Map generation device and method in dense smoke environment

Abstract

A generation device is provided. The generation device may comprise a spray unit for spraying compressed air in the sensing direction of a first sensor for recognizing the position of a robot or generating a map of the surroundings of the robot. The first sensor can include a lidar sensor, which emits a laser and detects reflected light of the laser so as to measure the distance to an object from which the light is reflected. The spray unit can determine the spraying direction of the compressed air according to the emission direction of the laser.

Description

Apparatus and method for generating maps in a dense environment

[0001] The present invention relates to a device and method for generating a map.

[0002] Lidar sensors are primarily used for robot location recognition and environmental mapping. Lidar sensors boast high accuracy and reliability.

[0003] However, in disaster situations such as gas attacks or fires, lidar sensors may become unusable due to gas or smoke. In such cases, the robot's location becomes unknown, and errors such as significant errors or map generation failures occur in the map being generated, rendering the robot unable to perform its mission.

[0004] The present invention provides a device and method for normally generating a map using a lidar sensor in a dense environment.

[0005] The generating device of the present invention may include an injection unit that injects compressed air along the sensing direction of a first sensor that recognizes the position of the robot or generates a map of the robot's surroundings.

[0006] The first sensor may include a lidar sensor that measures the distance to an object that caused the reflected light by irradiating a laser and detecting the reflected light of the laser.

[0007] The above injection unit can determine the injection direction of the compressed air according to the irradiation direction of the laser.

[0008] An air tank in which the compressed air is stored and a nozzle for spraying the compressed air stored in the air tank to the outside may be provided.

[0009] The nozzle is installed adjacent to the first sensor, and the nozzle can be formed to have a spraying direction parallel to the sensing direction.

[0010] The above nozzle may be positioned at a different location from the sensor in the direction of gravity.

[0011] The above nozzle may be positioned within a range of 10 cm or less from the first sensor in the direction of gravity.

[0012] A detection unit may be provided to detect smoke present in the sensing direction of the first sensor. If the smoke is not detected, the injection unit may not inject the compressed air. If the smoke is detected, the injection unit may inject the compressed air toward the smoke.

[0013] When the air tank storing the compressed air is provided, a replenishment unit may be provided that sucks in air around the robot and replenishes the air tank with the sucked in air.

[0014] The above supplementary unit can suck in air in the specific sensing direction when the smoke is not detected for a set time in the specific sensing direction through the detection unit.

[0015] The first sensor may include a lidar sensor that measures the distance to an object that caused the reflected light by irradiating a laser and detecting the reflected light of the laser.

[0016] An analysis unit may be provided to analyze whether the measured intensity corresponding to the reception intensity value of the above reflected light satisfies the set conditions.

[0017] The above analysis unit can identify a specific object whose measured intensity satisfies the above set conditions as smoke.

[0018] The above-mentioned injection unit can inject the compressed air toward the smoke identified by the above-mentioned analysis unit.

[0019] After the compressed air is injected, a generating unit may be provided to instruct re-detection of a specific sensing direction in which the smoke was detected.

[0020] The above generation unit can exclude the detection result for the specific sensing direction obtained before the compressed air injection from the position recognition of the robot or the generation of the map.

[0021] The above generation unit can use the re-detection result for the specific sensing direction obtained after the compressed air injection to recognize the location of the robot or to generate the map.

[0022] An acquisition unit may be provided to acquire sensing data in the form of a point cloud from the first sensor.

[0023] Each point in the above point cloud may include a distance value (range) and an intensity value (intensity).

[0024] The above distance value may include the time it takes for the laser to reflect off the object and return.

[0025] The above intensity value may include the reception intensity of the reflected light reflected from the surface of the object and returned.

[0026] An analysis unit may be provided to calculate a reference intensity corresponding to the intensity value for a reference object at a reference distance.

[0027] The above analysis unit can calculate a correction intensity corresponding to the intensity value of the reference object for the distance value of each point using the reference intensity and the reference distance.

[0028] The above analysis unit can identify a point having the measured intensity as the smoke if the measured intensity corresponding to the reception intensity value of the reflected light is smaller than the correction intensity by a difference of a set value or more.

