KR20200084382A - Emergency evacuation guidance robot and method of controlling the same - Google Patents

Abstract

The present invention relates to a fire evacuation guidance robot and a control method thereof. The fire evacuation guidance robot includes: a map generator that generates a map using the SLAM algorithm and measures the current coordinate based on the generated map; a route search unit searching for a route using the map; an imaging device that acquires a surrounding image; and a means of transportation. In a transport robot mode, the fire evacuation guide robot moves inside the building, and the map generator generates the map, analyzes the surrounding image acquired through the imaging device, stores the first coordinates when a person is identified, and stores the second coordinates when an emergency exit is identified. In the fire evacuation mode, the route search unit searches for an evacuation route using the current coordinates, the first coordinates, and the second coordinates, and moves along the evacuation route.

Description

Fire evacuation induction robot and its control method {EMERGENCY EVACUATION GUIDANCE ROBOT AND METHOD OF CONTROLLING THE SAME}

The present invention relates to a fire evacuation guided robot and a control method thereof, more specifically, to generate a map of the surrounding environment and enable autonomous driving, and a robot performing a fire evacuation guide function in an emergency and a control method thereof will be.

Various types and types of disaster relief robots are being developed that can be put into disaster areas that are difficult for humans, such as fires, to perform various functions related to fire suppression and disaster relief. These robots have been developed to perform the specialized functions necessary for disaster relief, but so far, there are limitations on the functions that can be exhibited compared to professional relief personnel due to technical limitations. Nevertheless, disaster relief robots have the disadvantages of high initial purchase and maintenance costs, and poor utilization until disasters such as fires occur.

Accordingly, the technical problem of the present invention was conceived in this regard, and the object of the present invention is to provide a function of loading and transporting objects at normal times, and autonomously driving along an evacuation route in a situation where it is difficult to secure a view due to smoke in the event of a fire. It is to provide a fire evacuation guided robot capable of providing evacuation guidance and a control method thereof.

According to one embodiment for realizing the object of the present invention described above, the fire evacuation guidance robot generates a map using a SLAM (Simultaneous Localization And Mapping) algorithm, and generates a map that measures current coordinates based on the generated map part; A route search unit for searching a route using the map; An image capturing apparatus for acquiring surrounding images; And a moving means, in the transport robot mode, the interior of the building is moved, and the map generation unit generates the map, and analyzes surrounding images acquired through the imaging device to store first coordinates when a person is identified, When the emergency exit is identified, the second coordinates are stored, and in the fire evacuation mode, the route search unit searches the evacuation route using the current coordinates, the first coordinates, and the second coordinates, and moves along the evacuation route.

In one embodiment of the present invention, further comprising a lidar sensor for obtaining three-dimensional data about the surroundings, the SLAM algorithm may use the three-dimensional data obtained through the lidar sensor.

In one embodiment of the present invention, further comprising a smoke sensor for measuring the concentration of smoke, the map generation unit generates smoke generation information using the concentration of the smoke and the current coordinates, the smoke generation information is smoke It may include at least one of the region of occurrence, the concentration of smoke and the direction of the smoke.

In one embodiment of the present invention, the route search unit may further search the evacuation route using the smoke generation information.

In one embodiment of the present invention, the fire evacuation mode may be activated when the concentration of smoke measured by the smoke sensor is greater than or equal to a predetermined reference value or when a fire alarm signal is received from a fire alarm installed in a building. .

In one embodiment of the present invention, the route search unit may exchange search records for the evacuation route with other fire evacuation guidance robots connected by using wireless communication, and an arrival point is at least one or more of the second coordinates. The evacuation route can be searched by further using the search record to be distributed.

In one embodiment of the present invention, if the route search unit receives third coordinates from a remote control device connected using wireless communication in the fire evacuation mode, the evacuation route is from the third coordinates to the second coordinates. The route can be searched to include a route that travels.

In one embodiment of the present invention, the image photographing device may transmit the surrounding image to the remote control device.

