Ultra-wideband (UWB) based autonomous following robot

Abstract

We provide a tracking-type autonomous mobile work robot based on ultra-wideband (UWB). [Solution] The following autonomous mobile work robot based on ultra-wideband (UWB) according to the present invention includes a UWB remote control that is held by a user to generate a UWB signal and into which the user inputs operations for operation, and a work robot that determines the target to be followed based on the UWB signal received from the UWB remote control, determines whether there are any obstacles in the vicinity using an ultrasonic module, and travels to follow the target while avoiding the obstacles.

Description

[Technical Field]

[0001] The present invention relates to an ultra-wideband (UWB)-based autonomous following robot, and more particularly to an UWB-based autonomous following robot that uses UWB to recognize a target and ultrasonic sensors to avoid obstacles during autonomous driving. [Background technology]

[0002] Agricultural intelligent robots are robots that perform intelligent tasks and provide services by recognizing and assessing the agricultural work and service environment and acting autonomously throughout the entire process of agricultural production, distribution, and consumption. Agricultural intelligent robots incorporate ICT-based technologies and artificial intelligence for the autonomy of agricultural production through the integration of fourth-generation industrial technologies. At this time, the agricultural intelligent robot market is seeing increasing demand for the introduction of agricultural robots as a flexible alternative method that can replace labor and keep up with rapidly changing business environments such as climate change.

[0003] However, in conventional technologies, when implementing autonomous navigation for agricultural work robots, robots must recognize the position of a target to be followed and proceed with the work, but this has problems such as unstable recognition rates and difficulty in maintaining distance and angle depending on the movement of the target. Furthermore, there are problems such as the user having difficulty understanding the robot's status in real time when the communication distance is far away, and difficulty in moving on various terrains in a single tracking mode. Furthermore, agricultural work is performed on uneven terrain, and the reality is that the rate of accidents, such as the work robot capsizing when following, is high.

[0004] Therefore, there is a demand for an autonomous mobile work robot that has improved tracking stability during operation compared to conventional work robots for agricultural work. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Korean Patent Registration No. 10-2642503 [Patent Document 2] Korean Patent Publication No. 2023-0149618 Summary of the Invention [Problem to be solved by the invention]

[0006] The present invention has been made to solve the problems of the prior art as described above, and aims to provide a UWB-based autonomous mobile work robot that can recognize targets to be followed and avoided using ultra-wideband (UWB) and ultrasonic sensors, thereby improving the recognition rate of targets to be followed. [Means for solving the problem]

[0007] According to one aspect of the present invention for solving the above-mentioned problems, there is provided an ultra-wideband (UWB)-based following autonomous mobile work robot, which includes a UWB remote control that is held by a user and generates an ultra-wideband (UWB) signal and into which the user inputs operations for operation, and a work robot that determines a target to be followed based on the UWB signal received from the UWB remote control, determines whether there are any obstacles in the vicinity using an ultrasonic module, and travels to follow the target while avoiding the obstacles.

[0008] In one embodiment, the work robot, in work mode, includes a first UWB receiver located on the left side and a second UWB receiver located on the right side, and determines the position of the UWB remote control and the distance to the UWB remote control based on the UWB signal.If the distance to the UWB remote control is within a certain distance, the work robot operates in accordance with the UWB remote control.If the distances between the first UWB receiver and the second UWB receiver and the UWB remote control are different, the work robot operates in a first rotation mode, and if the distances between the first UWB receiver and the second UWB receiver and the UWB remote control are the same, the work robot operates in a first straight-line mode.

[0009] In one embodiment, the work robot operates in a sudden braking mode when an obstacle is present within a certain distance from the front or side in a following mode; operates in a following and avoidance mode when the obstacle is present between 40 cm and 1.2 m from the front, or more than 1.2 m from the front and within 70 cm to the left or right and at least one of the first UWB receiver and the second UWB receiver is detected; operates in a second rotation mode when the obstacle is more than 1.2 m from the front and more than 70 cm to the left or right and the distances between the first UWB receiver and the second UWB receiver and the UWB remote controller are different; and if the distances between the first UWB receiver and the second UWB receiver and the UWB remote controller are the same, the work robot re-determines the distance of the obstacle, and if the re-determination determines that the obstacle is within 2 m from the front, or more than 2 m from the front and within 1.3 m from the side, operates in an avoidance mode; and if the re-determination determines that the obstacle is more than 2 m from the front and more than 1.3 m from the side, operates in a second straight-ahead mode.

[0010] In one embodiment, in the avoidance mode, when an obstacle on the right side is closer than an obstacle on the left side, the work robot decelerates the left motor for left rotation at a deceleration ratio that is 10 times the difference between the value of the first ultrasonic transmitter / receiver located on the left side and the value of the second ultrasonic transmitter / receiver located on the right side to avoid a left turn, and when an obstacle on the right side is farther away than the obstacle on the left side, the work robot decelerates the right motor for right rotation at a deceleration ratio that is 10 times the difference between the value of the first ultrasonic transmitter / receiver and the value of the second ultrasonic transmitter / receiver to avoid a right turn, and both turn signals can flash.

