KR20210121474A - Robot with high accuracy position determination, and method for operating the same - Google Patents

Abstract

The present invention provides a moving robot with high determination accuracy, which comprises: a main body; a driving unit for moving the main body; a storage unit storing a map of a driving area, wherein the map includes a position of a plurality of reflecting bodies; a plurality of lidars provided in the main body and sensing an object on a front side by using laser light; and a control unit recognizing a current position to control the driving unit to drive along a moving path inside the driving area. The control unit measures a distance and a direction with respect to the plurality of reflecting bodies by using the lidar and calculates a current position by using the measured distance and the measured direction with respect to the plurality of reflecting bodies. The moving robot can accurately measure the current position of the moving robot.

Description

Mobile robot with high positioning accuracy and its operation method {ROBOT WITH HIGH ACCURACY POSITION DETERMINATION, AND METHOD FOR OPERATING THE SAME}

The present invention relates to a mobile robot with high positioning accuracy and an operating method thereof, and more particularly, to a mobile robot with high positioning accuracy, in which the mobile robot can improve positioning accuracy by using a lidar provided to detect an obstacle in front, and It relates to a method of its operation.

Recently, research on mobile robots incorporating autonomous driving technology has been actively conducted. In order to move freely within a normal driving area (or mission area), a mobile robot that performs such autonomous driving must accurately measure its current position to be able to accurately move to a target position.

However, when the mobile robot moves within the driving area, if slip occurs during driving due to various external conditions, forcibly changed position due to external force, etc., or if the floor is not flat, the measured There is a problem that an error may occur in the current position.

A mobile robot with an error in positioning causes various problems as well as movement according to commands.

Conventionally, various methods have been known for accurately positioning the current position of the mobile robot, but the present inventor intends to propose a new method for measuring the current position of the mobile robot.

US 10-0826828 B1

An object of the present invention is to provide a mobile robot with high positioning accuracy and an operating method thereof by recognizing a reflector having an absolute position on a map by utilizing a plurality of lidars that are included in the existing mobile robot.

In order to solve the above problems, the present invention provides a main body, a driving unit for moving the main body, and a map for the driving area - the map includes a location of a plurality of reflectors - a storage unit for storing a plurality of objects in the main body A dog is provided, comprising: a lidar that detects an object in front by using laser light; A mobile robot with high positioning accuracy, characterized in that it measures the distance and direction of the plurality of reflectors using the lidar, and calculates the current position using the measured distance and direction of the plurality of reflectors provides

According to an embodiment, the controller recognizes the reflector based on the reflectance of the laser light reflected by the reflector using the lidar, and based on the measured distances and directions for the plurality of reflectors A triangulation method can calculate the current position.

According to an embodiment, the reflector is characterized in that a plurality of unit reflective members are grouped in a predetermined pattern, and the controller may identify the reflector based on the pattern.

According to an embodiment, the reflector may be in the form of a polygonal prism or a cylinder, and the pattern may be a bar code pattern of a horizontal pattern.

According to an embodiment, the control unit includes a first positioning result using an attitude sensor, a second positioning result using an encoder, a third positioning result according to a scan match method using the lidar, and the lidar using the lidar. The current position can be calculated by combining the fourth positioning result according to the triangulation method.

According to an embodiment, the control unit may convert the sensor range by moving the center of the sensor range formed by each of the plurality of lidar to a reference point serving as a reference point for the current positioning of the mobile robot.

According to an embodiment, the reference point may be a center position of the main body on a plane.

In addition, the present invention provides a method of operating a mobile robot including a main body, a driving unit for moving the main body, and a lidar provided in plurality on the main body and detecting an object in front by using laser light. In the following, the storage unit prepares a map for the driving area, the map including the positions of a plurality of reflectors, and the control unit recognizes the current position and drives the vehicle along the movement path within the driving area. A step of controlling the driving unit, the control unit measuring the distance and direction of the plurality of reflectors using the lidar, and the control unit, the measured distance and direction of the plurality of reflectors It provides a method of operating a mobile robot with high positioning accuracy, including calculating a current position using

According to an embodiment of the present invention, it is possible to recognize a reflector having an absolute position on a map and accurately measure the current position of the mobile robot based on this.

In this case, in order to accurately measure the current position, the mobile robot may utilize a plurality of lidars included in the existing mobile robot without a separate additional device for measuring the current position.

In addition, by arranging a plurality of unit reflective members in a predetermined pattern to form a reflector, the absolute position of the mobile robot can be measured without correcting the current position.

