Mobile robot, remote control system thereof and teaching system

Abstract

The present invention relates to a mobile robot, a control system thereof, and a teaching system. The mobile robot according to the present invention comprises: a mobile platform; a manipulator mounted on the mobile platform; a hybrid gripper which is mounted on the end portion of the manipulator, and which has a suction unit and a plurality of fingers; a sensor module for detecting the surrounding environment; and a robot control unit for controlling at least one from among the mobile platform, the manipulator, and the hybrid gripper on the basis of data obtained by the sensor module.

Description

Mobile robot, its remote control system and teaching system

[0001] The present invention relates to a mobile robot, and more specifically, to a mobile robot capable of performing various tasks, and a remote control system and a teaching system for the mobile robot for accurately controlling and teaching the mobile robot.

[0002] In modern society, the demand for automation and physical support for household activities is increasing due to the aging population and the rise in single-person households. In particular, physical household tasks that occur frequently in daily life (e.g., moving, organizing, and manipulating objects) pose a significant burden on the population requiring care, including the elderly and the disabled. Against this backdrop, mobile manipulators that utilize robotic technology to support human physical activities in the home environment are gradually gaining attention.

[0003] Conventional mobile manipulators have been designed by combining a mobile platform capable of planar movement with a fixed-height robotic arm. This structure has limitations in that the working range of the robotic arm is fixed, allowing it to manipulate only objects located on the ground or at a specific height. Although lifting modules were introduced to expand the working range, they mainly enabled only simple vertical movement and had the problem of not being able to support complex multi-tasks.

[0004] Furthermore, grippers responsible for manipulating objects in existing technologies are designed to be suitable for objects of specific shapes (e.g., cylindrical, rectangular), which limits their ability to stably grasp various irregularly shaped objects or objects made of flexible materials. Although suction-based grippers have been proposed to overcome these limitations, relying solely on suction makes it difficult to stably handle spherical or complex irregularly shaped objects.

[0005] In terms of robot control methods, existing robots required complex operation processes or lacked user-friendly interfaces, making intuitive remote control difficult. Consequently, when the elderly or people with disabilities used the robots directly, their usefulness in real-world environments was limited.

[0006] [Prior Art Literature]

[0007] [Patent Literature]

[0008] (Patent Document 1) KR10-2021-0010751 A

[0009] Therefore, the objective of the present invention is to solve such conventional problems by providing a mobile robot capable of performing various tasks, a remote control system and a teaching system capable of easily controlling and teaching such a mobile robot.

[0010] The problems that the present invention aims to solve are not limited to those mentioned above, and other unmentioned problems will be clearly understood by those skilled in the art from the description below.

[0011] The above objective is achieved by a mobile robot according to the present invention, characterized by comprising: a mobile platform; a manipulator mounted on the mobile platform; a hybrid gripper mounted on the end of the manipulator and having a suction part and a plurality of fingers; a sensor module for detecting surrounding conditions; and a robot control unit for controlling at least one of the mobile platform, the manipulator, and the hybrid gripper based on data acquired from the sensor module.

[0012] The mobile robot according to the present invention may further include a lifting module mounted on the mobile platform and moving the manipulator up and down.

[0013] The sensor module may include a head camera mounted on the top of the mobile platform; and a wrist camera mounted on the end of the manipulator.

[0014] The head camera mentioned above may be capable of pan-tilting.

[0015] The hybrid gripper may include: a finger unit having a plurality of fingers spaced apart from each other, wherein the spacing between the fingers is adjusted along a first direction; an adsorption unit having an adsorption portion between the fingers; and a finger position adjustment unit that adjusts the position of the fingers along a second direction which is a direction intersecting the first direction with respect to the adsorption portion.

[0016] The robot control unit can detect a workpiece based on data acquired from the sensor module and control the position of the finger relative to the suction part to grip the workpiece by adjusting the position of the finger with respect to the workpiece using the finger position adjustment unit according to the workpiece.

[0017] According to another embodiment of the present invention, a remote control system for a mobile robot described above is provided, comprising: a first master module that generates a control signal for the mobile platform; a second master module that generates a control signal for the manipulator and the hybrid gripper; a control signal transmission module that transmits the control signals generated by the first master module and the second master module to the mobile robot; and a system control module that controls the first master module, the second master module, and the control signal transmission module.

[0018] The mobile robot further includes a lifting module mounted on the mobile platform that moves the manipulator up and down, the sensor module is mounted on the top of the mobile platform and is equipped with a head camera capable of pan-tilt, and the first master module can further generate control signals for the lifting module and the head camera.

[0019] The first master module above may be formed in the form of a joystick.

[0020] The second master module above may have a multi-joint section having a structure corresponding to the joint shape of the manipulator.

[0021] The second master module may further include a trigger mounted at the end of the multi-joint portion and generating a control signal for the finger; and a button mounted at the end of the multi-joint portion and generating a control signal for the adsorption portion.

[0022] The remote control system of a mobile robot according to the present invention may further include: a robot state detection module that detects the state of the mobile platform, the manipulator, and the hybrid gripper; and a feedback module that transmits a feedback signal to the first master module and the second master module based on data obtained from the robot state detection module.

[0023] The above system control module can control the manipulator to operate by synchronizing the attitude of the manipulator with the attitude of the second master module and collecting the control signal generated by the second master module.

[0024] The above system control module can control the second master module to feed back a control signal generated by the second master module by checking whether the control signal is included in the operation limit area of ​​the manipulator.

[0025] The above system control module can control the mobile robot to wait by checking whether the manipulator has collided based on data obtained from the robot state detection module.