[0011] In one embodiment, in the first straight-line mode or the second straight-line mode, if the UWB remote controller is within a first distance to the right, the work robot decelerates the right motor at a reduction ratio that is the square of the value by which the difference between the value of the first UWB receiver and the value of the second UWB receiver exceeds a threshold, and gradually moves forward to the right; if the UWB remote controller is within the first distance to the left, the work robot decelerates the left motor at a reduction ratio that is the square of the value by which the difference between the value of the first UWB receiver and the value of the second UWB receiver exceeds a threshold, and gradually moves forward to the left; if the UWB remote controller is not within the first distance from both the left and right sides, the speeds of the left and right motors are set to the same, and the work robot moves forward in a straight line, and both turn signals are turned on. [Effects of the Invention]

[0012] According to one embodiment of the present invention, an ultra-wideband (UWB)-based autonomous mobile work robot can improve the recognition rate of the target by combining UWB signals and ultrasonic sensors, thereby increasing the efficiency of the tasks required by the user.

[0013] According to one embodiment of the present invention, a following-type autonomous mobile work robot based on ultra-wideband (UWB) technology controls the robot to follow by sensing the distance between the user holding the remote control and the work robot, thereby improving the accuracy of the following direction and maintaining the distance from the target, thereby ensuring the safety of the user when working with the robot even in an agricultural production environment.

[0014] In addition, according to one embodiment of the present invention, a tracking-type autonomous mobile work robot based on ultra-wideband (UWB) utilizes the difference in UWB signals recognized on both sides of the front of the work robot to determine the distance to an object to be followed, thereby recognizing not only the distance to the object but also the direction of the object to be followed, allowing for more precise tracking, thereby reducing the manpower required for transportation in agricultural production environments and improving productivity.

[0015] In addition, according to one embodiment of the present invention, the following autonomous mobile work robot based on ultra-wideband (UWB) can recognize and avoid obstacles by using ultrasonic sensors, accurately detecting the location of obstacles and actively avoiding them, thereby ensuring the safety of users and preventing robot breakdowns due to collisions.

[0016] In addition, according to one embodiment of the present invention, the ultra-wideband (UWB)-based autonomous mobile work robot that follows the surroundings flashes its turn signals in response to advancement and sudden stops, allowing the user to anticipate actions that require caution, such as the robot reversing or avoiding obstacles, and to immediately respond to emergencies such as sudden braking or leaving communication range, allowing the user to continue working. [Brief explanation of the drawings]

[0017] [Figure 1] 1 is a perspective view of an ultra-wideband (UWB)-based following autonomous mobile and working robot according to one embodiment of the present invention; FIG. [Figure 2] FIG. 1 is a block diagram of a robot body of an ultra-wideband (UWB)-based following autonomous running and working robot, according to one embodiment of the present invention. [Figure 3] 1 is a block diagram illustrating an ultra-wideband (UWB) remote control for a following autonomous mobile and working robot based on UWB, according to one embodiment of the present invention. FIG. [Figure 4] FIG. 2 illustrates an example of buttons included on an ultra-wideband (UWB) remote control for a UWB-based following autonomous running and working robot, according to one embodiment of the present invention. [Figure 5] 1 is a flowchart illustrating a working mode of an ultra-wideband (UWB)-based following autonomous mobile and working robot according to an embodiment of the present invention. [Figure 6] 1 is a flowchart illustrating a following mode of an ultra-wideband (UWB)-based following autonomous mobile and working robot according to an embodiment of the present invention. [Figure 7] 1 is a flowchart illustrating an avoidance mode of an ultra-wideband (UWB)-based following autonomous mobile and working robot according to an embodiment of the present invention. [Figure 8] 1 is a flowchart illustrating a straight-ahead mode for a following-type autonomous mobile and working robot based on ultra-wideband (UWB), according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0018] Hereinafter, with reference to the accompanying drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily carry out the present invention. The present invention may be embodied in various different forms and is not limited to the embodiments described herein. In order to clearly explain the present invention in the drawings, parts that are not relevant to the description are omitted, and the same reference numerals are used throughout the specification to refer to the same or similar components.

[0019] Next, a following-type autonomous mobile and working robot based on ultra-wideband (UWB) according to an embodiment of the present invention will be described in more detail with reference to the drawings.

[0020] FIG. 1 is a perspective view for understanding a UWB-based following-type autonomous driving and working robot 10 according to one embodiment of the present invention.

[0021] Referring to FIG. 1, a UWB-based following autonomous mobile work robot 10 according to one embodiment of the present invention is a system that causes a robot body 100 to follow a UWB remote control 200 carried by a user. The system uses both UWB and ultrasonic waves to recognize the user and obstacles, and the robot body 100 can follow the user while avoiding the obstacles.

