KR102307439B1 - A MOVING ROBOT Using artificial intelligence AND CONTROL METHOD THEREOF - Google Patents

Abstract

A mobile robot using artificial intelligence according to the present invention includes: a driving unit for moving a main body; a functional unit that performs a specific function; a water immersion detection unit disposed inside the main body and formed on a printed circuit board on which parts are mounted to detect water ingress into the printed circuit board; and a control unit configured to determine whether to be submerged according to a detection signal from the submersion detection unit and control the component to be protected. Accordingly, it is possible to provide a flood detection circuit capable of effectively detecting when water is submerged in the mobile robot, and it is possible to provide a flood detection circuit that does not increase the cost and does not occupy a large area inside the mobile robot.

Description

{A MOVING ROBOT Using artificial intelligence AND CONTROL METHOD THEREOF}

The present invention relates to a mobile robot mobile robot and a control method of the mobile robot mobile robot, and more particularly, to a mobile robot mobile robot detection using artificial intelligence and driving technology accordingly.

Robots have been developed for industrial use and have been a part of factory automation.

Recently, the field of application of robots has been further expanded, and medical robots and aerospace robots have been developed, and household robots that can be used in general households are also being made. Among these robots, those capable of driving by their own force are called mobile robots. Representative examples of mobile robots used in homes are robotic vacuum cleaners and lawn mowers.

Various technologies for detecting an environment and a user around the mobile robot through various sensors provided in the mobile robot are known. In addition, techniques are known in which a mobile robot learns and maps a cleaning area by itself, and recognizes a current location on a map. There is known a robot vacuum cleaner that cleans a cleaning area while driving in a predetermined manner.

In addition, the prior art (Korean Patent Publication No. 20100000455) discloses a technique of performing pattern driving in a zigzag pattern along a wall that runs outside the region while driving the region to be cleaned by itself.

On the other hand, in the use of such a mobile robot, the immersion of a liquid containing water continues to be a problem.

In such electronic products, the problem of equipment failure due to water immersion is not only a problem of robot vacuum cleaners.

In this regard, in the prior art (Korea Utility Model Publication No. 20-2010-0006616), when the power supply pattern and the conducting wire pattern are short-circuited by immersion in a portable electronic device, the flood detection printed circuit by the output inverting element Disclosed is a portable electronic device in which power supplied to the substrate 121 is cut off.

However, in this prior art, a conductive pattern is formed to surround the entire edge of the printed circuit board 121 , and there is a problem in cost and miniaturization including an output inversion element.

Korean Patent Laid-Open Publication No. 10-2008-0090925 (Published date: October 19, 2008) Korean Utility Model Publication No. 20-2010-0006616 (Publication date: June 29, 2010)

The first task is to present a water immersion detection circuit that can effectively detect when water is submerged inside a mobile robot.

A second object is to provide a flood detection circuit that includes a flood detection circuit inside the mobile robot, does not increase the cost, and does not occupy a large area.

In addition, in the prior art, by separately providing an output inverting element in the submersion detection circuit, a circuit portion for increasing the cost and driving the element was additionally required. A third object of the present invention is to provide a mobile robot including a immersion detection circuit capable of outputting an inversion signal due to immersion with only one resistor without adding a separate circuit unit.

Finally, a fourth object of the present invention is to provide a mobile robot capable of minimizing failure by periodically reading the output from the flood detection circuit to determine whether it is submerged, and cut off the power applied to the electrical parts accordingly.

A mobile robot according to an embodiment of the present invention includes: a traveling unit for moving a main body; a functional unit that performs a specific function; a water immersion detection unit disposed inside the main body and formed on a printed circuit board on which parts are mounted to detect water ingress into the printed circuit board; and a control unit configured to determine whether to be submerged according to a detection signal from the submersion detection unit and control the component to be protected.

The printed circuit board may mount an electronic chip in which the control unit is implemented.

The flood detection unit may include a first pad, a second pad spaced apart from the first pad and grounded, and a first resistor connected between the first pad and a positive voltage.

The controller may read a voltage between the first pad and the first resistor as the sensing signal.

The separation distance between the first pad and the second pad may be a distance that can be electrically shorted to each other by immersion.

A distance between the first pad and the second pad may be 0.1 mm or less.

The control unit may periodically read the detection signal and determine that submersion has occurred when the detection signal falls to low.

The immersion sensing unit may include a plurality of pad pairs including the first pad and a second pad spaced apart from the first pad and grounded, and the plurality of pad pairs may be spaced apart from each other.

Each of the pad pairs may be formed to be spaced apart from each other in an edge region of the printed circuit board.

Each of the pad pairs may be formed on different sides of an edge region of the printed circuit board.

In each of the pad pairs, the first pads are connected in parallel to each other on the printed circuit board, and the positive voltage may be applied by one of the first resistors.

The first resistor may be disposed in a peripheral region of the electronic chip implementing the controller.

The immersion detection unit includes a first pad group including a plurality of first pads disposed in a sensing area, and a second pad group including a plurality of second pads disposed in the sensing area, wherein the first pad group includes: Each of the second pads of the second pad group may be disposed adjacent to each of the first pads of the pad group.

The first pad and the second pad have a polygonal shape, and one side of the first pad or the second pad is formed to be spaced apart from one side of the adjacent first pad and the second pad by a first distance. can be

a plurality of the first pads of the first pad group are connected to each other in series and parallel;

The plurality of second pads of the second pad group may be connected to each other in series and parallel.

When the detection signal falls to low, the control unit may determine that submersion has occurred and cut off the power applied to the printed circuit board.

On the other hand, a control method of a mobile robot that performs cleaning while moving a main body, comprising: periodically reading a detection signal that is disposed inside the main body and indicates whether submersion into a printed circuit board on which parts are mounted; determining that submergence into the printed circuit board has occurred when the state of the detection signal varies; and cutting off power to the printed circuit board when the printed circuit board is submerged.

A first pad, a second pad spaced apart from the first pad and grounded, and a first resistor connected between the first pad and a positive voltage may be formed on the printed circuit board.

The reading of the sensing signal may include reading a voltage between the first pad and the first resistor as the sensing signal.

In the determining of the detection signal, when the detection signal falls from high to low, it may be determined that submersion has occurred.

Through the above solution means, the present invention can provide a flood detection circuit that can effectively detect when water is submerged in the inside of the mobile robot.

In addition, it is possible to provide a flood detection circuit that does not increase the cost and does not occupy a large area inside the mobile robot.

In addition, the circuit is simplified and the cost is reduced because an inversion signal by immersion can be output with only one resistor without adding a separate circuit part.

Finally, according to the present invention, it is possible to minimize the failure by periodically reading the output from the flood detection circuit to determine whether the water is submerged, and accordingly cut off the power applied to the electrical parts.

1 is a perspective view illustrating a mobile robot and a charging stand for charging the mobile robot according to an embodiment of the present invention.
2 is an elevation view of the mobile robot of FIG. 1 viewed from above.
3 is an elevation view of the mobile robot of FIG. 1 viewed from the front.
4 is an elevation view of the mobile robot of FIG. 1 viewed from the lower side.
5 is a block diagram illustrating a control relationship between main components of the mobile robot of FIG. 1 .
6 is an exploded perspective view illustrating the inside of a mobile robot according to an embodiment of the present invention.
7 is a circuit diagram illustrating a water immersion detection unit according to an embodiment of the present invention.
8 is a flowchart illustrating a method for controlling a mobile robot according to an embodiment of the present invention.
9 is a circuit diagram illustrating a circuit state when the water immersion detection unit of the present invention is submerged.
10 is a block diagram illustrating a water immersion detection unit according to another embodiment of the present invention.
11 is a circuit synthesis diagram illustrating a water immersion detection unit according to another embodiment of the present invention.
12 is a perspective view illustrating a mobile robot according to another embodiment of the present invention.
13 is a rear view showing a mobile robot according to another embodiment of the present invention.
14 is a block diagram illustrating a water immersion detection unit of a mobile robot according to another embodiment of the present invention.

In the comparative comparison expressed linguistically/mathematically throughout this description, 'less than or equal to (hereinafter)' and 'less than (less than)' are degrees that are easily substituted for each other from the standpoint of those skilled in the art, and 'greater than or equal to' '(Above)' and 'greater than (exceed)' are degrees that can be easily substituted with each other from the standpoint of those skilled in the art, and even if substituted in implementing the present invention, it is of course not a problem to exert the effect.

The mobile robot 100 of the present invention means a robot capable of moving by itself using wheels, etc., and may be a home helper robot, a mobile robot, or the like.