In one embodiment of the present invention, it may further include a transport means capable of loading the object.

According to an embodiment for realizing another object of the present invention, the control method of the fire evacuation induction robot includes a transport robot mode and a fire evacuation mode, wherein the transport robot mode moves inside the building and simulates localization (SLAM). And Mapping) a map generation step of generating a map using an algorithm and measuring current coordinates based on the generated map; And analyzing the surrounding image acquired through the imaging device, storing first coordinates when a person is identified, and storing second coordinates when an emergency exit is identified, wherein the fire evacuation mode includes the current coordinates and the first Searching for an evacuation route using the first coordinate and the second coordinate; And moving along the evacuation route.

In one embodiment of the present invention, the SLAM algorithm may use 3D data acquired through a lidar sensor.

In one embodiment of the present invention, the fire evacuation mode further includes generating smoke generation information using the concentration of smoke measured by a smoke sensor and the current coordinates, wherein the smoke generation information includes a smoke generation area, It may include at least one of the smoke concentration and the direction of the smoke.

In an embodiment of the present invention, the step of searching for the evacuation route may search for the evacuation route by further using the smoke generation information.

In one embodiment of the present invention, the fire evacuation mode may be activated when the concentration of smoke measured by the smoke sensor is greater than or equal to a predetermined reference value or when a fire alarm signal is received from a fire alarm installed in a building. .

In one embodiment of the present invention, the fire evacuation mode further comprises the step of exchanging a search record for the evacuation route with another fire evacuation guidance robot connected using wireless communication, and searching the evacuation route May search the evacuation route by further using the search record so that the arrival point is distributed to at least one of the second coordinates.

In one embodiment of the present invention, the step of searching for the evacuation route is

When receiving the third coordinate from the connected remote control device using wireless communication, the route may be searched so that the evacuation route includes a route moving from the third coordinate to the second coordinate.

In one embodiment of the present invention, the image photographing device may transmit the surrounding image to the remote control device.

In one embodiment of the present invention, the transport robot mode further comprises the steps of searching for a transport route using the current coordinates and a destination coordinate input from the outside, and transporting the object loaded on the transport means along the transport route. It can contain.

The fire evacuation induction robot and its control method according to the present invention has an advantage that it can be used as a transport robot for everyday use.

The fire evacuation induction robot and its control method according to the present invention can quickly respond to a fire situation by using a robot running inside when a fire occurs.

The fire evacuation induction robot and its control method according to the present invention can control the congestion degree of the evacuation route through inter-layer communication, thereby inducing efficient and rapid evacuation.

1 is a conceptual diagram for explaining a fire evacuation guided robot according to an embodiment of the present invention.
FIG. 2 is a block diagram illustrating the control unit of FIG. 1.
3 is a flow chart for explaining a control method of a fire evacuation guided robot according to an embodiment of the present invention.

Hereinafter, the present invention will be described in more detail with reference to the accompanying drawings.

1 is a conceptual diagram for explaining a fire evacuation induction robot according to an embodiment of the present invention. FIG. 2 is a block diagram illustrating the control unit of FIG. 1.

1 and 2, the fire evacuation induction robot according to an embodiment of the present invention includes a control unit 100, a lidar sensor 210, an ultrasonic sensor 220, a smoke sensor 230, and an image photographing device ( 300), an inertial measurement device 400, a communication unit 500, a moving means 600, a display unit 700, a warning light 800 and a transport means 900 may be included.

The control unit 100 is a lidar sensor 210, an ultrasonic sensor 220, a smoke sensor 230, an image photographing device 300, an inertial measurement device 400, and a communication unit 500 constituting a fire evacuation induction robot. The operation of the moving means 600, the display unit 700, the warning light 800, and the transportation means 900 can be controlled.

The control unit 100 may include at least one of a central processing unit (CPU) and a micro controller unit (MCU) that control each module through a control signal.

The controller 100 may serve as an operating system for controlling the robot system, such as hardware abstraction, low-level device control, inter-process message delivery, and package management.

