KR20220064916A - Apparatus and method for sensor duplexing of mobile robot - Google Patents

Abstract

The present invention relates to a mobile robot sensor duplexing apparatus and method. According to a preferred embodiment of the present invention, the apparatus dualizes a sensor by using obstacle information detected by the sensor to satisfy a performance level d (pl-d) required in a functional safety of a robot, to implement a duplexing system by using a normal lidar sensor that is cheap by not receiving pl-d authentication. The apparatus comprises an input unit, a logic unit, an output unit, and a control unit.

Description

Apparatus and method for sensor duplexing of mobile robot

The present invention relates to a sensor duplication apparatus and method for a mobile robot, and more particularly, to a duplicating module to satisfy pl-d (performance level d) required for functional safety of a robot, an apparatus and method is about

In order to ensure the safety of the robot, the redundancy of the module is required at the performance level (pl) related to functional safety. A redundant system can be implemented simply by using a performance level d (pl-d) certified LiDAR sensor, but the cost of a performance level d (pl-d) certified LiDAR sensor is high. There is a problem in that it costs a lot to implement a redundant system, and it is difficult to implement flexible functions because only the functions provided by the manufacturer of the LiDAR sensor can be used.

An object of the present invention is to duplicate the sensor using the obstacle information detected through the sensor in order to satisfy pl-d (performance level d) required in the functional safety of the robot, the sensor of the mobile robot It is to provide a redundancy apparatus and method.

Other objects not specified in the present invention may be additionally considered within the scope that can be easily inferred from the following detailed description and effects thereof.

According to a preferred embodiment of the present invention for achieving the above object, there is provided a sensor duplication apparatus for a mobile robot, comprising: an input unit on which a plurality of sensors are mounted; a logic unit on which a plurality of logic boards corresponding to each of the plurality of sensors mounted on the input unit are mounted; an output unit that transmits an output value to the outside based on the outputs of the plurality of logic boards mounted on the logic unit; and a control unit configured to perform duplication of sensors in units of a preset duplication area based on obstacle information detected through each of the plurality of sensors.

Here, the controller may perform duplication of the two sensors based on obstacle information detected through the two sensors corresponding to the duplication area.

Here, when the obstacle information detected through the two sensors corresponding to the duplication area matches, the controller determines that duplication of the two sensors is successful, and obstacle information detected through the two sensors corresponding to the duplication area If do not match, it can be judged that the duplication of the two sensors has failed.

Here, the control unit may check whether the obstacle information detected through the two sensors corresponding to the redundancy area coincides with each other using preset sensor error information.

Here, the controller may perform duplication of the two sensors using obstacle information detected from each of the two sensors based on a dynamic safety zone generated by each of the two sensors corresponding to the duplication area. there is.

Here, the input unit, the first sensor is mounted on the front left side of the robot, the second sensor is mounted on the front right side of the robot, the third sensor is mounted on the rear left side of the robot, and the rear right side of the robot A fourth sensor is mounted, and the logic unit includes a first logic board corresponding to the first sensor, a second logic board corresponding to the second sensor, a third logic board corresponding to the third sensor, and the fourth A fourth logic board corresponding to the sensor is mounted, and the redundancy area includes a first redundancy area in which the first sensor and the second sensor correspond, and a second redundancy area in which the first sensor and the third sensor correspond to each other. , a third redundancy area corresponding to the second sensor and the fourth sensor, and a fourth redundancy area corresponding to the third sensor and the fourth sensor.

Here, in the input unit, a first sensor is mounted on one left side of the robot, a second sensor is mounted on one side right side of the robot, and the logic unit includes a first logic board corresponding to the first sensor and the second A second logic board corresponding to the sensor may be mounted, and the redundancy region may correspond to the first sensor and the second sensor.

Here, the logic board and the control unit are implemented in an integral form, and the logic board may perform duplication of two sensors based on obstacle information detected through two sensors corresponding to the duplication area.

Here, the sensor mounted on the input unit may be a LiDAR sensor.

A sensor duplication method of a mobile robot according to a preferred embodiment of the present invention for achieving the above object includes an input unit to which a plurality of sensors are mounted, and a plurality of logic boards corresponding to each of the plurality of sensors mounted to the input unit. A sensor duplication method performed by a sensor duplication apparatus comprising a logic unit on which a board) is mounted, and an output unit for transmitting an output value to the outside based on the outputs of the plurality of logic boards mounted on the logic unit, wherein the plurality of detecting obstacle information through each of the sensors; and performing duplication of the sensor in units of a preset duplication area based on the obstacle information detected through each of the plurality of sensors.

