KR20190096327A - Method of drawing map by identifying moving object and robot implementing thereof - Google Patents

Abstract

The present invention relates to a method for creating a map by identifying a moving object and a robot implementing the same. According to one embodiment of the present invention, the method for creating a map by identifying a moving object comprises: a step of sensing, by a sensing part of the robot, a first object disposed outside the robot; a step of calculating, by a control part of the robot, a mobility of the sensed first object; and a step of storing the sensed information and the sensed time information of the first object in a map as a fixed object when the mobility of the first object calculated by the control part of the robot is lower than a preset reference. Therefore, the present invention provides accurate map information.

Description

METHOOD OF DRAWING MAP BY IDENTIFYING MOVING OBJECT AND ROBOT IMPLEMENTING THEREOF}

The present invention relates to a method for creating a map by identifying a moving object, and a technique for implementing the robot.

In order to operate the robot in a space where human and physical exchanges are actively occurring, such as airports, schools, government offices, hotels, offices, factories, etc., the robot must have a map of the entire space. It is necessary to distinguish between temporal changes of space and permanent space features that should be applied to the map. In particular, in a space where a large number of people move, such as an airport, a harbor and a train station, it is necessary to grasp not only the structure of a building but also the movement of various moving objects.

However, there is a problem that a moving object always exists in a space that is frequently used by people, such as an airport, a harbor, and a train station, and thus, a method for the robot to distinguish it from a fixed area of the map is necessary. Therefore, in order to solve this problem, the present specification is to accumulate the information about the moving object that the robot grasps during the movement and to analyze the information to distinguish from the area where the fixed object of the map is arranged.

In the present specification, to solve the above-described problems, it is intended to provide a method and a robot implementing the same by distinguishing a fixed object and a moving object in a space where changes frequently occur so that the robot can perform a function.

In addition, in order to solve the above-mentioned problem, the present specification provides a method using an internal map information and a robot implementing the same so as to distinguish whether the externally sensed objects are fixed objects or moving objects.

In addition, the present specification is to provide a method for solving the problem that the robot does not enter even in the actual empty space due to the result of continuously sensing the floating population and a robot implementing the same.

The objects of the present invention are not limited to the above-mentioned objects, and other objects and advantages of the present invention, which are not mentioned above, can be understood by the following description, and more clearly by the embodiments of the present invention. Also, it will be readily appreciated that the objects and advantages of the present invention may be realized by the means and combinations thereof indicated in the claims.

According to an embodiment of the present invention, a method of creating a map by identifying a moving object includes sensing a first object disposed outside the robot by a sensing unit of the robot, and calculating a mobility of the first object sensed by the controller of the robot. And if the mobility of the first object calculated by the controller of the robot is lower than a preset criterion, storing the sensed information and the sensed time information of the first object in a map as a fixed object.

According to another embodiment of the present invention, a robot for creating a map by identifying a moving object includes a moving unit for controlling a movement of the robot, a map storage unit for storing a map referenced when the robot moves, and a first object disposed outside the robot. And a controller configured to sense a sensing unit, a moving unit, a map storage unit, and a sensing unit to calculate a mobility of the sensed first object, wherein the controller of the robot includes a first object when the mobility is lower than a preset criterion. The sensed information and the sensed time information are stored in the map as a fixed object.

When the embodiments of the present invention are applied, since the obstacles are distinguished and stored in the process of creating or modifying the map using the sensor, the robot can travel with accurate map information.

In addition, when applying the embodiment of the present invention, even if sensed as a moving object, if placed in the corresponding position for a certain period or more can be stored as a fixed object to check this when the robot is running.

In addition, when applying an embodiment of the present invention, the robot can enter or travel to perform a function according to the periodicity of the moving object stored as a fixed object.

In addition, when applying an embodiment of the present invention, when the moving object stored as a fixed object is removed, the robot senses it and reflects it on the map so that the robot can travel based on the accurate map.

The effects of the present invention are not limited to the above effects, and those skilled in the art can easily derive various effects of the present invention from the configuration of the present invention.

1 is a view showing the configuration of a lidar sensor according to an embodiment of the present invention.
2 is a view showing the configuration of a robot according to an embodiment of the present invention.
3 is a diagram illustrating a space configured as a map including unit areas according to an embodiment of the present invention.
4 is a diagram illustrating a moving object storage unit in which information about a moving object is stored according to an embodiment of the present invention.
5 is a diagram illustrating a process of sensing a moving object different from a map by a controller of a robot according to an embodiment of the present invention.
6 is a diagram illustrating a process of sensing an external object at a time interval according to an embodiment of the present invention.
7 and 8 are diagrams illustrating a process of calculating mobility of a sensed object according to one embodiment of the present invention.
9 is a diagram illustrating a process of exchanging information on a moving object between a plurality of robots or between a robot and a server according to an embodiment of the present invention.
10 is a diagram of storing periodicity of a moving object in a moving object storage unit according to an embodiment of the present invention.
11 is a view showing a process of controlling the running of the robot according to an embodiment of the present invention.
FIG. 12 is a diagram illustrating an embodiment in which a moving object of a map storage unit is displayed on a map and an embodiment that is not displayed, according to an embodiment of the present invention.
14 is a view showing the configuration of a sensing unit according to another embodiment of the present invention.
15 is a view of the configuration of the server according to an embodiment of the present invention.

