KR100820585B1 - Moving robot system and control method thereof - Google Patents

Abstract

A mobile robot system and a method for controlling the same are provided to allow a mobile robot to quickly and accurately return to a docking position at a charger by using docking guide areas and an overlap area. A mobile robot system comprises a charger(100) which generates a guide signal so that a plurality of docking guide areas and an overlap area are formed. A mobile robot(200) finds the corresponding docking guide area by receiving the guide signal, and moves to the overlap area based on the docking guide area, and then returns to a docking position. The charger generates the guide signal so that the overlap area has a certain width and straightness. The charger includes a signal transmitting unit(140) which outputs first to fourth guide signals to form first to fourth docking guide areas.

Description

Mobile robot system and control method

1 is a view showing a mobile robot system according to an embodiment of the present invention,

2 is a block diagram of a charging stand in a mobile robot system according to an embodiment of the present invention;

3 is a block diagram of a mobile robot in a mobile robot system according to an embodiment of the present invention;

4 and 5 is a view referred to the description of the docking guide region in the mobile robot system according to an embodiment of the present invention,

6 is a view referred to the description of the guide signal used in the mobile robot system according to an embodiment of the present invention;

7 is a flowchart provided to explain a method of analyzing a region in which a mobile robot is located in a mobile robot system according to an embodiment of the present invention;

8 is a view showing an example of the charging stand in the mobile robot system according to an embodiment of the present invention.

Explanation of symbols on the main parts of the drawings

100: charging station 140: signal transmission unit

160: charging terminal 165: power supply

180: operation unit 190: control unit

200: mobile robot 210: signal receiver

220: connection terminal 230: reducer

270: drive unit 290: robot control unit

The present invention relates to a mobile robot system and a control method thereof, and more particularly, to a mobile robot system and a method for controlling the mobile robot that can be automatically recharged by returning to the charging station to the optimum distance quickly.

As the direction of the development of science and technology is gradually focused on improving the quality of life, attempts are being made to create a more convenient and intelligent living environment by applying various human cognitive functions to the creatures developed by human beings. . At the heart of these attempts, robotics is emerging as the core of advanced application engineering, and the demand for robots for industrial and medical applications is rapidly increasing.

Recently, human-friendly home robots have been developed in addition to industrial and medical applications. Among them, robot cleaners are examples of home robots that are easily accessible to the general public. The robot cleaner, which is one of the mobile robots, generally has a flat, round, circular disk shape with wheels for driving, and sucks dirt and dust while driving a certain area. The mobile robot is provided with a rechargeable battery, and can run by itself using the operating power of the battery, and a plurality of sensors are provided to travel while avoiding obstacles while moving.

The mobile robot monitors the charging state of the internal battery providing the operating power, and when the battery needs to be charged, the mobile robot returns to the docking position of the charging station supplying the charging power to the battery and automatically charges the battery. It is configured to separate from the charging station and perform work again.

In a general mobile robot system, a charging station uses a method of guiding a mobile robot to a docking position of a charging station by using a plurality of infrared transmitters to configure a signal transmitter and using an infrared signal transmitted from the signal transmitter as a guide signal. The mobile robot includes a plurality of signal receiving modules to determine the position and direction of the charging station according to the position of the signal receiving module that receives the guide signal, or when the mobile robot includes one omni-directional signal receiving module. After that, if the guide signal is not detected by moving in a specific direction, a method of determining that the charging station is located in the opposite direction is used.

By the way, general mobile robot systems are designed to transmit a guide signal in the shape of a fan valley around the front 90 degrees around the position of the infrared transmitting element installed in the charging station. Therefore, the position of the charging station can be determined only when the mobile robot passes the front of the charging station, and when the mobile robot is close to the side of the charging station, the location of the charging station can not be determined. The environment is also constrained. In addition, even when the mobile robot passes the front of the charging station and receives a guide signal, the mobile robot moves left and right to determine the exact docking position of the charging station, and the moving distance is increased to return to the charging station, thereby increasing the time and energy consumption for charging. Done.

