Transportation robot and control method thereof

Abstract

The present invention relates to a transport robot and a control method thereof, the transport robot comprising: a driving device for moving the transport robot; the first laser radar is arranged on the transportation robot and obtains first laser radar data facing a first direction; the second laser radar is arranged on the transportation robot and obtains second laser radar data in a second direction; the processor controls the driving device to enable the transportation robot to move to the lower portion of a target object, and determines positioning information of the transportation robot based on the first laser radar data and the second laser radar data when the transportation robot moves to the lower portion of the target object. Therefore, more accurate and high-reliability positioning information can be obtained in the process of entering the lower part of the target object.

Description

TECHNICAL FIELD

[0001] The disclosed invention relates to a transport robot and a control method thereof. BACKGROUND

[0002] As the vehicles are popularized and the number of vehicles increases, there is a shortage of parking spaces, and in order to solve this problem, efforts to more effectively use parking spaces are continuously being made.

[0003] However, as the parking spaces are narrow due to the limitation of real space, the difficulty for skilled drivers is increasing, and thus contact accidents frequently occur in parking lots. In order to solve this problem, an automatic transport robot is being developed, which enters the lower part of a vehicle and partially lifts the vehicle to automatically perform parking.

[0004] In general, such an automatic transport robot is provided with various sensor devices to help accurately recognize the position of the robot so as to be able to correctly enter the lower part of a target vehicle. Examples of such sensor devices include an inertial measurement device (IMU), an encoder, a laser radar (LiDAR), a camera, etc.

[0005] The automatic transport robot performs positioning of the robot based on data obtained from the sensor devices such as the inertial measurement device, the encoder, the laser radar, etc. However, if the automatic transport robot enters the lower part of the target vehicle, the reliability of the laser radar can be decreased, and thus there is a problem that the positioning value is not accurate. SUMMARY

[0006] According to one aspect of the disclosed invention, it is possible to provide a transport robot and a control method thereof, if it is recognized that the first laser radar or the second laser radar enters the lower part of the target object in the process of moving to the target object, positioning is performed based on the remaining laser radar data by excluding the laser radar data, and thus it is possible to accurately move to the lower part of the target vehicle by reliable positioning information.

[0007] According to one aspect of the disclosed invention, it is possible to provide a transport robot and a control method thereof, if the remaining laser radar also enters the lower part of the target object in the process of entering the lower part of the target object, and thus it is recognized that the transport robot completely enters the lower part of the target object, positioning is performed based on inertial data and odometer data by excluding the laser radar data, and thus it is possible to obtain more reliable positioning information.

[0008] According to one aspect of the disclosed application, a transport robot includes: a driving device that moves the transport robot; a first laser radar provided on the transport robot to obtain first laser radar data toward a first direction; a second laser radar provided on the transport robot to obtain second laser radar data toward a second direction; and a processor that controls the driving device to move the transport robot to a lower portion of a target object, and determines positioning information of the transport robot based on the first laser radar data and the second laser radar data during movement of the transport robot to the lower portion of the target object, wherein the processor identifies whether the first laser radar or the second laser radar enters the lower portion of the target object based on the first laser radar data and the second laser radar data, and if it is identified that the first laser radar or the second laser radar enters the lower portion of the target object, the positioning information can be determined based on data of the laser radar that is not identified to enter the lower portion of the target object among the first laser radar or the second laser radar.

[0009] The processor combines point clouds of the first laser radar data and the second laser radar data, and matches feature points extracted from the combined point clouds with pre-stored map information to determine the positioning information, and if it is identified that the first laser radar or the second laser radar enters the lower portion of the target object, the positioning information can be determined based on matching of feature points extracted from point clouds of the laser radar data that is not identified to enter the lower portion of the target object among the first laser radar or the second laser radar with the pre-stored map information.

[0010] The processor determines the first laser radar as the laser radar identified to enter the lower portion of the target object if a proportion of point clouds corresponding to the lower portion of the target object among overall point clouds of the ground based on the first laser radar data is greater than or equal to a predetermined threshold, and determines the second laser radar as the laser radar identified to enter the lower portion of the target object if a proportion of point clouds corresponding to the lower portion of the target object among overall point clouds of the ground based on the second laser radar data is greater than or equal to the predetermined threshold.

[0011] The processor can control to turn off the laser radar identified to enter the lower portion of the target object among the first laser radar or the second laser radar.

[0012] The transport robot further comprises an inertial measurement device arranged on the transport robot and configured to obtain inertial data, and an encoder arranged on the transport robot and configured to obtain odometer data, and the processor determines the positioning information of the transport robot based on data of the first lidar or the second lidar that is not identified as entering the lower part of the target object.

[0013] According to an aspect of the disclosed application, a control method of a transport robot including a driving device, a first lidar configured to obtain first lidar data in a first direction, a second lidar configured to obtain second lidar data in a second direction, an inertial measurement device configured to obtain inertial data, an encoder configured to obtain odometer data, and a processor can include: controlling the driving device to move the transport robot to a lower part of a target object, during the control of the driving device, determining positioning information of the transport robot based on the first lidar data and the second lidar data, identifying whether the first lidar or the second lidar enters the lower part of the target object based on the first lidar data and the second lidar data, and if it is identified that the first lidar or the second lidar enters the lower part of the target object, determining the positioning information based on data of the first lidar or the second lidar that is not identified as entering the lower part of the target object.

[0014] Determining the positioning information of the transport robot based on the first lidar data and the second lidar data can include merging point clouds of the first lidar data and the second lidar data, and matching feature points extracted from the merged point clouds with pre-stored map information to determine the positioning information, and determining the positioning information based on data of the lidar that is not identified as entering the lower part of the target object can include matching feature points extracted from point clouds of the first lidar or the second lidar that is not identified as entering the lower part of the target object with the pre-stored map information to determine the positioning information.

[0015] Identifying whether the first lidar or the second lidar enters the lower part of the target object can include:

[0016] If the proportion of point clouds corresponding to the lower part of the target object in the overall point cloud after removing the ground based on the first lidar data is greater than or equal to a predetermined threshold, the first lidar is determined as the lidar identified as entering the lower part of the target object,

[0017] If, based on the second lidar data, a proportion of the point cloud corresponding to the lower part of the target object in the overall point cloud after removing the ground is greater than or equal to the predetermined threshold, the second lidar is determined as the lidar identified as entering the lower part of the target object.

[0018] The control method of the transport robot can further include turning off the lidar of the first lidar or the second lidar identified as entering the lower part of the target object.

[0019] The control method of the transport robot can further include identifying whether the transport robot completely enters the lower part of the target object based on data of the lidar of the first lidar or the second lidar not identified as entering the lower part of the target object, and determining the positioning information based on the inertial data and the odometry data if it is identified that the transport robot completely enters the lower part of the target object. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 and Figure 2 A diagram to illustrate the first transport robot and the second transport robot according to an embodiment.

[0021] Figure 3 A block diagram to illustrate the structure of the first transport robot and the second transport robot according to an embodiment.

[0022] Figure 4 A diagram to illustrate the action of the first transport robot and / or the second transport robot according to an embodiment.

[0023] Figure 5 A flowchart to illustrate the action of the first transport robot and / or the second transport robot according to an embodiment from the start of moving to the target object to the point when it is identified that the lower part of the target object is entered.

[0024] Figure 6 A flowchart to illustrate the action of the first transport robot and / or the second transport robot according to an embodiment to determine the positioning information before it is identified that the lower part of the target object is entered.

[0025] Figure 7 A flowchart to illustrate the action of the first transport robot and / or the second transport robot according to an embodiment to identify whether the first lidar or the second lidar enters the lower part of the target object.

[0026] Figure 8 A flowchart to illustrate the action of the first transport robot and / or the second transport robot according to an embodiment to determine the positioning information from the point when the lower part of the target object is completely entered to the period during which it moves to the predetermined lower part of the target object.

[0027] Figure 9 FIG. 6 is a flowchart illustrating an operation of a first transport robot and / or a second transport robot according to an embodiment to identify that a target object is completely entered under the first transport robot.

[0028] Figure 10 FIG. 7 is a diagram illustrating a region of interest (ROI) for identifying that a target object is entered under a first transport robot and / or a second transport robot according to an embodiment. DETAILED DESCRIPTION

[0029] Throughout the specification, the same reference numerals will be used to designate the same elements throughout the specification. The specification does not describe all elements of the embodiments, and the description of elements that are well known in the art or repeated among the embodiments will be omitted. The terms "part, module, element, block" used in the specification can be implemented by software or hardware, and according to the embodiments, a plurality of "parts, modules, elements, blocks" can be implemented as one element, or one "part, module, element, block" can include a plurality of elements.

[0030] Throughout the specification, if a part is "connected" to another part, this includes not only a case where the part is directly connected to the other part, but also a case where the part is indirectly connected to the other part through a wireless communication network.

[0031] In addition, if a part "includes" an element, this does not mean that other elements are excluded, but can include other elements unless otherwise specifically stated.

[0032] Throughout the specification, if a part is described as being "on" another part, this includes not only a case where the part is in contact with the other part, but also a case where another part is present between the two parts.