Hereinafter, the robot cleaner 100 among the mobile robots will be described as an example with reference to FIGS. 1 to 5 , but the present invention is not limited thereto.

The robot cleaner 100 includes a body 110 . Hereinafter, in defining each part of the main body 110, the portion facing the ceiling in the traveling zone is defined as the upper surface portion (refer to FIG. 2), and the portion facing the floor in the traveling zone is defined as the bottom portion (see FIG. 4). And, a portion facing the traveling direction among the portions forming the circumference of the main body 110 between the upper surface portion and the lower surface portion is defined as a front portion (refer to FIG. 3 ). In addition, a portion facing in the direction opposite to the front portion of the body 110 may be defined as the rear portion. The body 110 may include a case 111 that forms a space in which various parts constituting the robot cleaner 100 are accommodated.

The robot cleaner 100 includes a sensing unit 130 that detects a surrounding situation. The sensing unit 130 may sense external information of the robot cleaner 100 . The sensing unit 130 detects a user around the robot cleaner 100 . The sensing unit 130 may detect an object around the robot cleaner 100 .

The sensing unit 130 may sense information about the cleaning area. The sensing unit 130 may detect obstacles such as walls, furniture, and cliffs on the driving surface. The sensing unit 130 may sense information about the ceiling. The sensing unit 130 may include an object placed on the driving surface and/or an external upper object. The external upper object may include a ceiling or a lower surface of furniture disposed in an upper direction of the robot cleaner 100 . Through the information sensed by the sensing unit 130 , the robot cleaner 100 may map the cleaning area.

The sensing unit 130 may sense information about a user around the robot cleaner 100 . The sensing unit 130 may sense the location information of the user. The location information may include direction information for the robot cleaner 100 . The location information may include distance information between the robot cleaner 100 and the user. The sensing unit 130 may detect a direction of the user with respect to the robot cleaner 100 . The sensing unit 130 may detect a distance between the user and the robot cleaner 100 .

The location information may be directly obtained by sensing by the sensing unit 130 or may be obtained by processing by the control unit 140 .

The sensing unit 130 may include an image sensing unit 135 that senses an image around it. The image sensing unit 135 may detect an image in a specific direction with respect to the robot cleaner 100 . For example, the image sensing unit 135 may detect an image in front of the robot cleaner 100 . The image sensing unit 135 captures the driving area and may include a digital camera. The digital camera includes at least one optical lens and an image sensor (eg, CMOS image sensor) configured to include a plurality of photodiodes (eg, pixels) on which an image is formed by light passing through the optical lens. and a digital signal processor (DSP) configured to construct an image based on the signals output from the photodiodes. The digital signal processor may generate a still image as well as a moving image composed of frames composed of still images.

The sensing unit 130 may include a distance sensing unit 131 that detects a distance to a surrounding wall. The distance between the robot cleaner 100 and the surrounding wall may be detected through the distance sensing unit 131 . The distance sensing unit 131 detects a distance to the user in a specific direction of the robot cleaner 100 . The distance sensor 131 may include a camera, an ultrasonic sensor, or an IR (infrared) sensor.

The distance sensing unit 131 may be disposed on the front portion of the main body 110 or may be disposed on the side portion.

The distance sensing unit 131 may detect a nearby obstacle. A plurality of distance sensing units 131 may be provided.

The sensing unit 130 may include a cliff sensing unit 132 that detects whether a cliff exists on the floor in the driving zone. A plurality of cliff detection units 132 may be provided.

The sensing unit 130 may further include a lower image sensor 137 that acquires an image of the floor.

On the other hand, the sensing unit 130 may further include a water immersion detection unit 137 for detecting whether the interior of the robot cleaner 100 has been submerged.

The submersion detection unit 137 may be disposed inside the main body of the robot cleaner 100 and may be specifically formed on a printed circuit board 121 on which a plurality of driving modules are mounted.

Such a water immersion detection unit 137 detects a risk that various liquids including water may penetrate into the inside of the robot cleaner 100 and cause a failure in an electronic component that is a driving module. The submersion detection unit 137 may be electrically connected to a processor module constituting the control unit 140 and transmit a detection signal to the control unit 140, and the control unit 140 may read it and determine whether submersion has been achieved. .

Such a submersion detection unit 137 may be formed by being divided into a plurality of regions on the printed circuit board 121 , and may be implemented in various areas.

The robot cleaner 100 includes a traveling unit 160 that moves the main body 110 . The traveling unit 160 moves the body 110 with respect to the floor. The driving unit 160 may include at least one driving wheel 166 for moving the main body 110 . The driving unit 160 may include a driving motor. The driving wheels 166 may be provided on the left and right sides of the main body 110, respectively, hereinafter referred to as a left wheel 166(L) and a right wheel 166(R), respectively.

The left wheel 166(L) and the right wheel 166(R) may be driven by one driving motor, but if necessary, the left wheel drive motor and the right wheel 166(R) for driving the left wheel 166(L) ) may be provided with right-wheel drive motors respectively. The traveling direction of the main body 110 may be switched to the left or right by making a difference in the rotational speeds of the left wheel 166(L) and the right wheel 166(R).

The robot cleaner 100 includes a cleaning unit 180 that performs a cleaning function.

The robot cleaner 100 may move the cleaning area and clean the floor by the cleaner 180 . The cleaning unit 180 includes a suction device for sucking foreign substances, brushes 184 and 185 for performing brooming, a dust bin (not shown) for storing foreign substances collected by the suction device or brush, and/or a mop part for mopping. (not shown) and the like.

A suction port 180h through which air is sucked may be formed at the bottom of the main body 110 . In the main body 110, a suction device (not shown) that provides a suction force so that air can be sucked through the suction port 180h, and a dust container (not shown) that collects dust sucked together with air through the suction port 180h This may be provided.

An opening for insertion and removal of the dust container may be formed in the case 111 , and a dust container cover 112 for opening and closing the opening may be rotatably provided with respect to the case 111 .

A roll-type main brush 184 having brushes exposed through the suction port 180h, and an auxiliary brush 185 positioned on the front side of the bottom surface of the body 110 and having a brush composed of a plurality of radially extended wings. may be provided. The rotation of these brushes 184 and 185 removes dust from the floor in the driving area, and the dust separated from the floor is sucked through the suction port 180h and collected in the dust container.

The battery 138 may supply power required for the overall operation of the robot cleaner 100 as well as the driving motor. When the battery 138 is discharged, the robot cleaner 100 may perform a driving to return to the charging station 200 for charging, and during this return driving, the robot cleaner 100 may self-locate the charging station 200 . can be detected.

The charging station 200 may include a signal transmitting unit (not shown) for transmitting a predetermined return signal. The return signal may be an ultrasonic signal or an infrared signal, but is not necessarily limited thereto.

On the other hand, the image sensing unit 135 is provided on the upper surface of the main body 110 to acquire an image of the ceiling in the blue area, but the position and shooting range of the image sensing unit 135 are not necessarily limited thereto. . For example, the image sensing unit 135 may be provided to acquire an image of the front of the main body 110 .

In addition, the robot cleaner 100 may further include a manipulation unit (not shown) capable of inputting On/Off or various commands.

Referring to FIG. 5 , the robot cleaner 100 includes a storage unit 150 for storing various data. Various data necessary for controlling the robot cleaner 100 may be recorded in the storage unit 150 . The storage unit 150 may include a volatile or non-volatile recording medium. The recording medium stores data that can be read by a microprocessor, and includes a hard disk drive (HDD), a solid state disk (SSD), a silicon disk drive (SDD), a ROM, a RAM, a CD-ROM, magnetic tape, floppy disks, optical data storage devices, and the like.

A map of the cleaning area may be stored in the storage unit 150 . The map may be input by an external terminal capable of exchanging information with the robot cleaner 100 through wired or wireless communication, or may be generated by the robot cleaner 100 learning itself. In the former case, examples of the external terminal include a remote controller, a PDA, a laptop, a smart phone, a tablet, etc. equipped with an application for setting a map.

The driving displacement measuring unit 165 may measure the driving displacement based on the image acquired by the image sensing unit 135 . The traveling displacement is a concept including a moving direction and a moving distance of the robot cleaner 100 . For example, the traveling displacement measuring unit 165 may measure the traveling displacement through continuous pixel comparison of a floor image that varies according to the continuous movement of the robot cleaner 100 .

Also, the traveling displacement measuring unit 165 may measure the traveling displacement of the robot cleaner 100 based on the operation of the traveling unit 160 . For example, the control unit 140 may measure the current or past moving speed, the distance traveled, etc. of the robot cleaner 100 based on the rotational speed of the driving wheel 136 , and each driving wheel 136(L) ) and 136(R)) according to the direction of rotation, the current or past direction change process can also be measured.