[0029] The generation method of the present invention may include a detection step of detecting smoke existing in a sensing direction of a first sensor that recognizes the position of a robot or generates a map around the robot; an injection step of spraying compressed air stored in an air tank toward the smoke when the smoke is detected; a re-detection step of re-performing sensing by the first sensor toward the sensing direction in which the compressed air is sprayed; and a replenishment step of sucking air in the specific sensing direction and replenishing the air tank with the sucked air when the smoke is not detected for a set period of time in a specific sensing direction.

[0030] The above injection step may inject the compressed air if the smoke is not detected.

[0031] When the first sensor includes a lidar sensor that measures the distance to an object that caused the reflected light by irradiating a laser and detecting the reflected light of the laser, the detection step can analyze whether the measured intensity corresponding to the reception intensity value of the reflected light satisfies a set condition.

[0032] The above detection step can identify a specific object as smoke whose measured intensity satisfies the above setting conditions.

[0033] The above injection step can inject the compressed air toward the smoke detected by the above detection step.

[0034] The above re-detection step may exclude the detection results for the specific sensing direction obtained before the compressed air injection from the position recognition of the robot or the generation of the map.

[0035] The above re-detection step can use the re-detection results for the specific sensing direction obtained after the compressed air injection to recognize the location of the robot or to generate the map.

[0036] The above detection step can obtain sensing data in the form of a point cloud from the first sensor.

[0037] Each point in the above point cloud may include a distance value (range) and an intensity value (intensity).

[0038] The above distance value may include the time it takes for the laser to reflect off the object and return.

[0039] The above intensity value may include the reception intensity of the reflected light reflected from the surface of the object and returned.

[0040] The above detection step can produce a reference intensity corresponding to the intensity value for a reference object at a reference distance.

[0041] The above detection step can calculate a correction intensity corresponding to the intensity value of the reference object for the distance value of each point using the reference intensity and the reference distance.

[0042] The above detection step can identify a point having the measured intensity as the smoke if the measured intensity corresponding to the reception intensity value of the reflected light is smaller than the correction intensity by a difference of a set value or more.

[0043] The present invention relates to a device and method for guiding robot operation in various disaster environments.

[0044] When an indoor environment is filled with thick smoke, such as due to a gas attack or fire, robots face difficulties in recognizing their location and creating environmental maps using Lidar sensors. The present invention proposes a method for creating indoor environmental maps using Lidar sensors, commonly used by robots, even in such dense smoke environments.

[0045] The environmental map generation device and method of the present invention can inject compressed air in the direction of the laser beam of the lidar sensor. The injected air removes particles (smoke, dust, etc.) flying from the surrounding atmosphere, thereby temporarily providing an environment in which the lidar sensor can operate normally.

[0046] To properly utilize the limited capacity of compressed air, the generator of the present invention can detect smoke. If smoke is not detected, the generator can inject compressed air into the air, and if smoke is detected, the generator can inject compressed air toward the smoke.

[0047] Additionally, the generator can supply the used compressed air by drawing in the surrounding supply if no smoke is detected in the surroundings.

[0048] Figure 1 is a schematic diagram showing a production device of the present invention.

[0049] Figure 2 is a schematic diagram showing a robot equipped with the generating device of the present invention.

[0050] Figure 3 is a schematic diagram showing the injection unit.

[0051] Figure 4 is a schematic diagram showing the operation of the first sensor and the injector.

[0052] Figure 5 is a schematic diagram showing the arrangement position of the nozzle.

[0053] Figure 6 is a schematic diagram showing sensing data of a lidar sensor that recognizes smoke.

[0054] Figure 7 is a flowchart showing the production method of the present invention.

[0055] FIG. 8 is a diagram illustrating a computing device according to an embodiment of the present invention.

[0056] Below, with reference to the attached drawings, embodiments of the present invention are described in detail so that those skilled in the art can easily implement the invention. However, the present invention can be implemented in various different forms and is not limited to the embodiments described herein. In addition, in the drawings, parts irrelevant to the description are omitted for clarity of description, and similar parts are designated with similar reference numerals throughout the specification.

[0057] In this specification, duplicate descriptions of identical components are omitted.

