KR20170072475A - System for monitoring movable robot - Google Patents

Abstract

The present invention monitors the operation state, position, speed, etc. of the mobile robot in the input section of the mobile robot in a regular manner and detects, reports, and controls the occurrence of an abnormal operation to prevent malfunctioning of the mobile robot in advance A mobile robot including a communication unit, a main control unit, a position recognition device, and a database (DB), and monitoring information including position information and status information of the mobile robot through the communication unit, A central station including a wireless communication unit for receiving the information data and a charging station including an image guiding device in communication with the communication unit of the mobile robot from the central center and monitoring the operation status of the robot moving from the center center To detect the operating state in real time, So that the technical problem of the present invention can be solved.

Description

A monitoring system for a mobile robot {System for monitoring movable robot}

More particularly, the present invention relates to a monitoring system for a mobile robot, and more particularly, to monitoring the operation state, position and speed of the mobile robot in an input section of the mobile robot, And more particularly to a monitoring system for a mobile robot that monitors a failure of an operating system of a mobile robot in advance.

As the robot technology is developed, the application of robots in abnormal circumstances such as universe, submarine, dangerous environment such as high temperature or low temperature or very simple operation is expanding due to advancement of automatic control technology or remote control technology.

These robotic technologies are being applied in industries, medical, space, seabed, traffic, etc., and are being used to help minimize human loss by monitoring difficult to access and dangerous sites.

Generally, a conventional mobile robot communicates with a wireless repeater (e.g., a WiFi repeater) and transmits moving image data to a designated device. However, there is a problem that the emergency situation can not be properly monitored if an emergency occurs in the area where the call is out of the coverage area. That is, in the conventional mobile robot, when an emergency occurs at a place outside the communication area of the wireless repeater and the mobile station moves to the place where the emergency occurs, the mobile robot can not transmit the image data to the designated device due to communication disconnection A problem arises. When the mobile robot can not receive the real-time image due to the disconnection of the mobile robot, the user can not cope with the urgent situations such as intrusion and fire, which can damage the property and the spirit.

Korean Patent No. 10-1536415 (entitled: Mobile robot remote control system and method)

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above problems, and it is an object of the present invention to provide a mobile robot monitoring device capable of detecting an operating state in real time by monitoring an operating state of a robot moving from a center, And to provide the above-mentioned objects.

The present invention relates to a mobile robot that transmits monitoring information including positional information and status information of a mobile robot through a communication unit, a mobile robot including a main control unit, a position recognition apparatus, and a database (DB) And a charging station including a central center including a communication unit and an image guidance device communicating with the communication unit of the mobile robot from the center center.

The position recognizing device includes a sensor information collecting part for collecting sensor information related to the movement of the mobile robot, and a sensor installed in front of the mobile robot, The camera unit provided in the indoor and the door of the mobile robot provides information on the photographed whether or not the passenger is getting on or off the vehicle. An auxiliary controller for controlling an overall operation for recognizing a position of the mobile robot in accordance with the movement of the mobile robot; an operation controller A position recognition unit for performing a position recognition operation according to a movement of the mobile robot according to a program, And a map information storage unit for storing a map of an area where the mobile robot is located based on the GPS position input through the navigation unit.

According to the monitoring system of the mobile robot according to the preferred embodiment of the present invention, it is possible to monitor the operation state of the mobile robot from the central center, to detect the operation state in real time, to detect the abnormal operation and the abnormal operation at an early stage, Thereby realizing the effect of providing the system.

According to the embodiment of the present invention, it is possible to perform stable operation by detecting and repairing an abnormal state of the mobile robot from the center center at an early stage, as well as greatly reducing the repair cost due to the occurrence of a fault, The present invention realizes the effect of providing a monitoring system of a mobile robot that can be well preserved and prevents economic loss caused by shutdown.

1 is a configuration diagram of a communication and control network according to an embodiment of the present invention;
2 is a block diagram showing a configuration of a monitoring system for a mobile robot according to an embodiment of the present invention.
3 is an RTU configuration diagram of a mobile robot according to an embodiment of the present invention.
4 is a block diagram illustrating a recovery controller of a mobile robot according to an embodiment of the present invention.
5 is a block diagram of an assistant controller of a mobile robot associated with a smartphone of a mobile robot according to an embodiment of the present invention.