[0033] The terms "first", "second", and the like are used to distinguish one element from another element, and the elements are not limited by the aforementioned terms.

[0034] The singular expression includes the plural expression unless there is a clear exception in the context.

[0035] The symbols in each step are used for convenience of explanation, and the symbols do not indicate the order of the steps, and the steps can be implemented in a manner different from the order unless a specific order is clearly described in the context.

[0036] The disclosed invention aims to provide a technology that enables two transport robots, for example, a front transport robot and a rear transport robot, to enter the lower part of a target object and to cooperate with each other to move the target object to a target location and to accurately move to a predetermined location of the lower part of the target object.

[0037] The transport robot needs to accurately move to a predetermined position under the target object in order to lift the target object at the lower part of the target object. Autonomous driving is performed during the movement of the transport robot, at which time each of the two transport robots needs to be accurately localized during the movement of the preceding transport robot and the following transport robot to the predetermined position under the target object.

[0038] In general, during the movement of the transport robot to the lower part of the target object, the transport robot obtains localization information of the transport robot based on data obtained by sensor devices such as an inertial measurement device (IMU), a camera, an encoder, a LiDAR, etc. mounted on the transport robot.

[0039] The IMU provides inertial data such as the rotation (yaw) of the transport robot, based on which the transport robot can correct the rotation direction of the transport robot, etc. The encoder measures the distance moved by the transport robot based on the number of rotations of the wheel, thereby obtaining odometry data. The transport robot performs localization based on the inertial data and the odometry data during travel.

[0040] The LiDAR sensor constructs a three-dimensional map of the surrounding environment in real time and compares it with pre-stored map information (Map matching) to perform localization of the transport robot.

[0041] The transport robot obtains final localization information based on the localization information previously obtained from the inertial data and the odometry data, and reflecting the localization information obtained by the LiDAR sensor. In this process, the transport robot reduces noise using a Kalman filter and more accurately estimates the position, thereby being able to obtain localization information with higher reliability.

[0042] However, when the transport robot enters the lower part of the target object, the environment recognized by the LiDAR changes drastically. Since the lower structure of the vehicle is different from the conventional environment, it is complex and narrow, and the LiDAR cannot effectively use the pre-stored map information, so its reliability drastically decreases.

[0043] The disclosed invention aims to provide a technology for obtaining a wider field of view using a first LiDAR and a second LiDAR before the transport robot moves until it enters the lower part of the target object, thereby improving the reliability of localization.

[0044] The disclosed invention aims to provide a technology for recognizing, as above, a situation in which the reliability of the LiDAR decreases and accurate localization cannot be performed when the transport robot enters the lower part of the target object, and improving the accuracy of localization accordingly.

[0045] The principle and embodiments of the disclosed application will be described below with reference to the accompanying drawings.

[0046] Figure 1 and Figure 2 A diagram showing a first transport robot and a second transport robot according to an embodiment. Figure 3 A block diagram showing a structure of a first transport robot and a second transport robot according to an embodiment.

[0047] In the present application, the transport robot can be either the first transport robot or the second transport robot, and is not limited to either one.

[0048] In the present application, the target object is described by way of example of a vehicle, but is not limited thereto, and any object (or subject) that can be moved by the transport robot can be understood as the target object.

[0049] Referring to Figure 1 and Figure 2 , the first transport robot 100 and the second transport robot 200 can cooperate with each other to park the target vehicle 10 in a parking area.

[0050] For example, the first transport robot 100 and the second transport robot 200 can move to the lower portion of the vehicle 10, i.e., into the lower portion of the target vehicle 10, lift the target vehicle 10, and thereby park the target vehicle 10 in the parking area.

[0051] Referring to Figure 1 and Figure 2 , the first transport robot 100 can serve as a front transport robot, and the second transport robot 200 can serve as a rear transport robot that moves following the first transport robot 100.

[0052] Referring to Figure 3 , the first transport robot 100 can include a traveling device 110, a fork driving device 120, a sensing device 130, an illumination device 140, a communication unit 150, and / or a control unit 170.

[0053] The traveling device 110, the fork driving device 120, the sensing device 130, the illumination device 140, and the communication unit 150 are not essential structures of the first transport robot 100, and at least one of the above components can be omitted.

[0054] The traveling device 110 can perform movement, stop, and / or change of a moving direction of the first transport robot 100, etc.

[0055] To this end, the traveling device 110 can include a driving device 112, a braking device 114, and / or a steering device 116

[0056] The driving device 112 can move the first transport robot 100. For example, the driving device 112 includes a motor (or also referred to as an electric motor), and in order to move the first transport robot 100, a driving force can be provided to the motor to rotate the wheels (or also referred to as electric wheels) of the first transport robot 100.

[0057] For example, the wheels of the first transport robot 100 can be one or more, and can be variously implemented according to design.

[0058] The braking device 114 can stop the movement of the first transport robot 100. For example, the braking device 114 can include a structure such as a brake pad and a brake disc, and thus the first transport robot 100 can be stopped.

[0059] The steering device 116 can change the moving direction of the first transport robot 100. For example, the steering device 116 can include a structure such as a motor or a hydraulic system for controlling the direction of the wheels of the first transport robot 100, and thus the moving direction of the first transport robot 100 can be changed.

[0060] The sensing device 130 can include one or more sensors, and can generate an electrical signal or data corresponding to the state of the first transport robot 100 and / or the external state of the first transport robot 100.

[0061] The fork driving device 140 can include one or more motors or the like, and can provide a driving force for the movement of the plurality of forks f11, f12, f13, f14 of the first transport robot 100.

[0062] Referring to Figure 2 , the first transport robot 100 can include a plurality of forks f11, f12, f13, f14, the lengths of which extend from the body to both side surfaces to support both side wheels at the rear of the target vehicle 10.

[0063] For example, each of the forks f11, f12, f13, f14 of the first transport robot 100 can be implemented in a structure that changes from a folded state to an unfolded state and from the unfolded state to the folded state based on the control of the control portion 170 on the fork driving device 140.

[0064] In addition, each of the forks f11, f12, f13, f14 of the first transport robot 100 in the unfolded state can be implemented in a structure that rises and falls based on the control of the control portion 170 on the fork driving device 140.

[0065] In another example, the forks f11, f12, f13, f14 of the first transport robot 100 can be expanded outward based on the control of the control portion 170 on the fork frame driving device 140, and in the outwardly expanded state, can be changed to a structure that is retracted toward the body side to be implemented.

[0066] In addition, the forks f11, f12, f13, f14 of the first transport robot 100 can be implemented to be raised and lowered based on the control of the control portion 170 on the fork frame driving device 140 in the outwardly expanded state of the body.

[0067] The sensing device 130 can include a camera 132, a first laser radar 134a, a second laser radar 134b, an inertial measurement device (IMU) 136, and / or an encoder 138, etc.

[0068] The camera 132, the first laser radar 134a, the second laser radar 134b, the inertial measurement device (IMU) 136, and / or the encoder 138 do not belong to the essential structure of the sensing device 130, and at least part of the above structures can be omitted.

[0069] The camera 132 can obtain image data around the first transport robot 100. For example, the camera 132 can include a plurality of lenses (not shown), an image sensor, and / or an image processor (not shown).

[0070] The camera 132 can be one or more, and can be disposed on the body of the first transport robot 100.

[0071] Referring to Figure 1 , the camera 132 can be disposed on the body of the first transport robot 100 to have a field of view toward a first direction (or also referred to as a front direction) in which the first transport robot 100 moves.

[0072] Referring to Figure 1 , the first laser radar 134a can be disposed on the body of the first transport robot 100 to have a field of view toward a first direction (or also referred to as a front direction) in which the first transport robot 100 moves. The first laser radar 134a can generate first laser radar data toward the first direction (or also referred to as the front direction).

[0073] The second laser radar 134b can be disposed on the body of the first transport robot 100 to have a field of view toward a second direction (or also referred to as a rear direction) opposite to the first direction in which the first transport robot 100 moves. The second laser radar 134b can generate second laser radar data toward the second direction (or also referred to as the rear direction).

[0074] The IMU 136 can obtain inertial data such as a speed, a direction, and / or an acceleration of the first transport robot 100, and can be disposed on the body of the first transport robot 100.

[0075] Referring to Figure 1 , the IMU 136 can be disposed at the center of the body of the first transport robot 100.

[0076] The encoder 138 can obtain odometer data such as a travel distance of the first transport robot 100, and can be disposed on or near a wheel of the first transport robot 100.

[0077] The encoder 138 can be one or more.

[0078] The lighting device 140 can include one or more light sources or light source arrays, and can be disposed on the body of the first transport robot 100. For example, the lighting device 140 can apply various existing lighting devices (e.g., a Light-Emitting Diode (LED), a Halogen Lamp, etc.).

[0079] Referring to Figure 1 , the first transport robot 100 can be provided with markers such as a first marker M1 and a second marker M2. Although not shown, the lighting device 140 can be disposed on the body of the first transport robot 100 at a lower portion or an adjacent portion of the first marker M1 and the second marker M2, so as to be able to secure a field of view for the first marker M1 and the second marker M2.