The traveling displacement measuring unit 165 may measure the traveling displacement by using at least one of the distance sensing unit 131 and the image sensing unit 135 .

The controller 140 may recognize the position of the robot cleaner 100 on the map based on the measured traveling displacement.

The transmitter 170 may transmit information about the robot cleaner to another robot cleaner or a central server. The receiver 190 may receive information from another robot cleaner or a central server. Information transmitted by the transmitter 170 or information received by the receiver 190 may include configuration information of the robot cleaner.

The robot cleaner 100 includes a control unit 140 that processes and determines various types of information. The controller 140 may perform information processing for learning the cleaning area. The controller 140 may perform information processing for recognizing the current location on the map. The control unit 140 includes various components constituting the robot cleaner 100 (eg, a traveling displacement measuring unit 165 , a distance sensing unit 131 , a immersion sensing unit 137 , an image sensing unit 135 , Through the control of the traveling unit 160 , the transmitting unit 170 , the receiving unit 190 , etc.), the overall operation of the robot cleaner 100 may be controlled.

The control method according to the present embodiment may be performed by the controller 140 . The present invention may be a control method of the robot cleaner 100, and may be a robot cleaner 100 including a control unit 140 for performing the control method. The present invention may be a computer program including each step of the control method, or a recording medium in which a program for implementing the control method in a computer is recorded. The 'recording medium' refers to a computer-readable recording medium. The present invention may be a mobile robot control system including both hardware and software.

The controller 140 of the robot cleaner 100 processes and determines various types of information, such as mapping and/or recognizing a current location. The controller 140 may be provided to map the cleaning area through the image and learning and to recognize the current location on the map. That is, the controller 140 may perform a SLAM (Simultaneous Localization and Mapping) function.

The controller 140 may control the driving of the driving unit 160 . The controller 140 may control the operation of the cleaning unit 180 .

The robot cleaner 100 includes a storage unit 150 for storing various data. The storage unit 150 records various types of information required for control of the robot cleaner 100 , and may include a volatile or nonvolatile recording medium.

The real cleaning area may correspond to the cleaning area on the map. The cleaning area may be defined as a range including all areas on a plane in which the robot cleaner 100 has a driving experience and an area on a plane in which the robot cleaner 100 is currently traveling.

The controller 140 may determine the movement path of the robot cleaner 100 based on the operation of the driving unit 160 . For example, the control unit 140 may determine the current or past moving speed, the distance traveled, etc. of the robot cleaner 100 based on the rotation speed of the driving wheel 166, and each driving wheel 166(L) , 166(R)), the current or past direction change process can also be grasped according to the rotation direction. The position of the robot cleaner 100 on the map may be updated based on the driving information of the robot cleaner 100 identified in this way. Also, the position of the robot cleaner 100 on the map may be updated using the image information.

Specifically, the controller 140 controls the driving of the robot cleaner 100 and controls the driving of the driving unit 160 according to a set driving mode. As the driving mode of the driving unit 160 , a zigzag mode, an edge mode, a spiral mode, or a complex mode may be selectively set.

The zigzag mode is defined as a mode of cleaning while driving in a zigzag spaced apart from a wall surface or an obstacle by a predetermined distance or more. Edge mode is defined as a mode that attaches to the wall and cleans while driving in a zigzag manner. The spiral mode is defined as a spiral cleaning mode within a certain area centered on one place in the atmosphere.

Meanwhile, the controller 140 creates a map of the cleaning area. That is, the controller 140 may form a map of the cleaning area based on the location recognized through prior cleaning and the images acquired at each point. The controller 140 matches the image acquired at each point with each node on the map. Acquired images may correspond to nodes one-to-one.

The controller 140 may recognize the current location by using at least one of the distance sensor 131 and the image sensor 135 and recognize the current location on the map.

The input unit 171 may receive On/Off or various commands. The input unit 171 may include a button, a key, or a touch-type display. The input unit 171 may include a microphone for voice recognition.

The output unit 173 may notify the user of various types of information. The output unit 173 may include a speaker and/or a display.

On the other hand, such a control unit 140 reads the detection signal from the submersion detection unit 137 to determine whether various liquids including water have penetrated into the inside of the robot cleaner 100, and controls the operation according to the determination result. . Such a submersion detection unit 137 may be formed by being divided into a plurality of areas on the printed circuit board 121 inside the robot cleaner 100, and may be implemented in various areas.

In this way, the control unit 140 may determine whether submergence occurs in conjunction with the submersion detection unit 137 that is formed around the processor module implementing the control unit 140 and is electrically connected.

Hereinafter, with reference to FIGS. 6 to 9 , the control operation of the flood detection unit 137 of the present invention and the robot cleaner using the same will be described.

6 is an exploded perspective view illustrating the inside of the robot cleaner 100 according to an embodiment of the present invention, FIG. 7 is a circuit diagram showing a water immersion detection unit according to an embodiment of the present invention, and FIG. 8 is an embodiment of the present invention It is a flowchart illustrating a control method of the robot cleaner 100 according to an embodiment, and FIG. 9 is a circuit diagram showing a circuit state when the water immersion detection unit of the present invention is submerged.

Referring to FIG. 6 , the robot cleaner 100 according to an embodiment of the present invention includes a body 110 . The main body 110 includes an upper case 111 that forms a space in which various parts constituting the robot cleaner 100 are accommodated, and a lower case that engages with the upper case 111 to form a space in which various parts are accommodated ( 120) may be included.

The printed circuit board 121 on which various electronic components are mounted is accommodated in the inner space formed by the interlocking of the upper case 111 and the lower case 120 .

Various electronic components and circuits for electrically connecting them to each other are formed on the printed circuit board 121 .

For example, various sensor elements constituting the sensing unit 130 may be disposed, and may be sensor elements constituting the distance sensing unit 131 and the image sensing unit 135 . A processor including the control unit 140 and the communication units 170 and 190 may be integrated into the chip 141 state and mounted to the rear of these sensor elements.

The electronic chip 141 constituting such a processor may be formed as a surface mount component to be directly mounted on the printed circuit board 121 , and may be directly attached to the electronic circuit of the printed circuit board 121 .

At least one immersion detection unit 137 may be formed on the printed circuit board 121 .

The water immersion detection unit 137 may be electrically connected to the electronic chip constituting the processor by a pattern printed on the substrate, and may be formed of a resistance element and a plurality of pads formed on the substrate.

The plurality of pads of the submersion detection unit 137 may be disposed at a location where moisture is likely to penetrate into the case, preferably at an edge area of the printed circuit board 121 .

That is, referring to FIG. 7 , the submersion detection unit 137 includes a pad unit 138 including a first pad 138a and a second pad 138b.

The first pad 138a is electrically connected to the central node no and is defined as a pattern region exposed to the outside.

The first pad 138a has a first width w1, is formed to have a first length h1, is connected from the pattern and exposed to the outside, and is plated with at least one metal forming the pad. there may be

The second pad 138b has a second width w2, is formed to have a second length h2, is connected from the pattern and exposed to the outside, and is plated with at least one metal forming the pad. there may be One end of the second pad 138b faces the first pad 138a, and the other end is grounded.

The first width w1 and the second width w2 may be the same, but is not limited thereto. Also, the first length h1 and the second length h2 may be the same, but is not limited thereto.

Meanwhile, the first pad 138a and the second pad 138b have a first distance d1 and are spaced apart from each other.

The first distance d1 is a very small distance at which the first pad 138a and the second pad 138b can form a short by immersion, for example, 0.1 mm or less, specifically, 0.05 mm or less. can

Meanwhile, a sensing resistor R1 139 is formed between the central node no connected to the first pad 138a and the positive voltage VDD.

The sensing resistor (R1) 139 is a high resistance element, and may be at least 100 kΩ, or more.

Such a central node (no) is electrically connected to the In terminal of the chip on which the control unit is formed, and depending on whether the first pad 138a and the second pad 138b are submerged in another short circuit, a high voltage or a high voltage or A ground voltage is applied.

In the flood detection unit 137 formed in this way, the sensing resistors R1 and 139 may be disposed near the first and second pads 138a and 138b as shown in FIG. 6 , but, unlike the chip 141 , near the may be formed in

However, since the first pad 138a and the second pad 138b are located in the edge region of the printed circuit board 121 while maintaining a first distance d1 from each other, they are shorted from each other depending on whether water is immersed from the outside. or not connected.

Hereinafter, a method of controlling the robot cleaner 100 according to an embodiment of the present invention will be described with reference to FIGS. 8 and 9 .

