KR20200064952A - Server and method of controlling raser irradiation of path of robot, and robot of moving based on the irradiated path - Google Patents

Abstract

The present invention relates to a server and a method for controlling laser irradiation of a movement path of a robot and a robot moving based on the server and the method. According to one embodiment of the present invention, a main server for controlling laser irradiation of a movement path of a robot comprises: a position identification unit identifying a position of the robot in an image photographed by a camera module; and a control unit generating the movement path of the robot and controlling transmission of the movement path to a laser irradiation module capable of outputting the movement path to space around the robot with a laser.

Description

A server and a method for controlling laser irradiation of a robot's moving path and a robot moving based on the same. {SERVER AND METHOD OF CONTROLLING RASER IRRADIATION OF PATH OF ROBOT, AND ROBOT OF MOVING BASED ON THE IRRADIATED PATH}

The present invention relates to a server and method for controlling laser irradiation of a robot's moving path and a moving robot based thereon.

Robots can drive in a variety of ways. You can save the map for the entire space and create a travel path on the map. Alternatively, a path may be generated such that the robot senses the surrounding obstacles without a separate map and avoids the sensed obstacles.

In this way, the robot must directly form a predetermined path, which means that the robot needs computing power to generate a path. In addition, the robot has a limit to the movement speed of the robot in that various sensors must be combined to detect various obstacles and the path is recalculated at the time of movement.

On the other hand, US Patent 2,629,028, registered in the United States, is a configuration in which a robot pointer is used to display a moving target point of the robot, and the robot moves the target point. Look in more detail in Figure 1.

1 is a view showing a configuration for irradiating a target point to a robot with a laser pointer in the related art. As shown in FIG. 1, the laser pointer 16 is a system that irradiates (or scans) a laser beam to inform the robot 12 of its direction. The laser beam installed on the ceiling instructs the robot to go to the next point, and the robot uses its own built-in camera to detect the beam and recognize its direction through image analysis. This presents the robot with a technical configuration that allows the robot to move by marking the target point with a laser.

In the configuration as shown in Figure 1, the robot can move along the irradiated laser beam. However, since the irradiated area of the laser beam is provided as a point, a path necessary to move to a target point has to be generated, and there is a problem that the obstacle must also be sensed by the robot.

That is, there is a limitation in that the amount of computation requested by the robot is still high and requires additional computing resources for obstacle avoidance. This also limits the robot's moving speed.

Accordingly, in this specification, a method for moving a robot by recognizing it and researching a high-speed path while moving the robot is presented.

In this specification, to solve the above-mentioned problems, the robot is moved through the main server without sensing an obstacle or calculating a route in the process of moving, and the route is displayed by a laser, so that a high-speed driving is possible. We want to implement a robot.

In addition, this specification is intended to present a method and apparatus for generating information on a robot's moving space and a path on a main server to provide a final result for the path to the robot.

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

The main server for controlling the laser irradiation of the robot's movement path according to an embodiment of the present invention generates a location confirmation unit for confirming the location of the robot in the image captured by the camera module, a movement path of the robot, and surroundings the robot It includes a control unit for controlling the transmission of the movement path to the laser irradiation module capable of outputting the movement path to the laser.

A robot moving based on laser irradiation of a movement path according to an embodiment of the present invention includes a laser sensing unit sensing a laser output on the ground, a driving unit driving the robot, and a robot according to the laser sensed by the laser sensing unit It includes a control unit for moving the robot by controlling the driving unit.

Method for controlling the laser irradiation of the movement path of the robot according to an embodiment of the present invention is a step in which the communication unit receives an image captured by the camera module from a camera module or a guiding device including a camera module, the positioning unit camera module Checking the position of the robot in this captured image, the step of generating a movement path of the robot by the control unit, the control unit selecting a laser irradiation module capable of outputting a movement path to the surroundings of the robot as a laser, and the laser selected by the communication unit And transmitting a movement path to a guiding device including an irradiation module or a laser irradiation module.

When applying the embodiments of the present invention, the movement path is irradiated with a laser on the ground in response to the position of the robot so that the robot can move by sensing the irradiated movement path.

When the embodiments of the present invention are applied, the main server can confirm the position of the robot through the camera module, calculate the path required for the robot to move, and transmit it to the laser irradiation module.

In addition, when the embodiment of the present invention is applied, the main server can check the obstacles disposed around the robot using the camera module and the laser irradiation module, and recalculate the route based on this.