[0080] For example, the first marker M1 and the second marker M2 can be made to include a recognizable predetermined pattern such as a pattern having four corner points.

[0081] The communication unit 150 can support establishment of a wireless communication channel between the first transport robot 100 and the second transport robot 200 and communication through the established communication channel, and can include a communication circuit and / or a control circuit for controlling the operation of the communication circuit. The communication unit 150 includes a cellular communication module, a Wi-Fi communication module, a short-range wireless communication module (e.g., a Bluetooth communication module), and / or a Global Navigation Satellite System (GNSS) communication module, and can communicate with the second transport robot 200 through any one of the modules.

[0082] The control unit 170 can be electrically and / or communicatively connected with each of the constituent elements of the first transport robot 100, such as the travel device 110, the fork drive device 120, the sensing device 130, the lighting device 140, and / or the communication unit 150, and thus can control each of the constituent elements.

[0083] For example, the control section 170 can process data obtained by the sensing device 130, and can process data received from an external device (e.g., the second transport robot 200) through the communication section 150. Further, the control section 170 can provide a control signal to the respective constituent elements of the traveling device 110, the fork drive device 120, the sensing device 130, the lighting device 140, and / or the communication section 150, based on the processing result of the data obtained by the sensing device 130 and / or the processing result of the data received through the communication section 150.

[0084] The control section 170 can acquire positioning information of the first transport robot 100 based on data acquired by the sensing device 130, e.g., by the camera 132, the first laser radar 134a, the second laser radar 134b, the IMU 136, and / or the encoder 138.

[0085] The control section 170 can perform cooperative control with the second transport robot 200 through the communication section 150 to move the target vehicle 10 and park it in a designated parking area, at which time the data acquired by the sensing device 130 can be further utilized.

[0086] The control section 170 can control the drive device 112 included in the traveling device 110 to move the first transport robot 100 to the lower portion of the target vehicle 10 based on the data obtained by the sensing device 130 and / or the data communication with the second transport robot 200 through the communication section 150.

[0087] The control section 170 can perform cooperative control with the second transport robot 200 through the communication section 150 to control the fork drive device 120 so that the plurality of forks f11, f12, f13, f14 support the two side wheels at the rear of the target vehicle 10 and then raise the plurality of forks f11, f12, f13, f14. At this time, the second transport robot 200 can raise the plurality of forks f21, f22, f23, f24 after supporting the two side wheels at the front of the target vehicle 10.

[0088] Further, the control section 170 can perform cooperative control with the second transport robot 200 through the communication section 150 to control the drive device 112 included in the traveling device 110 to move to the parking area while the plurality of forks f11, f12, f13, f14 are in the raised state. At this time, the second transport robot 200 can also move to the parking area while the plurality of forks f21, f22, f23, f24 are in the raised state.

[0089] Further, the control portion 170 can perform cooperative control with the second transport robot 200 through the communication portion 150 after moving to the parking area, lower the plurality of forks f11, f12, f13, f14, and control the plurality of forks f11, f12, f13, f14 to release support of the two side wheels at the rear. At this time, the second transport robot 200 can also lower the plurality of forks f21, f22, f23, f24, and release support of the two side wheels at the front by the plurality of forks f21, f22, f23, f24.

[0090] The control portion 170 can include a memory 171 and / or a processor 173.

[0091] The memory 171 can store a software program of the first transport robot 100. The memory 171 can store a program and / or data for processing various data (data acquired through the sensing device 130 and / or data received through the communication portion 150, etc.).

[0092] The memory 171 stores a 3D map (or map information) of a parking lot (or a parking area), and can temporarily store a real-time surrounding environment 3D map generated by the processor 173 based on first laser radar data and second laser radar data acquired through the first laser radar 134a and the second laser radar 134b.

[0093] The memory 171 can store a plurality of predetermined patterns recognizable by the marks of other transport robots including the marks M3, M4 of the second transport robot 200.

[0094] The memory 171 temporarily stores various data, and can temporarily store a processing result of the processor 173 on the various data.

[0095] The memory 171 can include a volatile memory such as SRAM, DRAM, etc., and can also include a non-volatile memory such as a flash memory, a read only memory (ROM), an erasable programmable read only memory (EPROM), etc.

[0096] The processor 173 processes various data, and can provide a signal for respectively controlling the traveling device 110, the fork carriage driving device 120, the sensing device 130, the lighting device 140, and / or the communication portion 150 to the corresponding devices. For example, the processor 173 can include a micro control unit (MCU).

[0097] The processor 173 can control the fork carriage driving device 120 to move the first transport robot 100 to the lower portion of the target vehicle 10.

[0098] The processor 173 can determine the positioning information of the first transport robot 100 based on the map information of the parking area stored in the memory 171, the first laser radar data and the second laser radar data obtained through the first laser radar 134a and the second laser radar 134b, during movement of the first transport robot 100 to the lower portion of the target vehicle 10.

[0099] Specifically, the processor 173 can merge point clouds of the first laser radar data and the second laser radar data, and match feature points extracted from the merged point clouds with the map information of the parking area, so that the positioning information can be determined.

[0100] The processor 173 can identify whether the first laser radar 134a or the second laser radar 134b enters the lower portion of the target vehicle 10 based on the first laser radar data and the second laser radar data.

[0101] That is, the processor 173 can determine the laser radar (or the entering laser radar) that is identified to enter the lower portion of the target vehicle 10 among the first laser radar 134a or the second laser radar 134b.

[0102] To this end, the processor 173 can determine the first laser radar 134a as the laser radar (the entering laser radar) that enters the lower portion of the target vehicle 10, if the proportion of the point cloud corresponding to the lower portion of the target vehicle 10 in the overall point cloud after removing the ground is greater than or equal to a predetermined threshold, based on the first laser radar data. If the first laser radar 134a is determined as the entering laser radar, the processor 173 can determine the second laser radar 134b as the laser radar (or the non-entering laser radar) that is not identified to enter the lower portion of the target vehicle 10.

[0103] The processor 173 can determine the second laser radar 134b as the laser radar (or the entering laser radar) that is identified to enter the lower portion of the target vehicle 10, if the proportion of the point cloud corresponding to the lower portion of the target vehicle 10 in the overall point cloud after removing the ground is greater than or equal to a predetermined threshold, based on the second laser radar data. If the second laser radar 134b is determined as the entering laser radar, the processor 173 can determine the first laser radar 134a as the laser radar (or the non-entering laser radar) that is not identified to enter the lower portion of the target vehicle 10.

[0104] At this time, the processor 173 can control to turn off (off) the laser radar (or the entering laser radar) that is identified to enter the lower portion of the target vehicle 10 among the first laser radar 134a or the second laser radar 134b.

[0105] The processor 173 can determine the positioning information based on the laser radar data of the laser radar not recognized as entering the lower portion of the target vehicle 10 (non-entering laser radar) and the map information of the parking area, regardless of which laser radar is determined to enter the laser radar.

[0106] Next, the processor 173 can identify whether the first transport robot 100 has completely entered the lower portion of the target vehicle 10 based on the laser radar data of the laser radar not recognized as entering the lower portion of the target vehicle 10 (non-entering laser radar) among the first laser radar 134a or the second laser radar 134b.

[0107] The processor 173 can identify whether the first transport robot 100 has completely entered the lower portion of the target vehicle 10 based on the laser radar data of the laser radar not recognized as entering the lower portion of the target vehicle 10 (non-entering laser radar) among the first laser radar 134a or the second laser radar 134b, if the proportion of the point cloud corresponding to the lower portion of the target vehicle 10 in the overall point cloud after removing the ground is greater than or equal to a predetermined threshold.

[0108] The processor 173 can determine the positioning information based on the inertial data and the odometry data if it is identified that the first transport robot 100 has completely entered the lower portion of the target vehicle 10.

[0109] The processor 173 can control to turn off the laser radar not entering the lower portion of the target vehicle 10 (non-entering laser radar) among the first laser radar 134a or the second laser radar 134b if it is identified that the first transport robot 100 has completely entered the lower portion of the target vehicle 10.

[0110] At this time, the processor 173 can perform dead reckoning (DR) based on the inertial data and the odometry data to determine the positioning information of the first transport robot 100.

[0111] The processor 173 can perform dead reckoning based on the inertial data and the odometry data and control the traveling device 110 to move the first transport robot 100 to a predetermined lower portion position of the target vehicle 10 based on the determined positioning information of the first transport robot 100.

[0112] The pre-designated lower position can correspond to a position of the first position (or rear wheel position) of the target vehicle 10, or can also correspond to a position of the second position (or front wheel position). For example, if the first transport robot 100 is a leading transport robot, the pre-designated lower position of the first transport robot 100 can correspond to the position of the first position (or rear wheel position) of the target vehicle 10. If the first transport robot 100 is a trailing transport robot, the pre-designated lower position of the first transport robot 100 can correspond to the position of the second position (or front wheel position) of the target vehicle 10.

[0113] The second transport robot 200 can include a traveling device 210, a fork driving device 220, a sensing device 230, an illumination device 240, a communication unit 250, and / or a control unit 270.

