Position-variable marker generating apparatus for autonomous mobile robot

Abstract

A position-variable marker generating device for an autonomous robot is disclosed. The position-variable marker generating device for an autonomous robot according to the present invention is a device for generating a predetermined marker to be located in a workspace for position recognition or control of an autonomous robot, and is characterized by comprising: a marker unit provided on one side of the workspace that generates the marker as an image containing predetermined information necessary for real-time position recognition and control of the robot and projects it in one direction; and a reflector unit provided on the other side of the workspace that reflects the marker at an adjusted angle so that the marker is projected at any position in the workspace recognizable by the robot. According to an embodiment of the present invention, the marker can be dynamically displayed at an optimal position according to the robot's current position or work situation without the need to attach physical markers throughout the workspace, thereby improving the position recognition accuracy (reducing errors) of the autonomous robot, and even if temporary obstacles appear or the layout of the workspace changes, the projection position of the marker can be changed or adjusted in real time through a rotating device and a tilting device, thereby maintaining an optimal position recognition environment.

Description

Technology Field

[0001] The present invention relates to a position-variable marker generating device for an autonomous driving robot, and more specifically, to an intelligent marker generating device capable of providing a marker at an optimal position according to the shape of the workspace or the robot's work path, unlike conventional fixed markers that are physically attached within the workspace. Background Technology

[0002] Industrial autonomous robot technology is rapidly being commercialized across various industrial sectors, driven by advancements in sensor fusion, real-time path planning, high-precision position estimation, and AI-based decision-making algorithms.

[0003] In particular, in the field of smart logistics, autonomous robots are significantly improving operational efficiency and accuracy by automating logistics movement within warehouses, inventory management, and order processing.

[0004] Furthermore, in the field of automated cleaning, the performance of household and commercial cleaning robots is continuously improving through the application of technologies that recognize the complex structure of indoor environments, avoid obstacles, and generate optimal cleaning paths.

[0005] In the field of manufacturing automation, autonomous robots are being introduced for material handling within production lines, assembly process support, and quality inspection, contributing to the implementation of flexible production systems and the reduction of labor costs.

[0006] The aforementioned industrial autonomous robot technology is evolving to replace or complement existing fixed automation facilities. Since it is primarily operated in indoor spaces where GPS-based location recognition is difficult, visual marker-based navigation technology is being applied to enhance the accuracy of robot position recognition and driving control.

[0007] A representative marker-based navigation technology is known to involve attaching visual patterns, such as ArUco markers and AprilTag, to walls or floors and recognizing them through a robot's vision system to determine the robot's position or correct its movement path.

[0008] While this fixed marker method is effective for ensuring the freedom and precision of positioning during initial installation, it has the following limitations.

[0009] First, since markers must be physically attached, they can detract from the aesthetics of the space and interfere with user movement or facility operation.

[0010] Second, since the installation location of the markers is fixed, it is difficult to respond flexibly to environmental changes, and as the workspace expands, the number of markers and the costs of installation and maintenance increase.

[0011] Third, attaching markers to walls presents problems such as reduced recognition rates due to limited viewing angles and lighting conditions, while installing them on the floor frequently results in marker damage due to wear or contamination.

[0012] To complement this, some prior art, such as U.S. Patent No. 11420335 (registration date: August 23, 2022), proposes a technology in which a plurality of vision sensors recognize a marker projected through a projector mounted on a robot body to estimate the position of the end portion of a moving unit.

[0013] The aforementioned prior art has the advantage of wide technical application potential in that it enables accurate position estimation of the end portion while reducing processing load by integrating position information obtained from multiple sensors.

[0014] However, this method has limitations because the projector and marker are directly mounted on each robot body, resulting in increased manufacturing costs, power consumption, and computational load, as well as restricted flexibility in the projection direction and position of the marker.

