KR20220144477A - Indoor automatic moving system and serving robot using the same - Google Patents

Abstract

The present invention relates to an automatic location moving system and a serving robot using the same for identifying a location of its own within two-dimensional (2D) spatial coordinates formed by a square or a rectangle in a preset size in an indoor space and automatically moving up to a target located on the 2D spatial coordinates. More specifically, the indoor automatic moving system comprises: reference poles located at four apexes constituting a square or rectangular space with pre-determined height from the ground, and having a boundary sensing unit sensing a straight distance from any one apex to two other apexes spaced apart by the straight distance horizontally and vertically to sense a separation distance between the two apexes along an X axis or an Y axis; reference planes having given width formed in a vertical direction and connected to the four reference poles to constitute circumferential surfaces of the square or the rectangle; a plurality of targets located inward from the reference planes to have a first location sensing unit sensing a separation distance from the reference planes along the X axis or the Y axis; and a moving object reciprocating between the target and its original position by receiving the information sensed by the boundary sensing unit to generate 2D spatial coordinates, receiving the information sensed by the first location sensing unit to identify a location coordinate of the target on the 2D spatial coordinates, and sensing the separation distances from the reference planes along the X axis or the Y axis within the 2D spatial coordinates through the second location sensing unit to identify a location of its own.

Description

Indoor automatic movement system and serving robot using same

The present invention relates to an indoor automatic movement system and a serving robot using the same. In particular, it is composed of only a laser distance measuring sensor to determine its position within a two-dimensional space coordinate formed by a square or a rectangle of a size set in an indoor space, and It relates to an automatic positioning system for automatically moving to a target located on dimensional space coordinates by the shortest path, and a serving robot using the same.

An automatic movement system that moves within a fixed area such as indoors is implemented through various sensors and algorithms.

The US registration number US 8565783 case relates to a path progress matching technology for an indoor positioning system, and a technique using optimization measures such as path history information, constraints, and the use of a received signal interstitial indicator (RSI) weighted correlation coefficient was introduced. have.

Since this uses the movement history, it is easy to understand the constraints, but there is a problem that it takes too much time to collect information.

In addition, the US registration number US 9906914 case relates to a standardizable indoor navigation and positioning system and method, and includes at least one device signal data and device sensor data, one or more device signal data including one or more wireless communication signal data, and one or more Techniques for estimating device sensor data including magnetometer data, accelerometer data and gyroscope data, and multiple potential trajectories describing motion are introduced.

This can predict the trajectory to move, but there is a problem in that it uses too many sensors and the accuracy is low.

That is, the prior art has a limitation in that it takes a lot of time or the accuracy is low because a location is determined by tracking or predicting a movement path.

Accordingly, there is a need to develop a technology for an automatic moving system that can overcome this problem.

(0001) US registered patent US 8565783 (0002) US registered patent US 9906914 (0003) Domestic Registered Patent No. 10-2234038 (0004) Korean Patent Publication No. 10-2020-0133174

The technical problem to be solved by the present invention is to provide an indoor automatic movement system configured to not only generate two-dimensional spatial coordinates by configuring only a minimum of sensors, but also to grasp the positions of target objects and a serving robot using the same.

Another technical problem to be solved by the present invention is to provide an indoor automatic movement system configured to move to a target in the shortest distance on the two-dimensional spatial coordinates generated as described above, and a serving robot using the same.

According to an embodiment of the indoor automatic movement system of the present invention for achieving the above technical problem, the present invention identifies its position within two-dimensional space coordinates formed in a square or rectangular shape of a set size in an indoor space, and on the two-dimensional space coordinates It relates to an automatic positioning system for automatically moving to a positioned target, which is formed at a predetermined height from the floor and is positioned at every four vertices constituting a square or rectangular space, and two a reference pole provided with a boundary sensing unit for sensing the distance between the X-axis and the Y-axis by sensing the linear distance to different vertices; a reference plane forming a predetermined upper and lower width and connected to the four reference poles to form a square or rectangular circumferential surface; a plurality of targets located inside the reference plane and provided with a first position sensing unit for sensing an X-axis and Y-axis separation distance from the reference plane; and receiving the information sensed through the boundary sensing unit to generate two-dimensional spatial coordinates, receiving the information sensed through the first position sensing unit to determine the position coordinates of the target on the two-dimensional spatial coordinates, and a second and a moving object that moves between itself and the target while detecting its position by sensing the X-axis and Y-axis separation distance from the reference plane within the two-dimensional spatial coordinates through the position sensing unit.

