Panoramic radar, steering system, and platform steering method

Abstract

A panoramic radar according to embodiments of the present disclosure includes: a body mounted on an arm of a robot; a sensor controller accommodated in the body; a plurality of sensors each connected to the sensor controller; and a communication controller which is connected to the body and the sensor controller and communicates with an external device, wherein the sensor controller calculates the position and speed of a nearby object on the basis of signals transmitted and received by the plurality of sensors, and the plurality of sensors are arranged along the circumference of the body, wherein the respective sensing regions may overlap or the boundaries of the respective sensing regions may be in contact with each other.

Description

Panoramic radar, steering system and steering method of the platform

[0001] The present disclosure relates to a panoramic radar, a steering system and a method for steering a platform.

[0002] Collaborative robots are robots capable of working in the same space and physically interacting with people. Demand for collaborative robots has been explosively increasing recently, driven by the need for increased productivity. Unlike conventional industrial robots, which operate within a safe zone, collaborative robots operate in close proximity to people and surrounding objects, making it crucial to ensure the safety of those around them. To ensure safety, collaborative robots incorporate one or more sensors or radars. However, conventional sensors have short detection ranges and limited coverage. Consequently, when a person or object approaches the collaborative robot at close range or from a blind spot, the collaborative robot cannot react quickly, potentially leading to collisions with the person or object.

[0003] In particular, conventional sensors have blind spots due to gaps in their detection range in the azimuth direction. For example, conventional sensors are positioned only on one side of a robot arm, resulting in their detection area being obscured by the robot arm, or gaps between the detection ranges of multiple sensors. Furthermore, conventional sensors have narrow detection ranges (elevation angles) in the elevation direction, making it difficult to detect people or objects approaching directly above or below the robot arm.

[0004] Additionally, platforms including autonomous vehicles, robots, factory automation equipment, drones, security and tracking systems, and collaborative robots need to detect obstacles such as objects or people in the surroundings and steer the platform in real time based on information about the detected obstacles.

[0005] However, conventional steering algorithms control the platform based on predefined paths or sensor data, making it difficult to expect rapid responsiveness and adaptability to dynamic environments. Furthermore, it's difficult to fully utilize the detection capabilities of the sensors or radar themselves.

[0006] The above-described information disclosed in the background technology of this invention is only intended to improve understanding of the background of the present invention, and therefore may include information that does not constitute prior art.

[0007] The panoramic radar according to embodiments of the present disclosure can provide a panoramic radar that eliminates blind spots in the azimuth direction, expands the detection range in the elevation direction, and secures a sufficiently long detection distance, thereby enabling the rapid and easy detection of people or objects approaching at close range.

[0008] The steering system and the steering method of the platform according to the embodiments of the present disclosure can provide a steering system and a steering method of the platform capable of steering the platform along a desired trajectory while dynamically avoiding obstacles.

[0009] However, the technical problems to be solved by the embodiments of the present disclosure are not limited to the problems described above, and other problems not mentioned can be clearly understood by those skilled in the art from the description of the invention described below.

[0010] A panoramic radar according to embodiments of the present disclosure includes a body mounted on an arm of a robot, a sensor controller accommodated in the body, a plurality of sensors each connected to the sensor controller, and a communication controller connected to the body and the sensor controller and communicating with an external device, wherein the sensor controller calculates a position and a velocity of an object in the vicinity based on signals transmitted and received by the plurality of sensors, and the plurality of sensors are arranged along the periphery of the body, and each detection area may overlap or the boundaries of each detection area may be in contact with each other.

[0011] The above plurality of sensors form a 90 degree angle with respect to each other along the circumference of the body, and each detection area can cover an omnidirectional area in the azimuth direction.

[0012] The plurality of sensors include a transmitter and a plurality of receivers arranged around the transmitter in a first direction and a second direction perpendicular to the first direction, the plurality of receivers arranged in the first direction form a first sensor array for detecting an azimuth plane, the plurality of receivers arranged in the second direction form a second sensor array for detecting an elevation plane, the first sensor array and the second sensor array share at least one receiver, and the sensor controller can calculate an angle of a detected object in an azimuth direction based on a signal received by the first sensor array in an azimuth direction, and can calculate an angle of the object in an elevation direction based on a signal received by the second sensor array in an elevation direction.

[0013] The transmitter is located at the center of the sensor, and the first sensor array, the second sensor array, the third sensor array, and the fourth sensor array can be arranged symmetrically in the upper, lower, left, and right directions with the transmitter as the center.

[0014] The plurality of receivers form a third sensor array that is located on the opposite side of the first sensor array with respect to the transmitter and detects an azimuth plane, and a fourth sensor array that is located on the opposite side of the second sensor array with respect to the transmitter and detects an elevation plane, and the first sensor array and the second sensor array, the second sensor array and the third sensor array, the third sensor array and the fourth sensor array, and the fourth sensor array and the first sensor array each share one or more receivers, and the sensor controller can calculate an angle in the azimuth direction of a detected object based on signals received in the azimuth direction by the first sensor array and the third sensor array, and can calculate an angle in the elevation direction of the object based on signals received in the elevation direction by the second sensor array and the fourth sensor array.

[0015] At least one of the plurality of sensors may be arranged at a different position in the height direction of the body.

[0016] The transmitter may include a plurality of transmitters, the first sensor array may be adjacent to a first edge of the sensors below the plurality of transmitters, and the second sensor array may be adjacent to a second edge of the sensors next to the plurality of receivers and connected to the first edge.

[0017] The radar includes a plurality of connection PCBs, and the plurality of sensors are arranged on the outer surface of the body centered around the sensor controller and can be connected in parallel with the sensor controller through the plurality of connection PCBs.

[0018] The radar includes a plurality of connection PCBs, and the plurality of sensors are each connected in series with the sensor controller through the plurality of connection PCBs, and the plurality of sensors and the plurality of connection PCBs are connected in series to each other to form a belt shape, and the plurality of sensors and the plurality of connection PCBs can wrap around the outer circumference of the body.

[0019] The above panoramic radar further includes a plurality of interaction buttons, each of which is positioned between the plurality of sensors and each of which is connected to the sensor controller and the communication controller, and when at least one of the plurality of interaction buttons is touched or pressed, the sensor controller can transmit a control signal to the robot.

[0020] A method for steering a platform according to embodiments of the present disclosure includes a step of collecting information about an obstacle by a radar mounted on the platform, a step of determining by the platform controller whether to steer the platform based on the collected information, and a step of steering by the platform controller, wherein the step of determining whether to steer the platform comprises not steering the platform if the obstacle is in a first area or outside the first area, and steering the platform if the obstacle is in a second area so that the obstacle does not enter a third area, and the step of steering the platform comprises calculating a yaw rate for steering the platform away from the obstacle by the platform controller, and steering the platform so as to correspond to the calculated yaw rate. Here, the first area, the second area, and the third area are as follows. (i) a first area divided into the first distance, which is a maximum detection distance of the radar, and a second distance smaller than the first distance; (ii) a second area divided into the second distance and a third distance smaller than the second distance; and (iii) a third area divided into the third distance.

[0021] The step of steering the platform may include allowing the platform controller to calculate a yaw rate based on information about the obstacle, including a distance between the platform and the obstacle, an azimuth angle of the obstacle, and a relative velocity between the obstacle and the platform.

[0022] The step of steering the platform by the platform controller can calculate the yaw rate using Equation (1).

[0023] , Equation (1)

[0024] Here w z is the angular velocity vector (yaw rate), r is the distance to the detected obstacle, r3 is the third distance, θ is the azimuth angle of the detected obstacle, r2 is the second distance, v is the current velocity vector of the platform, and sign(θ) is the sign of θ.

[0025] The step of the platform controller steering the platform can calculate the yaw rate using Equation (2).

[0026] , Equation (2)

[0027] Here, k is the speed gain, and k is calculated by equation (3) below.

[0028] , equation (3)

[0029] Here v r is the relative velocity of the obstacle, and Δr is r k -r (k-1) , and sign(Δr) is the sign of Δr.

[0030] If an obstacle is in the third area, the platform controller may further include a speed control step of stopping or slowing down the platform, and the speed control step may be performed instead of the step of steering the platform if the obstacle is determined to be in the third area in the step of determining whether to steer the platform, or may be performed if the obstacle is in the third area after the step of steering the platform by the platform controller.

[0031] A steering system according to embodiments of the present disclosure includes a platform, a radar mounted on the platform that collects information about an obstacle, and a platform controller that operates the platform based on information about the obstacle received from the radar, wherein the platform controller determines whether to steer the platform based on the information about the obstacle collected by the radar, and steers the platform, and the platform controller does not steer the platform if the obstacle is in a first area or outside the first area, and steers the platform if the obstacle is in a second area so that the obstacle does not enter a third area, and the platform controller calculates a yaw rate for steering the platform away from the obstacle, and steers the platform so as to correspond to the calculated yaw rate. Here, the first area, the second area, and the third area are as follows. (i) a first area divided into the first distance, which is the maximum detection distance of the radar, and a second distance smaller than the first distance; (ii) a second area divided into the second distance and a third distance smaller than the second distance; (iii) a third area divided into the third distance;

[0032] The platform controller can calculate the yaw rate based on information about the obstacle, including the distance between the platform and the obstacle, the azimuth of the obstacle, and the relative velocity of the obstacle and the platform.

[0033] The above platform controller can calculate the rate using Equation (1).

[0034] , Equation (1)

[0035] Here w z is the angular velocity vector (yaw rate), r is the distance to the detected obstacle, r3 is the third distance, θ is the azimuth angle of the detected obstacle, r2 is the second distance, v is the current velocity vector of the platform, and sign(θ) is the sign of θ.

[0036] The above platform controller can calculate the rate using Equation (2).

[0037] , Equation (2)

[0038] Here, k is the speed gain, and k is calculated by equation (3) below.

[0039] , equation (3)

[0040] Here v r is the relative velocity of the obstacle, and Δr is r k -r (k-1) , and sign(Δr) is the sign of Δr.

[0041] The platform controller performs a speed control operation to stop or slow down the platform when an obstacle is in the third area, and when determining whether to steer the platform, the platform controller may perform the speed control operation without steering the platform when it is determined that an obstacle is in the third area, or may perform the speed control operation when the obstacle is in the third area after steering the platform.

[0042] Panoramic radar according to embodiments of the present disclosure has multiple sensors arranged in the circumferential direction of the radar, and can detect surrounding objects and people in all directions. Panoramic radar according to embodiments of the present disclosure is an FMCW radar using millimeter waves, and can detect the position, speed, etc. of surrounding objects or people. Panoramic radar according to embodiments of the present disclosure can reduce blind spots by having detection areas of sensors overlap in the azimuth direction or at least have their boundaries touch each other, and can secure a wide detection range and a long detection distance. Panoramic radar according to embodiments of the present disclosure can increase detection precision by having transmitters and receivers included in the sensors in various arrangements. Panoramic radar according to embodiments of the present disclosure can be universally applied to various types of robots or manipulators.

