WO2020184751A1 - Dispositif de sécurité pour robot mobile pour empêcher un accident - Google Patents

Dispositif de sécurité pour robot mobile pour empêcher un accident Download PDF

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Publication number
WO2020184751A1
WO2020184751A1 PCT/KR2019/002835 KR2019002835W WO2020184751A1 WO 2020184751 A1 WO2020184751 A1 WO 2020184751A1 KR 2019002835 W KR2019002835 W KR 2019002835W WO 2020184751 A1 WO2020184751 A1 WO 2020184751A1
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WO
WIPO (PCT)
Prior art keywords
safety device
robot
bumper
rgb
cameras
Prior art date
Application number
PCT/KR2019/002835
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English (en)
Korean (ko)
Inventor
박정우
최영호
엄태영
박지현
배기덕
Original Assignee
한국로봇융합연구원
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Publication of WO2020184751A1 publication Critical patent/WO2020184751A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0075—Means for protecting the manipulator from its environment or vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means

Definitions

  • the present invention relates to a safety device for a mobile robot for preventing accidents, and the present invention prevents accidents of a mobile robot by combining a primary safety device using a plurality of RGB-D cameras and a secondary safety device using a bumper. It is about a safety device that can be done.
  • Robot technology is gradually approaching people's surroundings in a human-friendly way.
  • robots were often used for dangerous or simple repetition of tasks in the industrial industry, but in recent years, such as object transfer robots, home service robots, building guidance service robots, and outdoor reconnaissance robots, they enter human life and move autonomously. As mobile robots performing missions have been commercialized, their use is gradually increasing.
  • sensors used to prevent accidents in mobile robots have a relatively weak role in preventing accidents, as safety is the main purpose, not the awareness of the surrounding environment.
  • the present invention is to provide a user with a safety device for a mobile robot for preventing accidents.
  • the present invention is to provide a user with a safety device capable of preventing accidents of a mobile robot by combining a first safety device using a plurality of RGB-D cameras and a second safety device using a bumper.
  • the first safety device as an aspect of the present invention for achieving the above technical problem; And a second safety device connected to the first safety device, wherein the first safety device includes a plurality of red, green, blue (RGB) and visual depths.
  • RGB-D camera Including, the secondary safety device, a bumper for absorbing a physical shock applied from the outside; And a contact sensor disposed on the exterior of the bumper, wherein the plurality of RGB-D cameras are disposed at a predetermined distance so that the viewing angle can be adjusted to photograph all directions of an area adjacent to the safety device for the robot,
  • the occurrence of an event in a three-dimensional space is primarily detected based on information acquired through the plurality of RGB-D cameras, and the three-dimensional space is performed using at least one of the displacement of the bumper and the information sensed by the contact sensor. It is possible to detect the occurrence of the event in the secondary.
  • the plurality of RGB-D cameras includes two or more RGB cameras and a depth camera for photographing the visual depth, and the two or more RGB cameras and a depth camera for photographing the visual depth Based on the information acquired through, an obstacle in the 3D space is identified, and in conjunction with a 3D motion recognition algorithm, the robot may take a response action on the identified obstacle.
  • the secondary safety device may include a spring inserted between the body of the robot and the bumper; And a switch disposed on the inside of the bumper, wherein the contact sensor may have a strip-shaped structure.
  • the spring provides a function of fixing the bumper in a predetermined direction based on an elastic force using compression
  • the switch may detect displacement of the bumper when the belt-shaped contact sensor malfunctions.
  • the belt-shaped contact sensor may be composed of a plurality of layers, and the bumper and the spring may be inserted and disposed between the plurality of layers.
  • the plurality of RGB-D cameras are arranged so that the viewing angles at least partially overlap, and based on the partially overlapping viewing angles, the plurality of RGB-D cameras may photograph all directions of an area adjacent to the safety device for the robot. .
  • the present invention can provide a user with a safety device for a mobile robot for preventing accidents.
  • the present invention can provide a user with a safety device capable of preventing accidents of a mobile robot by combining a primary safety device using a plurality of RGB-D cameras and a secondary safety device using a bumper.
