Unmanned moving object positioning correction system using distance detection sensor, and method therefor

Abstract

The purpose of the present invention is to provide an unmanned moving object positioning correction system using a distance detection sensor, and an unmanned moving object positioning correction method using the system, the system comprising: a distance sensing unit which senses the distance to an adjacent object during the traveling of an unmanned moving object, and which transmits the sensed detection data; a traveling-management unit, which receives the detection data so as to determine the position of the unmanned moving object, analyzes the accuracy of the determined positioning information so as to determine whether to correct the positioning information, and generates and transmits a driving-control signal of the unmanned moving object; and an unmanned moving object management unit which receives the detection data from the distance sensing unit so as to transmit same to the traveling-management unit, receives the driving-control signal from the traveling-management unit so as to control the driving of the unmanned moving object, generates work schedule information of the unmanned moving object, and compares the generated work schedule information to the driving-control signal so as to control the driving of the unmanned moving object on the basis of high priority information / signal.

Description

Positioning correction system for an unmanned vehicle using a distance detection sensor and method therefor

[0001] The present invention relates to a system and method for correcting the positioning of an unmanned vehicle using a distance detection sensor that can improve the accuracy of the positioning of an unmanned vehicle that determines its position through camera-based SLAM (Simultaneous Localization and Mapping).

[0002] In general, unmanned vehicles including mobile robots have a large output error in the angular velocity sensor that detects changes in driving direction due to environmental changes such as ambient temperature or vibration. In such cases, the output error of the angular velocity sensor must be compensated using an absolute position indicator or a geomagnetic direction sensor, so there was a problem that the configuration was complex and the compensation work took a lot of time.

[0003] Accordingly, various methods are being developed to calculate the position of unmanned vehicles using lidar to ensure safe movement of unmanned vehicles.

[0004] However, in the case of calculating the position of an unmanned vehicle using lidar, there were problems such as the high cost of lidar, vulnerability to external obstacles such as smoke, and the short lifespan of lidar, which inevitably leads to increased management costs.

[0005] Meanwhile, for some unmanned vehicles, there was a problem in that the situations in which location determination could be calculated based on lidar were limited.

[0006] For example, in the case of first responders in disaster situations such as fires, there may be situations where the accuracy of the lidar is reduced due to smoke and dust.

[0007] In addition, in the case of calculating the position of an unmanned vehicle using a camera, there was an advantage in that the camera management cost was lower than that of a lidar and its lifespan was longer, but there was a problem in that the accuracy was lower than that of a lidar.

[0008] The background technology or prior art described herein is merely intended to help understand the technical significance of the present invention, and does not mean technology widely known in the technical field to which the present invention belongs prior to the filing of the present invention.

[0009] [Prior Art Literature]

[0010] [Patent Document]

[0011] (Patent Document 1) Republic of Korea Publication No. 10-2023-0128683

[0012] The technical problem to be achieved by the present invention is to provide a system and method for correcting the positioning of an unmanned vehicle using a distance detection sensor that can improve the accuracy of the positioning of an unmanned vehicle that performs positioning through SLAM.

[0013] In addition, the present invention aims to provide a system and method for positioning correction of an unmanned vehicle using a distance detection sensor, which can improve the accuracy of positioning of an unmanned vehicle using a distance detection sensor instead of an expensive rotary lidar, thereby reducing the cost of a positioning system for an unmanned vehicle.

[0014] In addition, the present invention aims to provide a system and method for correcting positioning of an unmanned vehicle using a distance detection sensor that can be used for a long time by acquiring positioning data only when performing positioning in order to extend the life of the distance detection sensor.

[0015] In addition, the present invention aims to provide a system and method for correcting the positioning of an unmanned vehicle using a distance detection sensor, which can prevent errors such as delays or arbitrary cancellations of tasks to be performed by an unmanned vehicle by giving priority to positioning according to the importance of the work schedule of the unmanned vehicle.

[0016] However, the purpose of the present invention is not limited thereto, and it is obvious that the purpose or effect that can be understood from the solution or embodiment of the problem even if not explicitly mentioned is also included.

[0017] In order to solve these problems, the present invention provides a system for positioning correction of an unmanned vehicle using a distance detection sensor, the system comprising: a distance detection unit for detecting a distance to a surrounding object while the unmanned vehicle is driving, and transmitting the detected detection data; a driving management unit for receiving the detection data, determining the location of the unmanned vehicle, analyzing the accuracy of the determined positioning information, determining whether to correct the positioning information, and generating and transmitting a driving control signal for the unmanned vehicle; and an unmanned vehicle management unit for receiving the detection data from the distance detection unit, transmitting it to the driving management unit, receiving a driving control signal from the driving management unit, controlling the driving of the unmanned vehicle, generating work schedule information of the unmanned vehicle, and comparing the generated work schedule information with the driving control signal to control the driving of the unmanned vehicle based on information / signal having a higher priority.