[0043] The steering system and the steering method of the platform according to the embodiments of the present disclosure can avoid collision between the platform and the obstacle or reduce the impact of collision between the platform and the obstacle by collecting information about an obstacle and determining whether to steer the platform based on the collected information.

[0044] The steering system and the steering method of the platform according to the embodiments of the present disclosure can efficiently operate the platform by changing the movement method of the platform depending on the distance between the obstacle and the platform.

[0045] The steering system and the steering method of the platform according to the embodiments of the present disclosure can avoid collision between the platform and an obstacle by changing the yaw rate of the platform.

[0046] The steering system and the steering method of the platform according to embodiments of the present disclosure can reduce the impact of a collision between the platform and the obstacle by decelerating or stopping the platform when the obstacle enters within a predetermined distance.

[0047] However, the effects that can be obtained through the present invention are not limited to the effects described above, and other technical effects that are not mentioned can be clearly understood by those skilled in the art from the description of the invention described below.

[0048] The following drawings, attached to this specification, illustrate embodiments of the present invention and, together with the description of the invention described below, serve to facilitate understanding of the technical concepts of the present invention. The present invention is not limited to the matters described in the drawings.

[0049] FIG. 1 illustrates a robot including a panoramic radar according to embodiments of the present disclosure.

[0050] FIG. 2 illustrates a perspective view of a panoramic radar according to embodiments of the present disclosure.

[0051] FIG. 3 shows an exploded perspective view of a panoramic radar according to embodiments of the present disclosure.

[0052] FIG. 4 schematically illustrates a plan view of a panoramic radar according to embodiments of the present disclosure.

[0053] FIG. 5 schematically illustrates a side view of a panoramic radar according to embodiments of the present disclosure.

[0054] Figure 6 illustrates an arrangement of sensors according to embodiments of the present disclosure.

[0055] FIG. 7 illustrates the operation of the first sensor array and the second sensor array according to embodiments of the present disclosure.

[0056] FIG. 8 illustrates the operation of a panoramic radar according to embodiments of the present disclosure.

[0057] FIGS. 9 and 10 illustrate arrangements of sensor controllers and sensors according to embodiments of the present disclosure.

[0058] FIG. 11 illustrates a state in which a sensor controller and a sensor according to embodiments of the present disclosure according to FIG. 10 are mounted on a body.

[0059] Figures 12 to 18 illustrate other types of sensor arrays according to embodiments of the present disclosure.

[0060] FIG. 19 illustrates a radar and a platform and a plurality of zones defined around the radar and the platform according to embodiments of the present disclosure.

[0061] FIG. 20, FIG. 21 and FIG. 22 illustrate control operations of a platform controller according to the location of an obstacle according to embodiments of the present disclosure.

[0062] Figure 23 shows the overall control steps of the steering system according to embodiments of the present disclosure.

[0063] Figure 24 illustrates a speed control step of a steering system according to embodiments of the present disclosure.

[0064] FIG. 25 illustrates an embodiment of control of a steering system according to embodiments of the present disclosure.

[0065] A panoramic radar according to embodiments of the present disclosure includes a body mounted on an arm of a robot, a sensor controller accommodated in the body, a plurality of sensors each connected to the sensor controller, and a communication controller connected to the body and the sensor controller and communicating with an external device, wherein the sensor controller calculates a position and a velocity of an object in the vicinity based on signals transmitted and received by the plurality of sensors, and the plurality of sensors are arranged along the periphery of the body, and each detection area may overlap or the boundaries of each detection area may be in contact with each other.

[0066] A method for steering a platform according to embodiments of the present disclosure includes a step of collecting information about an obstacle by a radar mounted on the platform, a step of determining by the platform controller whether to steer the platform based on the collected information, and a step of steering by the platform controller, wherein the step of determining whether to steer the platform comprises not steering the platform if the obstacle is in a first area or outside the first area, and steering the platform if the obstacle is in a second area so that the obstacle does not enter a third area, and the step of steering the platform comprises calculating a yaw rate for steering the platform away from the obstacle by the platform controller, and steering the platform so as to correspond to the calculated yaw rate. Here, the first area, the second area, and the third area are as follows. (i) a first area divided into the first distance, which is a maximum detection distance of the radar, and a second distance smaller than the first distance; (ii) a second area divided into the second distance and a third distance smaller than the second distance; and (iii) a third area divided into the third distance.

[0067] A steering system according to embodiments of the present disclosure includes a platform, a radar mounted on the platform that collects information about an obstacle, and a platform controller that operates the platform based on information about the obstacle received from the radar, wherein the platform controller determines whether to steer the platform based on the information about the obstacle collected by the radar, and steers the platform, and the platform controller does not steer the platform if the obstacle is in a first area or outside the first area, and steers the platform if the obstacle is in a second area so that the obstacle does not enter a third area, and the platform controller calculates a yaw rate for steering the platform away from the obstacle, and steers the platform so as to correspond to the calculated yaw rate. Here, the first area, the second area, and the third area are as follows. (i) a first area divided into the first distance, which is the maximum detection distance of the radar, and a second distance smaller than the first distance; (ii) a second area divided into the second distance and a third distance smaller than the second distance; (iii) a third area divided into the third distance;

[0068] Embodiments of the present disclosure and methods for achieving them can be more easily understood by referring to the detailed description of the embodiments together with the accompanying drawings. Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. However, the described embodiments can be variously modified and implemented in different forms, and should not be construed as limited to the embodiments described herein. Furthermore, each feature of the various embodiments of the present disclosure can be combined with each other, in whole or in part, and various technically related and operational aspects are possible. Each embodiment can be implemented independently or in combination. The described embodiments are provided as examples so that the present disclosure can be complete and fully convey the spirit of the present disclosure to those skilled in the art. It should be understood that the present disclosure includes all modifications and equivalents, and substitutions are possible within the spirit and technical scope of the present disclosure. Therefore, processes, components, and techniques that are not necessary for a person skilled in the art to fully understand the embodiments of the present disclosure may not be described.

[0069] Unless otherwise specified, the same reference numerals, letters, or combinations thereof throughout the attached drawings and their descriptions represent identical components, and their descriptions are omitted. Furthermore, in describing the embodiments, irrelevant parts may not be depicted in the drawings for clarity.

[0070] The areas depicted in the drawings are schematic and their shapes do not illustrate or limit the actual shape of the device area. The relative sizes of elements, layers, and areas in the drawings may be exaggerated for clarity. Furthermore, the use of hatching and / or shading in the attached drawings may generally serve to clarify boundaries between adjacent elements. Therefore, unless specifically stated otherwise, the presence or absence of hatching or shading does not imply a preference or requirement for any particular material, material properties, dimensions, proportions, commonalities between the illustrated elements, and / or any other characteristics, properties, or characteristics.

[0071] Various embodiments are described herein with reference to cross-sectional examples that are schematic illustrations of embodiments and / or intermediate structures. For example, the shapes of the drawings may vary as a result of manufacturing techniques and / or tolerances. Furthermore, specific structural or functional descriptions disclosed herein are merely examples for illustrating embodiments according to the concepts of the present disclosure. Therefore, the embodiments disclosed herein should be construed as not being limited to the shapes of the illustrated regions, but rather to include variations in shape due to manufacturing processes, etc.

[0072] Specific details may be presented in the specification to facilitate understanding of various embodiments. Alternatively, various embodiments may be practiced without specific details or with one or more of the details. In other cases, well-known structures and devices may be shown in block diagram form to avoid unnecessarily obscuring the various embodiments.

[0073] To facilitate discussion herein, spatially relative terms such as "below," "above," "lower," "top," and the like may be used to describe the relationship of one element or feature to another, as illustrated in the drawings. Spatially relative terms are intended to encompass various orientations of the device in use or operation in addition to the orientations depicted in the drawings. For example, if the device in the drawings were flipped over, another element or feature described as "below" or "lower" would face "above" the other element or feature. Thus, as exemplary terms, "below" and "lower" can encompass both above and below orientations. The device can be oriented in other orientations (e.g., rotated 90 degrees or in other directions), and the spatially relative descriptions used herein should be interpreted accordingly. Similarly, if it is described that a first part is disposed "above" a second part, this means that the first part is disposed above or below the second part.

[0074] Also, the expression "in plan view" means when an object is viewed from above, and the expression "in schematic cross-section" means when a schematic cross-section is taken by cutting the object vertically or horizontally. The term "in side view" means that the first object can be above, below, or to the side of the second object, and vice versa. Additionally, the term "overlapping" or "superimposing" can include layer, laminate, plane, extension, covering, or partially covering, or any other suitable term that a person of ordinary skill in the art would understand and understand. The expression "does not overlap" can include meanings such as "away from" or "spaced from", and any other suitable equivalents that a person of ordinary skill in the art would recognize and understand. The terms "plane" and "surface" can mean that the first object can directly or indirectly face the second object. When a third object is between a first object and a second object, the first object and the second object can be understood as facing each other but indirectly opposing each other.

[0075] When an element, layer, region, or component (hereinafter also referred to as an "element, etc.") is referred to as being "formed with," "connected with," or "coupled to," another element, etc., this includes that it can be directly formed with, formed with, or indirectly formed with, connected to, or coupled to another element, etc. Furthermore, "formed with," "connected with," or "coupled" can collectively refer to direct or indirect combinations or connections, or integral or non-integral combinations or connections, of the elements, etc., such that one or more elements, etc. can be present. For example, when an element, etc. is referred to as being "electrically connected with" or "electrically coupled to" another element, etc., this includes that it can be directly electrically connected to or coupled with, or that other elements, etc. can be present. However, "direct connection" or "direct coupling" means that one element, etc. is directly connected or coupled to, or is present in, another element, etc., without any intermediate elements, etc. In addition, when a part of a layer, film, region, guide plate, etc. in the present specification is formed on another part, the formation direction is not limited to the upper direction, and includes the part being formed on the side or bottom. Conversely, when a part of a layer, film, region, guide plate, etc. is formed "under" another part, it includes not only the case where the part is "directly under" the other part, but also the case where there is another part between the part and the other part. Meanwhile, other expressions that describe the relationship of elements, etc., such as "between," "directly between," or "adjacent to" and "directly adjacent to" can be interpreted similarly. In addition, when an element, etc. is mentioned as being between two elements, etc., it can be the only element, etc. between the two elements, etc., or there can be another element, etc. between them.