1 is an exemplary view of the appearance of a mobile robot according to an embodiment of the present invention.
2 is a block diagram of a mobile robot according to an embodiment of the present invention.
3 is a view showing the sensor range of the lidar of the mobile robot according to an embodiment of the present invention.
4 is a view showing the sensor range of the lidar converted by the mobile robot according to an embodiment of the present invention.
FIG. 5 is a diagram for explaining a method for a mobile robot to measure a current position using a reflector according to an embodiment of the present invention.
6 is a view showing the appearance of a reflector according to an embodiment of the present invention.
7 is a view for explaining a method of calculating a current position by a combination of various methods by a mobile robot according to an embodiment of the present invention.
8 is a diagram for explaining a process of calculating a current position by a mobile robot using a scan-match method using a lidar according to an embodiment of the present invention.
9 is a step-by-step flowchart of a method of operating a mobile robot according to an embodiment of the present invention.

Hereinafter, the embodiments disclosed in the present specification will be described in detail with reference to the accompanying drawings, but the same or similar components are assigned the same reference numerals regardless of reference numerals, and overlapping descriptions thereof will be omitted. The suffixes "module" and "part" for the components used in the following description are given or mixed in consideration of only the ease of writing the specification, and do not have distinct meanings or roles by themselves. In addition, in describing the embodiments disclosed in the present specification, if it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed in the present specification, the detailed description thereof will be omitted. In addition, the accompanying drawings are only for easy understanding of the embodiments disclosed in the present specification, and the technical spirit disclosed herein is not limited by the accompanying drawings, and all changes included in the spirit and scope of the present invention , should be understood to include equivalents or substitutes.

When a component is referred to as being “connected” or “connected” to another component, it is understood that the other component may be directly connected or connected to the other component, but other components may exist in between. it should be On the other hand, when it is said that a certain element is "directly connected" or "directly connected" to another element, it should be understood that no other element is present in the middle.

The singular expression includes the plural expression unless the context clearly dictates otherwise.

In this specification, terms such as "comprises" or "have" are intended to designate that the features, numbers, steps, operations, components, parts, or combinations thereof described in the specification exist, but one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof.

mobile robot

1 is an exemplary view of the exterior of a mobile robot according to an embodiment of the present invention, and FIG. 2 is a configuration diagram of a mobile robot according to an embodiment of the present invention.

1 and 2, the mobile robot 10 with high positioning accuracy according to an embodiment of the present invention includes a main body, a driving unit 120 for moving the main body, and a map for a driving area A storage unit 130 for storing , a plurality of lidars provided in the main body to detect an object in front using laser light, and a current position are recognized and driven along a movement path within the driving area It may include a control unit 110 for controlling the driving unit 120 so as to. Here, the map may include a location in which a plurality of reflectors 200 are disposed, and the control unit 110 measures the distance and direction of the plurality of reflectors located around the body using a lidar, and the measured A current location may be calculated using distances and directions of the plurality of reflectors.

As described above, the mobile robot 10 according to an embodiment of the present invention does not include a separate additional device to measure the current location, but utilizes a plurality of lidars that the mobile robot has in the past, By recognizing a reflector having an absolute position and measuring the current position based on this, it is possible to improve positioning accuracy when measuring the current self position.

However, since the components shown in FIGS. 1 and 2 are not essential, it goes without saying that a mobile robot having high positioning accuracy having more or fewer components than that can be implemented.

Hereinafter, each component will be described.

As shown in FIG. 1 , the mobile robot 10 according to an embodiment of the present invention has a predetermined length and width, but may have a relatively low height. That is, the body forming the exterior may have a height shorter than a width and a length.

The body of the present invention is not necessarily limited thereto, but as shown in FIG. 3 and the like, the distance between the two lidars 141a and 141b facing each other among the side surfaces of the body, that is, a sensor formed by each of the arranged lidars It may have an appearance such that the distance between the centers of the range is greater than or equal to a predetermined distance.

The driving unit 120 may include at least one wheel for moving the main body of the mobile robot 10 and a driving device including a motor for rotating the wheel.

The driving unit 120 may further include a steering device for setting the driving direction in the forward, backward, left, and right directions, but when the steering device is not included, the driving unit 120 rotates the wheels provided on the left and right sides without the steering device. The driving direction of the main body may be changed to the left or right by differentiating the speed, or the main body may be rotationally driven.

Although not shown in the drawings, the mobile robot 10 according to an embodiment of the present invention may further include a battery for supplying power necessary for the overall operation, wherein the battery is preferably a rechargeable secondary battery.