[0015] The need for a new navigation system is emerging because the aforementioned prior art technologies have shortcomings, such as the difficulty of flexible marker installation or projection in response to changes in the work environment and limited spatial expandability, due to structural constraints such as fixed marker attachment or robot-mounted projection. Prior art literature

[0016] U.S. Patent No. 11420335 (Registration Date: August 23, 2022) The problem to be solved

[0017] The technical problem that the present invention aims to solve is to provide a position-variable marker generation device capable of improving the position recognition accuracy of an autonomous driving robot by overcoming the limitations of the existing fixed marker method, in which position recognition accuracy is significantly reduced when the robot moves away from the marker or the marker is obscured by an obstacle because the markers are attached individually at specific locations.

[0018] The technical problem that the present invention aims to solve is to provide a variable marker generation device that can flexibly respond to changes in the shape of the workspace or the work environment by overcoming the limitations of the existing fixed marker method, which requires the entire arrangement to be reconfigured when the layout of the workspace is changed because markers can only be provided at pre-attached locations.

[0019] The technical problem that the present invention aims to solve is to provide a variable marker generation device capable of stable position recognition of a robot even in unexpected situations, such as changes in lighting conditions, reduced visibility due to dust or smoke, or the appearance of temporary obstacles in a dynamic environment.

[0020] The technical problem that the present invention aims to solve is to provide a variable marker generation device that can improve the convenience of installation and maintenance without the hassle of the existing fixed marker method, which requires installing or replacing and managing multiple markers individually. means of solving the problem

[0021] The above objective is achieved by a position-variable marker generating device for an autonomous driving robot, characterized by comprising: a device for generating a predetermined marker to be positioned in a workspace for position recognition or control of an autonomous driving robot, wherein the marker unit is provided on one side of the workspace and generates the marker as a video image containing predetermined information necessary for real-time position recognition and control of the robot and projects it in one direction; and a reflecting unit provided on the other side of the workspace and reflects the marker at an adjusted angle so that the marker is projected at any position in the workspace recognizable by the robot.

[0022] The reflection part comprises: a fixed plate positioned such that one surface is orthogonal to the projection axis of the marker part; and a mirror positioned at an angle inclined with respect to the projection axis while coupled to the fixed plate, so that the projected marker is reflected and projected at any position in the workspace.

[0023] The above-mentioned reflector further includes a rotating device coupled to the fixed plate to rotate the mirror around the projection axis and to vary the projection position of the marker along the direction of rotation.

[0024] The above-mentioned reflector further includes a tilting device provided between the mirror and the fixed plate to vary the projection position of the marker so that the angle of inclination of the mirror with respect to the projection axis is varied.

[0025] The above-described reflector further includes a linked mirror installed in the workspace such that the marker reflected from the mirror, which is rotated by the rotating device at predetermined angles, is received and then re-reflected to be projected at another arbitrary location in the workspace.

[0026] The reflection unit further includes a linked rotation device coupled to the linked mirror to vary the projection position of the marker along the rotation direction, so that the linked mirror rotates around the incident direction of the marker reflected and received from the mirror.

[0027] The marker part and the reflector part are installed at the top of the workspace so that the projection of the marker by the marker part and the reflection and projection of the marker by the reflector part are not interfered with by the workpiece or the robot within the workspace. Effects of the invention

[0028] A position-variable marker generation device for an autonomous robot according to an embodiment of the present invention is installed in a workspace for position recognition or control of the autonomous robot and comprises a marker unit and a reflector unit. The marker unit is provided on one side of the workspace and performs the operation of generating a marker as a video image containing predetermined information necessary for real-time position recognition and control of the robot and projecting it in one direction. The reflector unit is provided on the other side of the workspace and performs the operation of reflecting the marker at an adjusted angle so that the marker is projected at any location in the workspace recognizable by the robot. According to this embodiment of the present invention, markers can be dynamically displayed at optimal locations depending on the robot's current position or work situation without the need to attach physical markers throughout the workspace, thereby improving the position recognition accuracy (reducing errors) of the autonomous robot. Furthermore, since the entire workspace can be covered by a single marker unit, the system can be constructed simply at a low cost.