  • an obstacle approaching the mobile robot can be recognized in a three-dimensional space, so that an accident can be prevented in advance and an accurate accident prevention response is possible.
  • the present invention has the advantage that it is possible to construct a safety device inexpensively and that a mobile robot can be applied to a complex environment.
  • FIG. 1 is a block diagram illustrating the configuration of a safety device for a mobile robot for preventing accidents proposed by the present invention.
  • Figure 2 shows an example of a safety device for a mobile robot for preventing accidents proposed by the present invention.
  • FIG. 3 shows a block diagram of a safety device for a mobile robot for preventing accidents proposed by the present invention.
  • FIG. 4 shows a specific example of a primary safety device using a plurality of RGB-D cameras according to the present invention.
  • FIG 5 shows a recognition area of a primary safety device according to the present invention.
  • FIG. 6 shows a specific example of a secondary safety device for recognizing an obstacle physically in contact using the bumper according to the present invention.
  • Robot technology is gradually approaching people's surroundings in a human-friendly way.
  • robots were often used for dangerous or simple task repetition in the industrial industry, but in recent years, such as object transfer robots, home service robots, building guidance service robots, and outdoor reconnaissance robots, they enter human life and move autonomously and provide services. As mobile robots performing missions have been commercialized, their use is gradually increasing.
  • ultrasonic sensors or LIDARs are often used to recognize the environment around the robot by interlocking algorithms and to analyze its location indoors/outdoors, but it is avoided when an object or person corresponding to an obstacle approaches the vicinity by interlocking with an algorithm for safety. It is also used for the purpose of preventing contact accidents in advance by means of stopping or stopping.
  • an infrared curtain sensor or bumper is sometimes applied.
  • an infrared curtain sensor it is the same device as the non-contact sensor of an elevator, and a plurality of infrared sensor transceivers form an array and are used as a method of detecting an obstacle entering a two-dimensional plane.
  • a bumper as a spring-based bumper, it is used as a method of responding appropriately by giving an electrical signal when an on/off switch is applied to the bumper, and additionally, as a spring-based bumper.
  • sensors used to prevent accidents in mobile robots have a relatively weak role in preventing accidents, as the main purpose is to recognize the surrounding environment, not safety.
  • the ultrasonic sensor when the surface of an obstacle is made of a material capable of absorbing sound waves, the ultrasonic sensor has a problem in that it is not properly recognized, and as the sound waves are diffused and spread, it is not possible to grasp the exact location of the recognized obstacle.
  • LIDAR has a wide recognition range and can grasp the position of an almost accurate obstacle, but generally recognizes only a two-dimensional space of a specific height, and has a problem that only a narrow range of three-dimensional space is recognized only when expensive products are used. .
  • the present invention is to provide a safety device that can prevent accidents of a mobile robot by combining a first safety device using a plurality of RGB-D cameras and a second safety device using a bumper.
  • FIG. 1 is a block diagram illustrating the configuration of a safety device for a mobile robot for preventing accidents proposed by the present invention.
  • the safety device 100 for a mobile robot for preventing accidents includes a wireless communication unit 110, an audio/video (A/V) input unit 120, a user input unit 130, a sensing unit 140, An output unit 150, a memory 160, an interface unit 170, a control unit 180, a power supply unit 190, a bumper unit 200, and the like may be included.
  • A/V audio/video
  • a safety device for a mobile robot may be implemented to prevent accidents having more components or fewer components.
  • the wireless communication unit 110 may include one or more modules that enable wireless communication between a safety device for a mobile robot and a wireless communication system for preventing accidents or between a device and a network in which the device is located.
  • the wireless communication unit 110 may include a mobile communication module 112, a wireless Internet module 113, a short-range communication module 114, a location information module 115, and the like.
  • the broadcast reception module 111 receives a broadcast signal and/or broadcast-related information from an external broadcast management server through a broadcast channel.
  • the broadcast channel may include a satellite channel and a terrestrial channel.
  • the broadcast management server may mean a server that generates and transmits a broadcast signal and/or broadcast-related information, or a server that receives and transmits a previously-generated broadcast signal and/or broadcast-related information to a terminal.