The effects of the present invention are not limited to the above-described 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 a configuration for irradiating a target point to a robot with a laser pointer in the related art.
2 is a view showing a relationship between a main server according to an embodiment of the present invention, a camera module under control of the main server, and a laser irradiation module.
3 and 4 are views showing the configuration of a guiding device according to an embodiment of the present invention.
5 is a view showing the configuration of a mobile robot according to an embodiment of the present invention.
6 is a view showing the interaction between each component according to an embodiment of the present invention.
7 is a view showing information of a space stored in a map storage unit according to an embodiment of the present invention.
8 is a view showing a process of outputting a path to the laser irradiation module G1 laser according to an embodiment of the present invention.
9 is a view showing a process of outputting a path to the laser irradiation module G2 laser according to an embodiment of the present invention.
10 is a view showing a process of outputting a path to the laser irradiation module G3 laser according to an embodiment of the present invention.
11 is a view showing a result of path correction according to an embodiment of the present invention.
12 is a view showing a process of moving the robot according to an embodiment of the present invention.
13 is a view showing an example of a laser output reflecting the characteristics of the moving path according to an embodiment of the present invention.
14 is a view showing an example of laser irradiation when two marks according to an embodiment of the present invention are disposed on a robot.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings so that those skilled in the art to which the present invention pertains can easily practice. The present invention can be implemented in many different forms and is not limited to the embodiments described herein.

In order to clearly describe the present invention, parts irrelevant to the description are omitted, and the same reference numerals are assigned to the same or similar elements throughout the specification. In addition, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In adding reference numerals to the components of each drawing, the same components may have the same reference numerals as possible even though they are displayed on different drawings. In addition, in describing the present invention, when it is determined that detailed descriptions of related well-known structures or functions may obscure the subject matter of the present invention, detailed descriptions thereof may be omitted.

In describing the components of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are only for distinguishing the component from other components, and the essence, order, order, or number of the component is not limited by the term. When a component is described as being "connected", "coupled" or "connected" to another component, the component may be directly connected to or connected to the other component, but different components between each component It will be understood that the "intervenes" may be, or each component may be "connected", "coupled" or "connected" through other components.

In addition, in implementing the present invention, components may be subdivided and described for convenience of description, but these components may be implemented in one device or module, or one component may be multiple devices or modules. It can be implemented by being divided into.

Hereinafter, in the present specification, the robot collectively refers to a device that performs a specific function and travels. The functions performed by the robot include functions such as cleaning, method, guidance, and security functions, and various functions that the mobile device can provide.

2 is a view showing a relationship between a main server according to an embodiment of the present invention, a camera module under control of the main server, and a laser irradiation module.

The main server 100 uses a computer functioning as a server as an embodiment. The main server 100 estimates the location of the robot. For example, the image acquired by the camera module may be analyzed to estimate the location of the robot (mobile robot). Also, the main server 100 creates a route through route planning. For example, the main server 100 uses the acquired robot position to perform calculations necessary for complex route planning to the destination, and outputs the route calculated as a result of the execution to the periphery of the robot through the laser irradiation module. In addition, the main server 100 may recalculate the route based on the movement of the robot and changes in surrounding conditions.

It includes a control unit 150, a communication unit 180, a positioning unit 110, and optionally a map storage unit 120. The camera modules 210a and 210b and the laser irradiation modules 250a and 250b may be integrally included in one guiding device 200a and 200b. Alternatively, the camera module 210z and the laser irradiation module 250z may be independently arranged.

The communication unit 180 communicates with the camera modules 210a, 210b, 210z and the laser irradiation modules 250a, 250b, 250z. Alternatively, the guiding devices 200a and 200b including the two modules may be communicated. The communication unit 180 may receive an image captured by the camera modules 210a, 210b, and 210z. This image may include images of the robot and the marks placed on the robot so that the position or orientation of the robot can be checked.

The communication unit 180 receives an image including a mark disposed on the robot from the camera modules 210a and 210b. Also, the communication unit 180 may transmit detailed information on the laser signal to be output by the laser irradiation modules 250a, 250b, and 250z.

The location confirmation unit 110 confirms the location of the robot in the image captured by the camera modules 210a, 210b, 210z. The positioning unit 110 may check the absolute position information of the robot based on the physical information of the camera modules 210a, 210b, and 210z and the relative position information of the robot in the image.

The control unit 150 creates a moving path of the robot. Then, the transmission of the movement path is controlled to a laser irradiation module capable of outputting a movement path to a laser around the robot.

Meanwhile, the main server 100 may selectively include a map storage unit 120 that stores the location of each robot, the location of the camera module, the laser irradiation module, and the location of an obstacle. The location of the obstacle stored in the map storage unit 120 allows the main server 100 to check an area to be avoided in creating a path for the robot to move.

In addition, depending on the position of each camera module and laser irradiation module, even if the robot is out of the range of a specific camera module or laser irradiation module during the movement process, the robot can continuously check the path through other adjacent camera modules and laser irradiation modules. To make.

In the present specification, a system for examining a route to a robot is largely composed of three components. The main server 100 that checks the location of a specific robot and calculates a path so that the robot can move, and a camera module 210 that photographs the location of the robot or surrounding objects, and a path output device that scans the path around the robot It consists of an in-laser irradiation module 250. These three can be configured independently and can transmit and receive information through a communication function.

In FIG. 2, instead of the laser irradiation module, a light irradiation module that irradiates light having characteristics such as different wavelengths or different frequencies may be disposed. In this case, a light irradiation module may be disposed in the guiding device, and the laser sensing unit of the robot, which will be described later, may also be replaced by the light sensing unit.

