KR20210106115A - Moving search device - Google Patents

Abstract

In a mobile search apparatus moving according to a motor drive according to an embodiment of the present invention, a scanning unit for collecting peripheral information by scanning a peripheral area of the mobile search apparatus, a map maker for creating a map based on the peripheral information; A location detecting unit detecting the location of the moving search device and displaying it on the map, a route setting unit displaying a moving path of the moving search device on the map, and controlling driving of the scanning unit according to the location of the moving search device, , it may include a control unit for controlling the torque value of the motor.

Description

Moving search device

The present invention relates to a mobile search apparatus, and more particularly, to a mobile search apparatus that can search a large area at once while saving energy of a battery included in the mobile search apparatus.

Recently, unmanned vehicles, robots, etc. have been used to reduce human casualties in inspecting or searching dangerous areas. Here, the danger zone may include the inside of a building before the collapse, a building where a counter-terrorism transition is carried out, an area where landmines are buried, and a contaminated area.

In addition, recently, autonomous driving technology has been applied to unmanned vehicles and robots to broaden the search area and target. Accordingly, technology for autonomous vehicles to detect a search area on their own and deliver the results to a user is being developed.

However, even if an autonomous driving search is conducted using such wireless communication, it is currently possible to search only a short range due to energy limitations. Currently, search robots, etc., are powered by the energy of a battery mounted inside, so the range that can be searched at once without charging is limited.

In addition, even if a panel capable of storing solar energy is attached to expand the search range, its own weight is increased, and there is a limit because the energy may not be charged when searching inside a building, tunnel, subway, etc.

Accordingly, there is a need for a device capable of conserving a battery to widen a search range at a time.

Korean Patent Publication No. 10-2019-0119234 (2019.10.22)

SUMMARY OF THE INVENTION An object of the present invention is to provide a mobile search device for searching a surrounding area that can search a large range at once by saving battery energy.

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

In a mobile search apparatus moving according to a motor drive according to an embodiment of the present invention, a scanning unit for collecting peripheral information by scanning a peripheral area of the mobile search apparatus, a map maker for creating a map based on the peripheral information; A location detecting unit detecting the location of the moving search device and displaying it on the map, a route setting unit displaying a moving path of the moving search device on the map, and controlling driving of the scanning unit according to the location of the moving search device, , it may include a control unit for controlling the torque value of the motor.

The map maker may determine a risk level according to the surrounding information, and display the risk level on a map area corresponding to the surrounding area.

The route setting unit may set the movement route to a lower area among a plurality of risk level areas displayed on the map.

The plurality of risk classes and a storage unit including data in which the maximum torque value of the motor is set according to the rotation speed of the motor, wherein the maximum torque value of the motor included in the data is reduced as the risk level is lower can be set.

The control unit may determine a risk level of the map area in which the location of the mobile search device is displayed, and set the torque value of the motor within the maximum torque value corresponding to the determined risk level.

The control unit may not drive the scanning unit when the risk level of the area in which the mobile search apparatus is located is less than or equal to a preset risk level.

In the mobile search apparatus according to the embodiment of the present invention, the battery can be saved as the controller controls the scanning unit and the motor according to the location of the mobile search apparatus indicated on the map, so that a wide range can be searched at once compared to the related art.

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

1 is a diagram illustrating a mobile search field and a station according to an embodiment of the present invention.
2 is a block diagram illustrating a mobile search apparatus according to an embodiment of the present invention.
3 is a diagram schematically illustrating a map created by a map creation unit according to an embodiment of the present invention.
4 is a graph showing the maximum torque value of the motor set according to the risk class according to the embodiment of the present invention.
5 and 6 are diagrams illustrating a search method of a mobile search apparatus according to an embodiment of the present invention.

Advantages and features of the present invention, and a method for achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only these embodiments allow the disclosure of the present invention to be complete, and common knowledge in the art to which the present invention pertains. It is provided to fully inform the possessor of the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout.

Accordingly, in some embodiments, well-known process steps, well-known structures, and well-known techniques have not been specifically described in order to avoid obscuring the present invention.