[0018] In one embodiment, the driving management unit of the positioning correction system for an unmanned vehicle using a distance detection sensor is characterized by including: a positioning and mapping unit that generates positioning information and new map information of the unmanned vehicle based on SLAM (Simultaneous Localization And Mapping) based on detection data transmitted from the unmanned vehicle management unit; a driving control unit that analyzes the accuracy of the positioning information and the new map information, and generates and transmits a position correction control signal for position correction of the unmanned vehicle; a driving command generation unit that receives the position correction control signal, generates a driving control signal of the unmanned vehicle corresponding to the position correction control signal, and transmits the generated driving control signal to the unmanned vehicle management unit; a database in which data generated through the distance detection unit, the driving management unit, and the unmanned vehicle management unit are stored; and an abnormal data removal unit that processes abnormal data from data stored in the database.

[0019] In one embodiment, the driving control unit of the positioning correction system for an unmanned vehicle using a distance detection sensor is characterized in that, when the threshold value of the SLAM quality of the positioning information is lower than a set SLAM real value, the driving control unit generates the positioning correction control signal and transmits it to the driving command generation unit.

[0020] In one embodiment, the driving control unit of the positioning correction system for an unmanned vehicle using a distance detection sensor receives quality threshold information for detection data from the unmanned vehicle management unit, and generates the position correction control signal and transmits it to the driving command generation unit only when the received quality threshold information is lower than a set SLAM real number.

[0021] In one embodiment, the drive command generation unit of the positioning correction system for an unmanned vehicle using a distance detection sensor is characterized in that, when transmitting a drive control signal for the position correction control signal to the unmanned vehicle management unit, priority information for the drive control signal is generated and transmitted together with the drive control signal.

[0022] In one embodiment, the unmanned vehicle management unit of the positioning correction system for an unmanned vehicle using a distance detection sensor includes: a data acquisition unit that receives detection data detected by the distance detection unit and transmits the received detection data to the driving management unit; a driving control unit that corrects the position of the unmanned vehicle when a driving control signal is received from the driving management unit; and a schedule management unit that compares the work schedule information of the unmanned vehicle with priority information of the driving control signal to generate driving priority list information of the unmanned vehicle, and shares the driving priority list information with the driving control unit.

[0023] In one embodiment, the data acquisition unit of the positioning correction system for an unmanned vehicle using a distance detection sensor is characterized in that it periodically generates quality threshold information for the detection data at regular intervals and transmits the information to the driving management unit.

[0024] In one embodiment, the drive control unit of the positioning correction system for an unmanned vehicle using a distance detection sensor is characterized in that, when the drive control signal is received, the drive control unit checks the importance of information on the work being performed by the unmanned vehicle, and, if the priority of the work currently being performed is higher than the position correction work of the unmanned vehicle, the drive control unit controls the position correction to be performed after the work being performed is completed.

[0025] In one embodiment, the distance detection unit of the positioning correction system for an unmanned vehicle using a distance detection sensor is characterized in that it is configured as a single-channel sensor module or a multi-channel sensor module composed of at least two or more modules.

[0026] In another embodiment, a method for positioning correction using a positioning correction system for an unmanned vehicle comprises the steps of: (a) obtaining sensing data including distance information and image information between an unmanned vehicle and an object through a distance sensing unit; (b) generating positioning information and new map information of the unmanned vehicle based on SLAM (Simultaneous Localization And Mapping) based on the sensing data by a positioning and mapping unit of a driving management unit; (c) analyzing the positioning information and new map information by a driving control unit of the driving management unit to generate a positioning correction control signal for the unmanned vehicle and transmitting the generated positioning correction control signal to a driving command generation unit; (d) generating a driving control signal for the unmanned vehicle by the driving command generation unit that receives the positioning correction control signal and transmitting the generated signal to a driving control unit of the unmanned vehicle management unit; (e) correcting the position of the unmanned vehicle according to the control of the driving control unit.

[0027] In another embodiment, in a positioning correction method using a positioning correction system for an unmanned vehicle, the step (c) is characterized in that the positioning correction control signal is generated only when the threshold value of the SLAM quality of the positioning information is lower than a set SLAM real value.

[0028] In another embodiment, in a positioning correction method using a positioning correction system for an unmanned vehicle, the step (e) is characterized by including: (e1) a step of checking whether work devices are in operation; (e2) a step of checking work priority information for work schedule information generated by a schedule management unit when the work priority information of the work devices is higher than the priority information of the drive control signal; (e3) a step of controlling to continue performing a currently performed task when the work priority information of the work devices is higher than the priority information of the drive control signal, and a step of stopping the currently performed task when the work priority information is lower than the priority information of the drive control signal; (e4) a step of controlling a driving means to correct the position of the unmanned vehicle when the stoppage of the task is completed.

