Ultra-wideband (UWB) based autonomous tracking 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 a following-type autonomous driving work robot based on ultra-wideband (UWB), and particularly to a UWB-based following-type autonomous driving work robot that uses UWB to recognize a following target and uses an ultrasonic sensor to avoid obstacles during autonomous driving.

Background Art

[0002] An agricultural intelligent robot refers to a robot that recognizes farming operations and service environments by itself and judges the situation in the entire process of agricultural production, distribution, and consumption, and provides intelligent work and services by performing autonomous operations. Agricultural intelligent robots utilize the integration with fourth-generation industrial technologies and include ICT infrastructure technologies related to the automation of agricultural production, artificial intelligence, etc. At this time, the market for agricultural intelligent robots is increasing in demand to introduce agricultural robots as a flexible alternative method that can replace labor using robots and keep up with rapidly changing business environments such as climate change.

[0003] However, in the case of conventional technologies, when implementing the autonomous driving of a work robot for agricultural operations, the robot recognizes the position of the following target and proceeds with the work. At this time, there are problems such as unstable recognition rates and difficulty in maintaining the distance and angle due to the movement of the following target. Also, when the communication distance is increased, it is difficult for the user to understand the state of the robot in real time, and there is a problem that it is difficult to move in various terrains in a single following mode. Furthermore, agricultural operations are carried out on uneven terrain, and the reality is that the accident rate such as overturning of the work robot during following is high.

[0004] Therefore, in reality, there is a need for an autonomous driving work robot that improves the stability of following during the operation of a work robot for conventional agricultural operations.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

[0006] The present invention was made to solve the problems of the conventional technology described above, and aims to provide a UWB-based autonomous mobile work robot that can recognize targets to follow and targets to avoid using ultra-wideband (UWB) and ultrasonic sensors, thereby improving the recognition rate for targets to follow. [Means for solving the problem]

[0007] According to one aspect of the present invention for solving the aforementioned problems, a tracking autonomous mobile work robot based on ultra-wideband (UWB) is provided, which includes a UWB remote control held by a user that generates an ultra-wideband (UWB) signal and to which the user inputs operations for operation, and a work robot that determines a target to follow based on the UWB signal received from the UWB remote control, determines whether or not there are obstacles in the surrounding area using an ultrasonic module, and moves to follow the target while avoiding the obstacles.

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

[0009] In one embodiment, the work robot operates in follow mode if an obstacle is within a certain distance from the front or side, operates in emergency braking mode, operates in follow and avoidance mode if the obstacle is 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 follow and avoidance mode, operates in second rotation mode if 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 control are different, operates in second rotation mode if the distances are the same, re-evaluates the distance to the obstacle, and if the re-evaluation 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 avoidance mode, and if the re-evaluation determines that the obstacle is more than 2 m from the front and more than 1.3 m from the side, it can operate in second straight-ahead mode.

[0010] In one embodiment, in the avoidance mode, the work robot can avoid turning left by decelerating the left motor (which rotates counterclockwise) when an obstacle on the right is closer than an obstacle on the left, and by decelerating at a reduction ratio that is 10 times the difference between the value of the first ultrasonic transceiver located on the left and the value of the second ultrasonic transceiver located on the right, and by avoiding turning right when an obstacle on the right is farther than an obstacle on the left, and by decelerating the right motor (which rotates clockwise) at a reduction ratio that is 10 times the difference between the value of the first ultrasonic transceiver located on the left and the value of the second ultrasonic transceiver located on the right, and both turn signals can flash.

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

[0012] One embodiment of the present invention provides a follow-me autonomous mobile robot based on ultra-wideband (UWB) technology. By combining UWB signals with ultrasonic sensors, the robot can improve its recognition rate of the object it is following, thereby increasing the efficiency of the tasks required by the user.

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

[0014] Furthermore, according to one embodiment of the present invention, a follow-me autonomous mobile robot based on ultra-wideband (UWB) technology utilizes the difference in UWB signals recognized on both sides of the front of the robot to determine the distance to the target object. By recognizing not only the distance to the target object but also its direction, it can follow more precisely, thereby reducing the manpower required for transportation in agricultural production environments and improving productivity.

