position of the unmanned vehicle based on the global coordinates of the plurality of marks inputted from the coordinate detection unit.

As described above, according to the position recognition method and apparatus of the unmanned transport vehicle of the present invention, the coordinates are detected based on the information reflected from each reflector in the unmanned transport vehicle performing the laser scan, and the coordinates of the detected reflectors are used. Unlike the conventional method of calculating the self position by comparing the mark photographed by the camera with the registered mark while moving the unmanned vehicle, it accurately recognizes the current position of the unmanned vehicle. It is easy to install and implement the unmanned vehicle system because it does not need to be installed in the unmanned vehicle system.It is possible to accurately recognize the current position of the unmanned vehicle by fast data operation processing, and also to control the unmanned vehicle accurately and quickly. It can be effective.

In addition, even when detecting the coordinates of each mark based on camera shooting, the local coordinates of the nearest mark photographed by the camera in the unmanned transport vehicle are set as the origin of the global coordinates, and then the local coordinates of the camera are converted into the global coordinates based on this. Since the global coordinates of each mark are detected using the global coordinates of the camera and the local coordinates of the other marks taken by the camera, it is not necessary to accurately install a plurality of marks on the set coordinates like the unmanned carrier vehicle of the laser scan method. The installation and implementation of the unmanned vehicle system is convenient.

1 is a view schematically showing the configuration of a position recognition device of an unmanned transport vehicle according to an embodiment of the present invention,
2 is a block diagram schematically showing the configuration of the unmanned vehicle of FIG.
3 is a view for explaining the coordinate detection of each reflector applied to an embodiment of the present invention;
4 is a view for explaining the position recognition of the unmanned carrier vehicle applied to an embodiment of the present invention,
5 to 7 is a flow chart for explaining the operation of the position recognition method of the unmanned vehicle according to an embodiment of the present invention,
8 is a view schematically showing the configuration of the position recognition device of the unmanned vehicle according to another embodiment of the present invention;
9 is a block diagram schematically showing the configuration of the unmanned vehicle of FIG. 8;
10 to 12 are flow charts for explaining the operation of the position recognition method of the unmanned vehicle according to another embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings will be described in detail the position recognition method and apparatus of the unmanned vehicle according to each embodiment of the present invention.

1 is a view schematically showing the configuration of the position recognition device of the unmanned transport vehicle according to an embodiment of the present invention, Figure 2 is a block diagram schematically showing the configuration of the unmanned transport vehicle of Figure 1, Figure 3 4 is a view for explaining the coordinate detection of each reflector applied to an embodiment of the present invention, Figure 4 is a view for explaining the position recognition of the unmanned carrier vehicle applied to an embodiment of the present invention.

As shown in FIG. 1, the position recognition apparatus of the unmanned transport vehicle according to the exemplary embodiment of the present invention includes a plurality of reflectors 10 and an unmanned transport vehicle 20.

The plurality of reflectors 10 are installed on the wall or ceiling of the indoor space to reflect the laser beam emitted from the unmanned vehicle 20.

The unmanned vehicle 20 irradiates a laser for checking the coordinates of the plurality of reflectors 10 installed in the indoor space, and globally generates the local coordinates generated based on the distance and angle information reflected from each reflector 10. The coordinates of the plurality of reflectors 10 are detected by converting the coordinates, and the position information of the current direction and angle located in the indoor space is recognized based on the detected coordinates of the reflectors 10.

In this case, as shown in FIGS. 3A to 3C, the unmanned vehicle 20 may have various local coordinates (for example, local coordinates of (15,15) in FIG. 3A and (25,25) in FIG. 3B). The position of each reflector 10 in the global coordinate is obtained by using the distance and angle information obtained according to the reflection signal of each reflector 10 in the local coordinate of FIG. 3C, and the local coordinate of (60, 25) in FIG. The average value of the global coordinates of each reflector 10 obtained from the local coordinates is determined as the final coordinate.

Accordingly, the unmanned vehicle 20 does not need to accurately install a plurality of reflectors 10 on the set coordinates, unlike the conventional method of calculating a magnetic position while comparing a mark photographed by a camera with the coordinates of a previously registered mark. do.