The storage unit 130 may store a control program for controlling or driving the mobile robot 10 and data corresponding thereto. Specifically, the storage unit 130 may store a map of the driving area, and may store audio information, image information, obstacle information, location information, and the like. Also, the storage unit 130 may store a driving method and the like.

The storage unit 130 may mainly use a non-volatile memory, where the non-volatile memory (NVM, NVRAM) is a storage device capable of continuously maintaining stored information even when power is not supplied, for example, It may be a ROM, a flash memory, a magnetic computer storage device (eg, a hard disk, a diskette drive, a magnetic tape), an optical disk drive, a magnetic RAM, a PRAM, and the like.

The controller 110 is a means for controlling the overall operation of the mobile robot 10 , and may execute various application programs in conjunction with each component of the mobile robot 10 and perform related operations. That is, the control unit 110 may control the driving of the mobile robot 10 by processing signals or data input/output through the components of the mobile robot 10 or by driving an application program stored in the storage unit 130 . have. In addition, the controller 110 may control at least some of the components of the mobile robot 10 in order to drive the application program stored in the storage unit 130 .

The control unit 110 may generate a map for the driving area, as shown in FIG. 8, by using the obstacle information detected by the front detection sensor or the obstacle detection sensor and the position recognized by the at least one camera sensor. have. Alternatively, the map is not generated while the mobile robot 10 autonomously drives, but may be provided from the outside and stored in the storage unit 130 . A method of generating a map for the driving region follows a known method, and is not particularly limited in the present invention.

Among the terms used in this specification, 'driving area' is an area formed by an obstacle such as a wall, and may refer to an area in which the mobile robot 10 can move or travel.

In addition, the map according to an embodiment of the present invention may include positions of the plurality of reflectors 200 . The reflector 200 is disposed at a fixed position in the driving area, and the map may have coordinate values for the absolute position of the reflector 200 . In this case, the reflector 200 is preferably disposed at a height corresponding to the height of the lidar 141 provided in the body.

The reflector 200 is an object that reflects the laser light emitted by the lidar 141, and should be distinguished from the reflectance reflected from obstacles or walls in the driving area.

That is, when the laser light emitted to the wave object using the lidar 141 is reflected and returned, the control unit 110 calculates the reflectance distribution of the received laser light, so that the reflector 200 having high reflectivity can be distinguished and identified. have.

Meanwhile, the control unit 110 may recognize the current position of the mobile robot 10 using image data captured by at least one camera (not shown) provided in the main body as in the prior art. Accordingly, signals or data output from the posture sensor 142 , the encoder 143 , the lidar 141 , etc. may be combined in order to increase the recognition accuracy of the current position. A detailed description thereof will be provided later.

The communication unit 150 is for performing communication with an external terminal device or server, and the communication method may be wired or wireless. For example, the communication method is WLAN (Wireless LAN), WiFi (Wireless Fidelity) Direct, DLNA ( Digital Living Network Alliance), Wibro (Wireless broadband), Wimax (World Interoperability for Microwave Access), HSDPA (High Speed Downlink Packet Access), etc. ), infrared communication (IrDA), Zigbee (Zigbee), such as short-distance wireless communication method may be one of.

Meanwhile, the controller 110 may set a movement path from one point to another point in the driving area, recognize the current position, and control the driving unit 120 to travel along the movement path.

To this end, the mobile robot 10 may include an input unit (not shown) for receiving various commands or inputs from the user.

The input unit may include at least one button to receive an input from the user for setting a moving point, setting a moving path, or setting an action to be performed, and the input unit may be linked to the communication unit 150 and connected to an external terminal device via wired or wireless or It can also receive various commands or inputs from the server.

Specifically, the user generates and transmits a movement command to move the mobile robot 10 to a certain point within the driving area using a remote terminal, or sets at least two points and follows the generated movement path. It is also possible to generate and transmit a driving command for driving once or twice or more.

Meanwhile, as described above, the control unit 110 may use the output signal of the sensor unit 140 to measure the current position.

The type of the sensor unit 140 is not particularly limited as long as the moving robot 10 collects information or data necessary to measure the current position, but as a specific example, the lidar 141 and the posture sensor 142 ) and the wheel sensor 143 may be any one or a combination thereof.