[0026] The remote control system of a mobile robot according to the present invention may further include a robot surrounding situation output unit that outputs data acquired from the sensor module.

[0027] According to another embodiment of the present invention, a teaching system for a mobile robot is provided, comprising: a learning data collection unit that collects data generated during the process of controlling the mobile robot using the remote control system described above; a learning unit that learns the data collected by the learning data collection unit and generates an artificial intelligence control model; an artificial intelligence control model storage unit in which the artificial intelligence control model generated by the learning unit is stored; and an artificial intelligence control unit that controls the mobile robot using the artificial intelligence control model.

[0028] According to the mobile robot of the present invention, high flexibility and efficiency can be provided in various work environments through the mobility of the mobile platform, precise operation of the manipulator, flexibility of the hybrid gripper, and integrated control capability of the sensor module and the robot control unit.

[0029] In particular, since the hybrid gripper performs operations on an object using a suction part and fingers, it can reliably perform operations on various objects.

[0030] This enables the mobile robot according to the present invention to be useful in various application fields such as household work, logistics, and manufacturing lines.

[0031]

[0032] According to the remote control system of the present invention, the ease of remote control can be increased by allowing a user to remotely control a mobile robot through a first master module and a second master module formed respectively.

[0033] In addition, with the provision of a feedback module, users can check the status of the mobile robot in real time, thereby increasing their understanding of the work environment and enabling them to take appropriate action.

[0034] Data generated during remote control using the remote control system according to the present invention can be collected and utilized to generate an artificial intelligence control model for a mobile robot.

[0035]

[0036] In addition, various effects according to the present invention may be mentioned together with the descriptions of the embodiments.

[0037] FIG. 1 is a perspective view of a mobile robot according to the present invention.

[0038] FIG. 2 is an explanatory diagram of the situational operation of a mobile robot according to the present invention.

[0039] FIG. 3 is an overall perspective view of a hybrid gripper constituting a mobile robot according to the present invention.

[0040] FIG. 4 is an exploded perspective view of a hybrid gripper constituting a mobile robot according to the present invention.

[0041] FIG. 5 is an explanatory diagram of the situational operation of a hybrid gripper constituting a mobile robot according to the present invention.

[0042] FIG. 6 is a schematic diagram of a remote control system for a mobile robot according to the present invention.

[0043] FIG. 7 is an exemplary diagram of a first master module and a second master module constituting a remote control system of a mobile robot according to the present invention.

[0044] FIG. 8 is an explanatory diagram of the operation of a first master module constituting a remote control system of a mobile robot according to the present invention.

[0045] FIG. 9 is a flowchart illustrating an example of the operation process of a remote control system for a mobile robot according to the present invention.

[0046] FIG. 10 is a schematic diagram of a teaching system for a mobile robot according to the present invention.

[0047] In order to clarify the features and advantages of the means for solving the problem of the present invention, the present invention will be described in more detail with reference to specific embodiments of the present invention illustrated in the attached drawings.

[0048] However, detailed descriptions of known functions or configurations that may obscure the essence of the invention are omitted in the following description and the attached drawings. Additionally, it should be noted that identical components throughout the drawings are indicated by the same reference numerals whenever possible.

[0049] Terms and words used in the following description and drawings should not be interpreted as being limited to their ordinary or dictionary meanings, but should be interpreted in a meaning and concept consistent with the technical spirit of the invention, based on the principle that the inventor can appropriately define the concept of terms to best describe his invention. Accordingly, the embodiments described in this specification and the configurations illustrated in the drawings are merely the most preferred embodiments of the invention and do not represent all aspects of the technical spirit of the invention; therefore, it should be understood that various equivalents and modifications capable of replacing them may exist at the time of filing this application.

[0050] Furthermore, the terms used in this specification are used merely to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. Additionally, terms such as “comprising” or “having” described in this specification are intended to indicate the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0051] Additionally, terms such as "part," "unit," and "module" as described in the specification refer to a unit that processes at least one function or operation, which may be implemented in hardware, software, or a combination of hardware and software. Furthermore, "one (a or an)," "one," "the," and similar related terms may be used in the context describing the invention (particularly in the context of the following claims) in a sense that includes both singular and plural forms, unless otherwise indicated in the specification or clearly contradicted by the context.

[0052] In addition to the terms described above, specific terms used in the following description are provided to aid in understanding the present invention, and the use of such specific terms may be modified in other forms without departing from the technical spirit of the present invention.

[0053] In addition, embodiments within the scope of the present invention include a computer-readable medium having or transmitting computer-executable instructions or data structures stored on a computer-readable medium. Such a computer-readable medium may be any available medium accessible by a general-purpose or special-purpose computer system. For example, such a computer-readable medium may include, but is not limited to, physical storage media such as RAM, ROM, EPROM, CD-ROM or other optical disk storage devices, magnetic disk storage devices or other magnetic storage devices, or any other medium accessible by a general-purpose or special-purpose computer system that can be used to store or transmit certain program code means in the form of computer-executable instructions, computer-readable instructions or data structures.

[0054]

[0055] Hereinafter, a mobile robot (100), a control system (200) and a teaching system (300) according to the present invention will be described.

[0056]

[0057] FIG. 1 shows a perspective view of a mobile robot (100) according to the present invention.

[0058] A mobile robot (100) according to the present invention comprises a mobile platform (110), a manipulator (120), a hybrid gripper (130), a sensor module (150), and a robot control unit (not shown).

