WO2016076467A1

WO2016076467A1 - System and method for moving robot by using pointer

Info

Publication number: WO2016076467A1
Application number: PCT/KR2014/011070
Authority: WO
Inventors: 정창현; 김승진
Original assignee: 한화테크윈 주식회사
Priority date: 2014-11-12
Filing date: 2014-11-18
Publication date: 2016-05-19
Also published as: KR20160056559A

Abstract

A system and a method for moving a robot by using a pointer are provided. The system for moving a robot by using a pointer, according to one embodiment of the present invention, comprises: the pointer for pointing to a desired location on a ceiling; and the robot for confirming the pointed-to location and correcting a location by receiving the current location of the pointer from the pointer.

Description

Robot Navigation System and Method

The present invention relates to a traveling system and method of a robot using a pointer, and more particularly, to display a desired position on a ceiling using a pointer, and a robot recognizes the display to correct a current position of the robot. It relates to a traveling system and method of the robot.

Robots have been developed for industrial use and play an important part in factory automation, and robot applications are gradually expanding. For example, robots in the medical field and robots in the aerospace field are being developed, and home robots that can be used in general homes are also being made. Representative robot cleaners are gradually being used in homes recently.

In order to move the robot smoothly, it must be able to recognize the location, and GPS-based location recognition is widely used outdoors. However, since indoor GPS reception is impossible, indoor location recognition methods based on infrared rays, ultrasonic waves, radio frequency (RF) signals, ultra wideband (UWB), and image information are used.

However, in order to recognize a location in a room, installation of a specific sign for identifying objects and locations in an indoor environment is required in various places within a moving range, or requires an expensive sensor or a camera.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and provides a system and method for driving a robot using a pointer that displays a desired position on the ceiling using a pointer, and the robot recognizes the display to correct the current position of the robot. do.

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

Traveling system of a robot using a pointer according to an embodiment of the present invention for achieving the above object, a pointer for pointing (pointing) a desired position on the ceiling; And a robot that checks the pointed position and corrects the position by receiving the position of the current pointer from the pointer.

In the traveling method of a robot using a pointer according to an embodiment of the present invention for achieving the above object, in the moving method of the robot using a pointer, the desired position on the ceiling with a laser beam irradiated from the pointer (pointing) step; Confirming the pointed position with a camera of the robot; Receiving a location of a current pointer from the pointer; And correcting the position of the robot.

According to another aspect of the present invention, there is provided a method of driving a robot using a pointer, the method of driving a robot using a plurality of pointers, the method including: checking a pointed position at a first pointer with a camera of the robot; step; Receiving a current position of a first pointer from the first pointer; Correcting the position of the robot; Confirming the pointed position at the second pointer with the camera of the robot; Receiving a location of a current second pointer from the second pointer; And correcting the position of the robot.

Other specific details of the invention are included in the detailed description and drawings.

According to the present invention, it is not necessary to attach other marks other than the pointer device in the moving space of the robot.

In addition, since the position of the robot is corrected as long as the robot moves in a direction of reducing the error between the position pointed by the pointer and the current position of the robot, complicated image processing algorithms and the like are unnecessary.

In addition, it is possible to track the position where the robot is pointing by moving the pointer at the speed of the robot.

1 is a view showing a schematic implementation state of a traveling system of a robot using a pointer according to an embodiment of the present invention.

2 is a block diagram of a traveling system of a robot using a pointer according to an embodiment of the present invention.

3 is a view illustrating a schematic appearance of a pointer in a traveling system of a robot using a pointer according to an embodiment of the present invention.

4 is a diagram illustrating that the pointer of FIG. 3 checks its position indoors.

FIG. 5 is a diagram illustrating that the pointer of FIG. 3 points to a desired position indoors.

FIG. 6 is a diagram illustrating a position of a robot pointed by a pointer in a robot driving system using a pointer according to an embodiment of the present invention.

FIG. 7 is a diagram illustrating a robot correcting a current position based on a position pointed by a pointer in a robot driving system using a pointer according to an embodiment of the present invention.

FIG. 8 is a diagram illustrating a scanning position of a robot by a pointer in a robot driving system using a pointer according to an exemplary embodiment of the present invention.

9 is a diagram illustrating a robot correcting a moving direction based on a position pointed by a pointer in a robot driving system using a pointer according to an exemplary embodiment of the present invention.

10 is a flowchart illustrating a driving method of a robot using a pointer according to an embodiment of the present invention.