  • the broadcast signal may include not only a TV broadcast signal, a radio broadcast signal, and a data broadcast signal, but also a broadcast signal in a form in which a data broadcast signal is combined with a TV broadcast signal or a radio broadcast signal.
  • the broadcast related information may mean information related to a broadcast channel, a broadcast program, or a broadcast service provider.
  • the broadcast-related information may also be provided through a mobile communication network. In this case, it may be received by the mobile communication module 112.
  • the broadcast-related information may exist in various forms. For example, it may exist in the form of an Electronic Program Guide (EPG) of Digital Multimedia Broadcasting (DMB) or an Electronic Service Guide (ESG) of Digital Video Broadcast-Handheld (DVB-H).
  • EPG Electronic Program Guide
  • DMB Digital Multimedia Broadcasting
  • ESG Electronic Service Guide
  • DVB-H Digital Video Broadcast-Handheld
  • the broadcast receiving module 111 includes, for example, Digital Multimedia Broadcasting-Terrestrial (DMB-T), Digital Multimedia Broadcasting-Satellite (DMB-S), Media Forward Link Only (MediaFLO), and Digital Video Broadcasting (DVB-H). -Handheld), ISDB-T (Integrated Services Digital Broadcast-Terrestrial), and other digital broadcasting systems can be used to receive digital broadcasting signals.
  • DMB-T Digital Multimedia Broadcasting-Terrestrial
  • DMB-S Digital Multimedia Broadcasting-Satellite
  • MediaFLO Media Forward Link Only
  • DVD-H Digital Video Broadcasting
  • -Handheld ISDB-T (Integrated Services Digital Broadcast-Terrestrial)
  • the broadcast reception module 111 may be configured to be suitable for not only the digital broadcasting system described above, but also other broadcasting systems.
  • the mobile communication module 112 transmits and receives a radio signal with at least one of a base station, an external device, and a server on a mobile communication network.
  • the wireless Internet module 113 refers to a module for wireless Internet access, and may be embedded or external to a safety device for a mobile robot for preventing accidents.
  • WLAN Wireless LAN
  • Wibro Wireless broadband
  • Wimax Worldwide Interoperability for Microwave Access
  • HSDPA High Speed Downlink Packet Access
  • the short-range communication module 114 refers to a module for short-range communication.
  • Short range communication technology such as Bluetooth, Radio Frequency Identification (RFID), infrared data association (IrDA), Ultra-Wideband (UWB), ZigBee, and Wi-Fi (Wireless Fidelity, Wi-Fi), etc. Can be used.
  • RFID Radio Frequency Identification
  • IrDA infrared data association
  • UWB Ultra-Wideband
  • ZigBee ZigBee
  • Wi-Fi Wireless Fidelity, Wi-Fi
  • the location information module 115 is a module for acquiring the location of a safety device for a mobile robot for preventing accidents, and a representative example thereof is a GPS (Global Position System) module.
  • GPS Global Position System
  • an audio/video (A/V) input unit 120 is for inputting an audio signal or a video signal, and may include a camera 121 and a microphone 122.
  • the camera 121 processes image frames such as still images or moving pictures obtained by the image sensor in the photographing mode.
  • the processed image frame may be displayed on the display unit 151.
  • the image frame processed by the camera 121 may be stored in the memory 160 or transmitted to the outside through the wireless communication unit 110.
  • Two or more cameras 121 may be provided depending on the use environment.
  • the camera 121 according to the present invention may be an RGB-D camera.
  • the RGB-D camera captures color (RGB: red-green-blue) images and depth images.
  • the RGB-D camera for acquiring the color (RGB) image and the depth image may include a depth sensor integrally included in the RGB camera, or a separate depth camera.
  • a typical camera acquires only an RGB image, but an RGB-D camera used in an embodiment of the present invention uses a camera capable of acquiring depth information.
  • SwissRanger 4000 PMD[vision] CamCube, D-IMager, or Microsoft's Kinect may be used according to design conditions.
  • the microphone 122 receives an external sound signal by a microphone in a recording mode, a voice recognition mode, and the like and processes it as electrical voice data.