[0059] The mobile platform (110) is a component that provides mobility and maneuverability within the workspace of the mobile robot (100) of the present invention. The mobile platform (110) includes wheels (not shown) and a driving motor (not shown), and is formed to enable stable movement even on uneven terrain. The mobile platform (110) has a built-in battery (not shown) to enable wireless operation and forms the base structure of the entire mobile robot (100). The mobile platform (110) moves the mobile robot (100) to various work positions and can detect and avoid obstacles within the work area. Efficient and safe movement is possible by adjusting the driving path in real time by the robot control unit based on data collected from the sensor module (150).

[0060] The manipulator (120) is a multi-joint robot arm mounted on the mobile robot (100) of the present invention, and provides the function of manipulating or moving an object. The manipulator (120) has a multi-degree-of-freedom joint structure and can reach a workpiece by adjusting the length and angle of the robot arm. The manipulator (120) is configured to grasp or manipulate an object through a hybrid gripper (130) mounted on its end. The manipulator (120) operates based on signals provided by the robot control unit and can perform precise work at various angles through its multi-joint structure. This allows for maximizing work efficiency even in a limited space.

[0061] The hybrid gripper (130) is configured to be mounted on the end of the manipulator (120) and can grasp and manipulate objects of various shapes and materials. The hybrid gripper (130) includes a suction part (132a) and a plurality of fingers (F), and can perform operations on various objects by combining two gripping methods. For example, various objects can be stably grasped by first suctioning and fixing an object with the suction part (132a) and then grasping the object with the fingers (F). Alternatively, the suction part (132a) can grasp objects made of soft materials or complex shapes, and the plurality of fingers (F) can stably grasp the object by adjusting the spacing according to the size and shape of the object. The hybrid gripper (130) stably grasps or moves objects under the control of the robot control unit.

[0062] The sensor module (150) provides the mobile robot (100) of the present invention with the ability to perceive the surrounding environment and monitor the work situation in real time. The sensor module (150) includes various sensors such as ultrasonic sensors, cameras, infrared sensors, and LiDAR, and collects surrounding environment data of the mobile robot (100). The sensor module (150) transmits the surrounding environment data to the robot control unit to detect obstacles, verify the location of work objects, and monitor the work status of the robot. This can contribute to improving the autonomy and safety of the mobile robot (100).

[0063] The robot control unit is responsible for controlling and coordinating all components of the mobile robot (100). The robot control unit includes a processor and a data processing unit, and processes data collected from the sensor module (150) in real time. That is, the robot control unit controls all components, including the mobile platform (110), manipulator (120), and hybrid gripper (130), and performs adaptive tasks in response to environmental changes.

[0064]

[0065] According to the mobile robot (100) of the present invention, high flexibility and efficiency can be provided in various work environments through the mobility of the mobile platform (110), the precise operation of the manipulator (120), the flexibility of the hybrid gripper (130), and the integrated control capability of the sensor module (150) and the robot control unit.

[0066] In particular, since the hybrid gripper (130) performs operations on an object using the suction part (132a) and the finger (F), it can stably perform operations on various objects.

[0067] This enables the mobile robot (100) according to the present invention to be useful in various application fields such as household work, logistics, and manufacturing lines.

[0068]

[0069] The mobile robot (100) according to the present invention may further include a lifting module (140).

[0070] The lifting module (140) is mounted on the mobile platform (110) and serves to move the manipulator (120) up and down.

[0071] Specifically, the lifting module (140) is composed of elements such as an LM guide (not shown) and a motor (not shown), and is firmly mounted on a mobile platform (110) that forms the basic structure of the manipulator (120). The LM guide provides a stable movement path for the up-and-down movement of the manipulator (120) and enables the manipulator (120) to move smoothly and precisely. The motor controls the vertical movement of the manipulator (120) and operates to accurately position the manipulator (120) at an appropriate height.

[0072] The lifting module (140) receives a control signal from the robot control unit and moves the manipulator (120) in a vertical direction. During this process, the movement range of the lifting module (140) can be adjusted based on data collected from the sensor module (150). The lifting module (140) extends the reach of the manipulator (120) from the floor to, for example, a height of 1.8 m, so that the mobile robot (100) can perform work at a high position. As shown in FIG. 2, when a work object is at a high position or on the floor, the lifting module (140) supports manipulating the object by positioning the manipulator (120) at an appropriate height.

[0073]

[0074] The sensor module (150) may be equipped with a head camera (151) and a wrist camera (not shown).

[0075] The head camera (151) is mounted on the top of the mobile platform (110) to provide a wide field of view. That is, the head camera (151) can observe the overall situation of the environment surrounding the mobile robot (100) in real time and, based on this, map the work area or detect obstacles. Through the wide field of view, the mobile robot (100) can effectively grasp the entire workspace and collect data on specific areas where obstacles or work objects are located.

[0076] A wrist camera is mounted on the end of the manipulator (120) to detect detailed information of the workpiece and to support precise manipulation. That is, the wrist camera recognizes the shape, size, material, etc. of the workpiece and provides data so that the hybrid gripper (130) and the manipulator (120) can operate properly.

[0077] The sensor module (150) may be equipped with LiDAR, radar, laser sensors, etc., in addition to the head camera (151) and wrist camera. These sensors can each be utilized for environment mapping, distance measurement, and obstacle detection. LiDAR generates three-dimensional environmental information around the robot through 360-degree scanning, and radar can support precise distance measurement and speed data collection. And the laser sensor can recognize detailed working environments within complex structures.

[0078]

[0079] The head camera (151) can have a pan-tilt function.

[0080] The pan-tilt function enables rotation and tilt adjustment of the head camera (151), allowing the mobile robot (100) to move away from a fixed field of view and secure a wider and more flexible field of view.