[0114] The traveling device 210, the fork driving device 220, the sensing device 230, the illumination device 240, and the communication unit 250 do not belong to the essential structure of the second transport robot 200, and at least a part of the above structures can be omitted.

[0115] The traveling device 210 can perform movement, stop, and / or change of a moving direction of the second transport robot 200, and the like.

[0116] The traveling device 210 can include a driving device 212, a braking device 214, and / or a steering device 216.

[0117] The driving device 212 can move the second transport robot 200. For example, the driving device 212 includes a motor (or also referred to as an electric motor), and in order to move the second transport robot 200, a driving force can be provided to the motor to rotate a wheel (or also referred to as an electric wheel) of the second transport robot 200. For example, the wheel of the second transport robot 200 can be one or more, and can be variously implemented according to design.

[0118] The braking device 214 can stop the movement of the second transport robot 200. For example, the braking device 214 can include a structure such as a brake pad and a brake disc, and thus the second transport robot 200 can be stopped.

[0119] The steering device 216 can change the moving direction of the second transport robot 200. For example, the steering device 216 can include a structure such as a motor or a hydraulic system for controlling the direction of the wheel of the second transport robot 200, and thus the moving direction of the second transport robot 200 can be changed.

[0120] The sensing device 230 can include one or more sensors, and can generate an electrical signal or data corresponding to the state of the second transport robot 200 and / or the external state of the second transport robot 200.

[0121] The fork drive device 240 can include one or more motors or the like to provide driving force for movement of the plurality of forks f21, f22, f23, f24 of the second transport robot 200.

[0122] Referring to Figure 2 The second transport robot 200 can include a plurality of forks f21, f22, f23, f24 extending in length from the body to both side surfaces to support both side wheels at the rear of the target vehicle 10.

[0123] For example, each fork f21, f22, f23, f24 of the second transport robot 200 can be implemented in a structure that changes from a folded state to an unfolded state and from the unfolded state to the folded state based on control of the fork drive device 240 by the control portion 270.

[0124] Further, each fork f21, f22, f23, f24 of the second transport robot 200 can be implemented in a structure that rises and falls based on control of the fork drive device 240 by the control portion 270 in the unfolded state.

[0125] In another example, each fork f21, f22, f23, f24 of the second transport robot 200 can be implemented in a structure that expands outward with the body as a reference based on control of the fork drive device 240 by the control portion 270 and changes to contract toward the body side in the outwardly expanded state.

[0126] Further, each fork f21, f22, f23, f24 of the second transport robot 200 can be implemented in a structure that rises and falls based on control of the fork drive device 240 by the control portion 270 in the outwardly expanded state of the body.

[0127] The sensing device 230 can include a camera 232, a first laser radar 234a, a second laser radar 234b, an inertial measurement device (IMU) 236, and / or an encoder 238, or the like.

[0128] The camera 232, the first laser radar 234a, the second laser radar 234b, the inertial measurement device (IMU) 236, and / or the encoder 238 do not belong to essential structures of the sensing device 230, and at least a portion of the above structures can be omitted.

[0129] The camera 232 can obtain image data around the second transport robot 200. For example, the camera 232 can include a plurality of lenses (not shown), an image sensor, and / or an image processor (not shown).

[0130] The camera 232 can be one or more and can be disposed on the body of the second transport robot 200.

[0131] Referring to Figure 1 , the camera 232 can be disposed on the body of the second transport robot 200 to have a field of view toward a first direction (or also referred to as a front direction) in which the second transport robot 200 moves.

[0132] Referring to Figure 1 , the first laser radar 234a can be disposed on the body of the first transport robot 200 to have a field of view toward a first direction (or also referred to as a front direction) in which the second transport robot 200 moves. The first laser radar 234a can generate first laser radar data toward the first direction (or also referred to as the front direction).

[0133] The second laser radar 234b can be disposed on the body of the second transport robot 200 to have a field of view toward a second direction (or also referred to as a rear direction) opposite to the first direction in which the second transport robot 200 moves. The second laser radar 234b can generate second laser radar data toward the second direction (or also referred to as the rear direction).

[0134] The IMU 236 can obtain inertial data such as a speed, a direction, and / or an acceleration of the second transport robot 200 and can be disposed on the body of the second transport robot 200.

[0135] Referring to Figure 1 , the IMU 236 can be disposed at the center of the body of the second transport robot 200.

[0136] The encoder 238 can obtain odometer data such as a travel distance of the second transport robot 200 and can be disposed on or near a wheel of the second transport robot 200.

[0137] The encoder 238 can be one or more.

[0138] The lighting device 240 can include one or more light sources or light source arrays and can be disposed on the body of the first or more transport robots 200. For example, the lighting device 240 can apply various existing lighting devices (for example, an LED (Light-Emitting Diode), a halogen lamp, etc.).

[0139] Referring to Figure 1 , the second transport robot 200 can be provided with markers such as a first marker M3 and a second marker M4. Although not shown, the lighting device 240 can be disposed on the body of the second transport robot 200 at a lower portion or an adjacent portion of the first marker M3 and the second marker M4 so as to be able to secure a field of view of the first marker M3 and the second marker M4.

[0140] For example, the first marker M3 and the second marker M4 can be made to include a predetermined pattern, such as a pattern having four corner points.

[0141] The communication section 250 can support establishment of a wireless communication channel between the second transport robot 200 and the first transport robot 100 and communication through the established communication channel, and can include a communication circuit and / or a control circuit for controlling the action of the communication circuit. The communication section 250 includes a cellular communication module, a Wi-Fi communication module, a short-range wireless communication module (such as a Bluetooth communication module), and / or a GNSS (Global Navigation Satellite System) communication module, and can communicate with the first transport robot 100 through any of the modules.

[0142] The control section 270 can be electrically connected and / or communicatively connected to each of the constituent elements of the second transport robot 200, such as the travel device 210, the fork drive device 220, the sensing device 230, the lighting device 240, and / or the communication section 250, and thus can control each of the constituent elements.

[0143] For example, the control section 270 can process data obtained by the sensing device 230, and can process data received from an external device (such as the first transport robot 100) through the communication section 250. In addition, the control section 270 can provide a control signal to the corresponding constituent element among the travel device 210, the fork drive device 220, the sensing device 230, the lighting device 240, and / or the communication section 250, based on the processing result of the data obtained by the sensing device 230 and / or the processing result of the data received through the communication section 250.

[0144] The control section 270 can obtain positioning information of the second transport robot 200 and a relative pose with respect to one or more markers M1, M2 provided on the first transport robot 100, based on data obtained by the sensing device 230 (such as the camera 232, the first laser radar 234a, the second laser radar 234b, the IMU 236, and / or the encoder 238). For example, the relative pose with respect to one or more markers M1, M2 provided on the first transport robot 100 can include a relative position with respect to the first transport robot 100.

[0145] The control section 270 can perform cooperative control with the first transport robot 100 through the communication section 250 to move the target vehicle 10 and park it in a designated parking area, at which time data obtained by the sensing device 230 can be utilized.

[0146] The control unit 270 can control the driving device 212 included in the traveling device 210 to move the second transport robot 200 to the lower portion of the target vehicle 10 based on data obtained by the sensor device 230 and / or data communication with the first transport robot 100 through the communication unit 250.

[0147] The control unit 270 can perform cooperative control with the first transport robot 100 through the communication unit 250 to control the fork driving device 220 to support the plurality of forks f21, f22, f23, f24 on both sides of the front wheels of the target vehicle 10 and then raise the plurality of forks f21, f22, f23, f24 upward. At this time, the first transport robot 100 can raise the plurality of forks f11, f12, f13, f14 upward after supporting the plurality of forks f11, f12, f13, f14 on both sides of the rear wheels of the target vehicle 10.

[0148] In addition, the control unit 270 can perform cooperative control with the first transport robot 100 through the communication unit 250 to control the driving device 212 included in the traveling device 210 to move to the parking area while the plurality of forks f21, f22, f23, f24 are in the raised state. At this time, the first transport robot 100 can also move to the parking area while the plurality of forks f11, f12, f13, f14 are in the raised state.

[0149] In addition, the control unit 270 can perform cooperative control with the first transport robot 100 through the communication unit 250 to lower the plurality of forks f21, f22, f23, f24 and control the plurality of forks f21, f22, f23, f24 to release the support for the front wheels after moving to the parking area. At this time, the first transport robot 100 can also lower the plurality of forks f11, f12, f13, f14 and release the support for the rear wheels by the plurality of forks f11, f12, f13, f14.

[0150] The control unit 270 can include a memory 271 and / or a processor 273.

[0151] The memory 271 can store a software program of the second transport robot 200. The memory 271 can store a program and / or data for processing various data (data obtained by the sensor device 230 and / or data received through the communication unit 250, etc.).

[0152] The memory 271 stores a 3D map (or map information) of a parking lot (or a parking area) and can temporarily store a real-time surrounding environment 3D map generated by the processor 273 based on first laser radar data and second laser radar data obtained by the first laser radar 234a and the second laser radar 234b.

