Object inspection system and method using mobile robot

Abstract

Introduced are an object inspection system and method using a mobile robot, comprising: a mobile robot which moves in a plurality of work areas; and a controller which, on the basis of an inspection schedule for the plurality of work areas, moves the mobile robot to a first work area among the plurality of work areas so as to perform an inspection for the first work area, determines the state of a second work area before the mobile robot reaches the second work area which corresponds to the work area following the first work area according to the inspection schedule, and if the determined state of the second work area does not satisfy a preset condition, adjusts the inspection schedule and reconfigures a moving path of the mobile robot on the basis of the adjusted inspection schedule.

Description

Object inspection system and method using a mobile robot

[0001] The present invention relates to an object inspection system and method using a mobile robot for inspecting an object on which a work process has been performed after performing a work process on the object to be worked on.

[0002]

[0003] Global automakers typically produce millions to tens of millions of vehicles annually, developing a wide range of vehicle specifications to meet customer needs. Furthermore, they are continuously developing production technologies to maximize production efficiency and quality.

[0004] Producing a finished vehicle requires assembling numerous parts. While automation of equipment is progressing, the majority of assembly processes still involve manual assembly, with workers assembling the majority of components by hand. Therefore, the quality of assembly by workers can significantly impact the quality of the vehicle produced. Improving the quality of assembly by workers may be necessary to improve vehicle production quality.

[0005] To improve worker assembly quality, it may be necessary to conduct inspections after the worker's assembly. However, if inspections are performed after vehicle production is complete, individual parts cannot be inspected or defects detected. Therefore, inspections must be performed in real time. However, due to the nature of the manual assembly process, real-time inspections can be difficult due to issues such as worker safety and securing space for inspection equipment.

[0006] Therefore, it is necessary to devise a method to inspect the assembly quality of workers while ensuring their safety.

[0007]

[0008] The matters described as background technology above are only intended to enhance understanding of the background of the present invention, and should not be taken as an admission that they correspond to prior art already known to those skilled in the art.

[0009]

[0010] The present invention has been proposed to solve such problems, and aims to provide a system and method for inspecting an object using a mobile robot, which can inspect an object on which a work process has been performed using a mobile robot capable of moving and controlling the object after performing a work process on the object to be worked on.

[0011]

[0012] The technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned can be clearly understood by a person having ordinary skill in the technical field to which the present invention belongs from the description below.

[0013]

[0014] In order to achieve the above object, the object inspection system using a mobile robot according to the present invention may include: a mobile robot moving to a plurality of work areas; and a controller that moves the mobile robot to a first work area among the plurality of work areas based on an inspection schedule for the plurality of work areas to perform an inspection on the first work area, determines a state of the second work area before reaching a second work area corresponding to a next work area of ​​the first work area according to the inspection schedule, adjusts the inspection schedule if the determined state of the second work area does not satisfy a preset condition, and resets the movement path of the mobile robot based on the adjusted inspection schedule.

[0015] For example, the controller may generate the inspection schedule based on the work schedules for the plurality of work areas, and perform an inspection for the first work area based on the generated inspection schedule.

[0016] For example, the controller may generate the inspection schedule by further considering at least one of the arrangement situation of the plurality of work areas and the movement path of the mobile robot.

[0017] For example, the mobile robot may move to the first work area and take a picture of a workpiece located in the first work area, and the controller may perform an inspection based on an image of the workpiece taken by the mobile robot.

[0018] For example, the controller may determine the status of the second work area based on at least one of the presence or absence of a worker within the second work area and the completion of work performed for the second work area.

[0019] For example, the controller may determine that the state of the second work area does not satisfy a preset condition if the worker is present within the second work area or if work for the second work area has not been completed.

[0020] For example, if the state of the second work area does not satisfy a preset condition, the controller may adjust the inspection schedule based on the remaining work areas among the plurality of work areas, excluding the first work area, so that the next work area of ​​the first work area is a work area other than the second work area.

[0021] For example, the controller may derive a plurality of new inspection schedules based on the remaining work areas, in which the second work area does not correspond to a next work area of ​​the first work area, determine a movement distance to be moved by the mobile robot for each of the derived plurality of new inspection schedules, and adjust the inspection schedule to one new inspection schedule having the shortest determined movement distance.