Accordingly, an object of the present invention is to provide a mobile robot system and a method of controlling the mobile robot which automatically grasps the position of the charging stand and automatically returns to the charging stand at the optimum moving distance.

Mobile robot system according to the present invention for achieving the above object, a plurality of docking guide region that can receive a guide signal different from each other, overlapping a portion of the plurality of docking guide region to form an overlapping region for guiding to the docking position is formed Charging stage for outputting a guide signal, and receiving any one of the guide signal to identify the corresponding docking guide area, and moves to the overlapping area based on the identified docking guide area, the docking position along the overlapping area It includes a mobile robot that is charged to return to.

On the other hand, the control method of the mobile robot system according to the present invention, so that a plurality of docking guide areas that can receive a guide signal different from each other, overlapping a portion of the plurality of docking guide areas to form a superimposed area to guide to the docking position Outputting a guide signal, the mobile robot receiving any one of the guide signals to identify a corresponding docking guide area, and moving to the overlapping area based on the identified docking guide area and moving along the overlapped area; Returning to the docking position and charging.

Hereinafter, with reference to the drawings will be described the present invention in more detail.

1 is a view showing a mobile robot system according to an embodiment of the present invention. 1 illustrates a robot cleaner that sucks and cleans dust and foreign substances during driving while moving the floor as an example of the mobile robot, but in the mobile robot system according to the present invention, the mobile robot moves according to a predetermined driving means in addition to the robot cleaner. This includes all robots that are charged by returning to the charging station if necessary.

Referring to FIG. 1, a circular disk-shaped mobile robot 200 having a predetermined height and a guide signal for indicating a direction and a distance so that the mobile robot 200 can return to a docking position for charging, When the mobile robot 200 is docked, the mobile robot 200 includes a charging unit 100 that is provided inside the mobile robot 200 to charge a battery that provides operating power.

Charging stage 100 is provided with a signal transmitter 140 for transmitting a guide signal, and the docking detection unit 170 for detecting whether the docking is completed by the mobile robot 200 is seated in the docking position, the mobile robot 200 A charging terminal 160 connected to the connection terminals 221 and 223 for charging the battery to supply charging power, and an operation unit 180 for inputting a command for controlling the operation of the charging station 100. The mobile robot 200 automatically detects a lack of battery power during driving and operation, and automatically returns to the charging stand 100. At this time, in response to the guide signal transmitted from the charging stand 100, the distance to the charging stand 100 and the direction is determined to set the traveling direction to return to the charging stand 100.

2 is a block diagram of a charging stand in a mobile robot system according to the present invention. Referring to FIG. 2, the charging station 100 includes a signal transmitter 140, a charging terminal 160, a power supply unit 165, a docking detection unit 170, an operation unit 180, and a controller 190. . The signal transmitter 140 includes first to fourth infrared transmitters 141, 143, 145, and 147.

The signal transmitter 140 outputs a guide signal guided by the mobile robot 200 to a docking position for charging. The signal transmitter 140 includes first to fourth infrared transmitters 141, 143, 145, and 147, and the first to fourth signal infrared transmitters 141, 143, 145, and 147 output different guide signals, respectively. do.

The charging terminal 160 is connected to the connection terminals 221 and 223 for charging the mobile robot 200 to supply charging power, and the docking detecting unit 170 is docked with the mobile robot 200 seated at a docking position. The detection signal indicating whether or not is completed is transmitted to the controller 190. The power supply unit 165 supplies the charging power of a predetermined size through the charging terminal 160 under the control of the controller 190 to enable the mobile robot 200 to be charged.

