KR101782331B1 - Obstacle detection apparatus for autonomous driving robot and autonomous driving system having the same - Google Patents
Obstacle detection apparatus for autonomous driving robot and autonomous driving system having the same Download PDFInfo
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- KR101782331B1 KR101782331B1 KR1020160032565A KR20160032565A KR101782331B1 KR 101782331 B1 KR101782331 B1 KR 101782331B1 KR 1020160032565 A KR1020160032565 A KR 1020160032565A KR 20160032565 A KR20160032565 A KR 20160032565A KR 101782331 B1 KR101782331 B1 KR 101782331B1
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- obstacle
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- sensor
- transceiver
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
An obstacle detection device for an autonomous mobile robot and an autonomous mobile robot having the same are disclosed. According to the present invention, there is provided a radio communication system including a base and a base, a base and a base coupled to rotate about a rotation axis, radiating a predetermined radial signal around a rotation axis, receiving a reflected radar signal, And a case having a reference wall that is implemented in an arc shape of a predetermined length at a predetermined distance from the transmission / reception unit and reflects a signal radiated from the transmission / reception unit.
Description
The present invention relates to an obstacle sensing apparatus and an autonomous traveling robot having the obstacle sensing apparatus, and more particularly, to an obstacle sensing apparatus for a high-speed moving autonomous traveling robot and an autonomous traveling robot having the same.
With the development of robotic technology, autonomous mobile robots are increasingly utilized. Existing autonomous mobile robots mostly perform work within a limited space, such as a cleaning robot, and the movement speed of autonomous mobile robots is not considered to a great extent. In recent years, however, as the utilization of autonomous mobile robots has increased, autonomous mobile robots, such as educational robots, security robots, guide robots, delivery robots, and nursing robots, frequently perform operations in an extended space or an unrestricted space . Therefore, the moving speed of the autonomous mobile robot is an important issue in order to smoothly carry out work in the extended space or the unrestricted space.
In order to increase the moving speed of the autonomous mobile robot, it is more important to improve the sensing range of the obstacle, the sensing speed, and the sensing accuracy than to improve the driving means provided for moving the robot like a motor. That is, the autonomous mobile robot should be configured so that it can effectively detect the obstacle, and can avoid the detected obstacle. Therefore, the autonomous mobile robots are equipped with at least one sensor so as to be able to detect an obstacle.
The sensor used in the existing autonomous mobile robot includes a bumper sensor, an infrared sensor, an ultrasonic sensor, a laser sensor, and an image sensor. The bumper sensor is a sensor that detects a collision with an obstacle. Therefore, the bumper sensor is used only for a special-purpose autonomous mobile robot such as a cleaning robot, due to the disadvantage that the obstacle can be distinguished only when it comes in contact with the obstacle. The infrared sensor is advantageous in that it can relatively accurately measure the distance from the obstacle at a low cost. However, since the sensing angle is narrow, a plurality of infrared sensors are arranged in a ring shape, and the sampling time is 20 msec and the detection speed of the obstacle is slow . Ultrasonic sensors have a wide detection angle and a long detection range. However, it is difficult to calculate the exact direction and distance of the obstacle due to low angle resolution, and it is difficult to control the ultrasonic sensor's own vibration, there is a problem. Laser sensors have a wide detection range and accuracy, but they are very expensive. In addition to high cost of the image sensor itself such as a camera, the image sensor requires image processing technology in order to discriminate the obstacle from the acquired image, which is difficult to implement and requires a high cost and a long time to discriminate obstacles from the image .
Therefore, there is a demand for an obstacle detection device capable of quickly and accurately determining the position of an obstacle at a low cost for a high-speed mobile autonomous mobile robot.
SUMMARY OF THE INVENTION It is an object of the present invention to provide an obstacle detection device capable of detecting an obstacle quickly and accurately at low cost for an autonomous mobile robot.