In this case, the boundary sensing unit, the first position sensing unit, and the second position sensing unit may include: a laser distance measuring sensor measuring an X-axis and a Y-axis separation distance; and a transmitter for transmitting the information sensed by the laser distance measuring sensor to the moving object.

In addition, the moving object may include: a receiver configured to receive information transmitted from the boundary sensing unit, the first position sensing unit, and the second position sensing unit; a processing unit generating the two-dimensional spatial coordinates based on the information received through the receiver, and generating path information to the target by identifying the target and its own position on the generated two-dimensional spatial coordinates; a control unit for generating and transmitting a movement control signal to the target based on the data acquired through the processing unit; and a moving means for moving to the target using the two-dimensional spatial coordinates according to the movement control signal transmitted through the control unit.

In addition, according to another embodiment of the indoor automatic movement system of the present invention, the present invention detects its own position within the two-dimensional space coordinates formed in a square or rectangular shape of a set size in the indoor space, and automatically to the target located on the two-dimensional space coordinates. It relates to an automatic positioning system for moving to a vertex, which is formed at a predetermined height from the floor and is positioned at every four vertices constituting a square or rectangular space, from any one vertex to two other vertices located at a straight distance horizontally and vertically. a reference pole provided with a boundary sensing unit for sensing the distance between the X-axis and the Y-axis by sensing the linear distance; a reference plane forming a predetermined upper and lower width and connected to the four reference poles to form a square or rectangular circumferential surface; a plurality of targets installed at fixed positions inside the reference plane; and generating two-dimensional spatial coordinates by receiving the information sensed through the boundary sensing unit, the positional coordinates of the target are stored on the two-dimensional spatial coordinates, and the reference plane within the two-dimensional spatial coordinates through a second position sensing unit and a moving object that moves between itself and the target while detecting its location by sensing the X-axis and Y-axis separation distances from each other.

In this case, the boundary sensing unit and the position sensing unit may include: a laser distance measuring sensor measuring an X-axis and a Y-axis separation distance; and a transmitter for transmitting the information sensed by the laser distance measuring sensor to the moving object.

In addition, the moving object, the receiving unit for receiving the information transmitted from the boundary sensing unit and the second position sensing unit; a processing unit generating the two-dimensional spatial coordinates based on the information received through the receiver, and generating path information to the target by identifying the target and its own position on the generated two-dimensional spatial coordinates; a control unit for generating and transmitting a movement control signal to the target based on the data acquired through the processing unit; and a moving means for moving to the target using the two-dimensional spatial coordinates according to the movement control signal transmitted through the control unit.

According to the indoor automatic movement system according to an embodiment and another embodiment of the present invention, the route information is composed of the shortest distance information from the moving object to the target, and the route information includes at least one detour section. characterized in that it is included.

In addition, the moving object is further provided with a detection sensor for detecting an object located in at least one of the four directions, including the front of the moving direction, in front of the moving object by the detecting sensor. When an object is detected, the processing unit generates new path information that bypasses the sensed object, and the moving object moves based on the newly created path information.

On the other hand, the serving robot using the indoor automatic movement system according to the present invention is characterized in that it operates based on the above-described features.

The indoor automatic movement system and the serving robot using the same according to the present invention described above have the following effects.

First, since it consists only of a laser distance measurement sensor and a processing unit that detect the X-axis and Y-axis distances in constructing two-dimensional spatial coordinates, the configuration is simplified compared to the prior art, resulting in reduced manufacturing cost, and reduced complexity. Maintenance/management can be facilitated.

In addition, since the arrival path and distance to the target are generated on two-dimensional spatial coordinates, the computational load for calculating the shortest distance can be reduced.

In addition, since the two-dimensional spatial coordinates are used, the exact location of each object can be easily grasped, and route information can be calculated by setting an avoidance section such as an obstacle in advance, thereby greatly reducing the computational complexity for calculating the route information.

In addition, since the target is reached using the shortest distance information, the travel time to the target can be reduced, thereby increasing customer convenience.