[0029] In addition, even if there are changes in indoor lighting conditions, reduced visibility due to dust or smoke, the appearance of temporary obstacles, or changes in the layout of the workspace, the projection position of the marker can be changed or adjusted in real time through the rotating device and the tilting device, thereby maintaining an optimal position recognition environment.

[0030] In addition, by enabling the projection of markers without blind spots through multiple interconnected mirrors, a stable location recognition service can be provided even in complex workspaces or multi-layered environments. Brief explanation of the drawing

[0031] FIG. 1 is a perspective view showing the overall configuration of a position-variable marker generating device for an autonomous driving robot according to an embodiment of the present invention from one side. FIG. 2 is a perspective view showing the overall configuration of a position-variable marker generating device for an autonomous driving robot according to an embodiment of the present invention from the other side. FIG. 3 is an operational state diagram illustrating the detailed structure and operation of a rotating device included in a reflector according to an embodiment of the present invention. FIG. 4 is an operational state diagram illustrating the detailed structure and operation of a tilting device included in a reflector according to an embodiment of the present invention. FIGS. 5 to 8 are usage diagrams illustrating a method of projecting markers in various ways at any position in a workspace recognizable by a robot using a position-variable marker generating device for an autonomous driving robot according to an embodiment of the present invention. Specific details for implementing the invention

[0032] Hereinafter, in order to explain the present invention more specifically, embodiments according to the present invention will be described in more detail with reference to the accompanying drawings. Throughout the detailed description, the same reference numerals indicate the same components.

[0034] FIG. 1 is a perspective view showing the overall configuration of a position-variable marker generating device for an autonomous driving robot according to an embodiment of the present invention from one side, FIG. 2 is a perspective view showing the overall configuration of a position-variable marker generating device for an autonomous driving robot according to an embodiment of the present invention from the other side, FIG. 3 is an operational state diagram showing the detailed structure and operation of a rotating device included in a reflector according to an embodiment of the present invention, FIG. 4 is an operational state diagram showing the detailed structure and operation of a tilting device included in a reflector according to an embodiment of the present invention, FIG. 5 to FIG. 8 are usage state diagrams showing a method of projecting markers in various ways at any position in a workspace recognizable by a robot using a position-variable marker generating device for an autonomous driving robot according to an embodiment of the present invention.

[0035] The X, Y, and Z axes shown in the drawings are arbitrarily determined for the convenience of explanation rather than for the purpose of limiting rights. The X-axis is defined as indicating the forward (towards the arrow) and backward (opposite the arrow) directions, the Y-axis as indicating the left (towards the arrow) and right (opposite the arrow) directions, and the Z-axis as indicating the upward (towards the arrow) and downward (opposite the arrow) directions; however, they are not necessarily limited to the directions indicated by the respective axes, but generally encompass all directions that can be treated as oriented toward the corresponding axis. Each direction described below is based on this, except where specifically limited otherwise.

[0037] The position-variable marker generation device (100) for an autonomous driving robot according to the present invention is an invention designed to improve the position recognition accuracy of an autonomous driving robot (20) by dynamically displaying a marker (MK) at an optimal location without the need to attach physical markers in various places in the workspace (10), and to stably maintain an optimal position recognition environment by changing or adjusting the projection position (SP) of the marker (MK) in real time even if a temporary obstacle appears or the layout of the workspace (10) changes.

[0038] In order to specifically configure the function or operation as described above, the position variable marker generating device (100) for the autonomous driving robot (20) according to an embodiment of the present invention may be configured to include a marker part (110) and a reflection part (120), etc., as shown in FIGS. 1 and 2.

[0039] Below, each of the aforementioned components will be explained in detail.