The pointer is used to mark the desired position on the ceiling, and the robot recognizes the mark to correct the current position of the robot.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Advantages and features of the present invention, and methods for achieving them will be apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but can be implemented in various forms. The embodiments of the present invention make the posting of the present invention complete and the general knowledge in the technical field to which the present invention belongs. It is provided to fully convey the scope of the invention to those skilled in the art, and the present invention is defined only 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 in the present specification may be used in a sense that can be commonly understood by those skilled in the art. In addition, the terms defined in the commonly used dictionaries are not ideally or excessively interpreted unless they are specifically defined clearly.

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

Referring to FIG. 1, a driving system of a robot using a pointer according to an embodiment of the present invention includes a pointer 100 and a robot 200, and uses the pointer 100 in an indoor space S. Correct the position of the robot 200. Specifically, the pointer 100 points to a desired position on the ceiling of the indoor space S, checks the pointed position P in the robot 200, and the robot 200 The position of the current pointer 100 is received from the pointer 100 to correct the position. That is, the position of the robot may be displayed on the ceiling using the pointer 100, and the robot 200 may recognize the display using a camera or the like to correct the current position and / or direction.

Referring to FIG. 2, in the navigation system of a robot using a pointer according to an embodiment of the present invention, the pointer 100 includes a laser irradiation unit 110 and a pointer pan that irradiate a laser for pointing. Controls the pointing position of the laser by controlling the pan driver 120 to move, the tilt driver 130 to tilt the pointer 100, and the fan driver 120 and the tilt driver 130. It includes a pointer controller 140. In addition, the pointer 100 measures the height of the pointer 100 to the ceiling and the distance from the pointer 100 to the side wall by using the laser irradiated from the laser irradiation unit 110. The apparatus further includes a pointer position recognizer 160 that recognizes a current position of the pointer 100 in a three-dimensional space based on height and distance, and a pointer communicator 170 that communicates with the robot 200.

The pointer 100 may display a pointing position by irradiating a laser and may be pan / tilt driven. The direction of irradiation of the laser can be adjusted by the pan / tilt driving of the pointer 100, and thus the laser can be pointed at a desired position of the ceiling. In addition, the pointer 100 may be installed on a table where the ceiling is easily visible, and after installation, the pointer 100 may measure its current height and position to recognize its position on a map. Of course, it is also possible to recognize the installation position of the pointer 100 using another measuring device. The location of the pointer 100 may communicate with the robot 200 to exchange information.

In addition, not only one pointer 100 may be installed in one room, for example, each room, but also a plurality of pointers may be installed. Specifically, when the area where the robot 200 moves exceeds the preset reference area, the pointer 100 may be provided for each reference area. For example, in a room consisting of a plurality of floors or a plurality of rooms, or in a room consisting of the plurality of floors and a plurality of rooms, the pointer 100 may be installed in each floor and each room, and as the robot 200 moves. An area capable of correcting the position of the robot 200 may be expanded. Also, in a large room, when one pointer 100 does not cover the entire area, the pointer 100 may be positioned at each position of a limit area that can be covered by one pointer 100, that is, a preset reference area. In addition, the robot 200 may be expanded to expand an area for correcting the position as the robot 200 moves. Even in this case, the pointer 100 may be installed on a table where the ceiling is easily seen, and after installation, the pointer 100 may measure its current height and position to recognize its position on the map. Of course, it is also possible to recognize the installation position of the pointer 100 using another measuring device. The location of each pointer 100 may exchange information by communicating with each pointer 100 or with the robot 200.

In addition, in the navigation system of the robot using a pointer according to an embodiment of the present invention, the robot 200 provides a driving force to the photographing unit 210 and the robot 200 to photograph the pointed position of the ceiling, the robot 200. The robot driver 220 for moving the robot, the robot position recognition unit 230 for recognizing the current position according to the movement of the robot 200, the robot communication unit 240 for communicating with the pointer 100, and the photographing unit ( 210, the robot driver 220, the robot position recognizer 230, and the robot controller 250 that controls the robot communicator 240.

In the robot 200 moving the indoor space S, the photographing unit 210 always photographs the ceiling. For example, the upper part of the robot 200 has a camera module serving as the photographing unit 210, and the camera module always faces the ceiling even if the robot 200 moves. In addition, the robot position recognition unit 230 of the robot 200 may recognize its position in real time using a driving recorder (eg, an encoder or a speedometer) installed in the robot driver 220. In addition, the robot communication unit 240 may communicate with the pointer 100 to receive the position of the pointer 100, and periodically inform the pointer 100 of the current estimated position of the robot. Since the pointer 100 points to the estimated position of the received robot 200, the position pointed by the pointer 100 can be easily confirmed by the robot 200. However, the robot 200 may generate an error due to slipping over an obstacle that is not on a map or slipping on a wheel, and corrects the error using a pointed position displayed at a desired position of the ceiling.