Another object of the present invention is to provide an autonomous mobile robot including an obstacle sensing device for achieving the above object.
According to an aspect of the present invention, there is provided an apparatus for detecting an obstacle for an autonomous mobile robot, A transceiver coupled to the base for rotation about a rotation axis and configured to emit a predetermined radiation signal around a rotation axis, receive the reflected radiation signal, and generate a sensing signal; And a reference wall that is implemented in an arc shape of a predetermined length at a predetermined distance from the transceiver unit around the rotation axis and reflects the signal emitted from the transceiver unit. .
The transceiver includes a base and a slip ring coupled to rotate about a rotation axis and transmitting the detection signal to the outside; A sensor fixing unit disposed at an upper portion of the slip ring unit and implemented in a columnar shape symmetrical about the rotation axis; At least one sensor unit fixed to an outer circumferential surface of the sensor fixing unit, respectively, for emitting and receiving the radiation signal to generate the sensing signal; And a substrate portion disposed between the sensor fixing portion and the slip ring portion to apply power to each of the at least one sensor portion through the slip ring portion; And a control unit.
And at least one sensor unit is disposed symmetrically with respect to the rotation axis at an equal angle to each other when the plurality of sensor units are provided.
And the substrate unit amplifies the sensing signal and transmits the amplified sensing signal to the slip ring unit.
Wherein each of the at least one sensor portion emits an infrared signal to the radiation signal, detects an angle at which the emitted radiation signal reflects the received signal, and detects a position sensitive device (PSD) ). ≪ / RTI >
And the reference wall is formed to have a length corresponding to the angular range other than the angular range designated to detect the obstacle while the transceiving unit rotates.
The case includes a cover coupled to an upper portion of the base to protect the transceiver unit; And the reference wall is configured to be separated or combined with the cover.
The obstacle sensing apparatus may further include a driving unit for rotating the transceiving unit, wherein the driving unit includes: a motor; An interlocking part connected to the rotation shaft of the motor and the transmission / reception part and transmitting rotation force of the motor to the transmission / reception part; And a control unit.
The substrate unit may include an MCU (Micro Controller Unit) to analyze the sensing signal applied to each of the at least one sensor unit, analyze whether the sensed signal is a pattern corresponding to the reference wall, And the position of each of the sensors of the respective sensors is discriminated.
Wherein the substrate unit determines a position of the obstacle from the sensing signal to generate a position determination signal if the position of the at least one sensor is not a pattern corresponding to the reference wall, To the mobile station.
According to another aspect of the present invention, there is provided an autonomous mobile robot comprising: a robot case implemented according to a use purpose of an autonomous mobile robot; A robot driving unit implemented in the robot case to move the robot gear; At least one obstacle detection device disposed at a predetermined position of the robot case to emit a predetermined emission signal in a designated direction, receive the emitted emission signal, and output a detection signal; And a controller for receiving the sensing signal from each of the at least one obstacle sensing device and analyzing the sensing signal in accordance with the arrangement position of each of the at least one obstacle sensing device to discriminate the existence and position of the obstacle, A controller for controlling the robot driving unit so as to avoid obstacles and to move; Each of said at least one obstacle sensing devices comprising: a base; A transceiver coupled to the base for rotation about a rotation axis, for radiating the radiation signal to the outside around a rotation axis, receiving the reflected radiation signal, and generating the sensing signal; And a reference wall that is implemented in an arc shape of a predetermined length at a predetermined distance from the transceiver unit around the rotation axis and reflects the signal emitted from the transceiver unit. .
Therefore, the obstacle sensing device for the autonomous mobile robot of the present invention and the autonomous mobile robot including the same include at least one sensor part for sensing and sensing an obstacle by radiating and receiving a radiation signal at a predetermined angle, Therefore, it is possible to detect the obstacle in a wide angle range and to provide a reference barrier spaced by a uniform distance from the sensor section in an angular range in which the detection of the obstacle is not required, So that it can be easily discriminated. In addition, since the transmitting and receiving unit includes a plurality of sensor units, it is possible to improve the speed at which the obstacle is detected and the angle of rotation can be discriminated, so that the position of the obstacle can be accurately identified at a high speed and the cost can be reduced.
