ROS 기반 지능형 무인 배송 로봇 시스템의 구현
Implementation of ROS-Based Intelligent Unmanned Delivery Robot System
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초록
본 논문에서는 Robot Operating System(ROS) 기반의 모바일 매니퓰레이터(Manipulator)를 이용한 무인 배송 로봇 시스템을구현하고 시스템 구현을 위해 사용된 기술에 대해 소개한다. 로봇은 엘리베이터를 이용해 건물 내부에서 자율주행이 가능한 모바일로봇과 진공 펌프를 부착한 Selective Compliance Assembly Robot Arm(SCARA)-Type의 매니퓰레이터로 구성된다. 로봇은 매니퓰레이터에 부착된 카메라를 이용하여 이미지 분할과 모서리 검출을 통해 배송물을 들어올리기 위한 위치와 자세를 결정할 수 있다. 제안된 시스템은 스마트폰 앱 및 ROS와 연동된 웹서버를 통해 배송 현황을 조회하고 로봇의 실시간 위치를 파악할 수 있도록사용자 인터페이스를 가지고 있으며, You Only Look Once(YOLO)와 Optical Character Recognition(OCR)을 통해 배송 스테이션에서 배송물과 주소지를 인식한다. 아울러 4층 건물 내부에서 진행한 배송 실험을 통해 시스템의 유효성을 검증하였다
Abstract
In this paper, we implement an unmanned delivery robot system with Robot Operating System(ROS)-based mobilemanipulator, and introduce the technologies employed for the system implementation. The robot consists of a mobilerobot capable of autonomous navigation inside the building using an elevator and a Selective Compliance AssemblyRobot Arm(SCARA)-Type manipulator equipped with a vacuum pump. The robot can determines the position andorientation for picking up a package through image segmentation and corner detection using the camera on themanipulator. The proposed system has a user interface implemented to check the delivery status and determine thereal-time location of the robot through a web server linked to the application and ROS, and recognizes the shipmentand address at the delivery station through You Only Look Once(YOLO) and Optical Character Recognition(OCR). Theeffectiveness of the system is validated through delivery experiments conducted within a 4-story building.
참고문헌 (12)
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