System for guiding mobile robot to station

Abstract

A system for guiding a mobile robot to a station according to an embodiment of the present invention comprises: a station (10) to which a mobile robot (100) is connected to charge the mobile robot (100); and a display (50) which is installed in the station (10) and on which an image is reproduced; wherein the display (50) reproduces a marker image (60) including orientation information of an X-axis (41), a Y-axis (42), and a Z-axis (43), and the mobile robot (100) sets an entry path (P) by calculating a orientation value and a distance value with the station (10) from an image obtained by capturing the marker image (60), and can enter the station (10) on the basis of the set entry path (P).

Description

A system that guides mobile robots to stations

[0001] The present invention relates to a system for guiding a mobile robot to enter a station by referring to a marker image when docking the mobile robot to the station.

[0002] In general, mobile robots can be manufactured to perform a purpose function, can be battery powered, and can be equipped with devices to perform the purpose function.

[0003] Battery power is consumed as the mobile robot operates and must be charged to keep the mobile robot operating.

[0004] Additionally, the purpose of the mobile robot is to replenish water for example, in case of fire fighting, or to discharge collected dust and wash mops for cleaning.

[0005] The station enables the mobile robot described above to automatically take the necessary actions to continue performing its intended function.

[0006] Mobile robots can move along preset paths, avoid obstacles and reach their destinations by analyzing information collected through cameras and various sensors, and return to their stations when the remaining battery level reaches a preset value or when action is required to perform the intended function.

[0007] A conventional system for guiding a mobile robot to a station is described with reference to FIGS. 1 to 3. FIGS. 1 and 2 are drawings for explaining a conventional system for guiding a mobile robot to a station.

[0008] A station (10) is installed, and one marker (20) is formed on the side wall of the station (10).

[0009] A marker (20) contains coordinate information. More specifically, when a marker (20) is captured by a camera, the image processing unit of the mobile robot recognizes the marker (20). In image analysis, the marker (20) can be analyzed by marker recognition (30), and the marker recognition (30) can analyze the recognition coordinates (40).

[0010] The recognition coordinates (40) include orientation information of the X-axis (41), Y-axis (42), and Z-axis (43), and the orientation posture of the mobile robot can be estimated based on the orientation information.

[0011] The X-axis (41) is an axis pointing in a direction that penetrates vertically to the reference point of the marker (20), the Y-axis (42) is an axis pointing in a horizontal direction from the reference point of the marker (20), and the Z-axis (43) is an axis pointing in a vertical direction from the reference point of the marker (20).

[0012] Additionally, the distance from the mobile robot to the marker (20) can be estimated using a distance sensor mounted on the mobile robot.

[0013] Mobile robots are equipped with a camera for capturing images, a distance sensor for detecting distances, and an image processing unit for analyzing camera images. The distance sensor may be a sensor that measures the distance to the target.

[0014] When the mobile robot returns to the station, the approximate location coordinates of the station are input and it drives toward those location coordinates.

[0015] When a mobile robot enters a station, it must enter a preset entry posture, which allows necessary actions to be taken by the mobile robot, such as charging power, replacing consumables, or replenishing consumables as described above.

[0016] The mobile robot is autonomous and can enter the station from any location.

[0017] Regardless of the mobile robot's position, it must be aligned correctly before the distance between it and the station (D) is reached. This allows the mobile robot to dock with the station.

[0018] An example of entering a station depending on the area where the mobile robot is located is described with reference to Fig. 2.

[0019] Area 1 (A1) is an area where the mobile robot's camera can capture a marker (20) from almost the front. The mobile robot can clearly recognize and analyze the marker (20) to obtain accurate location information, thereby allowing the mobile robot to align itself in the correct posture within the reference distance (D) and enter the station.

[0020] When the mobile robot is in the first area (A1), the marker (20) can be clearly recognized, and thus the mobile robot can be aligned in the correct posture and enter the station before the reference distance (D).

[0021] The second area (A2) is an area where the mobile robot's camera can take an oblique picture of the marker (20).

[0022] When the mobile robot is in the second area (A2), even if it recognizes the marker (20), there is a problem that the information contained in the marker (20) may not be clearly analyzed, and thus the mobile robot may fail to dock with the station.

[0023] Area 3 (A3) is an area where the mobile robot's camera cannot capture the marker (20).