[0058] Additionally, when a component is referred to herein as being "connected" or "connected" to another component, it should be understood that while it may be directly connected or connected to that other component, there may be other components present in between. Conversely, when a component is referred to herein as being "directly connected" or "directly connected" to another component, it should be understood that there are no other components present in between.

[0059] Additionally, the terms used herein are only used to describe specific embodiments and are not intended to limit the present invention.

[0060] Also, in this specification, singular expressions may include plural expressions unless the context clearly indicates otherwise.

[0061] In addition, in this specification, it should be understood that terms such as “include” or “have” are intended to specify only the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, and do not exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0062] Also, in this specification, the term 'and / or' includes a combination of multiple listed items or any item among multiple listed items. In this specification, 'A or B' can include 'A', 'B', or 'both A and B'.

[0063] Additionally, in this specification, detailed descriptions of known functions and configurations that may obscure the gist of the present invention will be omitted.

[0064] Figure 1 is a schematic diagram showing a generating device (900) of the present invention.

[0065] The generating device (900) illustrated in FIG. 1 may include an acquisition unit (930), an injection unit (990), a detection unit (920), an analysis unit (950), a generation unit (970), and a supplementation unit.

[0066] The generating device (900) may be provided with a first sensor (910) for recognizing the location of the robot or generating a map of the robot's surroundings. For example, the first sensor (910) may include a Lidar sensor that measures the distance to an object (90) using a laser.

[0067] The laser used in the lidar sensor may have difficulty moving due to smoke (including fog or dust) (80) present at a fire scene, etc. As a result, the lidar sensor cannot operate normally in an environment where smoke (80) is present.

[0068] This may mean that a robot deployed in a site where smoke (80) exists may not be able to determine its own location or automatically generate a map of its surroundings. Therefore, a first sensor (910) that operates abnormally due to smoke (80) cannot be applied to an environment where smoke (80) exists. This limitation may cause a problem in that a sensor that is vulnerable to smoke (80) but has other superior characteristics cannot be utilized as a first sensor (910).

[0069] For example, since lidar sensors have excellent accuracy and high reliability and can be used both indoors and outdoors, they are widely used for robot self-localization and environmental map generation. Therefore, when using lidar sensors, it can provide versatility that allows the use of existing location recognition algorithms and map generation algorithms. However, in an environment where smoke exists, such as a gas attack or fire, the lidar sensor may operate abnormally due to the smoke, which may result in the robot's location not being known and serious errors or map generation failures in the map being generated. In this way, the injection unit (990) can be used to enable robot location recognition and map generation using the lidar sensor even in a dense smoke environment where smoke exists.

[0070] The injection unit (990) illustrated in FIG. 1 can inject compressed air along the sensing direction of the first sensor (910).

[0071] Compressed air injected along the sensing direction of the first sensor (910) can push smoke (including mist or dust) present in the sensing direction of the first sensor (910) toward the surroundings. When the smoke is pushed toward the surroundings from the sensing direction, the field of view or sensing range of the first sensor (910) can be normally secured.

[0072] For example, a lidar sensor is a sensor that measures distance by shining light on an object (90) using a laser and detecting the reflected light through a photodiode. In other words, the first sensor (910) may include a lidar sensor that measures the distance to an object (90) that caused the reflected light by irradiating a laser and detecting the reflected light of the laser.

[0073] At this time, if the laser is obscured by smoke, it will be scattered or reflected and returned, which may cause the target (90) not to be recognized or the smoke to be mistakenly recognized as the target, which may cause problems in location recognition and map generation. However, according to the injection unit (990), the smoke that obstructs the progress of the laser can be removed from the path of the laser. The laser and reflected light, with the obstacles that obstruct progress removed, can proceed normally, and the lidar sensor can operate normally.

[0074] Meanwhile, spraying compressed air along the sensing direction of the first sensor (910) may mean spraying compressed air along a direction parallel to a laser, etc., emitted from the first sensor (910). In this case, it is preferable that the spraying unit (990) be positioned as close to the first sensor (910) as possible. In general, the spraying unit (990) may be positioned at a different location from the first sensor (910) in the direction of gravity. Therefore, if the spraying unit (990) is far away from the first sensor (910), the compressed air may be sprayed toward a different location rather than toward smoke that interferes with the normal operation of the first sensor (910). To prevent this phenomenon, it is preferable that the spraying unit (990) be positioned within a range of 10 cm or less from the first sensor (910) in the direction of gravity.