[0022]

[0023] In addition, a method for inspecting an object using a mobile robot according to the present invention for achieving the above object may include a step of moving a mobile robot to a first work area among a plurality of work areas based on an inspection schedule for the plurality of work areas and performing an inspection on the first work area; a step of determining a state of a second work area before reaching a second work area corresponding to a next work area of ​​the first work area according to the inspection schedule; a step of adjusting the inspection schedule if the determined state of the second work area does not satisfy a preset condition; and a step of resetting a movement path of the mobile robot based on the adjusted inspection schedule.

[0024] For example, the step of performing the inspection may include the step of generating the inspection schedule based on the work schedules for the plurality of work areas; and the step of performing the inspection for the first work area based on the generated inspection schedule.

[0025] For example, the generating step may include a step of generating the inspection schedule by further considering at least one of the arrangement situation of the plurality of work areas and the movement path of the mobile robot.

[0026] For example, the performing step may include a step of photographing a workpiece located in the first work area through the mobile robot that has moved to the first work area; and a step of performing an inspection based on an image of the workpiece photographed by the mobile robot.

[0027] For example, the judging step may include a step of judging the status of the second work area based on at least one of the presence or absence of a worker in the second work area and the completion of work performed for the second work area.

[0028] For example, the judging step may include a step of judging that the state of the second work area does not satisfy a preset condition when the worker is present in the second work area or work performance for the second work area has not been completed.

[0029] For example, the adjusting step may include a step of adjusting the inspection schedule based on the remaining working areas excluding the first working area among the plurality of working areas so that the next working area of ​​the first working area is a working area other than the second working area, if the state of the second working area does not satisfy a preset condition.

[0030]

[0031] *For example, the adjusting step may include: a step of deriving a plurality of new inspection schedules based on the remaining work areas, in which the second work area does not correspond to a next work area of ​​the first work area; a step of determining a movement distance to be moved by the mobile robot for each of the derived plurality of new inspection schedules; and a step of adjusting the inspection schedule to a new inspection schedule having the shortest determined movement distance.

[0032]

[0033] According to the above, the object inspection system and method using a mobile robot of the present invention can inspect an object on which a work process has been performed using a mobile robot in real time, and thus can perform inspection without limitations on securing space.

[0034] In addition, real-time inspection can be performed using a mobile robot, but the safety of workers can be ensured by judging the condition of the work area to be inspected before the mobile robot moves.

[0035]

[0036] FIG. 1 is a block diagram illustrating the configuration of an object inspection system using a mobile robot according to one embodiment of the present invention.

[0037] FIG. 2 is a drawing for explaining an object inspection process using a mobile robot according to one embodiment of the present invention.

[0038] Figures 3 and 4 are drawings for explaining a work schedule and an inspection schedule according to one embodiment of the present invention.

[0039] FIG. 5 is a flowchart for explaining an object inspection method using a mobile robot according to one embodiment of the present invention.

[0040]

[0041] In describing the embodiments disclosed in this specification, detailed descriptions of related known technologies will be omitted if it is determined that such detailed descriptions may obscure the gist of the embodiments disclosed in this specification. In addition, the attached drawings are provided solely to facilitate understanding of the embodiments disclosed in this specification, and the technical concepts disclosed in this specification are not limited by the attached drawings, and should be understood to include all modifications, equivalents, and substitutes included within the spirit and technical scope of the present invention.

[0042] Terms that include ordinal numbers, such as first, second, etc., may be used to describe various components, but the components are not limited by these terms. These terms are used solely to distinguish one component from another.

[0043] When a component is referred to as being "connected" or "connected" to another component, it should be understood that it may be directly connected or connected to that other component, but that there may be other components intervening. Conversely, when a component is referred to as being "directly connected" or "connected" to another component, it should be understood that there are no other components intervening.

[0044] Singular expressions include plural expressions unless the context clearly indicates otherwise.

[0045] In this specification, terms such as “include” or “have” are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in the specification, but should be understood not to exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0046] Additionally, the controller may include a communication device that communicates with other controllers or sensors to control the functions it is responsible for, a memory that stores operating systems or logic commands and input / output information, and one or more processors that perform judgments, calculations, decisions, etc. necessary for controlling the functions it is responsible for.

[0047] Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the attached drawings. Regardless of the drawing numbers, identical or similar components are given the same reference numbers and redundant descriptions thereof will be omitted.