The foregoing and other objects, features and advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings, in which: There will be. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

Throughout the specification, when an element is referred to as "comprising ", it means that it can include other elements as well, without excluding other elements unless specifically stated otherwise. Also, the terms "part," " module, "and the like, which are described in the specification, refer to a unit for processing at least one function or operation, and may be implemented by hardware or software or a combination of hardware and software.

The monitoring system of the mobile robot of this embodiment mainly comprises three items: a communication and control part, a mobile robot and a central center part, and a control management part. Here, each item is distinguished by functions only for convenience. Therefore, although the operation and the process according to the monitoring system of the mobile robot according to the present embodiment may be performed independently, it should be noted that there are many features in which the respective items are combined or are inseparably related to each other. For example, communications are organized organically between communication and control, mobile robot, and control management.

1. Communication and control part

The communication and control network according to the present embodiment will be described with reference to Fig.

The central center 20 is located in an operating agency or a management agency of the mobile robot 10 and receives the landing and getting data, the location, the operation, and the image information from the mobile robot 1. [ The user monitors the boarding data in real time and confirms the state of the mobile robot 10 and the travel route through a display unit such as a screen. In addition, the central center 20 can be provided with an automatic operation control device and can transmit a signal for controlling the mobile robot 10.

The communication between the central center 20 and the mobile robot 10 is exemplified by the CDMA method, but the present invention is not limited thereto.

The central center 20 may also communicate with the charging station 30, which will be described below.

The Data Logger is a data logger, the UMS server is a Unified Messaging Service server, and the WAS is a Web Application Server. Each device and server communicates and communicates data through a bus. This is possible. The data transmitted from the mobile robot 10 is databased in the central center 20 and displayed to be recognizable by the user.

The central center 20 is connected to relevant organizations such as a traffic safety center to notify the road information, the lane information, the traffic information, and the data of the surrounding information through a communication network such as an Internet network by SMS.

2. Mobile robot and center center part

The mobile robot according to the present embodiment will be described with reference to Figs. 1 and 2. Fig.

The mobile robot 10 is a bus-type mobile robot that allows a passenger to ride on a predetermined road to get on and off a passenger. However, the present invention is not limited to this and can be applied to a mobile robot applied to an industrial mobile robot or a ship.

2, the RTU (Remote Terminal Unit: R) mounted on the mobile robot 10 includes a communication unit 110, a main control unit 120, a position recognition device 130, And a database (DB) 140.

The communication unit 110 communicates with the central center 20 and the charging station 30.

The communication unit 110 establishes a one-to-one communication connection with the central center 20 including the terminals (ITS terminal, telematics terminal, etc.) of the mobile robots 10 communicated to the central center 20.

The ID transferring unit 210 of the central center 20 connected to the terminal 111 in the communication unit 110 randomly generates and assigns an ID to each of the mobile robots 10 to which the communication connection is established, To the terminal 111 of each mobile robot 10 through the communication connection. The ID is an arbitrary value given to the mobile robots 10 entering the traffic management area of the central center 20. The ID is an arbitrary value given to the mobile robots 10 entering the traffic management area of the central center 20, Can be more efficient in communication and management.

The central center 20 receives the mobile robot information from the mobile robots 10 in the ID area.

The database 140 stores traffic management area structure information and status information of the central center 20, signal cycle information of the traffic lights, accident risk judgment criterion information, mobile robot progress prediction and situation-specific algorithms according to actual progress, And connection information.

Specification is determined according to a wireless communication scheme supported by the central center 20 and monitoring information including position information and status information is transmitted to the central center 20 through the communication unit 110, And a wireless communication unit 200 for receiving data of the mobile robot 10 from a central center 20. The wireless communication unit 200 included in the central center 20 includes the Code Division Multiple Access (CDMA) (TRS), a satellite communication method, a digital single-sideband (SSB) communication method, and an RFID (Radio Frequency Identification) communication method in addition to the communication method .

The main control unit 120 is connected to the communication unit 110 mounted on the mobile robot 10 and includes various sensors 122 such as a driving unit 121 for driving and braking the mobile robot 10, . The DB 140 stores various information such as robot operation data and a travel route, and can also serve as a black box.