[0024] When the mobile robot is in the third area (A3), it may not be able to recognize the marker (20), and thus the mobile robot must repeat retreating and wandering until it moves to an area where it can recognize the marker (20), and this process consumes a lot of time and drains the remaining battery power.

[0025] On the other hand, the mobile robot recognizes the marker (20) through a camera, which typically uses a wide-angle lens. The purpose of using a wide-angle lens is to collect more information from a wider field of view. In other words, because it captures a lot of information within a limited image size, the marker (20) is captured in the image as distorted and smaller than it actually is.

[0026] In particular, the size of the marker (20) in the captured video image has the characteristic of being captured small in proportion to the distance between the mobile robot and the marker.

[0027] If the marker (20) is captured too small in the video image, it is difficult to recognize the marker (20) and the marker recognition may fail, and in order to recognize the marker, the mobile robot cannot enter the station and wanders around near the station.

[0028] On the other hand, the marker (20) contains information necessary for a specific mobile robot to enter the station, and there is a security vulnerability in the operation of the mobile robot, such as a person with malicious intent imitating the marker (20) and installing an imitation marker in an incorrect location, thereby causing significant disruption to the operation of the mobile robot.

[0029] On the other hand, the station is a fixed structure, while the mobile robot is autonomous, and its path may utilize pedestrian passageways. Therefore, when the mobile robot returns to the station, it risks colliding with pedestrians. To avoid collisions, the robot must wait for the pedestrian to pass. However, since the person cannot see the mobile robot's path, they are unable to determine where to dodge, wasting time wandering around.

[0030] [Prior Art Literature]

[0031] [Patent Document]

[0032] (Patent Document 1) KR 10-2559299 B1

[0033] (Patent Document 2) KR 10-2023-0097356 A

[0034] (Patent Document 3) KR 10-2436960 B1

[0035] (Patent Document 4) KR 10-2023-0117825 A

[0036] (Patent Document 5) KR 10-1828441 B1

[0037] The present invention is intended to solve the above-mentioned problems, and provides a system for guiding a mobile robot to a station by enabling the mobile robot to recognize a marker more quickly and accurately when the mobile robot returns to the station.

[0038] Another object of the present invention is to provide a system for guiding a mobile robot to a station, which improves security vulnerabilities and prevents the operation of the mobile robot from being interfered with by a malicious person.

[0039] Another object of the present invention is to provide a system for guiding a mobile robot to a station by illuminating the ground around the station so as to visually indicate the movement path of the mobile robot, thereby drawing the attention of pedestrians and preventing collisions between the mobile robot and pedestrians.

[0040] Another object of the present invention is to provide a system for guiding a mobile robot to a station by ensuring that the mobile robot is aligned in a correct posture even when the mobile robot approaches the station from an arbitrary position.

[0041] A system for guiding a mobile robot to a station according to an embodiment of the present invention for achieving the above technical task includes: a station (10) to which a mobile robot (100) is connected so as to charge the mobile robot (100); and a display (50) installed in the station (10) and on which an image is played; wherein the display (50) plays a marker image (60) including direction information of the X-axis (41), the Y-axis (42), and the Z-axis (43), and the mobile robot (100) calculates a direction value and a distance value with respect to the station (10) from a video image obtained by capturing the marker image (60) to set an entry path (P), and enters the station (10) based on the set entry path (P).

[0042] In addition, the system for guiding a mobile robot to a station according to an embodiment of the present invention is such that the marker image (60) is updated at set time intervals or whenever the mobile robot (100) returns, and the data of the updated marker image (60) can be synchronized between the station (10) and the mobile robot (100).

[0043] In addition, the system for guiding a mobile robot to a station according to an embodiment of the present invention can reproduce the marker image (60) by changing its size within a range from the maximum size that can be displayed on the display (50) to the minimum size that can be recognized by the mobile robot (100).

[0044] In addition, the system for guiding a mobile robot to a station according to an embodiment of the present invention can reproduce a mark image (60) at its maximum size when a distance value further than a set distance value is calculated based on a distance value between the station (10) and the mobile robot (100), and can reproduce a mark image (60) in a size that is gradually smaller in proportion to the distance value when a distance value closer than the set distance value is calculated.