[0015] Furthermore, according to one embodiment of the present invention, a follow-me autonomous mobile robot based on ultra-wideband (UWB) technology utilizes ultrasonic sensors to recognize and avoid obstacles. By accurately sensing the location of obstacles and proactively avoiding them, it can not only ensure user safety but also prevent robot failure due to collisions.

[0016] Furthermore, according to one embodiment of the present invention, a follow-me autonomous work robot based on ultra-wideband (UWB) technology flashes turn signals in response to movement and sudden stops, allowing the user to anticipate actions requiring attention, such as the robot reversing or avoiding obstacles, and to immediately respond to emergencies such as sudden braking or loss of communication range, thereby enabling continuous work. [Brief explanation of the drawing]

[0017] [Figure 1] This is a perspective view of an ultra-wideband (UWB) based follow-me autonomous work robot according to one embodiment of the present invention. [Figure 2] This is a block diagram of the robot body of an ultra-wideband (UWB) based follow-me autonomous work robot according to one embodiment of the present invention. [Figure 3] This is a block diagram showing a UWB remote control for a follow-me autonomous work robot based on ultra-wideband (UWB) technology, according to one embodiment of the present invention. [Figure 4] This figure shows an example of buttons included in a UWB remote control for a follow-me autonomous work robot based on an ultra-wideband (UWB) technology, according to one embodiment of the present invention. [Figure 5] This flowchart shows the work modes of an ultra-wideband (UWB) based follow-me autonomous work robot according to one embodiment of the present invention. [Figure 6] This flowchart shows the tracking mode of an ultra-wideband (UWB) based autonomous mobile robot according to one embodiment of the present invention. [Figure 7] This flowchart shows the avoidance mode of a follow-me autonomous work robot based on ultra-wideband (UWB) technology, according to one embodiment of the present invention. [Figure 8] A flowchart showing the straight-ahead mode of a following-type autonomous mobile work robot based on ultra-wideband (UWB) according to an embodiment of the present invention.

Mode for Carrying Out the Invention

[0018] Hereinafter, referring to the accompanying drawings, embodiments of the present invention will be described in detail so that those having ordinary knowledge in the technical field to which the present invention pertains can easily implement them. The present invention can 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 not related to the explanation are omitted, and the same reference numerals are assigned to the same or similar components throughout the specification.

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

[0020] FIG. 1 is a perspective view for understanding a UWB-based following-type autonomous mobile work robot 10 according to an embodiment of the present invention.

[0021] Referring to FIG. 1, a UWB-based following-type autonomous mobile work robot 10 according to an embodiment of the present invention is a system that causes a robot main body 100 to follow a UWB remote controller 200 held by a user, and combines UWB and ultrasonic waves to recognize a user, an obstacle, etc., and allows the robot main body 100 to follow the user while avoiding obstacles.

[0022] Here, UWB (Ultra-wideband) refers to a short-range wireless communication technology that transmits and receives data in a wide frequency band using short-time pulse signals, and is characterized by very precise spatial recognition and directivity. Since a terminal equipped with such UWB operates so as to well recognize the surrounding environment, it can be used when accurate search for the position of an object such as a remote controller or a following target over a wide area is required.

[0023] The robot body 100 can automatically move in accordance with the UWB remote control 200. The robot body 100 can also be manually moved by operating the UWB remote control 200. In this case, the robot body 100 can indicate its direction of travel using turn signals 112 and 114.

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

[0025] Figure 2 is a block diagram of the robot body 100 of a follow-me type autonomous mobile work robot 10 based on UWB, according to one embodiment of the present invention.

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

[0027] The turn signals 110 are located at the lower end of the front of the robot body 100 and include a flashing function. The turn signals 110 can flash according to the direction of movement of the robot body 100. When moving straight, both turn signals 110 light up, and when braking suddenly or reversing, both turn signals 110 flash while a warning buzzer is emitted from the speaker 120, informing the user of the robot body 100's movement and status. The turn signals 110 can also flash when an obstacle is detected and avoidance mode is activated.

[0028] The speaker 120 can output a warning sound, equivalent to a warning buzzer, to 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 obstacles, and mainly, together with the turn signals 110, can communicate to the user in advance movements of the robot body 100 such as sudden braking, reversing, and avoidance, thereby ensuring safety.

