WO2017034062A1 - 이동 대상을 이동 로봇이 추종하는 추종 시스템 - Google Patents
이동 대상을 이동 로봇이 추종하는 추종 시스템 Download PDFInfo
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- WO2017034062A1 WO2017034062A1 PCT/KR2015/009215 KR2015009215W WO2017034062A1 WO 2017034062 A1 WO2017034062 A1 WO 2017034062A1 KR 2015009215 W KR2015009215 W KR 2015009215W WO 2017034062 A1 WO2017034062 A1 WO 2017034062A1
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
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- G—PHYSICS
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- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Definitions
- the present invention relates to a tracking system, and more particularly, to a tracking system in which a mobile robot follows a moving object.
- the mobile robot can follow a person or vehicle such as a soldier by autonomous driving.
- a tracking system employs a Global Positioning System (GPS) method or a camera method.
- GPS Global Positioning System
- the mobile robot calculates a tracking path according to the GPS information of the moving target.
- a tracking system can obtain an appropriate tracking path only when the GPS accuracy is high.
- the proper tracking path means a path that can follow the shortest distance while accurately avoiding obstacles.
- the GPS tracking system does not provide an appropriate tracking path in an area where GPS accuracy is low.
- a camera capable of observing the front of the mobile robot is installed in the mobile robot, and a camera-type tracking system that obtains a following path by analyzing an image from the camera is adopted.
- a tracking system can obtain an appropriate tracking path even in a region of low GPS accuracy, but has the following problems.
- the problem of the background art is that the inventors possessed for the derivation of the present invention or acquired in the derivation process of the present invention, and are not necessarily known to the general public before the application of the present invention.
- Embodiments of the present invention in the camera-based tracking system, to provide a system that can obtain the optimal tracking path of the mobile robot in the long term.
- embodiments of the present invention in the following tracking method of the camera method, even if the camera of the mobile robot can not shoot the moving object due to the long distance between the moving object and the moving robot to obtain the tracking path of the mobile robot. To provide a system that can.
- embodiments of the present invention in the camera-type tracking system, even if the sharpness of the captured image in the night or dark areas, to provide a system that can obtain the proper tracking path of the mobile robot.
- the tracking system of the present embodiment in which the mobile robot follows the moving object, includes a first camera and a mobile robot.
- the first camera is worn on the moving object and photographs the front of the moving object.
- the mobile robot includes a second camera for photographing the front of the mobile robot and obtains a following path according to a first front image from the first camera and a second front image from the second camera.
- the mobile robot obtains a tracking path according to the first forward image from the first camera worn on the moving object and the second forward image from the second camera provided on the mobile robot.
- the following system of the present embodiments can obtain the following effects as compared to the conventional following system.
- the mobile robot can know the situation in front of the moving object, the mobile robot can obtain an optimal following path in the long term.
- the moving robot when the second camera of the mobile robot fails to photograph the moving object due to the increase in the distance between the moving object and the moving robot, the moving robot is configured to display the first front image from the first camera.
- the frame of the past view corresponding to the current position is extracted from the series of frames, and the following path for which the image of the frame of the extraction result is the tracking target can be obtained.
- the moving robot can obtain a following path.
- the mobile robot extracts a frame of a past viewpoint corresponding to a current position from a series of frames of the first front image, and the image of the frame of the extraction result.
- the image of the frame of the current view of the second front image may be synthesized to obtain a following path according to the image of the synthesis result.
- the mobile robot can obtain an appropriate following path.
- FIG. 1 is a view showing a tracking system according to an embodiment of the present invention.
- FIG. 2 is a diagram for describing a method of using a first front image from a first camera and a second front image from a first camera in the tracking system of FIG. 1.
- FIG. 3 is a view showing the configuration of the remote control device of FIG.
- FIG. 4 is a flowchart illustrating an operation of a controller of FIG. 3.
- FIG. 5 is a diagram illustrating a configuration of the mobile robot of FIG. 1.
- FIG. 6 is a flowchart illustrating an operation of an image synthesizer of FIG. 5.
- FIG. 7 is a flowchart illustrating an operation of a following path generation unit of FIG. 5.
- FIG. 8 is a flowchart illustrating an operation of the emergency following mode of FIG. 7.