The lidar 141 is a means for detecting a front object using laser light, and detects a light signal reflected by irradiating light to measure the distance and direction to detect the front object. can detect The lidar 141 may be disposed in the traveling direction of the mobile robot 10, that is, in the front, rear, or left and right sides, but the arrangement is not particularly limited, and as an example, as shown in FIG. , each of the corners of the body on a plane, specifically, the front one end 141a and the other end 141b at the rear opposite to it are disposed, respectively, and the sensor ranges R1, R2 as shown in FIG. 3(b) ) can have

The control unit 110 may measure a distance and a direction from the front reflector 200 sensed by the plurality of lidars 141 provided in the body, and calculate the current position using this.

Specifically, FIG. 5 is a diagram for explaining a method for a mobile robot to measure a current position using a reflector according to an embodiment of the present invention. As shown in FIGS. 5(a) and 5(b), FIG. The mobile robot 10 identifies a plurality of reflectors A to C located in the vicinity, measures the distance and direction from the mobile robot 10 to each reflector A to C, and uses a triangulation method such as a mobile robot The current position of (10) can be calculated.

As an example, when the distance from the current position to each of the reflectors A to C is D1 to D3, the mobile robot 10 is the coordinates of each of the reflectors A to C, A(x, y), B(x1, y1). ) and C(x2, y2) as the center and the distances D1 to D3 as the radius, the point at which each virtual circle intersects may be calculated as the current position.

When the controller 110 measures the current position using the triangulation method, as shown in FIG. 5(b), it recognizes four or more reflectors exceeding three, and arbitrarily selects three reflectors among the four. and can be based on this.

However, when there are a plurality of lidars 141 provided in the main body of the mobile robot 10, the reference point, which is the reference point for the current positioning of the mobile robot 10, and the positions of the lidars 141a and 141b may not match. There is (see Figure 3).

Therefore, according to a preferred embodiment, the center position of the sensor ranges R1 and R2 formed by each of the plurality of lidars 141a and 141b is an arbitrary virtual point of the current positioning of the mobile robot 10 . By moving to coincide with the reference point P as a reference, it is possible to convert the sensor range R3 formed by the lidar 141 (see FIGS. 4(a) and 4(b)).

That is, when measuring the distance from the front reflectors recognized by each of the plurality of lidars 141a and 141b, if no one reference point is placed, the current position of the mobile robot 10, which is the positioning target, is not accurate or the same Since there is a problem that different results may be derived each time a measurement is made at a point, a reference point P is set and the center of the sensor ranges R1 and R2 formed by each of the lidars 141a and 141b is located at the reference point P ), it is possible to consistently maintain the current position of the mobile robot 10, which is the positioning target.

At this time, since the reference point P may be a target point of the current position coordinates of the mobile robot 10, which is the positioning target, as described above, any one point on the mobile robot 10 body may be used, but preferably It may be a center position of the body on a plane.

On the other hand, the posture sensor 142 (or an inertia measurement unit (IMU)) of the sensor unit 140 is a means for detecting the posture or inertia of the mobile robot 10 , and includes an acceleration sensor and a gyro. It may be made of any one of the sensors (gyro sensor) or a combination thereof. The controller 110 may calculate the moving distance and direction using this, and may determine the current position by applying the relative moving distance and direction based on the previously recognized or set initial position.

The acceleration sensor may detect a change in the moving speed of the mobile robot 10, and for example, the acceleration sensor may be attached to a position adjacent to a wheel to detect slippage or idling of the wheel. That is, the speed may be calculated using the acceleration detected by the acceleration sensor, and the sliding of the mobile robot 10 may be detected on the floor according to the difference by comparing the speed with the command speed.

The gyro sensor may detect a rotation direction and/or a rotation angle when the mobile robot 10 travels. The gyro sensor may detect the angular velocity of the mobile robot 10 and output a voltage value proportional to the angular velocity, and the controller 110 may use this to calculate the rotation direction and/or rotation angle of the mobile robot 10 have.

In addition, a wheel sensor 143 of the sensor unit 140 may be connected to the wheel to detect the number of rotations of the wheel. The wheel sensor may be, for example, an encoder (or a rotary encoder), and the encoder may detect and output the number of revolutions of at least one wheel when the mobile robot 10 drives.

The controller 110 may calculate the rotational speed and the moving speed of the mobile robot 10 by using the number of rotations of the wheels detected by the wheel sensor 143 . In addition, the control unit 110 may compare the movement speed calculated using the wheel sensor 143 with the command speed and detect the sliding of the mobile robot 10 on the floor according to the difference.