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention.

In order to clearly describe the present invention, parts irrelevant to the description are omitted, and like reference numerals designate like elements throughout the specification. In addition, some embodiments of the invention will be described in detail with reference to exemplary drawings. In adding reference numerals to components of each drawing, the same components may have the same reference numerals as much as possible even though they are shown in different drawings. In addition, in describing the present invention, when it is determined that the detailed description of the related well-known configuration or function may obscure the gist of the present invention, the detailed description may be omitted.

In describing the components of the present invention, terms such as first, second, A, B, (a), and (b) can be used. These terms are only to distinguish the components from other components, and the terms are not limited in nature, order, order, or number of the components. If a component is described as being "connected", "coupled" or "connected" to another component, that component may be directly connected to or connected to that other component, but between components It is to be understood that the elements may be "interposed" or each component may be "connected", "coupled" or "connected" through other components.

In addition, in the implementation of the present invention may be described by subdividing the components for convenience of description, these components may be implemented in one device or module, or one component is a plurality of devices or modules It can also be implemented separately.

Hereinafter, in the present specification, the robot includes a device having a specific purpose (cleaning, security, monitoring, guidance, etc.) or providing a function according to the characteristics of the space in which the robot moves. Therefore, the robot in the present specification collectively refers to a device that holds a moving means that can move using predetermined information and a sensor and provides a predetermined function.

In the present specification, the robot may move while holding a map. The map refers to information about fixed walls, stairs, etc. that do not move in space. In addition, the robot may store information about separate objects on the map. For example, a guide platform attached to a fixed wall, a newly installed vending machine, etc. are not fixed objects but have a fixed duration for some time, so they need to be stored as additional fixtures on the map. On the other hand, even if a person always exists in any space, the person is expected to move, so if the map is composed of a fixed obstacle in the space, the function of the space may not be completed.

1 is a view showing the configuration of a lidar sensor according to an embodiment of the present invention. According to an embodiment of the present invention, the robot may use a Lidar sensor to supplement a map or identify a moving object. The lidar sensor can check the distance or direction to the object, the speed or temperature of the object, the material distribution and the concentration, etc. through the reflection of the laser emitted toward an external obstacle or moving object. To this end, the sensing unit 100 including the lidar sensor may be configured as a laser transmitter 110 and a laser receiver 120 for emitting a laser. In addition, the sensing data analyzer 130 may analyze the received signal. It can be configured as. The laser transmitter 110 may use a laser of a specific wavelength or a laser light source capable of varying the wavelength. The sensing data analyzer 130 may analyze information such as a distance from the sensed object or a temperature or a speed of the sensed object and provide the same to the robot equipped with the sensing unit 100.

1 illustrates a configuration of a lidar sensor using a laser as an embodiment of the sensing unit, but the present invention is not limited thereto, and the moving object may be identified using various sensors such as an ultrasonic sensor and an infrared sensor. In addition, two or more sensors may be used, and a moving object may be identified by reflecting characteristics of information identified by each sensor.

2 is a view showing the configuration of a robot according to an embodiment of the present invention. The robot 1000 performs a predetermined function of the sensing unit 100 for sensing an external moving object or a fixed object, a map storage unit 200 for storing a map, a moving unit 300 for controlling movement, and a robot. The functional unit 400 includes a communication unit 500 for transmitting and receiving information about a map or moving object, a fixed object and other robots, and a control unit 900 for controlling each of these components. If there is a sensed object, the controller 900 may calculate mobility of the object. According to whether the sensed object is a fixed object or a moving object, it may be stored in the map storage unit 200 in different ways and information.

The moving unit 300 is a means for moving the robot 1000 like a wheel, and moves the robot 1000 under the control of the controller 900. In this case, the controller 900 may check the current position of the robot 1000 in an area stored in the map storage unit 200 and provide a movement signal to the moving unit 300. In addition, the controller 900 determines whether the external object sensed by the sensing unit 100 may control the movement of the moving unit 300. The functional unit 400 is meant to provide specialized functions of the robot. For example, in the case of a cleaning robot, the function unit 400 includes components necessary for cleaning. In the case of a guide robot, the function unit 400 includes components required for guidance. The function unit 400 may include various components according to functions provided by the robot.

The map storage unit 200 includes a map 210. The map means information about a space in which the robot 1000 can move. The map divides the entire space into subdivided unit areas and stores whether a fixed object is disposed in the unit area, or the height or material of the fixed object.

In addition, the map storage unit may further include a moving object storage unit 220 that stores information on the moving objects as well as the map. For example, the moving object storage unit 220 stores moving objects found at a specific location and information about a time at which the moving objects are sensed or time information periodically sensed. This is to allow the robot 1000 to move to the corresponding position even if it is determined to be a moving object.