[0040] First, the marker unit (110) is a component that generates a video image of a marker (MK) recognized by a robot (20) that moves through the workspace (10) and performs a set task, and projects it in one direction, provided on one side of the workspace (10) that can view the workspace (10).

[0041] The specific structure of such a marker part (110) may be composed of a light source device, an image generating device, a projection lens, and a control device.

[0042] Here, the light source device is a device for providing light of sufficient brightness to the projection position (SP) of the marker (MK), and high-power LEDs or laser diodes may be used.

[0043] The image generation device is a device for generating an image of a marker (MK) with high resolution and fast response speed, and may be a commercially available device such as a DMD (Digital Micromirror Device), LCD (Liquid Crystal Display), or LCoS (Liquid Crystal on Silicon).

[0044] At this time, the generated marker (MK) is a non-contact light source type marker (MK) that is projected in real-time in the form of a video image, unlike a conventional fixed marker that is physically attached and fixed, and refers to a mark or sign capable of visually displaying predetermined information necessary for real-time position recognition and control of a robot (20) operating within a workspace (10).

[0045] These markers (MK) may be pattern markers such as ArUco markers, AprilTag, QR codes, Data Matrix, etc., capable of displaying specific information in the form of a two-dimensional grid pattern.

[0046] Specifically, the ArUco marker estimates the camera position and orientation of the robot (20) using the corner coordinates of the detected marker and is a marker that can be recognized even with changes in lighting or partial occlusion.

[0047] Furthermore, AprilTag uses more complex beat patterns than the ArUco marker and is a marker that can be precisely recognized at various distances and angles.

[0048] QR codes are widely used markers in daily life because they contain a large amount of information and can store URLs, text, etc., while Data Matrix is ​​a marker primarily used for identifying industrial products due to its denser pattern compared to QR codes.

[0049] A marker (MK) in the form of a two-dimensional bit pattern as described above can be appropriately selected by considering the work environment, the intended use of the robot (20), the amount of information for position recognition and control of the robot (20), or the marker recognition performance of the robot (20).

[0050] The size and resolution of the aforementioned marker (MK) may be 25mm × 25mm to 500mm × 500mm depending on the position projected onto the workspace (10), and may be from a minimum of 100×100 pixels to a maximum of 1920×1920 pixels.

[0051] Meanwhile, the predetermined information displayed by the marker (MK) may include at least one of the position information of the projection point of the marker (MK), control command information corresponding to the projection point, temporal information, and environmental information.

[0052] Here, the location information may include information about the reference coordinate system, along with the absolute coordinates (X, Y, Z) of the corresponding projection point in the reference coordinate system of the workspace (10) or relative coordinates indicating the position relative to the reference coordinate system.

[0053] It may also include altitude information representing height data relative to the floor surface, the projection angle of the marker (MK), and direction information providing a reference direction that the robot (20) must recognize.

[0054] And the work command information corresponding to the point may include robot (20) ID information for individual commands, work instruction information for movement, stop, rotation, and work execution, speed control information for defining maximum / minimum speed, path guidance information for defining the next target point, and priority information for determining priority when executing commands.

[0055] Time information may include creation time information indicating a timestamp when a marker (MK) is created, validity time information indicating the validity duration of the marker (MK), sequence number information for identifying consecutive markers (MK), synchronization code information for synchronizing multiple robots (20) with each other, etc.

[0056] Environmental information may include workspace (10) ID information for identifying a specific area of ​​a specific workspace (10), obstacle information indicating location data of surrounding obstacles, lighting condition information indicating the lighting status of the current location, and correction coefficient information indicating a location recognition correction value according to the environment.

[0057] This information can be encoded in real time through an image generation device in the form of ArUco markers, AprilTag, QR codes, or Data Matrix.

[0058] The two-dimensional grid pattern marker (MK) encoded in this way can be detected and decoded by real-time image processing by a marker recognition system on the side of the robot (10) configured based on a camera.