The information stored in the database 140 is transmitted to the central center 20 and stored in the server of the central center 20. The central center 20 transmits data transmitted from the mobile robot 10 .

The mobile robot 10 transmits the robot operation data, the robot position, the operation and the image information to the central center 20 in real time by the RTU (R).

Next, the mobile robot 10 of the present embodiment includes a communication unit 110. [ The communication unit 110 includes a camera 132, a GPS receiving unit 133, and an antenna 134, which are image capturing apparatuses of the configuration of the position recognition apparatus 130 provided in front of the mobile robot 10. The camera 132 takes a front view of the mobile robot 10 in a wide field of view through the wide-angle lens. The camera is installed not only in front of the mobile robot but also inside the mobile robot or the door, so as to capture passenger boarding information in the mobile robot and image information on whether or not the passenger is getting on and off the door.

The GPS receiver 133 also receives the radio waves transmitted by the satellites and confirms the position of the mobile robot 10. The GPS receiving unit 133 may include a function of a specific place input, a moving course and a speed display, a course departure display, a distance to a destination, and a direction indicator as well as a current position display.

In addition, it is preferable to further include a geomagnetic sensor together with the GPS receiver 133 in order to accurately guide the next route based on the current position of the mobile robot 10. [

The mobile robot 10 includes a pitch, a roll, and a yaw for detecting the degree of shaking or rollover of the short-range ultrasonic transceiver and / or the mobile robot for searching for obstacles, It is possible to further include an axis sensor.

It is preferable that the mobile robot 10 utilize an environmentally-friendly source, not an internal combustion engine, as a driving source. A solar system for utilizing solar heat has a plurality of panels. The sunlight incident through the panel during the daytime is converted into electric energy through the solar cell, and is charged into the battery through the power conversion module and the capacitor. At the same time, the solar cell is driven by the driving unit 121 of the mobile robot 10, .

Since the mobile robot 10 does not need to be at a high speed, it can be driven and operated by utilization of natural energy. Driving using solar heat is currently known in the field of electric vehicle technology using solar light, and any technology can be appropriately modified and applied to the present invention.

When the solar charging system is insufficient for charging or for charging at regular intervals, the charging station 30 will be described later in the following section.

The position recognition apparatus 130 includes a sensor information collection unit 131, a camera unit 132, a GSP reception unit 133, an antenna 134, a position recognition unit 135, an auxiliary control unit 136, A map information storage unit 137, and the like.

The sensor information collecting unit 131 collects sensor information related to the movement of the mobile robot 10 such as a robot or an automobile from an inertial measurement unit (IMU), an encoder, or the like. At this time, sensing information from the IMU can provide acceleration information of the mobile robot 20, and the encoder converts the rotation of the mobile robot 20 into a pulse signal to provide movement information of the mobile robot 20 can do.

The camera unit 132 may be installed in front of the mobile robot 10 and may be installed in a door of the mobile robot 10. The camera unit 132 photographs a screen in front of the mobile robot 10 in accordance with movement of the mobile robot 10, The camera unit 132 installed in the room and the door provides the lane distance and angle information from the driver's seat 10 and the camera unit 132 installed in the door and the door to photograph whether the passenger is getting on or off the passenger, And provides information on the completion. A global positioning system (GPS) receiving unit 133 receives and provides position information of the mobile robot 10 from the GPS system.

The map information storage unit 137 stores map information of all the regions to which the mobile robot 10 can move and transmits the map information of the corresponding area to the location recognition unit 135 in synchronization with the location information of the mobile robot 10. [ Lt; / RTI > The auxiliary control unit 136 controls the overall operation for recognizing the position according to the movement of the mobile robot 10 and provides it to the position recognition unit 135. [

The position recognition unit 135 performs the position recognition operation according to the movement of the mobile robot 10 according to the operation control program stored in the auxiliary controller 136. [

That is, the position recognition unit 135 collects various sensor information required for recognizing the position of the mobile robot 10 from sensors such as IMU and encoder mounted on the mobile robot 10, Of the lane information.

Then, the position recognition unit 135 randomly distributes N particles, which can be discriminated as the position of the mobile robot 10, around the predetermined region around the GPS position on a map, And primarily removes particles that are located outside the map road and can not be positioned on the mobile robot 10.