However, since the relative position from the initial position is calculated using the information output by the posture sensor 142 and/or the wheel sensor 143, the position of the main body is changed by an external force or slippage may occur depending on the condition of the floor. In such a case, there is a problem that an error may occur in the current positioning value.

Meanwhile, the control unit 110 may measure the current position by using a scan-matching method using the lidar 141 of the sensor unit 140 .

As a specific example, as shown in FIG. 8( a ), the boundary b1 of the map stored in the storage unit 130 and the boundary of the surrounding obstacle or wall recognized using the lidar 141 . (b2) does not match each other, so the controller 110 can determine that there is an error in the position and posture of the mobile robot 10 currently recognized, The position and posture may be corrected so that the boundary b2 of the obstacle or wall coincides with the boundary b1 of the pre-stored map (refer to FIG. 8(b) ).

However, as shown in FIGS. 8(a) and 8(b), if there are feature points at the boundaries b1 and b2 of the map, the position and posture of the mobile robot 10 can be corrected, but the map ( If the map) is a straight corridor, there is a problem in that it is difficult to correct the position and posture.

Therefore, according to an embodiment of the present invention, the control unit 110, as shown in FIG. 7, a first positioning result using the posture sensor 142, a second positioning result using the wheel sensor 143, The current position of the mobile robot 10 can be accurately measured by the combination of the third positioning result according to the scan-match method using the lidar 141 and the fourth positioning result according to the triangulation method using the lidar 141 . .

Here, since the first and second positioning results are relative based on a previously recognized or set initial position, and the third and fourth positioning results are absolute measurements regardless of the initial position, the controller 110 controls the first and applying at least any one of the third and fourth positioning results to the current location according to at least one of the second positioning results to remove (M2) the bias M1 estimated to the relatively estimated current positioning result. it is preferable

Meanwhile, FIG. 6 is a view showing the appearance of a reflector according to an embodiment of the present invention.

As shown in FIG. 6 , the reflector 200 according to an embodiment of the present invention is an object with high reflectivity among subjects of the lidar 141 and thus distinguishable from other objects, and the mobile robot 10 from various angles. ) may be recognized by a member capable of reflecting laser light on the outer peripheral surface of the polygonal prism, preferably on the cylinder.

At this time, in the reflector 200 , according to a preferred embodiment, a plurality of unit reflection members 201 to 203 are grouped and arranged to have a predetermined pattern, so that the control unit 110 performs unit reflection through the lidar 141 . The members 201 to 203 may be identified and patterns thereof may be recognized. The plurality of unit reflective members 201 to 203 are, for example, as shown in FIG. 6 , the unit reflective members 201 to 203 are arranged to have a horizontal pattern, or otherwise arranged to have a vertical pattern, as if It may have a bar code form, or a combination of horizontal and vertical patterns may have a grid pattern form.

Accordingly, the unit reflective members 201 to 203 are spaced apart from each other by a predetermined interval, and the interval is arranged to be different depending on the position (or height), so that the pattern formed thereby can be a unique pattern. In this case, the unit non-reflective members 210 to 240 having a different reflectivity or non-reflective unit reflective members 210 to 240 may be disposed between the unit reflective members 201 to 203 so as to have the spacing therebetween. .

As a result, the controller 110 uses the lidar 141 to arrange the unit reflective members 201 to 203 and the unit non-reflective member 210 to 240 and/or the unit reflective members 201 to 203 and By recognizing a pattern formed according to the width of the unit non-reflecting members 210 to 240 , the unique reflector 200 can be identified.

Using this, the control unit 110 uses the measurement distance and the measurement direction for the reflectors 200 of the unique absolute position recognized through the lidar 141, so that the current absolute position of the mobile robot 10 is very There is an effect that can be accurately recognized.

At this time, unit non-reflective members 210 to 240 having a predetermined width may be disposed outside the outermost unit reflecting members 201 and 203 , and a plurality of units disposed on the reflector 200 . By preventing all of the non-reflecting members 210 to 240 from having the same reflectivity, the type of the intrinsic reflector 200 that can be identified by the mobile robot 10 can be further diversified. Even if the pattern is the same visually, the mobile robot 10 can be identified as the different reflectors 200 due to the different reflectances of the unit non-reflecting members 210 to 240 .

When the driving area is very wide, it is preferable that a plurality of reflectors 200 are disposed, but when the sensitivity of the lidar 141 is low, the various combinations as above to distinguish the plurality of reflectors 200 are required. do.

Operation method of mobile robot with high positioning accuracy

9 is a step-by-step flowchart of a method of operating a mobile robot according to an embodiment of the present invention.