[0045] In addition, the system for guiding a mobile robot to a station according to an embodiment of the present invention can reduce the distortion of the mark image in the captured image when the marker image (60) is captured by the mobile robot (100) by distorting and reproducing it if the orientation value of the mobile robot (100) with respect to the station (10) is greater than '45 degrees'.

[0046] In addition, the system for guiding a mobile robot to a station according to an embodiment of the present invention may further include a warning light (70) installed on one side of the station (10) and shining light on the floor to indicate the entry path of the mobile robot (100) when the distance between the mobile robot (100) and the station (10) is within a set distance value when the mobile robot (100) returns to the station (10).

[0047] In addition, the system for guiding a mobile robot to a station according to an embodiment of the present invention may have the display (50) have multiple screens and a marker image (60) may be played on each screen.

[0048] In addition, the system for guiding a mobile robot to a station according to an embodiment of the present invention has a display (50) having a convex curved shape, and a plurality of marker images (60) can be played back while being arranged horizontally apart.

[0049] Specific details of other embodiments are included in the detailed description and drawings.

[0050] A system for guiding a mobile robot to a station according to an embodiment of the present invention has the effect of allowing a marker to be reproduced on a display, a marker image to be displayed in a large size when the distance between the mobile robot and the station is far, and a marker image to be reduced in size as the distance between the mobile robot and the station becomes closer, thereby allowing a large marker image to be captured even when the mobile robot is far from the station, thereby allowing the relative bearing value and distance of the mobile robot to the station to be quickly and accurately calculated and reflected in the generation of an entry path, thereby optimizing the entry path of the mobile robot.

[0051] In addition, the system for guiding a mobile robot to a station according to an embodiment of the present invention can neutralize stolen markers even if an outsider steals exposed marker images for malicious purposes by refreshing the markers when playing markers on a display and synchronizing marker information between the station and the mobile robot, thereby improving security vulnerabilities in mobile robot operation.

[0052] In addition, the system for guiding a mobile robot to a station according to an embodiment of the present invention can illuminate the ground around the station to visually indicate the movement path of the mobile robot, thereby drawing the attention of pedestrians and enabling them to avoid collisions with the mobile robot, thereby ensuring the safety of pedestrians and contributing to the mobile robot's quick return to the station.

[0053] In addition, a system for guiding a mobile robot to a station according to an embodiment of the present invention recognizes at least one of a plurality of markers when the mobile robot approaches the station, even if the mobile robot is in an arbitrary position, estimates the distance between the mobile robot and the marker, and clearly knows the orientation of the mobile robot, thereby optimizing the movement path of the mobile robot and reducing the time it takes for the mobile robot to dock at the station.

[0054] In particular, a system for guiding a mobile robot to a station according to an embodiment of the present invention can recognize and analyze a marker image from an image captured by a camera of the mobile robot and quickly generate a movement path (P) based on the analysis result, and has the effect of enabling the mobile robot to approach the station while being aligned in the correct posture.

[0055] Figure 1 is a drawing for explaining a conventional station for a mobile robot.

[0056] Figure 2 is a drawing for explaining the marker configuration in a conventional mobile robot station.

[0057] Figure 3 is a drawing for explaining a conventional example in which a mobile robot returns to a station.

[0058] FIG. 4 is a drawing for explaining a system for guiding a mobile robot to a station according to an embodiment of the present invention.

[0059] FIG. 5 is an embodiment of the present invention, showing a station as seen from the perspective of a mobile robot.

[0060] Figure 6 shows a marker image output to the display in Figure 5.

[0061] FIG. 7 and FIG. 8 are examples of the present invention, showing marker images that have been modified to reduce distortion in the view of a mobile robot.

[0062] Figures 9 and 10 are examples of outputting content to a display according to an embodiment of the present invention.

[0063] Fig. 11 is an example of an embodiment of the present invention, in which a marker image is output together with content on a display.

[0064] FIG. 12 is a drawing for explaining a system for guiding a mobile robot to a station according to another embodiment of the present invention.

[0065] FIG. 13 is a drawing for explaining the operation of a station of a mobile robot according to another embodiment of the present invention.

[0066] FIG. 14 is another example of a display in a system for guiding a mobile robot to a station according to an embodiment of the present invention.