- FIG. 9 is a flowchart illustrating an operation of a controller of FIG. 5.
- FIG. 10 is a diagram for describing a panorama image is generated in a tracking system in which a mobile robot follows a plurality of moving objects.
- FIG. 1 shows a tracking system of one embodiment of the present invention.
- the following tracking system includes a first camera 103 and a moving robot 102 according to the present exemplary embodiment in which the moving robot 102 follows a moving object 101, for example, a soldier or a vehicle. ).
- the first camera 103 is worn on the moving object 101 to photograph the front of the moving object 101.
- the mobile robot 102 includes a second camera 102a for photographing the front of the mobile robot, so that the mobile robot 102 can capture the first front image from the first camera 103 and the second front image from the second camera 102a. Therefore, find the following path.
- the following system of the present embodiment can obtain the following effects as compared to the conventional following system.
- the mobile robot 102 can know the situation in front of the moving object 101, it can obtain the optimal following path in the long term.
- the second camera 102a of the moving robot fails to photograph the moving object 101.
- the frame of the past viewpoint corresponding to the current position is extracted from the series of frames of the first front image from the camera 103, and the second camera 102a pans a tracking path in which the image of the frame of the extraction result is the tracking target. It can obtain
- the moving robot 102 can find the following path.
- the mobile robot 102 extracts a frame of a past viewpoint corresponding to the current position among a series of frames of the first front image, and extracts a frame of the extracted result.
- the following path may be obtained according to an image of the synthesis result by synthesizing the image of the frame of the current view of the image and the second front image.
- the mobile robot 102 can obtain an appropriate following path.
- the remote control device 104 worn on the moving object 101 controls the operation of the mobile robot 102 according to a user's operation, and transmits the first front image from the first camera 103 to the mobile robot 102. Send to.
- FIG. 2 is a diagram for describing a method of using a first front image from the first camera 103 and a second front image from the first camera 102a in the tracking system of FIG. 1.
- reference numeral t denotes time
- 1F 1 to 1F N denote frames of the first front image
- 2F 1 to 2F N denote frames of the second front image
- Ta denotes an estimated time of arrival, respectively.
- the mobile robot 102 may include a past viewpoint t S corresponding to a current position among a series of frames 1F 1 to 1F N of a first front image from the first camera 103. Frame 1Fs is extracted. This will be described in detail as follows.
- the mobile robot 102 finds a past position where the mobile robot 102 was at the past time t S when the moving object 101 was at the current position of the mobile robot 102.
- the mobile robot 102 calculates the estimated arrival time Ta at which the mobile robot 102 reaches from the past position to the current position.
- the mobile robot 102 extracts the frames 1Fs of the past viewpoints corresponding to the estimated arrival time Ta from the series of frames 1F 1 to 1F N of the first front image.
- the frames 1Fs of the past viewpoints of the first front image extracted as described above are used as follows.
- the mobile robot 102 synthesizes an image of a frame 1Fs of a past viewpoint of a first front image and an image of a frame 2F N of a current viewpoint t N of a second front image, and synthesizes an image. Find the following path according to the image.
- the mobile robot 102 can obtain an appropriate following path.
- the second camera 102a of the moving robot fails to photograph the moving object 101.
- the tracking path for which the image of the frame 1Fs of the past view of the front image is the tracking target is obtained by panning and tilting of the second camera 102a.
- the moving robot 102 can find the following path.
- FIG. 3 shows the configuration of the remote control device 104 of FIG.
- the remote control device 104 includes a microphone 301, a user input unit 302, a wireless communication interface 303, and a controller 304.
- the microphone 301 generates an audio signal.
- the user input unit 302 for example, a joystick generates an operation control signal of the mobile robot 102 according to a user's manipulation.
- the wireless communication interface 303 relays communication with the mobile robot 102.
- FIG. 4 illustrates an operation of the controller 304 of FIG. 3. Referring to Figures 1, 3 and 4 will be described as follows.
- the controller 304 outputs the first front image from the first camera 103 and the audio signal from the microphone 301 to the wireless communication interface 303 (step S401). Accordingly, the wireless communication interface 303 transmits the first front image and audio signal from the controller 304 to the mobile robot 102.
