KR-20260065413-A - ROBOT CONTROL SYSTEM

Abstract

A robot control system is introduced comprising: a robot entering the underside of a vehicle; a sensor provided on the robot to search a scan area and acquire sensor data regarding the scan area; and a controller that detects a wheel of the vehicle based on the acquired sensor data, derives the position of the wheel, adjusts the scan area of the sensor according to the degree of wheel detection, and derives a movement point of the robot based on the detected position of the wheel.

Inventors

• 정민교

Assignees

• 현대위아 주식회사

Dates

Publication Date

20260508

Application Date

20241101

Claims (15)

1. Robot entering the underside of a vehicle; A sensor provided in the robot above for exploring a scan area and acquiring sensor data for the scan area; and A robot control system comprising: a controller that detects a wheel of a vehicle based on acquired sensor data, derives the position of the wheel, adjusts the scan area of the sensor according to the degree of wheel detection, and derives a movement point of the robot based on the detected position of the wheel.
2. In claim 1, The above sensor is a robot control system comprising one or more of a lidar, radar, camera sensor, or ultrasonic sensor.
3. In claim 1, A robot control system in which the controller detects one or more of the plurality of wheels of the vehicle and derives the position of the wheel.
4. In claim 1, A robot control system in which, if the above wheel is not detected, the controller expands the scan area of the sensor.
5. In claim 4, The above controller is a robot control system that extends the scanning area of the sensor toward the direction of travel of the robot.
6. In claim 1, A robot control system in which, when only a part of the wheel is detected, the controller expands the scan area of the sensor.
7. In claim 1, A robot control system that, when a pair of first wheels arranged parallel to each other in the width direction of a vehicle are detected, recognizes the controller as a first state and derives the position of the pair of first wheels to derive the movement point of the robot.
8. In claim 7, The above controller is a robot control system that derives a point located at a certain distance from the center point of the line segment connecting the pair of first wheels as the movement point of the robot.
9. In claim 8, The above controller is a robot control system that converts the movement point of the robot into fixed coordinates by reflecting odometry.
10. In claim 7, A robot control system in which the controller calculates the length or width of the first pair of wheels detected, and if one or more of the length or width of the first pair of wheels falls short of a reference value, the scan area of the sensor is changed or the scan area of the sensor is expanded.
11. In claim 7, A robot control system in which, when one or more pairs of wheels arranged parallel to each other in the longitudinal direction of the vehicle are detected, the controller recognizes a second state, and the controller expands the scan area of the sensor toward the direction of travel of the robot and reduces the scan area of the sensor toward the opposite direction of travel of the robot.
12. In claim 11, A robot control system that, after adjusting the above scan area, when a pair of second wheels arranged parallel in the vehicle width direction are detected, the controller recognizes it as a third state and derives the position of the pair of second wheels to derive the movement point of the robot.
13. In claim 12, The above controller is a robot control system that derives a point located at a certain distance from the center point of the line segment connecting the pair of second wheels as the movement point of the robot.
14. In claim 7, The above controller is a robot control system that corrects the length or width of one wheel to the length or width of the wheel with a higher recognition rate when the detected length or width of the pair of wheels is different.
15. In claim 1, A robot control system in which the above controller clusters the sensor data to extract wheel candidates and filters the wheel candidates to remove noise.

Description

Robot Control System The present disclosure relates to a robot control system. With the recent advancement of autonomous driving technology, technological development is underway for vehicles equipped with automatic parking functions or parking robots that move stationary vehicles into designated parking spaces. In particular, parking robots can implement various movements to park even in spaces where conventional vehicles cannot, allowing for the maximization of parking space availability. Furthermore, since parking is performed by robots, it can prevent accidents that may occur in conventional parking lots, and offers excellent convenience as the robots transport parked vehicles when they are exiting. The matters described as background technology above are intended only to enhance understanding of the background of the present disclosure and do not constitute prior art already known to those skilled in the art. FIG. 1 is a block diagram of a robot control system according to one embodiment of the present disclosure. FIG. 2 illustrates a robot according to the present disclosure starting to enter the underside of a vehicle, with the wheel not being recognized. Figures 3 and 4 illustrate the detection state of the unrecognized state of the vehicle's wheel. Figure 5 illustrates the first state. Figure 6 illustrates the second state. Figure 7 illustrates the third state. FIG. 8 illustrates the derivation of a movement point through the first wheel, and FIG. 9 illustrates the derivation of a movement point through the second wheel. FIG. 10 is a flowchart of a robot control system according to one embodiment of the present disclosure. In describing the embodiments disclosed in this specification, detailed descriptions of related prior art are omitted if it is determined that such detailed descriptions may obscure the essence of the embodiments disclosed in this specification. Furthermore, the attached drawings are intended only to facilitate understanding of the embodiments disclosed in this specification, and the technical concept disclosed in this specification is not limited by the attached drawings; it should be understood that they include all modifications, equivalents, and substitutions that fall within the spirit and technical scope of this disclosure. The disclosure below is not intended to limit this disclosure to the described form or specific field, and it is considered that various alternative modes and modifications to this disclosure are possible, whether explicitly stated or implied in this specification. Those skilled in the art will recognize that the form and details of this disclosure may change. The present disclosure is described with reference to specific embodiments. However, as understood by those skilled in the art to which the present disclosure pertains, the various embodiments disclosed herein may be modified or otherwise implemented in various other ways without departing from the spirit and scope of the present disclosure. Accordingly, the following description should be considered illustrative and is intended to teach those skilled in the art to the manner in which various embodiments are made and used. It will be understood that the forms of the disclosure shown and described herein are to be taken as representative embodiments. Equivalent elements, or materials, processes, or steps may be substituted for those representatively exemplified and described in the present disclosure. Expressions used in describing the present disclosure, such as "including," "comprising," "incorporating," "consisting of," "have," "is," etc., should be interpreted as allowing items, components, or elements not explicitly described to be indicated in a non-exclusive manner, i.e., to be indicated. In addition, references to the singular should be interpreted as including those related to the plural. Furthermore, the various embodiments disclosed herein should be accepted as illustrative and descriptive and should not be interpreted as limiting the content of the disclosure. All references to joining (e.g., attached, affixed, coupled, connected, etc.) are used solely to aid in understanding the disclosure and are not intended to limit the location, orientation, or use of the configuration or the methods disclosed herein. Accordingly, where joining references exist, they should be interpreted broadly. Moreover, in such joining references, it is not assumed that two or more elements are directly connected to each other. Additionally, all numeric terms, e.g., "first," "second," "third," "primary," "secondary," "major," or any other general or numeric terms, are to be taken solely as identifiers to aid in understanding the various components, forms, variations, or modifications of the present disclosure and are not to imply any limitation to any component, form, variation, or modification, or to any order or preference thereof. That is, while such expressions may be used to describe various components, the