[0030] The UWB module 130 can receive UWB signals sent from the UWB transmitter 220 of the UWB remote control 200 owned by the user and transmit them to the control unit 160.

[0031] The UWB module 130 includes a first UWB receiver and a second UWB receiver, and the tracking target determination unit 162 can determine the position of the tracking target by comparing the two values.

[0032] The ultrasonic module 140 can transmit ultrasonic sensor values ​​to the obstacle detection unit 164 of the control unit 160 so that the robot body 100 can recognize obstacles around the robot body 100 as it moves in follow. The ultrasonic module 140 may also include a first ultrasonic transmitting / receiving unit located on the left side and a second ultrasonic transmitting / receiving unit located on the right side.

[0033] Here, the ultrasonic module uses the principle of sound wave reflection to send and receive ultrasonic signals to measure the distance between the robot and the obstacle. The ultrasonic module has the advantage of a wide sensing range and a fast response speed, and can be used as a technology to avoid obstacles when the robot body 100 follows or moves.

[0034] In this way, the robot body 100, by utilizing ultrasonic sensors, can accurately sense the position of obstacles when recognizing and avoiding them, and can appropriately perform actions to create an avoidance path. This ensures user stability through appropriate obstacle avoidance when the robot body 100 is working in follow mode, prevents robot failure, and has the effect of reducing costs.

[0035] The motor unit 150 can follow the target and avoid obstacles by adjusting the speeds of both motors to be different when the robot body 100 is following or moving. The motor unit 150 may include a left motor 152 and a right motor 154. The obstacle detection 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 the deceleration values ​​for both motors. The left motor 152 and right motor 154 of the motor unit 150 then decelerate by that value, allowing the robot body 100 to avoid the obstacle.

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

[0037] Furthermore, the minimum value at which the motor section 150 can be reduced by applying the reduction ratio during avoidance is 50 PWM.

[0038] For example, the minimum speed under normal conditions (during driving) may be 100 PWM. Furthermore, the motor unit 150 can apply acceleration and deceleration in direct proportion to the distance.

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

[0040] The control unit 160 can determine the position of the target being tracked by judging the UWB value received by the UWB module 130, determine the position of an obstacle using the ultrasonic value received by the ultrasonic module 140, and perform a deceleration calculation to avoid the obstacle.

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

[0042] The tracking target determination unit 162 can determine the tracking target by analyzing the UWB values ​​received by the UWB module 130. When the robot body 100 follows the remote control 200, the tracking target determination unit 162 determines the work mode and tracking mode based on the UWB values ​​received by the UWB module 130 in order to maintain the distance from the tracking target, and based on the result, the motor unit 150 can perform straight-line movement or rotational movement. At this time, the UWB values ​​may include a first UWB value and a second UWB value.

[0043] Thus, the UWB-based follow-me 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 object to be followed. By recognizing not only the distance to the object but also its direction, it can follow more precisely, thereby reducing the number of personnel required for transportation in agricultural production environments and improving productivity.

[0044] The obstacle detection unit 164 analyzes the ultrasonic values ​​received by the ultrasonic module 140 to determine obstacles around the robot body 100. The obstacle detection unit 164 analyzes the ultrasonic sensor values ​​received by the ultrasonic module 140 and the distance and direction of the robot body 100 to determine the location of the obstacle, and based on the result, can control the robot body 100 to brake suddenly or rotate. At this time, 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 maneuver, according to the position of the obstacle determined by the obstacle detection 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 direction opposite 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] Figure 3 is a block diagram showing a UWB remote control 200 for a UWB-based follow-type autonomous mobile work robot 10 according to one embodiment of the present invention.

[0047] Referring to Figure 3, the UWB remote control 200 can include an input unit 210, a control unit 230, and a UWB transmitter unit 220.

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

[0049] The input unit 210 will be explained in detail below with reference to Figure 4.

[0050] Figure 4 shows an example of buttons included in a UWB remote control 200 of a UWB-based follow-me autonomous work robot 10 according to one embodiment of the present invention.