Next, the position recognition unit 135 calculates the position of each particle based on the relative position (DELTA X, DELTA Y) and the direction angle (DELTA [theta]) at which the mobile robot 10 moves using the information input from the encoder and the IMU, After the robot 10 is moved as much as it has moved, the particles that are located outside the grid map and can not be positioned by the mobile robot 10 are secondarily removed.

The position recognition unit 135 updates the position and accuracy of the particle using the image information, the GPS information, the lane information of the map information, and the stop line information acquired from the camera unit 132. For example, using the lane information and the GPS trajectory, it improves the accuracy of the particles and lowers the accuracy of unacceptable particles.

Then, the position recognition unit 135 secures robustness in the position of the mobile robot 10 by duplicating and displaying the particles so that the total number of particles is N again, with the particle having the highest accuracy as the center.

The operation control flow for recognizing the position of the mobile robot 10 in the position recognition apparatus of the outdoor mobile robot 10 according to the embodiment of the present invention will be described in detail as follows.

First, the position recognition unit 135 controls the sensor information collecting unit 131 to collect sensor information according to the movement of the mobile robot 10 from sensors such as an IMU and an encoder mounted on the mobile robot such as a robot or an automobile . The GPS receiver 133 collects GPS position information and collects camera information and lane information on the screen in the direction in which the mobile robot 10 travels through the camera unit 132 to recognize the position of the mobile robot Collect various sensor information as needed.

The position recognition unit 135 reads the map of the area where the mobile robot 10 is located based on the GPS position input from the GPS reception unit 133 from the map information storage unit 137, Among the information, N particles that can be discriminated as the position of the mobile robot 10 around the GPS position are randomly distributed on the map around the certain region, and the accuracy of each particle is given as 1 / N. At this time, N is a constant such as 500, 100, and can be arbitrarily set by the user.

Then, the position recognition unit 135 reads the grid map information about the area where the mobile robot 10 is located based on the GPS position from the map information storage unit 137, 10). ≪ / RTI > At this time, the grid map can be created by simply editing the road area in the direct aerial photograph, or by using the laser scanner information.

The position recognition unit 135 calculates the position of each particle based on the relative position (DELTA X, DELTA Y) and the direction angle (DELTA [theta]) of the mobile robot using information input from the encoder and the IMU to the mobile robot 10 The particles that are not located on the road of the grid map and can not be positioned on the mobile robot 10 are secondarily removed.

Then, the location recognition unit 135 extracts the traffic display information such as the lane information and the stop line from the image obtained from the camera unit 132, and uses the information provided through the map and the relative movement locus of the GPS To match the position of the particle, thereby updating the accuracy of the particle.

That is, the position recognizing unit 135 increases the accuracy of the particle by using the lane information and the movement trajectory of the GPS, and lowers the accuracy of the unacceptable particle. At this time, the position of the mobile robot 10 can be estimated based on the position of the particles that are best matched.

Then, the position recognition unit 135 removes particles that can not be located at the position of the mobile robot 10, which are located outside the grid map with respect to the position of the estimated particle as described above.

When the position of the mobile robot 10 is estimated as above, the position recognition unit 135 determines whether the number of particles remaining on the map information of the area where the mobile robot 10 is located is smaller than N If the number of particles is less than N, the total number of particles is replicated so that the number of particles is N around the particle having the highest accuracy.

Then, the position recognition unit 135 checks whether the mobile robot 10 has stopped moving. If the movement is stopped, the position recognition unit 135 ends the position recognition operation.

As described above, according to the present invention, in the position recognition of the mobile robot 10, the position of the mobile robot 10 around a certain region around the GPS position of the mobile robot 10 such as a mobile robot, After the N particles that can be discriminated are displayed on the map, the position of the particle according to the movement of the mobile robot 10 is calculated by using the sensor information, the image information and the topological map information related to the movement of the mobile robot 10 And estimates the position of the mobile robot 10 around the particle having a high accuracy based on the accuracy of the position-updated particle, thereby accurately recognizing the position of the mobile robot 10 while using a low-cost sensor. That is, in the present invention, particles are displayed in a predetermined area on the map, which may correspond to the position of the mobile robot 10 such as a mobile robot or an unmanned automobile. Then, So that the accuracy of the position determination of the mobile robot 10 is enhanced. At this time, the location of the mobile robot 10 can be accurately obtained even by using the low-cost GPS and the image sensor by robustly estimating the position of the mobile robot 10 by the above probabilistic method.