[0076] Expressions such as "at least one or more" or "any one" do not limit the order of the individual elements. For example, expressions such as "at least one of X, Y, and Z," "at least one of X, Y, or Z," or "at least one selected from the group consisting of X, Y, and Z" can include X alone, Y alone, Z alone, or any combination of two or more of X, Y, and Z. Similarly, expressions such as "at least one of A and B" and "at least one of A or B" can include A, B, or A and B. As used herein, the term "and / or" generally includes any combination of one or more associated list items. For example, expressions such as "A and / or B" can include A, B, or A and B.

[0077] Although terms such as "first," "second," "third," etc. may be used herein to describe various elements, etc., such elements, etc. are not limited by such terms. These terms are used to distinguish one element, etc. from other elements, etc. Accordingly, a first element, etc. described below may be referred to as a second element, etc., without departing from the spirit and scope of the present invention. Describing an element as a "first" element may not require or imply the presence of a second element or other elements. Terms such as "first," "second," etc. may also be used herein to distinguish different categories or sets of elements, etc. For clarity, terms such as "first," "second," etc. may represent "a first category (or first set)," "a second category (or second set)," etc., respectively.

[0078] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the present disclosure. As used herein, the singular forms may also include the plural forms, and the plural forms may also include the singular form, unless the context clearly dictates otherwise. The terms "comprise," "include," and "have," when used herein, are meant to specify the presence of specified features, integers, or steps. These expressions do not exclude the presence or addition of one or more other functions, steps, operations, components, and / or groups thereof.

[0079] If one or more embodiments can be implemented differently, a particular process sequence may be performed differently from the order described. For example, two processes described in succession may be performed substantially simultaneously or in the reverse order from the described order.

[0080] The terms "substantially," "about," "approximately," and similar terms are used as terms of approximation, not degree, and imply that the measured or calculated value satisfies the inherent range of variation (e.g., variation due to limitations of the measurement system). For example, "about" could mean within one or more standard deviations, or within ±30%, ±20%, ±10%, or ±5% of the stated value.

[0081] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Terms defined in commonly used dictionaries, for example, should be interpreted as having a meaning consistent with their meaning in the relevant art and / or the context of this specification, and will not be interpreted in an idealized or overly formal sense unless explicitly defined herein.

[0082] FIG. 1 shows a steering system (1) including a panoramic radar (10), FIG. 2 shows a perspective view of the panoramic radar (10), FIG. 3 shows an exploded perspective view of the panoramic radar (10), FIG. 4 shows a schematic plan view of the panoramic radar (10), FIG. 5 shows a schematic side view of the panoramic radar (10), FIG. 6 shows an arrangement of a sensor (300), FIG. 7 shows the operation of a first sensor array (301) and a second sensor array (302), FIG. 8 shows the operation of the panoramic radar (10), FIGS. 9 and 10 show an arrangement of a sensor controller (200) and a sensor (300), and FIG. 11 shows a state in which a sensor controller (200) and a sensor (300) according to FIG. 10 are mounted on a body (100).

[0083] A panoramic radar (10, hereinafter also referred to as 'radar (10)') is included in the steering system (1) and can detect the environment around the steering system (1). For example, as shown in FIG. 1, the radar (10) may be mounted on a platform (30) of the steering system (1). Here, the platform (30) is a collaborative robot capable of multi-axis (e.g., 6-axis) translational / rotatory movement and may be equipped with an EOAT (End Of Arm Tool, (40)) at the distal end. Although the drawing shows that the radar (10) is at the EOAT (40) connected to the platform (30) (e.g., at the distal end of the platform (30)), the radar (10) may be at another joint part of the platform (30). Alternatively, the platform (30) may include various mobility such as manned / unmanned vehicles, AGVs, ships, and aircraft.

[0084] The steering system (1) may include a radar (10), a platform controller (20), a platform (30), and an EOAT (40).

[0085] The radar (10) is included in the steering system (1) and can detect people or objects around the steering system (1). For example, as shown in FIG. 1, the radar (10) is mounted on the platform (30) and detects people or objects around the platform (30) when the platform (30) rotates or moves, and transmits the detected information to the platform controller (20), thereby preventing collisions or interference. For example, the radar (10) may be an FMCW radar. The frequency of the radar (10) may be 0.1 kHz to 1,000 kHz. For example, the frequency of the radar (10) may be 1 kHz. The radar (10) can collect information about the distance between an obstacle and the radar (10), the speed of the obstacle, the position (angle) of the obstacle, and transmit the collected information to the platform controller (20).

[0086] The radar (10) can detect people or objects in the surroundings in the azimuth direction and the elevation direction. Here, the azimuth direction refers to a plane direction perpendicular to the central axis of the radar (10) in the height direction, and the elevation direction may refer to the height direction of the radar (10). The radar (10) can detect people or objects in all directions in the azimuth direction. For example, the radar (10) can have a detection area of ​​360 degrees in the azimuth direction. Therefore, the radar (10) can detect people or objects in the surroundings without any blind spots in the azimuth direction. For versatility, the radar (10) can have a flat cylindrical shape. Therefore, it can be easily mounted on platforms (30) of various types and sizes. The radar (10) can collect information about obstacles around the platform (30). For example, the radar (10) can collect information about the angle of the obstacle in the azimuth direction and / or the angle of the obstacle in the elevation direction. The radar (10) can detect obstacles on its own and calculate and / or collect information about the detected obstacles. Alternatively, the radar (10) can detect obstacles and transmit signals to the platform controller (20), and the platform controller (20) can calculate information about the obstacle based on the received signals. The platform controller (20) can adjust the direction (steering) or control the speed of the platform (30) by considering the distance to the obstacle, the angle (position) of the obstacle, and the relative speed of the obstacle.

[0087] For example, the radar (10) includes a body (100) mounted on a platform (30) of a steering system (1), a sensor controller (200) accommodated in the body (100), a plurality of sensors (300) each connected to the sensor controller (200), and a communication controller (400) connected to the body (100) and the sensor controller (200) and communicating with an external device, and the sensor controller (200) calculates the position (or angle) and speed of an object in the vicinity based on signals transmitted and received by the plurality of sensors (300), and the plurality of sensors (300) are arranged along the periphery of the body (100), and each detection area (SA) may overlap or the boundaries of each detection area (SA) may be in contact with each other.

[0088] The radar (10) may include a body (100), a sensor controller (200), a sensor (300), a communication controller (400), a connector (500), and a cover (600).

[0089] The body (100) may hold or support other components of the radar (10) (e.g., a sensor controller (200), a sensor (300), a communication controller (400), a connector (500), and a cover (600)). For example, as shown in FIGS. 3 and 4 , the body (100) may have a flat cylindrical shape. A sensor controller (200) and a communication controller (400) are accommodated inside the body (100), and a plurality of sensors (300) may be mounted on the outer surface of the body (100). In addition, a connector (500) and a cover (600) may be mounted on the body (100). However, the shape of the body (100) may vary depending on the shape and size of the platform (30) or the EOAT (40), and may have, for example, a polyhedral shape such as a rectangular parallelepiped.

[0090] The body (100) may include an internal space (110), a rib (120), a first body boss (130), a second body boss (140), and a mounting groove (150).

[0091] The internal space (110) is a space surrounded by the outer wall of the body (100) and partitioned on the inside thereof, and can accommodate a sensor controller (200), a communication controller (400), and wiring connecting the sensor controller (200) and the communication controller (400). The internal space (110) is partitioned by the inner surface and the bottom surface of the body (100), and a rib (120), a first body boss (130), and a second body boss (140) can be located in the internal space (110).

[0092] The rib (120) is located at the center of the body (100) and can support the communication controller (400). For example, as shown in FIG. 3, the rib (120) may protrude upward from the bottom surface of the body (100) and have a circular shape. There are a plurality of first body bosses (130) on the inside of the rib (120), and the upper surface of the rib (120) can support the lower surface of the communication controller (400) when the communication controller (400) is connected to the first body bosses (130). Therefore, the communication controller (400) can be spaced apart from the bottom surface of the body (100) and the communication controller (400) can be protected from vibration or shock of the body (100).

[0093] The first body boss (130) can be connected to the communication controller (400). For example, as shown in FIG. 3, the first body boss (130) includes a plurality of first body bosses (130) and can be located in an area partitioned by a rib (120). The plurality of first body bosses (130) protrude upward from the bottom surface of the body (100) and can be inserted into a plurality of second substrate holes (420) of the communication controller (400), respectively. Accordingly, the position of the communication controller (400) can be determined and the communication controller (400) can be supported by the first body boss (130). Screw threads are formed on the inside of the first body boss (130), so that the first body boss (130) and the second substrate hole (420) can be screw-coupled.

[0094] The second body boss (140) may be connected to the sensor controller (200). For example, as shown in FIG. 3, the second body boss (140) may include a plurality of second body bosses (140) and may be located between the rib (120) and the outer wall of the body (100). The plurality of second body bosses (140) may protrude upward from the bottom surface of the body (100) and may be inserted into a plurality of first substrate holes (220) of the sensor controller (200), respectively. For example, the second body boss (140) may pass through the first substrate hole (220) and then come into contact with the lower surface of the cover (600) corresponding to the cover hole (620) of the cover (600). Accordingly, the position of the sensor controller (200) may be determined and the sensor controller (200) may be supported by the second body boss (140). A screw thread is formed on the inner side of the second body boss (140), so that the second body boss (140), the first substrate hole (220), and the cover hole (620) can be screw-connected. For example, the second body boss (140) can have a higher height than the rib (120) and the first body boss (130). Accordingly, the communication controller (400) and the sensor controller (200) can be stacked while being spaced apart in the height direction of the radar (10) without interfering with each other.

[0095] A plurality of mounting grooves (150) may be formed on the outer wall of the body (100). For example, as shown in FIG. 3, the plurality of mounting grooves (150) are formed along the upper surface of the outer wall of the body (100) and may each accommodate a plurality of cover protrusions (610) of the cover (600). For example, the plurality of mounting grooves (150) may be located further outward in the radial direction of the radar (10) than the plurality of first body bosses (130) and the plurality of second body bosses (140). The mounting grooves (150) may include a third fastening hole (151). The third fastening hole (151) is formed in each mounting groove (150) and may be screw-coupled with the protrusion hole (611) of the cover protrusion (610).