According to an embodiment of the present invention, the map 210 stores information about a fixed object, and typically stores information about a fixed structure such as a wall, glass, or a pillar. On the other hand, the moving object storage unit 220 stores information about a moving object or a temporarily placed object. Unlike this, in another embodiment of the present invention, as illustrated in FIG. 13, the map 210 and the moving object storage unit 220 may be integrated to store the fixed object and the moving object.

Meanwhile, the map storage unit 200 may further include a history storage unit 230. This means accumulating and storing time information when an object is sensed at a specific location. The history storage unit 230 may be built in a separate server for providing information to the robot 1000.

In FIG. 2, the map storage unit 200 is included in the robot 1000, but according to another embodiment, the map storage unit 200 may be disposed in the server. In this case, the robot 1000 may receive a map stored in the server in real time or at regular time intervals using communication with the communication unit of the server. In addition, the robot 1000 may further transmit information to be stored to the server.

The map can be constructed in a variety of ways. In an embodiment, the entire space may be divided into X and Y axes, and the information may be stored whether the fixed object or the moving object is disposed in each unit region by dividing the entire space into a predetermined unit region.

According to an embodiment of the present invention, the control unit 900 calculates the mobility of the object sensed by the sensing unit 100 and determines that the mobility is lower than a preset reference value, and thus determines that the object is a fixed object or an object that is periodically disposed. The sensed information (location information) and the sensed time information of the sensed object are stored in the map as a fixed object.

Meanwhile, the controller 900 calculates mobility of the object sensed by the sensing unit 100, and when the mobility value is higher than or equal to a preset criterion, the controller 900 moves the sensed information of the sensed object and the sensed time information. It may be stored in the object storage unit 220.

Hereinafter, in the present specification, the map storage unit 200 includes a map according to an embodiment 210 of FIG. 3 and a moving object storage unit according to an embodiment 220 of FIG. 4.

3 is a diagram illustrating a space configured as a map including unit areas according to an embodiment of the present invention. As shown in 210 of FIG. 3, when the unit area is 20x20 and the color of the unit area of the map is black, the information is stored in a space in which a fixed object such as a wall or glass is disposed. When the unit area of the map is white, the corresponding space is a space in which the robot 1000 can move because an object such as an obstacle does not exist.

210 of FIG. 3 may be configured as a kind of bitmap. Each bit in the bitmap of an image file can be configured to represent one unit area. Each unit region may indicate a lower left side as (0, 0) and an upper right side as (19, 19). In addition, 210 of FIG. 3 may have a data structure of 20 × 20 structure. For example, it may include information on whether an object is disposed for each location. Information is arranged like a matrix, and when a fixed object is arranged, the value of the matrix can be set to a preset value.

In addition, the map storage unit 200 may store information on moving objects in addition to the map 210 composed of fixed objects.

4 is a diagram illustrating a moving object storage unit in which information about a moving object is stored according to an embodiment of the present invention. According to an embodiment of the present invention, when the sensing unit 100 of the robot 1000 detects an object that is not recorded in the map 210, location information and sensing of the object sensed by the moving object storage unit 220 are detected. Can store information about the time of day. 220 of FIG. 4 presents information of the sensed moving objects.

Looking at the item 220, the serial number (Serial), the location information (Xpos, Ypos), and the sensed time (Time) sensed by the moving object is stored. In addition, information on the duration of sensing of the moving object at the location and the interval at which the moving object is sensed at the corresponding location may be stored together. In addition, it may optionally store information on the mobility of the object. According to an embodiment, the mobility value has a value between 0 and 5, but the present invention is not limited thereto.

For example, a moving object having a serial number of 432 was sensed at (2016-12-13 11:35) at (2, 4), and can be identified as an object that was not previously sensed through the "Duration" field. In addition, the moving object having the serial number 433 was sensed at "2016-12-13 14:35" at (10, 17). Likewise, the "Duration" field confirms that the object has not been previously sensed.

For example, a moving object with a serial number of 434 was detected at (16, 15) at "2016-12-13 16:24", and the "Duration" field confirms that the sensing object lasted 12 hours and 53 minutes ago. Can be. Whether the sensing is continued may be calculated based on information sensed by the robot 1000 while moving the same position at different times. According to another embodiment, the communication unit 500 may receive and update information provided by another robot.

According to the above-described configuration, a process of determining obstacles that are dynamically moving using respective components of the robot 1000 and distinguishing the obstacles from the fixed object in the map will be described.

5 is a diagram illustrating a process of sensing a moving object different from a map by a controller of a robot according to an embodiment of the present invention.

First, the sensing unit 100 of the robot senses a first object disposed outside the robot (S510). As the sensing unit 100 senses an external first object, the laser transmitter 110 constituting the Lidar sensor transmits a laser signal and then receives the signal received by the laser receiver 120. Include the results analyzed by 130.

