| CPC G07C 5/008 (2013.01) [G05D 1/0088 (2013.01); G05D 1/0094 (2013.01); G05D 1/0212 (2013.01); G05D 1/0231 (2013.01); G07C 5/0808 (2013.01); B25J 5/007 (2013.01)] | 15 Claims |
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1. A system for inspecting an advanced driver assistance system (ADAS) using a mobile manipulator (MMP), the system comprising:
the MMP including an autonomous mobile robot (AMR) integrally coupled to a manipulator having a calibration target unit mounted thereon, the manipulator being configured to change a position of the calibration target unit to inspect the ADAS of a vehicle; and
a server that transmits an ADAS inspection command to the MMP through an access point when the vehicle entering an inspection process is recognized and a centering of the vehicle is completed,
wherein the MMP inspects a mounting state of an ADAS sensor by moving the calibration target unit to a target position while moving to at least one of the front, rear and both sides of the vehicle according to the ADAS inspection command;
wherein the MMP includes:
the AMR that moves to the target position by itself while detecting the surroundings through an autonomous driving sensor;
the manipulator for moving the calibration target unit to the target position by changing positions according to a control signal;
a vision sensor unit for scanning a region of interest (ROI) marker to check a position deviation of the AMR moved to a target point;
a communication unit enabling wireless communication with at least one of the OBD terminal and the server through the access point; and
a control unit for inspecting a mounting state for each position of the ADAS sensor applied to the vehicle using the calibration target unit;
wherein the control unit includes:
an inspection control module for identifying an ADAS inspection item according to the vehicle model and specification matched with the vehicle information (ID) and movement information of the calibration target unit corresponding to the corresponding ADAS sensor;
an AMR control module for moving the AMR to the target point when receiving the movement information of the calibration target unit from the inspection control module; and
a robot control module for moving the calibration target unit to a final target position by controlling the position of the manipulator with a final target position value received from the AMR control module; and
wherein the AMR control module derives the final target position value acquired by compensating for the position deviation checked through the vision sensor unit and transmits the final target position value to the robot control module.
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