[0029] In another embodiment, in a positioning correction method using a positioning correction system for an unmanned vehicle, after step (e), a data purification step (f) is further performed to analyze data stored in the database of the driving management unit to determine whether or not abnormal data exists, and to process the abnormal data if present.

[0030] In addition to the technical problems of the present invention mentioned above, other features and advantages of the present invention are described below or may be clearly understood by a person skilled in the art to which the present invention pertains from such description and explanation.

[0031] According to the present invention as described above, the following effects are achieved.

[0032] The positioning correction system and method for an unmanned vehicle using a distance detection sensor according to the present invention have the effect of improving the accuracy of positioning of an unmanned vehicle that performs positioning through SLAM.

[0033] The positioning correction system and method for an unmanned vehicle using a distance detection sensor according to the present invention can improve the accuracy of positioning of an unmanned vehicle using a distance detection sensor by replacing an expensive rotary lidar, thereby reducing the cost of a positioning system for an unmanned vehicle.

[0034] The positioning correction system and method for an unmanned vehicle using a distance detection sensor according to the present invention have the effect of enabling long-term use by acquiring positioning data only when performing positioning in order to extend the life of the distance detection sensor.

[0035] The system and method for correcting the positioning of an unmanned vehicle using a distance detection sensor according to the present invention have the effect of preventing errors such as delays or arbitrary cancellations of work to be performed by an unmanned vehicle by assigning priorities to positioning according to the importance of the work schedule of the unmanned vehicle.

[0036] In addition, the various advantageous advantages and effects of the present invention are not limited to the above-described contents, and will be more easily understood in the process of explaining specific embodiments of the present invention.

[0037] FIG. 1 is a schematic drawing of an unmanned vehicle equipped with a positioning correction system for an unmanned vehicle using a distance detection sensor according to one embodiment of the present invention;

[0038] Figures 2 to 4 are schematic drawings showing the coupling state of a distance detection unit including a distance detection sensor and an unmanned vehicle according to one embodiment of the present invention.

[0039] Figures 5 to 7 are schematic diagrams illustrating a state of acquiring positioning information through a positioning correction system of an unmanned vehicle according to one embodiment of the present invention.

[0040] Figure 8 is a block diagram showing a positioning correction system for an unmanned vehicle according to one embodiment of the present invention.

[0041] FIG. 9 and FIG. 10 are flowcharts showing a process of positioning an unmanned vehicle using a positioning correction system for an unmanned vehicle according to one embodiment of the present invention.

[0042] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. First, when assigning reference numerals to components in each drawing, it should be noted that, where possible, identical components are assigned the same numerals even if they are shown in different drawings.

[0043] In addition, it should be noted that the technical terms used in describing the present invention are only used to describe specific embodiments and are not intended to limit the present invention. If a specific description of a related known configuration or function is determined to obscure the gist of the present invention, the detailed description will be omitted. In addition, in describing the present invention, general terms used should be interpreted according to their dictionary definitions or according to the preceding and following context, and should not be interpreted in an excessively narrow sense. In addition, when a technical term used is an incorrect technical term that does not accurately express the spirit of the present invention, it should be replaced with a technical term that can be correctly understood by a person skilled in the art.

[0044] In addition, in describing the present invention, terms such as “include,” “comprise,” or “have,” unless specifically stated to the contrary, mean that the corresponding component may be included, and should not be construed to necessarily include all components or multiple steps, and some of the components or some steps may not be included, or may further include additional components or steps, and all terms including technical or scientific terms have the same meaning as commonly understood by a person of ordinary skill in the art to which the present invention belongs, unless defined otherwise.

[0045] Additionally, in describing the components of the present invention, identification codes such as first, second, A, B, (a), (b), etc. may be used. These identification codes are intended to distinguish the components from other components and are used only for the convenience of description, and the nature, order, or sequence of the components are not limited by the identification codes.

[0046] In addition, the suffixes "module" and "part" used for components in this specification are given or used interchangeably only for the convenience of writing the specification, and do not have distinct meanings or roles in themselves.

[0047] Additionally, some of the operations or functions described as being performed by a terminal, apparatus, or device in the present invention may instead be performed by a server connected to the terminal, apparatus, or device. Similarly, some of the operations or functions described as being performed by a server may also be performed by a terminal, apparatus, or device connected to the server.

[0048] In addition, in the present invention, the terminal, apparatus or device may refer to not only mobile devices such as smartphones, tablet PCs, wearable devices and HMDs (Head Mounted Displays), but also fixed terminals, apparatuses or devices equipped with PC or display functions, or devices capable of operating applications, and is not limited to a specific type.