In addition, the unmanned vehicle 20 uses the method as shown in FIG. 4 when recognizing the current position information based on the global coordinates of the reflectors 10 detected according to the method as shown in FIG.

That is, referring to FIG. 4, when the lengths k, l and m of the three sides in the triangle and the three cabinets α, β and γ are known, the distances a, b and c to the reflector positions in the present invention a, b and c Can be obtained as

The solutions a, b, and c for the three nonlinear forms described above may be obtained using the Newton Raphson method described below.

Based on this method, the unmanned vehicle 20 may recognize its location information at a specific location on the indoor space based on the global coordinates of each reflector 10.

As shown in FIG. 2, the unmanned transport vehicle 20 irradiates a laser while rotating 360 degrees in an indoor space, and receives a signal reflected by the plurality of reflectors 10. And generate local coordinates of the plurality of reflectors 10 based on the laser reflection signal input from the laser scan unit 22, and convert the generated local coordinates into global coordinates to detect the coordinates of the plurality of reflectors 10. And a coordinate detector 24 for detecting, as final coordinates of the plurality of reflectors 10, a value obtained by averaging the global coordinates of the plurality of reflectors 10 detected by positioning the unmanned vehicle 20 at a plurality of points on the indoor space. And a position recognizing unit 26 for recognizing the current position of the unmanned vehicle 20 based on the global coordinates of the plurality of reflectors 10 input from the coordinate detecting unit 24.

The position recognition method of the unmanned vehicle according to the exemplary embodiment of the present invention configured as described above will be described with reference to FIGS. 5 to 7.

5 to 7 are flowcharts for explaining an operation process of the position recognition method of the unmanned vehicle according to an embodiment of the present invention.

First, the laser beam for checking the coordinates of the plurality of reflectors 10 installed on the wall or the ceiling of the indoor space in the unmanned transport vehicle 20 is irradiated, and based on the distance and angle information reflected by the plurality of reflectors 10. The coordinates of the plurality of reflectors 10 are detected by converting the generated local coordinates into global coordinates (S10).

Referring to FIG. 6 in detail, the unmanned vehicle 20 moved on a specific local coordinate is the laser scanning unit 22 to check the coordinates of the plurality of reflectors 10 installed on the wall or ceiling of the indoor space. Irradiate the laser while rotating 360 degrees into the interior space through the (S11).

The laser scanning unit 22 of the unmanned transport vehicle 20 outputs the signals reflected by the plurality of reflectors 10 to the coordinate detector 24, and the coordinate detector 24 stores a plurality of signals based on the reflected distance and angle information. Local coordinates of the reflector 10 are generated (S12).

After generating the local coordinates of the plurality of reflectors 10, the coordinate detector 24 converts the generated local coordinates of the plurality of reflectors 10 into global coordinates (S13).

After converting the local coordinates of the plurality of reflectors 10 to the global coordinates at a specific position, the coordinate detection unit 24 of the unmanned transport vehicle 20 repeats and performs step S11 after a plurality of points in the indoor space, The global coordinates of the plurality of reflectors 10 according to the position are checked (S14).

The coordinate detector 24 averages the global coordinates of the plurality of reflectors 10 repeatedly checked through step S14, and detects an average value as final coordinates of the plurality of reflectors 10 (S15).

After detecting the coordinates of the plurality of reflectors 10 through the step S10 as described above, the unmanned vehicle 20 is based on the coordinates of the detected plurality of reflectors 10 of the current unmanned vehicle 20 located in the indoor space. Recognize the position information of the direction, the angle (S20).

Referring to FIG. 7, the position recognition unit 26 of the unmanned transport vehicle 20 is based on the coordinates of the plurality of reflectors 10 detected by the coordinate detection unit 24 in step S10 (the respective reflectors ( 10) check and store the relative distance between (S21).

The relative distance data between the plurality of reflectors 10 stored through the step S21 is matrix data as follows.

In addition, the position recognition unit 26 of the unmanned vehicle 20 confirms the relative distance between the reflector positioned at the longest distance and the remaining reflectors based on the coordinates of the plurality of reflectors 10 detected by the coordinate detector 24 through step S10. And store (S22).

Relative distance data between the reflector located at the longest distance stored through the step S22 and the remaining reflectors is the following matrix data.