Here, the redundancy performing step may include performing duplication of the two sensors based on obstacle information detected through the two sensors corresponding to the redundancy area.

Here, in the redundancy performing step, if the obstacle information detected through the two sensors corresponding to the redundancy area matches, it is determined that the duplication of the two sensors is successful, and detected through the two sensors corresponding to the redundancy area. If the obstacle information does not match, it may be determined that the duplication of the two sensors has failed.

A computer program according to a preferred embodiment of the present invention for achieving the above technical problem is stored in a computer-readable recording medium, and any one of the sensor duplication methods of the mobile robot is executed in the computer.

According to the sensor duplication apparatus and method for a mobile robot according to a preferred embodiment of the present invention, obstacle information detected through a sensor to satisfy pl-d (performance level d) required for functional safety of the robot is By duplicating the sensor by using it, a redundancy system can be implemented using a general LiDAR sensor, which is inexpensive because it does not receive pl-d certification.

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

1 is a diagram for explaining a redundancy concept for pl-d (performance level d) category 3 required for functional safety of a robot.
2 is a block diagram illustrating a sensor duplication apparatus of a mobile robot according to a preferred embodiment of the present invention.
3 is a diagram for explaining a process of duplicating a sensor according to a preferred embodiment of the present invention.
4 is a block diagram for explaining an input unit and a logic unit of an example of a sensor duplication apparatus of a mobile robot according to a preferred embodiment of the present invention.
FIG. 5 is a diagram for explaining a duplication area of the sensor duplication device shown in FIG. 4 .
FIG. 6 is a view for explaining a redundancy area according to an obstacle of the sensor duplication apparatus shown in FIG. 4 .
7 is a view for explaining a duplication area of another example of the sensor duplication apparatus of a mobile robot according to a preferred embodiment of the present invention.
8 is a flowchart illustrating a sensor duplication method of a mobile robot according to a preferred embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. 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 published below, but may be implemented in various different forms, and only these embodiments make the publication of the present invention complete, and common knowledge in the art to which the present invention pertains It is provided to fully inform those who have 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.

Unless otherwise defined, all terms (including technical and scientific terms) used herein may be used with the meaning commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, terms defined in a commonly used dictionary are not to be interpreted ideally or excessively unless clearly defined in particular.

In the present specification, terms such as “first” and “second” are for distinguishing one component from other components, and the scope of rights should not be limited by these terms. For example, a first component may be termed a second component, and similarly, a second component may also be termed a first component.

In the present specification, identification symbols (eg, a, b, c, etc.) in each step are used for convenience of description, and identification symbols do not describe the order of each step, and each step is clearly Unless a specific order is specified, the order may differ from the specified order. That is, each step may occur in the same order as specified, may be performed substantially simultaneously, or may be performed in the reverse order.

In this specification, expressions such as “have”, “may have”, “include” or “may include” indicate the existence of a corresponding feature (eg, a numerical value, function, operation, or component such as a part). and does not exclude the presence of additional features.

In addition, the term '~ unit' as used herein means software or a hardware component such as a field-programmable gate array (FPGA) or ASIC, and '~ unit' performs certain roles. However, '-part' is not limited to software or hardware. '~' may be configured to reside on an addressable storage medium or may be configured to refresh one or more processors. Accordingly, as an example, '~' indicates components such as software components, object-oriented software components, class components, and task components, and processes, functions, properties, and procedures. , subroutines, segments of program code, drivers, firmware, microcode, circuitry, data structures and variables. The functions provided in the components and '~ units' may be combined into a smaller number of components and '~ units' or further separated into additional components and '~ units'.

Hereinafter, a preferred embodiment of a sensor duplication apparatus and method for a mobile robot according to the present invention will be described in detail with reference to the accompanying drawings.

First, a sensor duplication device for a mobile robot according to a preferred embodiment of the present invention will be described with reference to FIGS. 1 to 3 .

1 is a diagram for explaining a redundancy concept for pl-d (performance level d) category 3 required in functional safety of a robot, and FIG. 2 is a sensor of a mobile robot according to a preferred embodiment of the present invention It is a block diagram for explaining a duplication apparatus, and FIG. 3 is a view for explaining a duplication process of a sensor according to a preferred embodiment of the present invention.