[0096] The sensor controller (200) is connected to the sensor (300) and can calculate the position (or angle), speed, distance, etc. of an object or person around the radar (10) based on the signal detected by the sensor (300). For example, the sensor controller (200) is accommodated and supported in the internal space (110) of the body (100) and can receive the signal detected by the sensor (300). In addition, the sensor controller (200) is connected to the communication controller (400) and can communicate with an external device such as a platform controller (20) through the communication controller (400). For example, the sensor controller (200) calculates the position and distance, etc. of an object or person around the sensor based on the signal detected by the sensor (300) and then transmits the calculated value to the communication controller (400), and the communication controller (400) can transmit the received calculated value to the platform controller (20). In addition, the platform controller (20) can transmit a control signal to the sensor controller (200) through the communication controller (400).

[0097] The sensor controller (200) may include a first substrate (210) and a first substrate hole (220).

[0098] The first substrate (210) is a substrate including various electronic components and circuit patterns, and may be, for example, a printed circuit board. In FIG. 3, the first substrate (210) is shown as a circle, but the first substrate (210) may have various shapes depending on the shape and size of the body (100) or the radar (10). The first substrate (210) may include a second fastening hole (211). For example, as shown in FIG. 3, the second fastening hole (211) includes a plurality of second fastening holes (211), and the plurality of second fastening holes (211) may be formed radially inward of the first substrate hole (220). A plurality of second fastening holes (211) correspond to the first body boss (130) and the second substrate hole (420), and a fastening member such as a bolt can be inserted into the second fastening hole (211) and fastened to the first body boss (130) through the second substrate hole (420).

[0099] The first substrate hole (220) is formed in the first substrate (210) and may be a portion that is fastened to the body (100) and the cover (600). For example, as shown in FIG. 3, a second body boss (140) may be inserted into the first substrate hole (220), and a fastening member such as a screw inserted through the cover hole (620) may be inserted and fastened to the first substrate hole (220). By inserting the second body boss (140) into the first substrate hole (220), the sensor controller (200) may be positioned and supported on the body (100). The first substrate hole (220) may include a plurality of first substrate holes (220). For example, as shown in FIG. 3, a plurality (for example, four) of first substrate holes (220) may be formed along the edge of the first substrate (210).

[0100] The sensor (300) can detect the position (or angle), speed, or distance of an object or person around the radar (10). For example, the sensor (300) is mounted on the steering system (1) such as the platform (30) or the EOAT (40), and can detect the object or person by radiating a signal (electromagnetic wave) to the surroundings and receiving a signal reflected from the object or person. For example, the sensor (300) is mounted on the body (100) (e.g., the outer surface of the body (100)) and is connected to the sensor controller (200) by wire or wirelessly, and information about the signal radiated and received by the sensor (300) can be transmitted to the sensor controller (200). The sensor controller (200) can calculate the position (or angle), speed, or distance of the object or person based on the signal radiated and received by the sensor (300). For example, the sensor (300) can use millimeter waves as an FMCW sensor. The configuration of the FMCW sensor may include a conventionally known technology.

[0101] The sensor (300) can detect surrounding objects or people in the azimuth direction and / or the elevation direction. For example, as shown in FIG. 4, the sensor (300) can have a detection angle of θ1 in the azimuth direction. θ1 can be a predetermined value or can be adjusted in real time by the sensor controller (200). For example, θ1 can be 10 degrees or more and 150 degrees or less. For example, θ1 can be 20 degrees or more and 120 degrees or less. For example, as shown in FIG. 5, the sensor (300) can have a detection angle of θ2 in the elevation direction. θ2 can be a predetermined value or can be adjusted in real time by the sensor controller (200). For example, θ2 can be 10 degrees or more and 150 degrees or less. For example, θ2 can be 20 degrees or more and 120 degrees or less.

[0102] The sensor (300) may include a plurality of sensors (300). For example, the sensor (300) may include four sensors (300), as shown in FIGS. 3 and 4. The plurality of sensors (300) may each be mounted on the outer surface of the body (100). The plurality of sensors (300) may be arranged at equal or different intervals relative to the center of the body (100). For example, as shown in FIG. 4, the four sensors (300) may be arranged at a 90-degree angle to each other.

[0103] The plurality of sensors (300) can be individually controlled. For example, the detection angles θ1 and θ2 of the plurality of sensors (300) can be controlled to be the same or different angles by the sensor controller (200). In addition, the time, period, and frequency of the signal emitted by each sensor can all be individually controlled.

[0104] A plurality of sensors (300) can form a detection area (SA). For example, as illustrated in FIGS. 4 and 5 , the plurality of sensors (300) can form detection areas (SA) in the azimuth and elevation directions, respectively. Accordingly, the detection areas (SA) formed by the plurality of sensors (300) can have the same or different ranges.

[0105] The detection areas (SA) formed by the plurality of sensors (300) may overlap at least partially or their boundaries may touch each other. For example, as shown in FIG. 4, the detection areas (SA) formed by the plurality of sensors (300) in the azimuth direction may have boundaries touching each other. Therefore, the radar (10) can detect surrounding objects or people from all directions in the planar direction or the azimuth direction. Although the drawing only shows a state where the boundaries of the detection areas (SA) touch each other, the detection areas (SA) formed by the plurality of sensors (300) may be controlled to overlap each other. Therefore, the radar (10) can secure a detection area (SA) of 360 degrees in the planar direction or the azimuth direction.

[0106] The sensor (300) may include a transmitter (310) and a receiver (320). The transmitter (310) may radiate a signal (electromagnetic wave) to the surroundings, and the receiver (320) may receive a signal reflected from an object or a person. For example, the transmitter (310) and the receiver (320) may constitute a Doppler sensor. An unmodulated continuous wave (CW) oscillated from an oscillator of the transmitter (310) is reflected by an object or a person, and the receiver (320) receives the reflected signal and can detect the position (or angle), speed, etc. of the object or person based on the phase difference. That is, when a signal radiated by the transmitter (310) is reflected by an object, its frequency is modulated by a Doppler shift, and the receiver (320) can receive this and provide information on the speed and direction of the object based on the frequency difference. In addition, the sensor (300) (or the sensor controller (200) that receives information from the sensor (300)) can calculate the angle of the object in the azimuth direction based on the phase difference and time delay between signals received by the receivers (320) arranged in the azimuth direction, and can calculate the angle of the object in the elevation direction based on the phase difference and time delay between signals received by the receivers (320) arranged in the elevation direction.

[0107] A transmitter (310) may include one or more transmitters (310). For example, as shown in FIG. 6, a transmitter (310) included in one sensor (300) may include one transmitter (310).

[0108] The receiver (320) may include one or more receivers (320). For example, the receiver (320) may include a first receiver (321), a second receiver (322), and a third receiver (323). A plurality of receivers (320) may be arranged around one transmitter (310). For example, as shown in FIG. 6, the transmitter (310) may be at a corner of the sensor (300) (e.g., an upper right corner), the first receiver (321) may be arranged below the transmitter (310) (e.g., an upper right corner of the sensor (300)), the second receiver (322) may be arranged diagonally below the transmitter (310) (e.g., a lower left corner of the sensor (300)), and the third receiver (323) may be arranged to the left of the transmitter (310) (e.g., an upper left corner of the sensor (300)). The signal reflected by an object or person after being emitted from the receiver (320) can be received by the first receiver (321), the second receiver (322), and the third receiver (323), respectively.

[0109] The sensor (300) may include a plurality of sensor arrays. For example, the sensor (300) may include a first sensor array (301) and a second sensor array (302). The first sensor array (301) and the second sensor array (302) may detect the position (or angle) and speed of an object or person in different directions. For example, the first sensor array (301) may detect an object or person in an azimuth direction (azimuth plane), and the second sensor array (302) may detect an object or person in an altitude direction (altitude plane).

[0110] The first sensor array (301) and the second sensor array (302) may include a plurality of receivers (320). For example, the first sensor array (301) and the second sensor array (302) may each include a plurality of receivers (320) arranged side by side in a first direction (e.g., a left-right direction or an azimuth direction of FIG. 6). The second sensor array (302) may include two receivers (320) (e.g., a second receiver (322) and a third receiver (323)) arranged side by side in a second direction (e.g., a vertical direction or an elevation direction of FIG. 6). Therefore, as shown in FIG. 7, when a signal St is radiated from a transmitter (310), the signals Sr1 and Sr2 reflected from an object are received by the first receiver (321) and the second receiver (322) included in the first sensor array (301), so that the sensor (300) can detect an obstacle (O) on a plane (PA) in the azimuth direction based on the phase difference of each signal. In addition, the signals Sr2 and Sr3 reflected from an object are received by the second receiver (322) and the third receiver (323) included in the second sensor array (302), so that the sensor (300) can detect an obstacle (O) on a plane (PA) in the elevation direction based on the phase difference of each signal. Therefore, as shown in FIG. 8, the sensor (300) can detect the position of the obstacle (O). In addition, the sensor (300) can detect the speed and angle of the obstacle (O) based on the time between the emitted signal and the received signal (the difference in time at which the receivers (320) receive the signal) and the frequency modulated while reflected. The first sensor array (301) and the second sensor array (302) can share at least one receiver (320) (e.g., the second receiver (322)).

[0111] The communication controller (400) may be accommodated in the internal space (110) of the body (100) and supported by the body (100). For example, as shown in FIG. 3, the communication controller (400) may be located below the sensor controller (200) and supported by the rib (120), the first body boss (130), and the second body boss (140). The communication controller (400) may be connected to external devices such as the sensor controller (200) and the platform controller (20) via wires or wirelessly. The communication controller (400) may receive a control signal from the platform controller (20) and transmit it to the sensor controller (200), and may receive an object detection signal from the sensor controller (200) and transmit it to the platform controller (20). Alternatively, the communication controller (400) may connect the sensor controller (200) and the sensor (300) so that they can communicate with each other.

[0112] The communication controller (400) may include a second substrate (410) and a second substrate hole (420).

[0113] The second substrate (410) is a substrate including various electronic components and circuit patterns, and may be, for example, a printed circuit board. In FIG. 3, the second substrate (410) is depicted as a circle, but the second substrate (410) may have various shapes depending on the shape and size of the body (100) or radar (10).

[0114] The second substrate hole (420) may be formed in the second substrate (410) and may be a portion that is fastened to the body (100). For example, as shown in FIG. 3, the second substrate hole (420) may correspond to the first body boss (130) and the second fastening hole (211). When the first body boss (130) is inserted into the second substrate hole (420), the communication controller (400) may be fixed to the body (100). In addition, a fastening member such as a bolt inserted through the second fastening hole (211) may be inserted into the first body boss (130) through the second substrate hole (420), thereby fixing the sensor controller (200) to the body (100). The second substrate hole (420) may include a plurality of second substrate holes (420). For example, as shown in FIG. 3, a plurality of second substrate holes (420) (e.g., four) can be formed along the edge of the second substrate (410).