[0022] UWB (Ultra-wideband) is a short-range wireless communication technology that transmits and receives data over a wide frequency band using short-duration pulse signals, and is characterized by extremely precise spatial recognition and directionality. UWB-equipped devices operate to better recognize their surrounding environment, making them suitable for use in applications that require precise location of objects, such as remote controls and tracking targets, over a wide area.

[0023] The robot body 100 can travel automatically by following the UWB remote control 200. The robot body 100 can also travel manually by operating the UWB remote control 200. At this time, the robot body 100 can indicate the direction of travel with the blinkers 112, 114.

[0024] The UWB remote controller 200 can generate UWB signals necessary for the robot body 100 to recognize targets to be followed and targets to be avoided. At this time, the user can operate the robot body 100 in manual mode using the UWB remote controller 200.

[0025] FIG. 2 is a block diagram of the robot body 100 of the UWB-based following-type autonomous running and working robot 10 according to one embodiment of the present invention.

[0026] Referring to FIG. 2, the robot body 100 may include a turn signal 110, a speaker 120, a UWB module 130, a motor unit 150, and a control unit 160.

[0027] The blinkers 110 are located at the lower end of the front of the robot body 100 and have a blinking function. The blinkers 110 can blink according to the direction of movement of the robot body 100. When the robot body 100 is moving straight, both blinkers 110 are lit, and when the robot body 100 brakes suddenly or moves backward, both blinkers 110 blink while a warning buzzer is sounded from the speaker 120, thereby informing the user of the movement and status of the robot body 100. The blinkers 110 can also blink when the robot body 100 recognizes an obstacle and executes an avoidance mode.

[0028] The speaker 120 can output a warning sound corresponding to a warning buzzer to notify the user when the robot body 100 brakes suddenly or moves backward.

[0029] The speaker 120 can operate when the robot body 100 moves or avoids an obstacle, and together with the turn signal 110, can notify the user in advance of the robot body 100's movements such as sudden braking, reversing, and avoidance, thereby ensuring safety.

[0030] The UWB module 130 can receive a UWB signal sent from a UWB transmitter 220 of a UWB remote controller 200 carried by a user and transmit the signal to the controller 160 .

[0031] The UWB module 130 includes a first UWB receiving unit and a second UWB receiving unit, and the tracking target determining unit 162 can compare the two values ​​to determine the position of the tracking target.

[0032] The ultrasonic module 140 can transmit the value of the ultrasonic sensor to the obstacle determination unit 164 of the control unit 160 so that the robot body 100 can recognize obstacles around the robot body 100 when the robot body 100 moves. The ultrasonic module 140 can also include a first ultrasonic transceiver unit disposed on the left side and a second ultrasonic transceiver unit disposed on the right side.

[0033] The ultrasonic module measures the distance between the robot and an obstacle by transmitting and receiving ultrasonic signals using the principle of sound wave echo. The ultrasonic module has the advantages of a wide detection range and fast response speed, and can be used as a technology to enable the robot body 100 to avoid obstacles when following or moving.

[0034] In this way, the robot body 100 can accurately detect the position of an obstacle and appropriately perform an action for the avoidance path when recognizing and avoiding the obstacle by utilizing the ultrasonic sensor. This ensures the user's stability by appropriately avoiding the obstacle when the robot body 100 performs a task in a following state, and has the effect of preventing the robot from breaking down, thereby increasing cost reduction.

[0035] The motor unit 150 can adjust the speeds of both motors differently when the robot body 100 follows or moves, thereby following an object to be followed and avoiding obstacles. The motor unit 150 can include a left motor 152 and a right motor 154. The obstacle determination unit 164 determines the position of an obstacle using ultrasonic values ​​received from the ultrasonic module 140, and the deceleration calculation unit 166 calculates and sends deceleration values ​​for both motors. The left motor 152 and right motor 154 of the motor unit 150 decelerate by the calculated values, allowing the robot body 100 to avoid the obstacle.

[0036] For example, the motor unit 150 can be set to three speed levels: 100, 150, and 250. In this case, the motor unit 150 is fixed at 100 PWM if the distance from the remote control 200 is within 1 m, and if the distance from the remote control 200 is within 1 to 2 m, the speed increases in direct proportion to the distance difference as the distance increases, and if the distance from the remote control 200 is 2 m or more, the set maximum speed can be applied.

[0037] Also, the minimum value that the motor unit 150 can reduce by applying the reduction ratio during avoidance is 50 PWM.

[0038] For example, the minimum speed in normal situations (when driving) may be 100 PWM. Also, the motor unit 150 may apply deceleration / acceleration according to distance in direct proportion to the distance.

[0039] Therefore, the minimum speed is 0 to 255 PWM to 100 PWM, and the maximum speed is 250 PWM, which can be reduced to 50 PWM during avoidance deceleration.

[0040] The control unit 160 determines the UWB value received by the UWB module 130 to determine the position of the target to be tracked, determines the position of the obstacle based on the ultrasonic value received by the ultrasonic module 140, and performs deceleration calculations to avoid the obstacle.