[0059] The projection lens is a device provided to accurately project an image of the marker (MK) onto a reflection part (120) to be described later, and may be an optical system composed of a convex lens, an aspherical lens, and a Fresnel lens, which can minimize optical aberration and maximize projection efficiency.

[0060] The control device is a device that controls the operation of the light source device and image generation device described above so that the marker (MK) required for the operation of the robot (20) is processed in real-time and the generated marker (MK) is precisely time-controlled and projected in one direction.

[0061] Such a control device can be configured based on an information processing unit such as an MCU (micro controller unit), microcomputer, Arduino, or PLC (Programmable Logic Controller) in which information processing and sequence control for image processing can be programmed.

[0062] The marker unit (110) described above may be configured to generate and project a color marker using a multi-wavelength laser, a three-dimensional marker using holographic technology, a special marker using polarization, or a hidden marker that is invisible to the human eye but recognizable by the sensor or camera of the robot (20) using light in the infrared region.

[0063] The reflector (120) is a component that reflects the marker (MK) projected from the aforementioned marker (110) at a predetermined angle and projects it to any location in the workspace (10) recognizable by the robot (20), that is, within the marker recognition range (22) of the robot (20).

[0064] This reflective part (120) may be provided on the other side of the workspace (10) facing the marker part (110) while combined by a predetermined stand as shown in the drawing, or it may be provided in a form in which a part of it is embedded in the wall on the other side of the workspace (10) facing the marker part (110).

[0065] The reflector (120) according to an embodiment of the present invention may be configured to include a fixed plate (122), a mirror (124), a rotating device (126), a tilting device (128), a linked mirror (124'), and a linked rotating device (126'), as shown in FIGS. 1 to 4 on a wall.

[0066] The fixed plate (122) is a component that is positioned so that one side is orthogonal to the projection axis (PX) of the marker part (110) and is coupled with the mirror (124) to be described later, and functions as a reference axis for the projection of the marker (MK).

[0067] These fixed plates (122) can be made of various materials such as aluminum alloy, stainless steel, or synthetic resin composite materials, and the surface of the fixed plates (122) can be matte or light-absorbing coated so as not to affect the marker (MK) projected onto the mirror (124).

[0068] The mirror (124) is a component that is inclined at a predetermined angle with respect to the projection axis (PX) while attached to a fixed plate (122) so that the projected marker (MK) is reflected and projected at any position in the workspace (10).

[0069] The projection position (SP) of the marker (MK) can be varied depending on the angle of inclination of the mirror (124), and can be installed at an angle of inclination between approximately 30° and 60° with respect to the projection axis (PX).

[0070] However, the angle of inclination of the mirror (124) can be set to approximately 45° as shown in FIG. 3, etc., so that the resolution and projected area of ​​the projected marker (MK) can be optimized without distortion.

[0071] The mirror (124) described above is not particularly limited to commercially available optical mirrors (124) that have high reflectivity and accurate optical properties, but can be manufactured by depositing aluminum or silver on a surface processed with high precision.

[0072] The size of the mirror (124) can be determined by taking into account the size of the projected marker (MK) and the range of the reflection angle, and can be selected from a range of approximately 50mm x 50mm to 600mm x 600mm.

[0073] The rotation device (126) is a component coupled to a fixed plate (122) so that the mirror (124) described above rotates around the projection axis (PX), thereby varying the projection position (SP) of the marker (MK) in the up and down direction along the rotation direction.

[0074] As shown in FIG. 3, this rotating device (126) may be configured to include a motor (126a) that generates rotational power upon the application of a control power source, and a drive shaft (126b) that forms the rotational center of the motor (126a) and transmits rotational power to a fixed plate (122).

[0075] The motor (126a) is configured as a commercially available stepping motor or servo motor capable of precise angle control through microstep driving and can be fixed to a stand installed on the other side of the workspace (10) or embedded in a wall.