Referring to FIG. 2 , a sensor duplication device (hereinafter referred to as a 'sensor duplication device') 100 of a mobile robot according to a preferred embodiment of the present invention is pl-d (performance) required for functional safety of the robot. In order to satisfy level d), the sensor can be duplicated using the obstacle information detected through the sensor.

Here, the present invention may be used in household cleaning robots, cleaning robots for public buildings, logistics robots, service robots, and industrial robots.

That is, in order to satisfy pl-d required by the functional safety of the robot, as shown in FIG. 1, three modules: an input (Input, I) stage, a logic (Logic, L) stage, and an output (O) stage Each stage must be duplicated. The input stage is duplicated with "LiDAR sensor A(I1)" and "LiDAR sensor B(I2)", and the logic stage is "LiDAR Logic board A(L1)" and It is redundant with "LiDAR Logic board B(L2)", and the output terminal is redundant with "O1" and "O2", and if the result is "0 or 2", it can be stopped. The present invention achieves such redundancy by using an obstacle existing in a safety zone through two LiDAR sensors constituting a logic stage rather than from a system architecture point of view. ) about how to perform sensor redundancy.

To this end, the sensor duplication apparatus 100 may include an input unit 110 , a logic unit 130 , an output unit 150 , and a control unit 170 .

The input unit 110 may be equipped with a plurality of sensors 111 .

Here, the sensor may be a LiDAR sensor or the like.

A plurality of logic boards corresponding to each of the plurality of sensors 111 mounted on the input unit 110 may be mounted on the logic unit 130 .

Here, the logic board may be a LiDAR board or the like.

The output unit 150 may transmit an output value to the outside based on the outputs of the plurality of logic boards 131 mounted on the logic unit 130 .

The controller 170 may perform duplication of the sensors in units of a preset duplication area based on obstacle information detected through each of the plurality of sensors 111 .

Here, the redundancy area represents a spatial area that is duplicated using obstacle information detected through the two sensors 111 in order to satisfy pl-d (performance level d) required for functional safety.

That is, the controller 170 may perform duplication of the two sensors 111 based on obstacle information detected through the two sensors 111 corresponding to the duplication area.

More specifically, the controller 170 uses the obstacle information detected by each of the two sensors 111 based on the dynamic safety zone generated by each of the two sensors 111 corresponding to the redundant area. Redundancy of the two sensors 111 may be performed. In this case, the dynamic safety zone may dynamically create a safety zone based on the movement direction and movement speed of the robot equipped with the sensor duplication device 100 .

Here, when the obstacle information detected through the two sensors 111 corresponding to the redundancy area matches, the controller 170 may determine that the duplication of the two sensors 111 is successful. On the other hand, if the obstacle information detected through the two sensors 111 corresponding to the redundancy area does not match, the controller 170 may determine that the duplication of the two sensors 111 has failed.

In this case, the control unit 170 may check whether the obstacle information detected through the two sensors 111 corresponding to the redundancy area coincides with each other using preset sensor error information.

For example, as shown in FIG. 3 , when “sensor A” and “sensor B” correspond to the redundancy area, obstacle information is obtained by detecting an obstacle in the dynamic safety zone created by “sensor A”, and the “sensor A” Obstacle information can be obtained by detecting an obstacle in the dynamic safety zone created in B". Then, by using the obstacle information detected by the “sensor A” and the obstacle information detected by the “sensor B”, the duplication of the “sensor A” and the “sensor B” may be performed. That is, it is possible to check whether the obstacle information detected by the “sensor A” matches the obstacle information detected by the “sensor B”. At this time, if the obstacle according to the obstacle information is located at the boundary point of the overlapping areas adjacent to each other, it is checked whether the obstacle information detected by “Sensor A” matches the obstacle information detected by “Sensor B” using the sensor error information. can As a result of the check, if they match, it may be determined that the duplication of "sensor A" and "sensor B" is successful, and if they do not match, it may be determined that the duplication of "sensor A" and "sensor B" has failed.

Meanwhile, the logic board 131 and the control unit 170 are implemented in an integral form, so that the logic board 131 may perform the operation of the control unit 170 .

That is, the logic board 131 may perform duplication of the two sensors 111 based on obstacle information detected through the two sensors 111 corresponding to the duplication area.