[0048]

[0049] First, the configuration of an object inspection system using a mobile robot according to one embodiment of the present invention will be described with reference to FIGS. 1 and 2.

[0050] FIG. 1 is a block diagram for explaining the configuration of an object inspection system using a mobile robot according to one embodiment of the present invention, and FIG. 2 is a drawing for explaining an object inspection process using a mobile robot according to one embodiment of the present invention.

[0051] First, referring to FIG. 1, an object inspection system using a mobile robot according to an embodiment of the present invention may include a mobile robot (110) and a controller (120) that controls the mobile robot (110). However, the system illustrated in FIG. 1 mainly illustrates components related to one embodiment of the present invention, and it is obvious that an actual system may be implemented by including more or fewer components.

[0052] Each component is described below.

[0053] The mobile robot (110) can move around the workpiece (10) and take pictures of the workpiece (10). At this time, a plurality of work areas (A to D) may be set around the workpiece (10) according to one embodiment of the present invention. The plurality of work areas (A to D) may refer to work areas arbitrarily divided for a worker to perform work based on one workpiece (10). However, this is merely exemplary and the present invention is not necessarily limited thereto. For example, the plurality of work areas may be divided into various shapes depending on the size of the workpiece (10) or the work process.

[0054] Specifically, a worker can perform work according to a set work schedule to complete a workpiece (10), and a mobile robot (110) can move around the workpiece (10) and photograph the work results (e.g., assembly quality) of the workpiece (10) on which the worker performed work according to the work schedule.

[0055] To this end, a mobile robot (110) according to one embodiment of the present invention may be provided with a moving part (not shown) for movement and a photographing device (not shown) for photographing a workpiece (10). For example, the mobile robot (110) may be a quadruped walking robot equipped with a multi-joint arm and a high-resolution camera, but this is merely an example and the present invention is not necessarily limited thereto.

[0056] Meanwhile, in order to facilitate photographing of the workpiece (10) using the mobile robot (110), the workpiece (10) may be provided with a position guidance device that indicates the photographing location of the mobile robot (110). For example, the position guidance device may refer to an optically recognizable marker (e.g., a spot, a 2D code, etc.), a tag that can be non-contact recognized at a close range (e.g., an NFC tag, an RFID tag, etc.), a magnetic strip, a wire, etc., but this is merely an example and is not necessarily limited thereto. The position guidance device provided on the workpiece (10) may be provided in at least one of the plurality of work areas (A to D) described above, and the mobile robot (110) may recognize the position guidance device provided on the workpiece (10) in the plurality of work areas (A to D) and photograph the work result of the workpiece (10) at the corresponding location.

[0057] The controller (120) can control the mobile robot (110) to perform an inspection on the workpiece (10). Specifically, the controller (120) can generate an inspection schedule for the workpiece (10) based on the work schedules for the multiple work areas (A to D). In this case, the inspection schedule may refer to an inspection schedule for the multiple work areas (A to D). This will be described with reference to FIGS. 3 and 4.

[0058]

[0059] Figures 3 and 4 are drawings for explaining a work schedule and an inspection schedule according to one embodiment of the present invention.

[0060] FIG. 3 may refer to a work schedule for a plurality of work areas (A to D) provided from a work management system (200) according to one embodiment of the present invention. For example, the work schedule may be generated through an algorithm provided in the work management system (200), and it goes without saying that various work schedules may be generated depending on the workpiece (10) or the plurality of work areas (A to D).

[0061] Meanwhile, in order to perform an inspection on a workpiece (10) in a controller (120) according to one embodiment of the present invention, a mobile robot (110) must move around a plurality of work areas (A to D) and photograph the results of the work performed on the workpiece (10). However, a work schedule can be generated through an algorithm that takes into account the movement path of a worker performing the work and the status of parts supply for the workpiece (10), and if the mobile robot (110) is moved to perform an inspection according to this work schedule, the mobile robot (110) may move inefficiently, which may increase the inspection time.

[0062] Accordingly, the controller (120) can create a new inspection schedule based on the work schedule to perform an inspection using the mobile robot (110). That is, the controller (120) can create an inspection schedule suitable for the mobile robot (110) to ensure efficient movement of the mobile robot (110).