[0067] Figure 15 is a flowchart for explaining the operation of a system for guiding a mobile robot to a station according to an embodiment of the present invention.

[0068] The advantages and features of the present invention and the method for achieving them will become clear with reference to the embodiments described in detail below together with the attached drawings.

[0069] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. The embodiments described below are provided by way of example to help understand the present invention, and it should be understood that the present invention can be implemented with various modifications different from the embodiments described herein. However, when describing the present invention, if it is determined that a detailed description of a related known function or component may unnecessarily obscure the gist of the present invention, the detailed description and specific illustration thereof will be omitted. In addition, the attached drawings are not drawn to scale to help understand the invention, and the sizes of some components may be exaggerated.

[0070] [Explanation of symbols]

[0071] 10: Station 20: Marker

[0072] 30: Marker recognition 40: Recognition coordinates

[0073] 41: x-axis 42: y-axis

[0074] 43: z-axis

[0075] 50: Display 60, 60a: Marker image

[0076] 70: Light fixtures 100: Mobile robots

[0077] P: Movement path D: Minimum secured distance

[0078] While terms like "first" and "second" may be used to describe various components, these components should not be limited by these terms. These terms are used solely to distinguish one component from another. For example, without departing from the scope of the present invention, a first component could be referred to as a "second component," and similarly, a second component could also be referred to as a "first component."

[0079] On the other hand, the terms described below are terms established in consideration of their functions in the present invention, and thus may vary depending on the intention or custom of the manufacturer, and therefore their definitions should be made based on the contents throughout this specification.

[0080] Identical reference numerals throughout the specification refer to identical components.

[0081] First, a system for guiding a mobile robot to a station according to an embodiment of the present invention will be described with reference to FIGS. 4 to 11. FIG. 4 is a diagram for explaining a system for guiding a mobile robot to a station according to an embodiment of the present invention. FIG. 5 illustrates a station as seen from the mobile robot's point of view according to an embodiment of the present invention. FIG. 6 illustrates a marker image output to a display in FIG. 5. FIGS. 7 and 8 illustrate marker images modified to reduce distortion from the mobile robot's point of view according to an embodiment of the present invention. FIGS. 9 and 10 illustrate examples of outputting content to a display according to an embodiment of the present invention. FIG. 11 illustrates an example of outputting a marker image together with content to a display according to an embodiment of the present invention.

[0082] A system for guiding a mobile robot to a station according to an embodiment of the present invention can be configured to include a mobile robot (100), a station (10), and a display (50).

[0083] The station (10) is connected to a mobile robot (100) to charge the mobile robot (100).

[0084] Additionally, the station (10) can provide various services for performing the unique functions of the mobile robot (100).

[0085] For example, if the purpose of the mobile robot (100) is cleaning, the station (10) can wash the mop of the mobile robot (100), supply clean water, discharge contaminated water, and discharge collected dust.

[0086] If the mobile robot (100) is for the purpose of fire suppression, the station (10) can check the status of the fire suppression equipment mounted on the mobile robot (100).

[0087] In addition, the mobile robot (100) can be equipped with multiple cameras, and can capture images using the cameras, and the images can be processed using an image analysis program to obtain desired data.

[0088] Additionally, the mobile robot (100) may be equipped with a sensor to detect the shape and distance of surrounding objects.

[0089] Meanwhile, the station (10) and the mobile robot (100) can communicate data. Data included in the data communication may include the direction value and distance value of the recognition coordinates (40) included in the marker image (60). Data communication utilizes known communication technology, and a detailed description thereof will be omitted.

[0090] A display (50) is installed in the station (10), and an image can be played.

[0091] The video can be played to play content according to the user's will or a mark video (60) can be played to guide the return of the mobile robot (100).

[0092] The above marker image (60) includes direction information of the X-axis (41), Y-axis (42), and Z-axis (43).

[0093] The above mobile robot (100) calculates the direction value and distance value from the station (10) from the video image captured of the marker image (60) to set the entry path (P).

[0094] Afterwards, the mobile robot (100) can enter the station (10) based on the above-set entry path (P).

[0095] In addition, the system for guiding a mobile robot to a station according to an embodiment of the present invention is such that the marker image (60) is updated at set time intervals or whenever the mobile robot (100) returns, and the data of the updated marker image (60) can be synchronized between the station (10) and the mobile robot (100).