- step S403 If an operation control signal from the user input unit 302 has been input (step S403), the control unit 304 outputs the input operation control signal to the wireless communication interface 303 (step S405). Accordingly, the wireless communication interface 303 transmits an operation control signal from the control unit 304 to the mobile robot 102.
- Steps S401 to S405 are repeatedly performed until a termination signal, for example, a power off signal, is generated (step S407).
- the mobile robot 102 obtains a following path according to the first front image, the second front image, and the audio signal.
- the audio signal may include an audio signal associated with performing the task of the mobile robot 102.
- the mobile robot 102 performs a task performing operation according to the audio signal.
- FIG. 5 shows the configuration of the mobile robot 102 of FIG. Referring to Figures 1 and 5 the configuration and operation of each part of the mobile robot 102 is as follows.
- the mobile robot 102 may generate a wireless communication interface 501, an image synthesizer 502, an audio amplifier 503, first ultrasonic sensors 504 and S1, second ultrasonic sensors 505 and S2, and follow path generation.
- the wireless communication interface 501 receives a first front image, an audio signal, and an operation control signal from the remote control device 104.
- the image synthesizing unit 502 synthesizes the first front image IM1 from the wireless communication interface 501 and the second front image IM2 from the second camera 102a to generate a composite image.
- the audio amplifier 503 amplifies the audio signal Sau from the wireless communication interface 501.
- the first ultrasonic sensors 504 and S1 generate a ground state signal in front of the left side of the mobile robot 102.
- the second ultrasonic sensors 505 and S2 generate the ground state signal of the right front of the mobile robot 102.
- the following path generation unit 506 is a composite image from the image synthesizing unit 502, an audio signal from the audio amplifying unit 503, a ground state signal from the left front from the first ultrasonic sensors 504 and S1, and The following path is obtained according to the ground state signal on the right front side from the second ultrasonic sensors 505 and S2. Therefore, compared with the conventional tracking system by a single camera, a more suitable tracking path can be obtained quickly.
- the mechanism 507 is provided for the operation of the mobile robot.
- the drive unit 508 drives the mechanism unit 507.
- the controller 509 controls the driver 508 according to the following path from the following path generation unit 506 or the operation control signal Sco from the wireless communication interface 501.
- FIG. 6 illustrates an operation of the image synthesizer 502 of FIG. 5. This will be described with reference to FIGS. 2, 5, and 6 as follows.
- the image synthesizing unit 502 stores a series of frames 1F 1 to 1F N of the first front image IM1 (step S601).
- the image synthesizing unit 502 finds the past position where the mobile robot 102 was at the past time point t S at which the moving object 101 was at the current position of the mobile robot 102 (step S602).
- the image synthesizing unit 502 calculates an arrival estimation time Ta at which the mobile robot 102 reaches the present position from the past position (step S603).
- the arrival estimation time Ta may be calculated by Equation 1 below.
- Equation 1 dp denotes a distance between the past position and the current position, and Vm denotes an average moving speed that was applied to move from the past position to the present position, respectively.
- the image synthesizing unit 502 extracts a frame 1Fs of a past viewpoint corresponding to the estimated arrival time Ta from the series of frames 1F 1 to 1F N of the first front image IM1 ( Step S604).
- the image synthesizing unit 502 performs the image of the frame 1Fs of the past viewpoint of the first front image IM1 and the image of the frame 2F N of the current viewpoint t N of the second front image IM2. Is synthesized (step S605).
- the image synthesizing unit 502 then provides the image of the synthesis result to the following path generation unit 506 (step S606).
- Steps S601 to S606 are repeatedly performed until an end signal is generated.
- FIG. 7 illustrates an operation of the following path generation unit 506 of FIG. 5. Referring to Figures 1, 5, and 7 will be described as follows.
- the following path generation unit 506 is a composite image from the image synthesizing unit 502, an audio signal from the audio amplifying unit 503, a ground state signal from the left front from the first ultrasonic sensors 504 and S1, and The following path is obtained according to the ground state signal on the right front side from the second ultrasonic sensors 505 and S2 (step S701).