[0063] To this end, the controller (120) can receive work schedules for multiple work areas (A to D) from the work management system (200), and can generate an inspection schedule as illustrated in FIG. 4 using the inspection schedule compilation algorithm provided in the controller (120) based on the received work schedule. At this time, the inspection schedule compilation algorithm may be an algorithm that takes the work schedule as an input value, and takes the inspection schedule as an output value by further considering at least one of the input value and the arrangement situation of the multiple work areas (A to D) and the movement path of the mobile robot (110).

[0064] As illustrated in FIG. 4, the inspection schedule is generated by considering the arrangement of multiple work areas (A to D) and the movement path of the mobile robot (110), and may be generated regardless of the work order of the work schedule. However, the work schedule and inspection schedule described above with reference to FIGS. 3 and 4 are exemplary and should not be construed as being limited thereto.

[0065]

[0066] Returning to FIGS. 1 and 2 again, when an inspection schedule is generated, the controller (120) can perform an inspection on the workpiece (10) using the mobile robot (110) based on the generated inspection schedule. For example, it is assumed that the inspection schedule generated based on the work schedule is generated in the order of work area A -> work area B -> work area C -> work area D for multiple work areas (A to D).

[0067] The controller (120) can move the mobile robot (110) to the first work area (e.g., work area A) where inspection should be performed first among a plurality of work areas based on the generated inspection schedule, and perform an inspection on the first work area. At this time, the controller (120) can determine the current location of the mobile robot (110) and the location of the first work area. In addition, the controller (120) can set a movement path connecting the start and destination locations by using the current location of the mobile robot (110) as a starting point and the location of the first work area as a destination. The controller (120) can control the mobile robot (110) to move to the first work area by transmitting the set movement path to the mobile robot (110).

[0068] When the mobile robot (110) arrives at the first work area, the mobile robot (110) can recognize the position guidance device provided in the first work area and take a picture of the workpiece (10). Specifically, the mobile robot (110) can take an image of the workpiece (10) located in the first work area. The controller (120) can receive the image taken by the mobile robot (110) and perform an inspection on the work performance result based on the image. For example, the controller (120) may store reference images of the workpiece (10) corresponding to a plurality of work areas, and the controller (120) can correct errors in the taken images using the previously stored reference images and the images taken by the mobile robot (110). In addition, the controller (120) can extract an image of a part to be inspected from the error-corrected image, and perform a deep learning inspection based on the extracted image to make a pass / fail judgment on the work performance result of the corresponding part. However, the inspection process of the controller (120) described above is exemplary and is not necessarily limited thereto.

[0069]

[0070] In addition, the controller (120) can determine the status of the second work area before the mobile robot (110) reaches the second work area (e.g., work area B) corresponding to the next work area of ​​the first work area according to the inspection schedule. At this time, before the mobile robot (110) reaches the second work area may mean the time when the mobile robot (110) is taking a picture of the workpiece (10) in the first work area, or may mean the time when the mobile robot (110) is moving to the second work area after finishing taking a picture in the first work area.

[0071] And, the controller (120) can determine the status of the second work area based on at least one of the presence or absence of a worker in the second work area and the completion of work for the second work area. For example, the worker can transmit the current work location or the completion of the current work to the work management system (200) using the wireless communication terminal that the worker is carrying while performing the work. The work management system (200) can provide the controller (120) with the worker's location tracking information or information on the completion of the work, and the controller (120) can determine the presence or absence of a worker in the second work area or the completion of work for the second work area based on the information provided from the work management system (200). However, this is merely an example and is not necessarily limited thereto. For example, the presence or absence of a worker in the second work area can also be determined by receiving information from a detection sensor (not shown) installed near the second work area and detecting the worker.

[0072] Next, the controller (120) can determine whether the determined state of the second work area satisfies a preset condition. For example, the controller (120) can set a preset condition when there is no worker present in the second work area or when work has been completed. Accordingly, based on the determined state of the second work area, the controller (120) can determine that the preset condition is not satisfied when there is a worker present in the second work area or when work has not been completed in the second work area.

[0073] If the status of the second work area does not satisfy the preset conditions, the controller (120) can adjust the inspection schedule. Specifically, the controller (120) can adjust the inspection schedule based on the remaining work areas (B to D) excluding the first work area (work area A) among the plurality of work areas (A to D) so that the next work area of ​​the first work area is a work area other than the second work area.