  • the processed voice data may be converted into a format transmittable to a mobile communication base station through the mobile communication module 112 and then output.
  • Various noise removal algorithms may be implemented in the microphone 122 to remove noise generated in the process of receiving an external sound signal.
  • the user input unit 130 generates input data for controlling the operation of a safety device for a mobile robot for a user to prevent accidents.
  • the user input unit 130 may include a key pad, a dome switch, a touch pad (positive pressure/power failure), a jog wheel, a jog switch, and the like.
  • the sensing unit 140 controls the opening/closing status of the safety device for mobile robots for preventing accidents, the location of the safety devices for mobile robots for preventing accidents, the presence of user contact, the defense of the safety devices for mobile robots for preventing accidents, and preventing accidents. It detects the current state of the safety device for mobile robots to prevent accidents, such as acceleration/deceleration of the safety device for mobile robots, and generates a sensing signal to control the operation of the safety device for mobile robots to prevent accidents.
  • the sensing unit 140 may sense whether the power supply unit 190 supplies power, whether the interface unit 170 is coupled to an external device, or the like.
  • the sensing unit 140 may include a proximity sensor (not shown).
  • the output unit 150 is for generating output related to visual, auditory, or tactile sense, and includes a display unit 151, an audio output module 152, an alarm unit 153, a haptic module 154, and a projector module ( 155) and the like may be included.
  • the display unit 151 displays (outputs) information processed by a safety device for a mobile robot to prevent accidents.
  • the display unit 151 includes a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), and a flexible display. display) and a 3D display.
  • LCD liquid crystal display
  • TFT LCD thin film transistor-liquid crystal display
  • OLED organic light-emitting diode
  • 3D display a 3D display.
  • Some of these displays may be configured as a transparent type or a light-transmitting type so that the outside can be seen through them. This may be referred to as a transparent display, and a representative example of the transparent display is TOLED (Transparant OLED).
  • the rear structure of the display unit 151 may also be configured as a light transmission type structure.
  • Two or more display units 151 may exist depending on the implementation type of the safety device for a mobile robot for preventing accidents.
  • a plurality of display units may be spaced apart or integrally disposed on one surface, or may be disposed on different surfaces.
  • the display unit 151 and a sensor (hereinafter referred to as'touch sensor') for detecting a touch motion form a mutual layer structure (hereinafter, referred to as a'touch screen')
  • the display unit 151 It can also be used as an input device.
  • the touch sensor may have, for example, a touch film, a touch sheet, a touch pad, or the like.
  • the touch sensor may be configured to convert a change in pressure applied to a specific portion of the display unit 151 or a capacitance generated at a specific portion of the display unit 151 into an electrical input signal.
  • the touch sensor may be configured to detect not only a touched position and area, but also a pressure at the time of touch.
  • a signal(s) corresponding thereto is transmitted to the touch controller.
  • the touch controller processes the signal(s) and then transmits the corresponding data to the controller 180.
  • the controller 180 can know whether an area of the display unit 151 is touched.
  • the proximity sensor (not shown) may be disposed in an inner area of the safety device for a mobile robot for preventing accidents wrapped by the touch screen or near the touch screen.
  • the proximity sensor refers to a sensor that detects the presence or absence of an object approaching a predetermined detection surface or an object existing in the vicinity using the force of an electromagnetic field or infrared rays without mechanical contact.
  • Proximity sensors have a longer lifespan and higher utilization than contact sensors.
  • the proximity sensor examples include a transmission type photoelectric sensor, a direct reflection type photoelectric sensor, a mirror reflection type photoelectric sensor, a high frequency oscillation type proximity sensor, a capacitive type proximity sensor, a magnetic type proximity sensor, an infrared proximity sensor, and the like.
  • the touch screen When the touch screen is capacitive, it is configured to detect the proximity of the pointer by a change in an electric field according to the proximity of the pointer. In this case, the touch screen (touch sensor) may be classified as a proximity sensor.