[0153] The memory 271 can store an identifiable predetermined pattern of a mark of the first transport robot 100 and marks of other transport robots.

[0154] The memory 271 can temporarily store various data and temporarily store a result of processing of the processor 273 on the various data.

[0155] The memory 271 can include a volatile memory such as SRAM, DRAM, etc., and a non-volatile memory such as a flash memory, a read only memory (ROM), an erasable programmable read only memory (EPROM), etc.

[0156] The processor 273 can process various data and provide a signal for controlling the traveling device 210, the fork driving device 220, the sensing device 230, the lighting device 240, and / or the communication unit 250, respectively, to the corresponding devices. For example, the processor 273 can include a micro control unit (MCU).

[0157] The processor 273 can control the driving device 220 to move the second transport robot 200 to the lower portion of the target vehicle 10.

[0158] The processor 273 can determine the positioning information of the second transport robot 200 based on the map information of the parking area stored in the memory 271, the first laser radar data and the second laser radar data obtained by the first laser radar 234a and the second laser radar 234b, during the movement of the second transport robot 200 to the lower portion of the target vehicle 10.

[0159] Specifically, the processor 273 can merge point clouds of the first laser radar data and the second laser radar data, and match feature points extracted from the merged point clouds with the map information of the parking area, so that the positioning information can be determined.

[0160] The processor 273 can identify whether the first laser radar 234a or the second laser radar 234b enters the lower portion of the target vehicle 10 based on the first laser radar data and the second laser radar data.

[0161] That is, the processor 273 can determine the laser radar (or the entering laser radar) of the first laser radar 234a or the second laser radar 234b that is identified to enter the lower portion of the target vehicle 10.

[0162] To this end, the processor 273 can determine the first lidar 234a as a lidar that enters the lower portion of the target vehicle 10 (an entering lidar) if a proportion of point clouds corresponding to the lower portion of the target vehicle 10 is greater than or equal to a predetermined threshold in the overall point cloud after removing the ground based on the first lidar data. If the first lidar 234a is determined as the entering lidar, the processor 273 can determine the second lidar 234b as a lidar that is not recognized as the entering lidar (or a non-entering lidar).

[0163] The processor 273 can determine the second lidar 234b as a lidar that is recognized as the entering lidar (or an entering lidar) if a proportion of point clouds corresponding to the lower portion of the target vehicle 10 is greater than or equal to a predetermined threshold in the overall point cloud after removing the ground based on the second lidar data. If the second lidar 234b is determined as the entering lidar, the processor 273 can determine the first lidar 234a as a lidar that is not recognized as the entering lidar (a non-entering lidar).

[0164] At this time, the processor 273 can control to turn off the lidar that is recognized as the entering lidar (an entering lidar) among the first lidar 234a or the second lidar 234b.

[0165] The processor 273 can determine the positioning information based on the lidar data of the lidar that is not recognized as the entering lidar (a non-entering lidar) of the target vehicle 10 and the map information of the parking area regardless of which lidar is determined as the entering lidar.

[0166] Next, the processor 273 can recognize whether the second transport robot 200 completely enters the lower portion of the target vehicle 10 based on the lidar data of the lidar that is not recognized as the entering lidar (a non-entering lidar) among the first lidar 234a or the second lidar 234b.

[0167] The processor 273 can recognize that the second transport robot 200 completely enters the lower portion of the target vehicle 10 if a proportion of point clouds corresponding to the lower portion of the target vehicle 10 is greater than or equal to a predetermined threshold in the overall point cloud after removing the ground based on the lidar data of the lidar that is not recognized as the entering lidar (a non-entering lidar) among the first lidar 234a or the second lidar 234b.

[0168] The processor 273 can determine the positioning information based on the inertial data and the odometry data if it is recognized that the second transport robot 200 completely enters the lower portion of the target vehicle 10.

[0169] If the processor 273 identifies that the second transport robot 200 has completely entered the lower portion of the target vehicle 10, the processor 273 can control to turn off (off) the laser radar (non-entry laser radar) of the first laser radar 234a or the second laser radar 234b that does not enter the lower portion of the target vehicle 10.

[0170] At this time, the processor 273 can determine the positioning information of the second transport robot 200 by performing dead reckoning (DR) based on the inertial data and the odometry data.

[0171] The processor 273 performs dead reckoning based on the inertial data and the odometry data, and based on the determined positioning information of the second transport robot 200, the processor 273 can control the traveling device 210 to move the second transport robot 200 to a predetermined lower portion position of the target vehicle 10.

[0172] The predetermined lower portion position can correspond to a position of the first position (or rear wheel position) of the target vehicle 10, or can also correspond to a position of the second position (or front wheel position). For example, if the second transport robot 200 is a front transport robot, the predetermined lower portion position of the second transport robot 200 can correspond to a position of the first position (or rear wheel position) of the target vehicle 10. If the second transport robot 200 is a rear transport robot, the predetermined lower portion position of the second transport robot 200 can correspond to a position of the second position (or front wheel position) of the target vehicle 10.

[0173] Figure 4 A diagram for illustrating the action of the first transport robot and / or the second transport robot according to an embodiment.

[0174] Referring to Figure 4 (a), the first transport robot 100 and / or the second transport robot 200 can start moving toward the target vehicle 10 as a parking object.

[0175] At this time, the first transport robot 100 and / or the second transport robot 200 can determine the positioning information to identify the position of itself based on the first laser radar data and the second laser radar data obtained through the first laser radar 134a, 234a and the second laser radar 134b, 234b, and the map information of the parking area pre-stored in the memory 171, 271.

[0176] For example, the first laser radar 134a, 234a can be disposed on the body of the first transport robot 100 and / or the second transport robot 200 so as to have a field of view toward a first direction (also referred to as a front direction) in which the first transport robot 100 and / or the second transport robot 200 moves. In addition, the first laser radar 134b, 234b can be disposed on the body of the first transport robot 100 and / or the second transport robot 200 so as to have a field of view toward a second direction (also referred to as a rear direction) in which the first transport robot 100 and / or the second transport robot 200 moves. In addition, although omitted in Figure 4 , an IMU (136, 236) can be disposed inside the body of the first transport robot 100 and / or the second transport robot 200, and an encoder (138, 238) can be disposed at or near a wheel of the first transport robot 100 and / or the second transport robot 200.

[0177] The first transport robot 100 and / or the second transport robot 200 can merge the point clouds of the first laser radar data and the second laser radar data during movement to the lower portion of the target vehicle 10, and extract feature points from the merged point cloud. The first transport robot 100 and / or the second transport robot 200 can match the feature points extracted from the merged point cloud with map information, thereby determining the positioning information of itself.

[0178] Referring to Figure 4 (b), the closer the first transport robot 100 and / or the second transport robot 200 approaches the lower portion of the target vehicle 10, the more the first transport robot 100 and / or the second transport robot 200 is blocked by the body of the target vehicle 10. The first transport robot 100 and / or the second transport robot 200 determines the first laser radar 134a, 234a as a laser radar (an entry laser radar) that is identified as entering the lower portion of the target vehicle 10 among the first laser radar 134a, 234a or the second laser radar 134b, 234b if the proportion of the point cloud corresponding to the lower portion of the target vehicle 10 among the entire point cloud excluding the ground in the first laser radar data of the first laser radar 134a, 234a is greater than or equal to a predetermined threshold. Accordingly, the first transport robot 100 and / or the second transport robot 200 determines the second laser radar 134b, 234b as a laser radar (a non-entry laser radar) that is not identified as entering the lower portion of the target vehicle 10 among the first laser radar 134a, 234a or the second laser radar 134b, 234b.

[0179] Here, for example, the predetermined threshold can be 80%, 85%, 90%, 95%, etc. That is, if the entire point cloud excluding the ground is assumed to be 100 in the first laser radar data, and the point cloud corresponding to the lower portion of the target vehicle 10 is 80, the proportion of the point cloud corresponding to the lower portion of the target vehicle 10 among the entire point cloud excluding the ground is 80%.

[0180] For example, if the predetermined threshold is 90%, and the point cloud corresponding to the lower part of the target vehicle 10 is 80%, then the proportion of the point cloud corresponding to the lower part of the target vehicle 10 in the overall point cloud excluding the ground is 80%. In this case, the proportion of the point cloud corresponding to the lower part of the target vehicle 10 in the overall point cloud excluding the ground in the first lidar data is 80%, which is less than the predetermined threshold of 90%. Therefore, the first lidars 134a and 234a will not be identified as entering the lidar.

[0181] Conversely, if the predetermined threshold is 90%, and the point cloud corresponding to the lower part of the target vehicle 10 is 90%, then the proportion of the point cloud corresponding to the lower part of the target vehicle 10 in the overall point cloud excluding the ground is 90%. In this case, the proportion of the point cloud corresponding to the lower part of the target vehicle 10 in the overall point cloud excluding the ground in the first lidar data is 90%, which equals the predetermined threshold of 90%. Therefore, the first lidars 134a and 234a are identified as entering the lidar.