[0081] Pan operation allows the head camera (151) to adjust the rotation angle in the horizontal direction, and tilt operation allows the head camera (151) to adjust the tilt angle in the vertical direction. Pan-tilt operation is performed through a motor (not shown) and a gear system (not shown) and can be performed according to a control signal from a robot control unit.

[0082]

[0083] The hybrid gripper (130) may comprise a finger unit (131), an adsorption unit (132), and a finger position adjustment unit (133).

[0084] FIG. 3 shows an overall perspective view of the hybrid gripper (130), and FIG. 4 shows an exploded perspective view of the hybrid gripper (130). For reference, FIG. 3 and FIG. 4 show the hybrid gripper (130) without the housing so that each component can be seen. Also, FIG. 4 does not show some components inside the housing of the hybrid gripper (130).

[0085] The finger unit (131) is provided with a plurality of fingers (F) spaced apart from each other, and the spacing between the fingers (F) is adjusted along a first direction. Although FIG. 3 and others illustrate an example where the finger unit (131) is provided with two fingers (F), it is also possible for the finger unit (131) to be provided with three or more fingers. Two fingers (F) are arranged facing each other. The following description will focus on the case where the finger unit (131) has two fingers (F).

[0086] The finger unit (131) can stably grasp objects of various shapes and materials by adjusting the spacing between the fingers (F) according to the size of the object. The adjustment of the spacing between the fingers (F) can be performed according to the command of the robot control unit.

[0087] The first direction may be, for example, a left-right direction, but it is obvious that it may be a front-back direction or an up-down direction depending on the angle at which the hybrid gripper (130) is positioned. Below, the explanation will focus on the case where the first direction is a left-right direction.

[0088] The adsorption unit (132) is equipped with an adsorption part (132a) that adsorbs by directly contacting an object (object), and the adsorption part (132a) is positioned between the fingers (F). The adsorption part (132a) serves to fix the object using negative pressure.

[0089] The suction unit (132) performs initial fixation by suctioning an object, and subsequently, the finger unit (131) can additionally grip the object to increase the stability of the gripping operation.

[0090] The finger position adjustment unit (133) serves to adjust the position of the finger (F) along a second direction that intersects the first direction with respect to the suction part (132a). The second direction may be, for example, an up-and-down direction, and the following description will focus on the case where the second direction is an up-and-down direction.

[0091] The finger position adjustment unit (133) moves the entire finger unit (131) to enable gripping at an optimal position according to the size or shape of the object. That is, it adjusts the positional relationship between the finger unit (131) and the suction unit (132) to enable stable gripping of the object. For example, the finger position adjustment unit (133) may be equipped with a screw bar (133a) and a motor (133b) to move the finger unit (131). One end of the screw bar (133a) is connected to the finger unit (131) and the other end is connected to the motor (133b), so that as the screw bar (133a) rotates by the motor (133b), the finger unit (131) can move along the longitudinal direction of the screw bar (133a) and its position can be adjusted.

[0092] In this way, the hybrid gripper (130) of the present invention can stably grip an object as the finger unit (131) and the suction unit (132) grip the object together.

[0093] And the finger unit (131), suction unit (132), and finger position adjustment unit (133) interact to provide an optimal grip suitable for the size, shape, material, and height of the object. This interaction significantly improves grip stability and provides flexibility to adapt to various working environments.

[0094] In addition, by adjusting the position of the finger unit (131) rather than the suction unit (132) to adjust the distance between the suction unit (132) and the finger unit (131), the structure is simplified, the overall size of the gripper (130) can be reduced, and the fixed suction unit (132) can perform the gripping operation more stably.

[0095]

[0096] The robot control unit can detect a work object based on data acquired from the sensor module (150) and control the position of the finger (F) relative to the suction part (132a) to grip the work object by adjusting the position of the finger (F) with respect to the work object using the finger position adjustment unit (133) according to the work object.

[0097] The wrist camera of the sensor module (150) can specifically detect the size, shape, material, and location of the work object (object).

[0098] The robot control unit processes data provided by the sensor module (150) and controls the operation of the finger position adjustment unit (133) and the suction unit (132). Specifically, the robot control unit analyzes data from the sensor module (150) to determine the size of the work object, etc., and controls the finger position adjustment unit (133) to adjust the position of the finger (F) relative to the suction unit (132a) according to the size of the work object, etc., so as to grip the work object.

[0099] For example, as shown in FIG. 5 (a), if it is determined that the height of the object is large, the finger base (131a) supporting the finger unit (131) is moved upward so that the tip of the finger (F) is relatively far from the suction part (132a) and then the object is grasped; and as shown in FIG. 5 (b), if it is determined that the height of the object is low, the finger base (131a) is moved downward so that the tip of the finger (F) is relatively close to the suction part (132a) and then the object is grasped.

[0100]

[0101] Hereinafter, a remote control system (200) for a mobile robot according to the present invention will be described. While describing the remote control system (200) for a mobile robot according to the present invention, detailed descriptions of matters mentioned during the description of the mobile robot (100) according to the present invention may be omitted.

[0102] FIG. 6 shows a schematic configuration diagram of a remote control system (200) of a mobile robot according to the present invention.

[0103] The remote control system (200) of a mobile robot according to the present invention may comprise a first master module (210), a second master module (220), a control signal transmission module (230), and a system control module (not shown).

[0104] The first master module (210) serves to generate control signals for the mobile platform (110) by user operation. That is, the first master module (210) serves to control the basic movement of the mobile robot (100) and the configuration related to the mobile platform (110). The first master module (210) may include a user-friendly operation interface (e.g., joystick, touchscreen, etc.) and may be configured to accurately detect user input signals. More specifically, the first master module (210) can control the movement and rotation of the mobile platform (110) based on direction and speed signals input by the user.