[0074] For example, referring to FIG. 2, when the inspection of the first work area (e.g., work area A) is completed according to the initially generated inspection schedule, the mobile robot (110) can move to the next work area, the second work area (e.g., work area B), and perform photography. However, if the mobile robot (110) moves to the second work area according to the existing inspection schedule even when the worker is still present in the second work area or the work is not completed, it may be difficult to ensure the safety of the worker's work environment due to the mobile robot (110), and there is a concern that the reliability of the inspection may be reduced by performing the inspection even when the work is not completed. Accordingly, the controller (120) can determine the status of the second work area, and if the status of the second work area does not satisfy the preset conditions, the inspection schedule can be adjusted.

[0075] Adjustment of the inspection schedule can be performed through an inspection schedule reorganization algorithm provided in the controller (120). The inspection schedule reorganization algorithm may be a different algorithm from the inspection schedule composition algorithm described above. However, this is merely exemplary and the present invention is not necessarily limited thereto. For example, the inspection schedule reorganization algorithm may be the same algorithm as the inspection schedule composition algorithm, but the factors considered to derive different output values ​​may be changed.

[0076] Meanwhile, as the controller (120) adjusts the existing inspection schedule, the next work area of ​​the first work area (e.g., work area A) may be work area C or work area D. That is, a plurality of new inspection schedules may be derived in which the second work area (e.g., work area B) that does not satisfy the preset conditions based on the remaining work areas (B to D) of the controller (120) does not correspond to the next work area of ​​the first work area (e.g., work area A). For example, the plurality of new inspection schedules may be derived as a first new inspection schedule in the order of work area C -> work area D -> work area B, a second new inspection schedule in the order of work area C -> work area B -> work area D, a third new inspection schedule in the order of work area D -> work area C -> work area B, and a fourth new inspection schedule in the order of work area D -> work area B -> work area C.

[0077] When multiple new inspection schedules are derived, the controller (120) can determine the movement distance that the mobile robot (110) will move for each of the multiple derived new inspection schedules. Since the present invention aims to perform inspection on a workpiece (10) by efficiently utilizing the mobile robot (110), it may be necessary to allow the mobile robot (110) to move along an optimal path. Accordingly, the controller (120) can determine the movement distance that the mobile robot (110) will move for each of the multiple new inspection schedules, and select one new inspection schedule with the shortest distance among the determined movement distances.

[0078] In addition, the controller (120) can adjust the existing inspection schedule according to the selected new inspection schedule, and can reset the movement path of the mobile robot (110) based on the adjusted inspection schedule. When performing an inspection based on the existing inspection schedule, the controller (120) can set movement paths for a plurality of work areas according to the existing inspection schedule. In addition, the controller (120) can transmit the set movement path to the mobile robot (110) so that the mobile robot (110) moves along the set movement path. That is, since the movement path also changes when the inspection schedule is changed, the changed movement path must be transmitted to the mobile robot (110) in order to control the mobile robot (110) according to the change in the inspection schedule.

[0079] Accordingly, the controller (120) can transmit the reset movement path back to the mobile robot (110), thereby allowing the mobile robot (110) to take pictures of the workpiece (10) while moving along the reset movement path. In addition, the controller (120) can repeatedly perform the process of resetting the movement path of the mobile robot (110) described above.

[0080]

[0081] On the other hand, if the state of the second work area satisfies the preset condition, the controller (120) can cause the mobile robot (110) to move to the second work area along the movement path according to the existing inspection schedule so that the inspection can be performed according to the existing inspection schedule. At this time, the mobile robot (110) can determine whether there is an obstacle approaching the mobile robot (110) through a sensor (not shown) equipped in the mobile robot (110) while moving from the first work area to the second work area. In particular, the mobile robot (110) can measure the duration for which the obstacle is sensed using the sensor, and if the duration is longer than the preset reference time, it can be determined that movement to the second work area is impossible due to the obstacle. At this time, the controller (120) can adjust the existing inspection schedule to turn the mobile robot (110) to another work area. In this case, the process of adjusting the inspection schedule and resetting the movement path as described above can be performed.

