| 摘要 |
PURPOSE: A mobile robot for automated cargo transportation is provided to reduce installation and maintenance costs and prevent negligent accidents by recognizing the QR landmarks capable for finding the location of the robot and controlling it. CONSTITUTION: A mobile robot is placed at the main body (110) which forms the base frame, the driving wheel (121) which is located at the lower part of the main body that drives the main body, the wheel driving unit (120) which includes the drive motor (122) that rotates the driving wheel, the obstacle detection sensor (131) and the sensor unit (130) which includes the QR camera (132) that takes images of the QR landmarks, and the upper part of the main body. In addition, the mobile robot include the lift driving unit (141) which lifts from up and down, the lifting unit (140) that includes the supporting plate (142) supporting the lower surface of the palette (30) of which the cargo (10) is loaded on upper end of the lift driving unit (141), the wireless communications unit (150) located at the main body part and transmits and receives the operation signals of the host end (200) and sensing results of the sensor unit (130), the main control unit (160) that plans the operations and transportation of the mobile robot according to the results from the image processing of the video information that has been inputted, the motion control unit (170) that produces the control signals which controls the motions of the robot according to the operation plan. [Reference numerals] (110) Main body; (120) Wheel driving unit; (130) Sensor unit; (131) Obstacle detection sensor; (132) QR camera; (133,134) Top, front camera; (140) Lifting unit; (141) Lift driving unit; (143) Pressure detection sensor; (144) Rail unit; (145) Weight detection sensor; (150) Wireless communications unit; (160) Main control unit; (170) Motion control unit; (180) Battery; (AA) Image processing; (BB) Build up work plan; (CC) Motor control; (DD) Lifting control; (EE) Balance control; (FF) Sensor interface |