The control method may be performed by the controller 140 . Each step of the flowchart drawings of the control method and combinations of the flowchart drawings may be performed by computer program instructions. The instructions may be mounted on a general purpose computer or a special purpose computer, etc., and the instructions create a means for performing the functions described in the flowchart step(s).

It is also possible in some embodiments for the functions recited in the steps to occur out of order. For example, it is possible that two steps shown one after another may in fact be performed substantially simultaneously, or that the steps may sometimes be performed in the reverse order depending on the function in question.

When the robot cleaner 100 starts to operate, it may form a map through preceding cleaning. That is, when the preceding cleaning is completed, the controller 140 records the time taken until the left-hand side and the cleaning area in which the preceding cleaning has been performed. If there is a previous map applied to the previous cleaning for the cleaning area among the maps recorded in the storage 150 , the current map may be overlapped with the previous map for the cleaning area and the error portion may be corrected to increase accuracy.

When the mapping of the cleaning area is finished as described above, the controller 140 sets a cleaning method of the cleaning area according to the mapping result, and performs cleaning of the cleaning area according to the corresponding cleaning method. When the cleaning of the cleaning area is completed, the cleaning result for the corresponding cleaning area may be recorded in the storage unit 150 for reference in the next cleaning process.

As such, the control method of the robot cleaner 100 according to the embodiment of the present invention performs mapping of the cleaning area through prior cleaning, matches a suitable cleaning method according to the shape of the cleaning area, and calculates the efficiency of the cleaning area An optimal cleaning method can be applied to

At this time, referring to FIG. 8 , while the robot cleaner 100 is driven, the control unit 140 periodically adjusts the voltage of the In terminal of the chip 141 on which the control unit 140 is formed in order to determine whether it is submerged. read (S10).

At this time, it is determined whether the detected voltage is higher or lower than the reference voltage (S20).

When the detected voltage is high, a voltage of a partially lowered level of the positive voltage VDD is detected at the central node no, which means that the first pad 138a and the second pad 138b are electrically connected to each other. It indicates that the state is maintained in a non-conductive state.

Accordingly, the control unit 140 repeatedly performs the operation of reading the voltage of the In terminal again in the next cycle to periodically detect whether the printed circuit board 121 is submerged.

As such, when the detection voltage of the In terminal is set to low while periodically detecting whether the printed circuit board 121 is submerged, the control unit 140 determines that the printed circuit board 121 is submerged (S30). .

That is, the case in which a low voltage is applied to the In terminal is shown in FIG. 9 .

Referring to FIG. 9 , the first pad 138a and the second pad 138b conduct with each other by immersion, so that the current from the positive voltage VDD passes through the first and second pads 139 through the sense resistor R1 139 . The ground voltage is set at the center node (no) in a state in which a short is passed through the two pads 138a and 138b and flows to the ground. Accordingly, the voltage at the In terminal to which the voltage applied to the central node no is transferred as it is becomes low.

Accordingly, since the voltage value sensed at the In terminal, ie, the signal value, has completely opposite values depending on whether the In terminal is submerged, the controller 140 can detect whether the In terminal is submerged by periodically reading the voltage of the In terminal.

When it is determined that it is submerged in this way, the control unit 140 is submerged into the chip 141 and power is applied into the power supply unit in the chip 141 , that is, the printed circuit board 121 in order to prevent damage or failure of electrical components. Cut off the power to the part to be (S40).

At this time, the control unit 140 may induce the user to move the robot cleaner 100 from the submerged part or to deal with the submersion by notifying the user of the fact that the robot is submerged through a sound or a display. (S50).

Meanwhile, according to another embodiment of the present invention, the flood detection unit 137 may be implemented.

10 is a block diagram showing a water immersion detection unit 137 according to another embodiment of the present invention.

Referring to FIG. 10 , the robot cleaner 100 according to another embodiment of the present invention is a printed circuit board ( 121) is accepted.

Various electronic components and circuits for electrically connecting them to each other are formed on the printed circuit board 121 . The processor including the control unit 140 and the communication unit may be integrated and mounted on the printed circuit board 121 in the state of the chip 141 .

The electronic chip 141 constituting such a processor may be formed as a surface mount component to be directly mounted on the printed circuit board 121 , and may be directly attached to the electronic circuit of the printed circuit board 121 .

A water immersion detection unit 137 may be formed on the printed circuit board 121 .

The submersion detection unit 137 may be electrically connected to the electronic chip 141 constituting the processor by a pattern printed on the substrate, and may be formed of a sensing resistor R0 and a plurality of pads formed on the substrate 121 . have.

The plurality of pads of the water immersion detection unit 137 may be disposed at a position where moisture is likely to penetrate into the cases 111 and 120 , preferably at an edge region of the printed circuit board 121 .

In this case, the plurality of pads _{may be formed by connecting a plurality of pad pairs 138 1} , 138 ₂ , 138 ₃ , and 138 ₄ to each other in parallel as shown in FIG. 10 .

Each of the pad pairs 138 ₁ , 138 ₂ , 138 ₃ , and 138 ₄ includes a first pad 138a and a second pad 138b as shown in FIG. 7 .

The first pad 138a is electrically connected to the central node no and is defined as a pattern region exposed to the outside.

The first pad 138a has a first width w1, is formed to have a first length h1, is connected from the pattern and exposed to the outside, and is plated with at least one metal forming the pad. there may be

The second pad 138b has a second width w2, is formed to have a second length h2, is connected from the pattern and exposed to the outside, and is plated with at least one metal forming the pad. there may be The second pad 138b has one end facing the first pad 138a, and the other end is grounded.

The first width w1 and the second width w2 may be the same, but is not limited thereto. Also, the first length h1 and the second length h2 may be the same, but is not limited thereto.

Meanwhile, the first pad 138a and the second pad 138b have a first distance d1 and are spaced apart from each other.

The first distance d1 is a very small distance at which the first pad 138a and the second pad 138b may form a short by immersion, and may be, for example, 0.1 mm or less, specifically, 0.05 mm or less.

All of the first pads 138a of the pad pairs 138 ₁ , 138 ₂ , 138 ₃ , and 138 ₄ are connected through a printed circuit pattern at the central node no.

In this case, a sensing resistor R1 139 is formed between the central node no connected to the first pad 138a and the positive voltage VDD.

The sensing resistor (R1) 139 is a high resistance element, and may be at least 100 kΩ, or more.

The plurality of pad pairs 138 ₁ , 138 ₂ , 138 ₃ , and 138 ₄ are spaced apart from each other and disposed on the edge area of the printed circuit board 121 . As an example, each of the pad pairs 138 ₁ , 138 ₂ , 138 ₃ , and 138 ₄ may be formed on different sides, but is not limited thereto.

That is, a greater number of pad pairs 138 ₁ , 138 ₂ , 138 ₃ , and 138 ₄ may be disposed in an area where flooding is likely to occur, and the arrangement thereof may be variously changed.

Such a central node (no) is electrically connected to the In terminal of the chip 141 on which the control unit 140 is formed, and whether there is another short circuit due to the submersion of the first pad 138a and the second pad 138b. Accordingly, a positive voltage or a ground voltage is applied to the In terminal.

In the flood detection unit 137 formed in this way, the resistor R1 may be formed near the chip 141 as shown in FIG. 10 , but is not limited thereto.

The immersion detection unit 137 is formed with a plurality of pad pairs 138 ₁ , 138 ₂ , 138 ₃ , 138 ₄ spaced apart from each other, and among the plurality of pad pairs 138 ₁ , 138 ₂ , 138 ₃ , 138 ₄ . When a short occurs due to immersion in any one pad pair 138 ₁ , 138 ₂ , 138 ₃ , 138 _{4 , the} corresponding one of the plurality of open pad pairs 138 ₁ , 138 ₂ , 138 ₃ , 138 ₄ ) pad pair (138 _1, 138 _2, 138 _3, 138 ₄₎ short circuit occurred pad pairs by short circuit occurs in the (138 _1, 138 _2, 138 _3, 138 _4), a current flows into.

Accordingly, a ground voltage is applied to the central node no, and a row detection signal is read from the In terminal of the control chip 141 .

In this way, it is possible to determine whether a plurality of areas are submerged in one sensing In terminal, thereby increasing the probability of detecting submersion.

11 is a circuit synthesis diagram illustrating a water immersion detection unit 137 according to another embodiment of the present invention.

Referring to FIG. 11 , in the robot cleaner 100 according to another embodiment of the present invention, a printed circuit board on which various electronic components are mounted in an inner space formed by interlocking an upper case 111 and a lower case 120 . 121 is disposed, and a water immersion detection unit 137 is also formed on the printed circuit board 121 .