[0075] Alternatively, spraying compressed air along the sensing direction of the first sensor (910) may mean spraying compressed air toward an object targeted by the first sensor (910).

[0076] Alternatively, spraying compressed air along the sensing direction of the first sensor (910) may mean spraying compressed air toward smoke present in the sensing direction of the first sensor (910) (e.g., the laser propagation path).

[0077] In order for the first sensor (910) to spray compressed air toward the target object or smoke, a separate means for detecting the target object or smoke needs to be provided.

[0078] When the first sensor (910) sprays compressed air toward a target object or smoke, the distance between the first sensor (910) and the spray unit (990) may not be a significant problem.

[0079] If the first sensor (910) is a lidar sensor using a laser, the injection unit (990) can determine the injection direction of compressed air according to the irradiation direction of the laser. According to the present embodiment, instead of injecting compressed air anywhere around the robot, the injection unit (990) injects compressed air while following the irradiation direction of the laser, thereby preventing unnecessary waste of compressed air.

[0080] Fig. 2 is a schematic diagram showing a robot equipped with a generating device (900) of the present invention. Fig. 3 is a schematic diagram showing an injection unit (990). Fig. 4 is a schematic diagram showing the operation of a first sensor (910) and an injection unit (990). Fig. 5 is a schematic diagram showing the arrangement position of a nozzle (200).

[0081] The generating device (900) may be provided with an air tank (600) for storing compressed air and a nozzle (200) for spraying the compressed air stored in the air tank (600) to the outside.

[0082] The nozzle (200) may be installed adjacent to the first sensor (910). At this time, it is preferable that the nozzle (200) be positioned within a range of 10 cm or less from the first sensor (910) in the direction of gravity. The nozzle (200) may be formed to have a spraying direction parallel to the sensing direction. The nozzle (200) may be supported on the same support, for example, the body (100), together with the first sensor (910). This means that even if the first sensor (910) moves in a different direction, the nozzle (200) can also move in the same direction as the first sensor (910) together with the support. As a result, the spraying direction of the nozzle (200) can always be maintained parallel to the direction in which the laser, etc., of the first sensor (910) moves.

[0083] The above generating device (900) can be mounted on a robot.

[0084] The robot may include a body (100), a wheel unit (500), a control unit (700), and a generating device (900). The generating device (900) may include a first sensor (910), a nozzle (200), an air tank (600), and a valve (800). In this case, the nozzle (200), the air tank (600), and the valve (800) may be included in an injection unit (990).

[0085] The body (100) is depicted as cylindrical in the drawing, but is not limited thereto and may be formed in various shapes such as a hexahedron or an octahedron. A generating device (900) may be mounted on the body (100). In addition, a plurality of nozzles (200) that connect the inside and the outside of the body (100) may be arranged around the periphery of the body (100).

[0086] For example, a scanning LiDAR with a 360-degree angle range as a sensing range and sensor field of view may be provided. In order to cover the sensing range of the scanning LiDAR corresponding to the first sensor (910), nozzles (200) may be arranged at set intervals along the outer circumference of the body (100). The arrangement interval of each nozzle (200) may vary depending on the injection angle range of the compressed air injected from the corresponding nozzle (200) (determining whether to shoot narrowly or widely).

[0087] As another example, a solid state LiDAR may be provided that has a sensing range and a sensor field of view limited to a planar angle. To cover the sensing range of the solid state LiDAR corresponding to the first sensor (910), one or more nozzles (200) may be provided. In the case of (b) of Fig. 5, the spraying angle range of the compressed air sprayed from the nozzle (200) does not cover the entire sensing range of the LiDAR sensor. In this case, a plurality of nozzles (200) may be placed on the robot so as to face different angles on a planar angle so that the entire sensing range is covered.

[0088] The nozzle (200) can be connected to an air tank (600). Compressed air stored in the air tank (600) is supplied to the nozzle (200), and the compressed air supplied to the nozzle (200) can be sprayed to the outside through the nozzle (200).