[0182] For example, in Figure 4 In the case shown in (b), the first transport robot 100 and / or the second transport robot 200 identify the second lidars 134b and 234b as lidars that have not been identified as entering the lower part of the target vehicle 10 (non-entry lidars) and determine the positioning information based on the lidar data of the second lidars 134b and 234b as non-entry lidars and map information.

[0183] At this time, the first transport robot 100 and / or the second transport robot 200 can turn off or deactivate the first lidar 134a, 234a, which is the lidar that is identified as entering the lower part of the target vehicle 10 in the first lidar 134a, 234a or the second lidar 134b, 234b (entry lidar).

[0184] Reference Figure 4 (c) During the process of continuing to move to the pre-designated lower position of the target vehicle 10, the first transport robot 100 and / or the second transport robot 200 determine positioning information based on the lidar data of the second lidar sensors 134b and 234b and map information. During this process, the first transport robot 100 and / or the second transport robot 200 identify whether they have completely entered the lower part of the target object based on the lidar data of the second lidar sensors 134b and 234b (which are not yet in use). Therefore, if the proportion of the point cloud corresponding to the lower part of the target vehicle 10 in the overall point cloud of the second lidar sensors 134b and 234b, excluding the ground, is greater than or equal to a predetermined threshold, the first transport robot 100 and / or the second transport robot 200 identify it as having completely entered the lower part of the target vehicle 10.

[0185] Here, for example, the predetermined threshold value can be 80%, 85%, 90%, 95%, etc. That is, in the second lidar data, if the entire point cloud excluding the ground is assumed to be 100, and the point cloud corresponding to the lower portion of the target vehicle 10 is 80, the proportion of the point cloud corresponding to the lower portion of the target vehicle 10 in the entire point cloud excluding the ground is 80%.

[0186] For example, if the predetermined threshold value is 90%, and the point cloud corresponding to the lower portion of the target vehicle 10 is 85, the proportion of the point cloud corresponding to the lower portion of the target vehicle 10 in the entire point cloud excluding the ground is 85%. In this case, the proportion of the point cloud corresponding to the lower portion of the target vehicle 10 in the entire point cloud excluding the ground in the second lidar data is 85%, which is less than the predetermined threshold value 90%, and thus is not recognized as having completely entered the lower portion of the target vehicle 10.

[0187] On the contrary, if the predetermined threshold value is 90%, and the point cloud corresponding to the lower portion of the target vehicle 10 is 92, the proportion of the point cloud corresponding to the lower portion of the target vehicle 10 in the entire point cloud excluding the ground is 92%. In this case, the proportion of the point cloud corresponding to the lower portion of the target vehicle 10 in the entire point cloud excluding the ground in the second lidar data is 92%, which is greater than the predetermined threshold value 90%, and thus is recognized as having completely entered the lower portion of the target vehicle 10.

[0188] At this time, the first transport robot 100 and / or the second transport robot 200 can turn off or deactivate the second lidar 134b, 234b, which is the lidar not recognized as having entered the lower portion of the target vehicle 10 (non-entry lidar).

[0189] Accordingly, the first transport robot 100 and / or the second transport robot 200 can determine the positioning information of the first transport robot 100 and / or the second transport robot 200 based on the inertial data obtained through the IMU (136, 236) and the odometry data obtained through the encoder (138, 238). Specifically, the first transport robot 100 and / or the second transport robot 200 can perform dead reckoning based on the inertial data and the odometry data to determine the positioning information.

[0190] The first transport robot 100 and / or the second transport robot 200 can move to the pre-designated lower portion position of the target vehicle 10 based on the positioning information determined from the inertial data and the odometry data.

[0191] Here, the pre-designated lower portion position can correspond to the second position (or front wheel position) of the target vehicle 10, or can also correspond to the first position (or rear wheel position).

[0192] For example, if the first transport robot 100 is a leading transport robot, the pre-designated lower position of the first transport robot 100 can correspond to the position of the first position (or rear wheel position) of the target vehicle 10. At this time, if the second transport robot 200 is a trailing transport robot, the pre-designated lower position of the second transport robot 200 can correspond to the position of the second position (or front wheel position) of the target vehicle 10.

[0193] In contrast, if the second transport robot 200 is a leading transport robot, the pre-designated lower position of the second transport robot 200 can correspond to the position of the first position (or rear wheel position) of the target vehicle 10. At this time, if the first transport robot 100 is a trailing transport robot, the pre-designated lower position of the first transport robot 100 can correspond to the position of the second position (or front wheel position) of the target vehicle 10.

[0194] On the other hand, if the first transport robot 100 and / or the second transport robot 200 determines the positioning information based on the inertial data and the odometry data, if the movement to the pre-designated lower position of the target vehicle 10 is completed, the first lidar 134a, 234a can be turned on or activated. If the proportion of the point cloud corresponding to the lower portion of the target vehicle 10 in the overall point cloud excluding the ground in the first lidar data obtained by the first lidar 134a, 234a turned on or activated again is less than a predetermined threshold, the first transport robot 100 and / or the second transport robot 200 determines the positioning information based on the first lidar data and the map information.

[0195] For example, if the predetermined threshold is 90% and the point cloud corresponding to the lower portion of the target vehicle 10 is 80%, the proportion of the point cloud corresponding to the lower portion of the target vehicle 10 in the overall point cloud excluding the ground is 80%. In this case, since the proportion of the point cloud corresponding to the lower portion of the target vehicle 10 in the overall point cloud excluding the ground in the first lidar data is 80%, which is less than the predetermined threshold of 90%, the first transport robot 100 and / or the second transport robot 200 determines the positioning information based on the first lidar data and the map information.

[0196] As described above, if the first transport robot 100 and / or the second transport robot 200 determines the positioning information based on the inertial data and the odometry data after completing the movement to the pre-designated lower position of the target vehicle 10, the first lidar 134a, 234a can be turned on or activated, and in response to the proportion of the point cloud corresponding to the lower portion of the target vehicle 10 in the overall point cloud excluding the ground in the first lidar data being less than a predetermined threshold, the first transport robot 100 and / or the second transport robot 200 determines the positioning information based on the first lidar data and the map information.

[0197] However, not limited thereto, if the first transport robot 100 and / or the second transport robot 200 determines that the proportion of the point cloud corresponding to the lower portion of the target vehicle 10 in the entire point cloud excluding the ground in the first lidar data is less than a predetermined threshold value, and the proportion is greater than or equal to, for example, a predetermined additional threshold value, the first lidar data and the map information can also be fused with Dead Reckoning based on the inertial data and the odometry data to determine the positioning information.

[0198] This is because the proportion of the point cloud corresponding to the lower portion of the target vehicle 10 in the entire point cloud excluding the ground in the first lidar data can be different depending on the type of the target vehicle 10, and thus even if the proportion is less than the predetermined threshold value, it can be considered that the reliability of determining the positioning information by relying only on the first lidar data is insufficient.

[0199] For example, if the predetermined threshold value is 90%, the predetermined additional threshold value is 80%, and the point cloud corresponding to the lower portion of the target vehicle 10 is 81, the proportion of the point cloud corresponding to the lower portion of the target vehicle 10 in the entire point cloud excluding the ground is 81%. In this case, the proportion of the point cloud corresponding to the lower portion of the target vehicle 10 in the entire point cloud excluding the ground in the first lidar data is 80%, which is less than the predetermined threshold value 90% but greater than the predetermined additional threshold value 80%, and thus the first transport robot 100 and / or the second transport robot 200 can fuse the first lidar data and the map information with Dead Reckoning based on the inertial data and the odometry data to determine the positioning information.

[0200] On the contrary, if the first transport robot 100 and / or the second transport robot 200 determines that the proportion of the point cloud corresponding to the lower portion of the target vehicle 10 in the entire point cloud excluding the ground in the first lidar data is less than a predetermined threshold value, and the proportion is greater than or equal to, for example, a predetermined additional threshold value, the first lidar data and the map information can also be fused with Dead Reckoning based on the inertial data and the odometry data to determine the positioning information.

[0201] For example, if the predetermined threshold value is 90%, the predetermined additional threshold value is 80%, and the point cloud corresponding to the lower portion of the target vehicle 10 is 79, the proportion of the point cloud corresponding to the lower portion of the target vehicle 10 in the entire point cloud excluding the ground is 79%. In this case, the proportion of the point cloud corresponding to the lower portion of the target vehicle 10 in the entire point cloud excluding the ground in the first lidar data is 79%, which is less than the predetermined threshold value 90% and less than the predetermined additional threshold value 80%, and thus the first transport robot 100 and / or the second transport robot 200 can determine the positioning information based on the first lidar data and the map information.

[0202] Techniques for position recognition of an object equipped with a camera, a first lidar, a second lidar, an IMU, and / or an encoder, and position recognition of a target object based on data obtained through the camera, the first lidar, the second lidar, the IMU, and / or the encoder, such as lidar map matching techniques, sensor fusion techniques, dead reckoning, etc., are well known in the art, and thus will not be described again.

[0203] The second transport robot 200 can recognize one or more markers M1, M2 disposed on the first transport robot 100 based on image data obtained through the camera 232.