3 is a view illustrating a schematic appearance of a pointer in a traveling system of a robot using a pointer according to an embodiment of the present invention. 4 is a diagram illustrating that the pointer of FIG. 3 checks its position indoors. FIG. 5 is a diagram illustrating that the pointer of FIG. 3 points to a desired position indoors.

Referring to FIG. 3, the pointer 100 irradiates a laser beam from a laser irradiation unit 110 that displays a desired pointing position to the robot 200, and moves the laser irradiation unit 110 to a fan driver 120 and a tilt driver. 130 pan / tilt drive. Here, the laser irradiator 110, the tilt driver 130 and the fan driver 120 are disposed at the top, but the design position can be changed. In addition, the pointer controller 140, the measurement unit 150, the pointer position recognition unit 160, the pointer communication unit 170, and the like may be implemented as one module or may be implemented as separate modules.

Referring to FIG. 4, the pointer 100 is installed on a table (T) or a TV (not shown) where the ceiling can be easily seen. Recognize and recognize his position on the indoor space (S). Here, the indoor space S may be represented by a map, and the position may be represented by coordinates on a two-dimensional plane. Therefore, the height (h) from the pointer 100 and the distance (x, y) from the side wall can be measured and displayed on the map, and the position of the pointer 100 in the three-dimensional interior space can be accurately represented. You can check it. In addition, when the pointer 100 is installed, the installation position may be displayed on the map by using another measuring device.

Referring to FIG. 5, the pointer 100 knows the position (x, y) in its plane coordinates and the height h up to the ceiling C on the interior space S represented by the map. Therefore, it is possible to precisely point the desired position by controlling the Pan / Tilt angle. In this case, L denotes a starting point at which the laser of the laser irradiation unit 110 is irradiated, and P denotes an ending point at which the laser arrives, that is, a pointed position. Control by the panning and tilting operation of the driving unit 130. The position P pointed by the pointer 100 is transmitted to the robot 200 and used to correct the position of the robot 200.

In addition, the shape formed at the location pointed by the pointer 100 may be a shape having various characteristics, and may allow the robot 200 to perform more precise position correction, or to intuitively move the position and perform a specific mission. It may be a shape having a meaning to enable. For example, the shape formed on the ceiling by the pointer 100 may have an arrow shape, and the direction of the arrow may indicate the direction in which the robot 200 intends to move. As another example, the shape formed on the ceiling by the pointer 100 displays a specific symbol, a character, or the like, thereby instructing the position movement of the robot 200, or commanding a mission to be performed by the robot 200. )can do.

FIG. 6 is a diagram illustrating a position of a robot pointed by a pointer in a robot driving system using a pointer according to an embodiment of the present invention. FIG. 7 is a diagram illustrating a robot correcting a current position based on a position pointed by a pointer in a robot driving system using a pointer according to an embodiment of the present invention. FIG. 8 is a diagram illustrating a robot scanning a position pointed by a pointer in a robot driving system using a pointer according to an exemplary embodiment of the present invention. 9 is a diagram illustrating a robot correcting a moving direction based on a position pointed by a pointer in a robot driving system using a pointer according to an embodiment of the present invention.

Referring to FIG. 6, an imaging unit 210 for capturing the ceiling C is disposed on an upper portion of the robot 200 moving in an indoor space, even when the robot 200 is moved by the robot driving unit 220. The unit 210 may always acquire an image by photographing the ceiling (C). That is, regardless of the posture of the robot 200, the photographing unit 210 is always facing the ceiling (C). However, the robot 200 may generate an error due to the current expected position due to the obstacle that is not on the map indicating the indoor space or the slip of the wheel. For example, as shown in FIG. 6, the current expected position should be the same as the position P pointed by the pointer 100, but the actual position R and the pointed position P may be different. This error is corrected by moving the robot 200.

Referring to FIG. 7, since the actual position R is different from the pointed position P in the image I acquired by the robot 200, the robot controller 250 controls the robot driver 220 to control the robot ( The error may be corrected by moving 200 to the pointed position P. FIG.

Referring to FIG. 8, the pointer 100 may point to an expected position R of the robot 200 received from the robot 200. Accordingly, the pointed position P of the laser emitted from the pointer 100 can be easily confirmed through the image I in the robot 200. When the position P ′ pointed by the pointer 100 in the image I is not found and the position P ′ pointed by the robot 200 is not found, the surrounding area is scanned until it is caught by the image of the robot. When the pointing position of the pointer 100 is caught in the image I, the robot 200 receives the position of the current pointer 100 from the pointer 100 and corrects the position.