[0089] The plurality of nozzles (200) can be independently controlled. Accordingly, the plurality of nozzles (200) can be opened simultaneously, or only selected nozzles (200) can be opened. The latter can be applied to an environment where compressed air is sprayed only toward areas where smoke exists around the robot.

[0090] The first sensor (910) can transmit or irradiate a signal or light within a set bandwidth. Furthermore, the first sensor (910) can receive a signal reflected from an object or target around the robot. The control unit (700) can determine the location of the object, the distance between the robot and the object, etc. by analyzing the reflected signal reflected from the object.

[0091] The wheel unit (500) is positioned on the lower side of the body (100). The body (100) can travel along the ground using the wheel unit (500). The body (100) may be equipped with an actuator, such as an internal combustion engine or a motor, that rotates the wheel unit (500).

[0092] The air tank (600) can be connected to a plurality of nozzles (200). The air tank (600) can provide compressed air at a set pressure to the nozzles (200).

[0093] A valve (800) may be provided between the air tank (600) and the nozzle (200). The valve (800) may open and close a path connecting the air tank (600) and the nozzle (200), and may be controlled by a control unit (700) or an injection unit (990).

[0094] When the first sensor (910) is a lidar sensor, if smoke exists in the path of the laser, the laser may be scattered or reflected by the smoke. As a result, the first sensor (910) cannot detect or sense an object beyond the smoke. At this time, when the valve (800) connected to the nozzle (200) facing the smoke is opened, the compressed air g stored in the air tank (600) is output through the nozzle (200) and can push out or scatter the smoke facing the nozzle (200) as shown in FIG. 4. The compressed air ejected through the nozzle (200) clears the path blocked by the so-called smoke, and the laser can proceed without obstruction by the smoke, be reflected by an actual object, and return to the first sensor (910).

[0095] The injection unit (990) can always inject compressed air regardless of the presence or absence of smoke. In this case, there is an advantage of simplifying the control of the injection unit (990), but the compressed air injection time may be significantly reduced due to the limited capacity of compressed air. For example, in the case of a scanning lidar, the nozzle (200) can be positioned to sense 360 ​​degrees around the robot and thus inject compressed air in all directions. However, even if multiple nozzles (200) are provided, it is effective to inject compressed air only in the direction in which smoke is present.

[0096] In order to effectively use a limited capacity of compressed air, a detection unit (920) that detects smoke present in the sensing direction of the first sensor (910) may be provided.

[0097] The injector (990) can inject compressed air when smoke is not detected.

[0098] When smoke is detected, the injector (990) can inject compressed air toward the smoke.

[0099] When the direction of the nozzle (200) is adjustable, the injection unit (990) or the control unit (700) can move the nozzle (200) so that the nozzle (200) aims at the smoke. The injection unit (990) can inject compressed air through the nozzle (200) that has completed aiming at the smoke.

[0100] When the nozzle (200) is fixedly installed, the injection unit (990) can inject compressed air through the nozzle (200) positioned facing the smoke.

[0101] The detection unit (920) may include a second sensor separate from the first sensor (910). The second sensor may be configured to detect smoke.

[0102] Alternatively, the detection unit (920) may detect smoke using the first sensor (910) as is. In this case, from another perspective, the first sensor (910) and the second sensor may be interpreted as being formed as one unit. For example, the detection unit (920) may use sensing data from a lidar sensor to determine the presence or absence of smoke and the direction of the smoke.

[0103] Figure 6 is a schematic diagram showing sensing data of a lidar sensor that recognizes smoke.

[0104] The sensing data from a LiDAR sensor takes the form of a point cloud, and each point in the point cloud can include a distance value (range) and an intensity value. The distance value can include the time it takes for the laser to reflect off the target and return. The intensity value can include the received intensity of the reflected light (including the laser reflected off the target and returned).

[0105] The acquisition unit (930) can acquire sensing data in the form of a point cloud from the first sensor (910).

[0106] The analysis unit (950) can calculate the distance Rm between the first sensor (910) and each point as in Equation 1 by using the time taken for the laser to reflect off the target and return.