1 is a block diagram of an apparatus for detecting an obstacle for an autonomous mobile robot according to an embodiment of the present invention.
FIG. 2 is a perspective view of the obstacle sensing apparatus of FIG. 1;
3 is a front view of the obstacle sensing apparatus of FIG.
4 is a side view of the obstacle detection device of FIG.
FIG. 5 is a plan view of the obstacle sensing apparatus of FIG. 1. FIG.
6 is a view for explaining an operation of the receiving unit in the obstacle sensing apparatus of the present invention.
FIG. 7 illustrates an example in which one sensor unit detects an obstacle while the receiving unit of the obstacle sensing apparatus shown in FIG. 6 rotates.
8 shows a pattern of a sensing signal generated during the rotation of one sensor unit.
FIG. 9 illustrates an autonomous mobile robot including an obstacle sensing apparatus according to an embodiment of the present invention.
In order to fully understand the present invention, operational advantages of the present invention, and objects achieved by the practice of the present invention, reference should be made to the accompanying drawings and the accompanying drawings which illustrate preferred embodiments of the present invention.
BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, the present invention will be described in detail with reference to the preferred embodiments of the present invention with reference to the accompanying drawings. However, the present invention can be implemented in various different forms, and is not limited to the embodiments described. In order to clearly describe the present invention, parts that are not related to the description are omitted, and the same reference numerals in the drawings denote the same members.
Throughout the specification, when an element is referred to as "including" an element, it does not exclude other elements unless specifically stated to the contrary. The terms "part", "unit", "module", "block", and the like described in the specification mean units for processing at least one function or operation, And a combination of software.
1 is a block diagram of an apparatus for detecting an obstacle for an autonomous mobile robot according to an embodiment of the present invention, and FIGS. 2 to 5 are a perspective view, a front view, a side view, and a plan view, respectively, of the apparatus for detecting an obstacle in FIG.
1 to 5, the obstacle sensing apparatus of the present invention includes a
Receiving
The
At least one
Here, the signal transmitted / received by the
In particular, each of the at least one
The
The
The
The
The
The driving
The interlocking
The O-
Although the interlocking
The
At this time, the length of the
Since the
It is possible to determine the rotation angle of the
In the present invention, not only the
In the case of detecting an obstacle by transmitting and receiving an infrared signal, a plurality of infrared sensors are required to detect an obstacle in a wide range by setting a narrow sensing angle range so that the position of an obstacle of the infrared sensor can be distinguished. However, according to the present invention, as the
1 to 5 illustrate an example of a
FIG. 6 is a view for explaining the operation of the receiving unit in the obstacle sensing apparatus of the present invention. FIG. 7 is a view for explaining an operation of sensing one obstacle during the rotation of the receiving unit of the obstacle sensing apparatus shown in FIG. FIG. 8 shows a pattern of a sensing signal generated during the rotation of one sensor unit.
6, the
It is also assumed that the transmission /
In the present invention, it is assumed that the sampling period is 20 msec and the four PSD sensors PSD1 to PSD4 perform sampling with an angular resolution of 16 degrees. Therefore, each of the four PSD sensors PSD1 to PSD4 may perform the
7 and 8, the operation of the obstacle sensing apparatus of the present invention will be described with reference to FIG. 6 based on the first PSD sensor PSD1. When the first PSD sensor PSD1 detects the radiation signal And generates a sensing signal by sampling.
Typically, the PSD sensor is predefined at the time of design for a detection interval (for example, 10 cm to 1.5 m) in which an obstacle can be detected. The PSD sensor recognizes that the obstacle is not detected even if there is an obstacle at a distance longer than the designated sensing distance interval as the sensing distance interval for detecting the obstacle is preset in the PSD sensor.