[0051] Referring to Figure 4, the input section 210 of the UWB remote control 200 can 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 used by the user to input a command to move in a straight direction when they have selected manual movement, taking into account the path of the robot body 100 and the terrain.

[0053] At this time, if no button input is received after pressing the straight button 211, the robot body 100 will move straight while both turn signals 110 illuminate. If the reverse button 212 is pressed, the robot will not move and both turn signals 110 will illuminate.

[0054] Furthermore, pressing the left-turn button 213 after pressing the straight-ahead button 211 will cause the robot to turn left while continuing straight, and pressing the right-turn button 214 will cause the robot to turn right while continuing straight. At this time, the turn signal 110 for the corresponding direction will flash, and the robot body 100 will move in the input direction before returning to the manual input standby state.

[0055] Next, the reverse button 212 is a button used by the user to input a command to move in the reverse direction when they have selected manual movement, taking into account the path of the robot body 100 and the terrain.

[0056] When the reverse button 212 is pressed, a warning buzzer is emitted from the speaker 120, and if no further button input is received, the robot body 100 moves in reverse while both turn signals 110 flash.

[0057] Furthermore, if the left turn button 213 is pressed after the reverse button 212 is pressed, the robot body 100 will reverse and turn left, and if the right turn button 214 is pressed, it will reverse and turn right. At this time, the turn signal 110 for the corresponding direction can flash, and after the robot body 100 moves in the input direction, it can return to the manual input standby state.

[0058] Next, the left turn button 213 is a button used to input a command to move to the left if the user has selected manual movement, taking into account the path of the robot body 100 and the terrain.

[0059] Here, if no button input is received after the left turn button 213 is pressed, the robot body 100 will turn left. If the straight button 211 is pressed, it will turn left while moving straight. If the reverse button 212 is pressed, it will turn left while reversing, but a warning buzzer can be emitted when reversing.

[0060] Furthermore, if the right turn button is pressed after the left turn button 213 is pressed, the robot body 100 will not move, and both turn signals 110 will light up. In other words, when the robot body 100 turns left, the left turn signal 110 will flash, and after moving, it can return to the manual input standby state.

[0061] Next, the right-turn button 214 is a button used to input a command to move to the right when the user selects manual movement, taking into account the path of the robot body 100 and the terrain.

[0062] Here, if no button input is received after pressing the right turn button 214, the robot body 100 will turn right. If the straight button 211 is pressed, it will turn right while moving straight. If the reverse button 212 is pressed, it will turn right while moving backward, but a warning buzzer can be emitted when moving backward.

[0063] Furthermore, if the left turn button 213 is pressed after the right turn button 214 is pressed, the robot body 100 will not move, and both turn signals 110 will light up. In other words, when the robot body 100 turns right, the right turn signal 110 will flash, and after moving, it can return to the manual input standby state.

[0064] Next, the manual button 215 is a button that the user presses when manually controlling the robot body 100's path and the terrain. By pressing the manual button 215, the user can manually control the direction of the robot body 100.

[0065] Next, the automatic button 216 is a button that the user presses when the robot body 100 automatically drives, taking into account the path and the terrain. In other words, when the automatic button is pressed, the robot body 100 can autonomously drive and follow the target.

[0066] Next, the emergency ON button 217 is used when the UWB remote control 200 is in standby mode and does not function properly. In this case, the user can press the emergency ON button 217 to turn on the UWB remote control 200.

[0067] Next, if the UWB remote control does not function properly 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 the UWB remote control 200 is in standby mode and no input is received from the UWB remote control. In this case, the user can press the emergency OFF button 218 to turn off the UWB remote control.

[0069] The user can repeatedly press the emergency ON button 217 and the emergency OFF button 218 until the UWB remote control 200 functions correctly. If the UWB remote control 200 still does not function correctly after pressing the emergency OFF button 218, the user can charge the battery of the UWB remote control 200.

[0070] Referring again to Figure 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, because UWB uses a frequency band of 3.1 to 10.6 GHz, it has a low spectral density and short pulse width, resulting in high speed and minimal interference. Therefore, UWB sensor values ​​can be transmitted quickly and accurately between the robot body 100 and the UWB remote control 200.

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

[0073] Figure 5 is a flowchart showing the work modes 20 of a follow-me autonomous work robot 10 based on UWB according to one embodiment of the present invention.