3 and 4 are views showing the configuration of a guiding device according to an embodiment of the present invention. The guiding device 200 may include one camera module 210 and one laser irradiation module 250 as shown in FIG. 3. The communication unit 280 may be disposed in the guiding device 200. The camera module 210 is attached to the ceiling or wall, and recognizes the position mark mounted on the robot to find the current position of the robot. The laser irradiation module 250 projects a line laser on the bottom surface with respect to a path to be moved by the robot.

Or, as shown in FIG. 4, the communication unit 218 may be disposed in the camera module 210, or the communication unit may be disposed in the laser module 250. If the communication unit is arranged in only one of the two modules, the other module can use the communication unit.

For example, when the communication unit 218 is disposed only in the camera module 210, the laser irradiation module 250 may communicate with the main server 100 through the camera module 210. Similarly, when the communication unit 258 is disposed only in the laser irradiation module 250, the camera module 210 may communicate with the main server 100 through the laser irradiation module 250.

Unlike FIGS. 3 and 4, one guiding device 200 may include m camera modules 210 and n laser irradiation modules 250 (both m and n are natural numbers of 1 or more).

3 and 4, the camera module 210 includes an image acquisition unit 212 for capturing an image and an angle of view adjustment unit 214 for accuracy of image acquisition. In addition, when the camera module 210 transmits an image to the main server 100, it may transmit information on which direction and in what magnification the image was captured.

3 and 4, the laser irradiation module 250 includes a laser output unit 252 outputting a laser and an output pattern storage unit 254. The laser output unit 252 specifically outputs a laser according to the instructions of the main server 100. In outputting the laser, the output pattern storage unit 254 stores patterns such as shape, color, or frequency of the laser to be output. This allows the robot to travel in accordance with the laser power of the pattern assigned to it even if paths are arranged adjacently by outputting lasers in different patterns for each robot.

In addition, in FIGS. 3 and 4, the laser irradiation module 250 may further include an obstacle sensing unit 256. The obstacle sensing unit 256 senses the signal reflected after the laser output, and according to the characteristics of the reflected signal, it is possible to check whether there is an obstacle on the ground on which the laser is projected.

Of course, if the image acquisition unit 212 of the camera module 210 continuously acquires an image and an object different from the previous one is captured and not a robot, the captured object may be identified as an obstacle. The main server 100 may update the map storage unit 120 by checking whether an obstacle is newly disposed in real time using the camera module 210 or the laser irradiation module 250.

The communication unit shown in FIG. 3 or 4 may communicate in a suitable manner, wired or wireless, in performing communication with the main server.

5 is a view showing the configuration of a mobile robot according to an embodiment of the present invention. The mobile robot 300 includes a laser sensing unit 310 sensing the laser output on the ground, and a driving unit 320 driving the robot. The control unit 350 controls the traveling unit 320 of the robot according to the laser sensed by the laser sensing unit 310 to move the robot. The laser sensing unit 310 may be configured with sensor arrays for sensing a laser. The laser sensing unit 310 may be disposed toward the ground to sense the laser displayed on the ground.

The function unit 370 is an element configured to perform a specific function of the mobile robot, and may provide a cleaning function in the case of a cleaning robot, and security and security functions in the case of a security robot.

In addition, it may optionally further include a communication unit 380, which receives information from any one or more of the main server 100, camera module 210, or laser irradiation module 250. Of course, the communication unit 380 may receive information from the guiding device 200 including the camera module 210 or the laser irradiation module 250.

When communicating with the main server, the communication unit 380 may be configured not to separately receive information about a route. This is because the path is displayed on the ground through the laser irradiation module 250. However, the communication unit 380 wirelessly communicates with the main server 100 for functions such as receiving instruction information from the main server 100 or upgrading the mobile robot 300 so that the mobile robot 300 performs a specific function. Can communicate.

In addition, a mark 390 may also be included in the mobile robot 300 to identify the robot from the image captured by the camera unit 210 or to check the direction of the robot. The mark 390 may be a fixed image, QR code, barcode, or the like. Alternatively, the mark 390 may include a kind of electronic display device. It is composed of a small LCD (Liquid Crystal Display Device) or a small OLED (Organic Light Emitting Device) to output a specific image or a specific color under the control of the controller 350.

When the mark 390 is photographed by the camera module 210 and transmitted to the main server 100, the main server 100 may check identification information of the robot captured in the image. In addition, when the laser sensing unit 310 of the robot is disposed at a specific location of the robot 300, a mark 390 may be disposed to allow the front or rear of the robot 300 to be identified in an image for more precise control. .

Also, one or more marks 390 may be disposed. According to an embodiment of the present invention, a mark adjacent to the laser sensing unit 310 and a mark disposed far away are configured differently so that a moving direction (front or rear) of the robot can be easily confirmed in an image.

6 is a view showing the interaction between each component according to an embodiment of the present invention. The main server 100 controls the camera module 210 (S31), and according to the control, the camera module 210 adjusts the angle and magnification of the camera (S32). For example, the image acquisition unit 212 may control the image acquisition unit 212 to face the robot or adjust the direction to find the robot so that the image acquisition unit 212 can acquire images of the robot and the mark of the robot.