[0204] For example, the second transport robot 200 can recognize the first marker M1 and the second marker M2 of the first transport robot 100 included in the image data obtained through the camera 232, and recognize a relative pose with respect to the first transport robot 100 based thereon.

[0205] For example, the second transport robot 200 can recognize a relative pose of the first marker M1 and the second marker M2 with respect to the second transport robot 200 based on recognition of patterns included in the first marker M1 and the second marker M2.

[0206] That is, if the second transport robot 200 recognizes one or more markers M1, M2 disposed on the first transport robot 100, the positioning information of the second transport robot 200 can be corrected based on a relative pose of the one or more markers M1, M2 with respect to the second transport robot 200.

[0207] The relative pose can include a relative position between the second transport robot 200 and the one or more markers M1, M2.

[0208] The first transport robot 100 and the second transport robot 200 can move simultaneously.

[0209] For example, the first transport robot 100 can recognize a distance from the second transport robot 200 during movement of the second transport robot 200, and if the distance from the second transport robot 200 is a predetermined interval distance, start moving and can move together with the second transport robot 200.

[0210] For example, the first transport robot 100 can determine a distance from the second transport robot 200 based on positioning information received from the second transport robot 200, and if the distance from the second transport robot 200 is a predetermined interval distance, start moving and can move together with the second transport robot 200.

[0211] Further, the second transport robot 200 can determine a distance from the first transport robot 100 based on image data acquired through the camera 232, and if the distance reaches a pre-designated interval distance, can start moving and move together with the first transport robot 100. For example, the second transport robot 200 can determine a distance from the first transport robot 100 based on recognition of the first marker M1 and the second marker M2 of the first transport robot 100 contained in the image data.

[0212] Figure 5 To show a flowchart of the action of the first transport robot and / or the second transport robot from the start of moving to the target object to the point of being recognized as entering the lower part of the target object according to an embodiment.

[0213] Referring to Figure 5 The first transport robot 100 and / or the second transport robot 200 can control the driving device 112, 212 to move the first transport robot 100 and / or the second transport robot 200 to the lower part of the target vehicle 10 (510).

[0214] The first transport robot 100 and / or the second transport robot 200 can determine positioning information of the first transport robot 100 and / or the second transport robot 200 based on map information, first laser radar data and second laser radar data obtained through the first laser radar 134a and the second laser radar 134b (520).

[0215] The first transport robot 100 and / or the second transport robot 200 can recognize whether the first laser radar 134a, 234a or the second laser radar 134b, 234b enters the lower part of the target vehicle 10 based on the first laser radar data and the second laser radar data (530).

[0216] The first transport robot 100 and / or the second transport robot 200 can determine the laser radar recognized as entering the lower part of the target vehicle 10 as an entry laser radar in the first laser radar 134a, 234a or the second laser radar 134b, 234b (540).

[0217] At this time, the first transport robot 100 and / or the second transport robot 200 can control to turn off (off) the laser radar recognized as entering the lower part of the target vehicle 10 (entry laser radar) in the first laser radar 134a, 234a or the second laser radar 134b, 234b (550).

[0218] Next, the first transport robot 100 and / or the second transport robot 200 can determine, in the first lidar 134a, 234a or the second lidar 134b, 234b, a lidar that is not identified as entering the lower portion of the target vehicle 10 (non-entry lidar) (560).

[0219] For example, if the first lidar 134a, 234a is determined as an entry lidar, the first transport robot 100 and / or the second transport robot 200 can determine the second lidar 134b, 234b as a lidar that is not identified as entering the lower portion of the target vehicle 10 (non-entry lidar). If the second lidar 134b, 234b is determined as an entry lidar, the first transport robot 100 and / or the second transport robot 200 can determine the first lidar 134a, 234a as a lidar that is not identified as entering the lower portion of the target vehicle 10 (non-entry lidar).

[0220] The first transport robot 100 and / or the second transport robot 200 can determine the positioning information based on the lidar data of the lidar that is not identified as entering the lower portion of the target vehicle 10 (non-entry lidar) and the map information of the parking area (570).

[0221] Figure 6 To illustrate the action flowchart in which the first transport robot and / or the second transport robot according to an embodiment determines the positioning information before being identified as entering the lower portion of the target object.

[0222] The first transport robot 100 and / or the second transport robot 200 can merge the point cloud of the first lidar data obtained from the first lidar 134a, 234a and the point cloud of the second lidar data obtained from the second lidar 134b, 234b (610).

[0223] The first transport robot 100 and / or the second transport robot 200 can match the feature points extracted from the merged point cloud with the map information of the parking area to determine the positioning information (620).

[0224] Figure 7 To illustrate the action flowchart in which the first transport robot and / or the second transport robot according to an embodiment identifies whether the first lidar or the second lidar enters the lower portion of the target object.

[0225] Referring to Figure 7 The first transport robot 100 and / or the second transport robot 200 can determine, based on the first lidar data, whether the proportion of the point cloud corresponding to the lower portion of the target vehicle 10 in the overall point cloud after removing the ground is greater than or equal to a predetermined threshold (710).

[0226] If the proportion of point clouds corresponding to the lower portion of the target vehicle 10 in the overall point cloud after removing the ground is greater than or equal to a predetermined threshold in the first lidar data, the first transport robot 100 and / or the second transport robot 200 can determine the first lidar 134a, 234a as a lidar identified as entering the lower portion of the target vehicle 10 (entering lidar) (720).

[0227] If the proportion of point clouds corresponding to the lower portion of the target vehicle 10 in the overall point cloud after removing the ground is less than a predetermined threshold, the first transport robot 100 and / or the second transport robot 200 can determine whether the proportion of point clouds corresponding to the lower portion of the target vehicle 10 in the overall point cloud after removing the ground is greater than or equal to a predetermined threshold based on the second lidar data (730).

[0228] If the proportion of point clouds corresponding to the lower portion of the target vehicle 10 in the overall point cloud after removing the ground is greater than or equal to a predetermined threshold in the second lidar data, the first transport robot 100 and / or the second transport robot 200 can determine the second lidar 134b, 234b as a lidar identified as entering the lower portion of the target vehicle 10 (entering lidar) (740).

[0229] Figure 8 To show the flowchart of the action of determining the positioning information from the point of time when the first transport robot and / or the second transport robot completely enters the lower portion of the target object to the period of moving to the predetermined lower portion position of the target object according to an embodiment.

[0230] It should be noted that, Figure 8 In the order of time or method, it is a series of processes continued after Figure 5 determining the positioning information based on the lidar data of the lidar not identified as entering the lower portion of the target vehicle 10 (non-entering lidar) and the map information of the parking area (570).

[0231] Referring to Figure 8 , the first transport robot 100 and / or the second transport robot 200 can identify whether the first transport robot 100 and / or the second transport robot 200 completely enters the lower portion of the target vehicle 10 based on the lidar data of the lidar not identified as entering the lower portion of the target vehicle 10 (non-entering lidar) (810).

[0232] If the first transport robot 100 and / or the second transport robot 200 is identified as completely entering the lower portion of the target vehicle 10, the lidar not identified as entering the lower portion of the target vehicle 10 (non-entering lidar) can be controlled to be turned off (820).

[0233] The first transport robot 100 and / or the second transport robot 200 can perform dead reckoning based on the inertial data and the odometry data, thereby determining the positioning information of the first transport robot 100 and / or the second transport robot 200 (830).

[0234] Finally, the first transport robot 100 and / or the second transport robot 200 can perform dead reckoning based on the inertial data and the odometry data, thereby moving to the pre-designated lower position of the target vehicle 10 based on the determined positioning information of the first transport robot 100 and / or the second transport robot 200 (840).

[0235] Here, the pre-designated lower position can correspond to the second position (or front wheel position) of the target vehicle 10, or can also correspond to the first position (or rear wheel position).

[0236] For example, if the first transport robot 100 is a leading transport robot, the pre-designated lower position of the first transport robot 100 can correspond to the position of the first position (or rear wheel position) of the target vehicle 10. At this time, if the second transport robot 200 is a trailing transport robot, the pre-designated lower position of the second transport robot 200 can correspond to the position of the second position (or front wheel position) of the target vehicle 10.

[0237] On the contrary, if the second transport robot 200 is a leading transport robot, the pre-designated lower position of the second transport robot 200 can correspond to the position of the first position (or rear wheel position) of the target vehicle 10. At this time, if the first transport robot 100 is a trailing transport robot, the pre-designated lower position of the first transport robot 100 can correspond to the position of the second position (or front wheel position) of the target vehicle 10.

[0238] Figure 9 To illustrate the flowchart of the action of the first transport robot and / or the second transport robot recognizing complete entry into the lower portion of the target object according to an embodiment.

[0239] Referring to Figure 9 , the first transport robot 100 and / or the second transport robot 200 can determine whether the proportion of the point cloud corresponding to the lower portion of the target vehicle 10 in the overall point cloud after removing the ground is greater than or equal to a predetermined threshold based on the lidar data of the lidar not recognized as entering the lower portion of the target vehicle 10 (non-entry lidar) (910).

