KR20140084442A - Detection robot system - Google Patents

Abstract

The present invention relates to a detecting robot system. According to an embodiment of the present invention, the detecting robot system comprises a moving unit for movement of the detecting robot system; a photographing unit which photographs the surrounding area of the detecting robot system through a fisheye lens or a mirror lens; an image generating unit which is electrically connected with the photographing unit, and generates all direction images for indicating images in all directions centering on a detecting robot based on the image photographed by the photographing unit; and a transmitting and receiving unit which is electrically connected with the image generating unit and transmits the all direction images.

Description

Detection Robot System {DETECTION ROBOT SYSTEM}

The present invention relates to a robot system for detection. And more particularly, to a robot system for detection that can easily identify the vicinity of a detection robot system using a lens capable of shooting in all directions, such as a fish-eye lens or a mirror lens.

Hazardous areas are filled by workers who perform specific tasks such as fire suppression or equipment repairs. For example, firefighters and other workers are put into dangerous areas such as a fire scene to suppress the fire. At this time, the auxiliary robot can be inserted before the firefighter is put into the fire area or with the firefighter to assist the firefighter. These auxiliary robots are put into the fire area to suppress the fire or to detect people in the fire area.

In order to inform the situation of the dangerous area, the assistant robot putting in the dangerous area can transmit the information of the situation of the dangerous area to the operator or the control room so that the operator or the control room can check the status of the dangerous area.

However, since the conventional auxiliary robot is provided with the photographing means capable of photographing the dangerous area only in a predetermined direction, in order to photograph the side or the rear of the auxiliary robot, the direction of the auxiliary robot must be changed, There is a limit.

In addition, as an imaging means capable of shooting only in a certain direction of the auxiliary robot, it is not easy to detect an obstacle or a person located on the side or rear of the auxiliary robot, and thus the utility in an emergency situation is deteriorated.

An object of the present invention is to provide a robot system for detection that can generate and provide an image that can identify the direction of a robot in a forward direction.

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

According to an aspect of the present invention, there is provided a robot system for detection, comprising: a moving unit for moving the robot system for detection; and a moving unit for moving the robot system for detection through a fisheye lens or a mirror lens An image generating unit which is electrically connected to the photographing unit and generates an omni-directional image representing an image in all directions around the detection robot based on the image photographed by the photographing unit; And a transmission / reception unit electrically connected to the image generation unit and transmitting the omnidirectional image.

In addition, the photographing unit may generate a prototype image representing an entire direction of an area where the detection robot system is located.

The image generating unit may generate at least one panoramic image by dividing the circular image generated by the photographing unit.

Also, the image generating unit may generate the front sub-screen with respect to the moving direction of the detection robot system as the first screen using the panoramic image, and the rear sub-screen with respect to the moving direction of the detection robot system as the second screen Can be generated.

In addition, the image generating unit may generate the omnidirectional image by disposing the second screen at a lower portion of the first screen.

Also, the image generating unit may generate at least one third screen displaying a predetermined area centered on the divided part of the circular image.

The image generating unit may generate the omnidirectional image by disposing the second screen below the first screen and arranging the third screen on both sides of the first screen and the second screen.

The sensor unit senses an object in the vicinity of the detection robot system and generates a sensing signal. The sensing unit includes a memory unit for storing map data of a region to which the robot system for sensing is input, And an obstacle determining unit for determining whether the obstacle is located in the vicinity of the detection robot system based on the sensing signal and the map data.

In addition, the sensor unit may be formed of an ultrasonic sensor.

The obstacle determining unit may determine the obstacle based on the moving distance of the detecting robot system and the map data, based on the first distance value of the detecting robot system away from the wall and the first distance value, It is possible to calculate the second distance value.

If the difference between the first distance value and the second distance value is within a preset range, the obstacle determining unit may determine the object as a wall, and if the difference The object can be judged to be an obstacle if it is out of a preset range.

In addition, when the obstacle determining unit determines that the object is an obstacle, the obstacle determining unit may generate an obstacle notification signal and transmit the obstacle notification signal through the transceiving unit.

The robot system further includes an illumination unit for irradiating light.

In addition, when the photographing control signal is received through the transceiving unit, the photographing unit controls to zoom-in or zoom-out the fisheye lens or the mirror lens based on the photographing control signal can do.

In addition, when the movement control signal is received through the transceiver, the movement unit may switch the movement direction of the robot system for detection based on the movement control signal.