[0096] As described above, the present invention can display a marker image (60) on a large display (50) when the mobile robot (100) returns to the station (10), thereby enabling the mobile robot (100) to recognize the marker more quickly and accurately.

[0097] In addition, the present invention displays a marker that guides the mobile robot (100) to return to the station (10) in the form of an image on the display (50) only at the necessary time, so that the marker is not exposed to outsiders in everyday situations.

[0098] In particular, the system for guiding a mobile robot to a station according to an embodiment of the present invention can prevent the operation of the mobile robot from being interfered with by a person with malicious intent, thereby improving security vulnerabilities.

[0099] On the other hand, the marker image (60) can be played back by changing its size within a range from the maximum size that can be displayed on the display (50) to the minimum size that can be recognized by the mobile robot (100).

[0100] This is explained with reference to FIG. 4. In FIG. 4 (a), it can be seen that the marker image (60) is reproduced in a large size to fill the screen of the display (50), and in FIG. 4 (b), it can be seen that the marker image (60a) is reproduced in a small size.

[0101] If the size of the marker image (60) is displayed too large on the display (50), it may not be good in terms of security and appearance, so the disharmony with the surrounding situation can be resolved by actively changing the size to an appropriate size and outputting it according to the situation.

[0102] In addition, based on the distance value between the station (10) and the mobile robot (100), if a distance value further than the set distance value is calculated, the mark image (60) can be played back at the maximum size, and if a distance value closer than the set distance value is calculated, the size of the mark image (60) can be played back gradually smaller in proportion to the distance value.

[0103] The set distance value may be a distance value that can optimally recognize a marker from an image video captured by a mobile robot (100) as a mark image (60), and this set distance value may be set according to the camera performance.

[0104] Therefore, the system for guiding a mobile robot to a station according to an embodiment of the present invention can capture a mark image (60) well from a long distance even when the distance between the mobile robot (100) and the station (10) is far, and can more quickly and accurately obtain necessary information from the captured image.

[0105] On the other hand, the marker image (60) may be distorted and reproduced when the orientation value of the mobile robot (100) with respect to the station (10) is greater than '45 degrees', so that when the marker image (60) is captured by the mobile robot (100), the mark image may be reduced in distortion in the captured image.

[0106] The reproduction of a marker image (60) with arbitrary distortion is described with reference to FIGS. 5 to 8. FIGS. 5 and 6 show a marker image (60) reproduced without distortion. However, when a mobile robot (100) approaches a station (10) from an oblique direction, the image marker (60) may appear severely distorted, as shown in FIG. 5, and the distortion may appear even more severe when the camera lens is a wide-angle lens.

[0107] If the marker image is captured distorted, it may take a long time to analyze the image or the image may be analyzed with incorrect information.

[0108] FIG. 7 and FIG. 8 show a marker image (60) distorted and reproduced on a display (50). In this way, when a marker image (60) is captured by a mobile robot (100), the distortion can be reduced as shown in FIG. 7, and when analyzing the captured image, the captured image can be analyzed accurately and quickly without error.

[0109] On the other hand, a system for guiding a mobile robot to a station according to an embodiment of the present invention can install a warning light (70) on one side of the station (10) as shown in FIG. 4.

[0110] The warning light (70) can be operated when the distance between the mobile robot (100) and the station (10) falls within the set distance value when the mobile robot (100) returns to the station (10).

[0111] The warning light (70) can illuminate the floor to indicate the entry path of the mobile robot (100), and pedestrians can recognize the light illuminated on the floor.

[0112] That is, the warning light (70) is normally turned off and turns on when the mobile robot (100) approaches the station (10).

[0113] A mobile robot (100) is trying to enter a station (10), but the general public cannot know which path the mobile robot (100) is currently traveling and why.

[0114] However, pedestrians can visually perceive the light reflected on the ground, thereby drawing their attention and allowing them to know in which direction to move to avoid collision with the mobile robot (100).

[0115] The warning lights (70) can simply shine a strong light to attract attention, but they can also output appropriate text and images, allowing pedestrians to more clearly understand what is happening.

[0116] A system for guiding a mobile robot to a station according to an embodiment of the present invention has a display (50) having multiple screens, and a marker image (60) can be played on each screen. This will be described with reference to FIGS. 12 to 14.