[0041] The control unit 160 is communicatively connected to the turn signal 110, the speaker 120, the UWB module 130, and the motor unit 150, and can control the overall operation of the robot body 100. The control unit 160 may include a follow-up object determination unit 162, an obstacle determination unit 164, and a deceleration calculation unit 166.

[0042] The follow-up target determination unit 162 can determine the follow-up target by analyzing the UWB value received by the UWB module 130. When the robot body 100 follows the remote controller 200, the follow-up target determination unit 162 can determine the working mode and the following mode based on the UWB value received by the UWB module 130 to maintain a distance from the follow-up target, and can cause the motor unit 150 to move forward or rotate according to the determination result. At this time, the UWB value can include a first UWB value and a second UWB value.

[0043] In this way, the UWB-based tracking autonomous mobile work robot 10 uses the UWB signal difference recognized on both sides of the front of the robot body 100 to determine the distance to the target, and by recognizing not only the distance to the target but also the direction of the target, it is able to follow more precisely, thereby reducing the number of people required for transportation in agricultural production environments and improving productivity.

[0044] The obstacle judging unit 164 analyzes the ultrasonic values ​​received by the ultrasonic module 140 to judge whether there is an obstacle around the robot body 100. The obstacle judging unit 164 analyzes the ultrasonic sensor values ​​received by the ultrasonic module 140 and the distance and direction of the robot body 100 to judge the position of the obstacle, and may control the robot body 100 to brake suddenly or turn depending on the result. In this case, the ultrasonic values ​​received by the ultrasonic module 140 may include a first ultrasonic value and a second ultrasonic value.

[0045] The deceleration calculation unit 166 can calculate the deceleration ratio of the left motor 152 and the right motor 154 of the motor unit 150 so that the robot body 100 can perform an avoidance operation according to the position of the obstacle determined by the obstacle determination unit 164. At this time, the deceleration calculation unit 166 can calculate the deceleration ratio based on the first ultrasonic value and the second ultrasonic value received by the ultrasonic module 140. Therefore, if the motor corresponding to the opposite direction to the obstacle is decelerated using the deceleration ratio calculated by the deceleration calculation unit 166, the robot body 100 can avoid the obstacle.

[0046] FIG. 3 is a block diagram illustrating a UWB remote control 200 for a UWB-based following type autonomous running and working robot 10, according to one embodiment of the present invention.

[0047] Referring to FIG. 3, the UWB remote controller 200 may include an input unit 210, a control unit 230, and a UWB transmission unit 220.

[0048] The input unit 210 allows the user to input information by pressing a button corresponding to a desired task through the operation of the UWB remote controller 200. In particular, in the manual mode, the user can directly select the movement direction of the robot body 100 by pressing a button on the UWB remote controller 200, thereby enabling the robot body 100 to travel in environments with various routes and terrains.

[0049] The input unit 210 will be described in detail below with reference to FIG.

[0050] FIG. 4 shows an example of buttons included on a UWB remote control 200 of a UWB-based following type autonomous running and working robot 10, according to one embodiment of the present invention.

[0051] Referring to FIG. 4, the input section 210 of the UWB remote control 200 may include a straight button 211, a reverse button 212, a left turn button 213, a right turn button 214, a manual button 215, an automatic button 216, an emergency ON button 217, and an emergency OFF button 218.

[0052] First, the straight ahead button 211 is a button for inputting a movement command in a straight ahead direction when the user selects manual travel in consideration of the route of the robot main body 100 and the topography thereof.

[0053] At this time, if no button is pressed after the straight-ahead button 211 is pressed, the robot body 100 moves straight ahead with both blinkers 110 turned on, and if the reverse button 212 is pressed, no movement occurs and both blinkers 110 are turned on.

[0054] In addition, if the left turn button 213 is pressed after inputting the straight-ahead button 211, the robot can turn left while going straight, and if the right turn button 214 is pressed, the robot can turn right while going straight. At this time, the blinker 110 for the corresponding direction flashes, and the robot body 100 can move in the input direction and then return to the manual input standby state.

[0055] Next, the backward movement button 212 is a button for inputting a movement command in the backward direction when the user selects manual traveling in consideration of the route of the robot main body 100 and the terrain.

[0056] If the reverse button 212 is pressed here, a warning buzzer is output from the speaker 120, and if no further button input is made, the robot body 100 will move backward while both blinkers 110 will flash.

[0057] In addition, if the left turn button 213 is pressed after inputting the backward movement button 212, the robot body 100 can turn left while moving backward, and if the right turn button 214 is pressed, the robot body 100 can turn right while moving backward. At this time, the blinker 110 for the corresponding direction can flash, and the robot body 100 can return to the manual input standby state after moving in the input direction.

[0058] Next, the left turn button 213 is a button for inputting a command to move left when the user selects manual traveling in consideration of the route of the robot main body 100 and the terrain.