[0115] The connector (500) can connect the radar (10) to an external device such as a platform controller (20). For example, as shown in FIG. 3, the connector (500) can be mounted on the body (100). A cable or the like can be connected to the connector (500) so that the sensor controller (200) and the communication controller (400) can be connected to the platform controller (20). However, the connector (500) is not an essential component, and the sensor controller (200) and the communication controller (400) can be wirelessly connected to the platform controller (20) without the connector (500).

[0116] The cover (600) can be mounted on the body (100) to open and close the internal space (110). For example, as shown in FIG. 3, the cover (600) can be detachably mounted on the open upper surface of the body (100) and can hold and support the sensor controller (200) and the communication controller (400) on the inside together with the body (100). The cover (600) can include a cover protrusion (610) and a cover hole (620). A plurality of cover protrusions (610) are formed on the edge of the cover (600) and can extend outward in the radial direction of the cover (600). The cover protrusion (610) can include a plurality of cover protrusions (610) (for example, seven). Each cover protrusion (610) is fitted into a mounting groove (150) of the body (100), and a fastening member such as a bolt inserted through the protrusion hole (611) of the cover protrusion (610) can be inserted into the third fastening hole (151) of the mounting groove (150).

[0117] The radar (10) may further include an interaction button (700). The interaction button (700) is a member for interaction between a user and the radar (10) or the steering system (1), and the user may instruct the radar (10) or the steering system (1) to perform a specific operation by touching or pressing the interaction button (700). The interaction button (700) is connected to the sensor controller (200) and the communication controller (400), and when the user interacts with the interaction button (700), the sensor controller (200) and the communication controller (400) may operate to transmit a signal to the platform controller (20). The platform controller (20) may stop or operate the steering system (1), change the position of the platform (30), or perform a gripping operation of the EOAT (40) according to a pre-stored algorithm.

[0118] The interaction button (700) may include a plurality of interaction buttons (700). For example, as shown in FIG. 4, the plurality of interaction buttons (700) may be mounted on the outer surface of the body (100) and may be located between a plurality of sensors (300). For example, the interaction button (700) may include three interaction buttons (700). The three interaction buttons (700) may each be located between a plurality of sensors (300) and a connector (500).

[0119] The radar (10) may further include a connection PCB (800). The connection PCB (800) may connect a plurality of sensors (300) to the sensor controller (200) and may include a flexible material that can be bent. The connection PCB (800) may connect a plurality of sensors (300) in parallel to the sensor controller (200). For example, as shown in FIG. 9, a plurality (e.g., four) connection PCBs (800) may be respectively connected around the sensor controller (200), and a sensor (300) may be connected to the end of each connection PCB (800).

[0120] Alternatively, the connection PCB (800) may connect a plurality of sensors (300) in series with the sensor controller (200). For example, as shown in FIG. 10, each connection PCB (800) is located between a plurality of sensors (300), and a first end of one connection PCB (800) may be connected to the sensor controller (200) and a second end may be connected to the sensor (300) closest to the sensor controller (200). Therefore, as shown in FIG. 10, the plurality of sensors (300) and the plurality of connection PCBs (800) may have a band shape extending in a single row.

[0121] Therefore, the connection method of the sensor (300) and the sensor controller (200) can be freely changed in consideration of the size, shape, specifications, or installation location of the radar (10). For example, as shown in Fig. 11, when a plurality of connection PCBs (800) and a plurality of sensors (300) are connected in series to the sensor controller (200), the radar (10) can be completed by winding the plurality of connection PCBs (800) and the plurality of sensors (300) around the outer surface of the body (100).

[0122] The radar (10) may be installed outside, rather than inside, the steering system (1), including the platform (30). Furthermore, the radar (10) may be mounted on the platform (30) by assembling it to the end of the platform (30) using bolts or the like without a separate adapter or the like. Therefore, the radar (10) may be universally used in various types of robots or manipulators.

[0123] The platform controller (20) is connected to the radar (10), the platform (30), and the EOAT (40) by wire and / or wirelessly, and can control the radar (10), the platform (30), and the EOAT (40). For example, the platform controller (20) may be a user terminal such as a smartphone, a laptop, a desktop, a tablet PC, or a server. The platform controller (20) may control the steering system (1) based on the detection information received from the radar (10). Alternatively, when the interaction button (700) is touched or pressed, the platform controller (20) may control the steering system (1) according to a predetermined algorithm.

[0124] The sensor controller (200), the communication controller (400), and the platform controller (20) may utilize a direct circuit structure that executes each control function through one or more microprocessors or other control devices such as a memory, a processor, a logic circuit, a look-up table, etc. The sensor controller (200), the communication controller (400), and the platform controller (20) may be implemented as a part of a module, program, or code that includes one or more executable instructions for executing a specific logic function. The sensor controller (200), the communication controller (400), and the platform controller (20) may include or be implemented by a processor such as a central processing unit that executes each function or a microprocessor, etc. The sensor controller (200), the communication controller (400), and the platform controller (20) may include a communication device that can transmit and receive data with an external device, etc. The communication device may include one or more combinations of a digital modem, an RF modem, an antenna circuit, a Wi-Fi chip, and related software and / or firmware.

[0125] The platform (30) includes a plurality of joints and an EOAT (40) can be connected to the end thereof. For example, the platform (30) can be a six-axis robot arm that moves the EOAT (40) in various directions and positions. A radar (10) can be mounted between the end of the platform (30) and the EOAT (40).

[0126] The EOAT (40) is connected to the platform (30) and can perform gripping, assembling, or other processing operations on an object. For example, as shown in FIG. 1, the EOAT (40) can be mounted on an end portion of a plurality of joints of the platform (30). The EOAT (40) can have various shapes depending on the field in which the steering system (1) is used. For example, the EOAT (40) can include a finger or suction type gripper, the end portion of a surgical robot, or a tool used for other finishing operations such as welding.

[0127] In addition to the embodiments described above, the sensor (300) may have various arrangements. For example, as illustrated in FIG. 12, the sensor (300) may include a greater number of receivers (320). For example, the sensor (300) may include five receivers (320). The receivers (320) may include a first receiver (321), a second receiver (322), a third receiver (323), a fourth receiver (324), and a fifth receiver (325). The first receiver (321), the second receiver (322), and the third receiver (323) may be included in a first sensor array (301), and the third receiver (323), the fourth receiver (324), and the fifth receiver (325) may be included in a second sensor array (302). That is, the first sensor array (301) and the second sensor array (302) may each include three receivers (320). The first receiver (321), the second receiver (322), the third receiver (323), the fourth receiver (324), and the fifth receiver (325) are arranged clockwise starting from the lower right corner of the sensor (300), and the fifth receiver (325) may be located at the upper left corner of the sensor (300).

[0128] The first receiver (321), the second receiver (322), and the third receiver (323) included in the first sensor array (301) can receive signals in the azimuth direction, and the third receiver (323), the fourth receiver (324), and the fifth receiver (325) included in the first sensor array (301) can receive signals in the elevation direction. Therefore, the sensor (300) can include a greater number of receivers (320) in the azimuth direction and the elevation direction, thereby reducing the deviation of each receiver (320) and increasing the measurement precision. The first sensor array (301) and the second sensor array (302) can share at least one receiver (320) (for example, the third receiver (323)).

[0129] Alternatively, as illustrated in FIG. 13, the sensor (300) may include eight receivers (320). The receivers (320) may include a first receiver (321), a second receiver (322), a third receiver (323), a fourth receiver (324), a fifth receiver (325), a sixth receiver (326), a seventh receiver (327), and an eighth receiver (328). In addition, the sensor (300) may include four sensor arrays. The first sensor array (301) and the third sensor array (303) are respectively located above and below the transmitter (310) and can receive signals in the azimuth direction. The second sensor array (302) and the fourth sensor array (304) are respectively located to the left and right of the transmitter (310) and can receive signals in the elevation direction. Accordingly, as shown in Fig. 13, a transmitter (310) is located at the center of the sensor (300), and eight receivers (320) can be arranged around the transmitter (310).

[0130] The first receiver (321), the second receiver (322), and the third receiver (323) may be included in the first sensor array (301), and the third receiver (323), the fourth receiver (324), and the fifth receiver (325) may be included in the second sensor array (302). In addition, the fifth receiver (325), the sixth receiver (326), and the seventh receiver (327) may be included in the third sensor array (303), and the seventh receiver (327), the eighth receiver (328), and the first receiver (321) may be included in the fourth sensor array (304). That is, the first sensor array (301) and the second sensor array (302) may each include three receivers (320). The first receiver (321) to the eighth receiver (328) can be arranged clockwise starting from the lower right corner of the sensor (300).

[0131] Therefore, the sensor (300) may include a greater number of receivers (320) in the azimuth direction and the elevation direction, and may include a plurality of sensor arrays that detect objects in the azimuth direction and the elevation direction, respectively. Therefore, the deviation of each receiver (320) and sensor array can be reduced and the measurement precision can be increased. In addition, the sensor (300) can detect objects using other sensor arrays even if one sensor array fails. The first sensor array (301) and the second sensor array (302) can share the third receiver (323), the second sensor array (302) and the third sensor array (303) can share the fifth receiver (325), and the third sensor array (303) and the fourth sensor array (304) can share the seventh receiver (327).

[0132] Alternatively, as illustrated in FIG. 14, the sensor (300) may include a greater number of transmitters (310) and receivers (320). For example, the sensor (300) may include four transmitters (310), a first transmitter (311), a second transmitter (312), a third transmitter (313), and a fourth transmitter (314). The first transmitter (311), the second transmitter (312), the third transmitter (313), and the fourth transmitter (314) may be arranged clockwise from the center of the sensor (300). Additionally, the sensor (300) may include five receivers (320), a first receiver (321), a second receiver (322), a third receiver (323), a fourth receiver (324), and a fifth receiver (325). The first receiver (321), the second receiver (322), and the third receiver (323) may be included in the first sensor array (301), and the third receiver (323), the fourth receiver (324), and the fifth receiver (325) may be included in the second sensor array (302).

[0133] The signal transmitted from each transmitter (310) and reflected by the object can be received by each receiver (320). Therefore, by including a greater number of transmitters (310) and receivers (320), the sensor (300) can reduce the deviation of each transmitter (310), receiver (320), and sensor array and increase the measurement precision. In addition, even if one transmitter (310) fails, the sensor (300) can detect the object using the other transmitter (310).