As in the above-described example, a camera module and a laser irradiation module may be included in one guiding device, and the communication unit 180 of the main server 100 guides the image captured by the camera module including a camera module or a camera module. It can receive from the device.

That is, by adjusting the direction or magnification of the camera module 210, the mark of the mobile robot 300 is photographed on the camera (S33, S34). The camera module 210 acquires an image by photographing the mark of the mobile robot 300 (S34), and transmits the image to the main server 100 (S35). The dashed line from S33 to the camera module 210 is to indicate that the mobile robot 300 does not transmit separate data to the camera module 210 but acquires the information of the mark through the mobile robot 300. .

Next, the main server 100 detects a mark from the transmitted image (S41). If the mark is not clearly detected or if more accurate image acquisition is required, step S31 is restarted.

Then, the main server 100 estimates the position of the robot using the mark in the image (S42). Then, a path is generated using information about a destination to which the corresponding mobile robot should arrive and location information of the robot (S43). At this time, the route may use a map stored in the main server 100.

If there are no obstacles between the destination and the current position of the robot, a path can be created in a straight line. If not, the main server 100 generates the mobile robot 300 by subdividing the path to be driven.

In addition, the main server 100 selects the laser irradiation module to control the selected laser irradiation module and transmits the path to the laser irradiation module so as to output the path to the front of the robot with a laser (S44). The laser irradiation module 250 switches the direction of the laser output unit in the direction in which the laser should be irradiated by the main server 100 (S52), and outputs the laser (S53).

In addition, the laser sensing unit 310 of the mobile robot 300 senses the output laser (S54) and performs high-speed driving according to the sensing result (S55). The laser output module 53 is directed to the mobile robot 300 by a dotted line, but the laser irradiation module 250 does not transmit separate data to the mobile robot 300, but the mobile robot 300 is a path through the laser output. This is to indicate that you acquire.

The process of FIG. 6 is summarized as follows. The camera module 210 takes an image and transmits it to the main server 100 (S31 to S35). Subsequently, the main server 100 analyzes the transmitted image to detect the robot position mark, and recognizes the current position of the robot based on this (S41, S42).

In addition, the main server 100 performs route planning using the current position of the robot and a target moving point to generate a route (S43). Thereafter, the main server 100 projects the path to the floor using the laser irradiation module 250 (S51 to S53), and the mobile robot 300 projects using the laser sensing unit 310 composed of the laser sensor array. The detected laser is detected (S54).

The mobile robot 300 travels at a high speed to the target point along the path of the projected laser (S55). Steps S31 to S55 are repeatedly performed. At this time, a position error or a change in the target point during movement may be newly updated through an iterative routine and reflected in path planning and generation, and through this process, the mobile robot 300 arrives at the target point.

In FIG. 6, the laser irradiation module 250 may output a line type laser. In addition, in order to control the speed of the mobile robot 300, a laser in the form of a dot is output, but the distance between dots can be increased or decreased to control the speed of the mobile robot 300. Alternatively, to control the speed of the mobile robot 300, the laser is output in a line form, but the width or color of the line may be configured differently.

When the above-described embodiment is applied, the robot may irradiate a path based on a laser for high-speed driving, and the robot may recognize this and travel at a high speed. At this time, since the calculation amount that can occur when planning the route for the high-speed driving of the robot is made in the main server 100, the robot solves the calculation amount problem in creating a route.

That is, since the actual operation required for path generation is processed on the main server computer, path planning and the resulting path generation are output to the floor through a laser. Therefore, each robot is capable of high-speed driving only by laser sensing and motor control without the need to calculate its own path.

When applying the embodiment of FIGS. 2 and 6, the path to which the robot will move to the surrounding surface of the robot is irradiated with a laser using a fixed camera module and a laser. The robot can recognize the irradiated route and travel at high speed.

According to the functions of the robot, the above-described implementation may be applied to a security robot, a cleaning robot, a security robot, and a guide robot. Security robots or security robots require high-speed driving in the event of an emergency. However, when driving with only the computational power in the robot, the amount of computation required for obstacle search, path creation, etc. may explode, which may slow down the movement speed.

However, when applying the embodiment of FIG. 6, in order to overcome this technical limitation, the camera module fixed on the top is interlocked with the main server, and the laser irradiation module is configured in a line or dot shape for the high-speed driving path calculated by the main server. Inject it so that it is displayed on the floor.

As a result, the robot can travel at a high speed by following a line or dot without additional calculation using a laser sensing unit specialized in detecting a laser such as a line or dot.

The main server can control a fixed pan-tilt type camera module, such as a guiding device, and a laser irradiation module that outputs lasers in lines or dots. And the laser irradiation module continuously irradiates a virtual line on the ground according to the position and speed of the robot.

The robot is equipped with a sensor array module (laser sensing unit) capable of detecting a line or dot irradiated with a laser, and the control unit 350 of the robot reads the information sensed from each sensor array and moves it without additional calculation. Let's pass it directly to the motor. As a result, based on the control method directly connected to the laser path of the ground, the laser sensing unit, and the driving unit, the amount of calculation required for the robot's path movement is reduced to enable high-speed driving of the robot.