Thereafter, the controller 900 calculates mobility of the sensed first object (S520). Mobility means identifying what mobility a sensed object has. For example, the trash or guide signs that are not fixed objects such as walls or glass, but are maintained for a certain period of time after being installed once, may be fixed according to the fixed objects if their mobility is lowered after being sensed once. An embodiment of mobility may be calculated based on the time at which the object exists and is sensed. For example, when the period of time that can be determined as a fixed object is one day (24 hours), the closer to 24 hours, the lower the mobility.

Subsequently, when the mobility of the first object calculated by the controller 900 of the robot is lower than a preset criterion (S530), since the object is less likely to move, the robot may be determined based on a fixed object when the robot moves in the future. Using the sensed information and the sensed time information of one object and stored in the map as a fixed object (S540). However, if it has mobility, it can be distinguished from other fixed objects. For example, instead of displaying a black color on the map illustrated in FIG. 3, the map may be stored separately from a completely fixed structure as shown in gray.

Meanwhile, when the mobility of the first object is higher than or equal to a preset reference in S530, the sensed information and the sensed time information of the first object may be stored in the moving object storage unit 220 of FIG. 4.

In addition, the sensed information may include location information. In the sensed information, the position may use distance or direction information between the current position of the robot and the sensed object. The current position of the robot may determine the position of the robot in the map 210 by reflecting the movement results of the map 210 and the moving unit 300. In another embodiment, the robot can accurately position the current position from the outside.

6 is a diagram illustrating a process of sensing an external object at a time interval according to an embodiment of the present invention. The sensing unit 100 according to an embodiment of the present invention determines whether the sensed object is a moving obstacle or a fixed object. If the sensed object is a moving obstacle, for example, a person or baggage, it is more likely to move than to stay in one place.

When the robot 1000 according to an embodiment of the present invention provides a cleaning function or a detection function for detecting each space, it is necessary to enter a corresponding space and perform a predetermined function after the aforementioned obstacle moves. Therefore, when the external object is sensed, the sensing unit 100 of the present specification not only checks the control object 900 and confirms that the object is a moving object, but also checks whether the object is sensed after a certain time and continues to be sensed. In this case, the controller 900 may be notified.

That is, the sensing unit 100 may be configured not to notify the controller 900 of the robot about the external first object that is not detected again after being detected for a short time. This may occur in a space with a large floating population, where the first object is continuously sensed and then disappears again. Therefore, the sensing unit 100 attempts to sense the first object again after Sensing_Period_Time (0.1 seconds or 1 second, etc.), which is a preset time even when the first object is sensed according to the movement of the floating population. The controller 900 of the robot may be notified only when it is confirmed that the existence of the robot is longer. To this end, the controller 900 may provide the sensing unit 100 with information that there is no fixed object within a predetermined range based on the map information of the map storage unit 200.

The aforementioned Sensing_Period_Time may be set in advance or may be automatically changed according to the characteristics of the time that the robot 1000 travels. For example, when there is a large population of people, people may move and then new people move to the location. In this case, you can set Sensing_Period_Time long. In addition, since there are not many people moving at a time when the floating population is small, Sensing_Period_Time can be set short since there is not a possibility that people are constantly waiting at a specific location.

Alternatively, unlike the above, since the sensed object may exist constantly due to the increase in the floating population, it may be determined whether the moving object is set by setting the Sensing_Period_Time rather short.

Look at the above-described process in more detail. The controller 900 provides the sensing unit 100 with information of the fixed object within the sensing range (S501). For example, when the sensing unit 100 senses a distance of 5 meters, information that provides information that there is no fixed object within 5 meters or information that there is a fixed object within 3 meters left within 5 meters is provided. Included in Using this information, the sensing unit 100 may notify the controller 900 directly as a fixed object when it is determined that the external object is sensed. If it is determined that the moving object is not a fixed object, the moving object may be sensed again as shown in FIG. 6.

When the first object is sensed (S502), the sensing unit 100 senses again the same position after Sensing_Period_Time, which is a preset time (S503). Even if the first object is sensed again (S504), it is determined that the first object is continuously sensed, and the sensing unit 100 provides the controller 900 to sense the information of the first object (S505).

Here, if a person A moves to a specific position and a person B moves behind it, the sensing unit 100 may successively sense the person A and the person B to determine that the first object exists. That is, in FIG. 6, the first object sensed by the sensing unit 100 in S502 is not necessarily the same as the first object sensed by the sensing unit 100 in S505.

In the embodiment of FIG. 6, the robot may perform the process of FIG. 6 while moving according to the type of sensor. For example, when the sensing distance is long, such as a lidar sensor, and when there is an object sensed at a long distance, the sensing data analyzer 130 stores information about the sensing and senses again while proceeding. If the object is sensed in the progress direction and the corresponding object is not sensed in the moving process, the sensing data analyzer 130 deletes it and does not notify the controller 900.

On the other hand, if the object sensed in the progress direction is continuously sensed, the controller 900 notifies about this.