[0134] Alternatively, as illustrated in FIG. 15, the radar (10) may include a greater number of sensors (300). For example, the sensor (300) may include a plurality of first sensors (300a) and a plurality of second sensors (300b). For example, each of the sensors (300) may include four first sensors (300a) and four second sensors (300b), and the plurality of first sensors (300a) and second sensors (300b) may be arranged alternately. The plurality of first sensors (300a) and second sensors (300b) may be individually controlled, and their respective detection areas (SA) may overlap. Therefore, as illustrated in FIG. 15, the blind area of ​​the radar (10) may be significantly reduced. For example, eight first sensors (300a) and eight second sensors (300b) are arranged at equal intervals, and the angle between them can be 45 degrees.

[0135] The first sensor (300a) and the second sensor (300b) may have an arrangement as shown in FIG. 16. For example, the first sensor (300a) may be at the same position as the previous sensor (300), and the second sensor (300b) may be located between the first sensors (300a). In addition, the second sensor (300b) may be located above or below the connector (500) so as not to interfere with other components of the radar (10), such as the connector (500). As shown in FIG. 16, the first sensor (300a) and the second sensor (300b) may be arranged on a line L1 extending along the outer circumference of the body (100), and the connector (500) may be arranged on a line L3 below the line L1. In addition, the interaction button (700) may be arranged on a line L2 between the lines L1 and L3.

[0136] Alternatively, as illustrated in FIG. 17, the plurality of sensors (300) may be positioned at different locations in the height direction of the radar (10). For example, the plurality of first sensors (300a) may be positioned at the lower portion of the body (100) in the height direction and may be positioned on line L3. The plurality of second sensors (300b) may be positioned at the lower portion of the body (100) in the height direction and may be positioned on line L1. In this way, the plurality of first sensors (300a) and second sensors (300b) are arranged to be staggered in the height direction, thereby preventing the sensors (300) from being biased to one side along the height direction.

[0137] Alternatively, as illustrated in FIG. 18, the radar (10) may include a greater number of sensors (300). For example, the sensors (300) may include a plurality of first sensors (300a), a plurality of second sensors (300b), and a plurality of third sensors (300c). For example, the sensors (300) may each include four first sensors (300a), four second sensors (300b), and eight third sensors (300c), and the plurality of first sensors (300a), second sensors (300b), and third sensors (300c) may be arranged alternately. The plurality of first sensors (300a), second sensors (300b), and third sensors (300c) may be individually controlled, and their respective detection areas (SA) may overlap. For example, a plurality of third sensors (300c) may be respectively positioned between the first sensor (300a) and the second sensor (300b). Therefore, as shown in FIG. 18, a plurality of first sensors (300a), second sensors (300b), and third sensors (300c) are arranged continuously along the circumferential direction of the body (100), and the radar (10) can eliminate the blind area of ​​the detection area (SA). For example, 16 first sensors (300a), second sensors (300b), and third sensors (300c) may be arranged at equal intervals, and the angle between them may be 22.5 degrees.

[0138] The platform controller (20) is connected to the radar (10), the platform (30), and the EOAT (40) by wire and / or wirelessly, and can control the radar (10), the platform (30), and the EOAT (40). For example, the platform controller (20) may be a user terminal such as a smartphone, a laptop, a desktop, a tablet PC, or a server. The platform controller (20) may control the steering system (1) based on the detection information received from the radar (10). Alternatively, when the interaction button (700) is touched or pressed, the platform controller (20) may control the steering system (1) according to a predetermined algorithm.

[0139] The platform controller (20) can control the platform (30) based on information about an obstacle detected by the radar (10). The platform controller (20) can steer, not steer, decelerate, stop, or maintain operation of the platform (30) based on the distance and / or relative speed between the platform (30) and the obstacle, and the angle (position) of the obstacle.

[0140] The platform controller (20) can receive information about an obstacle (O) from the radar (10). For example, the radar (10) can detect an obstacle (O) around the platform (30) and transmit a signal to the platform controller (20). The platform controller (20) can calculate, from the received signal, information about the obstacle (O), such as the distance between the obstacle (O) and the radar (10) or the platform (30), the relative speed of the obstacle (O) (the speed of the obstacle (O) with respect to the radar (10) or the platform (30)), and the angle of the obstacle (O) (for example, the angle in the azimuth direction). Alternatively, the information about the obstacle (O) may be a value calculated by the radar (10) and transmitted to the platform controller (20).

[0141] The platform controller (20) can determine whether to operate the platform (30) based on the information about the received obstacle (O). For example, the platform controller (20) may not operate the platform (30) if the distance to the obstacle (O) is greater than a predetermined distance. In other words, the platform controller (20) can determine that there is no possibility of collision between the platform (30) and the obstacle (O) and cause the platform (30) to maintain its current operation (determined movement trajectory).

[0142] The platform controller (20) can set a plurality of virtual areas according to the distance between the obstacle (O) and the platform (30) based on the center C of the radar (10). For example, as shown in FIG. 19, the platform controller (20) can set a first area Z1 divided between a first distance r1 and a second distance r2 based on the center C, a second area Z2 divided between a second distance r2 and a third distance r3, and a third area Z3 divided by the third distance r3. The first area Z1, the second area Z2, and the third area Z3 can each be concentric with respect to the center C. The platform controller (20) can control the platform (30) differently depending on which area among the plurality of areas the obstacle (O) is in.

[0143] The first area Z1 may be an observing zone. The first area Z1 is divided between a first distance r1 and a second distance r2 based on the center C, and the first distance r1 corresponds to the outer radius of the first area Z1 and may be the maximum detection distance of the radar (10). The first distance r1 may vary depending on the specifications, type, sensitivity, etc. of the sensor (300) included in the radar (10). The second distance r2 corresponds to the inner radius of the first area Z1 and may vary depending on the type and size of the platform (30), the purpose of use, the field of application, etc. For example, when the platform (30) needs to be operated more agilely, the second distance r2 may have a larger value. For example, as shown in FIG. 20, when the radar (10) detects an obstacle (O) in the first area Z1, the platform controller (20) may not operate the platform (30). That is, the first region Z1 may be an area in which the obstacle (O) is observed and tracked, but the platform (30) is not manipulated (e.g., steered, stopped, or decelerated). When the obstacle (O) is in the first region Z1, the platform controller (20) may cause the platform (30) to move along the original movement trajectory.

[0144] The second zone Z2 may be a steering zone. The second zone Z2 is divided between the second distance r2 and the third distance r3 with respect to the center C, and may be between the first zone Z1 and the third zone Z3. The second distance r2 may correspond to the outer radius of the second zone Z2. The third distance r3 may correspond to the inner radius of the second zone Z2. When the radar (10) detects an obstacle (O) in the second zone Z2, the platform controller (20) may steer the platform (30). That is, the second zone Z2 may be a zone in which the platform controller (20) changes the movement trajectory of the platform (30) to avoid a collision between the obstacle (O) and the platform (30). For example, as shown in FIG. 21, when the radar (10) detects an obstacle (O) in the second zone Z2, the radar (10) may transmit an obstacle detection signal to the platform controller (20). And the platform controller (20) can issue a steering command to the platform (30) to avoid colliding with an obstacle (O).

[0145] The platform controller (20) can steer the platform (30) by reflecting the distance and relative speed of the obstacle (O) detected by the radar (10) and the position (e.g., angle in the azimuth direction) of the obstacle (O). That is, the platform controller (20) can dynamically steer the platform (30) in real time based on information about the obstacle (O) detected by the radar (10) in real time. Therefore, collision between the obstacle (O) and the platform (30) can be efficiently avoided.

[0146] The platform controller (20) can steer the platform (30) by changing the yaw rate of the platform (30). For example, the platform controller (20) can change the current velocity vector of the platform (30) (Fig. 19). ) and the distance vector to the obstacle (O) (Fig. 19) ) on a plane formed by the angular velocity vector for the platform (30) to avoid an obstacle (O), and the platform (30) can be rotated based on the calculated angular velocity vector (wz in FIG. 19). The plane formed by the current velocity vector of the platform (30) and the distance vector to the obstacle (O) can be represented as a steering plane SP, as shown in FIG. 19. The yaw axis of the platform (30) can be rotated from the Z-axis to the Z'-axis, as shown in FIG. 19, by the calculated yaw rate.

[0147] The platform controller (20) can calculate the angular velocity vector (yaw rate) using the equation (1) below.

[0148] , Equation (1)

[0149] In equation (1), w z is an angular velocity vector (yaw rate), r is a distance to a detected obstacle (O), r3 is a minimum safe distance, which is a radius of a third area Z3, θ is an azimuth angle of the detected obstacle (O), r2 is a maximum steering distance, which is an inner radius of a first area Z1 (or an outer radius of a second area Z2), v is a current velocity vector of the platform (30), and sign(θ) is a sign of θ. The platform controller (20) can provide a standardized reference frame for determining the direction of the steering action with respect to the direction of the platform (30) by converting the azimuth angle θ of the obstacle (O) into the range of [-180, 180].

[0150] In Equation (1), the numerator r3v can allow the platform (30) to maintain a safe distance r3 from the obstacle (O) during steering. The denominator (r-r3)r in Equation (1) can adjust the size of the yaw rate based on the distance r from the obstacle (O). The sign of θ in Equation (1) can allow the platform (30) to be steered in an appropriate direction (left or right) for the azimuth angle θ of the obstacle (O). As described above, the platform controller (20) may not steer the platform (30) if the distance r to the detected obstacle (O) is greater than or equal to the second distance r2, which is the maximum steering distance, i.e., if the obstacle (O) is at the boundary between the first area Z1 and the second area Z2, or is further than the second area Z2. If the distance r to the detected obstacle (O) is less than the second distance r2, i.e., if the obstacle (O) is within the second area Z2, the platform controller (20) can steer the platform (30) according to the above equation (1).

[0151] The platform controller (20) can steer the platform (30) based on the above equation (1), thereby preventing a collision between the platform (30) and the obstacle (O) by maintaining a safe distance between the platform (30) and the obstacle (O). In addition, the platform (30) can be efficiently steered by changing the yaw rate of the platform (30).

[0152] The platform controller (20) can calculate the yaw rate for steering the platform (30) by reflecting the relative speed of the obstacle (O) and / or the speed gain considering the approaching direction of the obstacle (O). For example, the platform controller (20) can calculate the yaw rate using the following equation (2).

[0153] , Equation (2)

[0154] Here, k is the speed gain, and k is calculated by equation (3) below.

[0155] , equation (3)

[0156] Here v r represents the relative velocity of the obstacle (O), i.e., the velocity of the obstacle (O) with respect to the radar (10) or platform (30). Δr is r k -r (k-1) , that is, it represents the difference between the distance of the obstacle (O) measured by the radar (10) at a certain point in time and the distance of the obstacle (O) measured in the immediately previous cycle. sign(Δr) is the sign of Δr.