[0107] ...Formula 1

[0108] Here, c is the speed of the laser, and Δt is the time taken for the laser to reflect off the target and return.

[0109] Intensity values ​​can vary depending on factors such as the incident angle of the reflected light and the surface characteristics of the object. The intensity of reflected light from smoke can be significantly lower than that from a typical object. Based on these characteristics, a method for recognizing smoke based on the intensity of the reflected light can be proposed.

[0110] The analysis unit (950) can calculate a reference intensity corresponding to the intensity value for a reference object at a reference distance.

[0111] The analysis unit (950) can calculate the correction intensity Ic corresponding to the intensity value of the reference object for the distance value of each point using the reference intensity and the reference distance, as in Equation 2.

[0112] ...Formula 2

[0113] Here, Iref is the reference intensity, and Rref is the reference distance. The reference intensity can be a value measured by each sensor.

[0114] Rather than selecting a location that is too close, it is better to select a distance and intensity that exhibit minimal intensity variation with distance as the reference distance and intensity. Based on these selected reference intensity (Iref) and reference distance (Rref), the correction intensity (Ic) for the measured distance (Rm) of each point can be determined.

[0115] The analysis unit (950) can identify a point having a measured intensity as smoke if the measured intensity corresponding to the received intensity value of the reflected light is smaller than the correction intensity by a difference of more than a set value.

[0116] The measured intensity of the reflected light reflected from general objects (indoor structures; doors, walls, ceilings, floors, etc.) shows a similar tendency to the correction intensity Ic, but the measured intensity Im of the reflected light reflected from smoke has a value much smaller than the correction intensity Ic. Therefore, when the following condition (Formula 3) is satisfied, the analysis unit (950) identifies the point group (Point Clouds) as smoke, and accordingly, the injection unit (990) can inject compressed air.

[0117] ...Formula 3

[0118] Here, α represents the smoke recognition sensitivity and can be a value between 0 and 1. Generally, a value of 0.4 to 0.6 is suitable for α.

[0119] In summary, the analysis unit (950) can analyze whether the measured intensity satisfies the set conditions such as Equation 3.

[0120] The analysis unit (950) can identify a specific target object whose measurement intensity satisfies the set conditions as smoke.

[0121] The injection unit (990) can inject compressed air toward the smoke identified by the analysis unit (950).

[0122] The generating unit (970) can instruct re-detection for a specific sensing direction in which smoke was detected after compressed air was injected.

[0123] The generation unit (970) can exclude the detection results for a specific sensing direction obtained before the compressed air injection from the robot's position recognition or map generation because smoke still exists in the sensing direction at this time.

[0124] The generation unit (970) can use the re-detection results for a specific sensing direction obtained after compressed air injection to recognize the location of the robot or to generate a map.

[0125] When an air tank (600) storing compressed air is provided, the replenishment unit can suck in air around the robot and replenish the air tank (600) with the sucked in air. For example, the replenishment unit can include a compression pump that sucks in surrounding air.

[0126] If air containing smoke is replenished into the air tank (600), the compressed air itself injected by the injection unit (990) for the purpose of removing smoke may function as smoke. To resolve this problem, the replenishment unit can replenish the air tank with clean air that does not contain smoke.

[0127] For example, if smoke is not detected in a specific sensing direction for a set period of time through the detection unit (920), the replenishment unit may determine that there is no smoke in the specific sensing direction and replenish the air tank (600) by sucking in air in the specific sensing direction. According to the present embodiment, clean air free of smoke can be replenished to the air tank (600).

[0128] Figure 7 is a flowchart showing the production method of the present invention.

[0129] The generation method of FIG. 7 can be performed by the generation device (900) illustrated in FIG. 1.

[0130] The generation method may include an acquisition step (S 1010), a detection step (S 1020), an injection step (S 1030), a re-detection step (S 1040), and a replenishment step (S 1050).

[0131] The acquisition step (S 1010) can acquire sensing data of the first sensor (910). The acquisition step (S 1010) can be performed by the acquisition unit (930).