To this end, the sensing data analyzer 130 may compare the first sensed object with the sensed object after moving.

For example, when an object is sensed 10 meters in advance in the direction of travel, the sensing data analyzer 130 stores information indicating that the object exists 10 meters in advance. If an object is still sensed 5 meters after 5 meters, and 1 meter is detected after 1 meter, the controller 900 informs the controller 900 that the object has been sensed 1 meter in the forward direction. do.

On the other hand, if the traveling direction is north and the object is sensed 5 meters to the northeast, the sensing data analysis unit 130 stores information about this. Then, if the object is sensed in the east 2.23 meters after moving 2.23 meters north, it means that the previously sensed object has been placed as it is, the control unit 900 provides information that the object was sensed in the east direction 2.23 meters in the progress direction do.

In order to implement the above-described embodiment, the sensing data analyzer 130 may further retain the moving object storage unit 220 described with reference to FIG. 4.

7 and 8 are diagrams illustrating a process of calculating mobility of a sensed object according to one embodiment of the present invention. 5 shows an embodiment of S520.

The controller 900 may compare the sensed object with the map 210 of FIG. 7 regarding a structure fixed in the map storage unit 200 such as a fixed object. The sensing first object 710 provided by the sensing unit 100 compares with the fixed object in the map 210 and checks whether it matches. If there is a fixed object adjacent to the first object 710, it may be determined as the fixed object. However, the controller 900 of the robot may increase mobility when the position of the fixed object of the map and the sensed first object do not match.

8 illustrates an embodiment in which the moving object storage unit 220a is stored as 710a such that the value of the mobility of the object is increased to have a value of 5. If the control unit 900 of the robot does not completely match the position of the fixed object of the map and the sensed first object, but partially overlaps, the fixed object may be caused by an error of the map or a mechanical error that occurs during the movement of the robot. Since may be determined to be a moving object, the mobility value is set as low as 3 or 4 in this case. In the next driving or other movement, if the object is still sensed but no movement occurs, the map may be determined as a fixed object. This initially includes the ability to correct errors that occur while the robot generates the map.

Meanwhile, the controller 900 may calculate mobility even when the object 720 is sensed again at a position previously stored in the moving object storage unit. That is, 720 is an object sensed at the same position as the object having the serial number 433 of the moving object storage unit 220 of FIG. 4. That is, the controller may determine whether the second object corresponding to the position of the first object is stored, the storage period, or the storage interval in the moving object storage unit, and change mobility according to the identified information. In FIG. 8, it can be seen that 720a has changed SensingTime and Duration, and that the value of Movability indicating mobility has changed from 5 to 2. If the object indicated by 720 of FIG. 7 is sensed again, its mobility, Movability, becomes 1, and the map may be updated by identifying the fixed object. The criterion for determining the fixed object may be variously configured according to the operating environment of the system and the robot.

According to the above-described embodiment, the static obstacles are continuously determined by determining whether the sensed object is a static obstacle or a moving obstacle without registering all the information coming into the laser distance sensor on the map, such as a lidar sensor. Only information determined to be can be registered in the map. Since the distance information and the angle information of the specific object obtained from the laser sensor can be calculated as the current position information of the robot, x and y of the entire map coordinate system can be extracted, and thus the x and y coordinate values of the specific object are illustrated in FIGS. 4 and 8. Stored in the moving object storage unit 220, 220a described in the above, if the same position for a predetermined time to determine the static obstacle to be registered in the map, if the coordinates change it may be determined as a dynamic obstacle and not registered in the map.

In addition, even when registered as a static obstacle on the map, when the corresponding point is scanned again after a certain time, if there is no corresponding obstacle can be determined as a dynamic obstacle and can be removed from the existing map. For example, even when the object indicated by 720 is stored in the map as a static or fixed object, the object is stored in the moving object storage unit 220a, and then the robot attempts to sense the object 720 while driving. If the object 720 is not sensed, it may be deleted from the map 210 and deleted from the moving object storage unit 220a.

When the object 720 is determined to be a static obstacle and stored in the map as a fixed object when the object 720 indicates the same position for a predetermined time at the checked coordinates 10 and 17, it is mapped when the object 720 of the corresponding position moves. This is to delete it from the map as it is. In other words, fixed objects that cannot be removed, such as completely fixed structures (walls, glass, columns, etc.), are stored only on the map, but objects that can be moved or removed to some extent (information desks, signs, trash cans, etc.) are moved object storage units. If the state stored in the 220a is maintained, the removable objects may be easily reflected when the above-described removable objects are moved or removed.

For example, the possibility that a person may not move at a certain point for a certain period of time, or that people always move to or from that location, or that the object is still there, may be considered as a static obstacle and register as a fixed object on the map. In this case, if there is no obstacle when rescanning the point after a certain time, the obstacle can be removed from the existing map. For this purpose, even if registered in the map as a fixed object, the information of the object can be stored in the moving object storage unit. For example, if the mobility of the moving object storage unit is 0 or 1, it is stored in the map, and if the object does not exist by sensing the corresponding position again, it can be deleted from the map.