[0074] Referring to Figure 5, the work mode 20 of the UWB-based follow-type autonomous mobile work robot 10 includes a step S21 to confirm the work mode, a step S22 to confirm the range of UWB values, a step S23 to confirm 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 work mode based on the distance from the UWB remote control 200 to the robot body 100 (step S21), and if it is not in work mode, it can proceed to follow mode 30.

[0076] Based on the determination in step S21, if in work mode, the robot body 100 determines whether the UWB value received from the UWB remote control 200 is between 1 and 5m (step S22). If it is not within this range, it can wait for an input of a UWB value within 1 to 5m. At this time, the robot body 100 can 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 matches the second UWB value located on the right side.

[0078] If the determination result in step S23 indicates that the left and right UWB distances are different, the robot body 100 will operate in first rotation mode if the difference between the left and right UWB is 45 cm or more (step S24). At this time, the robot body 100 can flash the turn signal 110 while turning left. Subsequently, the robot body 100 can return to step S21 to determine whether or not it is in work mode.

[0079] If the determination in step S23 shows that the distance between the left and right UWBs is the same, the robot body 100 operates in the first straight-line mode (step S25). At this time, the robot body 100 can move in a straight line if the difference between the first UWB value located on the left and the second UWB value located on the right is less than 40 cm. Simultaneously, both turn signals 110 of the robot body 100 can be illuminated.

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

[0081] Thus, the UWB-based follow-me autonomous work robot 10 according to one embodiment of the present invention flashes its turn signals in response to movement and sudden stops, allowing the user to anticipate actions that require attention, such as the robot reversing or avoiding obstacles, and to immediately respond to emergencies such as sudden braking or loss of communication range, thereby enabling the robot to perform work continuously.

[0082] Figure 6 is a flowchart showing the operation of the follow mode 30 of a UWB-based follow-type autonomous mobile work robot 10 according to one embodiment of the present invention.

[0083] Referring to Figure 6, the follow mode 30 of the UWB-based follow-type autonomous mobile work robot 10 includes a step S31 for determining whether an obstacle is located a certain distance away from the front or side, a step S32 for determining whether the obstacle is located 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 for determining whether either the first UWB receiver or the second UWB receiver has detected an obstacle, a sudden braking mode S34, a follow / avoidance mode S35, a step S36 for determining whether the distance between the first UWB receiver and the second UWB receiver and the UWB remote control 200 is different, a second rotation mode S37, a step S38 for determining whether the obstacle is located within 2 m from the front or more than 2 m from the 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 the obstacle using ultrasonic sensor values ​​(step S31). At this time, the robot body 100 determines whether the obstacle is recognized within 50 cm in the center in front of it, or within 40 cm on either the left or right side in front of it.

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

[0086] Based on the results of the determination in step S31, the robot body 100 determines whether the obstacle is located between 40cm and 1.2m from the front, or whether it is located more than 1.2m from the front and within 70cm to the left or right, if the obstacle is not detected within 50cm from the center in front or within 40cm from either the left or right (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 will detect the UWB remote control 200 if the obstacle is within 50 cm in the center in front of it, or within 40 cm on either the left or right side of the front (step S33).

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

[0089] On the other hand, when the robot body 100 is at its maximum speed, it can decelerate to within 1 meter when the ultrasonic distance enters within 2 meters, allowing it to follow.

[0090] Based on the judgment in step S33, if the robot body 100 does not detect the UWB remote control 200 in either the first UWB receiver or the second UWB receiver, it will enter emergency braking mode (step S34).

[0091] As a result of the determination in step S32, the robot body 100 determines whether the distance between the first UWB receiver and the 22nd UWB receiver and the UWB remote control 200 is different if 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 (step S36).

[0092] Based on the determination in step S36, the robot body 100 executes the second rotation mode if the distance between the first UWB receiver, the second UWB receiver, and the UWB remote control 200 is different (step S37).

[0093] In this second rotation mode, the robot body 100 compares the UWB values ​​of the first UWB receiver and the second UWB receiver, determines the position of the UWB remote control 200, and can rotate left or right according to the difference in those values.