[0049] [Explanation of symbols]

[0050] 10: Unmanned vehicle 20: Driving means

[0051] 30: Drive means 32: Motor

[0052] 34: Drive frame 36: Rotating support frame

[0053] 40: Camera 50: Manipulator

[0054] 100: Distance detection unit 200: Driving management unit

[0055] 210: Positioning and Mapping Section 220: Abnormal Data Removal Section

[0056] 230: Driving control unit 240: Driving command generation unit

[0057] 250: Database 300: Unmanned Vehicle Management Department

[0058] 310: Data acquisition unit 320: Drive control unit

[0059] 330: Schedule Management Department

[0060] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

[0061] As illustrated, the positioning correction system of an unmanned vehicle using a distance detection sensor of the present invention is configured in the driving means (30) of the unmanned vehicle (10), and includes a distance detection unit (100) that detects the distance to surrounding objects when the unmanned vehicle is driven and transmits the detected distance information to the unmanned vehicle management unit (300), a driving management unit (200) that receives data transmitted from the unmanned vehicle management unit (300) to perform positioning and mapping of the unmanned vehicle (10), analyzes the accuracy of the positioning information to determine whether the positioning information is corrected, generates a driving control signal of the driving means (30) and transmits it to the unmanned vehicle management unit (300), and transmits the distance information received from the distance detection unit (100) to the driving management unit (2000), receives a driving control signal from the driving management unit (200) to control the driving of the driving means (30), and generates work schedule information of the unmanned vehicle and transmits it to the driving management unit (200). It is composed of an unmanned vehicle management unit (300).

[0062] At this time, the unmanned vehicle (10) may include a flying, ship-type, or underwater unmanned vehicle (10), and may include a driving means (20) for moving the unmanned vehicle (10) and a driving means (30) for driving the driving means (20), and may have a driving management unit (200) and an unmanned vehicle management unit (300) built in.

[0063] In addition, the driving means (20) of the unmanned vehicle (10) may be configured with a conventional robot driving structure for rotational operation of the wheel, operation of the N-legged multi-joint robot arm, and orbital cloud operation, and the driving means (30) may be configured to include a conventional motor (32), a driving frame (34) in which rotational operation is performed by the motor (32), and a rotational support frame (36) that supports the rotational operation of the driving frame (34).

[0064] Meanwhile, the unmanned mobile device (10) of the present invention may be equipped with either a camera module (40) or a manipulator (50), or both, on the drive frame (34).

[0065]

[0066] The distance detection unit (100) is configured in the driving means (30) of the unmanned vehicle (10), and is preferably coupled to the driving frame (34) of the driving means (30) to detect the distance between an object including a wall or object in an indoor space and the unmanned vehicle (10), generate distance information, and transmit the generated distance information to the unmanned vehicle management unit (300).

[0067] This distance detection unit (100) may be configured as a single-channel sensor module comprising a single detection means for detecting the distance between an unmanned vehicle (10) and an object, or as a multi-channel sensor module comprising at least two or more detection means.

[0068] The distance detection unit (100) of the present invention may include a sensor capable of obtaining distance data, such as a PSD sensor, a TOF sensor, an ultrasonic sensor, a fixed lidar sensor, a vision camera, and a depth camera.

[0069] In addition, when the driving means (30) is driven by the driving control unit (320) to be described later, the distance detection unit (100) of the present invention can detect the distance between an object including a wall or object in an indoor space and an unmanned vehicle (10), generate distance information, and transmit the generated distance information to the data acquisition unit (310) of the unmanned vehicle management unit (300).

[0070] In addition, the distance detection unit (100) of the present invention can collect image information about an indoor space when the driving means (30) is driven, and can transmit the collected image information to the data acquisition unit (310).

[0071] As shown in FIG. 2, the distance detection unit (100) of the present invention may be configured as one, or at least two or more, in the driving frame (34).

[0072] Meanwhile, in the present invention, as illustrated in FIG. 3, when the driving means (30) is configured with a plurality of independent motors (32), the driving frame (34) may also be configured with a first driving frame (34a) and a second driving frame (34b). In this case, the second driving frame (34b) may be configured on top of the first driving frame (34a).

[0073] Here, the distance detection unit (100) may be configured as first and second distance detection units (100a, 100b) so as to be coupled to the first and second driving frames (34a, 34b), respectively, and when detecting the initial distance, the first and second distance detection units (100a, 100b) may be configured to be positioned in the same direction or angle.

[0074] In addition, as shown in FIG. 4, when the manipulator (50) is mounted on the driving frame (34), the distance detection unit (100) may be coupled to each of the driving frame (34) and the manipulator (50), or the distance detection unit (100) may be coupled only to the manipulator (50).