Then, the position recognizing unit 26 of the unmanned transport vehicle 20 checks the index of the row where the data stored in step S21 and the data matching the data stored in step S22 by 5% error are stored, and then unmanned transport from the index of the row. The position of the reflector A located at the longest distance from the vehicle 20 is checked (S23).

In addition, the position recognition unit 26 of the unmanned vehicle 20 is present at 2π / 3 <reflector B≤π, π <reflector C≤2π / 3 based on the reflector A located at the longest distance identified through step S23. It is checked whether there are a plurality of reflectors B and C, and if there are a plurality of reflectors, the ones having the largest angle are determined as the reflectors B and C (S24).

After the reflectors A, B, and C for the position recognition of the unmanned vehicle 20 are determined through steps S23 and S24, the position recognition unit 26 of the unmanned vehicle 20 is determined by the reflector A of step S23. The current position of the unmanned vehicle 20 is calculated using the position and the positions of the reflectors B and C determined in step S24 (S25).

That is, when reflector A = (x1, y1), reflector B = (x2, y2), reflector C = (x3, y3), the following nonlinear equations are solved using the Newton Raphson method described in FIG. The current position (x, y, θ) of (20) can be calculated.

을 주어 원하는 해를 찾는다.
When solving the above-described nonlinear equations, two solutions may exist depending on the initial values. Therefore, to find a suitable solution, the initial value (x, y) of the center of gravity existing inside the triangle is found.

To find the solution you want.

On the other hand, unlike the embodiment that detects the coordinates of each reflector 10 by using a laser scan as described above, and based on this to recognize the position of the unmanned vehicle 20, each mark 100 using a camera By detecting the coordinates of the, and based on this can recognize the position of the unmanned vehicle 20, an embodiment thereof will be described as follows.

8 is a view schematically showing the configuration of the position recognition device of the unmanned carrier vehicle according to another embodiment of the present invention, Figure 9 is a block diagram schematically showing the configuration of the unmanned carrier vehicle of FIG.

As shown in FIG. 8, the position recognition device of the unmanned transport vehicle according to the exemplary embodiment of the present invention includes a plurality of marks 100 and an unmanned transport vehicle 200.

The plurality of marks 100 are installed on the wall surface or the ceiling of the indoor space.

The unmanned vehicle 20 performs camera shooting to check the coordinates of the plurality of marks 100 installed in the indoor space, and local coordinates of the shortest distance mark are based on the information captured by the camera. After setting to, the global coordinates of the camera are determined based on the origin, the coordinates of the plurality of marks 100 are detected using the global coordinates of the camera and the local coordinates of other marks photographed by the camera, and the detected plurality of marks Based on the coordinates of (100), it recognizes the location information of the current direction, angle located on the indoor space.

At this time, the unmanned vehicle 200 recognizes the current position information in the same manner as in FIG. 4 based on the detected global coordinates of the mark 100 as in the above-described embodiment.

As illustrated in FIG. 9, the unmanned transport vehicle 200 includes a plurality of camera units 210 photographing a plurality of marks 100 installed in an indoor space and a plurality of marks based on a photographing signal input from the camera unit 210. Set the local coordinate of the mark located at the shortest distance among the marks 100 of the as the origin of the global coordinate, convert the camera's local coordinate to the global coordinate based on the set origin of the global coordinate, and check the camera's global coordinate. A coordinate detector 220 that detects global coordinates of the plurality of marks 100 using the global coordinates of the camera and the local coordinates of other marks photographed by the camera, and a plurality of marks 100 input from the coordinate detector 220. It includes a position recognition unit 230 for recognizing the current position of the unmanned transport vehicle 200 based on the global coordinates.

At this time, since the coordinate detector 220 obtains the global coordinate of each mark 100 using the global coordinates of the camera, when the global coordinates of the plurality of marks 100 are added based on the photographing signal input from the camera unit 210. In order to reduce the occurrence of an error every time, before the local coordinate of the mark is converted to the global coordinate, the verification of the local coordinate is performed or after converting the local coordinate of the mark to the global coordinate, Rescan to verify the coordinates.

The position recognition method of the unmanned vehicle according to the embodiment of the present invention configured as described above will be described with reference to FIGS. 10 to 12.

