METHOD FOR CONTROLLING MOBILE ROBOT UNIT WITH RGB-D SENSOR IN THE CASE OF TAKING ON/OFF AN ELEVATOR

摘要

The present invention relates to a method for controlling a mobile robot getting into/out an elevator, in which a controller sends a drive control signal to a robot driving unit by use of detection information of a detecting unit (10) having an RGB-D sensor (11) and preset data stored in a memory unit (30) to control the traveling mobile robot. The method includes: a step (1) of initializing the mobile robot; a step (S10) of checking boarding information of an elevator on which the mobile robot boards, and making preparation for boarding; a step (20) of detecting an elevator door by the RGB-D sensor of the mobile robot, and recognizing the elevator door by a particle filter; and getting the mobile robot into/out the elevator through the elevator door recognized at the step of detecting the elevator door (20). It is possible to decrease possibility of the mobile robot colliding against a wall adjacent to the elevator, and allow the mobile robot to get into/out a narrow elevator.