The operation of each unit of the controller 190 is controlled. In particular, the controller 190 controls the transmission of the guide signal transmitted from the signal transmitter 140, and determines whether the mobile robot 200 is docked according to a detection signal transmitted from the docking detection unit 170, and determines that. According to the result, the charging power is supplied to the charging terminal 160 through the power supply unit 165.

3 is a block diagram of a mobile robot in a mobile robot system according to an embodiment of the present invention. Referring to FIG. 3, the mobile robot includes a signal receiver 210, a connection terminal 220, a battery 225, a battery charge detector 227, a dust collector 230, a sensor 240, and a display 250. , A memory unit 260, a driver 270, and a robot controller 290.

 The signal receiver 210 receives a guide signal transmitted from the charging stand 100. The guide signal received from the signal receiver 210 is transmitted to the robot controller 290 and used to calculate the distance and direction to the docking position of the charging station 100. The signal receiver 210 includes at least one infrared receiver module for receiving a guide signal, and the infrared receiver includes an infrared receiver for receiving an infrared signal of a specific band.

When the signal receiving unit 210 includes a plurality of infrared receiving modules, the position and direction of the charging station may be estimated according to the position of the receiving module receiving the guide signal, and when one omnidirectional infrared receiving module is provided. It is possible to estimate the position and direction of the charging station according to the change in the signal received after the movement.

The battery 225 provides operating power, and the battery charge detector 227 detects the charge level of the battery 225 and the remaining battery level. The battery charge detection unit 227 measures the remaining amount of the battery 225 from time to time, and when the remaining battery level decreases below a predetermined value, the battery charge detection unit 227 transmits a charge return request signal to the robot controller 290.

The suction unit 230 is provided with suction means for sucking air and a means for agglomeration of dust, and sucks dust and foreign substances around during driving. The sensor unit 240 includes at least one sensor for detecting an obstacle while driving. The display unit 250 displays an operating state or a battery charging state. The memory unit 260 stores data and programs necessary for operation such as control data according to analysis and driving of the received guide signal.

The driving unit 270 allows the mobile robot 200 to travel in a predetermined direction and speed under the control of the robot controller 290. The driving unit 270 is provided with a predetermined traveling means, and drives the traveling means according to the traveling direction and the position correction command set by the robot controller 290, thereby enabling movement to a specified position. The sensor unit 240 detects an obstacle through a plurality of sensors provided, and transmits the obstacle to the robot controller 210 so that the traveling direction by the driving unit 270 is modified.

The robot controller 290 controls the operation of each part to control the overall operation of the mobile robot 200. In particular, the robot controller 290 determines whether to return to the charging station 100 according to the charging station return request signal transmitted from the battery charge detection unit 227, and proceeds based on the guide signal received from the signal receiver 210. To judge. That is, the robot controller 210 analyzes the guide signal input from the signal receiver 220, determines a moving direction and a driving path based on the data stored in the memory unit 260, and applies a control command to the driver 270. do.

4 and 5 are views for reference to the description of the docking guide region formed by the guide signal transmitted from the charging station in the mobile robot system according to an embodiment of the present invention. Referring to FIG. 4, the first infrared transmitter 141 transmits the first guide signal to the A1 region from the signal transmitter 140 of the charging station 100, and the second infrared transmitter 143 guides the second to the A2 region. Send a signal. In addition, the third signal transmitter 145 transmits the third guide signal to the A3 region, and the fourth signal transmitter 147 transmits the fourth guide signal to the A4 region. In addition, the S area represents an area where the first and second guide signals transmitted from the first and second infrared transmitters 141 and 143 overlap.

Therefore, A1, A2, and A3 capable of receiving the first to fourth guide signals, respectively, by the first to fourth guide signals output from the first to fourth infrared ray transmitters 141, 143, 145, and 147, respectively. A docking guide region such as A4 is formed. In addition, the A1 docking guide region and the A2 docking guide region are partially overlapped to form an overlapping region in which the mobile bot 200 can be docked to the charging station 200 in a straight line like the S region.

