KR-20260062330-A - SHOOTING ROBOT AND CONTROL METHOD THEREOF

Abstract

A shooting robot capable of moving via a driving body and performing shooting using a camera mounted on a robot arm, and a control method thereof are disclosed. The above control method includes the steps of: collecting the magnitude of vibration caused by unevenness of the ground while moving to a shooting position to photograph a target object through the vehicle; if the collected magnitude of vibration is smaller than a preset magnitude of vibration, controlling the vehicle to move a shooting robot so that the camera is positioned at a target position to photograph the target object, and if the magnitude of vibration is larger than the preset magnitude of vibration, fixing the vehicle at the shooting position and controlling the robot arm to operate the robot arm so that the camera is positioned at the target position; and photographing the target object through the camera that has reached the target position.

Inventors

• 김유리

Assignees

• 김유리

Dates

Publication Date

20260507

Application Date

20241029

Claims (5)

1. A control method for a shooting robot capable of moving via a driving body and performing shooting using a camera mounted on a robot arm, wherein A step of collecting the magnitude of vibrations caused by unevenness of the ground while moving to a shooting position to photograph a target object using the above-mentioned driving body; If the collected vibration magnitude is smaller than a preset vibration magnitude, the driving body is controlled to move the shooting robot so that the camera is positioned at a target position for shooting a target object, and if the vibration magnitude is larger than the preset vibration magnitude, the driving body is fixed at the shooting position, and the robot arm is controlled to operate the robot arm so that the camera is positioned at the target position; and A step of photographing the target object through a camera that has reached the target location. A control method for a shooting robot including
2. In paragraph 1, A control method for a shooting robot, characterized in that the above camera has a gimbal function.
3. In paragraph 1, In moving the camera to a target position through the operation of the robot arm, if the movement to the target position exceeds the length adjustment limit of the robot arm, a step of setting a second shooting area where the shooting robot must move from the shooting position to reach the target position within the length adjustment limit of the robot arm. A control method for a shooting robot, further comprising
4. In paragraph 3, The above second shooting area is, A control method for a shooting robot, characterized by being set to a range having a radius of length corresponding to the limit of the length adjustment centered on the above target position.
5. In paragraph 3, A step of photographing the ground between the above-mentioned shooting position and the above-mentioned second shooting area to obtain the degree of curvature of the ground, and calculating a second shooting position within the above-mentioned second shooting area and a movement path to the second shooting position, based on the obtained degree of curvature, wherein vibration applied to the shooting robot during movement from the above-mentioned shooting position is predicted to be minimized; and Step of controlling the driving body to position the shooting robot at the second shooting position A control method for a shooting robot, further comprising

Description

Shooting Robot and Control Method Thereof Various embodiments of the present invention relate to a shooting robot and a control method thereof, and more specifically, to a shooting robot and a control method thereof for accurately recognizing and capturing a target object in a complex environment. In general, camera robots are playing an increasingly important role in various industrial sectors. In particular, automated camera robot systems are widely used in manufacturing, agriculture, construction sites, and the media and entertainment industries (such as capturing objects in shopping malls). These systems acquire high-resolution images or videos through precise control and can be utilized in various applications based on this data. Conventional camera robots could move the robot to a desired location using a wheeled or tracked vehicle, and could photograph a target object at the moved location using a robot arm and camera mounted on the robot. However, vibrations caused by uneven ground or external factors have emerged as a major problem that can degrade shooting quality, and vibrations generated as the vehicle moves can directly affect the camera, causing the video or image to be captured to shake or become distorted. To address this, existing camera robots attempt to reduce camera shake by utilizing gimbals or stabilization devices, but they have not been able to provide a fundamental solution because the unstable movement of the vehicle itself still remains. Furthermore, in camera robots that adjust the shooting position using a robot arm mounted on the robot, there was also a problem where the possible shooting positions were limited by the length and range of motion of the robot arm. For example, when shooting at distances or angles exceeding the physical limits of the robot arm, additional movement of the vehicle is required; however, it was difficult to guarantee stable shooting due to vibrations or imbalances that occurred during this process. In conclusion, existing camera robots had two problems: first, they failed to effectively control vibrations generated while the vehicle was moving, resulting in degraded image quality; and second, it was difficult to automatically set and control an appropriate shooting position at locations beyond the adjustment limits of the robot arm length. FIG. 1 is a schematic diagram showing the configuration of a shooting robot according to one embodiment of the present invention. FIG. 2 is a diagram illustrating the configuration of the shooting robot of FIG. 1 according to one embodiment of the present invention. FIG. 3 is a diagram exemplarily showing the movement state of the driving body of FIG. 1 and FIG. 2 according to an embodiment of the present invention. FIG. 4 is a diagram exemplarily showing the robot arm operation state of the shooting robot of FIG. 1 and FIG. 2 according to one embodiment of the present invention. FIG. 5 is a flowchart illustrating a process for a control unit to set a shooting area where a driving body must move within the limit of the length adjustment of a robot arm according to one embodiment of the present invention. FIG. 6 is a diagram exemplarily showing the state of a shooting robot (driving body) for moving to a second shooting area set in FIG. 5. Figure 7 is a drawing showing an example of the actual shooting robot illustrated in Figure 6. FIG. 8 is a flowchart illustrating a process for controlling the movement of a shooting robot (driving body) in a control unit by calculating a movement path that minimizes vibration up to a second shooting position within a second shooting area according to an embodiment of the present invention. FIG. 9 is a diagram exemplifying an optimal movement path state in which the shooting robot (driving body) of FIG. 8 can move to a second shooting position while minimizing vibration. FIG. 10 is a flowchart exemplifying a process for photographing a target object using a camera mounted on a shooting robot according to another embodiment of the present invention. The advantages and features of the present disclosure and the methods for achieving them will become clear by referring to the embodiments described below in detail together with the accompanying drawings. However, the present disclosure is not limited to the embodiments disclosed below but may be implemented in various different forms. These embodiments are provided merely to make the present disclosure complete and to fully inform those skilled in the art of the scope of the present disclosure, and the present disclosure is defined only by the scope of the claims. The terms used in this specification are for describing embodiments and are not intended to limit the disclosure. In this specification, the singular form includes the plural form unless specifically stated otherwise in the text. The terms “comprises” and/or “comprising” as used in this specification do not exclude the presence or addition of one or more other components in a