KR20120090387A - Guard and surveillance robot system and method for travelling of mobile robot - Google Patents

Abstract

PURPOSE: A mobile robot running method in a guard and surveillance robot system is provided to perform a self-localization function and an obstacle detection function at the same time. CONSTITUTION: A guard and surveillance robot system comprises a plurality of first and second robots. The first robots move in a monitoring area along a pre-determined traveling route. The first robots generate information on obstacles, and avoid the obstacles if the obstacles are detected. The second robots receive the information on the obstacles, and follow the traveling route of the first robots.

Description

Guard and surveillance robot system and method for traveling of mobile robot}

The present invention relates to a monitoring boundary robot system and a traveling method of a mobile robot in the boundary robot system.

A robot is an automatic doll that assembles a mechanism inside a doll shaped like a person, and moves its hands and feet and other parts just like the original person. In recent years, however, it has become the collective name for an automatic device that performs a task autonomously, regardless of its appearance. Mobile robots, in particular, are receiving a lot of attention because they can perform tasks on behalf of people in extreme environments or hazardous areas.

When operating a surveillance boundary system using a mobile robot, sensors are installed in the mobile robot to detect obstacles or unexpected changes in the environment of the robot. This sensor is expensive for accurate obstacle detection, and one mobile robot uses a plurality of sensors.

Conventionally, when operating a surveillance boundary system using a plurality of mobile robots, a plurality of the same mobile robot having the same sensor was used. In this case, there is a problem that the price of the entire system increases because the sensor is expensive.

The present invention is to solve the above problems, and provides a surveillance boundary robot system capable of cost reduction and efficient monitoring.

The surveillance boundary robot system including a plurality of mobile robots according to an exemplary embodiment of the present invention may drive a surveillance area along a predetermined travel path, and generate obstacle detection information when an obstacle is detected on the travel path. A plurality of first robots traveling while avoiding obstacles; And a plurality of second robots receiving the obstacle detection information while driving the monitoring area along a predetermined driving path and following the driving path of the first robot based on the obstacle detection information.

In a surveillance boundary robot system including a plurality of mobile robots according to an exemplary embodiment of the present invention, a traveling method of a mobile robot includes a plurality of first robots and a plurality of second robots arranged at predetermined intervals. Traveling along the surveillance area; Generating an obstacle detection information and transmitting the obstacle detection information to the second robot when the first robot detects an obstacle on a driving path, and avoids the obstacle; And receiving, by the second robot, the obstacle detection information and following the driving path of the first robot based on the obstacle detection information.

The present invention can reduce the cost and efficiently operate the surveillance boundary system by partially sharing the functions of a plurality of robots operating in the surveillance boundary system.

1 is a view schematically showing a surveillance boundary robot system according to an embodiment of the present invention.
2 is a view for explaining a driving method of the robot in the surveillance boundary robot system according to an embodiment of the present invention.
3 is a block diagram schematically illustrating an internal configuration of a first robot according to an embodiment of the present invention.
4 is a block diagram schematically illustrating an internal configuration of a second robot according to an embodiment of the present invention.
5 is a flowchart illustrating a robot driving method of the monitoring boundary robot system according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. It should be noted that the same elements among the drawings are denoted by the same reference numerals and symbols as much as possible even though they are shown in different drawings. In the following description of the present invention, if it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted.

1 is a view schematically showing a surveillance boundary robot system according to an embodiment of the present invention.

Surveillance boundary systems include borders, national infrastructure and factories. It is a system that is installed fixedly or mobilely at a specific place such as a plant and continuously monitors or tracks people or moving objects by receiving images. Surveillance boundary robot system is a system in which a plurality of robots move a certain area at regular intervals to perform a specific task.

When monitoring and refining a certain area by using a plurality of mobile robots, sudden changes of features and the appearance of obstacles are extremely limited. In addition, in the case of borders, infrastructure, airports / ports, which are subject to surveillance boundary, the access of people and vehicles is restricted, so mobile robots do not need frequent obstacle detection. And, the detection of the change of terrain / feature is no problem even longer than the period for surveillance and reconnaissance. In addition, in these areas, pavement and semi-paved roads are relatively small, and feature changes are relatively small.

Therefore, in the surveillance boundary system using a plurality of mobile robots according to an embodiment of the present invention, some robots have a magnetic position recognition function and an obstacle detection function at the same time to detect obstacles, and the remaining robots omit the obstacle detection function. Only the magnetic position recognition function, and the robot with the obstacle detection function to accurately follow the trajectory passed by. Therefore, some mobile robots can omit the obstacle detection function using an expensive sensor, thereby reducing the cost, and enabling the operation of an efficient surveillance boundary system.

Referring to FIG. 1, the surveillance boundary robot system of the present invention includes a central server 10 and a plurality of robots 20. Wired and wireless communication is possible between the central server 10 and the plurality of robots 20 and between the plurality of robots 10.