When the movement method of the robot 200 is a caterpillar drive or a differential drive method that can rotate in place, after the position correction using the pointer 100 is finished, the robot 200 receives a direction to change the direction of the robot 200. It is also possible to correct. As shown in FIG. 9, when the position correction is completed from the first image I1 of the robot 200 to the position P1 pointed at the current position R, the rotation direction of the robot 200 is corrected. At this time, as shown in the second image I2, the robot 200 in the direction in which the robot 200 rotates on the pointer 100 performs pointing, and the robot 200 rotates toward the second pointed position P2. Thereafter, as shown in the third image I3, the robot 200 moves to the pointed position P2. Accordingly, not only the position correction of the robot 200 but also the direction correction is possible.

Referring to FIG. 10, in the driving method of the robot using the pointer according to an embodiment of the present invention, in driving the robot 200 by using the pointer 100, the laser is irradiated from the pointer 100. Pointing to a desired position on the ceiling (S10), and confirming the pointed position with the camera of the robot 200 (S20), receiving the position of the current pointer from the pointer 100 (S30), Correct the position of the robot 200 (S40).

In addition, in the robot driving method using the pointer according to another embodiment of the present invention, the robot 200 may be driven using the plurality of pointers 100, and the robot 200 may be positioned at the first pointer. Check with a camera, and receives the current position of the first pointer from the first pointer, and corrects the position of the robot (200). Thereafter, the position pointed at the second pointer is confirmed by the camera of the robot 200, the position of the current second pointer is transmitted from the second pointer, and the position of the robot 200 is corrected.

Through the robot driving method using a pointer according to various embodiments of the present disclosure, it is not necessary to attach other marks other than the pointer 100 in the moving space of the robot 200, and the pointing position of the pointer 100 and the robot ( Since the position correction is performed only when the robot 200 moves in the direction of reducing the error of the current position of the 200, a complicated image processing algorithm is not required. In addition, by moving the pointer 100 according to the speed of the robot 200, the robot 200 may move by tracking a pointing position of the laser beam emitted from the pointer 100.

Although embodiments of the present invention have been described above with reference to the accompanying drawings, those skilled in the art to which the present invention pertains may implement the present invention in other specific forms without changing the technical spirit or essential features thereof. I can understand that. Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive.

Claims

A pointer pointing to a desired location on the ceiling; And

And a robot that checks the pointed position and corrects the position by receiving the position of the current pointer from the pointer.
The method of claim 1,

The pointer is

A laser irradiation unit for irradiating a laser for pointing;

A fan driver configured to pan the pointer;

A tilt driver for tilting the pointer; And

And a pointer controller for controlling the pointing position of the laser by controlling the fan driver and the tilt driver.
The method of claim 2,

The pointer is

A measuring unit measuring a height from the pointer to the ceiling and a distance from the pointer to the side wall by using the laser irradiated from the laser irradiation unit;

A pointer position recognizing unit recognizing a current position of the pointer on a three-dimensional space based on the height and distance; And

Further comprising a pointer communication unit for communicating with the robot, the robot navigation system using a pointer.
The method of claim 1,

The robot,

A photographing unit photographing the pointed position;

A robot driver to move the robot by providing a driving force to the robot;

A robot position recognition unit recognizing a current position according to the movement of the robot;

A robot communication unit communicating with the pointer; And

And a robot controller configured to control the photographing unit, the robot driver, the robot position recognition unit, and the robot communication unit.
The method of claim 4, wherein

The robot,

A traveling system of a robot using a pointer, wherein the photographing unit always photographs the ceiling.
The method of claim 1,

And a pointer is provided for each of the reference areas when the area in which the robot moves exceeds a preset reference area.
The method of claim 6,

And a plurality of the pointers, the position of each pointer can be communicated between the respective pointers, or communicate with the robot to exchange information.
In the robot driving method using a pointer,

Pointing a desired position to a ceiling with a laser irradiated from the pointer;

Confirming the pointed position with a camera of the robot;

Receiving a location of a current pointer from the pointer; And

Comprising the step of correcting the position of the robot, the robot driving method using a pointer.
In the traveling method of a robot using a plurality of pointers,

Confirming a position pointed at the first pointer with a camera of the robot;

Receiving a current position of a first pointer from the first pointer;

Correcting the position of the robot;

Confirming the pointed position at the second pointer with the camera of the robot;

Receiving a location of a current second pointer from the second pointer; And

Comprising the step of correcting the position of the robot, the robot driving method using a pointer.