The terminology used herein is for the purpose of describing the embodiments and is not intended to limit the present invention. As used herein, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, includes and/or comprising means not excluding the presence or addition of one or more other components, steps and/or actions other than the stated components, steps and/or actions. use it as And, “and/or” includes each and every combination of one or more of the recited items.

Further, the embodiments described herein will be described with reference to perspective, cross-sectional, side view and/or schematic views that are ideal illustrative views of the present invention. Accordingly, the form of the illustrative drawing may be modified due to manufacturing technology and/or tolerance. Accordingly, embodiments of the present invention are not limited to the specific form shown, but also include changes in the form generated according to the manufacturing process. In addition, in each drawing shown in the embodiment of the present invention, each component may be illustrated in a somewhat enlarged or reduced manner in consideration of convenience of description.

Hereinafter, a mobile search apparatus 1 according to an embodiment of the present invention will be described.

1 is a diagram illustrating a mobile search apparatus 1 and a station according to an embodiment of the present invention, FIG. 2 is a block diagram illustrating a mobile search apparatus 1 according to an embodiment of the present invention, and FIG. It is a view schematically showing a map created by a map making unit according to an embodiment of the present invention, and FIG. 4 is a graph showing the maximum torque value of the motor 12 set according to the risk class according to the embodiment of the present invention.

The mobile search apparatus 1 according to the embodiment of the present invention may be driven by a battery 14 and a motor 12 , and as shown in FIG. 1 , the battery 14 of the mobile search apparatus 1 is a station It can be replaced or recharged at 100 . In this case, the user may directly replace the battery 14 in the station 100 or charge the battery 14 by wire or wirelessly.

In addition, the mobile search apparatus 1 of the present invention may be formed of a vehicle or a robot, but is not limited thereto.

Referring to FIG. 2 , the mobile search apparatus 1 according to the embodiment of the present invention includes a motor 12 , a control unit 10 , a battery 14 , a scanning unit 16 , a map maker, a route setting unit, and a location. It may include a sensing unit and a storage unit 24 .

The controller 10 may control the overall movement of the mobile search apparatus 1 by controlling the motor 12 , the scanning unit 16 , the map maker, the route setting unit, the position sensing unit, and the battery 14 . Accordingly, the controller 10 may control the acceleration, deceleration, and movement direction of the moving search apparatus 1 by controlling the traveling speed, braking, steering, etc. of the moving search apparatus 1 . That is, the mobile search apparatus 1 may be moved by autonomous driving through the control unit 10 .

The motor 12 is driven by the control unit 10 and, when driven, moves the mobile search apparatus 1 , and the battery 14 may supply energy to each component of the mobile search apparatus 1 .

The scanning unit 16 collects surrounding information by scanning a surrounding area of the mobile search apparatus 1 . Here, the surrounding information may be information on at least one of obstacles, people, road conditions, and pollutants. Accordingly, the scanning unit 16 may include various sensors, which determine obstacles, objects, road conditions, pollutants, etc. in the vicinity of the mobile search apparatus 1 through the sensors, and the control unit 10 determines the Through this, it is possible to determine whether the movement search apparatus 1 is movable or impossible, or whether to detour or reverse.

For example, it may include a camera sensor, a radar sensor, a lidar sensor, an ultrasonic sensor, and the like.

Meanwhile, as the moving search apparatus 1 moves, an area to be searched or scanned may be preset. Accordingly, the moving search apparatus 1 may continue to move until all of the preset areas are scanned.

The map creation unit 18 serves to create a map based on the surrounding information collected by the scanning unit 16 . Accordingly, it is possible to display related contents in a picture, text, diagram, etc. in an area corresponding to the location of the surrounding information collected by the scanning unit 16 on the map.

For example, when the mobile search apparatus 1 collects information on rocks in the first region, pictures and texts on rocks may be displayed in an area corresponding to the first region on the map. In addition, when information about a person is collected in the second area, a picture or text about the person may be displayed in an area corresponding to the second area on the map.

Also, the map creation unit 18 may determine the risk level according to the surrounding information, and may display the risk level on the map area corresponding to the surrounding area. For example, the first level may be displayed on the map area corresponding to the first area through the surrounding information collected in the first area, and the second area may be displayed through the surrounding information collected in the second area different from the first area. The second level may be displayed on the map area corresponding to . That is, the risk level may be displayed for each area on the map based on various surrounding information collected as the mobile search apparatus 1 moves.