[0076] The drive shaft (126b) is coupled to the fixed plate (122) in a state aligned parallel to the projection axis (PX) so that the reflection of the mirror (124) on the projected marker (MK) can be stably achieved, thereby providing rotational power to the mirror (124). Of course, the drive shaft (126b) may be arranged parallel to the projection axis (PX) as needed, or it may be arranged at an angle.

[0077] At this time, for precise angle control of the drive shaft (126b), a precision drive device such as a reduction gear or a harmonic drive may be provided between the drive shaft (126b) and the fixed plate (122).

[0078] Due to the rotating device (126) described above, the marker (MK) projected from the marker unit (110) is reflected by a mirror (124) that rotates 360° around the drive axis (126b) as in FIG. 3, thereby enabling it to be provided or projected onto the entire workspace (10), i.e., the floor, wall, or ceiling, along a rotation plane orthogonal to the projection axis (PX). (See FIGS. 5 to 7)

[0079] The tilting device (128) is a component provided between the mirror (124) and the fixed plate (122) to vary the angle of inclination of the mirror (124) relative to the projection axis (PX) and to vary the projection position (SP) of the marker (MK) in the left and right directions.

[0080] As shown in FIG. 4, this tilting device (128) may be configured to include a motor (128a) that generates rotational power upon the application of control power, and a hinge (128b) that rotatably connects both sides so that the mirror (124) can be angle-adjusted relative to the fixed plate (122).

[0081] The motor (128a) is configured as a commercially available stepping motor or servo motor capable of precise angle control through microstep driving and is coupled to the side of the fixed plate (122), and the motor shaft may be equipped with a worm (128a1), which is a shaft-shaped gear.

[0082] The hinge (128b) is rotatably coupled to the fixed plate (122) while fixed to the mirror (124), and a disc-shaped worm gear (128b1) that meshes with the worm (128a1) may be provided at one end of the hinge (128b).

[0083] As the worm (128a1) and the worm gear (128b1) are provided to mesh with each other as described above, the mirror (124) can be adjusted to various angles around the hinge (128b), and as a result, the marker (MK) projected from the marker part (110) can be provided or projected into the workspace (10) in a direction substantially parallel to the projection axis (PX).

[0084] At this time, the tilting angle range of the mirror (124) can be set between approximately 30° and 60° with respect to the projection axis (PX).

[0085] Angle adjustment of the mirror (124) as described above may be implemented based on a method using a motor and cam mechanism, a ball screw type linear actuator, a shape memory alloy, a piezoelectric actuator capable of precise adjustment, in addition to the method using a worm (128a1) and worm gear (128b1) in which the rotation center intersects at a right angle.

[0086] Meanwhile, the linked mirror (124') is a component additionally installed in the workspace (10) separately from the mirror (124) so ​​that a marker (MK) reflected from the mirror (124), which has been rotated by a rotating device (126) at a predetermined angle, is received and then re-reflected to be projected at another arbitrary location in the workspace (10).

[0087] These linked mirrors (124') can be installed in multiple locations (floor, wall, column, ceiling, etc.) of the workspace (10) that can receive the marker (MK) reflected from the mirror (124) rotated at a predetermined angle in order to strategically expand the projection position (SP) range of the marker (MK).

[0088] The linked mirror (124') described above is positioned at various angles with respect to the angle of incidence of the marker (MK) reflected by the mirror (124), that is, the linked axis (CX), thereby enabling the projected marker (MK) to be projected into a specific area of ​​the workspace (10) that is difficult to reach with the mirror (124) alone.

[0089] The linkage mirror (124') can be installed at an angle of inclination between approximately 30° and 60° with respect to the linkage axis (CX), but is installed at approximately 45° so that the resolution and projected area of ​​the projected marker (MK) are optimized without distortion.

[0090] The linked mirror (124') can be replaced with a beam splitter or a holographic mirror (124) to provide or project multiple markers (MK) into the workspace (10), in addition to being a simple reflector like the mirror (124).