[0094] More specifically, when the second UWB receiver value is greater than the first UWB receiver value, the robot body 100 can determine that the UWB remote control 200 is located on the left and turn left. At this time, the left turn signal can be flashed.

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

[0096] Furthermore, if the second UWB receiver value is smaller than the first UWB receiver value, the robot body 100 will determine that the UWB remote control 200 is located on the right side and will be able to turn right. At this time, the right-side turn signal will be able to flash.

[0097] Here, if the difference between the two values ​​is 45 cm or more, the robot body 100 will turn right in place, and if the difference between the two values ​​is between 45 cm and 32 cm, the robot body 100 can turn right while moving straight.

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

[0099] Based on the judgment in step S38, if the obstacle is within 2m from the front, or more than 2m from the front and within 1.3m from the side, the robot body 100 can execute the avoidance mode (step S39).

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

[0101] Next, once all stages are complete, the robot body 100 can return to stage S21, which is the stage where the work mode is confirmed.

[0102] Figure 7 is a flowchart showing the avoidance mode 40 of a follow-me autonomous work robot 10 based on UWB according to one embodiment of the present invention.

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

[0104] First, the robot body 100 determines whether the obstacle on the right is closer than the obstacle on the left (step S41). More specifically, the robot body 100 can determine that the obstacle on the right is closer than the obstacle on the left 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.

[0105] If, as a result of the judgment in step S41, the obstacle on the right is closer than the obstacle on the left, the robot body 100 decelerates the left motor 152 and turns left to avoid the obstacle (step S42). At this time, the robot body 100 compares the value of the first ultrasonic transceiver located on the left with the value of the second ultrasonic transceiver located on the right, and decelerates at a reduction ratio that is 10 times the difference between the two values, thereby avoiding the left turn.

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

[0107] In this case, when an obstacle is nearby, the avoidance maneuver can be carried out with the motor speed fixed at the lowest RPM.

[0108] Next, the robot body 100 can flash both turn signals (stage S44). Then, the robot body 100 can return to stage S21, which confirms the work mode once all stages are complete.

[0109] Figure 8 is a flowchart showing the straight-line mode 50 of a UWB-based follow-me autonomous work robot 10 according to one embodiment of the present invention.

[0110] Referring to Figure 8, the straight-line mode 50 of the UWB-based follow-me autonomous work robot 10 includes the steps of: S51 determining whether the UWB remote control 200 is within a certain distance to the right; S52 decelerating the right motor 154 at a specific reduction ratio; S53 illuminating both turn signals; S54 determining whether the UWB remote control is within a certain distance to the left; S55 decelerating the left motor 152 at a specific reduction ratio; and S56 equalizing the speeds of the left and right motors 152 and 154 to move in a straight line.

[0111] First, the robot body 100 uses the UWB value to determine whether the UWB remote control 200 is located to the right within a first distance (step S51).

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

[0113] Based on the results of the determination in step S51, the robot body 100 determines whether the UWB remote control 200 is located within a 1-degree distance to the left (step S54).

[0114] As a result of the determination in step S54, the robot body 100 decelerates the left motor 152 at a specific reduction ratio if the UWB remote control 200 is located within a first distance to the left (step S55). At this time, the robot body 100 decelerates at a reduction ratio where the difference between the value of the first UWB receiver and the value of the second UWB receiver is the square of the value that 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 can either reduce the motor speed and slowly move away from the side obstacle until the ultrasonic waves on the left and right sides are separated (the same applies to the reduction type of one motor), or, if the obstacle is close, avoid the obstacle in front, then avoid it to the side, and then move straight.

[0116] Based on the judgment in step S54, the robot body 100 sets the speeds of the left and right motors 152 and 154 to be the same if the UWB remote control 200 is not within a 1-degree distance from both the left and right sides (step S56).

[0117] Next, when the robot body 100 moves in straight-line mode 50, both turn signals are illuminated (stage S53).

[0118] Next, once all stages are complete, the robot body 100 can return to stage S21, which is the stage where the work mode is confirmed.

[0119] Thus, the UWB-based follow-me autonomous work robot 10 can improve its recognition rate of the object being followed by using a combination of UWB signals and ultrasonic sensors, thereby increasing the efficiency of the tasks required by the user.