Accordingly, in the central center 20, when the state information of the mobile robot 10, that is, the information on the location recognition is abnormal, is detected by the analyzing means (not shown), the mobile robot 10 The control unit 120 controls the main control unit 120 through the communication unit 110. [ In addition, the central center 20 controls the mobile robot 10 and informs the oil canal agency of the abnormality of the mobile robot 10 so that it can quickly respond to the abnormality of the mobile robot.

3. Mobile robot charging and control management part

An example of the control management of the mobile robot monitoring system according to the present embodiment will be described with reference to FIG. 2 and FIG. 3. FIG.

The charging station 30 for monitoring the state of charge of the mobile robot 10 by the central center 20 and providing charging of the mobile robot is disposed at a departure point, a transit point and a destination of the mobile robot 10.

For example, the charging station 30 may be adjacent to a source, a stopover, and a destination. In this case, the charging station 30 is a garage accommodating the mobile robot 10, and performs the charging function in parallel.

In the illustrated example, the mobile robot 10 starts from the position C1 and moves along the route path of P1 -> P2 -> ... -> P10 -> P11, departs and arrives at each position Pn And the path movement includes, of course, reciprocating or circulating all or a part of the same section.

The path position Pn is programmed from the central center 20 to the GPS receiver 133 and the number and order of necessary path points before and after the operation of the mobile robot 10, It is set as the default route on the operation display and monitored. The operation display unit can display the overall contour of the road and path where the mobile robot 10 is located.

When the mobile robot 10 moves in the road, the position data of the GPS receiver 133 is transmitted to the center center T1 in real time. In this case, the actual movement route of the mobile robot 10 is recorded in the operation display unit. Therefore, the administrator can continuously confirm whether the mobile robot 10 is in the normal traveling or the track off state, and the degree and the moving time between the positions in real time.

The mobile robot 10 is not always moved along a fixed position and path, and various variables can be generated.

These variables include various factors such as protrusion or occurrence of obstacles between paths, random changes of path locations for different conditions, natural phenomena such as heavy snowfall and heavy rains. The user can also determine whether there is an abnormality such as an impact or a collision of the mobile robot 10 through an actual image through the camera 132, an ultrasonic sensor, or an alarm by a three-axis sensor.

In this case, the user of the central center 20 can change the setting of the route position by referring to the operation display unit through the automatic operation control device of the central center 20, search again the optimum route between the route positions, 10) can be stopped, or the mode can be changed from automatic operation to manual operation. The signal input by the user is transmitted to the RTU (R) via the antenna 134. The RTU (R) controls the moving direction and speed of the mobile robot (10) according to the received signal or stops the operation if necessary. Since the route and position of the modified mobile robot 10 are transmitted to the central center 20 via the GPS receiver 133, the administrator can monitor whether the mobile robot 10 is normally traveling again.

Thus, according to the present embodiment, the information about the movement path, position, and state of the mobile robot 10 is transmitted to the center 20 through a video device such as the GPS receiver 133 and the camera 132, It can be confirmed in real time, so that it is possible to secure stable operation.

As described above, since the central center 20 receives the driving information from the mobile robot 10 at a plurality of positions in real time on the premise of such stable operation, the entire stable and guaranteed operation of the mobile robot automatic driving system is established And can be executed.

In addition to the above embodiment, in the case where an abnormality occurs in the operation of the mobile robot 10, it is possible to switch to the manual mode as described above. At this time, the mobile robot 10 can be operated by communication with the remote controller of the manager located adjacent to the road and the RTU (R), for example, communication via Wi-fi. The mobile robot 10 may return to the charging station 30 for measurement, for example. When the state of the mobile robot 10 is confirmed off-line and necessary measurements are completed, the central center 20 switches to the automatic mode and monitors the operation of the mobile robot 10 again.

Next, an operation function associated with the charging station 30 according to the present embodiment will be described.