For example, when "sensor A" and "sensor B" correspond to the redundancy area, "logic board A" corresponds to "sensor A", and "logic board B" corresponds to "sensor B", "logic board" When “A” acquires obstacle information detected through “sensor A”, “logic board A” may identify a duplicated area in which an obstacle is detected based on the obstacle information detected through “sensor A”. When the identified redundancy area is a redundancy area in which "sensor A" and "sensor B" correspond, "logic board A" may receive obstacle information detected through "sensor B" from "logic board B". Then, the “logic board A” may check whether the obstacle information detected through the “sensor A” matches the obstacle information detected through the “sensor B”.

Then, an example of a sensor duplication apparatus for a mobile robot according to a preferred embodiment of the present invention will be described with reference to FIGS. 4 to 6 .

4 is a block diagram for explaining an input unit and a logic unit of an example of a sensor duplication device for a mobile robot according to a preferred embodiment of the present invention, and FIG. 5 is a view for explaining a duplication area of the sensor duplication device shown in FIG. , and FIG. 6 is a view for explaining a redundancy area according to an obstacle of the sensor duplication device shown in FIG. 4 .

4 and 5, in the input unit 110 according to an example of the sensor duplication apparatus 100, the first sensor 111-a is mounted on the front left side of the robot, and the second sensor (111-a) is mounted on the front right side of the robot ( 111-b) is mounted, the third sensor 111-c may be mounted on the rear left side of the robot, and the fourth sensor 111-d may be mounted on the rear right side of the robot.

In addition, the logic unit 130 according to an example of the sensor duplication apparatus 100 corresponds to the first logic board 131-a corresponding to the first sensor 111-a, and corresponding to the second sensor 111-b. The second logic board 131-b, the third logic board 131-c corresponding to the third sensor 111-c, and the fourth logic board 131-d corresponding to the fourth sensor 111-d ) can be installed.

In addition, the redundancy area is a first redundancy area to which the first sensor 111-a and the second sensor 111-b correspond, and a first redundancy area to which the first sensor 111-a and the third sensor 111-c correspond. The second redundancy area, the third redundancy area to which the second sensor 111-b and the fourth sensor 111-d correspond, and the third sensor 111-c and the fourth sensor 111-d correspond to each other It may include a fourth redundancy region.

That is, the sensor ( 111) can be implemented.

For example, as shown in (a) of FIG. 6, when "obstacle A" is detected, the "first redundancy area" that is the duplication area corresponding to "obstacle A" is identified, and corresponds to the "first redundancy area" Sensor duplication in the "first redundancy area" can be performed using the obstacle information detected from each of the two sensors "first sensor 111-a" and "second sensor 111-b" . When "obstacle B" is detected, a "second redundancy area" that is a redundancy area corresponding to "obstacle B" is identified, and two sensors "first sensor 111-a" corresponding to "second redundancy area" Sensor duplication in the "second duplication area" may be performed using obstacle information detected from each of " and "the third sensor 111 - c".

And, as shown in (b) of FIG. 6, when "obstacle A" is detected, the "first redundancy area" that is the duplication area corresponding to "obstacle A" is identified and corresponds to the "first redundancy area" Sensor duplication in the "first redundancy area" can be performed using the obstacle information detected from each of the two sensors "first sensor 111-a" and "second sensor 111-b" . When "obstacle B" is detected, a "third redundancy area" that is a redundancy area corresponding to "obstacle B" is identified, and a "second sensor 111-b" that is two sensors corresponding to the "third redundancy area" Sensor duplication in the "third duplication area" may be performed using obstacle information detected from each of " and "the fourth sensor 111 - d".

And, as shown in (c) of FIG. 6, when "obstacle A" is detected, a "fourth duplication area" that is a duplication area corresponding to "obstacle A" is identified, and corresponding to the "fourth duplication area" Sensor duplication in the “fourth redundancy area” can be performed using obstacle information detected from each of the two sensors “third sensor 111-c” and “fourth sensor 111-d” . At this time, "obstacle A" is located at the boundary point of the overlapping areas adjacent to each other (the third redundancy area and the fourth redundancy area). It may be checked whether the obstacle information matches the obstacle information detected by the “fourth sensor 111 - d”. When "obstacle B" is detected, a "third redundancy area" that is a redundancy area corresponding to "obstacle B" is identified, and a "second sensor 111-b" that is two sensors corresponding to the "third redundancy area" Sensor duplication in the "third duplication area" may be performed using obstacle information detected from each of " and "the fourth sensor 111 - d".