The fire evacuation induction robot may normally operate in a transport robot mode, and may operate in a fire evacuation mode when a disaster situation such as a fire occurs. The control unit 100 may control switching between the transport robot mode and the fire evacuation mode. The fire evacuation mode may be activated when a fire alarm signal is received from a fire alarm installed in a building or when the concentration of smoke measured by the smoke sensor 230 is greater than or equal to a predetermined reference value.

The control unit 100 may include a map generation unit 110, a route search unit 120, an image processing unit 130, and a driving control unit 140.

In the transport robot mode, the fire evacuation induction robot can autonomously drive inside the building and generate a map through the map generation unit 110. The fire evacuation induction robot may continuously update and store the location of people staying inside the building through the image processing unit 130. The fire evacuation induction robot may store coordinate values for an escape passage such as an emergency exit through the image processing unit 130.

In the fire evacuation mode, the fire evacuation induction robot may search the evacuation route through the route search unit 120, move along the searched evacuation route, and guide the helpers in the building to the evacuation route, such as an emergency exit.

The map generator 110 may generate a map using 3D data about the surroundings of the fire evacuation guide robot. In one embodiment, the map generator 110 may generate a map using a Simultaneous Localization And Mapping (SLAM) algorithm, and measure the current coordinates where the fire evacuation guidance robot is located based on the generated map.

The SLAM algorithm generates a map while sensing the surrounding environment with a sensor when a map is not given and the location on the map cannot be determined, and estimates the current position of the sensor based on the generated map. Means

In one embodiment, the SLAM algorithm of the map generator 110 may generate a map using 3D data obtained through the lidar sensor 210. Unlike this, the SLAM algorithm of the map generation unit 110 may generate a map using 3D data obtained through a Kinect sensor or the like, which is not shown, but can acquire depth information about surrounding objects.

The map generation unit 110 may store coordinates such as a person, an emergency exit, and a fire hydrant using the image analysis result received from the image processing unit 130 and display the map on the map.

In one embodiment, the map generation unit 110 of the image analysis result analyzed by the image processing unit 130, the three-dimensional data obtained through the lidar sensor 210 and the distance data obtained through the ultrasonic sensor 220 A person may be identified using at least one or more, and a position of the identified person may be detected and stored as first coordinates. When a plurality of people are identified, a plurality of first coordinates may be stored.

Here, each of the first coordinates may include one 2D coordinate value (for example, a coordinate value represented by a horizontal axis value and a vertical axis value) or an identification value for a specific space. For example, when a person is identified in the N-class classroom, the first coordinate may include the identified person's two-dimensional coordinate or an identification value for the N-class classroom. That is, an identification value for each space is designated, and when a person is identified in a specific space, the first coordinate may include an identification value for the specific space.

The fire evacuation induction robot may continuously update the first coordinates through the map generation unit 110 while autonomous driving inside the building.

The map generation unit 110 uses at least one of three-dimensional data acquired through the lidar sensor 210 and distance data obtained through the ultrasonic sensor 220 as a result of the image analysis analyzed by the image processing unit 130. By detecting the location of the emergency exit, it can be stored as a second coordinate. When a plurality of emergency exits are identified, a plurality of second coordinates may be stored.

In one embodiment, each of the second coordinates may include two-dimensional coordinate values represented by horizontal and vertical axis values, unlike the first coordinate. Unlike this, each of the second coordinates may include two-dimensional coordinate values represented by horizontal and vertical axis values or identification values for a specific space, like the first coordinates.

The map generation unit 110 uses at least one of three-dimensional data acquired through the lidar sensor 210 and distance data obtained through the ultrasonic sensor 220 as a result of the image analysis analyzed by the image processing unit 130. By doing so, it is possible to detect the location of facilities related to firefighting facilities such as fire hydrants and store them as coordinates of other facilities. When a plurality of facilities are identified, a plurality of other facility coordinates may be stored.