The central server 10 receives and monitors an image of the monitoring area from the robot 20, and transmits a control command such as a start command and a travel command to the robot 20.

The robot 20 is a mobile robot that performs a specific task while moving a certain area, and one or more robots 20 monitor and scout the monitoring area while moving the monitoring area at regular intervals along a predetermined driving route.

When the robot 20 receives a start command from the central server 10, the robot 20 performs an initialization operation and starts capturing an image while driving a predetermined driving path. When the robot 20 receives the travel command from the central server 10, the robot 20 adjusts the travel path based on the travel command and travels on the adjusted travel path. The robot 20 may travel according to one or more scenarios.

The robot 20 photographs an image of the surveillance area and transmits the image to the central server 10. The robot 20 may be capable of firing against a detected intrusion target if necessary, including an armed device such as a firearm.

2 is a view for explaining a driving method of the robot in the surveillance boundary robot system according to an embodiment of the present invention.

Referring to FIG. 2, in the surveillance boundary robot system according to the present invention, the first robots A; A1 and A2 and the second robots B; B1, B2, B3, and B4 may be spaced apart along a driving route defined by the monitoring area. Surveillance and scouting of the surveillance area while moving.

Here, the first robot (A) is located at the head and every predetermined interval in the entire alignment robot line, one or more second robot (B) is disposed between the two first robot (A). For example, two second robots B1 and B2 may be disposed between two first robots A1 and A2.

The first robot A has a magnetic position recognition function and an obstacle detection function. The first robot A recognizes its own position and monitors the monitoring area along a predetermined driving route. In addition, the first robot A determines whether an obstacle exists on the driving path, and when the obstacle is detected, temporarily changes the driving path to avoid the obstacle, and travels along the determined driving path again. Here, the obstacle may be any object fixed in the surveillance area. When the obstacle A is detected, the first robot A generates obstacle detection information and transmits the obstacle detection information to the second robot B that follows. The obstacle detection information includes the position of the obstacle and the changed temporary driving route.

The first robot A broadcasts the obstacle detection information so that all the robots on the driving path can receive the obstacle detection information, or transmits the obstacle detection information only to the second robot B immediately following, or the first first. Obstacle detection information may be transmitted only to at least one second robot B existing between the robot A and the robot A. FIG.

The second robot B has a magnetic position recognition function, and follows the traveling path of the first robot A traveling in front of the second robot B. FIG. The second robot B recognizes its own position and monitors the monitoring area along a predetermined driving route. Then, the second robot B receives the obstacle detection information from the first robot A traveling in front of the vehicle, and travels on a temporary driving path temporarily changed by the first robot A based on the obstacle detection information to prevent the obstacle. Avoid.

The second robot B may transmit the obstacle detection information received to the second robot B that follows.

3 is a block diagram schematically illustrating an internal configuration of a first robot according to an embodiment of the present invention.

Referring to FIG. 3, the first robot A includes a driving unit 310, a camera 320, a control unit 330, a storage unit 380, and a communication unit 390.

The driving unit 310 is a part that provides power of the first robot A, and may include a wheel, a direction control device, a driving motor, and the like, which allow the front, rear, left, and right movements.

The camera 320 detects light reflected from the subject and converts the light into a digital signal. For example, the camera 320 may include an image sensor such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS), a lens for transmitting light to the image sensor, and the like. While moving, it is possible to acquire the surrounding image through the camera 320.

The camera 320 may photograph the driving path around by the left and right rotation and the up and down rotation function, and magnify an image of a specific area by the zoom function and observe more in detail.

The controller 330 controls the overall operation of the first robot A, and includes an image processor 340, a position estimator 350, an obstacle detector 360, and a driving controller 370.

The image processor 340 processes the image acquired by the camera 320 and extracts surrounding information from the image.

The position estimator 350 estimates its position using the image output from the image processor 340. Various algorithms may be used for the information processing process of the location estimator 350, and a representative simultaneous localization and mapping (SLAM) technique may be used. SLAM refers to a method in which the first robot A predicts its absolute position in space by using a relative position value and a surrounding environment.

The obstacle detecting unit 360 detects an obstacle located within a predetermined distance of the driving direction while traveling along the driving path. The obstacle detecting unit 360 may determine whether an obstacle exists in the front and an obstacle position by using a distance sensor, an ultrasonic sensor, an infrared sensor, or the like of the first robot A. FIG. As the obstacle detecting method, various conventional methods may be used.

The driving controller 370 controls an operation required for the first robot A to move the driving route according to the position estimation result. In addition, the driving controller 370 controls the driving direction according to the obstacle according to the obstacle detection result to prevent the collision with the obstacle.

The storage unit 380 stores programs necessary for the operation of the first robot A. FIG. The storage unit 380 stores a map of the surveillance area including the driving route, obstacle detection information, and the like.