On the other hand, the PSD sensor does not normally detect an obstacle located closer to the sensing distance section, and thus does not output the sensing signal at a level corresponding to the distance to the obstacle for the obstacle placed closer to the sensing distance section, Outputs a detection signal of a level lower than that of the undetected state.
Then, the first PSD sensor PSD1 is rotated in the clockwise direction by driving the
As shown in FIG. 7, since the first PSD sensor PSD1 does not have an obstacle in the initial sampling position S1, the first PSD sensor PSD1 performs 20 sampling operations during one rotation, And outputs a detection signal at a reference signal level (e.g., 300 mV in FIG. 8) as shown in FIG. Similarly, the first PSD sensor PSD1 is the same for the second, fourth, fifth, seventh, eighth, tenth and eleventh sampling positions S2, S4, S5, S7, S8, And outputs the detection signal as a reference signal level.
7, since the three obstacles are located at the third, seventh, and ninth sampling positions S3, S6, and S9, the first PSD sensor PSD1 is located at the third, And the ninth sampling position (S3, S6, S9) according to the distance from the obstacle. In FIG. 8, it can be seen that the sensing signal is output at a higher level (600 mV, 800 mV, 1100 mV) as the distance from the obstacle is closer.
Meanwhile, while the first PSD sensor PSD1 is directed to the twelfth to twentieth sampling positions S16 to S20, it is determined that the reference (for example, a distance of 1 cm from the first PSD sensor PSD1) A
Since the distance from the first PSD sensor PSD1 to the
The PSD sensor may output detection signals of different levels depending on distances even for obstacles disposed at a distance shorter than the sensing distance interval. In the present invention, however, The first PSD sensor PSD1 outputs a sensing signal of a uniform level lower than the level in which no obstacle is detected.
Since the position and distance of the
1 to 8 show an
For example, when the detection signal of the first PSD sensor PSD1 is analyzed and it is determined that the current position of the first PSD sensor PSD1 is oriented toward the
However, by modifying the
FIG. 9 illustrates an autonomous mobile robot including an obstacle sensing apparatus according to an embodiment of the present invention.
In FIG. 9, for example, three
Each of the
While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art.
Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.
Claims (14)
A transceiver coupled to the base for rotation about a rotation axis and configured to emit a predetermined radiation signal around a rotation axis, receive the reflected radiation signal, and generate a sensing signal; And
A case having a reference wall which is implemented in an arc shape of a predetermined length at a predetermined distance from the transceiver unit around the rotation axis and reflects the signal emitted from the transceiver unit; , ≪ / RTI &
Wherein the reference wall is a reference for discriminating a rotation angle of the transceiver unit, the transceiver unit is configured to have a length corresponding to a second angle range excluding a first angle range designated to detect an obstacle while rotating in one direction,
Wherein the transceiver generates a sensing signal at a lower level than a state in which the obstacle is not sensed in the second angular range of the reference wall.
A slip ring coupled to the base to rotate about a rotational axis and to transmit the sensing signal to the outside;
A sensor fixing unit disposed at an upper portion of the slip ring unit and implemented in a columnar shape symmetrical about the rotation axis;
At least one sensor unit fixed to an outer circumferential surface of the sensor fixing unit, respectively, for emitting and receiving the radiation signal to generate the sensing signal; And
A substrate portion disposed between the sensor fixing portion and the slip ring portion to apply power to each of the at least one sensor portion through the slip ring portion; And an obstacle detecting device for detecting the obstacle.
Wherein the plurality of sensors are disposed symmetrically with respect to each other about the rotation axis by the same angle.
And amplifies the detection signal and transmits the amplified detection signal to the slip ring unit.
A position sensitive device (PSD) for radiating an infrared signal to the radiation signal, detecting an angle at which the radiation signal is reflected by the radiation signal, and determining a reflected distance of the radiation signal Obstacle detection device.