- the following path generation unit 506 may analyze the pattern of the footprint sound of the moving object 101 such as a soldier, and predict the ground situation at the position where the moving object 101 is located. For example, in the case of the sound pattern of "scattering", the following path generation unit 506 calculates the following path in consideration of the fact that there is a waterway that is quite deep at the position of the moving object 101. In the case of the sound pattern of the "watching room”, the following path generation unit 506 calculates the following path in consideration of the presence of a water path at the position of the moving object 101. In the case of the sound pattern of "tracking”, the tracking path generation unit 506 calculates the tracking path in consideration of the fact that the moving object 101 is walking fast. In the case of the sound pattern of "smooth”, the following path generation unit 506 calculates the following path in consideration of the fact that the moving object 101 is walking on a viscous path.
- the following path generation unit 506 calculates the following path in consideration of the command voice of the moving object 101.
- Examples of the command voice of the moving object 101 include “right watch”, “slow”, “quiet”, “quickly”, and the like.
- the tracking path generation unit 506 provides the tracking path obtained as described above to the control unit 509 (step S702).
- step S703 if an audio signal associated with performing the task of the mobile robot 102 is input (step S703), the following path generation unit 506 relays the audio signal to the control unit 509 (step S704).
- An example of an audio signal associated with performing a task is as follows.
- iron and iron is a sound in which the moving object 101 operates a firearm.
- the specified command voices of the moving object 101 may be audio signals related to task performance.
- step S705 if the image of the moving object has disappeared (step S705), the following path generation unit 506 performs the emergency following mode (step S706).
- Steps S701 to S706 are repeatedly performed until the end signal is generated (step S707).
- FIG. 8 shows the operation of the emergency following mode (step S706) of FIG. This will be described with reference to FIGS. 1, 2, 5, and 7.
- the tracking path generation unit 506 finds an image of the moving object 101 by panning and tilting the second camera 102a (step S801).
- the following path generation unit 506 calculates a following path to which the image of the moving object 101 is a tracking target (step S803). In addition, the following path generation unit 506 provides the obtained following path to the control unit 509 (step S804).
- step S802 If the image of the moving object 101 is not found (step S802), the following path generation unit 506 performs steps S805 to S807 and then performs steps S802 and subsequent steps again.
- step S805 the following path generation unit 506 controls the image synthesizing unit 502 so that the series of frames 1F 1 to 1F N of the first front image IM1 from the first camera 103 is controlled. ) Extracts the frames 1Fs of the past time point t S corresponding to the current position.
- This step S805 is performed by steps S602 to S604 in FIG.
- the tracking path generation unit 506 calculates a tracking path for which the image of the frame of the extraction result is the tracking target by the panning and tilting of the second camera 102a (step S806).
- the following path generation unit 506 provides the obtained following path to the control unit 509 (step S807), and then performs the above steps S802 and subsequent steps.
- FIG. 9 illustrates an operation of the controller 509 of FIG. 5. Referring to Figures 1, 5, and 9 will be described as follows.
- the control unit 509 controls the drive unit 508 in accordance with the following path from the following path generation unit 506 (step S901).
- Step S903 if the audio signal related to the task execution is input from the following path generation unit 506 (step S902), the control unit 509 controls the drive unit 508 according to the audio signal from the following path generation unit 506. (Step S903).
- step S904 If an operation control signal from the wireless communication interface 501 is input (step S904), the control unit 509 controls the drive unit 508 according to the operation control signal from the wireless communication interface 501 (step S905). .
- Steps S901 to S906 are repeatedly performed until an end signal is generated.
- a tracking system in which the moving robot (102 in FIG. 1) follows a plurality of moving objects may be mentioned.
- a tracking system of another embodiment of the present invention includes first cameras 103 and the like and a mobile robot 102.
- the first cameras 103 and the like are worn on each of the moving objects 101 and the like to photograph the front of the moving objects 101 and the like.
- the mobile robot 102 includes a second camera 102a for photographing the front of the mobile robot 102, from the first front images and the second camera 102a from the first cameras 103 and the like. According to the second forward image of, the following path is obtained.
- FIGS. 1 to 9 since the description of FIGS. 1 to 9 may be equally applicable, only the differences will be described as follows.
- FIG. 10 is a diagram for describing a panorama image is generated in a tracking system in which a mobile robot follows a plurality of moving objects.