That is, the processor including the control unit 140 and the communication unit is integrated and mounted on the printed circuit board 121 in the state of the chip 141 , and the submerged detection unit 137 is formed on the printed circuit board 121 with it. can be

The submersion detection unit 137 may be electrically connected to the electronic chip 141 constituting the processor by a pattern printed on the substrate, and may be formed of a resistance element R1 and a plurality of pads formed on the substrate 121 . have.

The plurality of pads of the submersion detection unit 137 may be disposed at a location where moisture is likely to penetrate into the case, preferably at an edge area of the printed circuit board 121 .

In this case, the submersion detection unit 137 includes a first pad group P1 and a second pad group P2.

The first pad group P1 includes a plurality of first pads 138a that are pattern regions exposed to the outside, and the plurality of first pads 138a are connected in series and parallel to each other. One end of the plurality of first pads 138a connected in series and parallel to electrically conduction is electrically connected to the central node n1, and the other end thereof is connected to one end of the second pad 138b by a first distance d1. It may be arranged to be spaced apart.

Each of the first pads 138a has a first width w1 and is formed to have a second length h1, is a region connected from the pattern and exposed to the outside, and is made of at least one metal forming the pad. may be plated.

The second pad group P2 includes a plurality of second pads 138b that are pattern regions exposed to the outside, and the plurality of second pads 138b are connected in series and parallel to each other. The plurality of second pads 138b connected in series and parallel to electrically conduction may have the other end grounded and one end disposed to be spaced apart from the other end of the first pad 138a by a first distance d1.

The second pad 138b has a second width w2, is formed to have a second length h2, is connected from the pattern and exposed to the outside, and is plated with at least one metal forming the pad. there may be

The first width w1 and the second width w2 may be the same, but is not limited thereto. Also, the first length h1 and the second length h2 may be the same, but is not limited thereto.

Both the first pad 138a and the second pad 138b have a polygonal shape, and may preferably have a rectangular shape, more specifically, a rectangular shape.

When each of the first pad 138a and the second pad 138b has a rectangular shape, the first pad 138a and the second pad 138b may have the same shape, but is not limited thereto. .

In this case, the first pad 138a and the second pad 138b are disposed so that one side is adjacent to each other, and the adjacent first pad 138a and the second pad 138b have a distance d1 and are spaced apart from each other. .

The first distance d1 is a very small distance at which the first pad 138a and the second pad 138b may form a short by immersion, and may be, for example, 0.1 mm or less, specifically, 0.05 mm or less.

11 , while the first pad 138a and the second pad 138b are disposed adjacent to each other to have a first distance d1 , the plurality of first pads 138a are connected in series and parallel to each other, The second pads 138b are connected in series and parallel to each other, so that the circuit shows the same state as in FIG. 6 .

When the area S1 representing each of the first pad 138a and the second pad 138b is divided into a plurality of pad pieces and arranged as described above, when the submerged area occurs in multiple areas, it can be read more sensitively. It is easier to detect submergence.

Meanwhile, a sensing resistor R1 139 is formed between the central node n1 connected to the first pad group P1 and the positive voltage VDD.

The sensing resistor (R1) 139 is a high resistance element, and may be at least 100 kΩ, or more.

The pad groups P1 and P2 having a large area may be disposed in an edge region of the printed circuit board 121 , and a pad piece having a larger area may be formed in an area having a high probability of being flooded.

Such a central node n1 is electrically connected to the In terminal of the chip 141 on which the control unit 140 is formed, and whether the first pad 138a and the second pad 138b are shorted due to immersion. Accordingly, a positive voltage (VDD) or a ground voltage is applied to the In terminal.

The submersion sensing unit 137 is formed to be spaced apart from one another, and is opened when a short circuit occurs between a first pad 138a and an adjacent second pad 138b among a plurality of pad pieces. A current flows along the short path of the first pad 138a and the adjacent second pad 138b.

Accordingly, a ground voltage is applied to the central node n1 , and a row detection signal is read from the In terminal of the control chip 141 .

In this way, it is possible to determine whether a plurality of areas are submerged in one sensing In terminal, thereby increasing the probability of detecting submersion.

Hereinafter, a submerged detection unit applied to a mobile robot according to another embodiment of the present invention will be described.

12 is a perspective view illustrating a mobile robot according to another embodiment of the present invention, FIG. 13 is a rear view showing a mobile robot according to another embodiment of the present invention, and FIG. 14 is another embodiment of the present invention. It is a block diagram showing the submersion detection unit of the mobile robot.

The mobile robot of FIGS. 12 to 14 may be a lawn mower robot, which will be hereinafter referred to as reference numeral 200 .

The mobile robot 200 includes a body 210 that forms an exterior. The body 210 forms an inner space. The mobile robot 200 includes a traveling unit 120 that moves the body 210 with respect to the traveling surface. The mobile robot 200 includes a work unit 130 that performs a predetermined task.

The body 210 includes a frame 211 to which a driving motor module 123, which will be described later, is fixed. A blade motor (not shown) to be described later is fixed to the frame 211 . The frame 211 supports a battery to be described later. The frame 211 also provides a skeletal structure for supporting various other components. The frame 211 is supported by an auxiliary wheel 225 and a driving wheel 221 .

The body 210 includes side blocking portions 211a from both sides of the blade (not shown) to block the user's finger from entering the blade. The side blocking portion 211a is fixed to the frame 211 . The side blocking portion 211a is disposed to protrude downward compared to the lower surface of the other portion of the frame 211 . The side blocking portion 211a is disposed to cover the upper portion of the space between the driving wheel 221 and the auxiliary wheel 225 .

A pair of side blocking portions 211a-1 and 211a-2 are disposed left and right with the blade interposed therebetween. The side blocking portion 211a is disposed to be spaced apart from the blade by a predetermined distance.

The front surface 211af of the side blocking part 211a is formed to be round. The front surface 211af forms a surface that is rounded upwardly from the lower surface of the side blocking part 211a toward the front. By using the shape of the front surface 211af, when the mobile robot 200 moves forward, the side blocking unit 211a can easily ride over a lower obstacle below a predetermined standard.

The body 210 includes a front blocking portion 211b for blocking the user's finger from entering the blade from the front of the blade. The front blocking portion 211b is fixed to the frame 211 . The front blocking portion 211b is disposed to cover a portion of the upper portion of the space between the pair of auxiliary wheels 225(L) and 225(R).

The front blocking portion 211b includes a protruding rib 211ba that protrudes downward compared to the lower surface of the other portion of the frame 211 . The protruding ribs 211ba extend in the front-rear direction. The upper end of the protruding rib 211ba is fixed to the frame 211, and the lower end of the protruding rib 211ba forms a free end.

A plurality of protruding ribs 211ba may be disposed to be spaced apart from each other in the left and right directions. A plurality of protruding ribs 211ba may be disposed parallel to each other. A gap is formed between two adjacent protruding ribs 211ba.

The front surface of the protruding rib 211ba is formed to be round. The front surface of the protruding rib 211ba forms a surface that is rounded and bent upward from the lower surface of the protruding rib 211ba toward the front. By using the shape of the front surface of the protruding rib 211ba, when the mobile robot 200 moves forward, the protruding rib 211ba can easily ride over a lower obstacle below a predetermined standard.

The front blocking portion 211b includes an auxiliary rib 211bb that assists in rigidity. An auxiliary rib 211bb for reinforcing the rigidity of the front blocking portion 211b is disposed between the upper ends of the two adjacent protruding ribs 211ba. The auxiliary rib 211bb may be formed to protrude downward and extend in a grid shape.

A caster (not shown) for rotatably supporting the auxiliary wheel 225 is disposed on the frame 211 . The caster is rotatably disposed with respect to the frame 211 . The caster is rotatably provided about a vertical axis. The caster is disposed on the lower side of the frame 211 . A pair of casters corresponding to the pair of auxiliary wheels 225 are provided.

The body 210 includes a case 212 that covers the frame 211 from the upper side. The case 212 forms the upper side and the front/rear/left/right side of the mobile robot 200 .

The body 210 may include a case connection part (not shown) for fixing the case 212 to the frame 211 . It may be fixed to the case 212 at the upper end of the case connection part. The case connection part may be movably disposed on the frame 211 . The case connection part may be arranged to be movable only in the vertical direction with respect to the frame 211 . The case connection part may be provided to be movable only within a predetermined range. The case connection part flows integrally with the case 212 . Accordingly, the case 212 is movable with respect to the frame 211 .