  • proximity touch an action of allowing the pointer to be recognized as being positioned on the touch screen by approaching the touch screen without contacting the pointer
  • contact touch an action of actually touching the pointer on the screen
  • a position at which a proximity touch is performed by a pointer on the touch screen means a position at which the pointer corresponds vertically to the touch screen when the pointer is touched.
  • the proximity sensor detects a proximity touch and a proximity touch pattern (eg, a proximity touch distance, a proximity touch direction, a proximity touch speed, a proximity touch time, a proximity touch position, a proximity touch movement state, etc.).
  • a proximity touch and a proximity touch pattern eg, a proximity touch distance, a proximity touch direction, a proximity touch speed, a proximity touch time, a proximity touch position, a proximity touch movement state, etc.
  • Information corresponding to the sensed proximity touch operation and proximity touch pattern may be output on the touch screen.
  • the sound output module 152 may output audio data received from the wireless communication unit 110 or stored in the memory 160 in a recording mode, a voice recognition mode, and a broadcast reception mode.
  • the sound output module 152 also outputs sound signals related to functions performed in a safety device for a mobile robot for preventing accidents.
  • the sound output module 152 may include a receiver, a speaker, a buzzer, and the like.
  • the alarm unit 153 outputs a signal for notifying the occurrence of an event of a safety device for a mobile robot for preventing an accident.
  • the alarm unit 153 may output a signal for notifying the occurrence of an event in a form other than a video signal or an audio signal, for example, by vibration.
  • the video signal or audio signal may also be output through the display unit 151 or the audio output module 152, so that they 151 and 152 may be classified as part of the alarm unit 153.
  • the haptic module 154 generates various tactile effects that a user can feel.
  • a typical example of the tactile effect generated by the haptic module 154 is vibration.
  • the intensity and pattern of the vibration generated by the haptic module 154 can be controlled.
  • vibrations may be synthesized and output or may be sequentially output.
  • the haptic module 154 is used for stimulation such as an arrangement of pins that move vertically with respect to the contact skin surface, a blowing force or suction force of air through a jet or inlet, a grazing on the skin surface, contact of an electrode, and electrostatic force It can generate various tactile effects, such as the effect by the effect and the effect by reproducing the feeling of coolness using an endothermic or heat generating element.
  • the haptic module 154 may not only transmit a tactile effect through direct contact, but may also be implemented so that a user can feel the tactile effect through muscle sensations such as a finger or an arm. Two or more haptic modules 154 may be provided depending on the configuration aspect of the safety device for a mobile robot for preventing accidents.
  • the projector module 155 is a component for performing an image project function using a safety device for a mobile robot for preventing accidents, and is displayed on the display unit 151 according to a control signal from the controller 180 An image identical to or at least partially different from the image to be used may be displayed on an external screen or wall.
  • the projector module 155 generates an image to be output to the outside by using a light source (not shown) that generates light (for example, laser light) for outputting an image to the outside, and light generated by the light source. It may include an image generating means (not shown) for performing and a lens (not shown) for expanding the image to the outside at a predetermined focal length. In addition, the projector module 155 may include a device (not shown) capable of adjusting an image projection direction by mechanically moving a lens or the entire module.
  • the projector module 155 may be divided into a cathode ray tube (CRT) module, a liquid crystal display (LCD) module, a digital light processing (DLP) module, and the like according to the device type of the display means.
  • the DLP module may be advantageous for miniaturization of the projector module 151 by expanding and projecting an image generated by reflecting light generated from a light source onto a digital micromirror device (DMD) chip.
  • DMD digital micromirror device
  • the projector module 155 may be provided in a longitudinal direction on the side, front or rear of the safety device for a mobile robot for preventing accidents.
  • the projector module 155 may be provided at any position of a safety device for a mobile robot for preventing accidents, if necessary.
  • the memory unit 160 may store a program for processing and control of the controller 180, and temporarily store input/output data (eg, messages, audio, still images, moving pictures, etc.). It can also perform a function for. The frequency of use of each of the data may also be stored in the memory unit 160. In addition, the memory unit 160 may store data on vibrations and sounds of various patterns output when a touch input on the touch screen is performed.
  • input/output data eg., messages, audio, still images, moving pictures, etc.