As shown in FIG. 9 , in the operating method of a mobile robot having high positioning accuracy according to an embodiment of the present invention, the storage unit 130 prepares a map for the driving area (S110), and the control unit 110 ) recognizing the current location and controlling the driving unit 120 to travel along the movement path within the driving area (S120), and the control unit 110 using the lidar 141 to control the plurality of reflectors 200 It may include a step (S130) of measuring a distance and a direction to the , and a step (S140) of the controller 110 calculating a current position using the measured distance and direction of the plurality of reflectors 200 (S140). .

Accordingly, the mobile robot 10 according to an embodiment of the present invention recognizes a reflector having an absolute position on the map by using a plurality of lidars that the mobile robot has in the past, and determines the current position based on this. By measuring, positioning accuracy can be improved.

Since the description of each step included in the operation method of the mobile robot having high positioning accuracy overlaps with the above, the description thereof will be omitted and will be replaced therewith.

computer readable recording medium

The operation method of the mobile robot with high positioning accuracy according to an embodiment of the present invention described above may be implemented in the form of program instructions that can be executed through various computer components and recorded in a computer-readable recording medium.

The computer-readable recording medium may include program instructions, data files, data structures, etc. alone or in combination. The program instructions recorded on the computer-readable recording medium may be specially designed and configured for the present invention, or may be known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include a hard disk, a magnetic medium such as a floppy disk and a magnetic tape, an optical recording medium such as a CD-ROM, a DVD, and a magneto-optical medium such as a floppy disk. media), and hardware devices specially configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like. The hardware device may be configured to operate as one or more software modules to perform processing according to the present invention, and vice versa.

As above, preferred embodiments of the present invention have been described in detail with reference to the drawings. The description of the present invention is for illustrative purposes, and those of ordinary skill in the art to which the present invention pertains will understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention.

Accordingly, 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, scope, and equivalent concept of the claims are included in the scope of the present invention. should be interpreted

110: control unit 120: driving unit
130: storage unit 140: sensor unit
141: lidar 142: attitude sensor
143: wheel sensor 150: communication unit
200: reflector 201 to 203: unit reflective member
210 to 240: unit non-reflective member

Claims (8)

main body;
a traveling unit for moving the main body;
a storage unit for storing a map for the driving area, the map including positions of a plurality of reflectors;
A plurality of lidars are provided on the main body to detect an object in front by using laser light;
a control unit for recognizing a current position and controlling the driving unit to travel along a movement path within the driving area;
including,
The control unit measures the distance and direction of the plurality of reflectors using the lidar, and uses the measured distance and direction for the plurality of reflectors to calculate the current position. Positioning accuracy high mobile robot. The method of claim 1,
The control unit is
Recognizing the reflector based on the reflectance of the laser light reflected by the reflector using the lidar, and calculating the current position by triangulation based on the measured distances and directions for the plurality of reflectors A mobile robot with high positioning accuracy. 3. The method of claim 2,
The reflector is characterized in that a plurality of unit reflective members are grouped in a predetermined pattern,
The control unit, a mobile robot with high positioning accuracy, characterized in that for identifying the reflector based on the pattern. 4. The method of claim 3,
The reflector is in the form of a polygonal prism or a cylinder,
The pattern is a mobile robot with high positioning accuracy, characterized in that it is a bar code pattern of a horizontal pattern. 3. The method of claim 2,
The control unit is
The first positioning result using the posture sensor, the second positioning result using the encoder, the third positioning result according to the scan-match method using the lidar, and the fourth positioning result according to the triangulation method using the lidar A mobile robot with high positioning accuracy, characterized in that it calculates the current position in combination. The method of claim 1,
The control unit is
A mobile robot with high positioning accuracy, characterized in that the sensor range is converted by moving the center of the sensor range formed by each of the plurality of lidars to a reference point that is a reference point for the current positioning of the mobile robot. 7. The method of claim 6,
The reference point is a mobile robot with high positioning accuracy, characterized in that it is the center position of the main body on a plane. A method of operating a mobile robot comprising: a main body; a driving unit for moving the main body;
The storage unit may include: preparing a map for the driving area, the map including positions of a plurality of reflectors;
controlling, by the controller, the driving unit to recognize a current location and to travel along a movement path within the driving area;
The controller may include: measuring distances and directions with respect to the plurality of reflectors using the lidar; and
calculating, by the controller, a current location using the measured distances and directions of the plurality of reflectors;
A method of operating a mobile robot with high positioning accuracy, including:

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