[0132] The detection step (S 1020) can detect smoke existing in the sensing direction of the first sensor (910) that recognizes the location of the robot or creates a map around the robot. The detection step (S 1020) can be performed by the detection unit (920) and the analysis unit (950). At this time, the detection unit (920) may include a second sensor for detecting smoke, or may be formed integrally with the first sensor (910). When formed integrally with the first sensor (910), the analysis unit (950) can detect and identify smoke by distinguishing it from an object to be actually measured by using a reception intensity value corresponding to the reception intensity among the sensing data of the first sensor (910).

[0133] The injection step (S 1030) may inject compressed air stored in the air tank (600) toward the smoke when smoke is detected. The injection step (S 1030) may be performed by the injection unit (990).

[0134] The re-detection step (S 1040) may re-perform sensing by the first sensor (910) in the sensing direction in which compressed air is sprayed. The re-detection step (S 1040) may be performed by the analysis unit (950) or the first sensor (910).

[0135] The replenishment step (S 1050) may be performed by sucking air in a specific sensing direction and replenishing the air tank (600) with the sucked air if smoke is not detected for a set period of time in a specific sensing direction. The replenishment step (S 1050) may be performed by a replenishment unit.

[0136] FIG. 8 is a diagram illustrating a computing device according to an embodiment of the present invention. The computing device (TN100) of FIG. 8 may be a device described herein (e.g., a generation device (900), etc.).

[0137] In the embodiment of FIG. 8, the computing device (TN100) may include at least one processor (TN110), a transceiver (TN120), and a memory (TN130). In addition, the computing device (TN100) may further include a storage device (TN140), an input interface device (TN150), an output interface device (TN160), and the like. The components included in the computing device (TN100) may be connected by a bus (TN170) to communicate with each other.

[0138] The processor (TN110) can execute program commands stored in at least one of the memory (TN130) and the storage device (TN140). The processor (TN110) may refer to a central processing unit (CPU), a graphics processing unit (GPU), or a dedicated processor in which methods according to embodiments of the present invention are performed. The processor (TN110) may be configured to implement procedures, functions, methods, etc. described in relation to embodiments of the present invention. The processor (TN110) may control each component of the computing device (TN100).

[0139] The memory (TN130) and the storage device (TN140) can each store various information related to the operation of the processor (TN110). The memory (TN130) and the storage device (TN140) can each be configured with at least one of a volatile storage medium and a non-volatile storage medium. For example, the memory (TN130) can be configured with at least one of a read-only memory (ROM) and a random access memory (RAM).

[0140] The transceiver (TN120) can transmit or receive wired or wireless signals. The transceiver (TN120) can be connected to a network to perform communication.

[0141] Meanwhile, the embodiments of the present invention are not implemented only through the devices and / or methods described so far, but may also be implemented through a program that realizes a function corresponding to the configuration of the embodiments of the present invention or a recording medium on which the program is recorded, and such implementation can be easily implemented by a person skilled in the art to which the present invention pertains based on the description of the embodiments described above.

[0142] Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements made by those skilled in the art using the basic concept of the present invention defined in the following claims also fall within the scope of the present invention.

Claims

1. When a first sensor is provided for the purpose of recognizing the location of the robot or creating a map of the robot's surroundings, An injection unit that injects compressed air along the sensing direction of the first sensor; A generating device including:

2. In paragraph 1, The first sensor includes a lidar sensor that measures the distance to an object that caused the reflected light by irradiating a laser and detecting the reflected light of the laser. The above-mentioned injection unit is a generating device that determines the injection direction of the compressed air according to the irradiation direction of the laser.

3. In paragraph 1, An air tank in which the compressed air is stored, and a nozzle for spraying the compressed air stored in the air tank to the outside are provided. The above nozzle is installed adjacent to the first sensor, A generating device in which the above nozzle is formed to have a spraying direction parallel to the sensing direction.

4. In paragraph 3, The above nozzle is a generating device arranged at a different position from the sensor in the direction of gravity.

5. In paragraph 4, The above nozzle is a generating device positioned within a range of 10 cm or less from the first sensor in the direction of gravity.

6. In paragraph 1, A detection unit is provided to detect smoke present in the sensing direction of the first sensor, The above-mentioned injection unit sprays the compressed air when the smoke is not detected, The above-mentioned injection unit is a generating device that injects the compressed air toward the smoke when the smoke is detected.