The communication unit 390 includes a communication module and an antenna. The communication unit 390 is connected to the control unit 330 to exchange obstacle detection information generated according to the image of the image processing unit 340 and the obstacle detection result of the obstacle detection unit 360. Send to central server.

4 is a block diagram schematically illustrating an internal configuration of a second robot according to an embodiment of the present invention.

Referring to FIG. 4, the second robot B includes a driving unit 410, a camera 420, a control unit 430, a storage unit 480, and a communication unit 490.

The driving unit 410 is a part that provides the power of the second robot B, and may be configured of a wheel, a direction control device, a driving motor, and the like, which enable movement of the front, rear, left and right.

The camera 420 detects light reflected from the subject and converts the light into a digital signal. For example, the camera 420 may be configured of an image sensor such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS), a lens that transmits light to the image sensor, and the second robot B. While moving, it is possible to acquire the surrounding image through the camera 420.

The camera 420 may photograph the driving path around by the left / right rotation and the up / down rotation function, and magnify an image of a specific area by the zoom function to observe more in detail.

The controller 430 controls the overall operation of the second robot B, and includes an image processor 440, a position estimator 450, and a driving controller 460.

The image processor 440 processes an image acquired by the camera 420, and extracts surrounding information from the image.

The position estimator 450 estimates its position using the image output from the image processor 440. Various algorithms may be used for the information processing process of the location estimator 450, and a typical location localization and mapping (SLAM) technique may be used. SLAM refers to a method in which the second robot B predicts its absolute position in space by using a relative position value and a surrounding environment.

The driving controller 460 controls an operation required for the second robot B to move the driving route according to the position estimation result. In addition, the driving controller 460 receives obstacle detection information transmitted by the first robot A, and extracts a temporary driving path for obstacle location and obstacle avoidance. The driving controller 460 controls the driving direction by the temporary driving path extracted from the region where the obstacle is located to prevent collision with the obstacle.

The storage unit 470 stores programs necessary for the operation of the second robot B. FIG. The storage unit 470 stores a map of the surveillance area including the driving route, obstacle detection information, and the like.

The communication unit 480 includes a communication module and an antenna, and is connected to the control unit 430 to transmit an image of the image processing unit 440 to another robot and / or a central server.

5 is a flowchart illustrating a robot driving method of the monitoring boundary robot system according to an embodiment of the present invention.

In the surveillance boundary robot system of the present embodiment, a first robot having a magnetic position recognition function and an obstacle detection function and a second robot having only the magnetic position recognition function are aligned at regular intervals to monitor and scout the surveillance area.

The first robot is located at the head and at regular intervals in the entire alignment robot sequence, and the second robot is positioned at regular intervals between the first robots.

The first robot and the second robot monitor and scrutinize the surveillance area while driving along the driving route (S510).

When the first robot detects an obstacle on the driving path, the first robot generates obstacle detection information, transmits the detected information to the second robot, and avoids the obstacle to travel (S530). The obstacle is an object fixed in the surveillance area.

The second robot receives obstacle detection information from the first robot, and runs while following the driving path of the first robot based on the obstacle detection information (S550).

So far I looked at the center of the preferred embodiment for the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the disclosed embodiments should be considered in an illustrative rather than a restrictive sense. The scope of the present invention is defined by the appended claims rather than by the foregoing description, and all differences within the scope of equivalents thereof should be construed as being included in the present invention.

Claims (7)

In the surveillance boundary robot system comprising a plurality of mobile robots,
A plurality of first robots driving along the surveillance area along a predetermined driving path, generating obstacle detection information when the obstacle is detected on the driving path, and avoiding the obstacle; And
And a plurality of second robots that receive the obstacle detection information while driving the monitoring area along a predetermined driving path and follow the driving path of the first robot based on the obstacle detection information. Surveillance boundary robot system. The method of claim 1, wherein the first robot,
An obstacle detection unit generating the obstacle detection information; And
And a driving controller for changing a driving direction to a temporary driving path for avoiding the obstacle when an obstacle is detected. The method of claim 1, wherein the second robot,
And a driving controller which detects the temporary driving path of the first robot from the obstacle detection information and changes the driving direction to the temporary driving path. The method of claim 1,
And the obstacle is an object fixed in the surveillance zone. The method of claim 1,
And a central server communicating with the first robot and the second robot and monitoring the surveillance area. The method of claim 1,
And the first robot and the second robot are arranged at regular intervals to travel the monitoring area, and the first robot is at the head. In the monitoring boundary robot system including a plurality of mobile robots, the traveling method of the mobile robot,
Driving a surveillance area along a predetermined travel route by a plurality of first robots and a plurality of second robots arranged at regular intervals;
Generating an obstacle detection information and transmitting the obstacle detection information to the second robot when the first robot detects an obstacle on a driving path, and avoids the obstacle; And
And receiving, by the second robot, the obstacle detection information, and driving while following the driving path of the first robot based on the obstacle detection information.

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