In one embodiment, the coordinates of each other facility may include two-dimensional coordinate values represented by horizontal and vertical axis values, unlike the first coordinate. Unlike this, each other facility coordinate may include two-dimensional coordinate values represented by horizontal and vertical axis values or identification values for a specific space, like the first coordinate.

When smoke is measured by the smoke sensor 230, the map generation unit 110 may generate smoke generation information based on coordinates at the measured position, concentration of smoke, and concentration change. The map generator 110 may display smoke generation information on the map.

The smoke generation information may include at least one of a smoke generation area, a smoke concentration, and a direction in which the smoke moves. The smoke generating area may include an identification value at a position where smoke is measured. The concentration of smoke may include the concentration of smoke measured by the smoke sensor 230. The direction of the smoke can be calculated using the change in the concentration of the smoke.

For example, when the smoke evacuation inducing robot increases the smoke concentration measured while driving the corridor A in the first direction, the smoke generating area may include an identification value for the corridor A. The direction of movement of the smoke may include a second direction opposite to the first direction. The concentration of smoke can include the lowest and highest values for hallway A. Alternatively, the concentration of smoke may include an average value for corridor A.

The route search unit 120 may search for a route using the map generated by the map generation unit 110. The route search unit 120 may use algorithms such as an A-star algorithm, a D-star algorithm, and a Dijkstra algorithm for searching the route.

The route search unit 120 may search for a route up to the coordinates input for the purpose of carrying objects in the transportation robot mode. The input of the coordinates may be selected using a mouse on a map displayed on the display unit 700. Alternatively, it may be selected by touching with a finger on a map displayed on the display unit 700 including the touch screen.

The route search unit 120 may search for an evacuation route in the fire evacuation mode. When the fire evacuation mode is activated, the route search unit 120 may use the first coordinates as a requestor rescue location, and use the second coordinates as an arrival location of the evacuation route. In other words, the evacuation route may include a route moving from the first coordinate to the second coordinate.

In one embodiment, the route search unit 120 may search for an evacuation route using current coordinates, first coordinates, and second coordinates. The route search unit 120 may search for an evacuation route by using smoke generation information in addition to the current coordinates, the first coordinates, and the second coordinates to search for a safe evacuation route. The route search unit 120 may consider at least one of a smoke generating area, a smoke concentration, and a direction of the smoke in searching the evacuation route. For example, the route search unit 120 may search for an evacuation route to bypass the smoke generating area where the smoke concentration is greater than or equal to a predetermined dangerous concentration. Alternatively, the route search unit 120 may search the evacuation route to bypass the route where the smoke concentration is increased in consideration of the direction of the smoke.

In order to prevent fire evacuation from being effective due to concentration of a single escape route even when a plurality of escape routes such as emergency exits exist, the route search unit 120 searches the evacuation route so that the arrival point is distributed to at least one second coordinate. can do.

The route search unit 120 may exchange communication records with other fire evacuation guidance robots connected by using wireless communication. In one embodiment, the other fire evacuation guidance robot may be a fire evacuation guidance robot disposed on another floor or a fire evacuation guidance robot disposed on the same floor.

The route search unit 120 may search for an evacuation route by further using a search record received from another fire evacuation guidance robot so that the arrival point is distributed to at least one or more second coordinates. That is, the route search unit 120 searches the evacuation route using the search records received from other fire evacuation guidance robots in addition to the current coordinates, the first coordinates, the second coordinates, and smoke generation information in order to search for an efficient evacuation route. can do.

Specifically, the search record may include an evacuation route that the fire evacuation guidance robot has searched so far. The route search unit 120 may calculate evacuation times for each emergency exit through the search record, and calculate congestion for each emergency exit based on the evacuation times for each emergency exit. As a result, the route search unit 120 may search the evacuation route such that the arrival point is distributed to at least one second coordinate based on the congestion level of each emergency exit.