[0117] FIG. 12 is a diagram illustrating a system for guiding a mobile robot to a station according to another embodiment of the present invention. FIG. 13 is a diagram illustrating the operation of a station for a mobile robot according to another embodiment of the present invention. FIG. 14 is another example of a display in a system for guiding a mobile robot to a station according to an embodiment of the present invention.

[0118] A system for guiding a mobile robot to a station according to an embodiment of the present invention may have a three-dimensional display (50) at the station (10).

[0119] The display (50) shown in FIGS. 12 and 13 is a polyhedral display having at least three faces, and a marker image (60) can be played on each face.

[0120] In more detail, the display (50) can be formed with a first side (51), a second side (52), and a third side (53) as shown in FIGS. 12 and 13.

[0121] On the first side (51), the first marker image (61) is played.

[0122] The second surface (52) is adjacent to the first surface (51) and forms a first obtuse angle with the first surface (51) on which the second marker image (62) is reproduced.

[0123] The third side (53) is adjacent to the first side (51) on the opposite side from the second side (52) and forms a second obtuse angle with the first side (51), on which the third marker image (63) is reproduced.

[0124] The above first, second, and third marker images (61, 62, and 63) each have their own recognition coordinates (40). In the embodiment of the present invention, three markers are configured, so there are three types of recognition coordinates (40).

[0125] The recognition coordinates (40) are capable of knowing three-dimensional coordinate information, and include direction information of the X-axis (41), Y-axis (42), and Z-axis (43), and the direction posture of the mobile robot can be estimated based on the direction information.

[0126] The X-axis (41) is an axis pointing in a direction that penetrates vertically to the reference point of the marker (20), the Y-axis (42) is an axis pointing in a horizontal direction from the reference point of the marker (20), and the Z-axis (43) is an axis pointing in a vertical direction from the reference point of the marker (20).

[0127] That is, when the camera mounted on the mobile robot (100) captures the first, second, and third marker images (61, 62, 63), the recognition coordinates (40) can be determined by analyzing each of the first, second, and third marker images (61, 62, 63) as shown in FIG. 13.

[0128] In this way, the orientation posture of the mobile robot (100) can be estimated based on the orientation value of the mobile robot (100) with respect to the station (10) of the station.

[0129] Additionally, the mobile robot (100) is equipped with a distance sensor, which allows the mobile robot (100) to estimate how far it is from the station (10).

[0130] Alternatively, the distance between the mobile robot (100) and the station (10) can be estimated by analyzing the captured video.

[0131] When the mobile robot (100) enters the station, even if the mobile robot (100) is in any location, at least one of the first, second, and third marker images (61, 62, 63) can always be captured by the camera of the mobile robot (100), as shown in FIG. 13.

[0132] Meanwhile, the first and second obtuse angles may be 120 to 135 degrees.

[0133] Referring to Figure 13, the characteristics of each area where the mobile robot is located are described.

[0134] When the mobile robot is in the first area (A), all of the first, second, and third marker images (61, 62, 63) can be captured, and in this case, the mobile robot (100) can set the movement path (P) to the shortest distance and minimize adjustment of the driving direction.

[0135] In particular, if the X-axis (41) orientation value of the first marker image (61) can converge to '0', and the X-axis (41) orientation value of the first marker image (61) is '0', it can be understood that the mobile robot (100) docked at the correct location when docking to the station (10).

[0136] If the above first and second obtuse angles are 120 degrees or more, the mobile robot (100) can accurately recognize the first, second, and third marker images (61, 62, 63) when it is in the first area (A).

[0137] When the mobile robot (100) is in the second area (B), the first and second marker images (61, 62) can be captured to recognize the first and second marker images (61, 62), or the first and third marker images (61, 63) can be captured to recognize the first and third marker images (61, 63).

[0138] For example, the mobile robot (100) may be located in a second area (B) with respect to the station (10), and in this case, at least two markers may be captured, and three-dimensional coordinate information may be obtained from each marker in the captured image.

[0139] From the 3D coordinate information obtained at this time, it is possible to determine whether the mobile robot (100) is tilted to the left or right.