10 to 12 are flowcharts showing in detail the operation of the position recognition method of the unmanned vehicle according to another embodiment of the present invention.

First, the unmanned vehicle 200 photographs a plurality of marks 200 installed on the wall or ceiling of an indoor space through the camera unit 210, and local coordinates of the shortest distance mark are based on the information captured by the camera. After setting to the origin of the camera, the local coordinates of the camera are converted into global coordinates based on the origin, and the coordinates of the plurality of marks 100 are detected by using the converted coordinates of the camera and the local coordinates of other marks photographed by the camera. (S100).

This will be described in detail with reference to FIG. 11. The unmanned vehicle 200 moved on a specific local coordinate performs camera photography to check the coordinates of a plurality of marks 100 installed on a wall or a ceiling of an indoor space. (S110).

The camera unit 210 of the unmanned vehicle 200 outputs a photographing signal to the coordinate detector 220, and the coordinate detector 220 local coordinates of the mark located at the shortest distance based on the information photographed by the camera unit 210. Set to the origin of the global coordinate (S120).

After setting the local coordinate of the mark located at the shortest distance as the origin of the global coordinate, the coordinate detection unit 220 of the unmanned transport vehicle 200 sets the global coordinate of the camera based on the origin of the global coordinate set in step S120. Verify the global coordinates of the camera by converting to (S130).

The coordinate detecting unit 220 of the unmanned vehicle 200 detects the global coordinates of the plurality of marks 100 using the global coordinates of the camera identified in step S130 and the local coordinates of other marks photographed by the camera (S140). .

In addition, the coordinate detecting unit 220 of the unmanned vehicle 200 that detects the global coordinates of the plurality of marks 100 is verified to prevent an error occurrence whenever the global coordinates of the plurality of marks 100 are detected through step S140. Perform (S150). The verification of step S150 is to verify the local coordinates before converting the local coordinates of the mark into global coordinates, or rescan the entire global coordinates of the plurality of marks after converting the local coordinates of the mark into global coordinates. Based on this, the coordinate correction is verified.

After detecting the global coordinates of the plurality of marks 100 through the step S100 as described above, the unmanned vehicle 200 is based on the coordinates of the detected plurality of marks 100 and the current unmanned vehicle 200 located in the indoor space. Recognizes the position information of the direction, the angle of (S200).

Referring to FIG. 12 in detail, the position recognition unit 230 of the unmanned vehicle 200 sets unique IDs of the global coordinates of the plurality of marks 100 detected by the coordinate detection unit 220 through step S100. Stored separately (S210).

The mark located at the shortest distance from the current position is selected from the coordinates of the plurality of marks 100 detected by the position recognition unit 230 of the unmanned vehicle 200 (S220).

Thereafter, the position recognition unit 230 of the unmanned vehicle 200 checks whether the mark selected in step S220 is included in the data stored in step S210 through a unique mark ID (S230).

In addition, the position recognition unit 230 of the unmanned vehicle 200 converts the coordinates of the mark confirmed through the step S230 into global coordinates using the data stored in the step S210 (S240). That is, the global coordinates of the mark identified through the step S230 among the data stored in the step S210-the local coordinates of the mark confirmed through the step S230 may be converted into the global coordinates.

After the mark for the position recognition of the unmanned vehicle 200 is determined through the steps S230 and S240, the position recognition unit 230 of the unmanned vehicle 200 is global in the step S230 and the step S240 The current position of the unmanned vehicle 200 is calculated using the position of the mark converted into coordinates (S250).

Herein, while the present invention has been described with reference to the preferred embodiments, those skilled in the art will variously modify the present invention without departing from the spirit and scope of the invention as set forth in the claims below. And can be changed.