Specifically, as the mobile search apparatus 1 moves, a weight may be added to each piece of surrounding information collected as it moves, and a risk level may be displayed on the map according to the weight value.

In addition, as shown in Table 1 below, data in which a risk level is set according to a weight value may be included in the storage unit 24 .

weight value hazard class color below 10 1st level green 20 or less 2nd level yellow 40 or less 3rd level pink over 40 4th level Red

That is, one of a plurality of risk classes may be determined according to a weight value set through the collected surrounding information, and the determined risk class may be displayed on the map area, but displayed in a color corresponding to the risk class.

For example, if the map builder 18 determines the surrounding information collected in the first area of the mobile search apparatus 1 and the weight value is 15, the first area is determined as the second level L2, An area corresponding to the first area on the map may be displayed in yellow. In addition, when the weight value of the second region is 45, the second region may be determined as the fourth level L4, and the region corresponding to the second region on the map may be displayed in red.

Accordingly, as shown in FIG. 3 , the first to fourth levels L1 , L2 , L3 , and L4 may be displayed with colors on the map.

Meanwhile, in Table 2, a total of four risk grades are described, but the present invention is not limited thereto, and the number of risk grades may be changed by the user as needed.

In addition, an unscanned area may be determined to be higher than or equal to a preset risk level. For example, although it is determined as the fourth level L4, it may not be displayed on the map.

The weight value may be formed, for example, as shown in Tables 2 and 3 below, which may be formed as data and included in the storage unit 24 .

obstacle spacing
weight value
Mobile Search Device (1) Width x 2 Exceeds One
Mobile Reconnaissance Device (1) W x 2 or less, Mobile Reconnaissance Device (1) W x 1.5 or less 2
Mobile Reconnaissance Device (1) W x 1.5 or less, Mobile Reconnaissance Device (1) W x 1.2 or less 3
Mobile Reconnaissance Device (1) W x 1.2 or less, Mobile Reconnaissance Device (1) W x 1.1 or less 4

road surface condition weight value
paved road One
dirt road 5
gravel road 10
Vertical obstacles such as rocks (2 cm or less in height) 15
Vertical obstacles such as bearings (less than 5 cm in height) 20
Vertical obstacles such as bearings (less than 10 cm in height) 25
Vertical obstacles such as bearings (over 10 cm in height) 30

In Table 2 above, the width of the mobile search apparatus 1 may be defined as the surface length of the mobile search apparatus 1 formed in a direction perpendicular to the forward movement direction of the mobile search apparatus 1 .

Accordingly, when information on a plurality of rocks is collected in the first area through the scanning unit 16 of the moving search apparatus 1, the distance between the plurality of rocks is equal to or less than twice the width of the moving search apparatus 1 and the movement When the width of the search apparatus 1 exceeds 1.5 times, the weight of the first region may be set to 2 . Also, if it is determined that the height of the rock in the first area is 2 cm or less, 15 is added to the weight value of the first area, and when the road in the first area is a paved road, 1 is added to the weight value of the first area will add more

Accordingly, since the weight value of the first region may be 18, in this case, the risk level of the first region may be set to the second level, and the map builder 18 is positioned on the map region corresponding to the first region can be displayed in yellow.

In this way, the map preparation unit 18 may determine the weight value and the risk level based on the surrounding information obtained as the mobile search apparatus 1 travels, and display the risk level on the corresponding area on the map, respectively.

Accordingly, at least one risk level may be displayed on the map.

Meanwhile, in addition to the configurations shown in Tables 2 and 3, weight values according to other objects may further include data. In addition, such data may be stored in the storage unit 24 as described above, and the map creation unit 18 may receive data from the storage unit 24 when creating a map.

The position detecting unit 22 serves to detect the position of the mobile search apparatus 1 and display it on the map. For example, the location detecting unit 22 may include a satellite navigation device such as GPS, and may display the vehicle's location measured through this on a map.

The route setting unit 20 serves to display the movement path of the moving search apparatus 1 on the map created by the map creation unit 18 . For example, the movement path may be displayed from the location of the movement search apparatus 1 displayed on the map. Accordingly, when the moving search apparatus 1 is moved, it can be moved through the set movement path.