1 is a conceptual diagram of a configuration according to an embodiment of an indoor automatic movement system according to the present invention;
2 is a view conceptually showing the configuration of the indoor automatic movement system according to the present invention;
3 and 4 are conceptual views illustrating shortest-distance path information according to the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same components are given the same reference numerals as much as possible even though they are indicated on different drawings. In addition, in describing the embodiment of the present invention, if it is determined that a detailed description of a related known configuration or function interferes with the understanding of the embodiment of the present invention, the detailed description thereof will be omitted.

In addition, in describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only for distinguishing the elements from other elements, and the essence, order, or order of the elements are not limited by the terms. When it is described that a component is “connected”, “coupled” or “connected” to another component, the component may be directly connected or connected to the other component, but between each component another component It will be understood that may also be "connected", "coupled" or "connected".

1 is a conceptual diagram of a configuration of an indoor automatic movement system according to an embodiment of the present invention, and FIG. 2 is a diagram conceptually illustrating a configuration state of an indoor automatic movement system according to the present invention.

First, an indoor automatic movement system according to the present invention will be described with reference to FIGS. 1 and 2 .

The present invention relates to an automatic positioning system for determining one's own position within two-dimensional space coordinates formed in a square or rectangular shape of a set size in an indoor space and automatically moving to a target located on the two-dimensional space coordinates, The indoor automatic movement system according to an embodiment of the present invention may include a reference pole 10 , a reference plane 20 , a target 30 and a moving object 40 .

The reference pole 10 may be respectively located at four vertices constituting a square or rectangular space. The reference pole 10 is formed to a predetermined height. At the upper end of the reference pole 10, a boundary sensing unit 11 for sensing the X-axis and Y-axis separation distance between each other by sensing the linear distance from any one vertex to two other vertices located at a horizontal and vertical straight distance is provided. can be provided. Accordingly, the predetermined height may refer to a height that does not interfere with the separation distance sensing operation of the boundary sensing unit 11, for example, a height of 3M higher than a person's height. The reference pole 10 may be installed vertically upward, and two-dimensional spatial coordinates of a square or rectangular shape may be formed by the reference pole 10 and a reference plane to be described later.

The boundary sensing unit 11 may include a laser distance measuring sensor and a transmitting unit. Each reference pole 10 may be provided with a laser distance measuring sensor for detecting the X-axis distance and a laser distance measuring sensor for detecting the Y-axis distance. Accordingly, the X-axis and the Y-axis distance between each of the reference poles 10 are sensed, and the reference pole 10 can be installed at a position having the same sensing distance. For example, referring to FIG. 2 , the X-axis distance measured from the reference pole 1 toward the reference pole 2 is '10', and on the contrary, the X-axis distance measured from the reference pole 2 toward the reference pole 1 is '9'. In this case, by adjusting the installation positions of the reference pole 1 and the reference pole 2, the reference pole 1 and the reference pole 2 can be installed at the position where the mutual X-axis measurement distance is the same. In the same principle, the installation positions of the other reference poles 10 can also be determined through mutual Y-axis distance measurement. The reason that each of the laser distance measurement sensors for measuring the X-axis and Y-axis distances is provided in each reference pole 10 as described above is to set precise coordinates through accurate positioning. This may be a map for the moving object 40 to be described later to accurately reach the target 30 .

As described above, a square or rectangular two-dimensional space coordinates can be set through the reference pole 10, and the moving object 40 can move within the set two-dimensional space coordinates. Therefore, if it is a flat place, it will be possible to set the two-dimensional spatial coordinates by installing the reference pole 10 both indoors and outdoors.

Meanwhile, information sensed by the laser distance measuring sensor is transmitted to the moving object 40 through the transmitter. The transmitter is preferably configured as a wireless transmitter, and a short-distance communication environment such as Wi-Fi, Zigbee, etc. may be established in two-dimensional spatial coordinates.

Referring to FIG. 2 , the reference plane 20 is connected to each of the four reference poles 10 . Although not shown in detail, the reference plane 20 may be formed with a predetermined vertical width. Accordingly, the reference plane 20 may be the outermost surface of the two-dimensional spatial coordinates. In addition, the X-axis and Y-axis separation distance between the target 30 and the moving object 40 can be sensed through the reference plane 20 , which will be described later.