[0157] For example, v r > v and Δr < 0, the obstacle (O) approaches the platform (30) faster. Therefore, in order to more reliably prevent collision between the obstacle (O) and the platform (30), the platform controller (20) must steer the platform (30) faster. At this time, the speed gain k may have a value greater than 0. The platform controller (20) may apply the calculated speed gain k value to equation (1) to calculate the corrected yaw rate. Or v r > v and Δr > 0, the obstacle (O) moves faster than the platform (30) but moves away from the platform (30). Therefore, since the risk of collision between the obstacle (O) and the platform (30) is low, it is desirable for the platform controller (20) to steer the platform (30) stably with low acceleration rather than rapidly accelerating it. At this time, the speed gain k may have a value less than 0. The platform controller (20) can calculate the corrected yaw rate by applying the calculated speed gain k value to equation (1).

[0158] When the speed of the platform (30) is equal to or greater than the relative speed of the obstacle (O) (i.e., v r When ≤ v, the value of the speed gain k can be 1. Or, in this case, since there is no need to compensate for the yaw rate, the platform controller (20) can calculate the yaw rate in the same manner as in equation (1).

[0159] The third zone Z3 may be a safety zone. The third zone Z3 is divided by a third distance r3 based on the center C, and the third distance r3 may form a boundary between the second zone Z2 and the third zone Z3. The third zone Z3 is a minimum safety zone to prevent the platform (30) from colliding with the obstacle (O), and the third distance r3 may vary depending on the type and size of the platform (30), the purpose of use, the field of application, etc. For example, as shown in FIG. 22, when the radar (10) detects an obstacle (O) in the third zone Z3, the radar (10) may transmit an obstacle detection signal to the platform controller (20). In addition, the platform controller (20) may issue a speed control command to the platform (30) to reduce the impact generated when colliding with the obstacle (O).

[0160] When the platform controller (20) determines that the collision between the platform (30) and the obstacle (O) cannot be avoided when the obstacle (O) enters the third area Z3, the platform controller (20) can adjust the speed of the platform (30). For example, the platform controller (20) can determine whether to adjust the speed of the platform (30) according to the expected collision time between the obstacle (O) and the platform (30). For example, when the obstacle (O) enters the third area Z3, that is, when the distance r < the third distance r3, the platform controller (20) can adjust the expected collision time t between the obstacle (O) and the platform (30). c This critical time t s Below, the platform (30) can be stopped immediately. Therefore, the impact and damage to the platform (30) due to collision with the obstacle (O) can be minimized. Here, the critical time t s may be a predetermined value considering the size, weight, shape, application target, maximum acceleration, etc. of the platform (30). In addition, the expected collision time t c is r / v r can be calculated as

[0161] If the expected collision time is t cis the critical time t s If the expected collision time t is greater than the platform controller (20), the platform controller (20) may not immediately stop the platform (30). For example, the expected collision time t c This critical time t s Larger, the distance between the platform (30) and the obstacle (O) is the deceleration distance r sl Below, the platform controller (20) can decelerate the platform (30). Here, the deceleration distance r sl is a predetermined value considering the size, weight, shape, application target, maximum acceleration, etc. of the platform (30) and may be smaller than r3. For example, the deceleration distance r sl can be 10% to 80% of r3, or 20% to 70% of r. Or r sl can be half of r3. After that, the distance between the platform (30) and the obstacle (O) is the deceleration distance r sl When it becomes larger, the platform controller (20) can move the platform (30). Here, “moving the platform (30)” can mean moving the platform (30) along the original movement trajectory or steering the platform (30). Therefore, as the speed of the platform (30) decreases, the impact from the expected collision between the platform (30) and the obstacle (O) can be reduced. In addition, by securing a longer expected collision time between the platform (30) and the obstacle (O), the collision between the platform (30) and the obstacle (O) can be avoided depending on the behavior of the obstacle (O) thereafter.

[0162] If the platform controller (20) decelerates the platform (30), the distance between the platform (30) and the obstacle (O) is the deceleration distance r sl Below, the platform controller (20) can immediately stop the platform (30). After that, the distance between the platform (30) and the obstacle (O) is the stopping distance r. st When it becomes larger, the platform (30) can be moved again at a reduced speed. Here, the stopping distance r stis a predetermined value considering the size, weight, shape, application target, maximum acceleration, etc. of the platform (30), and r3 and deceleration distance r sl can be smaller. For example, the stopping distance r sl is the deceleration distance r sl It can be 10% to 80%, or 20% to 70% of the stopping distance r. sl is the deceleration distance r sl It can be half of the distance between the platform (30) and the obstacle (O). On the other hand, the stopping distance r st Below, the stationary state of the platform (30) can be maintained.

[0163] or expected collision time t c This critical time t s Larger, the distance between the platform (30) and the obstacle (O) is the deceleration distance r sl If larger, the platform controller (20) can move the platform (30).

[0164] When determining whether to steer the platform (30), if the platform controller (20) determines that the obstacle (O) is in the third area Z3, it may perform a speed control operation (stopping or slowing down the platform (30)) without steering the platform (30), or if the obstacle (O) is in the third area Z3 after steering the platform (30), it may perform a speed control operation.

[0165] When the radar (10) detects information about multiple obstacles (O), the platform controller (20) can determine whether to operate the platform (30) based on the obstacle (O) closest to the platform (30) among the multiple obstacles (O). The obstacle (O) closest to the platform (30) may vary depending on the information detected in real time by the radar (10).

[0166] The sensor controller (200), the communication controller (400), and the platform controller (20) may utilize a direct circuit structure that executes each control function through one or more microprocessors or other control devices such as a memory, a processor, a logic circuit, a look-up table, etc. The sensor controller (200), the communication controller (400), and the platform controller (20) may be implemented as a part of a module, program, or code that includes one or more executable instructions for executing a specific logic function. The sensor controller (200), the communication controller (400), and the platform controller (20) may include or be implemented by a processor such as a central processing unit that executes each function or a microprocessor, etc. The sensor controller (200), the communication controller (400), and the platform controller (20) may include a communication device that can transmit and receive data with an external device, etc. The communication device may include one or more combinations of a digital modem, an RF modem, an antenna circuit, a Wi-Fi chip, and related software and / or firmware.

[0167] The steering system (1) may further include an EOAT (40). For example, if the platform (30) includes multiple joints, an EOAT (40) may be connected to the end thereof. For example, the platform (30) may be a six-axis robot arm capable of moving the EOAT (40) in various directions and positions. A radar (10) may be mounted between the end of the platform (30) and the EOAT (40).

[0168] The EOAT (40) is connected to the platform (30) and can perform operations such as gripping, assembling, or other processing of obstacles. For example, as shown in FIG. 1, the EOAT (40) can be mounted on an end portion of a plurality of joints of the platform (30). The EOAT (40) can have various shapes depending on the field in which the steering system (1) is used. For example, the EOAT (40) can include a finger or suction type gripper, a distal end portion of a surgical robot, or a tool used for other finishing processing such as welding. Alternatively, if the platform (30) is not a six-axis robot arm but an autonomous vehicle, an unmanned aerial vehicle, an industrial automation facility, or various security and tracking systems, the EOAT (40) can be a corresponding manipulation device or interaction device of the platform (30).

[0169] The following describes a method of steering a platform (30) according to embodiments of the present disclosure using a steering system (1).

[0170] As shown in FIG. 23, a method for steering a platform (30) according to embodiments of the present disclosure includes a step of collecting information about an obstacle (O) by a radar (10) mounted on the platform (30), a step of determining whether to steer the platform (30) based on the collected information by the platform controller (20), and a step of steering the platform (30) by the platform controller (20), wherein the step of determining whether to steer the platform (30) includes not steering the platform (30) if the obstacle (O) is in a first area Z1 or outside the first area Z1, and steering the platform (30) so that the obstacle (O) does not enter a third area Z3 if the obstacle (O) is in a second area Z2, and the step of steering the platform (30) includes calculating a yaw rate for steering the platform (30) away from the obstacle (O) by the platform controller (20), and steering the platform (30) so as to correspond to the calculated yaw rate.

[0171] First, in the step of collecting information about an obstacle (O), the radar (10) mounted on the platform (30) detects an obstacle (O) around the platform (30) and collects information about the distance and relative speed between the obstacle (O) and the platform (30), the angle of the obstacle (O), etc., and transmits the collected information to the platform controller (20).

[0172] In the step of determining whether to steer the platform (30), the platform controller (20) determines in which area the obstacle (O) is located based on the information about the obstacle (O) received. If the obstacle (O) has not yet approached the second area Z2, i.e., if the obstacle (O) is determined to be in the first area Z1 or outside, the platform controller (20) does not steer the platform (30) and allows the platform (30) to move along the current movement trajectory. In addition, information about the obstacle (O) is continuously transmitted from the radar (10).

[0173] In the step of steering the platform (30), if the platform controller (20) determines that the obstacle (O) has approached the second area Z2, the platform controller (20) steers the platform (30) to avoid collision between the platform (30) and the obstacle (O). The platform controller (20) calculates the yaw rate for steering the platform (30) based on information about the obstacle (O), including the relative speed and distance between the platform (30) and the obstacle (O) and the position (azimuth) of the obstacle (O). The platform controller (20) steers the platform (30) by changing the yaw rate of the platform (30). The platform controller (20) steers the platform (30) by rotating the platform (30) using the above equation (1). Alternatively, in the step of steering the platform (30), the platform controller (20) calculates the yaw rate using equation (2).

[0174] Afterwards, if the obstacle (O) is determined to be in the first area Z1 again or outside the first area Z1, the platform (30) is not steered and the platform (30) is allowed to move along the current movement trajectory.

[0175] The steering method of the platform (30) according to embodiments of the present disclosure further includes a speed control step. In the speed control step, if the obstacle (O) is in the third area Z3, the platform controller (20) stops the platform (30) or decelerates the platform (30). If the obstacle (O) approaches within the third area Z3, the platform controller (20) determines whether the platform (30) can avoid the obstacle (O). The platform controller (20) determines whether the platform (30) can avoid the obstacle (O) based on information about the obstacle (O), including the relative speed and distance between the platform (30) and the obstacle (O) and the position (azimuth) of the obstacle (O). If it is determined that the platform (30) can avoid the obstacle (O), the platform controller (20) maintains the steering state of the platform (30). On the other hand, if it is determined that the platform (30) can avoid the obstacle (O), the platform controller (20) adjusts the speed of the platform (30) to reduce the impact resulting from the collision between the platform (30) and the obstacle (O) (see Fig. 23).