The route search unit 120 may search for a route so that the evacuation route includes a route from the third coordinate to the second coordinate when the third coordinate is transmitted from the connected remote control device using wireless communication. For example, when receiving the third coordinates from the remote control device, the route search unit 120 may search for an evacuation route moving from the current location to the second coordinates via the third coordinates.

Through this, even when the requestor is found in another place not included in the first coordinate (ie, the third coordinate), the fire evacuation guide robot can be sent to the third coordinate where the requestor is located through remote control to induce evacuation.

The image processing unit 130 may analyze the surrounding image acquired using the image photographing apparatus 300. The image processing unit 130 may identify a person, an emergency exit, and a fire hydrant by analyzing an image, but is not limited thereto. The image processing unit 130 may transmit the image analysis results to the map generation unit 110.

The driving control unit 140 may control the motor 610, the motor driver 620, and the motor encoder 630 for autonomous driving. The driving control unit 140 may receive a feedback of the number of revolutions of the wheel measured by the motor encoder 630 and control the speed of the motor 610 (Proportional Integral Derivative).

The driving control unit 140 may measure the posture and the moving distance of the fire evacuation guidance robot using the inertial measurement device 400. The driving control unit 140 may recognize an object or a person by using sensor fusing while driving, and control driving to avoid it.

Here, the sensor fusing (Senser Fusing) refers to a technology that improves the accuracy of measurement by fusing data measured from a plurality of sensors to overcome the limitations of using a single sensor.

In one embodiment, the driving control unit 140 recognizes an obstacle based on data measured or acquired through the lidar sensor 210, the ultrasonic sensor 220, and the image photographing device 300, and determines the distance to the obstacle. Can be measured.

The lidar sensor 210 is a sensor using LiDAR (Light Detection and Ranging, LiDAR) technology, and a laser scanner shoots light and detects the returned light to obtain 3D data about the surroundings. The lidar sensor 210 may acquire 3D data for all directions in 360 degrees.

The ultrasonic sensor 220 may detect an obstacle using ultrasonic waves and measure a distance to the obstacle.

The smoke sensor 230 may measure the concentration of smoke. For example, the smoke detector may measure the smoke concentration based on a signal that varies depending on the degree of light blocking or light scattering according to the smoke concentration. In one embodiment, the smoke detector may include a photoelectric smoke detector, but is not limited thereto, and may include various types of sensors capable of detecting the concentration of smoke. The smoke sensor 230 may transmit the measured concentration of smoke to the map generator 110.

The image photographing apparatus 300 is a photographing apparatus composed of a lens and an image sensor, and may acquire a surrounding image by photographing the surroundings of a fire evacuation guidance robot. The image photographing apparatus 300 may transmit a surrounding image to a connected remote control device using wireless communication. The remote control device may share the field of view with the fire evacuation guidance robot through the surrounding image received from the image photographing device 300.

The inertial measurement unit (IMU) 400 may measure the inertia of a moving object to calculate the posture and distance of a fire evacuation induction robot. The inertial measurement device 400 may include an accelerometer capable of measuring acceleration, a gyroscope capable of measuring rotational inertia, and a magnetometer capable of measuring azimuth.

The communication unit 500 may exchange data with other fire evacuation guidance robots or remote control devices through wireless communication. The communication unit 500 may exchange search records for evacuation routes with other fire evacuation guidance robots connected using wireless communication. The communication unit 500 may transmit a surrounding image to a connected remote control device using wireless communication.

The moving means 600 includes a motor 610 for rotating the wheel, a motor driver 620 for controlling the direction and speed of the motor 610, and a motor encoder 630 for measuring the number of revolutions of the wheel. Can.

The display unit 700 may display at least one of a map generated by the map generation unit 110, a route searched by the route search unit 120, and a surrounding image captured by the image photographing device 300. The display unit 700 includes a liquid crystal display (LCD), an organic light emitting display (OLED), an electrophoretic display (EPD), and a plasma display panel (PDP) It may be a display device such as or a computer including a display device. In addition, the display unit 700 may be implemented integrally with an input unit that receives data from a user using a physical button, a touch screen, or the like.