7 is a view showing information of a space stored in a map storage unit according to an embodiment of the present invention. For convenience of description, it is assumed that the camera module and the laser irradiation module are disposed in one guiding device, and the range in which the camera module can shoot and the range in which the laser irradiation module can output the laser are the same.

However, as described above, the camera module and the laser irradiation module may be composed of m:n, and each imaging range and irradiation range may be different.

The guiding device is installed on the ceiling of the points marked G1, G2, G3. That is, G1, G2, and G3 refer to the position where the camera module and the laser irradiation module are arranged. 61 is a shooting range of the G1 camera module and a laser output range of the laser irradiation module. 62 is a shooting range of the camera module of the G2 and a laser output range of the laser irradiation module. 63 is a shooting range of the G3 camera module and a laser output range of the laser irradiation module.

R is the position of the robot, and the position the robot wants to reach is "X". Using the image captured in G1, the main server 100 creates a path to which R moves through the process of FIG. 6.

In one embodiment, the communication unit 180 of the main server 100 receives an image including a mark disposed on the robot from the camera module of G1. At this time, the communication unit 180 may confirm that the position of the robot is (2, 15) based on the image capturing direction of the camera module, the image capturing magnification, and the size of the mark.

In addition, if the mark indicates the front or rear of the robot, or if it is disposed around the laser sensing unit 310, or when two or more marks are disposed on the robot, the main server 100 not only positions the robot in the captured image. In addition, you can check the direction of the robot.

In addition, the positioning unit 110 may check the direction of the robot based on the position where the mark is placed on the robot or the relative position between two or more marks of the robot.

Thereafter, the control unit 150 of the main server 100 includes information about a destination X to be reached by the robot, absolute location information (2, 15) of the robot, and locations of laser irradiation modules (G1, G2, G3), and The laser irradiation module creates a movement path based on the irradiation ranges 61, 62 and 63 capable of irradiating the laser.

The generated path is indicated by arrows in FIG. 7. Since the map of FIG. 7 shows the actual space as it is, the laser is outputted through the map.

8 is a view showing a process of outputting a path to the laser irradiation module G1 laser according to an embodiment of the present invention. The laser irradiation module of G1 outputs a path through which the robot can move as L1. The output of L1 is made from (2, 14) to (2, 11) under the control of the main server 100. The laser sensing unit of the robot R identifies the laser output on the floor and moves from (2, 14) to (2, 11).

As a result of the movement, the main server 100 controls the G2 to output a path to the laser when it is close to the boundary between 61 and 62. For example, when the robot R reaches points (2, 12), the main server 100 controls the laser irradiation module of G2. Look at Figure 9.

9 is a view showing a process of outputting a path to the laser irradiation module G2 laser according to an embodiment of the present invention. The laser irradiation module of G2 outputs the path through which the robot can move as L2. The output of L2 is made from (2, 10) to (13, 3) under the control of the main server 100. The laser sensing unit of the robot R identifies the laser output on the floor and moves from (2, 14) to (2, 10) to (13, 3).

In addition, the main server 100 stops the laser output of the laser irradiation module of G1 when the robot moves to the region of G2 so that L1 is no longer displayed on the ground.

When the result of the movement is close to the boundary between 62 and 63, the main server 100 controls the G3 to output a path to the laser as well. For example, when the robot R reaches (12, 4) points, the main server 100 controls the laser irradiation module of G3. Look at Figure 10.

10 is a view showing a process of outputting a path to the laser irradiation module G3 laser according to an embodiment of the present invention.

The laser irradiation result (L2) previously irradiated by G2 is displayed only in the moving direction of the robot as the robot moves, and the previous area may be controlled by the main server 100 so that the laser is not irradiated. 10 shows the result of L2 partially output. In addition, it can be confirmed that L3 is output to the destination X by G3. As the robot moves to the area of 63 and senses L3, it can reach destination X.

8 to 10, when the path is output to the laser by the three laser irradiation modules on the ground, the robot can sense this and travel at high speed.

In addition, three camera modules can check the current position of the robot by capturing the direction of the robot in real time during the robot's movement.

In addition, when the obstacle sensing unit 256 of the laser irradiation module 200 outputs a path to the ground and checks the conveyed signal, if it is determined that there is an object closer than the original ground, it is considered that the obstacle is disposed. The main server 100 may be notified, and in this case, the main server 100 may recalculate the route.

That is, a path is primarily generated in FIGS. 8 to 10. In addition, when an obstacle is identified on the path in the process of outputting the generated ground to the laser, the generated ground may be directly corrected by the main server 100 to be output on the ground.

11 is a view showing a result of path correction according to an embodiment of the present invention. In the embodiment of FIG. 9, an obstacle is sensed by a camera module or a laser irradiation module while the robot is driving.

In one embodiment, information sensed with respect to obstacle information disposed within a range where the camera module of the G2 can photograph the camera is transmitted to the main server 100. The control unit 150 of the main server 100 uses the sensed information to generate a movement path of the robot. The sensed information is an embodiment in which an image including a different object is photographed compared to a previously photographed image.