According to the robot system for detection according to the present invention, the detection robot system is photographed through the fisheye lens or the mirror lens to generate an omnidirectional image capable of displaying an omni-directional image, Can be quickly and easily confirmed.

In addition, according to the robot system for detection according to the present invention, the distance from the current position to the wall of the robot system for detection is compared with the distance between the object to be detected and the robot system for detection to determine whether the object to be sensed is a wall or an obstacle The obstacle can be easily identified by judgment.

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

1 is a block diagram schematically showing the configuration of a robot system for detection according to an embodiment of the present invention.
2 is a block diagram schematically illustrating a configuration of a user equipment according to an embodiment of the present invention.
3 is a diagram illustrating a circular image generated through a photographing unit of a robot system for detection according to an embodiment of the present invention.
4 is a view showing a first embodiment of a panorama screen generated through an image generator of a robot system for detection according to an embodiment of the present invention.
5 is a view showing a first embodiment of an omnidirectional image generated through an image generating unit of a robot system for detection according to an embodiment of the present invention.
FIG. 6 is a view showing a second embodiment of a panorama screen generated through the image generator of the detection robot system according to the embodiment of the present invention.
7 is a view showing a second embodiment of an omnidirectional image generated through the image generator of the detection robot system according to the embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The above and other objects, features and advantages of the present invention will be more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: FIG. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unnecessary. The terms described below are defined in consideration of the structure, role and function of the present invention, and may be changed according to the intention of the user, the intention of the operator, or the custom.

The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art to which the present invention pertains, It is only defined by the scope of the claims. Therefore, the definition should be based on the contents throughout this specification.

Throughout the specification, when an element is referred to as "comprising ", it means that it can include other elements as well, without excluding other elements unless specifically stated otherwise.

In the following description, an all direction means a 360 ° direction around the position of the detection robot system 100.

Hereinafter, a robot system for detection according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram schematically showing the configuration of a robot system for detection 100 according to an embodiment of the present invention. 2 is a block diagram schematically illustrating the configuration of a user equipment 200 according to an embodiment of the present invention.

1 and 2, a detection robot system 100 according to an embodiment of the present invention includes a moving unit 110 for moving a detection robot system 100, a fish-eye lens A photographing unit 120 for photographing the periphery of the detection robot system 100 through a mirror lens, a transmitting and receiving unit 130 for transmitting and receiving data, an illuminating unit 140 for illuminating the object, A sensor unit 150 for detecting an object and generating a sensing signal, and a memory unit 160 for storing an operation program and map data. The robot system 100 for detection is electrically connected to the moving unit 110, the photographing unit 120, the transceiver unit 130, the illumination unit 140, the sensor unit 150, and the memory unit 160 And a control unit 170 for controlling them.

The controller 170 is electrically connected to the photographing unit 120 and includes an image generating unit 171 for generating an omni-directional image representing an image in all directions based on the image photographed by the photographing unit 120 And an obstacle judging unit 172 for judging whether an obstacle or an obstacle located in the vicinity of the detection robot system 100 is an obstacle or a wall based on the sensing signal of the sensor unit 150 and the map data .

The moving unit 110 can move the detection robot system 100 in a specific area where the detection robot system 100 is inserted. The moving unit 111 can be installed below the main body (not shown) of the detection robot system 100 to move the detection robot system 100. The moving part 111 may be formed of a plurality of wheels that are rotated by receiving power from a motor (not shown) installed at one side of the main body, for example. However, the present invention is not limited to the above example, and the moving unit 110 may have various structures for moving the robot system 100 for detection.

The detection robot system 100 can receive a movement control signal from an external user device 200 through the transceiver 130. [ The control unit 210 of the user device 200 can generate the movement control signal by operating the electrically operated operation unit 220 by the user. The control unit 210 of the user equipment 200 may transmit the movement control signal to the detection robot system 100 through the transmission / reception unit 230. [

The control unit 170 of the detection robot system 100 can move the detection robot system 100 by controlling the movement unit 110 based on the movement control signal received through the transceiver unit 130. [ That is, the detection robot system 100 can be remotely controlled by a user operating the external user device 200. [

The photographing unit 120 may be formed of a fisheye lens or a mirror lens. The fisheye lens or the mirror lens may be installed at a predetermined height from the upper portion of the main body. Therefore, the photographing unit 120 can easily photograph the periphery where the detection robot system 100 is located through the fisheye lens or the mirror lens.