The target 30 is a point for the moving object 40 to reach, and may be, for example, a table in a restaurant. Accordingly, the digits 1 to 8 shown in FIG. 2 can be understood as a table. Each table serving as the target 30 may be provided with a first position sensing unit 31 for sensing the X-axis and Y-axis separation distance from the reference plane. The first position sensing unit 31 may also be provided with a laser distance measuring sensor for measuring the X-axis and Y-axis distance and a transmitter for transmitting the sensed information to a moving object, the description of which is the boundary sensing unit 11 You can refer to the description of The reference surface 20 may be configured as a sensing surface of a laser distance measuring sensor. If there is no reference plane 20, for example, in the case of a restaurant, the wall of the restaurant becomes the sensing surface, so unless the reference pole 10 is accurately installed in every four corners of the restaurant, the two-dimensional spatial coordinate value by the reference pole 10 and The X-axis and Y-axis sensing coordinate values through the first position sensing unit 31 are inconsistent with each other. In addition, it may be a problem even if the interior shape of the restaurant does not form an exact square or rectangular shape. Therefore, two-dimensional spatial coordinates are formed through the reference pole 10 and the reference plane 20, and the precise position of the target 30 and the moving object 40 within the formed two-dimensional space coordinates is determined, as well as the target 30 It will be possible to set the exact movement route to

The moving object 40 moves between itself and the target 30 while grasping its position on two-dimensional spatial coordinates, for example, it can be configured as a serving robot, and can be understood as a moving object 40 on the drawing.

The moving object 40 receives the sensed information through the boundary sensing unit 11 of the reference pole 10 and generates two-dimensional spatial coordinates. In addition, information sensed through the first position sensing unit 31 of the target 30 is received and the position coordinates of the target 30 are identified on the two-dimensional spatial coordinates.

The moving object 40 is provided with a second position sensing unit 45 . The second position sensing unit 45 may also be provided with a laser distance measuring sensor for measuring the X-axis and Y-axis distance and a transmitter for transmitting the sensed information to the moving object 40, and a description thereof is also provided by the boundary sensing unit. (11) can be referred to. However, the transmitter provided in the second position sensing unit 45 may be configured as a wired/wireless transmitter. The moving object 40 detects the X-axis and Y-axis separation distance from the reference plane 20 within the two-dimensional spatial coordinates through the second position sensing unit 45 and grasps its own position while the moving object 40 itself. and the target 30 can move between each other.

To this end, the moving object 40 includes a receiving unit 41, a processing unit 42, a control unit 43 and a moving means 44 together with the second position sensing unit 45, and further includes a detection sensor 46 can be configured.

The receiver 41 may receive information transmitted from the transmitters of the boundary sensing unit 11 , the first position sensing unit 11 , and the second position sensing unit 45 .

The processing unit 42 may generate two-dimensional spatial coordinates based on the information received through the reception unit 41 . The processing unit 42 may generate path information to the target 30 by identifying the position of the moving object 40 itself through the target 30 and the second position sensing unit 45 on the generated two-dimensional spatial coordinates. have.

The control unit 43 may generate and transmit a movement control signal to the target 30 based on the data acquired through the processing unit 42 . The movement control signal may include path information to the target 30 .

The moving object 40 may move to the target 30 on two-dimensional spatial coordinates through the moving means 44 according to the movement control signal transmitted through the control unit 43 . The moving means 44 may be operated through a driving unit driven according to a movement control signal, and for example, may be configured as a driving wheel capable of moving forward, backward and left/right in conjunction with the driving unit. At this time, the driving of the driving unit is set to be driven in consideration of the distance to the target 30 , or so that the moving object 40 moves according to the path information set toward the target 30 through the second position sensing unit 45 . You can set the driving state.

The route information can be confirmed in more detail with reference to FIGS. 3 and 4 .

3 and 4 are conceptual views showing shortest distance path information according to the present invention. FIG. 3 shows the shortest path information that a moving object can reach to a target when there is no obstacle, and FIG. 4 is a movement when there is an obstacle. It represents the information on the shortest path that an object can reach to the target.

The path information may be composed of the shortest distance information from the moving object 40 to the target 30 . That is, the processing unit 42 checks the current positions of the moving object 40 and the target 30 on two-dimensional spatial coordinates, and calculates the shortest distance information that the moving object 40 can reach to the target 30 , Generates a movement control signal. The control unit 43 may reach the target 30 by controlling the moving means 44 through the movement control signal including the shortest distance information.

For example, referring to FIG. 3 , when the position of the moving object 40 is located at (0.0) on the two-dimensional spatial coordinates and the target 30 is located at (9, 11) on the two-dimensional space coordinates, the path information is It can be expressed as a linear movement from the coordinates (0, 0) to the coordinates (9, 0) and then from the coordinates (9, 0) to the coordinates (9, 11).