In another embodiment, information sensed with respect to obstacle information disposed within an irradiation range in which the laser irradiation module of the G2 can irradiate the laser is transmitted to the main server 100. The control unit 150 of the main server 100 uses the sensed information to generate a movement path of the robot. The sensed information is an embodiment in which an object is newly disposed by reflecting a laser at a position higher than the ground in the process of irradiating the laser.

The guiding device G2 transmits the sensed obstacle location information to the main server 100. And the main server 100 reconstructs the path. As a result, as shown in FIG. 11, G2 outputs a laser in the paths of L2_1 and L2_2.

In FIG. 11, the main server 100 may generate a new path in consideration of the speed of the robot and the possible rotational angular velocity while the robot moves to avoid obstacles.

In addition, in FIGS. 7 to 11, the main server 100 may control the angle of view adjustment unit 214 of the camera so that the camera can shoot the area irradiating the laser to track the process of the robot moving. In this case, the angle of view adjustment unit 214 of the camera may be controlled by the main server 100 to shoot while tracking the robot in response to the movement of the robot as a candidate for the region irradiated with the laser.

12 is a view showing a process of moving the robot according to an embodiment of the present invention. Two guiding devices 200a and 200b are arranged on the ceiling of FIG. 12. Each of the guiding devices 200a and 200b includes camera modules 210a and 210b, laser irradiation modules 250a and 250b, and communication units 280a and 280b.

For example, the first guiding device 200a corresponding to G1 in FIGS. 7 to 11 recognizes and photographs the mark 390 of the robot 300 by vision sensing (S34) and transmits the image to the communication unit 280a. To the main server. And in the process of Figure 6 through the process of S35 ~ S52, the laser irradiation module 250 irradiates the laser as L1 (S53a, S53b). At this time, the laser is irradiated around the laser sensing unit 310 of the robot 300 to increase the sensing accuracy.

As a result, the robot 300 travels at a high speed along the sensed laser at a distance corresponding to L1. Then, when the second guiding device 200b approaches the area irradiated, the second guiding device 200b outputs the path as L2 (S53c, S53d). Of course, the first time the main server 100 creates a route and transmits both route information to two guiding devices 200a and 200b, and the two laser irradiation modules 250a and 250b output L1 and L2 simultaneously. It is possible to enable high-speed driving of the robot 300.

Since a plurality of camera modules 210a and 210b are arranged in FIG. 12, the changed position of the robot is continuously photographed by the camera modules 210a and 210b in the process of the robot moving. Then, the communication unit 180 of the main server 100 receives the image including the changed position of the robot from the camera modules 210a and 210b.

Then, the control unit 150 of the main server 100 selects a second laser irradiation module to output the laser in response to the movement path of the robot. In addition, the main server 100 controls transmission of the movement path to the selected second laser irradiation module. Therefore, when a plurality of laser irradiation modules are arranged in a large space, the main server 100 may generate a movement path for each area and transmit them to these laser irradiation modules.

13 is a view showing an example of a laser output reflecting the characteristics of the moving path according to an embodiment of the present invention.

The laser irradiation module may output the laser in a line shape or a dot shape according to the instruction of the control unit 150 of the main server 100. Also, to control the speed, the width of the line can be reduced or the size of the dots can be modified.

In addition, when outputting a path to a laser so that a plurality of robots can respectively travel the path, the color or frequency of the output laser may be differently adjusted.

In Fig. 13, there are a line output method and a dot output method in outputting a path with a laser. When the traveling direction is the arrow direction based on the robot R, the output shape of the laser displayed in front of the robot may be different depending on the speed.

That is, in the case of the high-speed driving path of the line output method, the laser irradiation module outputs the path to the laser so that there is no difference in line width. On the other hand, in the case of a path for reducing the speed in the line output method, the laser irradiation module outputs the laser so that the line width is reduced. As a result, the robot slows down when the line width decreases in the process of moving along the path output by the laser.

Similarly, in the case of a high-speed driving path of the dot output method, the laser irradiation module outputs to the laser to configure the path in a dot shape of a constant size. On the other hand, in the case of a path for reducing the speed in the dot output method, the laser irradiation module outputs the laser so that the interval between dots increases or the length of the dots decreases. As a result, the robot slows down when the distance between dots increases or the length of dots decreases in the process of moving along the path output by the laser.

13 is exemplary and the width of the line may be adjusted to be inversely proportional to the driving speed, and the size or spacing of dots may also be output as opposed to the example of FIG. 13.

In addition, the main server 100 stores the physical characteristics (color, frequency) of the laser to be output for each robot in advance, and allows the laser irradiation module for each robot to output the laser in different colors, different frequencies, or different wavelengths. . The physical properties (shape, color, wavelength, frequency, etc.) of the laser can be variously set.

And since this information is also transmitted to robots, the color or frequency of the sensed laser is assigned to itself even if the robot senses the laser on the ground. If it is not a wavelength, it does not move along the output path of the ground.