[0091] The size of the linked mirror (124') can be determined by considering the size of the reflected marker (MK) and the range of the reflection angle, and can be selected in the range of approximately 50mm x 50mm to 600mm x 600mm, similar to the mirror (124).

[0092] The arrangement of the linked mirror (124') can be optimized through an algorithm that tracks the light source and can be designed to minimize blind spots by taking into account the shape of the workspace (10) and the distribution of obstacles.

[0093] The linkage rotation device (126') is a component coupled to the linkage mirror (124') so that the linkage mirror (124') rotates around the linkage axis (CX), that is, the incident direction of the marker (MK) reflected and received from the mirror (124).

[0094] Due to this linked rotation device (126'), the projection position (SP) of the reflected marker (MK) can be further expanded and varied vertically along the rotation direction.

[0095] The linked rotation device (126') is configured to include a motor that generates rotational power similar to the rotation device (126) described above, and a drive shaft that forms the rotation center of the motor and transmits rotational power to the linked mirror (124'), so a detailed description will be replaced with the previously described content.

[0096] The marker section (110) and the reflection section (120) as described above can be installed at the top of the workspace (10) so that the projection of the marker (MK) by the marker section (110) and the reflection and projection of the marker (MK) by the reflection section (120) are not interfered with by the workpiece or robot (20) within the workspace (10).

[0097] At this time, the installation height can be determined by comprehensively considering the size of the workspace (10), the maximum height of the workpiece and the robot (20), and the projection and reflection distance of the marker (MK), but can be set approximately between 2.5m and 5.0m from the floor.

[0098] The installation height of these marker parts (110) and reflective parts (120) can be automatically adjusted by a lifting device (112) as shown in FIG. 5, etc.

[0099] Due to the installation of the upper portions of the marker section (110) and the reflector section (120), the projection and reflection of the marker (MK) can be physically separated from the work area, thereby ensuring the safety and reliability of the marker system and minimizing blind spots.

[0100] Through this configuration, markers (MK) can be provided at variable positions throughout the entire workspace (10) using only one marker unit (110), which can significantly reduce installation costs and maintenance burdens compared to conventional fixed markers. Additionally, the position of the markers (MK) can be changed in real time, allowing for the provision of an optimized position recognition environment according to changes in the work environment or the work patterns of the robot (20).

[0101] When the marker part (110) and the reflection part (120) as described above are installed in a predetermined workspace (10) as shown in FIGS. 5 to 8, a central control unit (not shown) controls the operation of the robot (20) so that the robot (20) introduced into the lower left side of the workspace (10) performs various tasks step by step along a predetermined series of paths.

[0102] While the operation control of the robot (20) is carried out step by step in this way, the central control unit controls the marker unit (110) and the reflection unit (120) in an integrated manner in correspondence with the position of the robot (20).

[0103] For example, when the robot (20) moves to the position shown in FIG. 5, the central control unit can control the operation of the marker unit (110), the rotation device (126), and the tilting device (128) so that the marker (MK) required for the current position recognition and control of the robot (20) is projected onto the floor surface within the marker recognition range (22) of the robot (20).

[0104] Next, the central control unit can control the operation of the marker unit (110), the rotation device (126), and the tilting device (128) so that when the robot (20) moves to the position shown in FIG. 6, a new marker (MK) required for the current position recognition and control of the robot (20) is projected onto the wall within the marker recognition range (22) of the robot (20).

[0105] Next, the central control unit can control the operation of the marker unit (110), rotation device (126), tilting device (128), and linked rotation device (126') so that when the robot (20) moves to the position shown in FIG. 7, a new marker (MK) required for the current position recognition and control of the robot (20) is projected onto the floor surface within the marker recognition range (22) of the robot (20).