[0240] If the first transport robot 100 and / or the second transport robot 200 recognize that the proportion of the point cloud corresponding to the lower portion of the target vehicle 10 (ROI) in the entire point cloud after removing the ground is greater than or equal to a predetermined threshold in the laser radar data not recognized as entering the lower portion of the target vehicle 10 (non-entry laser radar), it can be recognized as completely entering the lower portion of the target vehicle 10 (920).

[0241] Figure 10 A diagram for illustrating a ROI (Region Of Interest) for identifying entry into the lower portion of a target object by the first transport robot and / or the second transport robot according to an embodiment is shown for example.

[0242] Referring to Figure 10 , the proportion of the point cloud corresponding to the lower portion of the target vehicle 10 (ROI) in the entire point cloud after removing the ground by the first laser radar 134a, 234a of the first transport robot 100 and / or the second transport robot 200 will be 100% or a proportion close to 100%.

[0243] In this case, the proportion of the point cloud corresponding to the lower portion of the target vehicle 10 (ROI) in the entire point cloud after removing the ground by the first laser radar 134a, 234a of the first transport robot 100 and / or the second transport robot 200 will mostly be greater than or equal to a predetermined threshold. Therefore, in this case, the first transport robot 100 and / or the second transport robot 200 can determine the first laser radar 134a, 234a as a laser radar recognized as entering the lower portion of the target vehicle 10 (entry laser radar).

[0244] On the other hand, if the first transport robot 100 is a leading transport robot and the second transport robot 200 is a following transport robot, the second transport robot 200 can transmit its positioning information to the first transport robot 100 through the communication unit 250 while moving to the lower portion of the target vehicle 10 following the first transport robot 100.

[0245] For example, the second transport robot 200 can receive a signal from the first transport robot 100 through the communication unit 250, the signal indicating completion of movement to a pre-designated lower portion position, such as a position corresponding to the first position (or rear wheel position) of the target vehicle 10, and / or switching to a standby state due to completion of movement. In response, the positioning information of the second transport robot 200 can be acquired and movement toward the target vehicle 10 can be started.

[0246] The second transport robot 200 can move to a pre-designated lower portion position, such as a position corresponding to the second position (or front wheel position) of the target vehicle 10.

[0247] As described above, the pre-designated lower position of the first transport robot 100 and the pre-designated lower position of the second transport robot 200 are always set to be different.

[0248] If the first transport robot 100 and the second transport robot 200 are located at the pre-designated lower positions of the target vehicle 10, respectively, the first transport robot 100 and the second transport robot 200 can move the target vehicle 10 to the pre-designated parking point and park it by cooperative control.

[0249] In the above-described embodiment, the positions of the camera 132, the first laser radar 134a, and the second laser radar 134b of the first transport robot 100 are illustrative, and can be provided at different positions of the first transport robot 100, and the number of the camera 132, the first laser radar 134a, and the second laser radar 134b of the first transport robot 100 can also be diversified.

[0250] In addition, in the above-described embodiment, the positions of the camera 232, the first laser radar 234a, and the second laser radar 234b of the second transport robot 200 are illustrative, and can be provided at different positions of the second transport robot 200, and the number of the camera 232, the first laser radar 234a, and the second laser radar 234b of the second transport robot 200 can also be diversified.

[0251] In addition, in the above-described embodiment, the number of markers and the positions of the markers are illustrative, and can be changed diversely according to the design of the designer.

[0252] In addition, in the above-described embodiment, the fork is illustrative, and can be implemented in various forms and various numbers capable of supporting the wheels of the target vehicle 10 and lifting and lowering, according to the design of the designer.

[0253] On the other hand, the disclosed embodiments can be implemented in the form of a recording medium storing instructions executable by a computer. The instructions can be stored in the form of program codes, and when executed by a processor, can generate program modules to implement the operations of the disclosed embodiments. The recording medium can be implemented as a computer-readable recording medium.

[0254] The computer-readable recording medium includes all types of recording media storing instructions interpretable by a computer. For example, there can be ROM (Read Only Memory), RAM (Random Access Memory), magnetic tape, magnetic disk, flash memory, optical data storage device, etc.

[0255] The storage medium readable by the device can be provided in the form of a non-transitory storage medium. Here, "non-transitory" only means that the storage medium is a tangible device, and does not include a signal (for example, an electromagnetic wave), and the term does not distinguish between cases where data is semi-permanently stored in the storage medium and cases where data is temporarily stored. For example, the "non-transitory storage medium" can include a buffer that temporarily stores data.

[0256] The disclosed embodiments are described above with reference to the accompanying drawings. It will be understood by those of ordinary skill in the art to which the present application belongs that the present application can be implemented in forms different from the disclosed embodiments without changing the technical idea or essential characteristics of the present application. The disclosed embodiments are exemplary and should not be construed in a limiting sense.

Claims

1. A transport robot, comprising: Drive unit, move the transport robot; A first lidar is installed on the transport robot to obtain first lidar data facing a first direction; A second lidar is installed on the transport robot to obtain lidar data facing a second direction. as well as The processor controls the drive device to move the transport robot to the lower part of the target object, and during the movement of the transport robot to the lower part of the target object, determines the positioning information of the transport robot based on the first lidar data and the second lidar data. in, The processor identifies whether the first or second lidar has entered the lower part of the target object based on the first lidar data and the second lidar data. If the first or second lidar is identified as entering the lower part of the target object, the positioning information is determined based on the data of the lidar that was not identified as entering the lower part of the target object.

2. The transport robot according to claim 1, wherein, The processor The point clouds of the first and second LiDAR data are merged, and the feature points extracted from the merged point cloud are matched with pre-stored map information to determine the positioning information. If the first or second lidar is detected to have entered the lower part of the target object, the feature points extracted from the point cloud of the lidar data that were never detected as having entered the lower part of the target object are matched with the pre-stored map information to determine the positioning information.

3. The transport robot according to claim 1, wherein, The processor If, based on the first lidar data, the proportion of the point cloud corresponding to the lower part of the target object in the overall point cloud excluding the ground is greater than or equal to a predetermined threshold, then the first lidar is identified as a lidar that has entered the lower part of the target object. If, based on the second lidar data, the proportion of the point cloud corresponding to the lower part of the target object in the overall point cloud excluding the ground is greater than or equal to the predetermined threshold, then the second lidar is identified as a lidar that has entered the lower part of the target object.

4. The transport robot according to claim 1, wherein, The processor Control the shutdown of either the first or second lidar that is identified as having entered the lower part of the target object.

5. The transport robot according to claim 1, wherein, Also includes: An inertial measurement device installed on the transport robot to obtain inertial data; and An encoder installed on the transport robot to obtain odometer data. The processor Based on the data from the first or second lidar that was not identified as having entered the lower part of the target object, it is determined whether the transport robot has completely entered the lower part of the target object. If it is determined that the robot has completely entered the lower part of the target object, the positioning information is determined based on the inertial data and the odometer data.

6. A control method for a transport robot comprising a drive unit, a first lidar for acquiring first lidar data in a first direction, a second lidar for acquiring second lidar data in a second direction, an inertial measurement unit for acquiring inertial data, an encoder for acquiring odometer data, and a processor, comprising: Control the drive device to move the transport robot to the lower part of the target object. During the control of the drive device, the positioning information of the transport robot is determined based on the first lidar data and the second lidar data. Based on the first lidar data and the second lidar data, it is determined whether the first lidar or the second lidar has entered the lower part of the target object. If the first lidar or the second lidar is detected to have entered the lower part of the target object, the positioning information is determined based on the data of the lidar that was not detected to have entered the lower part of the target object.

7. The control method for the transport robot according to claim 6, wherein, Based on the first lidar data and the second lidar data, the positioning information of the transport robot is determined, including: Merge the point cloud data from the first lidar data and the second lidar data. The feature points extracted from the merged point cloud are then matched with pre-stored map information to determine the location information. The positioning information is determined based on data from lidar that was not identified as entering the lower part of the target object, including: The feature points extracted from the point cloud of either the first or second lidar that were never identified as entering the lower part of the target object are matched with the pre-stored map information to determine the positioning information.

8. The control method for the transport robot according to claim 6, wherein, Identifying whether the first lidar or the second lidar has entered the lower part of the target object includes: If, based on the first lidar data, the proportion of the point cloud corresponding to the lower part of the target object in the overall point cloud after removing the ground is greater than or equal to a predetermined threshold, then the first lidar is identified as a lidar that has entered the lower part of the target object. If, based on the second lidar data, the proportion of the point cloud corresponding to the lower part of the target object in the overall point cloud after removing the ground is greater than or equal to the predetermined threshold, then the second lidar is identified as a lidar that has entered the lower part of the target object.

9. The control method for the transport robot according to claim 6, wherein, It also includes turning off the lidar that is identified as entering the lower part of the target object in either the first lidar or the second lidar.

10. The control method for the transport robot according to claim 6, wherein, It also includes: based on data from the first or second lidar that was not identified as having entered the lower part of the target object, identifying whether the transport robot has completely entered the lower part of the target object. If it is detected that the object has completely entered the lower part of the target object, the positioning information is determined based on the inertial data and the odometer data.

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