Accordingly, the first and second guide signals may be received in the overlapped area, and when entering the overlapped area of the mobile robot 200, the robot moves straight along the overlapped area to return to the docking position in the shortest distance and in the optimal direction. do.

In order to form such an overlapping region, the charging base 100 is formed at one side of the first and second infrared transmitters 141 and 143, as shown in FIG. 5, so that the first and second infrared transmitters 141, The guide signal output from the 143 is emitted to one side, and the other side includes a guide unit (151, 153) for guiding the traveling direction of the first and second guide signal to go straight to the charging station 100 vertically.

The guide parts 151 and 153 may be installed outside or inside the charging base 100 according to the positions where the first and second signal transmitting parts 141 and 143 are installed, and the guide parts 151 and 153 may be made of metal or It performs the function of a kind of infrared ray blocking device formed of a material that infrared rays cannot transmit. The guide parts 151 and 153 are vertically formed in the charging unit 100 with a predetermined length so that the guide signals transmitted by the first and second infrared transmitters 141 and 143 maintain straightness. As a result, in the space between the guide parts 151 and 153, both the first and second guide signals are sensed, and an overlapping area having a constant width and linearity is formed. When the mobile robot 200 enters the overlapping region, the mobile robot 200 may return to the docking position by traveling straight along the overlapping region without determining a docking position of the charging stand 100.

A1 and A2 docking guide areas capable of receiving only the first and second guide signals and wide A3 and A4 docking guide areas capable of receiving third and fourth guide signals next to the A1 and A2 docking guide areas. In this way, the mobile robot 200 can easily search the overlapping area. In this case, the third and fourth signal transmitters 145 and 147 may use a wide infrared ray transmitting lens to form a docking guide region with a wide width, and may have a signal size larger than that of the first and second guide signals. The third and fourth guide signals can be sent. Accordingly, even when the mobile robot travels on the side of the charging stand, the charging stand can be recognized.

6 shows an example of a guide signal transmitted from the signal transmitter of the charging station. In FIG. 6, (a) shows a first guide signal transmitted by the first infrared transmitter 141, and (b) shows a second guide signal transmitted by the second infrared transmitter 143. Also, (c) and (d) show guide signals output from the third and fourth infrared transmitters 145 and 147, respectively.

The first to fourth guide signals output a header indicating the start of the signal, and then output different data signals to distinguish the guide signals received by the mobile robot 200. In some cases, it is also possible to distinguish the guide signal by varying the magnitude or shape of the waveform of the infrared signal to be output. In the first and second guide signals, N is a signal indicating that the charging station is close to each other, and separate data may be used. However, N may be a proximal region by varying the intensity of the output signal.

7 is a flowchart provided to explain a method of analyzing a position according to a guide signal received by a mobile robot. Referring to FIG. 7, when the robot controller 290 receives Data 1 and Data N through the signal receiver 210 (S300, S305, S325), the charging station 100 may be located in the first docking guide area A1. It is determined that the area close to (S300). If only Data 1 is received, it is determined as a position away from the charging station 100 in the first docking guide area A1 (S335). If Data 1 and Data 2 are received and Data N is also received, it is determined that the area S is close to the charging station in the overlapping area S (S315). If data 1 and data 2 are received but data N is not received, the overlapping area is received. In step S320 is determined to be far from the charging (100).

When the mobile robot 200 receives the data 2 and the data N, it can be seen that the area is close to the charging station 100 in the second docking guide area A2. When the mobile robot 200 receives only the data 2, the second area A2 is received. In step S335 to determine the area away from the charging station 100.

When Data 3 is received, it is determined as the third docking guide area A3 (S360 and S365). When Data 4 is received, it is determined as the fourth docking guide area A4 (S390 and S395). By this process, the mobile robot 200 can know the area located according to the guide signal received from the charging station 100, and thus search for the overlapping area, move to the overlapping area and charge along the overlapping area. Can be docked into position.