[0075]

[0076] The driving management unit (200) is configured to include a positioning and mapping unit (210), an abnormal data removal unit (220), a driving control unit (230), a driving command generation unit (240), and a database (250).

[0077] The positioning and mapping unit (210) operates based on SLAM (Simultaneous Localization And Mapping), and determines the position of the unmanned vehicle (10) based on sensing data including distance information and image information transmitted from the data acquisition unit (310) of the unmanned vehicle management unit (300), and generates new real-time map information based on the current position of the unmanned vehicle (10).

[0078] At this time, the positioning and mapping unit (210) can recognize an object when generating new map information and include it in the new map information, and can generate it as 3D new map information.

[0079] Here, the positioning and mapping unit (210) of the present invention measures the position of an unmanned vehicle (10) through camera-based SLAM to generate positioning information, and transmits the generated positioning information to a database (250).

[0080] In addition, when the positioning and mapping unit (210) determines the position of the unmanned vehicle (10), it generates current position information of the unmanned vehicle (10), generates new real-time map information based on the generated current position information, and then stores the information in the database (250).

[0081] It is desirable for this positioning and mapping unit (210) to recognize the current location of the unmanned vehicle (10) in an indoor space and perform mapping based on sensing data from the recognized current location.

[0082]

[0083] The abnormal data removal unit (220) analyzes the detection data, positioning information, and new map information stored in the database (250) and processes abnormal data in which anomalies exist in the detection data, positioning information, and new map information.

[0084] Here, an outlier refers to a very small or large value that is significantly outside the range of the usually observed data. When analyzing or modeling data required for decision-making, such outliers can have a significant impact on the decision-making. Therefore, by performing appropriate outlier handling during the data preprocessing process, the reliability of the data can be improved.

[0085] This abnormal data removal unit (220) can process abnormal data included in the detection data, positioning information, and new map information through a Standard Deviation technique that detects abnormal values ​​using the standard deviation of the data when the distribution of the detection data, positioning information, and new map information is normal distributed.

[0086] However, it is not limited to this, and if the distribution of the sensing data, positioning information, and new map information is not normally distributed or is skewed to one side, it can be performed using either the IQR (Interquartile Range) technique that detects outliers using the IQR values ​​of the sensing data, positioning information, and new map information, or the DBScan (Density Based Spatial Clustering of Applications with Noise) technique that detects sensing data, positioning information, and new map information that are not included in any cluster as outliers using a density-based clustering algorithm.

[0087]

[0088] The driving control unit (230) analyzes the accuracy of the positioning information stored in the database (250), and generates a control signal for position correction of the unmanned vehicle (10) based on the accuracy of the positioning information and transmits the control signal to the driving command generation unit (240).

[0089] This driving control unit (230) can set a SLAM real value for the SLAM quality standard, and when the threshold value of the SLAM quality of the positioning information is lower than the set SLAM real value, it generates a control signal for position correction of the unmanned vehicle (10) and transmits it to the driving command generation unit (240).

[0090] Meanwhile, the driving control unit (230) can receive quality threshold information for distance information and image information included in the detection data from the data acquisition unit (310) of the unmanned vehicle management unit (300), and if this quality threshold information is higher than the set SLAM real number, the control signal for position correction of the unmanned vehicle (10) is not generated, and the unmanned vehicle (10) can be configured to continuously collect and acquire detection data while continuing to drive or perform work.

[0091]

[0092] The drive command generation unit (240) receives a position correction control signal from the driving control unit (230), generates a distance value by which the unmanned vehicle (10) is to move and a drive control signal of the drive means (30) corresponding to the distance value, and transmits the signal to the drive control unit (320) of the unmanned vehicle management unit (300).

[0093] At this time, the driving command generation unit (240) can generate a driving control signal including a rotation angle value for the driving means (30) of the unmanned mobile device (10) and transmit it to the driving control unit (320).

[0094] When this drive command generation unit (240) transmits a drive control signal for a position correction control signal to the drive control unit (320), it can generate priority information for this drive control signal and transmit it together.

[0095] Here, priority information for the driving control signal can be determined depending on whether position correction of the unmanned vehicle (10) is urgent, and a reference value for the urgency of position correction can be set by the user.

[0096]

[0097] The database (250) receives and stores the detection data detected by the distance detection unit (100) from the data acquisition unit (310), and stores the location information and new map information generated through the location determination and mapping unit (210).

[0098] This database (250) can independently store detection data from which abnormal data has been removed through an abnormal data removal unit (220), and receives and stores schedule information of an unmanned vehicle (10) including work information from a schedule management unit (330), and stores basic map information on a space or area where autonomous driving of the unmanned vehicle (10) will take place.