The warning light 800 may include a light source that intermittently emits light so that the position of the fire evacuation induction robot can be easily determined in a dark situation. The light source of the warning light 800 may include a light emitting diode (LED) having low power consumption. The beacon 800 may include a color filter. For example, light emitted from the light source may be changed to red light while passing through the red color filter.

The transport means 900 can load objects. The conveying means 900 may be located below the conveying means 900 so as not to interfere with the 360 degree omnidirectional measurement of the lidar sensor 210.

The transport means 900 may further include a proximity sensor capable of confirming whether an object is loaded. The transport means 900 may further include at least one of an RFID communication module and an NFC communication module capable of obtaining information from an RFID tag, an NFC tag, etc., attached to the loaded object. In one embodiment, the transport means 900 may obtain the destination coordinates from the RFID tag or NFC tag attached to the loaded object, and may transmit the obtained destination coordinates to the route search unit 120. The route search unit 120 may search for a route from the RFID tag or NFC tag attached to the loaded object to the destination coordinates.

3 is a flow chart for explaining a control method of a fire evacuation guided robot according to an embodiment of the present invention.

Referring to FIG. 3, the fire evacuation induction robot may operate in a transport robot mode at normal times (S100). The fire evacuation induction robot may operate by switching to a fire evacuation mode when a disaster situation such as a fire occurs (S200). The fire evacuation mode may be activated when a fire alarm signal is received from a fire alarm installed in a building or when the concentration of smoke measured by the smoke sensor 230 is greater than or equal to a predetermined reference value.

When the fire evacuation mode is activated, the fire evacuation guidance robot searches the evacuation route through the route search unit 120 and receives the first coordinates stored through self-detection or received from a connected remote control device using wireless communication. The third coordinate may be used to move to a rescue location with a requesting assistant and lead to an evacuation route (S300).

The fire evacuation induction robot may repeat the step S300 when the request assistance is left after evacuating the request assistance to the evacuation route. In this case, the structural position may be updated based on the remaining requestor position (S500).

The requestor location can be updated using the first coordinates stored through self-detection or the third coordinates received from the remote control device connected using wireless communication.

As described above, the fire evacuation induction robot according to the present invention performs a function of autonomous driving inside the building and transports objects during normal times, and when a fire occurs, it can function as a fire evacuation induction robot without any additional input and reacts quickly. can do.

In addition, the fire evacuation induction robot according to the present invention can grasp the location of people present inside the building, so that when a fire occurs, it is possible to quickly approach the rescue location where there are request aids and to induce evacuation of the request aids.

The present invention described above has been described with reference to the embodiments shown in the drawings, but this is merely exemplary, and those skilled in the art will understand that various modifications and variations of the examples are possible. However, it should be considered that such modifications are within the technical protection scope of the present invention. Therefore, the true technical protection scope of the present invention should be determined by the technical spirit of the appended claims.

100: control unit 110: map generation unit
120: path search unit 130: image processing unit
140: driving control unit 210: lidar sensor
220: ultrasonic sensor 230: smoke sensor
300: imaging device 400: inertial measurement device
500: communication unit 600: means of transportation
700: display unit 800: warning light
900: means of transport

Claims (18)