The body 210 includes a bumper 212b disposed on the front part. The bumper 212b functions to absorb an impact when it comes into contact with an external obstacle. The bumper 212b may be formed with a bumper groove that is recessed to the rear side and is long in the left and right directions in the front portion of the bumper 212b. A plurality of bumper grooves may be disposed to be spaced apart from each other in the vertical direction. The lower end of the protruding rib 211ba is disposed at a lower position than the lower end of the auxiliary rib 211bb.

The bumper 212b is formed by connecting the front surface and the left and right side surfaces to each other. The front and side surfaces of the bumper 212b are connected in a round manner.

The body 210 may include a bumper auxiliary part 212c disposed to surround the outer surface of the bumper 212b. The auxiliary bumper 212c is coupled to the bumper 212b. The auxiliary bumper 212c surrounds the lower portion of the front surface of the bumper 212b and the lower portion of the left and right side surfaces of the bumper 212b. The auxiliary bumper 212c may cover the front surface and lower halves of the left and right side surfaces of the bumper 212b.

The front end surface of the auxiliary bumper 212c is disposed in front of the front end surface of the bumper 212b. The bumper auxiliary portion 212c forms a surface protruding from the surface of the bumper 212b.

The auxiliary bumper 212c may be formed of a material advantageous to shock absorption, such as rubber. The auxiliary bumper 212c may be formed of a flexible material.

The frame 211 may include a flow fixing unit (not shown) to which the bumper 212b is fixed. The flow fixing unit may be disposed to protrude upward of the frame 211 . A bumper 212b may be fixed to the upper end of the flow fixing unit.

The bumper 212b may be disposed to be movable within a predetermined range with respect to the frame 211 . The bumper 212b may be fixed to the flow fixing unit and may flow integrally with the flow fixing unit.

The flow fixing unit may be movably disposed on the frame 211 . The flow fixing unit may be rotatably provided in a predetermined range with respect to the frame 211 about the virtual rotation axis. Accordingly, the bumper 212b may be rotatably provided integrally with the flow fixing unit with respect to the frame 211 .

The body 210 includes a handle 213 . The handle 213 may be disposed on the rear side of the case 212 .

The body 210 includes a first opening/closing unit 217 for opening and closing a portion where the height adjustment unit 256 and the height display unit 257 are disposed. The first opening/closing part 217 is hinged to the case 212, so that an opening operation and a closing operation are possible. The first opening/closing part 217 is disposed on the upper surface of the case 212 .

The first opening and closing part 217 is formed in a plate shape, and covers upper sides of the height adjusting part 256 and the height display part 257 in the closed state.

The body 210 includes a second opening/closing unit 218 that opens and closes a portion where the display module 265 and the input unit 264 are disposed. The second opening/closing part 218 is hinged to the case 212 so that an opening operation and a closing operation are possible. The second opening/closing part 218 is disposed on the upper surface of the case 212 . The second opening/closing unit 218 is disposed behind the first opening/closing unit 217 .

The second opening/closing unit 218 is formed in a plate shape to cover the display module 265 and the input unit 264 in a closed state.

The openable angle of the second opening/closing unit 218 is preset to be smaller than the opening possible angle of the first opening/closing unit 217 . Through this, even in an open state of the second opening/closing unit 218 , the user can easily open the first opening/closing unit 217 and the user can easily operate the height adjusting unit 256 . In addition, even in an open state of the second opening/closing unit 218 , the user can visually check the contents of the height display unit 257 .

For example, the opening possible angle of the first opening and closing part 217 may be provided to be about 80 to 90 degrees based on the closed state. For example, the openable angle of the second opening and closing part 218 may be about 45 to 60 degrees based on the closed state.

The first opening/closing unit 217 operates by lifting the rear end upwardly with the front end as the center, and the second opening/closing unit 218 operates by lifting the rear end toward the upper side around the front end. Through this, the user can open and close the first opening and closing part 217 and the second opening and closing part 218 at the rear of the lawn mower robot 200 , which is a safe area even when the lawn mower robot 200 moves forward. Also, through this, the opening operation of the first opening/closing unit 217 and the opening operation of the second opening/closing unit 218 may not interfere with each other.

The first opening/closing unit 217 may be rotatably provided with respect to the case 212 about a rotation axis extending in the left and right directions from the front end of the first opening/closing unit 217 . The second opening/closing unit 218 may be rotatably provided with respect to the case 212 about a rotation axis extending in the left and right directions from the front end of the second opening/closing unit 218 .

The driving unit may include at least one pair of driving wheels 221 that are rotated by the driving force of the driving motor module. The driving wheel 221 includes a first wheel 221(L) and a second wheel 221(R) which are each independently rotatably provided on the left and right. The first wheel 221(L) is disposed on the left side, and the second wheel 221(R) is disposed on the right side. The first wheel 221 (L) and the second wheel 221 (R) are spaced apart from one another to the left and right. The first wheel 221 (L) and the second wheel 221 (R) are disposed on the lower rear portion of the body 210 .

The first wheel 221 (L) and the second wheel 221 (R) are each independently rotatably provided so that the body 210 can rotate and move forward with respect to the ground. For example, when the first wheel 221(L) and the second wheel 221(R) rotate at the same rotational speed, the body 210 may move forward with respect to the ground. For example, the rotation speed of the first wheel 221 (L) is faster than the rotation speed of the second wheel 221 (R), or the rotation direction of the first wheel 221 (L) and the second wheel 221 When the rotation directions of (R)) are different from each other, the body 210 may perform a rotational motion with respect to the ground.

The first wheel 221 (L) and the second wheel 221 (R) may be formed to be larger than the auxiliary wheel 225 . The driving wheel 221 includes a wheel outer periphery 221b in contact with the ground. For example, the wheel outer periphery 221b may be a tire. A plurality of protrusions may be formed on the outer periphery of the wheel 221b to increase friction with the ground.

The driving wheel 221 may include a wheel frame (not shown) that fixes the wheel outer periphery 221b and receives power from the motor. The shaft of the motor is fixed to the central part of the wheel frame, and rotational force may be transmitted. The wheel outer periphery 221b is disposed to surround the circumference of the wheel frame.

The driving wheel 221 includes a wheel cover 221a that covers the outer surface of the wheel frame. The wheel cover 221a is disposed in a direction opposite to the direction in which the motor is disposed based on the wheel frame. The wheel cover 221a is disposed at the center of the wheel outer periphery 221b.

The driving unit may include an auxiliary wheel 225 supporting the body 210 together with the driving wheel 221 . Auxiliary wheel 225 may be disposed in front of the blade. The auxiliary wheel 225 is a wheel that does not receive driving force by the motor, and serves to support the body 210 with respect to the ground. The caster supporting the rotation axis of the auxiliary wheel 225 is rotatably coupled to the frame 211 about a vertical axis. A first auxiliary wheel 225(L) disposed on the left side and a second auxiliary wheel 225(R) disposed on the right side may be provided.

A work unit (not shown) is provided to perform a predetermined task. The working part is disposed on the body 210 .

For example, the work unit may be provided to perform a work such as cleaning or lawn mowing. As another example, the work unit may be provided to perform a task such as transporting an object or finding an object. As another example, the work unit may perform a security function to detect an external intruder or a dangerous situation in the vicinity.

In this embodiment, it is described that the working unit performs lawn mowing, but there may be various examples of the type of work of the working unit, and it is not necessary to be limited to the example of the present description.

The working unit may include a blade rotatably provided for mowing the lawn. The working unit may include a blade motor (not shown) that provides rotational force of the blade.

The blade is disposed between the driving wheel 221 and the auxiliary wheel 225 . The blade is disposed on the lower side of the body 210 . The blade is provided to be exposed from the lower side of the body 210 . The blade rotates about a rotating shaft extending in the vertical direction to mow the lawn.

The blade motor may be disposed in front of the first wheel 221 (L) and the second wheel 221 (R). The blade motor 132 is disposed below the central portion in the inner space of the body 210 .

The blade motor 132 may be disposed on the rear side of the auxiliary wheel 225 . The blade motor may be disposed on a lower portion of the body 210 . The rotational force of the motor shaft is transmitted to the blade using a structure such as a gear.

The mobile robot 200 is provided so as to be able to change the height of the blade with respect to the ground, so that it is possible to change the mowing height of the grass. The mobile robot 200 includes a height adjustment unit 256 for a user to change the height of the blade. The height adjustment unit 256 may include a rotatable dial to change the height of the blade by rotating the dial.