The charging of the mobile robot 10 can be performed periodically and automatically in a predetermined section and time according to the paths P1, ..., P11. However, as the battery is insufficient and a warning is given to the center 20 Often, it is necessary to do it occasionally or arbitrarily. In the former case, it may be operated in the same manner as the above-mentioned position (P1) path. In the latter case, it is necessary to control the mobile robot 10 directly in the central center 20, or control the remote robot 10 by the neighboring manager after switching to the manual mode. However, in this case, there is a problem in monitoring the state of the mobile robot 10 at all times.

Therefore, the charging station 30 according to the present embodiment preferably includes an image guiding apparatus 300 communicating with the RTU of the mobile robot 10, as shown in FIG.

The image guiding apparatus 300 may arrange the camera 310 and the antenna 320 in the vicinity of or close to the charging station 30. [ A display portion that can be recognized by the camera 310 is marked on the front of the mobile robot 10. The image guide device 300 receiving the charging information from the central center 20 converts the distance to which the mobile robot 10 should be moved based on the charging station 30 into coordinates and transmits the coordinates to the mobile robot 10. Then, the mobile robot 10 returns to the charging station 30 along the path changed by the control of the RTU.

At this time, the administrator of the central center 20 can confirm whether or not the robot moves along the predetermined charging path through the screen of the display unit.

The RTU R of the mobile robot 10 detects the battery capacity to be less than the reference value and starts communication with the image guidance apparatus 300 closest to the current position of the robot By transmitting a signal to the central center 20, it is advantageous in that the entire charging operation can be automated.

The charging station 30 of this embodiment further includes a solar system and a resonant energy transfer unit. The solar system charges a built-in battery through a plurality of panels, a power conversion module, and a capacitor, such as the mobile robot 10.

The charged energy is transferred to the radio resonant energy transfer part through the cable. The wireless resonance energy transfer unit applies the resonance frequency coinciding with the natural frequency of the opposing coil to maximize the power through the DC-DC converter and supply it to the load (mobile robot). At this time, the mobile robot 10 includes a power receiver.

However, since the charging range of the wireless energy charging system using the resonance frequency is only in the centimeter range, it is not necessary to consider the natural environment and safety. In order to apply to the present embodiment, The present embodiment is different from the present embodiment in that a new construction and an operation plan need to be re-established.

In another embodiment, a charging system that receives electric power from a general power source other than a solar system may be employed in an area where power can be distributed.

It is also possible to adopt a method of directly contacting the connector of the mobile robot 10, instead of wirelessly charging.

If the mobile robot 10 is not frequently charged and the task can be completed by charging 1-2 times, the user controls the mobile robot 10 in the field to return to the charging station 30 Maybe.

Since the charging station 30 is arranged in accordance with the traveling route of the mobile robot 10 in this embodiment, particularly, the long-term path movement of 2-3 months or more can be automatically performed.

In addition, a smart phone connected to the central center 20 and displaying at least one of position information and status information of the mobile robot 10 from the central center 20 in real time is displayed. The phone connects to the central center 20 and receives at least one of the location information and the status information from the central center 20 and displays the real time information. An application for accessing the central center 20 may be installed in the smartphone. When the ID of the mobile robot 10 is inputted into the application, the mobile robot 10 accesses the central center 20 to provide various kinds of information of the mobile robot 10 in real time. At this time, the connection means between the smartphone and the central center 20 may use the Internet network. Or a network of a mobile communication company in which the Internet is supported can be used. The application can access the central center 20 to check real-time whether the mobile robot 10 is riding, falls, battery status, location, moving speed, etc., and operation information analyzed based on the information.

In addition, the restoration control unit 220 described below may be implemented by a microcomputer, and may be included in the central center 20 or the mobile robot 10. The recovery control unit 220 can be described in more detail with reference to FIG.