[0059] Here, if there is no button input after the left turn button 213 is input, the robot body 100 turns left, if the straight ahead button 211 is pressed, it turns left while going straight, and if the reverse button 212 is pressed, it turns left while going backward, and a warning buzzer can be output when going backward.

[0060] Also, if the right turn button is pressed after inputting the left turn button 213, the robot body 100 will not move and both blinkers 110 will light up. That is, when the robot body 100 turns left, the left blinker 110 will flash, and after moving, the robot body 100 can return to the manual input standby state.

[0061] Next, the right turn button 214 is a button for inputting a command to move right when the user selects manual traveling in consideration of the route of the robot main body 100 and the terrain.

[0062] Here, if there is no button input after the right turn button 214 is input, the robot body 100 turns right; if the straight ahead button 211 is pressed, the robot turns right while going straight; if the reverse button 212 is pressed, the robot turns right while going backward; and when going backward, a warning buzzer can be output.

[0063] If the left turn button 213 is pressed after inputting the right turn button 214, the robot body 100 will not operate and both blinkers 110 will light up. In other words, when the robot body 100 turns right, the right blinker 110 will flash, and after moving, the robot body 100 can return to the manual input standby state.

[0064] Next, the manual button 215 is a button that the user inputs when manually driving the robot body 100, taking into consideration the route and terrain of the robot body 100. The user can manually control the direction of the robot body 100 by inputting information from the manual button 215.

[0065] Next, the automatic button 216 is a button that the user inputs when the robot body 100 travels automatically, taking into consideration the route and terrain of the robot body 100. In other words, when the automatic button is input, the robot body 100 can follow the target while traveling autonomously.

[0066] Next, the emergency ON button 217 is used when the UWB remote controller 200 does not operate normally while in standby mode. At this time, the user can press the emergency ON button 217 to turn on the UWB remote controller 200.

[0067] Next, if the UWB remote controller does not operate normally even after pressing the emergency ON button 217, the user can press the emergency OFF button 218.

[0068] Next, the emergency OFF button 218 is used when there is no input from the UWB remote controller 200 in the standby state for operation. At this time, the user can press the emergency OFF button 218 to turn off the UWB remote controller.

[0069] The user can repeatedly press the emergency ON button 217 and the emergency OFF button 218 until the input of the UWB remote controller 200 becomes normal. If the UWB remote controller 200 does not operate normally even after pressing the emergency OFF button 218, the user can charge the battery of the UWB remote controller 200.

[0070] Referring back to FIG. 3, the UWB transmitter 220 transmits the UWB value recognized by the robot body 100 and the operation signal input by the user to the UWB module.

[0071] Here, UWB uses a frequency band of 3.1 to 10.6 GHz, and utilizes low spectral density and short pulse width to achieve high speed and low interference, allowing for fast and accurate transmission of UWB sensor values ​​between the robot body 100 and the UWB remote controller 200.

[0072] Next, the control unit 230 can analyze the information input by the user and transmit a signal corresponding to the information to the robot body 100 via the UWB transmitter 220 .

[0073] FIG. 5 is a flow chart illustrating a work mode 20 of a UWB-based following-type autonomous navigating and working robot 10 according to one embodiment of the present invention.

[0074] Referring to FIG. 5, the work mode 20 of the UWB-based autonomous mobile work robot 10 includes a step S21 of checking the work mode, a step S22 of checking the range of the UWB value, a step S23 of checking whether the first UWB value and the second UWB value match, a first rotation mode S24, and a first straight mode S25.

[0075] First, the robot body 100 determines whether it is in a work mode according to the distance value from the UWB remote controller 200 to the robot body 100 (step S21), and if it is not in a work mode, it can proceed to a follow-up mode 30.

[0076] If the determination result of step S21 indicates that the robot is in the work mode, the robot body 100 determines whether the UWB value received from the UWB remote controller 200 is within 1 to 5 m (step S22). If the distance is not within the range, the robot body 100 may wait for input of a UWB value within 1 to 5 m. At this time, the robot body 100 may stop and maintain the blinking state of the turn signal.

[0077] Next, the robot body 100 determines whether the left and right UWB distances are different (step S23). That is, the robot body 100 can determine whether the first UWB value located on the left side and the second UWB value located on the right side are consistent.

[0078] If the left and right UWB distances are different as a result of the determination in step S23, the robot body 100 operates in the first rotation mode if the difference between the left and right UWBs is 45 cm or more (step S24). At this time, the robot body 100 can turn left and blink the blinker 110. Then, the robot body 100 can return to step S21 to determine whether it is in the work mode.

[0079] If the distances between the left and right UWBs are equal as a result of the determination in step S23, the robot body 100 operates in the first straight-line mode (step S25). In this case, if the difference between the first UWB value located on the left side and the second UWB value located on the right side is less than 40 cm, the robot body 100 can move straight. At the same time, both blinkers 110 of the robot body 100 can be turned on.