[0099]

[0100] The unmanned vehicle management unit (300) is connected to the distance detection unit (100) and the driving management unit (200) through a network, transmits detection data transmitted from the distance detection unit (100) to the driving management unit (200), and receives a driving control signal and a position correction control signal from the driving management unit (200) to drive the unmanned vehicle (10), and is configured to include a data acquisition unit (310), a driving control unit (320), and a schedule management unit (330).

[0101] The data acquisition unit (310) receives the detection data detected by the distance detection unit (310) and is configured to transmit the received detection data to the driving management unit (200), particularly to the database (250) of the driving management unit (200), so that it can be stored.

[0102] At this time, the data acquisition unit (310) may be configured to transmit the detection data to the data acquisition unit (250) together with the positioning and mapping unit (210) so that the positioning of the unmanned vehicle (10) and the generation of new map information are performed.

[0103] This data acquisition unit (310) can generate quality threshold information for distance information and image information included in the detection data, and can be configured to generate the information periodically at regular intervals and transmit it to the driving control unit (230), thereby generating a control signal for periodic position correction of the unmanned vehicle (10).

[0104]

[0105] The drive control unit (320) controls whether the unmanned vehicle (10) is driven, and controls whether the drive means (30) included in the unmanned vehicle (10), and particularly the motor (32) included in the drive means (30), is driven.

[0106] This driving control unit (320) controls whether or not to perform a rotation operation for autonomous driving of an unmanned vehicle (10) based on basic map information stored in a database (250), and when performing a rotation operation, calculates a rotation angle value of the unmanned vehicle (10) to generate path information for autonomous driving.

[0107] In addition, when a position correction control signal is received from the driving control unit (230) of the driving management unit (200), the driving control unit (320) modifies the previously generated path information and controls the driving of the driving means (30) based on the modified path information.

[0108] When a drive control signal for a position correction control signal is received, the drive control unit (320) controls whether or not to drive the unmanned vehicle (10) according to the work priority set by the schedule management unit (330).

[0109] That is, before performing correction on the position of the current unmanned vehicle (10), the drive control unit (320) determines the importance of the task information being performed by the unmanned vehicle (10) and determines whether to correct the position of the unmanned vehicle (10) based on the importance of the task information.

[0110] At this time, the drive control unit (320) is configured so that, if the priority of the currently performing task is higher than the position correction task of the unmanned vehicle (10) as a result of the importance check on the task information being performed by the unmanned vehicle (10), the position correction is performed after the task being performed is completed.

[0111] In addition, the drive control unit (320) is configured to stop the currently performed task, perform position correction of the unmanned vehicle (10), and then continue the stopped task if, as a result of checking the importance of the task information being performed by the unmanned vehicle (10), the priority of the task currently being performed is lower than the position correction task of the unmanned vehicle (10).

[0112] At this time, the driving control unit (320) checks whether the motor (32) of the driving means (30) is driving when the work being performed is stopped, and if the motor (32) is driving, it is preferable that the operation be performed after the driving of the motor (32) has completely stopped.

[0113]

[0114] The schedule management unit (330) is configured to receive work schedule information including work information to be performed by an unmanned vehicle (10) and importance information of the work information, and to provide priority information for a drive control signal to the drive command generation unit (240) of the drive management unit (200) so that the information can be stored in a database (250).

[0115] In addition, the schedule management unit (330) compares the work schedule information with the priority information of the driving control signal to generate the driving priority list information of the unmanned vehicle (10), and stores the generated driving priority list information in the database (250), while being configured so that it can be shared with the driving control unit (320).

[0116]

[0117] Hereinafter, a method for correcting the position of an unmanned vehicle using the positioning correction system of the unmanned vehicle of the present invention will be described with reference to FIGS. 9 and 10.

[0118] The method for correcting the position of an unmanned vehicle using a positioning correction system for an unmanned vehicle performs a step of driving an unmanned vehicle (10) when a driving command signal is received by the driving control unit (320) of the unmanned vehicle management unit (300). (S110)

[0119] Here, step S110 drives the driving means (30) of the unmanned vehicle (10) to perform autonomous driving based on the basic map information stored in the database (250), and at the same time drives the distance detection unit (100) to obtain detection data including distance information and image information between the unmanned vehicle (10) and an object.

[0120] Thereafter, when the detection data acquired through the distance detection unit (100) is received by the data acquisition unit (310) of the unmanned vehicle management unit (300), it is transmitted to the database (250) of the driving management unit (200) and stored, and the position of the unmanned vehicle (10) is determined through the position determination and mapping unit (210), and a step of generating real-time new map information based on the current position of the unmanned vehicle (10) is performed. (S120)

[0121] Afterwards, the new positioning information map information of the unmanned vehicle (10) generated through the positioning and mapping unit (210) is analyzed by the driving control unit (230) to generate a control signal for position correction of the unmanned vehicle (10), and a step of transmitting the generated position correction control signal to the driving command generation unit (240) is performed (S130).

