KR-20260063825-A - LIDAR FOLLOWING METHOD OF FOLLOWING ROBOT

Abstract

The technology disclosed in this specification relates to a LiDAR tracking method for a tracking robot in which the linear mobility of the tracking robot is enhanced using LiDAR. In a LiDAR tracking method for a tracking robot that moves along a tracking target (2) through a LiDAR (1), the tracking robot (3) has a boundary setting process (100) for setting a boundary line (10) that is orthogonal to the direction in which the LiDAR (1) is facing within the detection area of the LiDAR (1); a tracking detection process (200) in which the tracking robot (3) detects the tracking target (2) through the LiDAR (1) and calculates its position; a driving judgment process (300) for determining a work driving mode (310) in which the robot moves only in a straight line when the detected position of the tracking target (2) is inside the boundary line (10), and a tracking driving mode (320) in which the robot moves in a straight line and rotates along the tracking target (2) when the position of the tracking target (2) is outside the boundary line (10). If the tracking target (2) cannot be detected, the driving process (400) is included in which the driving process stops and waits when the immediate position of the tracking target (2) is located between the lidar (1) and the boundary line (10). The LiDAR tracking method of a tracking robot disclosed in this specification is such that the tracking robot (3) detects the position of a worker through the LiDAR (1), and based on the boundary line (10), the worker's workspace is classified as an area where movement is impossible and the worker's movement path is classified as an area where movement is possible, thereby enabling straight movement and tracking movement. The tracking robot (3) described above has the effect of preventing the problem of hindering the worker's movement by closely following the worker in a space such as an orchard or a logistics center where the worker's movement space is narrow and the workspace is gridded.

Inventors

• 이도환
• 유영일
• 송두섭

Assignees

• 주식회사 아이로바

Dates

Publication Date

20260507

Application Date

20241031

Claims (4)

1. In a LiDAR tracking method for a tracking robot that moves following a target via LiDAR, The above-mentioned tracking robot has a boundary setting process for setting a boundary line that is orthogonal to the direction in which the lidar is facing within the detection area of the lidar; The above-mentioned tracking robot has a tracking detection process that detects the tracking target through the above-mentioned LiDAR and calculates its position; A driving judgment process for determining a working driving mode that moves only in a straight line when the detected position of the target to be followed is inside the boundary line, and a following driving mode that moves in a straight line and rotates along the target to be followed when the position of the target to be followed is outside the boundary line; and If the above-mentioned tracking target cannot be detected, or if the immediate position of the above-mentioned tracking target is located between the lidar and the boundary line, a waiting process of stopping driving and waiting; A LiDAR tracking method for a tracking robot including
2. In paragraph 1, A method for LiDAR tracking of a tracking robot, wherein the tracking driving mode moves along the tracking target, and the tracking robot's movement speed is increased until the position of the tracking target (2) is located inside the boundary line to activate the work driving mode.
3. In paragraph 2, A LiDAR tracking method for a tracking robot, comprising the above proximity driving judgment process calculating the movement speed of the tracking target and executing based on the movement speed of the tracking target.
4. In paragraph 3, A LiDAR tracking method for a tracking robot, further comprising a straight-line direction change process for changing the driving direction of the tracking robot to match the direction of movement of the tracking target when the tracking target is located outside the boundary line after the above waiting process.

Description

LiDAR FOLLOWING METHOD OF FOLLOWING ROBOT The technology disclosed in this specification relates to a LiDAR tracking method for a tracking robot, and more specifically, to a LiDAR tracking method for a tracking robot in which the linear mobility of the tracking robot is enhanced using LiDAR. The technology disclosed in this specification relates to a LiDAR tracking method for a tracking robot used in work environments such as orchards and logistics warehouses, where a worker has a fixed path of movement, deviates from that path for work, and then returns to the path to move again. The tracking robot used in the above work environment is a conventional cart, which is provided so that a worker can collect and load fruits or goods at a specific location. Conventional Korean Published Patent Application No. 10-2016-0007058 (published on January 20, 2016, "Agricultural Transfer Robot System") discloses an agricultural transfer robot system that follows a worker, comprising: a transfer robot that moves along a work line installed in a crop facility; a magnetic field oscillator mounted on the transfer robot; a remote control held by a worker; a magnetic field receiver mounted on the remote control for receiving the strength of a magnetic field generated by the magnetic field oscillator; a wireless transmitter mounted on the remote control for transmitting magnetic field-related data measured by the magnetic field receiver to the transfer robot; a wireless receiver mounted on the transfer robot for receiving the magnetic field-related data transmitted by the wireless transmitter; and a control unit mounted on the transfer robot for controlling the direction of movement of the transfer robot so that the transfer robot maintains a predetermined distance from the worker based on the magnetic field-related data received by the wireless receiver. Conventional Korean Published Patent Application No. 10-2013-0014105 (published on February 7, 2013, "Following Robot") comprises an object terminal mounted on a moving object and periodically outputting a wireless following signal via Zigbee communication, and a robot body capable of autonomous movement, receiving a wireless following signal transmitted from the object terminal, and following the moving object using strength information of the received wireless following signal. According to this following robot, a technology is disclosed that provides the advantage of a simple structure and can increase following precision by following using the received signal strength via Zigbee communication, a short-range wireless communication method, while using an ultrasonic sensor for following over short distances. In the prior art of Korean Published Patent Application No. 10-2179238 (published on November 10, 2020, "Method for Person-Following Driving and Autonomous Driving of a Device"), there is a method for person-following driving and autonomous driving of a device having a space for accommodating an object, wherein the device comprises a sensor unit that acquires location information regarding a person or object within a predetermined range, a driving unit that causes the device to be driven, a storage unit that stores location information acquired from the sensor unit and/or person-following driving information of the device, and a computation unit that generates a person-following driving signal by processing the location information acquired through the sensor unit or generates an autonomous driving signal by processing the person-following driving information. The person-following driving of the device comprises a step of identifying whether the person is to be followed through information detected through the sensor unit, a step of the computation unit calculating the distance and direction between the person to be followed and the device to generate a person-following driving signal, and a step of the driving unit driving the device according to the person-following driving signal. The autonomous driving of the device comprises a step in which the storage unit stores tracking path information during person-following driving, and the computation unit A technology is disclosed that includes the step of generating an autonomous driving signal through stored tracking path information and location information detected in real time through the sensor unit, and driving the device according to the generated autonomous driving signal. Figure 1 is a diagram illustrating the movement position of a worker and the position of a follower robot in an orchard. FIG. 2 is a diagram illustrating the movement relationship of a tracking robot according to the position of a worker based on the boundary line disclosed in this specification. FIG. 3 is another drawing illustrating the movement relationship of an autonomous driving robot according to the position of the worker based on the boundary line disclosed in this specification. FIG. 4 is another drawing illustrating the movement relations