[0080] Next, the robot body 100 can return to step S21 to determine whether it is in the working mode.

[0081] In this way, the UWB-based following-type autonomous mobile work robot 10 according to one embodiment of the present invention flashes its turn signals in response to advancement and sudden stops, allowing the user to know in advance which actions require caution, such as the robot reversing or avoiding an obstacle, and to immediately respond to emergency situations such as sudden braking or leaving communication range, thereby enabling the user to continue working.

[0082] FIG. 6 is a flowchart illustrating operation of the UWB-based following-type autonomous running and working robot 10 in the following mode 30, according to one embodiment of the present invention.

[0083] Referring to FIG. 6, the following mode 30 of the UWB-based following autonomous mobile work robot 10 includes a step S31 of determining whether an obstacle is present within a certain distance in front or to the side, a step S32 of determining whether the obstacle is present within 40 cm to 1.2 m from the front or more than 1.2 m from the front and within 70 cm to the left or right, a step S33 of determining whether either the first UWB receiver or the second UWB receiver has detected an obstacle, a sudden braking mode S34, a following / avoidance mode S35, a step S36 of determining whether the distances between the first UWB receiver and the second UWB receiver and the UWB remote control 200 are different, a second rotation mode S37, a step S38 of determining whether the obstacle is within 2 m in front or more than 2 m in front and within 1.3 m to the side, an avoidance mode S39, and a second straight-ahead mode S39a.

[0084] First, the robot body 100 determines the position and distance of an obstacle using the ultrasonic sensor value (step S31). At this time, the robot body 100 determines whether the obstacle is recognized within 50 cm of the center in front or within 40 cm of either the left or right side in front.

[0085] As a result of the determination in step S31, if an obstacle is recognized within 50 cm of the center in front or within 40 cm of either the left or right side in front, the robot body 100 can execute the sudden braking mode (step S34).

[0086] If the result of the judgment in step S31 is that an obstacle is not recognized within 50 cm of the center in front or within 40 cm on either the left or right side of the front, the robot body 100 judges whether the obstacle is located between 40 cm and 1.2 m from the front, or whether it is located more than 1.2 m from the front and within 70 cm on either side (step S32).

[0087] As a result of the determination in step S32, the robot body 100 determines whether either the first UWB receiver or the second UWB receiver detects the UWB remote control 200 when the obstacle is within 50 cm of the center in front or within 40 cm of either the left or right in front (step S33).

[0088] As a result of the determination in step S33, if either the first UWB receiver or the second UWB receiver detects the UWB remote controller 200, the robot body 100 operates in a follow and avoid mode (step S35). In this case, in the follow and avoid mode, the robot body 100 can rotate in the direction in which the UWB remote controller 200 is located.

[0089] On the other hand, when the robot body 100 is traveling at its maximum speed and the ultrasonic wave distance comes within 2 m, it can decelerate to within 1 m and follow the object.

[0090] If the robot body 100 determines in step S33 that the UWB remote controller 200 is not detected by either the first or second UWB receiver, the robot body 100 performs a sudden braking mode (step S34).

[0091] If the result of the judgment in step S32 is that the obstacle is not within 50 cm of the center in front or within 40 cm of either the left or right side in front, the robot body 100 determines whether the distances between the first UWB receiver and the 22nd UWB receiver and the UWB remote control 200 are different (step S36).

[0092] If it is determined in step S36 that the distances between the first UWB receiver and the UWB remote controller 200 are different from the distances between the second UWB receiver and the UWB remote controller 200, the robot body 100 executes the second rotation mode (step S37).

[0093] At this time, in the second rotation mode, the robot body 100 compares the UWB values ​​of the first UWB receiver and the second UWB receiver to determine the position of the UWB remote controller 200, and can rotate left or right depending on the difference in the values.

[0094] More specifically, if the second UWB receiver value is greater than the first UWB receiver value, the robot body 100 determines that the UWB remote controller 200 is located on the left side and can turn left. At this time, the left blinker can flash.

[0095] Here, if the difference between the two values ​​is 45 cm or more, the robot body 100 rotates on the spot, and if the difference between the two values ​​is 45 cm to 32 cm, the robot body 100 can turn left while moving straight ahead.

[0096] If the second UWB receiver value is smaller than the first UWB receiver value, the robot body 100 determines that the UWB remote controller 200 is located on the right side, and can turn right. At this time, the right blinker can flash.

[0097] Here, if the difference between the two values ​​is 45 cm or more, the robot body 100 turns right on the spot, and if the difference between the two values ​​is 45 cm to 32 cm, the robot body 100 can turn right while moving straight ahead.

[0098] As a result of the judgment in step S36, the robot body 100 judges whether an obstacle is within 2 m from the front, or more than 2 m from the front and within 1.3 m from the side, when the distances between the first UWB receiver and the second UWB receiver and the UWB remote control 200 are equal (step S38).