- the mobile robot 102 may determine the first front images 1001 and 1003 from the first cameras 103, and the second front image 1002 from the second camera 102a. After the panorama image 1004 is generated, the following path is obtained according to the panorama image 1004.
- the mobile robot 102 may obtain a more suitable tracking path.
- the panoramic image 1004 is generated based on the second front image 1002 from the second camera 102a.
- the first front images 1001 and 1003 from the first cameras 103 and the like are extracted by performing the steps S602 to S604 of FIG. 6.
- the mobile robot is configured according to the first front image from the first camera worn on the moving object and the second front image from the second camera provided on the mobile robot. Find the following path.
- the following system of the present embodiment can obtain the following effects as compared to the conventional following system.
- the mobile robot can know the situation in front of the moving object, the mobile robot can obtain an optimal following path in the long term.
- the second camera of the moving robot cannot capture the moving object, and the moving robot is currently positioned among a series of frames of the first front image from the first camera.
- the frame of the past view corresponding to the extracted frame can be extracted, and a following path for which the image of the frame of the extraction result is the tracking target can be obtained.
- the moving robot can obtain a following path.
- the mobile robot extracts a frame of a past viewpoint corresponding to the current position from among a series of frames of the first front image, and extracts the image of the frame of the extracted result and the image.
- the image of the frame of the current view of the front image may be synthesized, and the following path may be obtained according to the image of the synthesis result.
- the mobile robot can obtain an appropriate following path.
- the present invention can be used in various following systems.
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Claims (14)
- 이동 대상을 이동 로봇이 추종하는 추종 시스템에 있어서,상기 이동 대상에 착용되어, 상기 이동 대상의 전방을 촬영하는 제1 카메라; 및상기 이동 로봇의 전방을 촬영하는 제2 카메라를 구비하여, 상기 제1 카메라로부터의 제1 전방 영상 및 상기 제2 카메라로부터의 제2 전방 영상에 따라, 추종 경로를 구하는 상기 이동 로봇;을 포함한, 추종 시스템.
- 제1항에 있어서, 상기 이동 로봇은,상기 이동 대상의 영상을 찾을 수 없는 경우, 상기 제1 전방 영상의 일련의 프레임들 중에서 현재 위치에 상응하는 과거 시점의 프레임을 추출한 후, 상기 제2 카메라의 패닝(panning) 및 틸팅(tilting)에 의하여, 추출 결과의 프레임의 영상이 추종 목표가 되는 추종 경로를 구하는, 추종 시스템.
- 제1항에 있어서, 상기 이동 로봇은,상기 제1 카메라로부터의 제1 전방 영상의 일련의 프레임들을 저장하고,상기 이동 대상이 상기 이동 로봇의 현재 위치에 있었던 과거 시점에서 상기 이동 로봇이 있었던 과거 위치를 찾으며,상기 이동 로봇이 상기 과거 위치에서 현재 위치까지 도달하는 도달 추정 시간을 계산하고,상기 일련의 프레임들 중에서 상기 도달 추정 시간에 상응하는 과거 시점의 프레임을 추출하며,상기 과거 시점의 프레임의 영상 및 상기 제2 전방 영상의 현재 시점의 프레임의 영상을 합성하여,합성 결과의 영상에 따라 추종 경로를 구하는, 추종 시스템.
- 제1항에 있어서,상기 이동 대상에 착용되어, 사용자의 조작에 따라 상기 이동 로봇의 동작을 제어하는 원격 제어 장치를 더 포함하고,상기 원격 제어 장치는 상기 제1 카메라로부터의 제1 전방 영상을 상기 이동 로봇에게 전송하는, 추종 시스템.
- 제4항에 있어서, 상기 원격 제어 장치는,오디오 신호를 발생시키는 마이크로폰;사용자의 조작에 따라 상기 이동 로봇의 동작 제어 신호를 발생시키는 사용자 입력부;상기 이동 로봇과의 통신을 중계하는 무선 통신 인터페이스; 및제어부를 포함한, 추종 시스템.
- 제5항에 있어서, 상기 원격 제어 장치의 상기 제어부는,상기 제1 카메라로부터의 제1 전방 영상, 상기 마이크로폰으로부터의 오디오 신호, 및 상기 사용자 입력부로부터의 동작 제어 신호를 상기 무선 통신 인터페이스에 출력하고,상기 무선 통신 인터페이스는 상기 제어부로부터의 제1 전방 영상, 오디오 신호, 및 동작 제어 신호를 상기 이동 로봇에게 전송하는, 추종 시스템.