In addition, the route information may include at least one detour section. Here, the bypass section refers to an obstacle, and the obstacle is any object that cannot be passed by the moving means 44 in reaching the target 30 by the moving object 40 such as a flowerpot or a food and beverage table located on two-dimensional spatial coordinates. may be included.

For example, referring to FIG. 4 , the moving object 40 is located at (0, 0) on the two-dimensional space coordinates, and the obstacles are (3, 0), (2, 11), (9, 10), the path information moves linearly from the coordinates (0, 0) to the coordinates (2, 0), and moves from the coordinates (2, 0) to the coordinates (2, 10) and then the coordinates (2, 10) 10) to the coordinates (8, 10), followed by a linear movement from the coordinate coordinates (8, 10) to the coordinates (8, 11), and then from the coordinates (8, 11) to the coordinates (9, 11). can The obstacle information may be set so that the moving object 40 bypasses and passes by pre-inputting the user's information into the moving object 40 , and may be set so that the moving object 40 bypasses and passes after being detected through a detection sensor 46 to be described later.

The moving object 40 may further include a detection sensor 46 . The detection sensor 46 may detect a target object located in at least one of the four directions of the front, rear, left, right, and right of the moving object 40 , including the front of the moving direction of the moving object 40 . Here, the target object may be a person (including an object) that is moving or standing.

Accordingly, when an object is detected in the forward direction of the moving object 40 by the detection sensor 46, the processing unit 42 generates new route information that bypasses the detected object, and based on the newly created route information The moving object 40 can move. Alternatively, when an object is detected, it can be set to stop for a certain period of time and then move after detecting whether there is an object again.

Meanwhile, according to another embodiment of the indoor automatic movement system according to the present invention, the position of the target 30 is fixed, unlike the above-described embodiment. This indicates that the first position sensing unit 31 is not required for the target 30 . The user may preset the positional coordinates of the target 30 to the moving object 40 , and accordingly, the processing unit 42 may generate path information. For other configurations and operating states, reference may be made to the description of the above-described exemplary embodiment.

According to the indoor automatic movement system described above, since it consists only of the laser distance measuring sensor and the processing unit 42 that detect the X-axis and Y-axis distances in configuring the two-dimensional spatial coordinates, the configuration is simplified compared to the prior art, and thus manufacturing Cost is reduced, complexity is lowered, so maintenance/repair/management can be made easier Since it can be calculated, it is possible to greatly reduce the computational complexity for calculating path information.

In the above, even though all the components constituting the embodiment of the present invention are described as being combined or operated in combination as one, 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, terms such as "include", "compose" or "have" described above mean that the corresponding component may be inherent unless otherwise stated, so excluding other components Rather, it should be construed as being able to include other components further. All terms, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs, unless otherwise defined. Terms commonly used, such as those defined in the dictionary, should be interpreted as being consistent with the contextual meaning of the related art, and are not interpreted in an ideal or excessively formal meaning unless explicitly defined in the present invention.

The above description is merely illustrative of the technical spirit of the present invention, and various modifications and variations will be possible without departing from the essential characteristics of the present invention by those skilled in the art to which the present invention pertains. Accordingly, the embodiments disclosed in the present invention are for explanation rather than 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. The protection scope of the present invention should be construed by the following claims, and all technical ideas within the equivalent range should be construed as being included in the scope of the present invention.

10: reference pole 11: boundary sensing unit
20: reference plane 30: target
31: first position sensing unit 40: moving object
41: receiving unit 42: processing unit
43: control unit 44: moving means
45: second position sensing unit 46: detection sensor

Claims (13)