The fisheye lens intentionally produces distortions of barrel distortion without compensating for distortion, which makes it possible to maintain uniform brightness and sharpness over an angle of view of 180 degrees. It is possible to capture the all direction of the area where the detection robot system 100 is located. Therefore, the photographing unit 120 can be constructed of a single fisheye lens or a mirror lens, so that it is possible to photograph an image covering 360 degrees all around the detection robot system 100, Can be simplified.

At this time, the detection robot system 100 may irradiate light around the detection robot system 100 through the illumination unit 140 installed in the main body so as to be adjacent to the fisheye lens or the mirror lens. The illumination unit 140 can be selectively turned on and off by the controller 170 based on the illuminance of the surroundings of the robot system 100 detected by the illumination sensor (not shown). Therefore, even if the detection robot system 100 is inserted in a dark area, the photographing unit 120 can capture an image that can identify the surrounding situation where the detection robot system 100 is located.

The photographing unit 120 selectively zooms the periphery of the detection robot system 100 recognized by the fisheye lens or the mirror lens based on the photographing control signal when the photographing control signal generated from the user device 200 is received And can zoom-in or zoom-out.

The photographing unit 120 may be formed of a fisheye lens or a mirror lens so as to generate a circular image covering all directions of a region where the detection robot system 100 is located (see FIG. 3).

The image generating unit 171 of the control unit 170 may generate the panoramic image of the circular image that is electrically connected to the photographing unit 120 and is generated from the photographing unit 120. [ At this time, a predetermined distortion occurs in the circular image. The image generating unit 171 can correct at least one panoramic image by correcting the distortion of the circular image through a predetermined image processing process (refer to FIG. 4 ).

For example, the image generating unit 171 may cut the circular image by 90 degrees to the left (aa line in FIG. 3) from the direction in which the robot system for detection 100 is moved to spread the at least one panorama The screen can be configured.

The image generating unit 171 sets the front screen of the at least one panoramic screen in the moving direction of the detecting robot system 100 as the first screen P1 (see FIG. 4), and the detecting robot system 100 (See FIG. 4) as the second screen P2 (see FIG. 4).

For example, the image generating unit 171 generates a first image (P1, Fig. 4 (b)) that is captured in a direction of 90 degrees to the left and a direction of 90 degrees to the right with respect to the direction in which the detection robot system 110 moves (Refer to FIG. 4), and the remaining portion can be set to the second screen P2 (see FIG. 4).

The image generating unit 171 may generate the forward image by disposing the second screen P2 below the first screen P1 (see FIG. 5).

The image generating unit 171 sets the front screen of the at least one panorama screen to the first screen P3 (see FIG. 6) for the moving direction of the detecting robot system 100, (See FIG. 6), and a screen of a predetermined range from the cut portion of the circular image is set as a third screen P5 (see FIG. 6) Can be set.

The image generating unit 171 arranges the second screen P4 under the first screen P3 and displays the third screen P5 on at least one side of the first screen P3 and the second screen P4 To generate the omnidirectional image (see FIG. 7).

As described above, the image generating unit 171 generates an omnidirectional image, so that the omni-directional situation can easily be confirmed on one screen. Furthermore, by adding a third screen to generate an omnidirectional image, a situation at a point where the first screen and the second screen are connected can be easily confirmed.

The control unit 170 may transmit the forward image generated by the image generation unit 171 to the external user equipment 200 through the transceiver unit 130. The user device 200 may receive the omnidirectional image and output it through the display unit 240.

Accordingly, the user can easily confirm the vicinity of the area where the robot system for detection 100 is located. In addition, since the detection robot system 100 provides the omnidirectional image to the user device 200, the user can use the detection robot system 100 (Fig. 1) to check obstacles existing at specific positions of the detection robot system 100 It is possible to eliminate the need to switch the traveling direction of the vehicle.

The detection robot system 100 can detect an object around the detection robot system 100 through a sensor unit 150 formed of an ultrasonic sensor. The sensor unit 150 may be installed on at least one side of the main body so as to sense objects in the vicinity of the detection robot system 100. The sensor unit 150 may sense an object around the detection robot system 100 through the ultrasonic sensor to generate a sensing signal.

The control unit 170 may transmit the sensing signal received from the sensor unit 150 to the obstacle determining unit 172.

The obstacle determining unit 172 of the control unit 170 determines whether or not the obstacle determining unit 172 detects the obstacle based on the detection signal transmitted from the sensor unit 150 and the map data stored in the memory unit 160 100 may be an obstacle or a wall.

For example, when a sensing signal is received from the sensor unit 150, the obstacle determining unit 172 calculates the moving distance of the detecting robot system 100, and uses the calculated moving distance and the map data, The system 100 can calculate the location on the map data.