[0122] At this time, if the threshold value of the SLAM quality of the positioning information is lower than the set SLAM error value, the driving control unit (230) performs a step of generating a control signal for position correction of the unmanned vehicle (10) and transmitting it to the driving command generation unit (240).

[0123] However, if the SLAM quality threshold information is higher than the set SLAM error value, a step is performed to continuously collect and acquire detection data while the unmanned vehicle (10) continues to drive or perform work without generating a control signal for position correction of the unmanned vehicle (10).

[0124] Thereafter, the drive command generation unit (240) analyzes the received position correction control signal to generate a distance value by which the unmanned vehicle (10) is to move and a drive control signal of the drive means (30) corresponding to the distance value, and transmits the generated drive control signal to the drive control unit (320) of the unmanned vehicle management unit (300) (S140).

[0125] At this time, the driving control signal includes reference values ​​for motor control commonly used, such as the rotation start angle, end angle, rotation resolution, rotation speed, and distance resolution of the motor (32) included in the driving means (30).

[0126] Afterwards, the drive control unit (320) of the unmanned vehicle management unit (300) performs a step of correcting the position of the unmanned vehicle by driving the drive means (30) based on the received drive control signal (S150).

[0127] At this time, when the driving control unit (320) receives a driving control signal as illustrated in FIG. 10, (S151) it checks whether the working devices, such as the camera (40) or manipulator (50) connected to the driving means (30) of the current unmanned mobile device (10), or the driving arm (60) that drives the camera (40) or manipulator (50), are being driven (S152).

[0128] At this time, the drive control unit (320) controls the drive of the drive means (30) for position correction of the unmanned vehicle (10) based on the drive control signal when it is determined that the currently performing task has been completed or that the devices for the task currently being operated are not in operation.

[0129] However, it is not limited to this, and the work schedule information for the next work to be performed by the unmanned vehicle (10) can be checked, and the work schedule information can be waited for according to the priority information of the work schedule information, or the driving means (30) for position correction of the unmanned vehicle (10) can be controlled.

[0130] In addition, if the drive control unit (320) determines that the current work devices are in a driving state, it performs a step of checking the work priority information for the work schedule information generated by the schedule management unit (330). (153)

[0131] Here, step S153 can be confirmed through the driving priority list information generated by the schedule management unit (330) to check the work priority information for the work schedule information.

[0132] At this time, if the task priority information is higher than the priority information of the drive control signal, the task currently being performed can be continued (S155), and if the task is completed, the drive means (30) for position correction of the unmanned vehicle (10) can be controlled (S156).

[0133] However, if the task priority information is lower than the priority information of the driving control signal, a step of stopping the currently executing task is performed. (S157)

[0134] Afterwards, a step of correcting the position of the unmanned vehicle (10) by controlling the driving means (30) for correcting the position of the unmanned vehicle (10) is performed. (S158)

[0135] Meanwhile, the method for correcting the position of an unmanned vehicle using the positioning correction system of the unmanned vehicle of the present invention analyzes data stored in a database (250) to determine whether there is abnormal data, and if there is abnormal data, a data purification step is further performed to process it (S160).

[0136] The above description is merely an illustrative illustration of the technical idea of ​​the present invention, and those skilled in the art will appreciate that various modifications and variations can be made without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the technical idea of ​​the present invention, and the scope of the technical idea of ​​the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted by the following claims, and all technical ideas within a scope equivalent thereto should be interpreted as being included in the scope of the rights of the present invention.

Claims

1. A distance detection unit that detects the distance to surrounding objects when an unmanned vehicle is driving and transmits the detected detection data; A driving management unit that receives the above detection data, determines the location of the unmanned vehicle, analyzes the accuracy of the determined location information, determines whether the location information should be corrected, and generates and transmits a driving control signal for the unmanned vehicle; and Receive detection data from the above distance detection unit and transmit it to the driving management unit, An unmanned vehicle management unit that receives a driving control signal from the driving management unit, controls the driving of the unmanned vehicle, generates work schedule information of the unmanned vehicle, and compares the generated work schedule information with the driving control signal to control the driving of the unmanned vehicle based on information / signal having a higher priority; A positioning correction system for an unmanned vehicle using a distance detection sensor characterized by including a .