  • the frequency of use of each of the data may also be stored in the memory unit 160.
  • the memory unit 160 may store data on vibrations and sounds of various patterns output when a touch input on the touch screen is performed.
  • the memory 160 is a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (for example, SD or XD memory), and RAM.
  • RAM Random Access Memory
  • SRAM Static Random Access Memory
  • ROM Read-Only Memory
  • EEPROM Electrically Erasable Programmable Read-Only Memory
  • PROM Programmable Read-Only Memory
  • magnetic memory magnetic It may include at least one type of storage medium among a disk and an optical disk.
  • the safety device for a mobile robot for preventing accidents may operate in connection with a web storage that performs a storage function of the memory 160 on the Internet.
  • the interface unit 170 serves as a passageway with all external devices connected to a safety device for a mobile robot for preventing accidents.
  • the interface unit 170 receives data from an external device or receives power and transmits it to each component inside the safety device for a mobile robot to prevent accidents, or transmits data inside the safety device for a mobile robot to the outside.
  • a wired/wireless headset port, an external charger port, a wired/wireless data port, a memory card port, a port to connect a device equipped with an identification module, an audio input/output (I/O) port, A video input/output (I/O) port, an earphone port, etc. may be included in the interface unit 170.
  • the identification module is a chip that stores various information for authenticating the right to use safety devices for mobile robots to prevent accidents, and includes a user identification module (UIM), a subscriber identification module (SIM), and general purpose. It may include a user authentication module (Universal Subscriber Identity Module, USIM), and the like.
  • a device equipped with an identification module hereinafter,'identification device' may be manufactured in the form of a smart card. Therefore, the identification device may be connected to a safety device for a mobile robot to prevent accidents through the port.
  • the interface unit serves as a path through which power from the cradle is supplied to the safety device for mobile robot for accident prevention, or in the cradle by a user. It may be a path through which various input command signals are transmitted to the mobile device. Various command signals or the power input from the cradle may be operated as signals for recognizing that the mobile device is correctly mounted on the cradle.
  • the controller 180 generally controls the overall operation of the safety device for a mobile robot to prevent accidents.
  • the power supply unit 190 receives external power and internal power under the control of the controller 180 to supply power necessary for the operation of each component.
  • Various embodiments described herein may be implemented in a recording medium that can be read by a computer or a similar device using, for example, software, hardware, or a combination thereof.
  • the embodiments described herein include application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), It may be implemented using at least one of processors, controllers, micro-controllers, microprocessors, and electrical units for performing other functions, in some cases herein.
  • ASICs application specific integrated circuits
  • DSPs digital signal processors
  • DSPDs digital signal processing devices
  • PLDs programmable logic devices
  • FPGAs field programmable gate arrays
  • embodiments such as procedures and functions described in the present specification may be implemented as separate software modules.
  • Each of the software modules may perform one or more functions and operations described herein.
  • the software code can be implemented as a software application written in an appropriate programming language.
  • the software code may be stored in the memory 160 and executed by the controller 180.
  • the safety device 100 for a mobile robot may include a bumper part 200.
  • the bumper part 200 refers to a safety device for recognizing an obstacle physically in contact with the bumper.
  • a safety device that can prevent accidents of a mobile robot is proposed by combining a primary safety device using a plurality of RGB-D cameras 121 and a secondary safety device using the bumper unit 200. .
  • the device proposed by the present invention is used in a mobile robot, it is possible to determine the location of obstacles approaching the robot in three-dimensional space, thereby enabling a more accurate accident prevention response, and also enabling a response to physical contact in unexpected situations. I expect to be able to do it.
  • Figure 2 shows an example of a safety device for a mobile robot for preventing accidents proposed by the present invention.
  • the safety device 100 to be presented in the present invention is a primary safety device and a bumper unit for recognizing an approaching obstacle by linking information of a plurality of RGB-D cameras 121 with a motion recognition algorithm. 200), it is composed of a secondary safety device that recognizes obstacles in contact physically.
  • FIG. 3 shows a block diagram of a safety device for a mobile robot for preventing accidents proposed by the present invention.