[0106] Finally, the central control unit controls the operation of the marker unit (110) and the linked rotation device (126') so that when the robot (20) moves to the position shown in FIG. 8, a new marker (MK) required for the current position recognition and control of the robot (20) is projected onto the wall within the marker recognition range (22) of the robot (20).

[0107] In this series of operation control processes, the central control unit can perform control to compensate for the output of the marker unit (110) by considering whether the projected marker (MK) is attenuated, environmental monitoring of the workspace (10), position tracking and correction of the robot (20), and optimization of the projected marker.

[0108] The position-variable marker generation device (100) according to the present invention can be applied to manufacturing fields such as the control of mobile robots (20) on automation lines with weak GPS signals and navigation of warehouse management robots (20), as well as service fields such as guidance in hospitals or hotels and inventory management in large stores, thereby providing real-time accurate location information, which can greatly improve work efficiency.

[0109] In addition, the position-variable marker generating device (100) according to the present invention is designed with a modular structure for system scalability, so that the number of marker parts (110) and reflection parts (120) can be appropriately increased or decreased according to the size or requirements of the workspace (10), and can be configured to enable remote monitoring and control by adding a wireless communication function.

[0111] Although specific embodiments of the present invention have been described and illustrated above, the present invention is not limited to the described embodiments, and those skilled in the art will understand that various modifications and variations can be made to other specific embodiments without departing from the spirit and scope of the present invention. Accordingly, the scope of the present invention should not be determined by the described embodiments but by the technical concept described in the claims. Explanation of the symbols

[0112] 10: Workspace 20: Robot 100: Variable-position marker generator for autonomous robots 110: Marker section MK: Marker PX: Projection axis 112: Elevator 120: Reflective part SP: Projection Position 122: Fixing plate 124: Mirror 124': Linked Mirror 126: Rotating device 126a: Motor 126b: Drive shaft 126': Linked rotary device CX: Linkage axis 128: Tilting device 128a: Motor 128a1: Worm 128b: Hinge 128b1: Worm gear

Claims

Claim 1 A device for generating a predetermined marker to be positioned in a workspace for position recognition or control of an autonomous driving robot, comprising: a marker unit provided on one side of the workspace that generates a video image of the marker containing predetermined information necessary for real-time position recognition and control of the robot and projects it in one direction; and a reflector unit provided on the other side of the workspace that reflects the marker at a controlled angle so that the marker is projected at any position in the workspace recognizable by the robot, wherein the reflector unit comprises: a fixed plate positioned such that one surface is orthogonal to the projection axis of the marker unit; a mirror positioned at an angle inclined with respect to the projection axis while coupled to the fixed plate so that the projected marker is reflected and projected at any position in the workspace; and a rotation device coupled to the fixed plate to rotate the mirror around the projection axis and vary the projection position of the marker along the direction of rotation. A position-variable marker generating device for an autonomous driving robot, characterized by including a linked mirror installed in a workspace such that the marker reflected from the mirror, which is rotated by the above-described rotating device at a predetermined angle, is received and then re-reflected and projected to another arbitrary location in the workspace. Claim 2 delete Claim 3 delete Claim 4 A position-variable marker generating device for an autonomous driving robot, characterized in that, in claim 1, the reflector further includes a tilting device provided between the mirror and the fixed plate to vary the projection position of the marker so that the inclination angle of the mirror with respect to the projection axis is varied. Claim 5 delete Claim 6 A position-variable marker generating device for an autonomous driving robot, characterized in that, in claim 1, the reflection part further includes a linked rotation device coupled to the linked mirror to vary the projection position of the marker along the rotation direction, such that the linked mirror rotates around the incident direction of the marker reflected and received from the mirror. Claim 7 A position-variable marker generating device for an autonomous driving robot, characterized in that, in claim 1, the marker part and the reflecting part are installed at the upper part of the workspace so that the projection of the marker by the marker part and the reflection and projection of the marker by the reflecting part are not interfered with by a workpiece or the robot within the workspace.

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