[0082] However, if the duration sensed by the sensor of the mobile robot (110) is less than the preset reference time, the mobile robot (110) may determine that it is a temporary obstacle and perform its own evasive maneuver while moving to the second work area according to the existing inspection schedule. In this case, the mobile robot (110) may arrive at the second work area and perform an inspection using the mobile robot (110).

[0083]

[0084] Meanwhile, the controller (120) according to one embodiment of the present invention may be a server that generates an inspection schedule using an inspection schedule organizing algorithm or an inspection schedule reorganization algorithm and performs an inspection using a mobile robot (110) according to the inspection schedule. However, this is merely exemplary and the present invention is not necessarily limited thereto. For example, the functions of the above-described controller (120) may be performed on a single server, but the functions may also be performed in a separate form on multiple servers.

[0085]

[0086] Hereinafter, a method for inspecting an object using a mobile robot according to one embodiment of the present invention will be described with reference to FIG. 5, based on the object inspection system using a mobile robot described above with reference to FIGS. 1 to 2. Meanwhile, a detailed description of each step is omitted below, as it has been described above with reference to FIGS. 1 to 4.

[0087] FIG. 5 is a flowchart for explaining an object inspection method using a mobile robot according to one embodiment of the present invention.

[0088] Referring to FIG. 5, the controller (120) can generate an inspection schedule based on work schedules for multiple work areas (S510).

[0089] In addition, the controller (120) can control the mobile robot (110) to move to a first work area among multiple work areas based on the generated inspection schedule (S520). When the mobile robot (110) moves to the first work area, the mobile robot (110) can photograph the workpiece (10) located in the first work area, and the controller (120) can perform an inspection using the image photographed by the mobile robot (110) (S530).

[0090] After performing an inspection on a workpiece (10) located in the first work area, the controller can determine the status of the second work area, which is the next work area after the first work area (S540). Although step S540, which determines the status of the second work area, is described as being performed after the inspection, this is merely exemplary, and it is of course possible for step S540 to be performed simultaneously with step S530.

[0091] The controller (120) can determine whether the state of the second work area satisfies the preset conditions (S550), and if the state of the second work area does not satisfy the preset conditions (No in S550), the controller (120) can adjust the previously generated inspection schedule (S560). Then, the controller (120) can reset the movement path of the mobile robot (110) based on the adjusted inspection schedule (S570). If the movement path is reset, the process after step S520 can be repeatedly performed.

[0092] If the state of the second work area satisfies the preset conditions (Yes in S550), the controller (120) can control the mobile robot (110) to move along the set movement path according to the pre-generated inspection schedule (S580). When the mobile robot (110) moves according to the pre-generated inspection schedule and arrives at the next work area, the process from step S530 onward can be repeated.

[0093]

[0094] According to the above, the object inspection system and method using a mobile robot of the present invention can inspect an object on which a work process has been performed using a mobile robot in real time, and thus can perform inspection without limitations on securing space.

[0095] In addition, real-time inspection can be performed using a mobile robot, but the safety of workers can be ensured by judging the condition of the work area to be inspected before the mobile robot moves.

[0096]

[0097] Although the present invention has been illustrated and described with respect to specific embodiments thereof, it will be apparent to those skilled in the art that the present invention may be variously improved and modified without departing from the technical spirit of the invention as defined by the claims below.

[0098] The present invention described above can be implemented as computer-readable code on a medium having a program recorded thereon. Computer-readable media include all types of recording devices that store data that can be read by a computer system. Examples of computer-readable media include hard disk drives (HDDs), solid-state disks (SSDs), silicon disk drives (SDDs), ROMs, RAMs, CD-ROMs, magnetic tapes, floppy disks, and optical data storage devices. Therefore, the above detailed description should not be construed as limiting in any respect, but rather as illustrative. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present invention are intended to be included within the scope of the present invention.

[0099]

[0100] [Explanation of symbols]

[0101] 10: Work

[0102] 110: Mobile Robot

[0103] 120: Controller

[0104] 200: Task Management System

Claims

1. A mobile robot that moves through multiple work areas; and An object inspection system using a mobile robot, comprising: a controller configured to move the mobile robot to a first work area among the plurality of work areas based on an inspection schedule for the plurality of work areas and perform an inspection on the first work area; determine a state of the second work area before the mobile robot reaches a second work area corresponding to a next work area of ​​the first work area according to the inspection schedule; and adjust the inspection schedule if the determined state of the second work area does not satisfy a preset condition, and reset the movement path of the mobile robot based on the adjusted inspection schedule.