[0105] The second master module (220) serves to generate control signals for the manipulator (120) and the hybrid gripper (130) by user operation. For example, the second master module (220) may be formed by mimicking a multi-joint structure similar to the manipulator (120) and supports the user in intuitively inputting the movements of the manipulator (120). When the user moves the second master module (220), this movement can be converted into a signal corresponding to each joint of the manipulator (120). Through this, the user can control the movements of the manipulator (120) in real time.

[0106] The control signal transmission module (230) serves to transmit control signals generated by the first master module (210) and the second master module (220) to the mobile robot (100). The control signal transmission module (230) can transmit control signals via wireless communication (Wi-Fi, Bluetooth, or a dedicated RF channel, etc.), for example. The control signal transmission module (230) can also process or convert the control signals and transmit them in a form that the robot control unit can understand.

[0107] The system control module manages all components of the remote control system (200) in an integrated manner and can maintain the priority and consistency of control signals. The system control module includes a central processing unit (CPU) and a control algorithm, and can analyze input signals and assign priorities. The system control module can coordinate signals generated from the first master module (210) and the second master module (220) and transmit them integrally to the robot control unit.

[0108] According to the remote control system (200) of the present invention, the ease of remote control can be increased by allowing a user to remotely control the mobile robot (100) through the first master module (210) and the second master module (220) formed respectively. That is, relatively inaccurate tasks, such as the movement of the mobile robot (100), can be controlled through the first master module (210), and relatively precise tasks, such as the angle adjustment of the manipulator (120) or the gripping of the hybrid gripper (130), can be controlled through the second master module (220), thereby reducing the complexity of robot operation and increasing work efficiency.

[0109] And by rapidly and accurately transmitting control signals through the control signal transmission module (230) and the system control module, the user's input can be reflected in the robot's operation in real time.

[0110]

[0111] If the mobile robot (100) further includes a lifting module (140) and the sensor module (150) is equipped with a head camera (151), the first master module (210) can also generate control signals for the lifting module (140) and the head camera (151).

[0112] That is, control for relatively imprecise tasks, such as adjusting the height of the manipulator (120) or securing the field of view of the mobile robot (100), can be performed through the first master module (210) together with control of the movement of the mobile robot (100), which is a task requiring similar precision.

[0113]

[0114] As described above, the first master module (210) can be formed in the form of a joystick.

[0115] The first master module (210) is illustrated in FIG. 7. For reference, the second master module (220) is also illustrated in FIG. 7.

[0116] For example, the joystick is formed to be operable with one hand and can be configured to allow rotation and angle adjustment. Additionally, a small stick-shaped input means and a button-shaped input means can be formed on the upper part.

[0117] As shown in FIG. 8 (a), the direction in which the mobile platform (110) faces can be controlled by adjusting the rotation angle of the joystick, and as shown in FIG. 8 (b), the mobile platform (110) can be moved in the forward and backward directions by adjusting the forward and backward angle of the joystick. Also, as shown in FIG. 8 (c), the lifting module (140) can be moved up and down by pressing the button (211) located up and down on the upper part of the joystick. Additionally, as shown in FIG. 8 (d), the horizontal rotation angle of the head camera (151) can be adjusted by adjusting the left and right angle of the small stick (212) on the upper part of the joystick, and as shown in FIG. 8 (e), the vertical tilt of the head camera (151) can be adjusted by adjusting the forward and backward angle of the small stick (212) on the upper part of the joystick.

[0118] It is possible to intuitively control the mobile platform (110), the lifting module (140), and the head camera (151) using this first master module (210).

[0119]

[0120] The second master module (220) may have a multi-joint part (221) having a structure corresponding to the joint shape of the manipulator (120).

[0121] That is, the second master module (220) can be formed in the shape of a small arm mimicking the structure of the manipulator (120), and can be operated by a user moving or adjusting the angle while holding the end of the multi-joint part (221).

[0122] More specifically, each joint of the multi-joint section (221) is equipped with a servo motor (not shown) equipped with an encoder (not shown), so that the self-weight of the multi-joint section (221) can be compensated for by gravity through the power of the servo motor, and the movement of each joint can be reflected in the corresponding joint of the manipulator (120) using the encoder value collected from the servo motor of each joint.

[0123] That is, the control signal transmission module (230) collects data such as the position of each joint of the multi-joint part (221) in real time and transmits it to the robot control unit of the mobile robot (100). The control signal transmission module (230) may be equipped with an algorithm that converts data such as the position of each joint of the multi-joint part (221) into corresponding joint movements of the manipulator (120).

[0124] Accordingly, the user can intuitively control the operation of the manipulator (120) and accurately reflect the user's input in the operation of the manipulator (120).

[0125]

[0126] The second master module (220) may be equipped with a trigger (not shown) and a button (not shown) at the end of the multi-joint portion (221). The trigger and the button may be formed at a position where a finger is located when a user grasps the multi-joint portion (221) among the ends of the multi-joint portion (221).

[0127] The trigger can control the operation of the finger unit (131). As the user pulls or releases the trigger, the gap of the finger (F) can be adjusted to grip or release an object. By operating the trigger gradually, the movement of the finger (F) can be finely controlled.

[0128] The button can control the suction unit (132). When the user presses the button, the suction part (132a) is activated to fix or assistly grip an object. The suction force is maintained while the button is pressed, and when the user releases the button, the suction part (132a) can be deactivated.

[0129] The finger (F) and the suction part (132a) can be finely controlled through the trigger and button, allowing for excellent performance when handling sensitive objects or performing complex assembly tasks. In addition, the intuitive interface of the trigger and button allows the user to easily control the mobile robot (100).