The mobile robot 200 includes a height display unit 257 for indicating the level of the blade height. When the height of the blade is changed according to the operation of the height adjustment unit 256, the height level displayed by the height display unit 257 is also changed. For example, the height display unit 257 may display an expected height value of the grass after the mobile robot 200 mows the lawn in the current blade height state.

When the mobile robot 200 is docked with the docking device, the mobile robot 200 includes a docking insertion unit 258 that is connected to the docking device. The docking insertion part 258 is provided to be recessed so that the docking connection part of the docking device is inserted. The docking insert 258 is disposed on the front portion of the body 210 . By connecting the docking insertion unit 258 and the docking connection unit, an accurate position of the mobile robot 200 may be guided when charging.

The mobile robot 200 may include a charging corresponding terminal 259 disposed at a contactable position while the docking insertion unit 258 is inserted into the docking connection unit. The charging corresponding terminal 259 may include a pair of charging corresponding terminals 259a and 259b disposed at positions corresponding to the pair of charging terminals 211 , 211a and 211b. The pair of charging corresponding terminals 259a and 259b may be disposed left and right with the docking insert 258 interposed therebetween.

A terminal cover (not shown) for opening and closing the docking insertion unit 258 and the pair of charging terminals 211, 211a, 211b may be provided. When the mobile robot 200 is traveling, the terminal cover may cover the docking insertion unit 258 and the pair of charging terminals 211 , 211a and 211b. When the mobile robot 200 is connected to the docking device, the terminal cover may be opened to expose the docking insertion unit 258 and the pair of charging terminals 211 , 211a and 211b.

Meanwhile, a boundary wire (not shown) for setting the boundary of the traveling area of the mobile robot 200 may be implemented. The boundary wire may generate a predetermined boundary signal. The mobile robot 200 may detect the boundary signal and recognize the boundary of the traveling area set by the boundary wire.

Referring to FIG. 12 , the mobile robot 200 may include an input unit 264 for inputting various user instructions. The input unit 264 may include a button, a dial, a touch-type display, and the like. The input unit 264 may include a microphone (not shown) for voice recognition. In this embodiment, a plurality of buttons are disposed on the upper side of the case 212 .

The mobile robot 200 may include an output unit 265 for outputting various types of information to the user. The output unit 265 may include a display module that outputs visual information. The output unit 265 may include a speaker (not shown) for outputting auditory information.

In this embodiment, the display module 265 outputs an image in an upward direction. The display module 265 is disposed on the upper side of the case 212 . For example, the display module 265 may include a thin film transistor liquid-crystal display (LCD) panel. In addition, the display module 265 may be implemented using various display panels such as a plasma display panel or an organic light emitting diode display panel.

The mobile robot 200 includes a storage unit (not shown) for storing various types of information. The storage unit records various types of information necessary for controlling the mobile robot 200 , and may include a volatile or nonvolatile recording medium. The storage unit may store information input from the input unit 264 or received by the communication unit. The storage unit may store a program for controlling the mobile robot 200 .

The mobile robot 200 may include a communication unit for communicating with an external device (such as a terminal), a server, a router, and the like. For example, the communication unit may be implemented to perform wireless communication using a wireless communication technology such as IEEE 802.11 WLAN, IEEE 802.15 WPAN, UWB, Wi-Fi, Zigbee, Z-wave, Blue-Tooth, and the like. The communication unit may vary depending on the communication method of another device or server to communicate with.

The mobile robot 200 includes a sensing unit for sensing information related to the state of the mobile robot 200 or the environment outside the mobile robot 200 . The sensing unit may include at least one of a remote signal sensing unit, an obstacle sensing unit, a rain sensing unit, a case flow sensor, a bumper sensor, an azimuth sensor, a boundary signal sensing unit 277, a GPS sensing unit, and a cliff sensing unit.

The remote signal detection unit 271 receives an external remote signal. When a remote signal is transmitted by an external remote controller, the remote signal detecting unit 271 may receive the remote signal. For example, the remote signal may be an infrared signal. A signal received by the remote signal detection unit 271 may be processed by a control unit (not shown).

A plurality of remote signal sensing units 271 may be provided. The plurality of remote signal detection units 271 include a first remote signal detection unit 271a disposed on the front portion of the body 210 and a second remote signal detection unit 271b disposed on a rear portion of the body 210 . ) may be included. The first remote signal detection unit 271a receives a remote signal transmitted from the front. The second remote signal detection unit 271b receives a remote signal transmitted from the rear.

The obstacle detecting unit 272 detects an obstacle in the vicinity of the mobile robot 200 . The obstacle detecting unit 272 may detect an obstacle in front. A plurality of obstacle detection units 272a, 272b, and 272c may be provided. The obstacle detecting unit 272 is disposed on the front surface of the body 210 . The obstacle detecting unit 272 is disposed above the frame 211 . The obstacle detecting unit 272 may include an infrared sensor, an ultrasonic sensor, an RF sensor, a geomagnetic sensor, a position sensitive device (PSD) sensor, and the like.

The rain detection unit detects rain when it rains in an environment in which the mobile robot 200 is placed. The rain detector may be disposed on the case 212 .

The case flow sensor detects the flow of the case connection. When the case 212 is lifted upward with respect to the frame 211 , the case connection part flows upward, and the case flow sensor detects the lifting of the case 212 . When the case flow sensor detects that the case 212 is lifted, the controller may control to stop the operation of the blade. For example, when a situation occurs in which a user lifts the case 212 or a lower obstacle of a significant size lifts the case 212 , the case flow sensor may detect it.

The bumper sensor can detect rotation of the floating fixture. For example, a magnet may be disposed on one side of the lower portion of the flow fixing unit, and a sensor for detecting a change in the magnetic field of the magnet may be disposed on the frame 211 . When the floating fixture rotates, the sensor detects a change in the magnetic field of the magnet, thereby implementing a bumper sensor that detects the rotation of the floating fixture. When the bumper 212b collides with an external obstacle, the flow fixing unit rotates integrally with the bumper 212b. When the bumper sensor detects the rotation of the floating fixing unit, the impact of the bumper 212b may be detected.

The azimuth sensor AHRS may have a gyro sensing function. The azimuth sensor may further include an acceleration sensing function. The azimuth sensor may further include a magnetic field sensing function.

The azimuth sensor may include a gyro sensing module that performs gyro sensing. The gyro sensing module may sense the horizontal rotation speed of the body 210 . The gyro sensing module may detect a tilt speed of the body 210 with respect to the horizontal plane.

The gyro sensing module may have a gyro sensing function for three axes of a spatial coordinate system orthogonal to each other. The information collected by the gyro sensing module may be roll, pitch, and yaw information. The processing module may calculate the direction angle of the mobile robot 200 by integrating the rolling, pitching, and yaw angular velocities.

The azimuth sensor may include an acceleration sensing module that performs acceleration sensing. The acceleration sensing module may have an acceleration sensing function for three axes of a spatial coordinate system orthogonal to each other. A predetermined processing module may calculate the velocity by integrating the acceleration, and may calculate the moving distance by integrating the velocity.

The azimuth sensor may include a magnetic field sensing module for sensing a magnetic field. The magnetic field sensing module may have a magnetic field sensing function for three axes of a spatial coordinate system orthogonal to each other. The magnetic field sensing module may sense the Earth's magnetic field.

The boundary signal detector 277 detects a boundary signal of the boundary wire 290 and/or a docking position signal of the reference wire 270 .

The boundary signal detector 277 may be disposed on the front portion of the body 210 . Through this, the boundary of the traveling area may be detected early while moving forward, which is the main traveling direction of the mobile robot 200 . The boundary signal detector 277 may be disposed in an inner space of the bumper 212b.

The boundary signal detection unit 277 may include a first boundary signal detection unit 277a and a second boundary signal detection unit 277b disposed to be left and right spaced apart. The first boundary signal detection unit 277a and the second boundary signal detection unit 277b may be disposed on the front portion of the body 210 .

For example, the boundary signal detection unit 277 includes a magnetic field sensor. The boundary signal detector 277 may be implemented using a coil to detect a change in a magnetic field. The boundary signal detector 277 may sense at least a horizontal magnetic field. The boundary signal detector 277 may detect magnetic fields with respect to three axes orthogonal to each other in space.

Specifically, the first boundary signal detection unit 277a may detect a magnetic field signal in a direction perpendicular to the second boundary signal detection unit 277b. The first boundary signal detection unit 277a and the second boundary signal detection unit 277b detect magnetic field signals in directions orthogonal to each other, and combine the detected magnetic field signal values for three axes orthogonal to each other in space. magnetic field can be detected.