  • a safety device for a mobile robot for preventing accidents proposed by the present invention includes a first safety device 300, a second safety device 200, a control unit 180, and an output unit 150. I can.
  • the primary safety device 300 may include a plurality of RGB-D cameras for photographing red, green, and blue (RGB) and visual depth.
  • RGB red, green, and blue
  • the plurality of RGB-D cameras includes two or more RGB cameras and a depth camera for photographing the visual depth
  • An obstacle in the three-dimensional space may be identified based on information acquired through the two or more RGB cameras and a depth camera that photographs the visual depth.
  • the robot may take a response action for the identified obstacle.
  • the plurality of RGB-D cameras 121 may be disposed so that the viewing angles at least partially overlap.
  • the plurality of RGB-D cameras 121 may take an all-round view of an area adjacent to the safety device for the robot.
  • FIG. 4 shows a specific example of a primary safety device using a plurality of RGB-D cameras according to the present invention.
  • the RGB-D camera 121 of the primary safety device includes two or more RGB cameras for viewing color information and a depth camera for viewing visual depth.
  • information on a three-dimensional space with respect to an area to be checked can be recognized through a combination of the aforementioned cameras.
  • a plurality of RGB-D cameras 121 on the top of the mobile robot 100 to adjust the viewing angle so that the area close to the robot can be seen, and surrounding the robot 100
  • the entire area that enters the camera's field of view from the robot can be viewed in three dimensions.
  • FIG. 5 shows a recognition area of the primary safety device according to the present invention, (a) shows an example of a recognition area from the side, and (b) shows an example of the recognition area viewed from above.
  • an algorithm for safety is interlocked by recognizing an obstacle approaching in a three-dimensional space under the camera and responding to it, such as avoiding or stopping. .
  • the present invention interlocks an algorithm for preventing an accident in which the robot falls by recognizing a step falling around the robot.
  • the secondary safety device 200 is a bumper part 200, and the bumper part 200 according to the present invention includes a bumper 210, a bumper spring 220, an on/off switch 230 ) And a band-shaped contact sensor 240 may be included.
  • the bumper 210 is configured in a structure capable of absorbing physical impacts applied from the outside in a horizontal direction to the ground.
  • a bumper spring 220 is disposed between the body of the mobile robot 100 and the bumper 210.
  • the spring applied to the bumper spring 220 uses a compression spring, and the bumper 210 is fixed by standing in a vertical direction so as to have elastic force in all directions.
  • FIG. 6 shows a specific example of a secondary safety device for recognizing an obstacle physically in contact using the bumper according to the present invention.
  • the bumper part 200 shows a specific arrangement of the bumper 210, the bumper spring 220, the on/off switch 230, and the belt-shaped contact sensor 240.
  • a plurality of bumpers 210 configured in a structure capable of absorbing physical impacts applied from the outside in a horizontal direction to the ground are shown.
  • a bumper spring 220 is disposed between the body of the mobile robot 100 and the bumper 210.
  • the spring applied to the bumper spring 220 uses a compression spring, and the bumper 210 is fixed by standing in a vertical direction so as to have elastic force in all directions.
  • the present invention may include an output unit 150.
  • the safety device 100 for a robot may include an obstacle avoidance unit 156, an emergency stop unit 157 and a corresponding motion unit 158.
  • the occurrence of an event in a three-dimensional space is primarily detected based on information acquired through a plurality of RGB-D cameras 121, and the displacement of the bumper 210 and the information sensed by the contact sensor 240 The occurrence of an event in the 3D space is secondarily detected using at least one of.
  • the switch 230 detects the displacement of the bumper 210 instead.
  • an obstacle in the three-dimensional space is identified using at least one of the displacement of the bumper 210, information sensed by the band-type contact sensor 240, and information sensed by the switch 230.
  • the robot may control to avoid it.
  • the robot can be controlled to stop in order to prevent collision with an obstacle in the 3D space.
  • the present invention adjusts the viewing angle so that the area close to the robot 100 is visible, and arranges a plurality of RGB-D cameras 121 at regular intervals around the robot 100, and interlocks with the 3D motion recognition algorithm.