And, as shown in (d) of FIG. 6, when "obstacle A" is detected, a "fourth duplication area" that is a duplication area corresponding to "obstacle A" is identified, and corresponding to the "fourth duplication area" Sensor duplication in the “fourth redundancy area” can be performed using obstacle information detected from each of the two sensors “third sensor 111-c” and “fourth sensor 111-d” . When "obstacle B" is detected, a "second redundancy area" that is a redundancy area corresponding to "obstacle B" is identified, and two sensors "first sensor 111-a" corresponding to "second redundancy area" Sensor duplication in the "second duplication area" may be performed using obstacle information detected from each of " and "the third sensor 111 - c".

Then, another example of the sensor duplication apparatus of the mobile robot according to a preferred embodiment of the present invention will be described with reference to FIG. 7 .

7 is a view for explaining a duplication area of another example of a sensor duplication apparatus of a mobile robot according to a preferred embodiment of the present invention.

Referring to FIG. 7 , in the input unit 110 according to another example of the sensor duplication apparatus 100, a first sensor 111-a is mounted on one left side of the robot, and a second sensor 111-a is mounted on one side right side of the robot. b) can be fitted.

In addition, the logic unit 130 according to another example of the sensor duplication apparatus 100 corresponds to the first logic board 131-a and the second sensor 111-b corresponding to the first sensor 111-a. A second logic board 131 - b that is used may be mounted thereon.

In addition, the redundancy region may correspond to the first sensor 111 -a and the second sensor 111 -b.

That is, it is possible to implement the duplication of the sensor 111 in a specific area among the omnidirectional areas of the robot. For example, the front area of the robot may be configured as a redundant area through the first sensor 111-a and the second sensor 111-b. On the other hand, the left area of the robot is composed of a first single area sensed only through the first sensor 111-a, and the right area of the robot is composed of a second single area sensed only through the second sensor 111-b. can be configured. In addition, the rear area of the robot may be configured as an area not detected because the sensor 111 does not exist.

Next, a sensor duplication method of a mobile robot according to a preferred embodiment of the present invention will be described with reference to FIG. 8 .

8 is a flowchart illustrating a sensor duplication method of a mobile robot according to a preferred embodiment of the present invention.

Referring to FIG. 8 , the sensor duplication apparatus 100 may detect obstacle information through each of the plurality of sensors 111 ( S110 ).

That is, the sensor duplication apparatus 110 may detect obstacle information from the sensor 111 based on the dynamic safety zone created in the sensor 111 . In this case, the dynamic safety zone may dynamically create a safety zone based on the movement direction and movement speed of the robot equipped with the sensor duplication device 100 .

Then, the sensor duplication apparatus 100 may perform duplication of the sensors 111 in units of a preset duplication area based on obstacle information detected through each of the plurality of sensors 111 ( S130 ).

That is, the sensor duplication apparatus 100 may perform duplication of the two sensors 111 based on obstacle information detected through the two sensors 111 corresponding to the duplication area.

Here, when the obstacle information detected through the two sensors 111 corresponding to the redundancy area matches, the sensor duplication apparatus 100 may determine that duplication of the two sensors 111 is successful. On the other hand, if the obstacle information detected through the two sensors 111 corresponding to the redundancy area does not match, the sensor duplication apparatus 100 may determine that duplication of the two sensors 111 has failed.

In this case, the sensor duplication apparatus 100 may check whether the obstacle information detected through the two sensors 111 corresponding to the duplication area coincides with each other using preset sensor error information.

Even though all the components constituting the embodiment of the present invention described above are described as being combined or operated in combination, the present invention is not necessarily limited to this embodiment. That is, within the scope of the object of the present invention, all the components may operate by selectively combining one or more. In addition, all of the components may be implemented as one independent hardware, but a part or all of each component is selectively combined to perform some or all of the functions combined in one or a plurality of hardware program modules It may be implemented as a computer program having In addition, such a computer program is stored in a computer readable media such as a USB memory, a CD disk, a flash memory, etc., read and executed by a computer, thereby implementing the embodiment of the present invention. The recording medium of the computer program may include a magnetic recording medium, an optical recording medium, and the like.