This prevents the robots from moving along the path of other robots when a plurality of robots are disposed in the space. In addition, even if an unauthorized laser signal is displayed on the ground rather than the laser irradiation module, robots do not recognize it as a path.

That is, the control unit 150 of the main server 100 may control the physical characteristics of the output laser of the laser irradiation module in response to the robot.

Then, the control unit 350 of the robot 300 checks whether the laser output according to the physical characteristics of the laser sensed by the laser sensing unit 310 corresponds to the driving of the robot 300, and then the driving unit 320 To control.

13 shows a physical characteristic of a laser indicating a movement path on the ground, and includes one or more of the shape, wavelength, frequency, and color of the output laser. That is, it is possible to control the driving speed of the robot by configuring various physical characteristics.

14 is a view showing an example of laser irradiation when two marks according to an embodiment of the present invention are disposed on a robot.

In FIG. 14, a first mark 390a indicating the position of the laser sensing unit 310 and a second mark 390b indicating the position of the rear of the robot are disposed on the upper surface of the robot.

Through the image taken by the camera module, the main server checks that the path to which the robot will move is backward (in the direction of the arrow). However, instead of instructing the robot to move backward, the robot is controlled to move backward (in the direction of the arrow) along the path by scanning the path toward the laser sensing unit 310 like L4. As shown in FIG. 14, when two types of marks are used, the forward and backward directions of the robot can be confirmed, and accordingly, a movement path for controlling the movement of the robot more flexibly can be irradiated on the ground of the robot.

In an embodiment of the present invention, a path to which the robot should move with a laser (for example, a line laser or a dot laser) is irradiated to the bottom surface. This is a method in which all calculations are performed by the main server linked with the camera to provide the robot with the final result path. In addition, the camera recognizes the robot and provides information directly in front of the robot through a pan-tilt operation, so a sensor array that can be recognized immediately can be used instead of a computationally intensive vision.

Therefore, the robot does not require complicated calculations related to driving, and the provided route reflects the characteristics of the robot, so that a stable driving can be performed without deviating the route even at high speed. In addition, since the information provided is continuous information such as lines or dots, it is possible to stably maintain the motion of the robot, and it is suitable for high-speed driving because there is no need for a sudden change of direction unless there is a large departure from the path.

In addition, in the case of the prior art described in FIG. 1, since the target point is provided by the point laser, it is a technology that provides only the final object far from the robot as a point. Therefore, the rest of the tasks, such as obstacle recognition and path calculation, must be done by the robot itself, and a separate computing power for this must be mounted on the robot.

That is, the robot is unable to make a long-term plan for driving, and then reacts according to the position of the point, recalculating at that time. Therefore, there is a technical limitation that the operation is cut off if the calculation speed is not fast enough.

However, in the embodiment of the present invention, the path itself to be moved by a line laser or a dot laser is irradiated to the ground in the direction of the robot. This is done by a system interlocked with the camera for all calculations to provide the robot with the final result path, allowing the robot to move in a fast manner.

Therefore, when implementing the embodiments of the present invention, the robot can move based on path information provided from outside even when the absolute position in the space is not accurately known. In the prior art, when only a point is displayed as shown in FIG. 1, information moving to a specific location in space may be provided, but such a point display cannot provide path information for moving to the corresponding location. However, when the embodiments of the present invention are applied, a path is displayed by avoiding an obstacle, and the robot can identify it and move at a high speed.

In particular, the camera module and the laser irradiation module disposed on the wall or ceiling can check the obstacles arranged in the direction of the robot, so that the path can be corrected again even after the movement path is generated.

In the present specification, embodiments of the invention have been described based on laser irradiation, but the invention is not limited thereto. That is, all of the modules irradiating light of various wavelengths that the robot can sense correspond to the laser irradiation module of the present specification.

Although all components constituting the embodiments of the present invention are described as being combined or operated as one, the present invention is not necessarily limited to these embodiments, and all elements within the scope of the present invention are one or more. It can also be operated by selectively combining. In addition, although all of the components may be implemented by one independent hardware, a part or all of the components are selectively combined to perform a part or all of functions combined in one or a plurality of hardware. It may be implemented as a computer program having a. The codes and code segments constituting the computer program can be easily deduced by those skilled in the art of the present invention. Such a computer program is stored in a computer readable storage medium (Computer Readable Media) to be read and executed by a computer, thereby implementing an embodiment of the present invention. The storage medium of the computer program includes a magnetic recording medium, an optical recording medium, and a storage medium including a semiconductor recording element. In addition, the computer program implementing the embodiment of the present invention includes a program module that is transmitted in real time through an external device.

In the above, the description has been mainly focused on the embodiment of the present invention, but various changes or modifications can be made at the level of a person skilled in the art. Accordingly, 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.