The obstacle determining unit 172 determines the position of the wall in the direction in which the object sensed by the sensor unit 150 is located using the map data, The distance can be calculated as the first distance value. On the other hand, the obstacle determining unit 172 may calculate the distance from the object to be detected by the detecting robot system 100 as the second distance value, based on the sensing signal.

When the difference between the first distance value and the second distance value is out of a preset range, the obstacle determining unit 172 compares the first distance value with the second distance value, If the difference between the first distance value and the second distance value is within a preset range, it is determined that the object to be sensed through the sensor unit 150 is a wall.

If the obstacle determining unit 172 determines that the object detected by the sensor unit 150 is an obstacle, the obstacle determining unit 172 generates an obstacle notification signal, and the controller 170 transmits the obstacle notification signal to the transmitting / 130 to the user device 200 via the Internet.

The user device 200 receives the obstacle notification signal through the transmission / reception unit 230 and displays the obstacle notification signal through a separate alarm unit 250, thereby informing the user that an obstacle is present around the detection robot system 100 . Accordingly, the user can easily recognize that there is an obstacle in the vicinity of the detection robot system 100, and can more closely examine the area where the obstacle is located.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, 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.

100: Robot system for detection
110:
120:
130: Transmitting /
140:
150:
160:
171:
172: obstacle judgment unit

Claims (15)

A robot system for detection,
A moving unit for moving the detection robot system;
A photographing unit for photographing a periphery of the detection robot system through a fish-eye lens or a mirror lens,
An image generating unit electrically connected to the photographing unit and generating an omni-directional image representing an image in all directions around the detection robot based on the image photographed by the photographing unit;
And a transmission / reception unit electrically connected to the image generation unit and for transmitting the omni-directional image,
Detection robot system.
The method according to claim 1,
Wherein the photographing unit generates a circular image representing an omni-directional direction of an area where the detection robot system is located,
Detection robot system.
3. The method of claim 2,
Wherein the image generating unit generates at least one panoramic image by dividing the circular image generated by the photographing unit,
Detection robot system.
The method of claim 3,
The image generating unit generates the front sub-screen for the moving direction of the detection robot system as the first screen using the panorama image, and generates the rear screen for the moving direction of the detection robot system as the second screen doing
Detection robot system.
5. The method of claim 4,
Wherein the image generating unit generates the omnidirectional image by disposing the second screen on a lower portion of the first screen,
Detection robot system.
5. The method of claim 4,
Wherein the image generating unit generates at least one third screen displaying a predetermined area around the divided part of the circular image,
Detection robot system.
The method according to claim 6,
Wherein the image generating unit generates the omnidirectional image by disposing the second screen on a lower portion of the first screen and disposing the third screen on both sides of the first screen and the second screen,
Detection robot system.
The method according to claim 1,
A sensor unit for sensing a surrounding object in which the detection robot system is located and generating a detection signal,
A memory unit for storing map data of an area to which the robot system for detection is input;
Further comprising an obstacle determination unit electrically connected to the sensor unit and the memory unit and determining whether the obstacle or the obstacle is located on the periphery of the detection robot system based on the sensing signal and the map data.
Detection robot system.
9. The method of claim 8,
Wherein the sensor unit comprises an ultrasonic sensor,
Detection robot system.
9. The method of claim 8,
Wherein the obstacle determining unit determines the obstacle based on the moving distance of the detecting robot system and the map data, based on the first distance value that the detecting robot system has separated from the wall and the first distance value that the detecting robot system is away from the object Calculating a second distance value,
Detection robot system.
11. The method of claim 10,
Wherein the obstacle determining unit compares the first distance value with the second distance value and determines the object as a wall if the difference between the first distance value and the second distance value is within a predetermined range, If the object is out of the range, the object is judged to be an obstacle
Detection robot system.
12. The method of claim 11,
Wherein the obstacle determination unit generates an obstacle notification signal and transmits the obstacle notification signal through the transceiver unit when the obstacle determination unit determines that the object is an obstacle,
Detection robot system.
The method according to claim 1,
Further comprising: an illumination unit installed in the robot system for detection,
Detection robot system.
The method according to claim 1,
Wherein the photographing unit controls zoom-in or zoom-out of the fisheye lens or the mirror lens based on the photographing control signal when the photographing control signal is received through the transceiving unit.
Detection robot system.
The method according to claim 1,
Wherein the movement unit switches the movement direction of the detection robot system based on the movement control signal when the movement control signal is received through the transceiver unit,
Detection robot system.

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