METHOD AND APPARATUS FOR CONTROLLING DRIVING OF ROBOT

• US 20150012164A1
• Filed: 03/13/2014
• Published: 01/08/2015
• Est. Priority Date: 07/05/2013
• Status: Abandoned Application

• Current Assignee: Asia Earth Technology Company Limited, Electronics and Telecommunications Research Institute
• Original Assignee: Asia Earth Technology Company Limited, Electronics and Telecommunications Research Institute
• Inventors: YU, Wonpil, Choi, Sunglok, Park, Jae Hyun, Lee, Jee Hyung, Han, Byung Hee, Oh, Sang Hoon, Ryu, Jee-Hwan
• Application Number:
  US14/208,712
• Publication Number:
  US 20150012164A1
• Time in Patent Office: Days
• US Class Current: 701/23
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

A method includes constructing map information by obtaining information of environment of a target mowing area, generating a 3-D space path along which the robot having mowing equipment mounted thereon is to move in the target mowing area based on the constructed map information, driving the robot so that the robot travels along the 3-D space path in response to an instruction for executing a mowing mode, extracting a ground area and an obstacle for robot driving by extracting information of a 3-D space when traveling along the 3-D space path, adaptively controlling the driving and mowing mode of the robot based on the extracted ground area and obstacle, and terminating the mowing mode when detecting a completion of the mowing for the target mowing area during the mowing mode.

Claims

1. A method for controlling driving of a robot, comprising:

constructing map information by obtaining information of a target environment to be mowed;

generating a path along which the robot equipped with a mowing module mounted thereon moves in the target environment on the basis of the constructed map information;

driving the robot so that the robot travels along the generated path in response to a mowing command;

extracting a free area and an occupied area while traveling along the path;

adaptively controlling a driving and mowing mode of the robot based on the extracted free area and occupied area; and

terminating the mowing mode when detecting a completion of the mowing for the target mowing area during the mowing mode.

2. The method of claim 1, wherein the information of the environment is obtained by a driving sensor mounted on the robot.

3. The method of claim 2, wherein the driving sensor comprises one or more of a wheel encoder, a speedometer, a laser sensor, and a camera.

4. The method of claim 1, wherein the information of the environment is obtained in response to a user input based on map information.

5. The method of claim 1, wherein the mowing mode is executed by a user input received through a manipulation switch mounted on the robot.

6. The method of claim 1, wherein the mowing mode is executed in response to a mowing command signal wirelessly received from a remote place.

7. The method of claim 1, wherein the information of the 3-D space is extracted using any one or a combination of a 3-D lidar, a 2-D or 3-D scanning laser, and a stereo camera.

8. The method of claim 1, wherein the extracting of the free area and the occupied area comprises:

obtaining a structure of surrounding geographic features in which the robot travels and a distribution of weeds during the mowing mode; and

controlling a height or rotating speed of a blade of a knife for mowing that is mounted on the mowing equipment based on the obtained structure of the surrounding geographic features and the obtained distribution of weeds.

9. The method of claim 1, wherein the extracting of the free area and the occupied area comprises:

obtaining a structure of surrounding geographic features and a distribution of weeds in which the robot travels during the mowing mode;

controlling driving speed of the robot based on the obtained structure of the surrounding geographic features and the obtained distribution of weeds.

10. The method of claim 1, wherein the extracting of the free area and the occupied area comprises visually and acoustically notifying a result of detection when detecting an obstacle.

11. The method of claim 1, wherein the extracting of the free area and the occupied area comprises:

monitoring whether or not the robot has been broken during the mowing mode; and

visually and acoustically notifying a failure state when monitoring that the robot has been broken.

12. The method of claim 1, wherein the completion of the mowing is monitored when detecting a landmark indicating end of a task installed at a specific location of the target mowing area.

13. The method of claim 1, further comprising automatically returning the robot to a robot charging station when the mowing mode is terminated.

14. An apparatus for controlling driving of a robot, comprising:

a map generation block for constructing map information by obtaining information of an environment of a target mowing area;

an information DB for storing the constructed map information;

a path generation block for generating a 3-D space path along which the robot having mowing equipment mounted thereon is to move in the target mowing area based on the map information stored in the information DB;

a control block for driving the robot so that the robot executes a mowing mode along the 3-D space path in response to an instruction for executing the mowing mode; and

a surrounding environment acquisition unit for obtaining information of surrounding environments in which the robot travels by extracting information of a 3-D space when the robot executes the mowing mode and providing the information of the surrounding environments to the control block,

wherein the control block terminates the mowing mode when the surrounding environment acquisition unit detects a completion of mowing for the target mowing area.

15. The apparatus of claim 14, wherein:

the surrounding environment acquisition unit obtains a structure of surrounding geographic features and a distribution of weeds in which the robot travels while the robot executes the mowing mode and provides the obtained structure of the surrounding geographic features and the obtained distribution of the weeds to the control block as the information of the surrounding environment, and

the control block controls a height or rotating speed a blade of a knife for mowing mounted on the mowing equipment based on the obtained structure of the surrounding geographic features and the obtained distribution of the weeds.

16. The apparatus of claim 14, wherein:

the surrounding environment acquisition unit obtains a structure of surrounding geographic features and a distribution of weeds in which the robot travels while the robot executes the mowing mode and provides the obtained structure of the surrounding geographic features and the obtained distribution of the weeds to the control block as the information of the surrounding environment, and

the control block controls driving speed of the robot based on the obtained structure of the surrounding geographic features and the obtained distribution of the weeds.

17. The apparatus of claim 14, wherein the surrounding environment acquisition unit extracts the information of the 3-D space using one or more of a 3-D lidar, a 2-D or 3-D scanning laser, and a stereo camera.

18. The apparatus of claim 14, further comprising an alarm block for visually and acoustically notifying a result of detection if the obstacle is detected as the information of the surrounding environment.

19. The apparatus of claim 14, further comprising:

a failure management unit for monitoring whether or not the robot has been broken during the mowing mode;

an alarm block for visually and acoustically notifying a failure state if it is monitored that the robot has been broken.

20. The apparatus of claim 14, wherein the control block returns the robot to a robot charging station when the surrounding environment acquisition unit detects the completion of the mowing.