The above description is merely illustrative of the technical idea of the present invention, and those of ordinary skill in the art to which the present invention pertains may make various modifications, changes and substitutions within the scope without departing from the essential characteristics of the present invention. will be. Accordingly, the embodiments disclosed in the present invention and the accompanying drawings are for explaining, not limiting, the technical spirit of the present invention, and the scope of the technical spirit of the present invention is not limited by these embodiments and the accompanying drawings . The protection scope of the present invention should be construed by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

100: sensor redundancy device,
111: sensor,
110: input unit,
131: logic board;
130: logic unit;
150: output unit,
170: control unit

Claims (13)

an input unit on which a plurality of sensors are mounted;
a logic unit on which a plurality of logic boards corresponding to each of the plurality of sensors mounted on the input unit are mounted;
an output unit that transmits an output value to the outside based on the outputs of the plurality of logic boards mounted on the logic unit; and
a control unit configured to perform duplication of sensors in units of a preset duplication area based on obstacle information detected through each of the plurality of sensors;
A sensor duplication device of a mobile robot comprising a. In claim 1,
The control unit is
performing duplication of two sensors based on obstacle information detected through two sensors corresponding to the duplication area,
Sensor redundancy device for mobile robot. In claim 2,
The control unit is
If the obstacle information detected through the two sensors corresponding to the redundancy area matches, it is determined that the duplication of the two sensors is successful. If the obstacle information detected through the two sensors corresponding to the duplication area does not match, the It is judged that the redundancy of the sensor has failed,
Sensor redundancy device for mobile robot. In claim 3,
The control unit is
Using preset sensor error information to check whether obstacle information detected through two sensors corresponding to the redundancy area coincides with each other,
Sensor redundancy device for mobile robot. In claim 2,
The control unit is
Dualization of the two sensors is performed using obstacle information detected from each of the two sensors based on a dynamic safety zone generated by each of the two sensors corresponding to the redundancy area,
Sensor redundancy device for mobile robot. In claim 1,
The input unit,
A first sensor is mounted on the front left side of the robot, a second sensor is mounted on the front right side of the robot, a third sensor is mounted on the rear left side of the robot, and a fourth sensor is mounted on the rear right side of the robot, ,
The logic unit,
a first logic board corresponding to the first sensor, a second logic board corresponding to the second sensor, a third logic board corresponding to the third sensor, and a fourth logic board corresponding to the fourth sensor are mounted; ,
The redundancy area is
A first redundancy area in which the first sensor and the second sensor correspond, a second redundancy area in which the first sensor and the third sensor correspond, and a third redundancy area in which the second sensor and the fourth sensor correspond and a fourth redundancy region in which the third sensor and the fourth sensor correspond to each other,
Sensor redundancy device for mobile robot. In claim 1,
The input unit,
A first sensor is mounted on one left side of the robot, and a second sensor is mounted on one side of the right side of the robot,
The logic unit,
a first logic board corresponding to the first sensor and a second logic board corresponding to the second sensor are mounted;
The redundancy area is
The first sensor and the second sensor correspond,
Sensor redundancy device for mobile robot. In claim 1,
The logic board and the control unit are implemented in an integral form,
The logic board is
performing duplication of two sensors based on obstacle information detected through two sensors corresponding to the duplication area,
Sensor redundancy device for mobile robot. In claim 1,
The sensor mounted on the input unit,
LiDAR sensor,
Sensor redundancy device for mobile robot. an input unit on which a plurality of sensors are mounted, a logic unit on which a plurality of logic boards corresponding to each of the plurality of sensors mounted on the input unit are mounted, and outputs of the plurality of logic boards mounted on the logic unit; As a sensor duplication method performed by a sensor duplication device including an output unit that transmits an output value to the outside based on the
detecting obstacle information through each of the plurality of sensors; and
performing duplication of the sensors in units of a preset duplication area based on the obstacle information detected through each of the plurality of sensors;
A sensor duplication method of a mobile robot comprising a. In claim 10,
The redundancy step is
Consisting of performing duplication of two sensors based on obstacle information detected through two sensors corresponding to the duplication area,
Sensor redundancy method for mobile robot. In claim 11,
The redundancy step is
If the obstacle information detected through the two sensors corresponding to the redundancy area matches, it is determined that the duplication of the two sensors is successful. If the obstacle information detected through the two sensors corresponding to the duplication area does not match, the Consists of determining that the redundancy of the sensor has failed,
Sensor redundancy method for mobile robot. A computer program stored in a computer-readable recording medium in order to execute the sensor duplication method of the mobile robot according to any one of claims 10 to 12 in a computer.

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