In addition, the contents stored in the moving object storage unit may exchange information with another robot through the communication unit 500.

9 is a diagram illustrating a process of exchanging information on a moving object between a plurality of robots or between a robot and a server according to an embodiment of the present invention.

The server 2000 transmits the information on the moving object to the plurality of robots 1000a,..., And 1000z (S901 and S902). The robots 1000a,..., 1000z update the information on the received moving object to the moving object storage 220. The server 2000 analyzes the information about the moving objects transmitted by the plurality of robots 1000a, ..., 1000z, and updates the information that is sensed redundantly at the same location to be updated as information about one moving object. Can be. In addition, by accumulating history information on whether there is an object repeatedly appearing and disappearing at a specific location, the information on the mobility of the moving object may be modified to download and transmit.

Afterwards, the robots 1000a, ..., 1000z update the moving object information during the driving process (S910, S920). In one embodiment, the method includes updating information of a moving object storage unit held by each robot. In addition, among robots located adjacent to each other, information about the newly acquired moving object may be shared (S915). In this case, the sharing of information on the moving object may be provided only to robots that are in close proximity to a certain range. Alternatively, moving to the space after the robot may be provided to the predetermined robot.

Each of the robots 1000a, ..., 1000z uploads the moving object information acquired while driving to the server (S911, S921).

The server 2000 updates the received moving object information (S930). In this process, the duplicated information is organized into information about one object, or when the mobility value is required to be changed, the new moving object information is adjusted. Download (S931, S932). Variation in mobility value means that when a number of robots accumulate and sense information that an object exists at a specific location at different times and upload information about it, based on this information, the mobility value of the object at that location is lowered or a fixed map is It means to add. Therefore, in the moving object information download process, the variation information on the map may also be downloaded.

As shown in FIG. 9 or using the controller 900 and the map storage unit 200 of the robot described above, it can be confirmed that the object is positioned with a periodicity at a specific position. For example, when accumulating and storing a point in time when an object is sensed at a specific location, a rule may be generated in which the object is placed with a period in the corresponding location. Based on this, the robot 1000 does not place the object at the corresponding location. You can move to a point in time to perform a function. In addition, the robot 1000 may move based on the information that the object is arranged with a periodicity from the outside, based on this information.

10 is a diagram of storing periodicity of a moving object in a moving object storage unit according to an embodiment of the present invention.

In order to store the periodicity of the moving object in the moving object storage, the history storage unit 230 may be further included in the map storage unit 200 according to an embodiment of the present invention. The history storage unit 230 stores a time at which an object is sensed at a specific location, which may store not only the corresponding robot but also time information sensed by another robot. In the process of FIG. 9, the information on the sensed object may be stored in various processes of downloading or sharing the moving object information.

Looking at the information stored in the history storage unit 230, the position where the object is sensed at (3, 5) is accumulated and stored. Looking at the stored temporal pattern, every Tuesday 10:15 am to 13:15 am sensed that the object exists. Therefore, the moving object is placed at location (3, 5) every Tuesday between 10:15 am and 13:15 (or by adding more time before or after this time), thus avoiding the robot 1000 at that location. Enable this function. An embodiment of the moving object storage unit 220b reflecting the contents of 230 may be stored as shown in 730. Subsequently, if the object is not sensed at (3, 5), information that is not sensed for a certain period of time may be checked and then removed from the moving object storage unit 220b.

The process of FIG. 10 may be performed by the robot 1000 or may be performed by the server 2000 described above. The server 2000 may collect information provided by a plurality of robots, correct an error of a value sensed by the robot to check a periodicity of a specific location, and provide the same to the plurality of robots.

11 is a view showing a process of controlling the running of the robot according to an embodiment of the present invention.

The controller 900 of the robot may generate a movement routine before starting the movement or during the movement thereof. In this case, the movement routine may be generated by checking the information on the temporal periodicity (Period) of the object described above with reference to FIG. 10. In addition, the movement routine may be adjusted to move to a corresponding position and perform a function at a time when the object is not expected to be located.

The controller 900 of the robot generates a movement routine of the robot (S1110). In this process, the controller 900 checks whether an object is periodically arranged at a position included in the movement routine (S1120). As a result of the check, if a periodic arrangement is expected, a time period during which the object is not sensed is calculated according to the time periodicity of the object. That is, a time period in which the object is not sensed is calculated using the temporal periodicity in which the object is placed (S1130). Subsequently, the controller 900 generates a movement routine to move the robot to a corresponding position on the map at a time period that is not sensed, and the controller controls the movement unit 300 to move and perform a function according to the routine (S1135). can do.

On the other hand, if the periodic arrangement of the object is not expected, the control unit may control the moving unit 300 to move according to the generated movement routine to perform a function.

FIG. 12 is a diagram illustrating an embodiment in which a moving object of a map storage unit is displayed on a map and an embodiment that is not displayed, according to an embodiment of the present invention.