[0120] The above-described method can be implemented by the ultra-wideband (UWB) based follow-me type autonomous mobile work robot 10 shown in Figure 1, and in particular can be implemented by a software program that performs these steps, in which case such a program can be stored on a computer-readable recording medium or transmitted by computer data signals coupled with a carrier wave on a transmission medium or communication network.

[0121] In this context, computer-readable recording media include all types of recording devices that store data readable by a computer system, such as ROM, RAM, CD-ROM, DVD-ROM, DVD-RAM, magnetic tape, floppy disk, hard disk, and optical data storage.

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

[0123] 10: UWB-based follow-me autonomous work robot 100: Robot body 110: Turn signal 130: UWB module 140: Ultrasonic module 150: Motor section 152: Left motor 154: Right motor 160: Control Unit 162: Follow-up Target Determination Unit 164: Obstacle detection unit 166: Deceleration calculation section 200: UWB Remote Control

Claims

1. A UWB remote control, which is held by the user, generates an ultra-wideband (UWB) signal, and the user inputs the operation commands, A work robot that determines the target to follow based on the UWB signal received from the UWB remote control, determines whether or not there are obstacles in the surrounding area using an ultrasonic module, and moves to follow the target while avoiding the obstacles, Includes, In the work mode, the aforementioned work robot It includes a first UWB receiver located on the left side and a second UWB receiver located on the right side, Based on the UWB signal, the position of the UWB remote control and the distance to the UWB remote control are determined. A follow-me type autonomous mobile work robot based on ultra-wideband (UWB), which operates according to 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 they are the same.

2. In the follow-up mode, the aforementioned work robot If an obstacle is present within a certain distance from the front or side, the vehicle will operate in emergency braking mode. If the aforementioned obstacle is located 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 is detected by at least one of the first UWB receiver and the second UWB receiver, the unit will operate in follow and avoidance mode. If the aforementioned obstacle is located at a distance of 1.2m or more from the front and 70cm or more to the left or right, and the distances between the first UWB receiver, the second UWB receiver, and the UWB remote control are different, the system operates in second rotation mode; if the distances are the same, the distance to the obstacle is re-evaluated. If the reassessment determines that the obstacle is within 2 meters from the front, or more than 2 meters from the front and within 1.3 meters from the side, the system will operate in avoidance mode. The ultra-wideband (UWB) based follow-type autonomous mobile work robot according to claim 1, wherein if the reassessment determines that the obstacle is located at a position of 2m or more from the front and 1.3m or more from the side, it operates in a second straight-line mode.

3. In the avoidance mode, the aforementioned work robot If an obstacle on the right is closer than an obstacle on the left, the left motor rotating to the left is decelerated, and the vehicle is decelerated at a reduction ratio that is 10 times the difference between the value of the first ultrasonic transceiver located on the left and the value of the second ultrasonic transceiver located on the right, thereby avoiding a left turn. If the obstacle on the right is farther away than the obstacle on the left, the right motor rotating to the right is decelerated by a reduction ratio that is 10 times the difference between the value of the first ultrasonic transceiver and the value of the second ultrasonic transceiver, thereby avoiding a right turn. A follow-me autonomous work robot based on ultra-wideband (UWB) technology, wherein both turn signals flash, as described in claim 2.

4. The aforementioned work robot operates in either the first straight-line mode or the second straight-line mode. If the UWB remote control is within a first distance to the right, the right motor is decelerated, and the vehicle moves forward gradually to the right, with a reduction ratio such that the difference between the value of the first UWB receiver and the value of the second UWB receiver is the square of the value that exceeds the threshold. If the UWB remote control is within the first distance to the left, the left motor is decelerated, and the motor is decelerated at a reduction ratio where the difference between the value of the first UWB receiver and the value of the second UWB receiver is the square of the value that exceeds the threshold, and the motor moves forward gradually to the left. If the UWB remote control is not within the first distance from both the left and right sides, the speed of the left motor and the speed of the right motor are set to be the same and the vehicle moves straight ahead. A follow-me autonomous work robot based on ultra-wideband (UWB) technology, as described in claim 2, wherein both turn signals illuminate.

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