2. In paragraph 1, The above driving management department, A positioning and mapping unit that generates positioning information and new map information of the unmanned vehicle based on SLAM (Simultaneous Localization And Mapping) based on detection data transmitted from the unmanned vehicle management unit; A driving control unit that analyzes the accuracy of the above positioning information and new map information, and generates and transmits a position correction control signal for position correction of the unmanned vehicle; A drive command generation unit that receives the position correction control signal and generates a drive control signal of the unmanned vehicle corresponding to the position correction control signal and transmits it to the unmanned vehicle management unit; and A database in which data generated by the distance detection unit, driving management unit, and unmanned vehicle management unit are stored; and An abnormal data removal unit that processes abnormal data from data stored in the above database; A positioning correction system for an unmanned vehicle using a distance detection sensor characterized by including a .

3. In paragraph 2, The above driving control unit, A positioning correction system for an unmanned vehicle using a distance detection sensor, characterized in that when the threshold value of the SLAM quality of the above-mentioned positioning information is lower than the set SLAM error value, the positioning correction control signal is generated and transmitted to the driving command generation unit.

4. In paragraph 2, The above driving control unit, A positioning correction system for an unmanned vehicle using a distance detection sensor, characterized in that it receives quality threshold information for detection data from the unmanned vehicle management unit, and generates the position correction control signal and transmits it to the driving command generation unit only when the received quality threshold information is lower than the set SLAM error value.

5. In paragraph 2, The above driving command generation unit, A positioning correction system for an unmanned vehicle using a distance detection sensor, characterized in that when transmitting a drive control signal for the position correction control signal to the unmanned vehicle management unit, priority information for the drive control signal is generated and transmitted together.

6. In paragraph 1, The above unmanned vehicle management department, A data acquisition unit that receives detection data detected by the above distance detection unit and transmits the received detection data to the driving management unit; When a driving control signal is received from the driving management unit, a driving control unit that corrects the position of the unmanned vehicle; and A schedule management unit that compares the work schedule information of the unmanned vehicle with the priority information of the driving control signal to generate driving priority list information of the unmanned vehicle and shares the driving priority list information with the driving control unit; A positioning correction system for an unmanned vehicle using a distance detection sensor characterized by including a .

7. In paragraph 6, The above data acquisition unit, A positioning correction system for an unmanned vehicle using a distance detection sensor, characterized in that quality threshold information for the above detection data is periodically generated at regular intervals and transmitted to the driving management unit.

8. In paragraph 6, The above driving control unit, A positioning correction system for an unmanned vehicle using a distance detection sensor, characterized in that when the above driving control signal is received, the importance of information on the work being performed by the unmanned vehicle is checked, and if the priority of the work currently being performed is higher than the position correction work of the unmanned vehicle, the position correction is controlled to be performed after the work being performed is completed.

9. In paragraph 1, The above distance detection unit, A positioning correction system for an unmanned vehicle using a distance detection sensor, characterized in that it comprises a single-channel sensor module or a multi-channel sensor module composed of at least two or more.

10. In a positioning correction method using a positioning correction system for an unmanned vehicle, (a) a step of obtaining detection data including distance information and image information between an unmanned vehicle and an object through a distance detection unit; (b) a step of generating positioning information and new map information of the unmanned vehicle based on SLAM (Simultaneous Localization And Mapping) based on the detection data in the positioning and mapping unit of the driving management unit; (c) a step of analyzing the new map information of the positioning information in the driving control unit of the driving management unit to generate a position correction control signal of the unmanned vehicle, and transmitting the generated position correction control signal to the driving command generation unit; (d) a step of generating a drive control signal for the unmanned vehicle from the drive command generation unit that receives the position correction control signal and transmitting the signal to the drive control unit of the unmanned vehicle management unit; (e) a step of correcting the position of the unmanned vehicle according to the control of the driving control unit; A positioning correction method using a positioning correction system for an unmanned vehicle, characterized by including a .

11. In paragraph 10, Step (c) above, A positioning correction method using a positioning correction system for an unmanned vehicle, characterized in that the positioning correction control signal is generated only when the threshold value of the SLAM quality of the above positioning information is lower than a set SLAM error value.

12. In paragraph 10, Step (e) above, (e1) a step of checking whether the work devices are operating; (e2) When the above work devices are in an operating state, a step of checking work priority information for work schedule information created by the schedule management unit; (e3) a step of controlling the work devices to continue performing the currently performing work when the work priority information of the work devices is higher than the priority information of the drive control signal, and stopping the currently performing work when the work priority information is lower than the priority information of the drive control signal; (e4) When the interruption of the above work is completed, a step of controlling the driving means to correct the position of the unmanned mobile device; A positioning correction method using a positioning correction system for an unmanned vehicle, characterized by including a .

13. In paragraph 10, After step (e) above, (f) A data purification step for analyzing data stored in the database of the above driving management unit to determine whether there is abnormal data, and processing such data if present; A positioning correction method using a positioning correction system for an unmanned vehicle, characterized by further performing the following.

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