[0176] The platform controller (20) determines the expected collision time t in the speed control step. c and critical time t s The operation mode of the platform (30) is determined by comparing the relative speed and distance between the platform (30) and the obstacle (O), and the expected collision time t between the platform (30) and the obstacle (O) from the position of the obstacle (O). c Calculate the expected collision time t c is the critical time t s Below, the platform controller (20) stops the platform (30).

[0177] If the expected collision time is t c is the critical time t s If greater than, the platform controller (20) reduces the distance between the platform (30) and the obstacle (O) by a deceleration distance r sl Compare with the distance between the platform (30) and the obstacle (O) and the deceleration distance r slIf it is greater than the platform controller (20), the platform controller (20) steers the platform (30) or maintains the current movement trajectory. On the other hand, the distance between the platform (30) and the obstacle (O) is the deceleration distance r sl Below, the platform controller (20) decelerates the platform (30) to reduce the impact caused by the collision between the platform (30) and the obstacle (O). Afterwards, according to the deceleration of the platform (30), the distance between the obstacle (O) and the platform (30) is the deceleration distance r. sl When it becomes larger, the platform controller (20) steers the platform (30) or maintains the current movement trajectory. On the other hand, the distance between the obstacle (O) and the platform (30) is the deceleration distance r sl Below, in order to reduce the impact caused by the collision between the platform (30) and the obstacle (O), the platform controller (20) stops the platform (30). After that, the distance between the obstacle (O) and the platform (30) is the stopping distance r st When it becomes larger, the platform controller (20) decelerates the platform (30) again. Here, decelerating movement means movement at a slower speed than the normal speed when moving along the original movement trajectory. If the distance between the obstacle (O) and the platform (30) is the stopping distance r st When this happens, the platform controller (20) maintains the stationary state of the platform (30) (see Fig. 24).

[0178] Fig. 25 illustrates an example of a control algorithm of a platform controller (20) according to embodiments of the present disclosure. As illustrated in Fig. 25, when the distance between an obstacle (O) and a platform (30) is less than a third distance r3, i.e., when the obstacle (O) enters a third area Z3, the platform controller (20) compares the expected collision time with a threshold time. If the expected collision time is less than or equal to the threshold time, the platform controller (20) stops the platform (30).

[0179] If the expected collision time is greater than the critical time, the platform controller (20) moves the platform (30). Thereafter, if the distance between the obstacle (O) and the platform (30) is less than the deceleration distance, the platform controller (20) decelerates the platform (30). Alternatively, if a deceleration command is given to the platform (30), and the distance between the obstacle (O) and the platform (30) is greater than the deceleration distance, the platform controller (20) moves the platform (30). On the other hand, if the distance between the obstacle (O) and the platform (30) is less than the deceleration distance, the platform controller (20) stops the platform (30). Alternatively, if a stop command is given to the platform (30), and the distance between the obstacle (O) and the platform (30) is greater than the stopping distance, the platform controller (20) decelerates the platform (30).

[0180] While the present invention has been described with reference to the embodiments illustrated in the drawings, these are merely examples. Those skilled in the art will readily appreciate that various modifications and equivalent alternative embodiments are possible based on the embodiments described herein. Therefore, the true scope of technical protection of the present invention should be determined based on the appended claims.

[0181] The present disclosure can be used in industries related to radar, steering systems and steering methods.

Claims

1. A body mounted on the robot's arm; A sensor controller accommodated in the above body; A plurality of sensors each connected to the above sensor controller; and A communication controller connected to the body and the sensor controller and communicating with an external device; The above sensor controller calculates the position and speed of objects in the vicinity based on signals transmitted and received by the plurality of sensors, A panoramic radar in which the plurality of sensors are arranged along the perimeter of the body and the respective detection areas overlap or the boundaries of the respective detection areas touch each other.

2. In paragraph 1, A panoramic radar in which the plurality of sensors are arranged at 90-degree angles to each other along the perimeter of the body, and each detection area covers the entire azimuth direction.

3. In paragraph 1, The above multiple sensors transmitter; and A plurality of receivers arranged around the transmitter in a first direction and a second direction perpendicular to the first direction; The plurality of receivers arranged in the first direction form a first sensor array that detects an azimuth plane, and the plurality of receivers arranged in the second direction form a second sensor array that detects an elevation plane. The first sensor array and the second sensor array share at least one receiver, A panoramic radar wherein the sensor controller calculates an angle in the azimuth direction of a detected object based on a signal received in the azimuth direction by the first sensor array, and calculates an angle in the elevation direction of the object based on a signal received in the elevation direction by the second sensor array.

4. In paragraph 3, The plurality of receivers form a third sensor array that is located on the opposite side of the first sensor array with respect to the transmitter and detects an azimuth plane, and a fourth sensor array that is located on the opposite side of the second sensor array with respect to the transmitter and detects an elevation plane. The first sensor array and the second sensor array, the second sensor array and the third sensor array, the third sensor array and the fourth sensor array, and the fourth sensor array and the first sensor array each share one or more receivers, A panoramic radar wherein the sensor controller calculates an angle in the azimuth direction of a detected object based on signals received in the azimuth direction by the first sensor array and the third sensor array, and calculates an angle in the elevation direction of the object based on signals received in the elevation direction by the second sensor array and the fourth sensor array.

5. In paragraph 4, The transmitter is located at the center of the sensor, A panoramic radar wherein the first sensor array, the second sensor array, the third sensor array, and the fourth sensor array are arranged symmetrically in the upper, lower, left, and right directions centered on the transmitter.

6. In paragraph 3, The transmitter comprises a plurality of transmitters, The first sensor array is adjacent to the first edge of the sensor below the plurality of transmitters, The second sensor array is a panoramic radar, adjacent to the second edge of the sensor connected to the first edge next to the plurality of receivers.

7. In paragraph 1, A panoramic radar, wherein at least one of the plurality of sensors is arranged at a different position in the height direction of the body.

8. In paragraph 1, The above radar comprises a plurality of connecting PCBs, A panoramic radar in which the plurality of sensors are arranged on the outer surface of the body centered around the sensor controller and are each connected in parallel to the sensor controller through the plurality of connection PCBs.

9. In paragraph 1, The above radar comprises a plurality of connecting PCBs, The above plurality of sensors are each serially connected to the sensor controller through the above plurality of connection PCBs, The above plurality of sensors and the above plurality of connection PCBs are connected in series to form a belt shape, A panoramic radar in which the plurality of sensors and the plurality of connection PCBs surround the outer surface of the body.

10. In paragraph 1, The above panoramic radar further includes a plurality of interaction buttons, each of which is located between the plurality of sensors and each of which is connected to the sensor controller and the communication controller, A panoramic radar, wherein when at least one of the plurality of interaction buttons is touched or pressed, the sensor controller transmits a control signal to the robot.

11. A step in which the radar mounted on the platform collects information about obstacles; A step in which the platform controller determines whether to steer the platform based on the collected information; and The step of the platform controller steering the platform includes; The step of determining whether to steer the platform comprises: not steering the platform if the obstacle is in the first area or outside the first area; and steering the platform so that the obstacle does not enter the third area if the obstacle is in the second area. A method for steering a platform, wherein the step of steering the platform comprises calculating a yaw rate for steering the platform away from an obstacle by the platform controller, and steering the platform to correspond to the calculated yaw rate. Here, the first, second and third areas are as follows. (i) A first area divided into a first distance, which is the maximum detection distance of the radar, and a second distance, which is smaller than the first distance. (ii) A second area divided into the second distance and a third distance smaller than the second distance. (iii) The third area divided by the third street above 12. In paragraph 11, A method for steering a platform, wherein the step of steering the platform comprises calculating a yaw rate based on information about an obstacle, the information including a distance between the platform and the obstacle, an azimuth angle of the obstacle, and a relative velocity between the obstacle and the platform.

13. In paragraph 12, A method for steering a platform, wherein the step of steering the platform by the platform controller comprises calculating a yaw rate using Equation (1). , Equation (1) Here w z is the angular velocity vector (yaw rate), r is the distance to the detected obstacle, r3 is the third distance, θ is the azimuth angle of the detected obstacle, r2 is the second distance, v is the current velocity vector of the platform, and sign(θ) is the sign of θ.

14. In paragraph 13, A method for steering a platform, wherein the step of steering the platform by the platform controller calculates the yaw rate using equation (2). , Equation (2) Here, k is the speed gain, and k is calculated by equation (3) below. , equation (3) Here v r is the relative velocity of the platform and the obstacle, Δr is r-r3, and sign(Δr) is the sign of Δr.

15. In paragraph 11, If an obstacle is in the third area, the platform controller further includes a speed control step of stopping the platform or slowing down the platform. A method for steering a platform, wherein the speed control step is performed instead of the step of steering the platform if it is determined that an obstacle is within the third area in the step of determining whether to steer the platform, or is performed if an obstacle is within the third area after the step of the platform controller steering the platform.

16. Platform; A radar mounted on the platform and collecting information about obstacles; and A platform controller that operates the platform based on information about obstacles received from the radar; The platform controller determines whether to steer the platform based on information about obstacles collected by the radar, and steers the platform. The platform controller does not steer the platform if an obstacle is in the first area or outside the first area, and steers the platform so that the obstacle does not enter the third area if the obstacle is in the second area. A steering system in which the platform controller calculates a yaw rate for steering the platform away from an obstacle and steers the platform in response to the calculated yaw rate. Here, the first, second and third areas are as follows. (i) A first area divided into a first distance, which is the maximum detection distance of the radar, and a second distance, which is smaller than the first distance. (ii) A second area divided into the second distance and a third distance smaller than the second distance. (iii) The third area divided by the third street above 17. In paragraph 16, A steering system in which the platform controller calculates a yaw rate based on information about the obstacle, including the distance between the platform and the obstacle, the azimuth of the obstacle, and the relative velocity of the obstacle and the platform.

18. In paragraph 17, The above platform controller is a steering system that calculates the yaw rate using Equation (1). , Equation (1) Here w z is the angular velocity vector (yaw rate), r is the distance to the detected obstacle, r3 is the third distance, θ is the azimuth angle of the detected obstacle, r2 is the second distance, v is the current velocity vector of the platform, and sign(θ) is the sign of θ.

19. In paragraph 18, The above platform controller is a steering system that calculates the yaw rate using Equation (2). , Equation (2) Here, k is the speed gain, and k is calculated by equation (3) below. , equation (3) Here v r is the relative velocity of the obstacle, and Δr is r k -r (k-1) , and sign(Δr) is the sign of Δr.

20. In paragraph 11, The platform controller performs a speed control operation to stop or slow down the platform when an obstacle is in the third area. The platform controller is a steering system that performs the speed control operation without steering the platform when determining whether to steer the platform and determines that an obstacle is in the third area, or performs the speed control operation if an obstacle is in the third area after steering the platform.

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