10: reflector
20, 200: unmanned transport vehicle
22: laser scanning unit
24, 220: coordinate detection unit
26, 230: location recognition unit
100: mark
210: camera unit

Claims (15)

(1) Irradiate a laser to check the coordinates of a plurality of reflectors installed on the wall or ceiling of an indoor space in an unmanned transport vehicle, and use the global coordinates generated based on the distance and angle information reflected by the plurality of reflectors. Detecting the coordinates of the plurality of reflectors by converting to.
(2) The unmanned vehicle may include the step of recognizing the position information of the direction and angle of the current unmanned vehicle on the indoor space based on the coordinates of the plurality of reflectors detected through the step (1).
Position recognition method of an unmanned transport vehicle including. The method of claim 1,
Step (1),
(1-1) the unmanned vehicle is irradiated with a laser for checking the coordinates of the plurality of reflectors installed on the wall or ceiling of the indoor space,
(1-2) generating the local coordinates of the plurality of reflectors based on the distance and angle information reflected by the plurality of reflectors;
(1-3) converting the local coordinates of the plurality of reflectors generated in the step (1-2) into global coordinates,
(1-4) the step of checking the global coordinates of the plurality of reflectors according to each position by repeating and performing step (1-1) after the step (1-1) at a plurality of points on the indoor space, and
(1-5) The unmanned transport vehicle, averaging the global coordinates of the plurality of reflectors confirmed by repeating through the step (1-4), and detecting the average value as the final coordinates of the plurality of reflectors
Position recognition method of an unmanned transport vehicle including. The method of claim 1,
Step (2),
(2-1) confirming and storing the relative distance between each reflector based on the coordinates of the plurality of reflectors detected through the step (1),
(2-2) checking and storing the relative distance between the reflector located at the longest distance and the remaining reflectors based on the coordinates of the plurality of reflectors detected through the step (1);
(2-3) The unmanned transport vehicle checks the index of the row where the data stored in the step (2-1) matches the data stored in the step (2-2) with a 5% error, and the corresponding Identifying the position of the reflector A located at the longest distance from the unmanned vehicle according to the index of the row;
(2-4) The unmanned vehicle is present at 2π / 3 <reflector B ≤ π, π <reflector C ≤ 2π / 3 with respect to reflector A located at the longest distance identified through step (2-3) Checking whether there are a plurality of reflectors B and C, and if there are a plurality of reflectors, determining the reflectors B and C having the largest angle, and
(2-5) The unmanned vehicle is presently present in the unmanned vehicle using the position of the reflector A identified in the step (2-3) and the positions of the reflectors B and C determined in the step (2-4). To calculate the position
Position recognition method of an unmanned transport vehicle including. The method of claim 3, wherein
Relative distance data between the plurality of reflectors stored through the step (2-1),

Position Recognition Method of Unmanned Carrier Vehicle which is a Matrix of. The method of claim 3, wherein
Relative distance data between the reflector located at the longest distance stored through the step (2-2) and the remaining reflectors,

Position Recognition Method of Unmanned Carrier Vehicle which is a Matrix of. The method of claim 3, wherein
Step (2-5) is,
When reflector A = (x1, y1), reflector B = (x2, y2), reflector C = (x3, y3),

Calculate the current position (x, y, θ) of the unmanned carrier vehicle by solving the nonlinear equation of, and since there are two solutions depending on the initial value