[0130]

[0131] The remote control system (200) of a mobile robot according to the present invention may further include a robot state detection module (250) and a feedback module (260).

[0132] The robot state detection module (250) serves to detect the status of the mobile platform (110), manipulator (120), and hybrid gripper (130) of the mobile robot (100) in real time. To this end, the robot state detection module (250) may include a sensor that collects the operational status (e.g., speed, angle, position, etc.) of the manipulator (120), etc. It is obvious that the robot state detection module (250) can also detect the status of the lifting module (140) and sensor module (150) of the mobile robot (100) in real time.

[0133] Specifically, the robot state detection module (250) can monitor the movement speed, direction, and obstacle detection status of the mobile platform (110), detect the angle, position, and operation status of each joint of the manipulator (120) in real time, and monitor the position, gripping force, and suction status of the fingers (F) and suction part (132a) of the hybrid gripper (130).

[0134] Data collected from the robot state detection module (250) can be transmitted to the robot control unit and the feedback module (260).

[0135] The feedback module (260) generates and transmits feedback signals to the first master module (210) and the second master module (220) based on data obtained from the robot state detection module (250). Alternatively, the robot control unit may process data collected from the robot state detection module (250) and transmit it to the feedback module (260) if an abnormal situation occurs.

[0136] For example, if a joint of the manipulator (120) exceeds a motion limit or a collision risk occurs, the feedback module (260) can transmit a warning signal to the user. The feedback signal can be provided through a user interface (e.g., vibration notification, visual display). For example, the user can recognize the feedback signal by generating torque from a servo motor equipped at each joint of the multi-joint section (221) of the second master module (220).

[0137] With the feedback module (260) provided, the user can check the status of the mobile robot (100) in real time, thereby increasing the understanding of the work environment and enabling appropriate response. Additionally, unexpected situations or problems that may occur during work can be prevented in advance, and work interruption time can be minimized.

[0138]

[0139] The remote control system (200) according to the present invention can control a mobile robot (100) through the following process. FIG. 9 shows a flowchart of an example of the operation process of the remote control system (200) according to the present invention.

[0140] The system control module can first synchronize the attitude of the manipulator (120) with the attitude of the second master module (220), and then collect the control signal generated by the second master module (220) to control the manipulator (120) to operate.

[0141] Specifically, in step S10, the second master module (220) is controlled to have an initial posture. The system control module can control the servo motors provided at each joint of the multi-joint part (221) to cause the multi-joint part (221) to have an initial posture. The initial posture can be predetermined and stored in the system control module. In step S20, the manipulator (120) is controlled to have an initial posture. The system control module can transmit a control signal to the robot control unit of the mobile robot (100) to cause the manipulator (120) to have an initial posture. The initial posture of the manipulator (120) can be predetermined to correspond to the initial posture of the second master module (220). Then, in step S30, it is checked whether the postures of the second master module (220) and the manipulator (120) are synchronized to the initial posture. If synchronization is not achieved, the second master module (220) and the manipulator (120) are controlled to assume an initial posture again, and if synchronization is complete, the user moves the second master module (220), and then the system control module collects data related to each joint of the multi-joint part (221) constituting the second master module (220) (step S40) and transmits this to the robot control unit of the mobile robot (100) so that the manipulator (120) is controlled (step S60).

[0142] In this way, by synchronizing the second master module (220) and the manipulator (120) and then controlling the manipulator (120) using the second master module (220), work errors can be minimized and reliability can be increased.

[0143]

[0144] The system control module can control the second master module (220) to feed back to the second master module (220) by checking whether the control signal generated by the second master module (220) is included in the operation limit area of ​​the manipulator (120).

[0145] That is, in step S50, it is checked whether the area (position or angle) where each joint of the collected multi-joint part (221) is located falls within an area (position or angle) where movement is impossible due to the structure of the manipulator (120), and if not, the position of each joint of the manipulator (120) is controlled according to the position of each joint of the collected multi-joint part (221) in step S60. If the area where each joint of the collected multi-joint part (221) is located falls within an area where movement is impossible due to the structure of the manipulator (120), in step S70, the feedback module (260) feeds this situation back to the multi-joint part (221) of the second master module (220). Feedback can be provided, for example, by generating torque in the opposite direction from the servo motor of the multi-joint part (221).

[0146] The operable area of ​​the manipulator (120) and the corresponding operable area of ​​the multi-joint part (221) can be stored in advance in a system control module, and the system control module can determine whether the area where each joint of the collected multi-joint part (221) is located is included in the operable area of ​​the manipulator (120) by checking whether the real-time operable area of ​​the multi-joint part (221) deviates from the operable area of ​​the manipulator (120).

[0147] In this way, by checking in real time whether the control signal generated by the second master module (220) falls within the movement limit area of ​​the manipulator (120), collisions or damage caused by excessive movement of the manipulator (120) can be prevented. Furthermore, real-time feedback helps the user clearly understand the limit area and operation status of the manipulator (120), thereby minimizing errors that may occur during operation.

[0148]

[0149] The system control module can control the mobile robot (100) to wait by checking whether there is a collision with the mobile robot (100), particularly the manipulator (120), based on data obtained from the robot state detection module (250).

[0150] That is, in step S80, the system control module collects data obtained from the robot state detection module (250). Collisions can be detected, for example, using a force sensor, an acceleration sensor, or a contact sensor equipped in the robot state detection module (250).