1210 is an area in which both fixed and moving objects are displayed. 1220 is an area where only fixed objects are displayed. 1210 represents a combination of the information of the map 210 and the moving object storage unit 220, and 1220 displays only the information of the map 210. The robot 1000 may move to perform a specific function in a space in which only a fixed object is disposed using information of 1220 in the process of generating a movement routine or moving to a specific position. In addition, the information on the newly sensed moving object may be accumulated and stored in the moving process, and the map may be updated by checking whether the moving object is fixedly arranged.

As shown in 1220 of FIG. 12, only a real exterior wall or stationary objects are registered on the map without registering the dynamic obstacle in the map in the process of creating or updating the map with the laser distance sensor, so that the robot can drive with accurate map information. Can be. In addition, when a specific object is removed from the space of the initially created map, the robot may detect that the object has disappeared and remove it from the map to update the map.

This may use information in which objects stored in the above-described moving object storage unit are disposed or removed.

The map storage unit 200 separates the map 210 and the moving object storage unit 220 and provides information to the controller 900 so that the robot can move.

According to another embodiment of the present invention, both the fixed object and the moving object can be stored in one map.

FIG. 13 is a diagram illustrating information about a fixed object and a moving object in one map according to another embodiment of the present invention. FIG. In the map 1310 of FIG. 13, the total space is divided by 20 × 20. In this space, a stationary object such as a wall or glass is displayed as 1, and other moving objects have a value of 2 to 5. The higher the number, the higher the mobility, which can be expected to move dynamically or be removed soon.

Accordingly, the map may be reconstructed based on the mobility value in the entire map 1310 while the robot moves. For example, if the controller controls the display to display only objects whose mobility values are 1 and 2 in the map 1310, the robot may identify and move only the fixed object and the semi-fixed objects. In addition, in the situation where there are many floating populations, the moving objects are also present, and even the objects having the mobility value of 5 are displayed on the map so that the robot can move.

In the case of applying the above-described embodiments, when the robot creates or updates a map by using a laser sensor, the dynamic obstacle may be removed. If the location information of the object detected by the laser sensor does not change for a predetermined time, the object may be registered in the map, and if the object is not detected at the same location when the registered object is scanned again, the object may be removed from the map.

In addition, when a static structure that is not previously displayed on the map is newly placed, it is checked whether the structure is continuously arranged, and when it is fixed and disposed for a predetermined period, it may be updated with a fixed object of the map. Therefore, it is possible to compose a map by separating the dynamically changing space into moving objects and fixed objects so that the robot does not become an obstacle to the realization of functions due to the moving objects. In particular, if there is a floating population in a space such as an airport, a port, or a terminal with a large population of floating populations, the robot may not be able to enter the space. have. Accordingly, in the present specification, a laser sensor such as LiDAR may be used to check the arrangement of objects and record their dynamic movements in time.

14 is a view showing the configuration of a sensing unit according to another embodiment of the present invention.

In FIG. 14, the sensing unit 100 may further include a human body detecting sensor 150 in addition to a lidar sensor including the laser transmitter 110 and the laser receiver 120. It may be applied in parallel with the LiDAR sensor. When the moving object detected by the LiDAR sensor is a human, the human body detecting sensor 150 provides the sensing data analyzer 130 with information indicating that the human is sensed. The sensing data analyzer 130 provides information that the human body is detected in the process of providing the sensed information to the controller 900 so that the controller 900 can always set mobility to 5 for the corresponding moving object. .

15 is a view of the configuration of the server according to an embodiment of the present invention. The server 2000 includes a map storage unit 2200, a control unit 2900, and a communication unit 2500 that store map information generated by robots, information on moving objects, and a history. The map 2210 stores information about fixed objects. The communication unit 2500 of the server 2000 collects and stores information about the moving objects sensed by the robots and stores them in the moving object storage unit 2220. In addition, the history storage unit 2230 accumulates and stores information of objects arranged based on each location. Based on this, the server 2000 may provide the robots with information about whether the arrangement of the sensed objects occurs periodically.

In addition, the server 2000 may reflect the information on the arrangement of the thing at a specific location provided by the airport, the harbor, the terminal, etc. to the map 2210 or the moving object storage 2220 and provide the same to the robots. For example, if an object is originally not placed, but the information desk is newly installed for a certain period of time, information about this point is stored in the map 2210 or the moving object storage unit 2220 so that the robot does not sense unnecessary sensing. You can increase the efficiency of the robot's movement by not modifying the movement routine to perform re-entry into the area.

In addition, the server 2000 may further include a rule storage unit 2600. This makes the periodicity of the arrangement of objects by using the history storage unit 2230 as a rule so that the robots can refer to it when moving. For example, moving objects are placed every Tuesday at (2, 3), and moving objects are placed every Tuesday at (2, 8), and (2, 3) ) And (2, 8) regions can be coupled to create a rule that a moving object is placed with periodicity. The rule includes a rule generated based on the periodicity of the arrangement of things calculated by a kind of history storage unit 2230.