The location recognition method of the unmanned carrier vehicle to give the initial value to find the desired solution. (A) Taking a plurality of marks installed on the wall or ceiling of an indoor space in an unmanned vehicle, and setting the local coordinate of the shortest distance mark as the origin of the global coordinate based on the information captured by the camera, and then the camera based on the origin. Converting local coordinates into global coordinates, and detecting coordinates of the plurality of marks using the converted global coordinates of the camera and local coordinates of other marks photographed by the camera, and
(B) The unmanned vehicle may include the step of recognizing the position information of the direction and angle of the current unmanned vehicle on the indoor space based on the coordinates of the plurality of marks detected through the step (A).
Position recognition method of an unmanned transport vehicle including. The method of claim 7, wherein
The step (A)
(A-1) the unmanned vehicle is photographed by a camera for checking coordinates of a plurality of marks installed on a wall or a ceiling of an indoor space;
(A-2) setting the unmanned vehicle to the local coordinate of the mark located at the shortest distance based on the information photographed by the camera as the origin of the global coordinate;
(A-3) checking the global coordinates of the camera by converting the local coordinates of the camera into global coordinates based on the origin of the global coordinates set in the step (A-2),
(A-4) The unmanned transport vehicle detects the global coordinates of the plurality of marks using the global coordinates of the camera identified in the step (A-3) and the local coordinates of other marks photographed by the camera. Step, and
(A-5) The unmanned transport vehicle performs the verification for preventing the occurrence of an error every time global coordinates of the plurality of marks are detected through the step (A-4).
Position recognition method of an unmanned transport vehicle including. The method of claim 8,
Verification of the step (A-5),
A method for recognizing the position of a unmanned carrier vehicle that verifies the local coordinate before converting the local coordinate of the mark into the global coordinate. The method of claim 8,
Verification of the step (A-5),
And rescanning the global coordinates of the entire plurality of marks after converting the local coordinates of the mark into global coordinates, and modifying the coordinates based on the marks. The method of claim 7, wherein
Step (B) is,
(B-1) the unmanned transport vehicle, storing global coordinates of the plurality of marks detected through step (A) for each unique ID;
(B-2) selecting the mark located at the shortest distance from the current position among the coordinates of the plurality of marks detected through the step (A),
(B-3) checking, via the unique mark ID, whether the unmanned transport vehicle includes the mark selected in the step (B-2) among the data stored in the step (B-1),
(B-4) converting the coordinates of the mark confirmed through the step (B-3) into global coordinates using the data stored in the step (B-1), and
(B-5) The unmanned vehicle is presently present in the unmanned vehicle by using the position of the mark identified in the step (B-3) and the position of the mark converted into global coordinates in the step (B-4). To calculate the position
Position recognition method of an unmanned transport vehicle including. A plurality of reflectors installed on the wall or ceiling of the indoor space to reflect the laser; and
Irradiating a laser for identifying coordinates of the plurality of reflectors, converting local coordinates generated based on distance and angle information reflected from the reflectors into global coordinates to detect coordinates of the plurality of reflectors, and detecting the detected plurality of It includes an unmanned carrier vehicle that recognizes the position information of the current direction, angle located on the interior space based on the coordinates of the reflector of,
The unmanned transport vehicle,
A laser scan unit for irradiating a laser while rotating 360 degrees in an indoor space and receiving a signal reflected by the plurality of reflectors;
A coordinate detector configured to generate local coordinates of the plurality of reflectors based on a laser reflection signal input from the laser scan unit, convert the generated local coordinates into global coordinates, and detect coordinates of the plurality of reflectors;
And a position recognizing unit for recognizing a current position of the unmanned vehicle based on the global coordinates of the plurality of reflectors inputted from the coordinate detecting unit. The method of claim 12,
The coordinate detector,
A position recognition device for an unmanned vehicle, which detects, as a final coordinate of the plurality of reflectors, a value obtained by averaging the global coordinates of the plurality of reflectors which are detected by positioning the unmanned vehicle at a plurality of points on an indoor space. A plurality of marks installed on the wall or ceiling of the indoor space, and
Perform camera shooting to check the coordinates of the plurality of marks, set the local coordinate of the shortest distance mark as the origin of the global coordinate based on the information photographed by the camera, and determine the global coordinate of the camera based on the origin; Coordinates of the plurality of marks are detected using the global coordinates of the camera and the local coordinates of other marks photographed by the camera, and the position information of the current direction and angle located in the indoor space based on the detected coordinates of the plurality of marks. It includes an unmanned return vehicle that recognizes,
The unmanned transport vehicle,
A camera unit for photographing the plurality of marks installed in an indoor space,
The local coordinate of the mark located at the shortest distance among the plurality of marks is set as the origin of the global coordinate based on the photographing signal input from the camera unit, and the local coordinate of the camera is converted into the global coordinate based on the origin of the set global coordinate. A coordinate detector which checks the global coordinates of the camera and detects the global coordinates of the plurality of marks using the confirmed global coordinates of the camera and local coordinates of other marks taken by the camera;
And a position recognizing unit for recognizing a current position of the unmanned vehicle based on the global coordinates of the plurality of marks inputted from the coordinate detecting unit. The method of claim 14,
The coordinate detector,
Whenever the global coordinates of the plurality of marks are added based on the photographing signal input from the camera unit,
Correcting the coordinates by performing verification of the local coordinates before converting the local coordinates of the mark to global coordinates or by re-scanning the global coordinates of the entire plurality of marks after converting the local coordinates of the mark into global coordinates. Location recognition device of unmanned vehicle for verification.

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