7. In paragraph 6, When an air tank is provided in which the compressed air is stored, A replenishment unit is provided to suck in air around the robot and replenish the air tank with the sucked air. The above supplementary unit is a generating device that sucks in air in a specific sensing direction when the smoke is not detected for a set time in a specific sensing direction through the detection unit.

8. In paragraph 1, The first sensor includes a lidar sensor that measures the distance to an object that caused the reflected light by irradiating a laser and detecting the reflected light of the laser. An analysis unit is provided to analyze whether the measured intensity corresponding to the reception intensity value of the above reflected light satisfies the set conditions. The above analysis unit identifies a specific object whose measurement intensity satisfies the above setting conditions as smoke, The above injection unit injects the compressed air toward the smoke identified by the analysis unit, After the compressed air is injected, a generating unit is provided to instruct re-detection of a specific sensing direction in which the smoke is detected. The above generation unit excludes the detection result for the specific sensing direction obtained before the compressed air injection from the position recognition of the robot or the generation of the map, The above generation unit is a generation device that uses the re-detection result for the specific sensing direction obtained after the compressed air injection to recognize the location of the robot or to generate the map.

9. In paragraph 1, An acquisition unit is provided to acquire sensing data in the form of a point cloud from the first sensor, Each point in the above point cloud contains a distance value (range) and an intensity value (intensity). The above distance value includes the time it takes for the laser to be reflected from the target and return, The above intensity value includes the reception intensity of the reflected light reflected from the surface of the object and returned, A generating device having an analysis unit that calculates a reference intensity corresponding to an intensity value for a reference object at a reference distance.

10. In paragraph 9, The above analysis unit calculates a correction intensity corresponding to the intensity value of the reference object for the distance value of each point using the reference intensity and the reference distance, The above analysis unit is a generating device that identifies a point having the measured intensity as the smoke if the measured intensity corresponding to the reception intensity value of the reflected light is smaller than the correction intensity by a difference of a set value or more.

11. In a generation method performed by a generation device, A detection step for detecting smoke present in the sensing direction of a first sensor that recognizes the location of the robot or creates a map around the robot; When the above smoke is detected, an injection step of injecting compressed air stored in an air tank toward the smoke; A re-sensing step for re-performing sensing of the first sensor in the sensing direction in which the compressed air is sprayed; A replenishment step of inhaling air in the specific sensing direction and replenishing the air tank with the inhaled air when the smoke is not detected for a set time in the specific sensing direction; A method of generating a product including:

12. In paragraph 11, The above injection step is a method of generating a compressed air injection when the smoke is not detected.

13. In paragraph 11, When the first sensor includes a lidar sensor that measures the distance to an object that caused the reflected light by irradiating a laser and detecting the reflected light of the laser, The above detection step analyzes whether the measured intensity corresponding to the reception intensity value of the reflected light satisfies the set condition, The above detection step identifies a specific object as smoke whose measured intensity satisfies the above setting conditions, A method of generating compressed air by injecting the compressed air toward the smoke detected by the detection step.

14. In paragraph 13, The above re-detection step excludes the detection results for the specific sensing direction obtained before the compressed air injection from the position recognition of the robot or the generation of the map, The above re-detection step is a generation method that uses the re-detection result for the specific sensing direction obtained after the compressed air injection to recognize the location of the robot or to generate the map.

15. In paragraph 11, The above detection step obtains sensing data in the form of a point cloud from the first sensor, Each point in the above point cloud contains a distance value (range) and an intensity value (intensity). The above distance value includes the time it takes for the laser to be reflected from the target and return, The above intensity value includes the reception intensity of the reflected light reflected from the surface of the object and returned, The above detection step calculates a reference intensity corresponding to the intensity value for a reference object at a reference distance, The above detection step calculates a correction intensity corresponding to the intensity value of the reference object for the distance value of each point using the reference intensity and the reference distance, The above detection step is a generation method for identifying a point having the measured intensity as the smoke if the measured intensity corresponding to the reception intensity value of the reflected light is smaller than the correction intensity by a difference of a set value or more.

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