- 제6항에 있어서, 상기 이동 로봇은,상기 제1 전방 영상, 상기 제2 전방 영상, 및 상기 오디오 신호에 따라, 추종 경로를 구하는, 추종 시스템.
- 제7항에 있어서,상기 오디오 신호에는 임무 수행과 관련된 오디오 신호가 포함되고,상기 이동 로봇은,상기 오디오 신호에 따라 임무 수행 동작을 하는, 추종 시스템.
- 제6항에 있어서, 상기 이동 로봇은,상기 원격 제어 장치로부터의 제1 전방 영상, 오디오 신호, 및 동작 제어 신호를 수신하는 무선 통신 인터페이스;상기 무선 통신 인터페이스로부터의 제1 전방 영상과 상기 제2 카메라로부터의 제2 전방 영상을 합성하여, 합성 영상을 생성하는 영상 합성부;상기 무선 통신 인터페이스로부터의 상기 오디오 신호를 증폭하는 오디오 증폭부;상기 이동 로봇의 좌측 전방의 지면 상태 신호를 발생시키는 제1 초음파 센서;상기 이동 로봇의 우측 전방의 지면 상태 신호를 발생시키는 제2 초음파 센서;상기 영상 합성부로부터의 합성 영상, 상기 오디오 증폭부로부터의 오디오 신호, 상기 제1 초음파 센서로부터의 좌측 전방의 지면 상태 신호, 및 상기 제2 초음파 센서로부터의 우측 전방의 지면 상태 신호에 따라 추종 경로를 구하는 추종 경로 생성부;상기 이동 로봇의 동작을 위한 기구부;상기 기구부를 구동하는 구동부; 및상기 추종 경로 생성부로부터의 상기 추종 경로 또는 상기 무선 통신 인터페이스로부터의 상기 동작 제어 신호에 따라 상기 구동부를 제어하는 제어부;를 포함한, 추종 시스템.
- 제9항에 있어서, 상기 영상 합성부는,상기 제1 전방 영상의 일련의 프레임들을 저장하고,상기 이동 대상이 상기 이동 로봇의 현재 위치에 있었던 과거 시점에서 상기 이동 로봇이 있었던 과거 위치를 찾으며,상기 이동 로봇이 상기 과거 위치에서 현재 위치까지 도달하는 도달 추정 시간을 계산하고,상기 일련의 프레임들 중에서 상기 도달 추정 시간에 상응하는 과거 시점의 프레임을 추출하며,상기 과거 시점의 프레임의 영상 및 상기 제2 전방 영상의 현재 시점의 프레임의 영상을 합성하여,합성 결과의 영상을 상기 추종 경로 생성부에게 제공하는, 추종 시스템.
- 제9항에 있어서,상기 오디오 신호에는 상기 이동 로봇의 임무 수행과 관련된 오디오 신호가 포함되고,상기 추종 경로 생성부는,상기 임무 수행과 관련된 오디오 신호를 상기 제어부에게 중계하는, 추종 시스템.
- 복수의 이동 대상들을 이동 로봇이 추종하는 추종 시스템에 있어서,상기 이동 대상들 각각에 착용되어, 상기 이동 대상들의 전방을 촬영하는 제1 카메라들; 및상기 이동 로봇의 전방을 촬영하는 제2 카메라를 구비하여, 상기 제1 카메라들로부터의 제1 전방 영상들 및 상기 제2 카메라로부터의 제2 전방 영상에 따라, 추종 경로를 구하는 상기 이동 로봇;을 포함한, 추종 시스템.
- 제12항에 있어서, 상기 이동 로봇은,상기 제1 전방 영상들 및 상기 제2 카메라로부터의 제2 전방 영상의 파노라마 영상을 생성한 후, 상기 파노라마 영상에 따라 추종 경로를 구하는, 추종 시스템.
- 제13항에 있어서,상기 제2 카메라로부터의 제2 전방 영상을 기준으로 하여 상기 파노라마 영상이 생성되는, 추종 시스템.
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