Specifically, the route setting unit 20 may set a movement route to a lower location among a plurality of risk grade areas displayed on the map. For example, when the first area is determined to be the second level L2 and the second area adjacent to the first area is determined to be the third level L3, the movement path is set to the second level L2 can be

As a result, since the moving path is set to pass through areas with a low risk level through which the moving search apparatus 1 can pass even if there are no obstacles or there are obstacles, damage to the moving search apparatus 1 of the present invention can be prevented. .

Accordingly, as shown in FIG. 3 , the movement path DL may be displayed on the map. As a result, the controller 10 may move the movement search apparatus 1 along a movement path by driving the motor 12 .

Meanwhile, the controller 10 may control the driving of the scanning unit 16 and the torque value of the motor 12 according to the position of the moving search apparatus 1 .

Specifically, the scanning unit 16 may not be driven through the control unit 10 when the risk level of the area in which the mobile search apparatus 1 is located is less than or equal to a preset risk level.

When the risk level is low, since the mobile search apparatus 1 can be moved without difficulty, there is no need to move while driving the scanning unit 16 . Accordingly, as the scanning unit 16 is not driven, the battery 14 can be saved.

For example, the preset risk level is formed as a third level, so that the scanning unit 16 may not be driven below the second level of the risk level and the scanning unit 16 may operate at the third level or higher.

On the other hand, when the mobile search apparatus 1 is located in an unscanned area, it is determined that it is located in an area equal to or higher than a preset risk level, and the scanning unit 16 may be driven.

As for the torque value of the motor 12 , when the movement search device 1 is located in an area with a low risk level, output of a high torque value may be restricted through the control unit 10 .

Specifically, data in which the maximum torque value of the motor 12 is set according to a plurality of risk classes and the rotation speed of the motor 12 may be included in the storage 24, and the maximum torque value of the motor 12 included in the data is It may be set to be reduced as the risk class is lower.

Accordingly, the control unit 10 may determine the risk level of the map area in which the location of the mobile search apparatus 1 is displayed, and set the torque value of the motor 12 within the maximum torque value corresponding to the previously determined risk level. .

For example, the maximum torque value set in the data may be set to decrease from the fourth level L4 to the first level L1 as shown in FIG. 4 .

As a result, when the mobile search apparatus 1 is located at a low risk level, the control unit 10 may limit the maximum torque value output from the motor 12 , but may set the speed faster. Accordingly, the mobile search device 1 can quickly move to a safe route while saving the battery 14 .

Conversely, as the mobile search device 1 is positioned at a higher risk level, the controller 10 may set a higher maximum torque value of the motor 12 and limit the speed. Accordingly, the mobile search apparatus 1 can be safely moved while collecting surrounding information.

Hereinafter, a search method of the mobile search apparatus 1 according to another embodiment of the present invention will be described.

5 and 6 are diagrams illustrating a search method of the mobile search apparatus 1 according to an embodiment of the present invention.

The search method of the mobile search apparatus 1 according to another embodiment of the present invention includes a motor 12 driving step (S100), a position determination step (S200), a search step (S300), a battery 14 limit determination step ( S400), a return step (S500), a charging step (S600), a map creation step (S700), a route setting step (S800), and a search end determination step (S900) may be determined.

The motor 12 driving step S100 is a step of driving the motor 12 of the mobile search apparatus 1 located in the station 100 . This is a step in which the controller 10 controls the motor 12 and the movement of the movement search apparatus 1 starts. In this case, if there is an existing map and a movement route is set on the map, the movement search apparatus 1 may move according to the predetermined route under the control of the controller 10 .

In the location determination step S200, as the moving search apparatus 1 is moved, the location detecting unit 22 determines the location of the moving search apparatus 1, and the risk level of the area in which the moving search apparatus 1 is located on the map is a step in determining In this case, as described above, the controller 10 may limit the output of the high torque value of the motor 12 according to the risk level of the map area in which the mobile search apparatus 1 is located.