8 shows an example of installing the charging stand. As shown in FIG. 8, even when the charging stand is installed in the corner where the wall exists in front, when the mobile robot 200 receives the third guide signal, it knows that the third docking guide area A3 has entered. As a result, the position of the overlapping area S can be detected. Therefore, when the mobile robot detects a signal in a posture such as a, the posture may be changed to a posture as shown in b to move to the overlapping area, and as shown by an arrow, the mobile robot may travel straight in the overlapping area and dock the charging station.

As such, even when the charging stand is installed in a narrow passageway in which a wall exists in front of the charging stand, the mobile robot enters the wide docking guide area and recognizes the overlapping area, and returns to the docking position of the charging stand with the optimal path. Can be.

In addition, although the preferred embodiment of the present invention has been shown and described above, the present invention is not limited to the specific embodiments described above, but the technical field to which the invention belongs without departing from the spirit of the invention claimed in the claims. Of course, various modifications can be made by those skilled in the art, and these modifications should not be individually understood from the technical spirit or the prospect of the present invention.

As described above, according to the present invention, the mobile robot can quickly and accurately return to the docking position of the charging station by using a wide docking guide area formed on the side of the charging station and an overlapping area that can be docked in a straight line, thereby performing automatic charging. have. Accordingly, it is possible to increase the success rate and efficiency of automatic charging in the mobile robot system.

Also, even when the mobile robot moves to the side as well as the front side of the charging station, the docking position of the charging station can be grasped, so that the restriction on the installation environment of the charging station can be alleviated.

Claims (10)

A charging table configured to output a guide signal such that a plurality of docking guide areas that can receive guide signals different from each other and an overlap area for guiding a partial area of the plurality of docking guide areas to guide to a docking position are formed; And A mobile robot configured to receive any one of the guide signals to identify a corresponding docking guide region, move to the overlapping region based on the identified docking guide region, and return to the docking position along the overlapping region to be charged; Mobile robot system comprising a. The method of claim 1, The charging stage is a mobile robot system, characterized in that for outputting the guide signal so that the overlap area has a predetermined width and straightness. The method of claim 2, wherein the charging stand, A signal transmitter configured to output first to fourth guide signals to form first to fourth docking guide regions; A guide part configured to guide the signal direction so that the first and second guide signals diverge to one side and go straight to the other side so that the overlap region is formed; And And a controller for controlling the output of the signal transmitter. The method of claim 3, And the first and second guide signals include an identification signal receivable when the docking position is close to the docking position. The method of claim 1, The mobile robot is a mobile robot system, characterized in that the robot cleaner. The method of claim 1, wherein the mobile robot, A signal receiver for receiving any one of the guide signals; A battery charge detection unit configured to output a battery charge request signal when the remaining amount of the battery providing the operation power is less than or equal to a predetermined level; A driving unit controlling driving of the predetermined traveling means; And When inputting to the battery charge request signal, the corresponding docking guide area is identified according to the guide signal received from the signal receiver, and based on the identified docking guide area, the docking guide area is moved to the docking area along the overlapped area. And a robot controller for controlling the driving unit to return to a position. Outputting a guide signal to form a plurality of docking guide regions different from each other in which the guide signals are receivable, and an overlapping region for guiding a portion of the plurality of docking guide regions to the docking position; Receiving, by the mobile robot, one of the guide signals to identify a corresponding docking guide area; And And moving to the overlapping region based on the identified docking guide region and returning and charging the docking position along the overlapping region. The method of claim 7, wherein The step of identifying the docking guide region, the control method of the mobile robot system, characterized in that performed when the predetermined level or less of the charge amount of the battery providing the operating power. The method of claim 7, wherein The overlapping region is a control method of a mobile robot system, characterized in that it is formed to have a predetermined width and straightness. 8. The method of claim 7, wherein the mobile robot is a robot cleaner.

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