A cover coupled to an upper portion of the base to protect the transceiver; Wherein the reference wall is configured to be detached or coupled to the cover.
And a driving unit for rotating the transceiving unit,
The driving unit
motor; And
An interlocking part connected to the rotation shaft of the motor and the transmission / reception part and transmitting rotation force of the motor to the transmission / reception part; And an obstacle detecting device for detecting the obstacle.
And a micro controller unit (MCU) for analyzing the sensing signal applied to each of the at least one sensor unit, analyzing whether the analyzed sensing signal is a pattern corresponding to the reference wall, And the position of the obstacle is detected.
If the position of the at least one sensor is not a pattern corresponding to the reference wall, generates a position determination signal by determining the position of the obstacle from the sensing signal, and transmits the generated position determination signal to the outside through the slip ring And an obstacle detection device for detecting an obstacle.
A robot driving unit implemented in the robot case to move the robot case;
At least one obstacle detection device disposed at a predetermined position of the robot case to emit a predetermined emission signal in a designated direction, receive the emitted emission signal, and output a detection signal; And
Wherein the at least one obstacle sensing device receives the sensing signal from each of the at least one obstacle sensing devices and analyzes the sensing signal in accordance with the arrangement position of each of the at least one obstacle sensing devices to discriminate the existence and position of the obstacle, To control the robot driving unit so as to move away from the robot; Lt; / RTI >
Wherein each of the at least one obstacle sensing devices
Base;
A transceiver coupled to the base for rotation about a rotation axis, for radiating the radiation signal to the outside around a rotation axis, receiving the reflected radiation signal, and generating the sensing signal; And
A case having a reference wall which is implemented in an arc shape of a predetermined length at a predetermined distance from the transceiver unit around the rotation axis and reflects the signal emitted from the transceiver unit; , ≪ / RTI &
Wherein the reference wall is a reference for discriminating a rotation angle of the transceiver unit, the transceiver unit is configured to have a length corresponding to a second angle range excluding a first angle range designated to detect an obstacle while rotating in one direction,
Wherein the transceiver generates a sensing signal at a lower level than a state in which the obstacle is not detected in the second angular range of the reference wall.
A slip ring coupled to the base to rotate about a rotational axis and to transmit the sensing signal to the outside;
A sensor fixing unit disposed at an upper portion of the slip ring unit and implemented in a columnar shape symmetrical about the rotation axis;
At least one sensor unit fixed to an outer circumferential surface of the sensor fixing unit, respectively, for emitting and receiving the radiation signal to generate the sensing signal; And
A substrate portion disposed between the sensor fixing portion and the slip ring portion to apply power to each of the at least one sensor portion through the slip ring portion; Wherein the robot is a robot.
And a driving unit for rotating the transceiving unit,
The driving unit
A motor driven in a rotation speed and a rotation direction designated by the control unit; And
An interlocking part connected to the rotation shaft of the motor and the transmission / reception part and transmitting rotation force of the motor to the transmission / reception part; Wherein the robot is a robot.
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PCT/KR2016/008375 WO2017073888A1 (en) | 2015-10-27 | 2016-07-29 | Obstacle sensing device for autonomous traveling robot and autonomous traveling robot having same |
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KR20150149446 | 2015-10-27 | ||
KR1020150149446 | 2015-10-27 |
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KR102160968B1 (en) | 2017-07-17 | 2020-09-29 | 한국전자통신연구원 | Robot apparatus for autonomous driving and method for autonomous driving the robot apparatus |
KR102109004B1 (en) | 2018-01-10 | 2020-05-11 | 부산대학교 산학협력단 | Apparatus and Method for Avoiding Obstacle of Mobile Robot using Line Information |
KR20190111866A (en) | 2019-09-24 | 2019-10-02 | 부산대학교 산학협력단 | Apparatus and Method for Avoiding Obstacle of Mobile Robot using Line Information |
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