It relates to an automatic positioning system for detecting one's own position within two-dimensional space coordinates formed in a square or rectangular shape of a set size in an indoor space and automatically moving to a target located on the two-dimensional space coordinates,
It is formed at a predetermined height from the floor and is located at each of the four vertices constituting a square or rectangular space, and by sensing the linear distance from one vertex to two other vertices located at a horizontal and vertical straight distance, the mutual X-axis and Y-axis a reference pole provided with a boundary sensing unit for sensing a separation distance;
a reference plane forming a predetermined upper and lower width and connected to the four reference poles to form a square or rectangular circumferential surface;
a plurality of targets located inside the reference plane and provided with a first position sensing unit for sensing an X-axis and Y-axis separation distance from the reference plane; and
receiving the information sensed through the boundary sensing unit to generate two-dimensional spatial coordinates, receiving the information sensed through the first position sensing unit to determine the position coordinates of the target on the two-dimensional spatial coordinates, and a second position An indoor automatic movement system comprising a; a moving object that moves between itself and the target while detecting its location by sensing the X-axis and Y-axis separation distance from the reference plane within the two-dimensional spatial coordinates through a sensing unit. According to claim 1,
The boundary sensing unit, the first position sensing unit and the second position sensing unit,
A laser distance measuring sensor that measures the X-axis and Y-axis separation distance; and
and a transmitter for transmitting the information sensed by the laser distance measuring sensor to the moving object. According to claim 1,
The moving object is
a receiving unit for receiving information transmitted from the boundary sensing unit, the first position sensing unit, and the second position sensing unit;
a processing unit generating the two-dimensional spatial coordinates based on the information received through the receiver, and generating path information to the target by identifying the target and its own position on the generated two-dimensional spatial coordinates;
a control unit for generating and transmitting a movement control signal to the target based on the data acquired through the processing unit; and
and a moving means for moving to the target using the two-dimensional spatial coordinates according to the movement control signal transmitted through the control unit. 4. The method of claim 3,
The route information is
The indoor automatic movement system, characterized in that it is the shortest distance information from the moving object to the target. 5. The method of claim 4,
In the route information,
Indoor automatic movement system, characterized in that it includes at least one detour section. 4. The method of claim 3,
In the moving object,
A detection sensor for detecting an object located in at least one of the four directions, including the front of the moving direction, is further provided,
When an object is detected in front of the moving direction of the moving object by the detection sensor, new path information to bypass the detected object is generated by the processing unit, and the moving object moves based on the newly created path information Features an indoor automatic movement system. It relates to an automatic positioning system for detecting one's own position within two-dimensional space coordinates formed in a square or rectangular shape of a set size in an indoor space and automatically moving to a target located on the two-dimensional space coordinates,
It is formed at a predetermined height from the floor and is located at each of the four vertices constituting a square or rectangular space, and the X-axis and Y-axis between each other by sensing the linear distance from any one vertex to two other vertices located at a straight horizontal and vertical distance. a reference pole provided with a boundary sensing unit for sensing a separation distance;
a reference plane forming a predetermined upper and lower width and connected to the four reference poles to form a square or rectangular circumferential surface;
a plurality of targets installed at fixed positions inside the reference plane; and
2D spatial coordinates are generated by receiving the information sensed through the boundary sensing unit, the position coordinates of the target are stored on the 2D spatial coordinates, and the reference plane and the reference plane in the 2D spatial coordinates through the second position sensing unit A moving object that moves between itself and the target while detecting its location by detecting the X-axis and Y-axis separation distance of the indoor automatic movement system comprising a. 8. The method of claim 7,
The boundary sensing unit and the position sensing unit,
A laser distance measuring sensor that measures the X-axis and Y-axis separation distance; and
and a transmitter for transmitting the information sensed by the laser distance measuring sensor to the moving object. 8. The method of claim 7,
The moving object is
a receiving unit for receiving information transmitted from the boundary sensing unit and the second position sensing unit;
a processing unit generating the two-dimensional spatial coordinates based on the information received through the receiver, and generating path information to the target by identifying the target and its own position on the generated two-dimensional spatial coordinates;
a control unit for generating and transmitting a movement control signal to the target based on the data acquired through the processing unit; and
and a moving means for moving to the target using the two-dimensional spatial coordinates according to the movement control signal transmitted through the control unit. 10. The method of claim 9,
The route information is
The indoor automatic movement system, characterized in that it is the shortest distance information from the moving object to the target. 11. The method of claim 10,
In the route information,
Indoor automatic movement system, characterized in that it includes at least one detour section. 10. The method of claim 9,
In the moving object,
A detection sensor for detecting an object located in at least one of the four directions, including the front of the moving direction, is further provided,
When an object is detected in front of the moving direction of the moving object by the detection sensor, new path information to bypass the detected object is generated by the processing unit, and the moving object moves based on the newly created path information Features an indoor automatic movement system. A serving robot using the indoor automatic movement system according to any one of claims 1 to 12.

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