When the boundary signal detector 277 senses the magnetic field with respect to three axes orthogonal to each other in space, the direction of the magnetic field is determined by the sum vector value for the three axes, and when the direction of the magnetic field is close to the horizontal direction, The docking position signal may be recognized, and if it is close to the vertical direction, it may be recognized as a boundary signal.

In addition, when a plurality of divided driving regions exist, the boundary signal detection unit 277 distinguishes the boundary signal between the neighboring boundary signal and the boundary signal of the plurality of driving regions by the difference in magnetic field strength, and separates the neighboring boundary signal and the docking position signal. They can be distinguished by the difference in the direction of the magnetic field.

As another example, when there are a plurality of divided driving regions, the boundary signal detector 277 may distinguish an adjacent boundary signal and boundary signals of the plurality of driving regions by a difference in magnetic field distribution. Specifically, the boundary signal detector 277 may detect that the strength of the magnetic field has a plurality of peaks within a predetermined distance on the plane coordinates and recognize it as an adjacent boundary signal.

The GPS detector may be provided to detect a Global Positioning System (GPS) signal. The GPS sensing unit may be implemented using a PCB.

The cliff sensing unit detects whether a cliff is present on the driving surface. The cliff sensing unit may be disposed on the front portion of the body 210 to detect the presence of a cliff in front of the mobile robot 200 .

The sensing unit 170 may include an opening/closing sensing unit (not shown) that detects whether at least one of the first opening/closing unit 217 and the second opening/closing unit 218 is open/closed. The open/close sensor may be disposed on the case 212 .

The mobile robot 200 includes a controller for controlling autonomous driving. The control unit may process the signal of the sensing unit. The control unit may process the signal of the input unit 264 .

The controller may control the driving of the driving motor. The control unit may control the driving of the blade motor. The controller may control the output of the output unit 265 .

As shown in FIG. 14 , the control unit may be formed of a control chip 241 mounted on the main board 221 disposed in the inner space of the body 210 . The main board 221 means a PCB.

The controller may control autonomous driving of the mobile robot 200 . The controller may control the driving of the driving unit based on the signal received from the input unit 264 . The control unit may control the driving of the driving unit based on a signal received from the sensing unit.

Also, the control unit may process the signal of the boundary signal detection unit 277 . Specifically, the control unit 190 may determine the current location by analyzing the boundary signal through the boundary signal detection unit 277 and control the driving of the driving unit according to the driving pattern.

Referring to FIG. 14 , in the mobile robot 200 according to another embodiment of the present invention, a space in which various parts are accommodated is formed in a body 210 , and a control chip 241 having a control unit is mounted in the space. The main board 221 is disposed.

Various electronic components and circuits electrically connecting them are formed on the main board 221 .

For example, various sensor elements 245 constituting the sensing unit may be disposed. A processor including a control unit and a communication unit may be integrated into the chip 241 state and mounted behind such sensor elements 245 .

The control chip 241 constituting such a processor may be formed as a surface mount component to be directly mounted on the main board 221 , and may be directly attached to the electronic circuit of the main board 221 .

At least one immersion detection unit 237 may be formed on the main board 221 .

The water immersion detection unit 237 may be electrically connected to the electronic chip 241 constituting the processor by a pattern printed on the substrate, and may be formed of a resistance element and a plurality of pads formed on the substrate 221 .

The plurality of pads of the submersion detection unit 237 may be disposed at a location where moisture is likely to penetrate into the case, preferably at an edge region of the main board 221 .

That is, referring to FIG. 14 , the water immersion detection unit 237 performs the same function as the water immersion detection unit 137 of FIG. 6 , and the pad unit 238 includes a pad 238a and a second pad 238b. includes

The first pad 238a is defined as a pattern area exposed to the outside.

The first pad 238a is the same as the first pad 138a of FIG. 7 , has a first width w1 , is formed to have a first length h1 , and is connected from the pattern and exposed to the outside. As such, it may be plated with at least one metal forming the pad.

The second pad 238b is the same as the second pad 138b of FIG. 7 , has a second width w2 , is formed to have a second length h2 , and is connected from the pattern and exposed to the outside. As such, it may be plated with at least one metal forming the pad. One end of the second pad 238b faces the first pad 238a, and the other end is grounded.

Meanwhile, the first pad 238a and the second pad 238b have a first distance d1 and are spaced apart from each other.

The first distance d1 is a very small distance at which the first pad 238a and the second pad 238b can form a short by immersion, for example, 0.1 mm or less, specifically, 0.05 mm or less. can

Meanwhile, a sensing resistor R1 239 is formed between the central node no connected to the first pad 238a and the positive voltage VDD.

The sensing resistor (R1) 239 is a high resistance element, and may be at least 200 kΩ, or more.

Such a central node (no) is electrically connected to the In terminal of the chip on which the control unit is formed, and a high voltage or a high voltage or A ground voltage is applied.

In the flood detection unit 237 formed in this way, the sensing resistors R1 and 239 may be disposed near the first and second pads 238a and 238b as shown in FIG. 6 , but in contrast to this, near the chip 241 . may be formed in

However, since the first pad 238a and the second pad 238b are located in the edge region of the main board 221 while maintaining a first distance d1 from each other, they may be shorted to each other depending on whether water is immersed from the outside or not. not connected

Such a submersion detection unit 237 may be configured and function as shown in FIGS. 6 to 11 , and may prevent the control chip 241 from being damaged by a liquid penetrating from the outside.

100, 200: mobile robot 120: sensing unit
140: control unit 150: storage unit
160: driving unit 135: image sensing unit
137: flood detection unit 180: cleaning unit

Claims (20)

a driving unit for moving the body;
a functional unit that performs a specific function;
a water immersion detection unit disposed inside the main body and formed on a printed circuit board on which parts are mounted to detect water ingress into the printed circuit board; and
a controller configured to determine whether or not to be submerged according to a detection signal from the submersion detection unit while moving by the driving unit in the driving area to protect the parts, and to provide a submersion alarm to the user;
includes,
The flood detection unit
a plurality of first pads;
a plurality of second pads spaced apart from the plurality of first pads and grounded; and
a first resistor connected between the first pad and a positive voltage; A mobile robot, characterized in that two pads form a matrix, a plurality of first pads are connected to each other in series and parallel, and a plurality of second pads are connected to each other in series and parallel. According to claim 1,
The printed circuit board is
A mobile robot, characterized in that the electronic chip in which the control unit is implemented is mounted. delete 3. The method of claim 2,
The control unit is
The mobile robot, characterized in that reading the voltage between the plurality of first pads and the first resistor as the sensing signal. 5. The method of claim 4,
A distance between the first pad and the second pad is a distance that can be electrically shorted to each other by immersion, the mobile robot. 6. The method of claim 5,
The mobile robot, characterized in that the separation distance between the first pad and the second pad meets 0.1 mm or less. According to claim 1,
The control unit is
The mobile robot, characterized in that by periodically reading the detection signal, and determining that submersion has occurred when the detection signal falls to low. delete delete delete delete 3. The method of claim 2,
The first resistor is a mobile robot, characterized in that it is disposed in a peripheral area of the electronic chip implementing the control unit.
delete According to claim 1,
The first pad and the second pad are
It has a polygonal shape,
One side of the first pad or the second pad is formed to be spaced apart from one side of the adjacent first pad or the second pad by a first distance.
delete 8. The method of claim 7,
the control unit
When the detection signal falls to low, it is determined that submersion has occurred, and the mobile robot, characterized in that the power applied to the printed circuit board is cut off. In the control method of a mobile robot that moves a main body and performs a set function,
periodically reading a detection signal, which is disposed inside the main body and indicates whether or not the printed circuit board is submerged into the printed circuit board on which the component is mounted, while starting to travel within the traveling area;
determining that submergence into the printed circuit board has occurred when the state of the detection signal varies; and
When submersion into the printed circuit board occurs, cutting off the power to the printed circuit board, and proceeding with a flood alarm to the user
includes,
A plurality of first pads, a plurality of second pads spaced apart from the plurality of first pads and grounded, and a first resistor connected between the first pads and a positive voltage are formed on the printed circuit board; , each of the second pads is arranged so as to be adjacent to each of the first pads, so that a plurality of the first pads and a plurality of the second pads are arranged in a matrix,
The plurality of first pads are connected in series and parallel to each other, and the plurality of second pads are connected in series and parallel to each other to read the sensing signal.
delete 18. The method of claim 17,
Reading the detection signal comprises:
A method for controlling a mobile robot, characterized in that reading a voltage between the first pad and the first resistor as the sensing signal. 20. The method of claim 19,
The step of determining the detection signal,
When the detection signal falls from high to low, it is characterized in that it is determined that submersion has occurred.

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