KR-20260063388-A - SYSTEM COMPRISING A MOBILE ROBOT AND A TERMINAL FOR TEACHING THE SAME

KR20260063388AKR 20260063388 AKR20260063388 AKR 20260063388AKR-20260063388-A

Abstract

The present invention provides a mobile robot having a black box function, characterized in that, in the case of a mobile robot autonomously driving within a driving area, the driving unit; a communication unit connected to a control server that controls the mobile robot so as to communicate with the driving unit; a front detection sensor that detects an obstacle in front of the mobile robot; and a control unit that, when a movement failure event occurs while driving within the driving area, transmits to the control server image information captured by a camera for a predetermined period of time based on the time of the event occurrence and detection information regarding an obstacle detected by the front detection sensor.

Inventors

유승헌
안지훈

Assignees

유승헌

Dates

Publication Date: 20260507
Application Date: 20241030

Claims (10)

A system comprising a mobile robot that drives autonomously within a driving area and a terminal connected to communicate with the mobile robot to control the mobile robot, The above terminal is, A display that outputs a workspace area in which a plurality of nodes—where the nodes indicate commands for the mobile robot—are displayed in a hierarchical tree structure, a command list area for selecting commands of the nodes within the workspace area, and a toolbar area for editing the nodes within the workspace area; and A control unit that generates control commands and transmits them to the mobile robot so that the mobile robot can operate in a predetermined order based on the plurality of nodes within the workspace area; A system including
In Article 1, The above display displays a selectable node addition area in a location not occupied by another node among the side and bottom, which is a location where a new node can be added when any one of the above nodes within the workspace area is activated. A system characterized by adding a node having the selected command to the selected node addition area based on a selection input for the node addition area and a selection input for any one of the commands provided in the command list area.
In Article 1, The above display forms an empty space where a new node can be inserted by moving the lower nodes among the nodes connected to the selected edge, based on the selection input for the node insertion button provided within the toolbar area and the selection input for the edge of the tree structure. A system characterized by inserting a node having the selected command into the empty space based on a selection input for any one of the commands listed in the command list area.
In Article 1, The above-described mobile robot comprises a main body that moves by means of a driving unit and a multi-joint robot arm provided on the main body, wherein The command provided within the command list area includes a sequence command for sequentially executing the commands of the lower nodes, a movement command for moving the mobile robot, and an instruction command for operating the multi-joint robot arm. A system characterized in that the tree structure within the above workspace area includes first and second child nodes having the above move command and the above instruction command under the parent node having the above sequence command.
In Article 4, The control unit generates a control command to operate the multi-joint robot arm while the mobile robot moves, based on the grouping input for the first child node and the second child node, and transmits the command to the mobile robot. A system characterized by determining whether the operation of the above-mentioned multi-joint robot arm is an operation that the above-mentioned mobile robot can perform while moving, and determining whether to group the above-mentioned first child node and the above-mentioned second child node according to the result of the determination.
In Article 4, The above display is, For at least some of the nodes provided under the parent node having the above sequence command and selected according to user input, they are temporarily replaced with a Post-it area having at least one command, and A system characterized in that the above control unit generates and transmits the control command to the mobile robot based on the command of the above Post-it area instead of the command of the node replaced by the above Post-it area, so that the mobile robot can operate.
In Article 6, The above display is, A system characterized by the fact that when the above Post-it area is removed according to user input, the nodes that were replaced by the above Post-it area are restored to their previous state.
In Article 4, The above display is, A system characterized by replacing at least some of the nodes selected by user input among the nodes provided under the parent node having the above sequence command with icons whose width is reduced by user input.
In Article 1, The above display is, At least a portion of the workspace area where the plurality of nodes of the tree structure are provided is obscured by a blind area formed according to user input, and A system characterized in that the above-mentioned blind area can be removed according to a predetermined authentication procedure.
In Article 9, An authentication server that checks whether there is access authority based on the previously established authority settings when a request to release the blind area is made by a sharer, wherein the authority setting for the blind area is performed by a shareholder; Includes more, A system characterized in that the above blind area is set with a unique identification code based on a combination of the identification code of the mobile robot, the ID of the sharer, the identification code of the tree structure, and the location and size of the blind area.

Description

System comprising a mobile robot and a terminal for teaching the same The present invention relates to a system comprising a mobile robot and a terminal provided for teaching the operation thereof. Recently, research on mobile robots equipped with autonomous driving technology has been actively conducted, and their fields of application are rapidly expanding across various industries such as manufacturing, logistics, agriculture, and healthcare. The mobile robot moves autonomously within a designated mission area and performs various tasks, and the mobile robot can be connected to a terminal to communicate with a control device for controlling or planning the mobile robot's movement path or various operations. User teaching or programming is required for mobile robots to move autonomously within a mission area while performing tasks efficiently and safely. In the past, users had to program directly to set the movement path of a mobile robot or perform a specific action, but this process was time-consuming and difficult to write accurate instructions when the action was complex, so there was a problem where users who had not received professional training had limitations in writing instructions. Therefore, there is a growing need for an interface that allows users to intuitively create instructions for mobile robots. FIG. 1a is a drawing showing the overall appearance of a mobile robot according to one embodiment of the present invention. FIG. 1b is a connection diagram between a mobile robot and a terminal according to one embodiment of the present invention. FIGS. 2 and 3 are exemplary diagrams of a terminal screen according to an embodiment of the present invention. FIGS. 4a and 4b are drawings illustrating the process of adding a node to a tree structure within a workspace area according to an embodiment of the present invention. FIGS. 5a to 5c are drawings for explaining the process of inserting a node into a tree structure within a workspace area according to an embodiment of the present invention. FIG. 6 is a diagram showing a plurality of nodes within a workspace area being grouped according to an embodiment of the present invention. FIG. 7 is a drawing showing the appearance of Post-it notes applied to a plurality of nodes within a workspace area according to one embodiment of the present invention. FIG. 8a is a diagram showing the entire tree structure within a workspace area according to one embodiment of the present invention. FIG. 8b is a diagram showing a state in which a plurality of child nodes are replaced with reduced icons according to an embodiment of the present invention. FIG. 9 is a drawing showing a blind area formed within a workspace area according to one embodiment of the present invention. Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the attached drawings. Identical or similar components regardless of drawing symbols will be assigned the same reference number, and redundant descriptions thereof will be omitted. The suffixes "module" and "part" used for components in the following description are assigned or used interchangeably solely for the ease of drafting the specification and do not inherently possess distinct meanings or roles. Furthermore, in describing embodiments disclosed in this specification, if it is determined that a detailed description of related prior art could obscure the essence of the embodiments disclosed in this specification, such detailed description will be omitted. Additionally, the attached drawings are intended only to facilitate easy understanding of the embodiments disclosed in this specification; the technical concept disclosed in this specification is not limited by the attached drawings and should be understood to include all modifications, equivalents, and substitutions that fall within the spirit and technical scope of the present invention. When it is stated that one component is "connected" or "connected" to another component, it should be understood that while it may be directly connected or connected to that other component, there may also be other components in between. On the other hand, when it is stated that one component is "directly connected" or "directly connected" to another component, it should be understood that there are no other components in between. A singular expression includes a plural expression unless the context clearly indicates otherwise. In this specification, terms such as “comprising” or “having” 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 excluding in advance the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof. FIG. 1a is a drawing showing the overall exterior of a mobile robot according to one embodiment of the present invention, and FIG. 1b is