KR-20260067050-A - MULTI-RESOLUTION GRID-BASED ROBOT MOVING SYSTEM AND METHOD

Abstract

A multi-resolution grid-based robot driving system according to one embodiment of the present invention comprises a plurality of robots driving along a preset path, a sensing unit that detects the driving of the robots and surrounding conditions in real time, and a control unit that controls the driving of the robots according to the result of comparing the sensing data obtained from the sensing unit with reference data.

Inventors

• 백의현
• 강동오

Assignees

• 한국전자통신연구원

Dates

Publication Date

20260512

Application Date

20241105

Claims (1)

1. Multiple robots driving along a pre-set path; A sensing unit that detects the driving and surrounding conditions of the above-mentioned robot in real time; and A multi-resolution grid-based robot driving system comprising a control unit that controls the robot driving according to the result after performing a comparison operation with the sensing data obtained from the sensing unit and reference data.

Description

Multi-Resolution Grid-Based Robot Moving System and Method The present invention relates to a robot driving system and method including a distributed cooperative path generation function based on a multi-resolution grid. Generally, robot navigation uses a fixed-resolution grid map that divides the indoor space into cells of equal size, taking into account the complexity of the driving environment, the size of the robot, and the precision of the sensors. If an indoor space is represented using a low-resolution grid, real-time processing is facilitated because the total number of grid cells can be reduced. However, as the cell size increases, detailed environmental elements may not be accurately represented. For instance, if the indoor space is depicted using a low-resolution grid, it may be difficult for the robot to properly recognize small obstacles or narrow passages, potentially hindering precise robot navigation. Conversely, if indoor spaces are represented as a high-resolution grid, robots can accurately recognize and handle detailed obstacles or narrow passages. However, this representation method requires more memory and processing time compared to existing methods due to the increased number of cells, which can place a burden on real-time processing. FIG. 1 is a block diagram schematically illustrating a robot driving system according to one embodiment of the present invention. FIG. 2 is an operational relationship diagram of a robot driving system according to one embodiment of the present invention. FIG. 3 is a block diagram illustrating the configuration of a control unit for implementing robot driving according to an embodiment of the present invention. FIG. 4 is an operation flowchart illustrating a robot driving method according to an embodiment of the present invention. The advantages and features of the present invention 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 invention is not limited to the embodiments disclosed below but may be implemented in various different forms. These embodiments are provided merely to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention, and the present invention is defined by the claims. Meanwhile, the terms used in this specification are for describing the embodiments and are not intended to limit the present invention. In this specification, the singular form includes the plural form unless specifically stated otherwise in the text. The terms "comprises" or "comprising" as used in this specification do not exclude the presence or addition of one or more other components, steps, actions, and/or elements other than those mentioned. As used in this specification, the term "and/or" includes any one of the listed items and all combinations of one or more of them. Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. Multi-resolution grid-based robot driving system FIGS. 1 and 2 illustrate a block diagram and an operation relationship diagram of a robot driving system according to an embodiment of the present invention. The robot driving system (100) divides the indoor space into multiple spaces according to the environment, taking into account the number and size of the robots (110) and the narrowness of the driving area, and assigns a grid of different resolutions to each space to provide a method for the robots (110) to drive more precisely. At this time, the robot driving system (100) can enable the robots to drive precisely by assigning a low-resolution grid in a space where precise driving is not required and assigning a high-resolution grid in a complex space. To this end, the robot driving system (100) mainly comprises a robot (110), a sensing unit (120), and a control unit (130). A robot (110) is a moving body that travels along a pre-set path, and a robot driving system (100) can control multiple robots (110). The robot (110) may be driven by a command through separate control or may autonomously drive along a target trajectory to a target point by a pre-set command. The robot (110) moves along a driving path based on a multi-resolution grid according to a pre-set control logic and/or user settings. The robot (110) can recognize a location through a camera (not shown) and a LiDAR sensor (not shown) and apply spatial partitioning at that location. The robot (110) includes a base part (111) and an arm part (112). The base part (111) is a movable body capable of moving positions. This base part (111) includes a housing (111a), a moving means (111b), and a rail (113a). The housing (111a) has an internal receiving space. The receiving space of the housing (111a) houses components related to the electrical field. The means of movement (111b) is connected to the lower part of th