  • Algorithm for safety that detects and avoids or stops when an obstacle approaches in the 3D space under the camera by collecting and using information in 3D over the entire area of the camera's field of view at a close distance of the robot It is possible to provide a user with a safety device linked to.
  • the present invention fixes the bumper 210 with a compression spring 220 erected in a vertical direction on the body of the mobile robot 100, and a belt-shaped contact sensor 240 and an on/off switch ( 230), when pressure or displacement of the bumper 210 occurs in the bumper 210 by an external physical impact, it is possible to provide a safety device to the user to immediately recognize and respond to safety by sending an electrical signal.
  • the present invention can provide a safety device for a mobile robot combining a safety device based on an RGB-D camera and a safety device based on a bumper.
  • the present invention can provide a user with a safety device for a mobile robot for preventing accidents.
  • the present invention can provide a user with a safety device capable of preventing accidents of a mobile robot by combining a primary safety device using a plurality of RGB-D cameras and a secondary safety device using a bumper.
  • an obstacle approaching the mobile robot can be recognized in a three-dimensional space, so that an accident can be prevented in advance and an accurate accident prevention response is possible.
  • the present invention has the advantage that it is possible to construct a safety device inexpensively and that a mobile robot can be applied to a complex environment.
  • embodiments of the present invention can be implemented through various means.
  • embodiments of the present invention may be implemented by hardware, firmware, software, or a combination thereof.
  • the method according to embodiments of the present invention includes one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), and Programmable Logic Devices (PLDs). , Field Programmable Gate Arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, and the like.
  • ASICs Application Specific Integrated Circuits
  • DSPs Digital Signal Processors
  • DSPDs Digital Signal Processing Devices
  • PLDs Programmable Logic Devices
  • FPGAs Field Programmable Gate Arrays
  • processors controllers
  • microcontrollers microcontrollers
  • microprocessors and the like.
  • the method according to the embodiments of the present invention may be implemented in the form of a module, procedure, or function that performs the functions or operations described above.
  • the software code may be stored in a memory unit and driven by a processor.
  • the memory unit may be located inside or outside the processor, and may exchange data with the processor through various known means.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un dispositif de sécurité pour robot mobile destiné à empêcher un accident, et la présente invention concerne un dispositif de sécurité capable d'empêcher un accident d'un robot mobile par combinaison d'un dispositif de sécurité primaire utilisant une pluralité d'appareils de prise de vues RVB-P et d'un dispositif de sécurité secondaire utilisant un pare-chocs. Selon un aspect de la présente invention, un dispositif de sécurité pour robot monté sur le robot comprend : un dispositif de sécurité primaire; et un dispositif de sécurité secondaire relié au dispositif de sécurité primaire, le dispositif de sécurité primaire comprenant une pluralité d'appareils de prise de vues RVB-P qui capturent RVB (rouge, vert, bleu) et la profondeur visuelle, et le dispositif de sécurité secondaire comprend : un pare-chocs qui absorbe un choc physique exercé depuis l'extérieur; et un capteur de contact disposé sur l'extérieur du pare-chocs. La pluralité d'appareils de prise de vues RVB-P est disposée de manière espacée à une distance prédéterminée de telle sorte qu'un champ de vision peut être ajusté de façon à capturer toutes les directions de zones adjacentes du dispositif de sécurité pour robot, une occurrence d'un événement dans un espace 3D peut être détectée en premier sur la base d'informations obtenues par la pluralité d'appareils de prise de vues RVB-P, et l'occurrence de l'événement dans l'espace 3D peut être détectée en second en utilisant au moins un élément parmi un déplacement du pare-chocs et des informations détectées par le capteur de contact.
PCT/KR2019/002835 2019-03-11 2019-03-12 Dispositif de sécurité pour robot mobile pour empêcher un accident WO2020184751A1 (fr)

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KR1020190027516A KR102202352B1 (ko) 2019-03-11 2019-03-11 사고 방지를 위한 모바일 로봇용 안전장치
KR10-2019-0027516 2019-03-11

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KR20200108631A (ko) 2020-09-21

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