2. In claim 1, The above controller An object inspection system using a mobile robot, characterized in that the inspection schedule is generated based on work schedules for the plurality of work areas, and an inspection for the first work area is performed based on the generated inspection schedule.

3. In claim 2, The above controller An object inspection system using a mobile robot, characterized in that the inspection schedule is generated by further considering at least one of the arrangement situations of the plurality of work areas and the movement path of the mobile robot.

4. In claim 1, The above mobile robot moves to the first work area and takes a picture of the workpiece located in the first work area, An object inspection system using a mobile robot, characterized in that the controller performs an inspection based on an image of the workpiece captured by the mobile robot.

5. In claim 1, The above controller An object inspection system using a mobile robot, characterized in that the state of the second work area is determined based on at least one of the presence or absence of a worker in the second work area and the completion of work performed for the second work area.

6. In claim 5, The above controller An object inspection system using a mobile robot, characterized in that the state of the second work area is determined to not satisfy a preset condition when the worker is present in the second work area or work for the second work area has not been completed.

7. In claim 1, The above controller An object inspection system using a mobile robot, characterized in that if the state of the second work area does not satisfy a preset condition, the inspection schedule is adjusted based on the remaining work areas excluding the first work area among the plurality of work areas so that the next work area of ​​the first work area is a work area other than the second work area.

8. In claim 7, The above controller An object inspection system using a mobile robot, characterized in that the system derives a plurality of new inspection schedules based on the remaining work areas, in which the second work area does not correspond to a next work area of ​​the first work area, determines a moving distance to be moved by the mobile robot for each of the derived plurality of new inspection schedules, and adjusts the inspection schedule to one new inspection schedule in which the determined moving distance has the shortest distance.

9. A step of moving a mobile robot to a first work area among the plurality of work areas based on an inspection schedule for the plurality of work areas and performing an inspection for the first work area; A step of determining the status of the second work area before the mobile robot reaches the second work area corresponding to the next work area of ​​the first work area according to the inspection schedule; A step of adjusting the inspection schedule if the status of the second work area determined above does not satisfy the preset conditions; and A method for inspecting an object using a mobile robot, comprising: a step of resetting a movement path of the mobile robot based on the adjusted inspection schedule.

10. In claim 9, The steps to perform the above test are: A step of generating the inspection schedule based on the work schedule for the plurality of work areas; and A method for inspecting an object using a mobile robot, characterized by comprising: a step of performing an inspection on the first work area based on the generated inspection schedule.

11. In claim 10, The above generating steps are A method for inspecting an object using a mobile robot, characterized by comprising: a step of generating the inspection schedule by further considering at least one of the arrangement situations of the plurality of work areas and the movement path of the mobile robot.

12. In claim 9, The steps performed above are A step of photographing a workpiece located in the first work area through the mobile robot that has moved to the first work area; and A method for inspecting an object using a mobile robot, characterized by comprising: a step of performing an inspection based on an image of the workpiece captured by the mobile robot.

13. In claim 9, The above judging steps are A method for inspecting an object using a mobile robot, characterized by comprising: a step of determining a state of the second work area based on at least one of the presence or absence of a worker in the second work area and the completion of work performed for the second work area.

14. In claim 13, The above judging steps are A method for inspecting an object using a mobile robot, characterized by including a step of determining that the state of the second work area does not satisfy a preset condition when the worker is present in the second work area or work performance for the second work area has not been completed.

15. In claim 9, The above adjustment steps are A method for inspecting an object using a mobile robot, characterized in that it comprises a step of adjusting the inspection schedule based on the remaining work areas excluding the first work area among the plurality of work areas so that, if the state of the second work area does not satisfy a preset condition, the next work area of ​​the first work area is a work area other than the second work area.

16. In claim 15, The above adjustment steps are A step of deriving a plurality of new inspection schedules based on the remaining work areas, wherein the second work area does not correspond to a next work area of ​​the first work area; A step of determining the moving distance to be moved by the mobile robot for each of the plurality of new inspection schedules derived above; and A method for inspecting an object using a mobile robot, characterized by comprising: a step of adjusting the inspection schedule to a new inspection schedule having the shortest distance among the determined moving distances;

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