Power, and performance of the mobile robot 10, and restores the power when the mobile robot 10 stops operating. When an error occurs during driving, the mobile robot 10 detects the error, The recovery control unit 220 may further include a recovery control unit 220 for transmitting and receiving the error information to remove the error and improving the performance of the error detection unit 220. The recovery control unit 220 may include a recovery center 220, A wireless network communication network, a short-range wireless communication, a 3G mobile communication network, a 4G mobile communication network, a Wi-Fi, an infrared communication network, ZigBee, CDMA, WCDMA, LTE or Radio Frequency Identification A monitoring signal unit 221 for transmitting / receiving a monitoring signal in at least one manner; A process monitoring unit for detecting an abnormal signal in a monitoring signal received from the monitoring signal unit 221 and for removing and recovering the error when an abnormal signal is generated due to an error in the central center 20 or the mobile robot 10, (222); When receiving an abnormal signal due to an error in a wired network, a wireless network, a wired communication network, or a mobile communication network when transmitting / receiving the monitoring signal to / from the central center 20 or the mobile robot 10, A network monitoring unit 223; A power monitoring unit (224) for restoring the power supply when an abnormality occurs in the power supply for driving the mobile robot (10); A temperature sensor, a humidity sensor, an ultrasonic sensor, an infrared sensor, and an acceleration sensor installed in the sensor unit 122 of the main controller 120 of the mobile robot 10, A sensor sensor 225 for removing and recovering the error when an error occurs due to an error in one or more sensors of an acceleration sensor, a bio sensor, an image sensor or a geosensor, .

4 is a block diagram illustrating a recovery control unit 220 of a monitoring system for a mobile robot according to an embodiment of the present invention. As shown in the figure, the recovery control unit 220 is connected to the mobile robot 10 or the central center 20 through a wired network communication network, a wireless network communication network, a short distance wireless communication, a 3G mobile communication network, a 4G mobile communication network, a Wi- Or a radio-frequency identification (RFID) method, a signal detection unit 221 for detecting an abnormal signal in a supervisory signal received from the restoration signal unit, And a process monitoring unit 222 for eliminating and recovering an error when an abnormal signal is generated due to an error.

Further, when transmitting / receiving a surveillance signal to / from the central center 20 or the mobile robot 10, a network monitoring unit (not shown) for removing and recovering an error when an abnormal signal occurs due to an error in a wired network, a wireless network, And a power monitoring unit 224 for recovering the power supply when an abnormality occurs in the power supply for driving the mobile robot 10.

The mobile robot 10 may also be equipped with a temperature sensor, a humidity sensor, an ultrasonic sensor, an infrared sensor, an acceleration sensor, a bio sensor ), An image sensor (an image sensor), or a geosensor (a geo sensor).

The recovery control unit 220 according to the present invention may be configured such that the recovery control unit 220 is set in one or more of the monitoring signal unit 221, the process monitoring unit 222, the network monitoring unit 223, the power monitoring unit 224, When a monitoring signal is transmitted and received according to time, and a deviation occurs in comparison with the set time of the sending / receiving time of the monitoring signal, it is recognized as an error, and the error is removed and recovered. The recovery of the error is possible by initializing the power or the process of the mobile robot 10. In addition, the recovery control unit 220 backs up the data of the mobile robot 10 and initializes the power source or the process when an error is detected in at least one of the network, the process, the power source, and the sensor of the mobile robot 10.

A method for recovery in the recovery control unit 220 may be implemented using various algorithms.

The manager of the central center 20 sets the power supply disconnection determination time to the timer of the power monitoring unit 224 for power recovery. When the timer is activated and a power interruption occurs, the power monitor 224 compares the interruption determination time set in the timer with the power interruption occurrence time. As a result of the comparison, if the occurrence time of the power-supply interruption is longer than the break determination time, it is determined as an error, and the power source of the mobile robot 10, that is, the driving unit 121 is reset. On the other hand, if the supply occurrence time of the power supply is shorter than the break determination time, the power supply monitoring unit 224 repeats the algorithm step.

The monitoring system of the mobile robot according to the present invention can provide a call service to a user who sets a destination online by the smart phone described above so that the user can easily move to a destination, It is possible to provide personalized traffic information according to a rapidly changing road situation in real time. In addition, the recovery control unit 220 can perform real-time error monitoring of the mobile robot 10 installed in the moving section of the public transportation means, and the error can be removed and recovered by the central center 20 in the event of an error.

As shown in FIG. 5, the mobile robot 10 receives a mobile robot monitoring request message from the smartphone 30 to the central station 20, and includes at least one mobile robot 10 registered in advance in response to the request message Provides monitoring information on the camera module 132 of the position storage device 130 and / or the position of the mobile robot 10 to be monitored to the smartphone 30, 10) from the smartphone (30), and in response to receiving the selection information, transmits image data photographed and collected from the camera module (132) to the smartphone (30) A network interface module 230 further included in the central center 20 while receiving a control command for the camera module 132 from the smartphone 30,

The mobile robot 10 is configured to be able to communicate with a camera module 132 included in at least one mobile robot 10 registered in the central center 20 and to transmit the control command to the mobile robot 10 having the camera module 132. [ At least one communication module (200), that is, a wireless communication unit, is included in the central center (20).