In addition, the location determination step ( S200 ) includes a risk level determination step ( S210 ) of determining whether the risk level of the area in which the mobile search apparatus 1 is located is equal to or greater than a preset risk level, and the risk of the area in which the mobile search apparatus 1 is located When the level is not higher than the preset risk level, the scanning OFF step (S220) in which the scanning unit 16 is not driven and the risk level of the area in which the mobile search device 1 is located is greater than or equal to the preset risk level, the scanning unit ( 16) may include a scanning ON step (S230) for driving. Here, the preset risk level may be set to the third level, but is not limited thereto.

In this way, by limiting the torque value of the motor 12 and the driving of the scanning unit 16 according to the position of the mobile search apparatus 1, the battery 14 of the mobile search apparatus 1 of the present invention can be saved.

In addition, after the scanning OFF step (S220), the risk level determination step (S210) may be performed, and after the scanning ON step (S230), the search step (S300) may be performed.

The search step ( S300 ) is a step of scanning surrounding information through the driven scanning unit 16 . Accordingly, the mobile search apparatus 1 can move while collecting surrounding information by scanning the previously unscanned area, more accurately determine obstacles and objects during movement, and prevent damage to the mobile search apparatus 1 . have.

The battery 14 limit determination step ( S400 ) is a step of determining whether the battery 14 needs to be charged by measuring the capacity and the distance to the station. When charging is necessary, the process proceeds to the return step (S500), and when charging is not required, the position determination step (S200) is performed again.

The returning step S500 is a step of moving the mobile search apparatus 1 to the station when it is determined that charging is necessary in the battery 14 limit determination step S400 . Accordingly, the route setting unit 20 may set a route so that the mobile search apparatus 1 moves to the station.

The charging step ( S600 ) is a step of charging the mobile search apparatus 1 in the station.

The map creation step ( S700 ) is a step of creating a map through the surrounding information collected by the scanning unit 16 . If there is an existing map, information on the newly scanned area and additional information on the previously scanned area may be updated on the map.

Also, as described above, at least one risk level may be displayed on the map through the collected surrounding information.

The route setting step S800 is a step of setting a moving route on a newly created map or an updated map. As described above, the movement path may be set to a path having a low risk level.

The search end determination step S900 determines whether to stop the operation of the mobile search apparatus 1 , and may be determined based on the map prepared in the step of determining whether all preset search ranges have been searched. Specifically, when the preset area and the area of the prepared map are the same, it is determined that the search is finished, and when the prepared map area is smaller than the preset area, the motor 12 driving step ( S100 ) may be performed again.

Those of ordinary skill in the art to which the present invention pertains will understand that the present invention may be embodied in other specific forms without changing the technical spirit or essential features thereof. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. The scope of the present invention is indicated by the following claims rather than the above detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalent concepts should be interpreted as being included in the scope of the present invention. do.

1: mobile search device
10: control
12: motor
14: battery
16: scanning unit
18: Cartography Department
20: route setting unit
22: position detection unit
24: storage
100: station

Claims (6)

In the mobile search apparatus moved according to the motor drive,
a scanning unit configured to scan a surrounding area of the mobile search apparatus to collect surrounding information;
a map creation unit for creating a map based on the surrounding information;
a location detecting unit for detecting the location of the mobile search device and displaying it on the map;
a path setting unit for displaying a moving path of the moving search device on the map; and
and a controller for controlling driving of the scanning unit according to a position of the moving search apparatus and controlling a torque value of the motor. According to claim 1,
The map maker
A mobile search apparatus for determining a risk level according to the surrounding information and displaying the risk level on a map area corresponding to the surrounding area. 3. The method of claim 2,
The route setting unit is a moving search device for setting the movement route to a lower area among a plurality of risk level areas displayed on the map. 4. The method of claim 3,
Further comprising a storage unit including data in which the maximum torque value of the motor is set according to the plurality of risk classes and the rotation speed of the motor,
The mobile search device is set to decrease as the risk level is lower, the maximum torque value of the motor included in the data. 5. The method of claim 4,
The control unit determines a risk level of the map area in which the location of the mobile search apparatus is displayed, and sets the torque value of the motor within the maximum torque value corresponding to the determined risk level. 3. The method of claim 2,
The controller is configured to not drive the scanning unit when the risk level of the area in which the mobile search apparatus is located is less than or equal to a preset risk level.

Images