[0099] If the result of the determination in step S38 is that the obstacle is within 2 m from the front, or is more than 2 m from the front and within 1.3 m from the side, the robot body 100 can execute the avoidance mode (step S39).

[0100] If the result of the determination in step S38 is that the obstacle is within 2 m from the front, or is more than 2 m from the front and not within 1.3 m from the side, the robot body 100 performs the second straight mode (step S39a).

[0101] Then, the robot body 100 can return to step S21 of checking the working mode after all steps are completed.

[0102] FIG. 7 is a flow chart illustrating the avoidance mode 40 of the UWB-based following autonomous mobile and working robot 10, according to one embodiment of the present invention.

[0103] Referring to FIG. 7, the avoidance mode 40 of the UWB-based following-type autonomous mobile work robot 10 includes step S41 of determining whether an obstacle on the right side is closer than an obstacle on the left side, step S42 of slowing down the left motor 152 by a specific reduction ratio, step S43 of slowing down the right motor 154 by a specific reduction ratio, and step S44 of flashing both turn signals.

[0104] First, the robot body 100 determines whether an obstacle on the right side is closer than an obstacle on the left side (step S41). More specifically, if the absolute value of the left sum of the front ultrasonic waves is greater than the absolute value of the right sum of the side ultrasonic waves, the robot body 100 can determine that the obstacle on the right side is closer than the obstacle on the left side.

[0105] If it is determined in step S41 that the obstacle on the right side is closer than the obstacle on the left side, the robot body 100 reduces the speed of the left motor 152 to avoid the obstacle and turns left (step S42). In this case, the robot body 100 compares the value of the first ultrasonic transmitter / receiver located on the left side with the value of the second ultrasonic transmitter / receiver located on the right side, and reduces the speed at a reduction ratio that is 10 times the difference between the two values, thereby avoiding the left turn.

[0106] If it is determined in step S41 that the obstacle on the right side is farther away than the obstacle on the left side, the robot body 100 decelerates the right motor to turn right to avoid the obstacle (step S43). At this time, the robot body 100 compares the value of the first ultrasonic transmitter / receiver with the value of the second ultrasonic transmitter / receiver, and decelerates at a reduction ratio that is 10 times the difference between the values, thereby avoiding the right turn.

[0107] Here, when an obstacle is close, avoidance can be performed with the motor speed fixed at the minimum RPM.

[0108] Next, the robot body 100 can blink both blinkers (step S44). After that, the robot body 100 can return to step S21 for checking the working mode when all steps are completed.

[0109] FIG. 8 is a flow chart illustrating a straight ahead mode 50 for a UWB-based following type autonomous mobile and working robot 10, according to one embodiment of the present invention.

[0110] Referring to FIG. 8, the straight-line mode 50 of the UWB-based following-type autonomous mobile work robot 10 includes step S51 of determining whether the UWB remote control 200 is within a certain distance to the right, step S52 of decelerating the right motor 154 at a specific reduction ratio, step S53 of turning on both turn signals, step S54 of determining whether the UWB remote control is within a certain distance to the left, step S55 of decelerating the left motor 152 at a specific reduction ratio, and step S56 of moving straight by equalizing the speeds of the left and right motors 152, 154.

[0111] First, the robot body 100 determines whether the UWB remote controller 200 is located within a first distance to the right using the UWB signal (step S51).

[0112] If the UWB remote controller 200 is located within the first distance to the right as a result of the determination in step S51, the robot body 100 decelerates the right motor 154 at a specific deceleration ratio (step S52). At this time, the robot body 100 decelerates at a deceleration ratio that is the square of the value at which the difference between the value of the first UWB receiver and the value of the second UWB receiver exceeds the critical value, and can gradually move forward to the right.

[0113] As a result of the determination in step S51, the robot body 100 determines whether the UWB remote controller 200 is located within a first distance on the left side (step S54).

[0114] If the UWB remote controller 200 is located within the first distance on the left side as a result of the determination in step S54, the robot body 100 decelerates the left motor 152 at a specific deceleration ratio (step S55). At this time, the robot body 100 decelerates at a deceleration ratio that is the square of the value at which the difference between the value of the first UWB receiver and the value of the second UWB receiver exceeds the critical value, and can gradually move forward to the left.

[0115] On the other hand, if the obstacle is close, the robot body 100 reduces the motor speed and moves straight ahead, slowly moving away from the side obstacle until the ultrasonic waves on the left and right sides move away (the deceleration method for one motor is the same), or, if the obstacle is close, it can avoid the front obstacle, move to the side, and then move straight ahead.

[0116] If it is determined in step S54 that the UWB remote controller 200 is not within the first distance from either the left or right side, the robot body 100 sets the speeds of the left and right motors 152, 154 to be the same (step S56).

[0117] Next, the robot body 100 turns on both blinkers when moving in the straight ahead mode 50 (step S53).

[0118] Then, the robot body 100 can return to step S21 of checking the working mode after all steps are completed.