100: main server 110: location check
120: map storage unit 150: control unit
180: communication unit 210: camera module
250: laser irradiation module 300: mobile robot

Claims (20)

A laser sensing unit that senses a laser output by the one or more laser irradiation modules controlled by the main server to the ground;
A driving unit for driving the robot; And
It includes a control unit for moving the robot by controlling the traveling portion of the robot according to the laser sensed by the laser sensing unit,
The main server determines the position of the robot through a camera module, calculates a path required for the robot to move, and transfers the path to the laser irradiation module.
According to claim 1,
A robot that moves based on laser irradiation of a movement path, further comprising a communication unit that receives information from any one or more of a main server, a camera module, or a laser irradiation module.
According to claim 1,
The control unit controls the driving unit by determining whether the output laser corresponds to the driving of the robot according to the physical characteristics of the laser sensed by the laser sensing unit, and controls the driving unit to move based on laser irradiation of a moving path.
According to claim 3,
The physical characteristics of the laser include a shape of the output laser, a wavelength of the laser, a frequency of the laser, or a color of the laser. A robot moving based on laser irradiation of a movement path.
According to claim 1,
The main server generates a communication unit communicating with the camera module and the laser irradiation module, a location confirmation unit for confirming the location of the robot in the image captured by the camera module, and a movement path of the robot, and the A robot that moves based on laser irradiation of the movement path, including a control unit that controls the transmission of the movement path to a laser irradiation module capable of outputting a movement path with a laser.
The method of claim 5,
The communication unit of the main server receives an image including a mark disposed on the robot from the camera module or a guiding device including the camera module,
The positioning unit of the main server identifies the absolute position information of the robot based on the physical information of the camera module and the relative position information of the robot in the image, and moves the robot based on laser irradiation of the movement path.
The method of claim 6,
The image includes two or more marks of the robot that can confirm the direction of the robot,
The positioning unit of the main server is a robot that moves based on the laser irradiation of the movement path to check the direction of the robot based on the relative position between the two or more marks.
The method of claim 5,
The control unit of the main server moves based on information about a destination to be reached by the robot, absolute position information of the robot, a position of the laser irradiation module, and an irradiation range where the laser irradiation module can irradiate the laser. A robot that moves based on the laser irradiation of the moving path that creates the path.
The method of claim 5,
The control unit of the main server generates a movement path using information sensed about obstacle information disposed within a range in which the camera module can photograph the camera, and moves the robot based on laser irradiation of the movement path.
The method of claim 5,
The control unit of the main server moves based on the laser irradiation of the movement path to generate the movement path using information sensed for obstacle information disposed within an irradiation range where the laser irradiation module can irradiate the laser. robot.
The method of claim 5,
The controller of the main server controls a physical characteristic of the output laser of the laser irradiation module in response to the robot, and moves based on laser irradiation of a movement path.
The method of claim 5,
The communication unit of the main server receives an image including the changed position of the robot from the camera module,
The controller of the main server controls the transmission of the movement path to the selected second laser irradiation module by selecting a second laser irradiation module to output a laser in response to the movement path of the robot, the laser of the movement path A robot that moves based on the investigation.
Receiving an image captured by a camera module from a communication module of the main server from the camera module or a guiding device including the camera module;
Checking the position of the robot from the image captured by the camera module by the location checking unit of the main server;
Generating, by the control unit of the main server, a movement path of the robot;
Selecting, by the controller of the main server, a laser irradiation module capable of outputting the movement path to a laser around the robot; And,
Transmitting the movement path to the guiding device including the selected laser irradiation module or the laser irradiation module by the communication unit of the main server;
The laser irradiation module outputting the movement path to the ground with a laser; And
Sensing a laser output by the laser sensing unit of the robot on the ground;
A method of controlling laser irradiation of a moving path of a robot, comprising controlling the traveling part of the robot according to the laser sensed by the laser sensing part to move the robot.
The method of claim 13,
Receiving an image including a mark disposed on the robot from the camera module or the guiding device by the communication unit of the main server; And
And determining the absolute position information of the robot based on the physical information of the camera module and the relative position information of the robot in the image. Way.
The method of claim 14,
The image includes two or more marks of the robot that can confirm the direction of the robot,
A method for controlling the laser irradiation of the moving path of the robot, further comprising the step of confirming the orientation of the robot based on the relative position between the two or more marks of the location of the main server.
The method of claim 13,
The controller of the main server moves based on information about a destination to be reached by the robot, absolute position information of the robot, a position of the laser irradiation module, and an irradiation range where the laser irradiation module can irradiate the laser. A method of controlling laser irradiation of a moving path of a robot, further comprising generating a path.
The method of claim 13,
The control unit of the main server further comprises the step of generating the movement path using the information sensed with respect to obstacle information disposed within a range in which the camera module can shoot the camera. How to control.
The method of claim 13,
The control unit of the main server further comprises the step of generating the movement path using the information sensed with respect to the obstacle information disposed within the irradiation range where the laser irradiation module can irradiate the laser. How to control laser irradiation.
The method of claim 13,
And controlling, by the controller of the main server, the physical characteristics of the output laser of the laser irradiation module in correspondence with the robot.
The method of claim 13,
Receiving the image including the changed position of the robot from the camera module or the guiding device by the communication unit of the main server; And
The control of the main server further comprises the step of selecting a second laser irradiation module to output a laser in response to the movement path of the robot and controlling the transmission of the movement path to the selected second laser irradiation module. , How to control the laser irradiation of the robot's moving path.

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