A map generator that generates a map using a SLAM (Simultaneous Localization And Mapping) algorithm and measures current coordinates based on the generated map;
A route search unit for searching a route using the map;
An image capturing apparatus for acquiring surrounding images; And
Including transportation,
In the transport robot mode, the interior of the building moves, and the map generation unit generates the map, analyzes the surrounding image acquired through the imaging device, stores first coordinates when a person is identified, and second coordinates when an emergency exit is identified. Save it,
In the fire evacuation mode, the fire evacuation guide robot moves the route search unit to search for an evacuation route using the current coordinates, the first coordinates, and the second coordinates, and moves along the evacuation route.
According to claim 1,
Further comprising a lidar sensor for obtaining three-dimensional data about the surroundings,
The SLAM algorithm is characterized in that using the three-dimensional data obtained through the lidar sensor, fire evacuation guidance robot.
According to claim 1,
Further comprising a smoke sensor for measuring the concentration of smoke,
The map generation unit generates smoke generation information using the concentration of the smoke and the current coordinates,
The smoke generation information, it characterized in that it includes at least one of the smoke generation area, smoke concentration and the direction of the smoke, fire evacuation guidance robot.
The method of claim 3, wherein the route search unit
And evacuating the evacuation route using the smoke generation information.
The method of claim 3, wherein the fire evacuation mode
It is activated when the concentration of smoke measured by the smoke sensor is greater than or equal to a predetermined reference value or when a fire alarm signal is received from a fire alarm installed in a building, a fire evacuation induction robot.
The method of claim 1, wherein the route search unit
The evacuation route can be further exchanged with other fire evacuation guidance robots connected by using wireless communication, so that the evacuation route for the evacuation route can be exchanged with the at least one second coordinate. Fire evacuation guidance robot, characterized in that the navigation.
The method of claim 1, wherein the route search unit
When receiving a third coordinate from a remote control device connected using wireless communication in the fire evacuation mode, it is characterized in that the route is searched to include a route from the third coordinate to the second coordinate. A, fire evacuation induction robot.
The method of claim 7, wherein the imaging device
A fire evacuation induction robot, characterized in that the surrounding image is transmitted to the remote control device.
According to claim 1,
It characterized in that it further comprises a transport means for loading the goods, fire evacuation guided robot.
In the control method of the fire evacuation guidance robot, including a transport robot mode and a fire evacuation mode,
The transport robot mode
A map generation step of moving a building and generating a map using a SLAM (Simultaneous Localization And Mapping) algorithm, and measuring current coordinates based on the generated map; And
Analyzing the surrounding image acquired through the imaging device to store the first coordinates when a person is identified, and storing the second coordinates when an emergency exit is identified,
The fire evacuation mode is
Searching for an evacuation route using the current coordinates, the first coordinates, and the second coordinates; And
And moving along the evacuation route.
The method of claim 10, wherein the SLAM algorithm
Characterized in that using the three-dimensional data obtained through the lidar sensor, a fire evacuation guidance robot control method.
The method of claim 10, wherein the fire evacuation mode
Further comprising the step of generating smoke generation information using the concentration of the smoke measured by the smoke sensor and the current coordinates,
The smoke generation information, it characterized in that it comprises at least one of the smoke generation area, smoke concentration and the direction of the smoke, control method of the fire evacuation induction robot.
The method of claim 12, wherein the step of navigating the evacuation route is
And characterized in that the search for the evacuation route by further using the smoke generation information, the control method of the fire evacuation guidance robot.
The method of claim 12, wherein the fire evacuation mode
It is characterized in that it is activated when the concentration of smoke measured by the smoke sensor is greater than or equal to a predetermined reference value or when a fire alarm signal is received from a fire alarm installed in a building, the method for controlling a fire evacuation induction robot.
The method of claim 10, wherein the fire evacuation mode
Further comprising the step of exchanging a search record for the evacuation route with another fire evacuation guidance robot connected using a wireless communication,
The step of searching for the evacuation route is
A control method of a fire evacuation guided robot, characterized in that the evacuation route is further searched using the search record so that the arrival point is distributed to at least one of the second coordinates.
The method of claim 10, wherein the step of navigating the evacuation route is
When receiving a third coordinate from a remote control device connected by using wireless communication, the evacuation route is characterized in that the route is searched to include a route moving from the third coordinate to the second coordinate. How to control the robot.
17. The method of claim 16, The imaging device
And transmitting the surrounding image to the remote control device.
The method of claim 10, wherein the transport robot mode
And searching for a transportation route using the current coordinates and a destination coordinate input from the outside, and transporting the object loaded on the transportation means along the transportation route. .

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