[0119] In this way, the UWB-based following autonomous running and working robot 10 can improve the recognition rate of the target to be followed by combining UWB signals and ultrasonic sensors, thereby increasing the efficiency of the work required by the user.

[0120] The above-mentioned method can be implemented by the ultra-wideband (UWB)-based autonomous mobile work robot 10 shown in FIG. 1, and in particular, can be implemented by a software program that performs these steps. In this case, such a program can be stored on a computer-readable recording medium or transmitted by a computer data signal combined with a carrier wave over a transmission medium or communication network.

[0121] In this case, the computer-readable recording medium includes any kind of recording device in which data readable by a computer system is stored, such as ROM, RAM, CD-ROM, DVD-ROM, DVD-RAM, magnetic tape, floppy disk, hard disk, optical data storage, etc.

[0122] Although one embodiment of the present invention has been described above, the concept of the present invention is not limited to the embodiment presented in this specification, and a person skilled in the art who understands the concept of the present invention can easily propose other embodiments by adding, changing, deleting, or adding components within the scope of the same concept, which can also be said to fall within the scope of the concept of the present invention. [Explanation of symbols]

[0123] 10:UWB-based autonomous following robot 100: Robot body 110: Winker 130:UWB module 140: Ultrasonic module 150: Motor section 152: Left motor 154: Right motor 160: Control unit 162: Tracking target determination unit 164: Obstacle detection section 166: Deceleration calculation section 200:UWB remote control

Claims

1. a UWB remote controller that is held by a user and generates an ultra-wideband (UWB) signal, and into which an operation for operation is input by the user; a work robot that determines a target to be followed based on the UWB signal received from the UWB remote controller, determines whether or not there is an obstacle nearby using an ultrasonic module, and travels to follow the target while avoiding the obstacle; An ultra-wideband (UWB) based following autonomous mobile work robot, including:

2. In a work mode, the work robot a first UWB receiver located on the left side and a second UWB receiver located on the right side; determining a location of the UWB remote controller and a distance to the UWB remote controller based on the UWB signal; 2. The ultra-wideband (UWB)-based following autonomous mobile and work robot of claim 1, wherein the robot operates in accordance with the UWB remote control if the distance to the UWB remote control is within a certain distance, operates in a first rotation mode if the distances between the first UWB receiver and the second UWB receiver and the UWB remote control are different, and operates in a first straight-line mode if the distances are the same.

3. In the following mode, the work robot If an obstacle is present within a certain distance from the front or side, the system will operate in emergency braking mode. When the obstacle is located between 40 cm and 1.2 m from the front, or is located more than 1.2 m from the front and within 70 cm to the left or right, and is detected by at least one of the first UWB receiver and the second UWB receiver, the vehicle operates in a follow and avoid mode; If the obstacle is located 1.2 m or more from the front and 70 cm or more to the left or right, and the distances from the first UWB receiving unit and the second UWB receiving unit to the UWB remote controller are different, the device operates in a second rotation mode, and if the distances are the same, the device re-determines the distance to the obstacle; If the re-determination reveals that the obstacle is within 2 m from the front, or is 2 m or more from the front and within 1.3 m from the side, the vehicle operates in an avoidance mode; 3. The ultra-wideband (UWB)-based following-type autonomous mobile and work robot of claim 2, wherein if the re-determination determines that the obstacle is located at a distance of 2 m or more from the front and 1.3 m or more from the side, the robot operates in a second straight-line mode.

4. In the avoidance mode, the work robot If the obstacle on the right side is closer than the obstacle on the left side, the left motor rotating left is decelerated, and the left turn is avoided by decelerating at a deceleration ratio that is 10 times the difference between the value of the first ultrasonic transmitter / receiver located on the left side and the value of the second ultrasonic transmitter / receiver located on the right side; If the obstacle on the right side is farther away than the obstacle on the left side, the right motor rotating to the right is decelerated at a deceleration ratio that is 10 times the difference between the value of the first ultrasonic transmitting / receiving unit and the value of the second ultrasonic transmitting / receiving unit, thereby avoiding a right turn; The ultra-wideband (UWB)-based following autonomous mobile and working robot of claim 3, wherein both blinkers are flashing.

5. The working robot, in the first linear movement mode or the second linear movement mode, If the UWB remote controller is within a first distance to the right, the right motor is decelerated at a deceleration ratio that is the square of the value at which the difference between the value of the first UWB receiver and the value of the second UWB receiver exceeds a threshold, and the vehicle gradually moves forward to the right; If the UWB remote controller is within the first distance to the left, the left motor is decelerated at a deceleration ratio that is the square of the value at which the difference between the value of the first UWB receiver and the value of the second UWB receiver exceeds a threshold, and the vehicle gradually moves forward to the left; If the UWB remote controller is not within the first distance from both the left and right sides, the left motor speed and the right motor speed are set to be the same and the vehicle moves straight; The ultra-wideband (UWB)-based following autonomous mobile and working robot of claim 3, wherein both turn signals are illuminated.

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