Although all components constituting the embodiments of the present invention have been described as being combined or operating in combination, the present invention is not necessarily limited to these embodiments, and all of the components are within the scope of the present invention. It can also be combined to operate selectively. In addition, although all of the components may be implemented in one independent hardware, each or all of the components may be selectively combined to perform some or all functions combined in one or a plurality of hardware. It may be implemented as a computer program having a. Codes and code segments constituting the computer program may be easily inferred by those skilled in the art. Such a computer program may be stored in a computer readable storage medium and read and executed by a computer, thereby implementing embodiments of the present invention. The storage medium of the computer program includes a storage medium including a magnetic recording medium, an optical recording medium and a semiconductor recording element. In addition, the computer program for implementing an embodiment of the present invention includes a program module transmitted in real time through an external device.

In the above description, the embodiment of the present invention has been described, but various changes and modifications can be made at the level of ordinary skill in the art. Therefore, it will be understood that such changes and modifications are included within the scope of the present invention without departing from the scope of the present invention.

1000: robot 100: sensing unit
200: map storage unit 210, 1310: map
220: moving object storage unit 230: history storage unit
300: moving unit 400: functional unit
500: communication unit 2000: server

Claims (18)

Sensing a first object disposed outside the robot by a sensing unit of the robot;
Calculating, by the controller of the robot, mobility of the sensed first object; And
And storing the sensed information and the sensed time information of the first object as a fixed object on a map when the mobility of the first object calculated by the controller of the robot is lower than a preset criterion. How to identify and create a map.
The method of claim 1,
And storing the sensed information of the first object and the sensed time information in a moving object storage unit when the mobility is higher than or equal to a preset criterion.
The method of claim 1,
The sensed information of the first object
And generating a map by identifying a moving object including location information of the first object.
The method of claim 1,
Before the sensing step,
The control unit includes providing information on the fixed object within the sensing range to the sensing unit,
The sensing step,
The sensing unit may further determine whether the first object is sensed for a predetermined time or more within the sensing range, and provide the controller with the sensed information of the first object. How to write.
The method of claim 1,
The step of calculating the mobility
And increasing, by the controller of the robot, the fixed object of the map and the sensed first object to increase the mobility.
The method of claim 1,
The step of calculating the mobility
Checking, by a controller of the robot, whether a second object corresponding to a position of the first object is stored and a storage period or a storage interval in a moving object storage unit; And
Changing the mobility of the first object according to the identified information.
The method of claim 1,
The communication unit of the robot further comprises the step of transmitting and receiving information of the moving object with the communication unit or server of the other robot, to identify the moving object to create a map.
The method of claim 1,
The map storage unit stores a temporal periodicity in which an object is sensed, and generates a map by identifying a moving object.
The method of claim 8,
Calculating, by the controller of the robot, a time period during which the object is not sensed using the temporal periodicity of the object stored in the map storage unit;
And controlling, by the controller of the robot, to move the robot to the location of the map during the unsensed time period.
Moving unit for controlling the movement of the robot;
A map storage unit for storing a map referenced when the robot moves;
A sensing unit configured to sense a first object disposed outside the robot; And
A control unit which controls the moving unit, the map storage unit, and the sensing unit, and calculates mobility of the sensed first object,
The controller of the robot generates a map by identifying a moving object, which stores the sensed information and the sensed time information of the first object as a fixed object in a map when the mobility is lower than a preset criterion.
The method of claim 10,
The map stores information about fixed objects,
The map storage unit further comprises a moving object storage unit for storing information about the moving object, the robot to identify the moving object to create a map.
The method of claim 11,

And when the mobility is higher than or equal to a preset criterion, the controller is configured to identify a moving object to create a map, storing the sensed information of the first object and the sensed time information in the moving object storage unit.
The method of claim 10,
The control unit provides the sensing unit with information of the fixed object within the sensing range,
The sensing unit identifies a moving object which checks whether the first object is sensed for a predetermined time or more within the sensing range and provides the controller with the sensed information of the first object, thereby creating a map.
The method of claim 10,
The controller of the robot generates a map by identifying a moving object that increases the mobility when the fixed object of the map does not coincide with the sensed first object.
The method of claim 11,
The controller of the robot determines whether the second object corresponding to the position of the first object is stored, and a storage period or a storage interval, to change the mobility of the first object according to the identified information. A robot that creates a map by identifying moving objects.
The method of claim 10,
A robot for identifying a moving object and creating a map further comprising a communication unit for transmitting and receiving information of the moving object with a communication unit or server of another robot.
The method of claim 10,
The map storage unit is a robot for creating a map by identifying a moving object, which stores the temporal periodicity in which the object is sensed.
The method of claim 10,
The controller of the robot calculates a time period during which the object is not sensed using the temporal periodicity of the object stored in the map storage unit, and moves the robot to the location of the map during the undetected time period. The robot which the control part controls the said moving part, identifies the moving object, and creates a map.

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