[0151] Then, in step S90, the collected data from the robot state detection module (250) is analyzed to check for a collision. If a collision is detected, the mobile robot (100) can be put on standby in step S100. In addition, the feedback module (260) can feed back the collision status to the multi-joint section (221) of the second master module (220). Feedback can be provided by generating torque on the servo motor of the multi-joint section (221). If no collision is detected, the process of controlling the mobile robot (100) can be continued using the second master module (220).

[0152] In this way, by checking whether the mobile robot (100) is colliding and stopping it if necessary, the safety of the mobile robot (100) and the work environment is ensured, and time can be provided for the worker to check the situation and take appropriate action.

[0153] After checking the status of the mobile robot (100) that has switched to a standby state, the user can resolve the problem and resume the work.

[0154]

[0155] The remote control system (200) of a mobile robot according to the present invention may further include a robot surrounding situation output unit (not shown).

[0156] The robot surroundings output unit serves to output data acquired from the sensor module (150). Specifically, the robot surroundings output unit may be composed of a user interface device such as a screen display, an audio notification system, or a virtual reality (VR) device.

[0157] The robot surroundings output unit can process data collected from the sensor module (150) in real time (e.g., image data from the head camera (151) and wrist camera, LiDAR-based map data, obstacle information) and deliver it to the user. In particular, the display screen visually provides detailed information about the robot's surroundings, and the acoustic warning system can deliver emergency information to the user, such as the proximity of obstacles.

[0158] Based on the data provided by the robot surrounding situation output unit, the user can appropriately control the movement of the mobile robot (100) and the operation of the manipulator (120) by utilizing the first master module (210) (joystick) and the second master module (220) (multi-joint unit (221)).

[0159] This robot surrounding situation output unit can help control the mobile robot (100) using the first master module (210) and the second master module (220) when the user cannot directly see the mobile robot (100).

[0160] The robot surroundings output unit may additionally output data provided by the robot state detection module (250) to provide advance warning of potential hazards that may occur during operation (e.g., proximity to obstacles, possibility of damage to the work object).

[0161]

[0162] In addition to the configuration described above, the remote control system (200) of a mobile robot according to the present invention may further include a communication unit (not shown) for wired and wireless communication between each component of the system according to the present invention and with the outside, an input unit (not shown) for inputting operation signals or setting values ​​to the system according to the present invention, a storage unit (not shown) for storing a program required for the operation of the system according to the present invention, setting values, and data generated during the operation of the system according to the present invention, and a display unit (not shown) for displaying the operation status or operation results of the system according to the present invention.

[0163]

[0164] Below, a teaching system (300) for a mobile robot according to the present invention will be described.

[0165] FIG. 10 shows a schematic diagram of a teaching system (300) of a mobile robot according to the present invention.

[0166] The teaching system (300) of a mobile robot according to the present invention comprises a learning data collection unit (310), a learning unit (320), an artificial intelligence control model storage unit (330), and an artificial intelligence control unit (340).

[0167] The learning data collection unit (310) collects data generated during the process of controlling the mobile robot (100) using the remote control system (200) of the present invention. Specifically, the data to be collected may include data about the robot's surrounding environment acquired from the sensor module (150), control signals input through the first master module (210) and the second master module (220), and data detected by the robot state detection module (250). Additionally, the data to be collected may include information such as the operation of the manipulator (120), the gripping state of the hybrid gripper (130), an obstacle avoidance path, and characteristics of the workpiece.

[0168] The learning unit (320) learns the data collected by the learning data collection unit (310) to create an artificial intelligence control model. That is, the learning unit (320) includes an algorithm that processes the collected data and analyzes patterns to create an artificial intelligence control model. The learning unit (320) can learn the data using a deep learning model, a reinforcement learning model, or other machine learning techniques. Specifically, the learning unit (320) analyzes the data transmitted from the learning data collection unit (310) to learn the motion patterns and environment adaptation strategies of the mobile robot (100) required for a specific task, and learns the optimal motion path and gripping method of the mobile robot (100) according to the characteristics of the work object and the working environment conditions.

[0169] The artificial intelligence control model storage unit (330) stores the artificial intelligence control model generated by the learning unit (320). The artificial intelligence control model storage unit (330) may include a database and a storage device for storing and managing the learned artificial intelligence control model. The stored artificial intelligence control model is maintained in a state ready to be executed by the artificial intelligence control unit (340).

[0170] The artificial intelligence control unit (340) controls the mobile robot (100) using the artificial intelligence control model stored in the artificial intelligence control model storage unit (330). That is, the artificial intelligence control unit (340) includes a processor and an algorithm capable of executing the stored control model and controlling the operation of the mobile robot (100) in real time. The artificial intelligence control unit (340) operates integrally with the robot control unit and supports the autonomous operation of the mobile robot (100). Alternatively, it is possible for the artificial intelligence control unit (340) to replace the robot control unit.

[0171] According to the teaching system (300) of the mobile robot of the present invention, the mobile robot (100) can be taught to perform autonomous and adaptive tasks independently.

[0172] Accordingly, user intervention for the operation of the mobile robot (100) can be minimized, and the physical and mental burden on the user can be reduced.

[0173]

[0174] The scope of the present invention is not limited to the embodiments described above but may be implemented in various forms of embodiments within the scope of the appended claims. It is deemed that the scope of the claims of the present invention includes various modifications that are possible by anyone with ordinary knowledge in the technical field to which the invention pertains, without departing from the essence of the invention claimed in the claims.