[0140] That is, when the mobile robot (100) is on the left side with respect to the station (10), the X-axis (41) and Y-axis (42) of each recognition coordinate (40) have positive (+) values, so that the mobile robot (100) can move to the right and be aligned so that the X-axis (41) value of the first marker image (61) converges to '0', and a movement path (P) can be set.

[0141] On the other hand, if the distance between the mobile robot (100) and the station (10) is closer than the set reference distance (D), the mobile robot (100) can be moved backwards to set the movement path (P) so that the X-axis (41) value of the first marker image (61) converges to '0'.

[0142] When the mobile robot (100) is in the third area (C), the first marker image (61) cannot be recognized, but the second marker image (62) or the third marker image (63) can be recognized.

[0143] For example, the mobile robot (100) may be excessively tilted to one side with respect to the station (10) and may be in the third area (C). In this case, at least one marker can be photographed, and three-dimensional coordinate information can be obtained from each marker in the photographed image.

[0144] As explained above, it is possible to determine whether the mobile robot (100) is tilted to the left or right from the obtained three-dimensional coordinate information.

[0145] As shown in Fig. 13, even when the mobile robot (100) is excessively tilted to the right with respect to the station (10), the mobile robot (100) can recognize the second marker image (62). At this time, since the X-axis (41) and Y-axis (42) of the recognition coordinates (40) have negative (-) values, the mobile robot (100) can set a movement path (P) so that the X-axis (41) value of the first marker image (61) converges to '0'.

[0146] On the other hand, if the distance between the mobile robot (100) and the station (10) is closer than the set reference distance (D), the mobile robot (100) can be moved backwards to set the movement path (P) so that the X-axis (41) value of the first marker image (61) converges to '0'.

[0147] If the above first and second obtuse angles are less than 135 degrees, the mobile robot (100) can accurately recognize the first and second marker images (61, 62) or the first and third marker images (61, 63) when it is in the second area (B2).

[0148] In addition, if the first and second obtuse angles are less than 135 degrees, the mobile robot (100) can accurately recognize the second marker image (62) or the third marker image (63) when it is in the third area (B3).

[0149] That is, the system for guiding a mobile robot to a station according to an embodiment of the present invention can recognize at least one marker even if the mobile robot (100) is in an arbitrary position by forming the first and second obtuse angles to be 120 to 135 degrees, and can correct the movement path (P) based on the X-axis (41) among the three-dimensional coordinate information of the recognized markers to correctly align the posture of the mobile robot (100) and generate an optimal movement path (P).

[0150] In addition, a system for guiding a mobile robot to a station according to an embodiment of the present invention can be played back by having the display (50) have a convex curved shape and a plurality of marker images (60) arranged horizontally apart. This will be described with reference to FIG. 14.

[0151] The display (50) shown in Fig. 14 has a convex curved surface in the front direction. The display (50) can reproduce multiple marker images (60), and Fig. 14 shows an example in which three marker images (61, 62, 63) are reproduced.

[0152] Accordingly, when referring to FIG. 13, the mobile robot (100) exists in one of the first, second, and third areas (A, B, C), and can recognize two or three of the first, second, and third marker images (61, 62, 63) regardless of which area it is in.

[0153] Accordingly, the mobile robot (100) can obtain recognition coordinate (40) information from the recognized marker image (60) to estimate the direction value and distance value for the station (10) of the mobile robot (100), and set a movement path (P) based on the estimated direction value and distance value, and the mobile robot (100) can enter the station (10) along the movement path (P).

[0154] The mobile robot (100) can perform functions such as charging, replenishing water, or emptying dust at a station depending on its intended function. Referring to FIG. 15, the operation of the system for guiding a mobile robot to a station according to an embodiment of the present invention will be described. FIG. 15 is a flowchart for explaining the operation of the system for guiding a mobile robot to a station according to an embodiment of the present invention.

[0155] First, the station (10) can create a marker (S1-1) and implement marker synchronization (S1-2).

[0156] Step 1 (S1-1, S1-2): Marker creation and synchronization

[0157] The marker is data of a marker image (60) to be exposed on the display (50), and this marker data can be synchronized through data communication between the station (10) and the mobile robot (100).

[0158] That is, when the mobile robot (100) returns to the station (10), it is set to which station (10) coordinates it should go.

[0159] Step 2 (S2): The mobile robot starts its activity and plays the display content.

