Journal of IKEEE (전기전자학회논문지)

Institute of Korean Electrical and Electronics Engineers (한국전기전자학회)
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The Technique of Human tracking using ultrasonic sensor for Human Tracking of Cooperation robot based Mobile Platform

모바일 플랫폼 기반 협동로봇의 사용자 추종을 위한 초음파 센서 활용 기법

  • Yum, Seung-Ho (Dept. of Electronics Engineering, Korea Polytechnic University) ;
  • Eom, Su-Hong (Dept. of Electronics Engineering, Korea Polytechnic University) ;
  • Lee, Eung-Hyuk (Dept. of Electronics Engineering, Korea Polytechnic University)
  • Received : 2020.06.01
  • Accepted : 2020.06.29
  • Published : 2020.06.30
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Abstract

Currently, the method of user-follwoing in intelligent cooperative robots usually based in vision system and using Lidar is common and have excellent performance. But in the closed space of Corona 19, which spread worldwide in 2020, robots for cooperation with medical staff were insignificant. This is because Medical staff are all wearing protective clothing to prevent virus infection, which is not easy to apply with existing research techniques. Therefore, in order to solve these problems in this paper, the ultrasonic sensor is separated from the transmitting and receiving parts, and based on this, this paper propose that estimating the user's position and can actively follow and cooperate with people. However, the ultrasonic sensors were partially applied by improving the Median filter in order to reduce the error caused by the short circuit in communication between hard reflection and the number of light reflections, and the operation technology was improved by applying the curvature trajectory for smooth operation in a small area. Median filter reduced the error of degree and distance by 70%, vehicle running stability was verified through the training course such as 'S' and '8' in the result.

현재 지능화 된 협동로봇의 사용자 추종 방법은 비젼 시스템 기반 및 라이다를 이용한 사례가 일반적이고 성능도 우수하다. 그러나 2020년 전세계로 확산된 코로나19 사태에 폐쇄된 공간에서 의료진과 협동을 위한 로봇의 활약은 미흡한 실정이였다. 그 이유는 의료진들은 바이러스 감염 방지를 위하여 모두 방호복을 입고 있어 기존 연구된 기술로는 적용이 쉽지 않기 때문이다. 따라서 본 논문에서는 이러한 문제점을 해결하기 위하여 초음파 센서를 송신부와 수신부로 분리하여 이를 바탕으로 사용자의 위치를 추정하고 능동적으로 모바일 플랫폼이 사람을 따라다니며 협동 할 수 있는 기법을 제안하였다. 그러나 초음파센서는 경면반사 및 수, 발신 간 통신 단락으로 인한 불규칙 오차가 발생하고, 오차를 줄이기 위해 메디안 필터 일부 개선하여 적용하였으며 협소한 공간에서 원활한 작업 수행을 위해 곡률궤적을 적용해 주행기술을 향상시켰다. 실험 결과 메디안 필터 전, 후 거리, 각도의 오차는 약 70% 감소하였으며 'S', '8'자 코스 주행을 통해 주행 안정성을 확인하였다.

Keywords

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