[0175]

[0176] [Explanation of the symbol]

[0177] 100 : Mobile robot

[0178] 110 : Mobile platform

[0179] 120 : Manipulator

[0180] 130 : Hybrid Gripper

[0181] 131 : Finger Unit

[0182] 132 : Adsorption unit

[0183] 132a : Adsorption part

[0184] 133 : Finger position adjustment unit

[0185] 140: Lifting Module

[0186] 150 : Sensor module

[0187] 151 : Head Camera

[0188] 200: Remote control system of a mobile robot

[0189] 210: 1st Master Module

[0190] 220: Second Master Module

[0191] 221 : Multi-jointed part

[0192] 230: Control signal transmission module

[0193] 250: Robot Status Detection Module

[0194] 260 : Feedback Module

[0195] 300: Mobile Robot Teaching System

[0196] 310: Training Data Collection Unit

[0197] 320 : Learning Department

[0198] 330 : Artificial Intelligence Control Model Storage Unit

[0199] 340 : Artificial Intelligence Control Unit

[0200] F : Finger

[0201]

[0202] [National R&D projects that supported this invention]

[0203] - Project ID: 2710007970

[0204] - Project Number: RS-2024-00336738

[0205] - Ministry Name: Ministry of Science and ICT

[0206] - Project Management (Specialized) Agency Name: Korea Institute of Information & Communications Technology Planning & Evaluation

[0207] - Research Project Name: Development of Core Software Technologies for Complex Intelligent Autonomous Behaviors (R&D)

[0208] - Research Project Title: Development of Mission Execution Procedure Generation Technology for Autonomous Complex Task Performance by Autonomous Agents

[0209] - Project Executing Organization Name: Korea Electronics and Telecommunications Research Institute

[0210] - Research Period: April 1, 2024 – December 31, 2027

Claims

1. Mobile platform; A manipulator mounted on the above mobile platform; A hybrid gripper mounted on the end of the above manipulator and having a suction part and a plurality of fingers; A sensor module for detecting surrounding conditions; and A mobile robot characterized by including a robot control unit that controls at least one of the mobile platform, the manipulator, and the hybrid gripper based on data acquired from the sensor module.

2. In Paragraph 1, A mobile robot characterized by further including a lifting module mounted on the mobile platform and moving the manipulator up and down.

3. In Paragraph 1, The above sensor module is, A head camera mounted on the top of the mobile platform; and A mobile robot characterized by including a wrist camera mounted on the end of the above manipulator.

4. In Paragraph 3, The head camera mentioned above is, A mobile robot characterized by being capable of pan-tilting.

5. In Paragraph 1, The above-mentioned hybrid gripper is, A finger unit having a plurality of fingers spaced apart from each other, wherein the spacing between the fingers is adjusted along a first direction; An adsorption unit having the adsorption portion between the fingers; and A mobile robot characterized by including a finger position adjustment unit that adjusts the position of the finger along a second direction that intersects the first direction with respect to the adsorption part.

6. In Paragraph 5, The above robot control unit is, A mobile robot characterized by detecting a workpiece based on data acquired from the sensor module and controlling the position of the finger relative to the suction part to grasp the workpiece using the finger position adjustment unit according to the workpiece.

7. In a remote control system for a mobile robot according to paragraph 1, A first master module that generates a control signal for the mobile platform; A second master module that generates control signals for the above manipulator and the above hybrid gripper; A control signal transmission module that transmits control signals generated by the first master module and the second master module to the mobile robot; and A remote control system for a mobile robot comprising: a system control module that controls the first master module, the second master module, and the control signal transmission module.

8. In Paragraph 7, The above mobile robot is, It further includes a lifting module mounted on the mobile platform and moving the manipulator up and down, The above sensor module is, It is equipped with a pan-tilt head camera mounted on the top of the above-mentioned mobile platform, and The above-mentioned first master module is, A remote control system for a mobile robot characterized by further generating control signals for the lifting module and the head camera.

9. In Paragraph 8, The above-mentioned first master module is, A remote control system for a mobile robot characterized by being in the form of a joystick.

10. In Paragraph 7, The above second master module is, A remote control system for a mobile robot characterized by having a multi-joint section having a structure corresponding to the joint shape of the above-mentioned manipulator.

11. In Paragraph 10, The above second master module is, A trigger mounted at the end of the multi-joint portion and generating a control signal for the finger; and A remote control system for a mobile robot, further comprising a button mounted on the end of the multi-joint portion and generating a control signal for the adsorption portion.

12. In Paragraph 7, A robot state detection module for detecting the state of the mobile platform, the manipulator, and the hybrid gripper; and A remote control system for a mobile robot, further comprising a feedback module that transmits a feedback signal to the first master module and the second master module based on data acquired from the robot state detection module.

13. In Paragraph 12, The above system control module is, After synchronizing the attitude of the above manipulator with the attitude of the above second master module, A remote control system for a mobile robot characterized by collecting a control signal generated by the second master module and controlling the manipulator to operate.

14. In Paragraph 13, The above system control module is, A remote control system for a mobile robot characterized by controlling a control signal generated by the second master module to be fed back to the second master module by checking whether the signal is included in the motion limiting area of ​​the manipulator.

15. In Paragraph 13, The above system control module is, A remote control system for a mobile robot characterized by controlling the mobile robot to wait by checking whether the manipulator has collided based on data obtained from the robot state detection module.

16. In Paragraph 7, A remote control system for a mobile robot characterized by further including a robot surrounding situation output unit that outputs data acquired from the sensor module above.

17. A learning data collection unit that collects data generated during the process of controlling the mobile robot using a remote control system according to any one of claims 7 to 16; A learning unit that generates an artificial intelligence control model by learning the data collected by the above-mentioned learning data collection unit; An artificial intelligence control model storage unit in which an artificial intelligence control model generated by the above-mentioned learning unit is stored; and A teaching system for a mobile robot characterized by including an artificial intelligence control unit that controls the mobile robot using the artificial intelligence control model.

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