[0160] As shown in Fig. 9, content that a company or organization wants to promote can be played on the display (50).

[0161] Additionally, as shown in Fig. 10, the current status information of the mobile robot (100) can be reproduced on the display (50). The current status information can display, for example, the location, what accident occurred, and whether the temperature, humidity, fine dust, etc. are appropriate.

[0162] Step 3 (S3): Initiate recovery execution

[0163] A mobile robot (100) may be commanded to return to the station (10) to charge or receive service.

[0164] Step 4 (S4): Marker image output

[0165] As shown in Fig. 11, a mark image (60) can be output on top of content on a display (50). Alternatively, as shown in Fig. 6, a mark image (60) can be output alone on a display (50).

[0166] Step 5 (S5): Image data collection

[0167] The mobile robot (100) autonomously moves to the vicinity of the station (10) and takes pictures to collect image data.

[0168] Step 6 (S6): Marker image recognition

[0169] When a mobile robot (100) captures a mark image (60), it analyzes the captured image.

[0170] Step 7 (S7): Preprocessing of bearing and distance values

[0171] The mobile robot (100) can calculate more accurate direction and distance values ​​from the mark image (60) in the captured image video.

[0172] Step 8 (S8): Creating an Entry Path

[0173] Based on the direction and distance values ​​calculated in step 7 (S7), an entry path (P) is generated as shown in Fig. 13. Thereafter, the mobile robot (100) drives along the entry path (P) and enters the station (10).

[0174] Although the embodiments of the present invention have been described with reference to the attached drawings, those skilled in the art will understand that the present invention can be implemented in other specific forms without changing the technical idea or essential features thereof.

[0175] Therefore, the embodiments described above should be understood as illustrative and not restrictive in all respects, and the scope of the present invention is indicated by the claims described below, and all changes or modifications derived from the meaning and scope of the claims and their equivalent concepts should be interpreted as being included in the scope of the present invention.

[0176] A system for guiding a mobile robot to a station according to an embodiment of the present invention can be used to charge or maintain a mobile robot.

Claims

1. A station (10) to which a mobile robot (100) is connected to charge the mobile robot (100); and It is installed in the above station (10) and includes a display (50) on which an image is played; The above display (50) reproduces a marker image (60) including direction information of the X-axis (41), Y-axis (42), and Z-axis (43), The above mobile robot (100) calculates the direction value and distance value from the station (10) from the video image captured of the marker image (60) to set an entry path (P), and enters the station (10) based on the set entry path (P); A system for guiding a mobile robot characterized by a station.

2. In paragraph 1, The above marker image (60) is updated at set time intervals or whenever the mobile robot (100) returns, and the data of the updated marker image (60) is synchronized between the station (10) and the mobile robot (100); A system for guiding a mobile robot characterized by a station.

3. In paragraph 1, The above marker image (60) is played back by changing its size within a range from the maximum size that can be displayed on the display (50) to the minimum size that can be recognized by the mobile robot (100); A system for guiding a mobile robot characterized by a station.

4. In paragraph 3, When a distance value further than the set distance value is calculated based on the distance value between the above station (10) and the above mobile robot (100), the mark image (60) is played at the maximum size, and when a distance value closer than the set distance value is calculated, the size of the mark image (60) is played at a gradually smaller size in proportion to the distance value; A system for guiding a mobile robot characterized by a station.

5. In paragraph 1, The above marker image (60) is distorted and reproduced when the orientation value of the mobile robot (100) with respect to the station (10) is greater than '45 degrees', so that when the marker image (60) is captured by the mobile robot (100), the mark image is reduced in distortion in the captured image; A system for guiding a mobile robot characterized by a station.

6. In paragraph 1, A warning light (70) installed on one side of the above station (10) and shining a light on the floor to indicate the entry path of the mobile robot (100) when the distance between the mobile robot (100) and the station (10) is within the set distance value when the mobile robot (100) returns to the station (10); A system for guiding a mobile robot including a station to a station.

7. In paragraph 1, The above display (50) has multiple screens and a marker image (60) is played on each screen; A system for guiding a mobile robot characterized by a station.

8. In paragraph 1, The above display (50) has a convex curved shape, and a plurality of marker images (60) are arranged horizontally apart and played back; A system for guiding a mobile robot characterized by a station.

Images