When an abnormal signal indicating that an abnormal situation is detected is received from at least one of the sensor modules 122 of the mobile robot 10 registered in the central center 20 through the communication module 200 , A warning message indicating that an abnormal situation has occurred in the smartphone 30 is transmitted in response to the reception of the abnormal signal, and a warning message indicating that an abnormal situation has occurred in the smartphone 30 is transmitted to the mobile robot 10 And transmits the image data photographed by the camera module 132 to the smartphone 30.

At least one mobile robot 10 included in the central center 20 and including a camera module 132 is connected to the central center 20 while storing movement commands that can reach at least one predetermined position And an assist controller 250 for controlling the at least one mobile robot 10 including the camera module 132 to move to a position where the abnormal situation is detected in response to the reception of the abnormal signal, Are further included in the central center 20.

When an abnormal signal is detected by the one mobile robot 10, a movement command stored in the storage unit 240 of the central center 20 is transmitted to the mobile robot 10 close to the mobile robot 10, The assistant controller 250 of the central center 20 transmits the movement command through the communication module 200 and moves to the mobile robot 10 at the position where the abnormal signal is detected.

The foregoing description is merely illustrative of the technical idea of the present embodiment, and various modifications and changes may be made to those skilled in the art without departing from the essential characteristics of the embodiments. Therefore, the present embodiments are to be construed as illustrative rather than restrictive, and the scope of the technical idea of the present embodiment is not limited by these embodiments. The scope of protection of the present embodiment should be construed according to the following claims, and all technical ideas within the scope of equivalents thereof should be construed as being included in the scope of the present invention.

Mobile Robot 10 Central Center 20 Charging Station 30
Communication unit 100 Terminal 111 Main control unit 120
Position recognition device 130 sensor information receiving section 131 camera 132
GPS receiver 133 Antenna 134 Position recognition unit 135
Auxiliary control unit 136 map information storage unit 137 database 140
Wireless communication unit 200 ID transmission unit 210 recovery control unit 220
Network interface module 230 storage 240 help controller 250
Image guidance device 300

Claims (3)

A mobile robot 10 including a communication unit 110, a main control unit 120, a position recognition device 130 and a database DB 140,
And a wireless communication unit (200) for transmitting monitoring information including the passenger getting-in / out information, charging information, position information, and status information of the mobile robot through the communication unit (110) and receiving the information data. And an ID transfer unit 210 connected to the terminal 111 included in the mobile robot 10, and randomly generates and assigns an ID to each of the mobile robots 10 to which the communication connection is established, A central center 20 for monitoring the mobile robot 10 by transmitting the mobile robot 10 to the terminal 111 of the mobile robot 10,
And a charging station (30) including an image guiding device (300) for communicating with the communication unit (110) of the mobile robot from the central center (10). The apparatus according to claim 1, wherein the position recognition device (130)
A sensor information collecting unit 131 for collecting sensor information related to the movement of the mobile robot 10,
The front and rear doors of the mobile robot 10 capture images of the front of the mobile robot 10 in accordance with the movement of the mobile robot 10 and calculate lane distance and angle information from the mobile robot 10 The camera unit 132 installed in the indoor and the door of the mobile robot includes a camera unit 132 for providing information on whether or not the passenger is getting on or off,
A GPS receiving unit 133 for confirming the position of the mobile robot 10,
An antenna 134 receiving a signal input from the center,
An auxiliary controller 136 for controlling the overall operation for recognizing the position of the mobile robot 10 according to the movement of the mobile robot 10,
A position recognition unit 135 that performs overall position recognition operations according to the movement of the mobile robot 10 according to an operation control program stored in the auxiliary control unit 136,
And a map information storage unit (137) for storing a map of an area where the mobile robot (10) is located based on the GPS position inputted through the GPS receiving unit (133). The mobile robot (10) according to claim 1, further comprising a smart phone (20) connected to the central center (20) and receiving at least one of positional information and status information of the mobile robot (10) Monitoring System of Mobile Robot.

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