KR102272161B1 - Lawn mover robot system and controlling method for the same - Google Patents

Abstract

The present specification relates to a mobile robot system and a control method of a mobile robot system in which a mobile robot sets an operation area according to a design designated through a terminal, and performs driving and weeding operations according to a predetermined standard in the set area.

Description

LAWN MOVER ROBOT SYSTEM AND CONTROLLING METHOD FOR THE SAME

The present invention relates to a mobile robot system that autonomously travels in a driving area and a control method of the mobile robot system.

In general, a mobile robot is a device that automatically performs a predetermined operation while driving in a predetermined area without user's manipulation. The mobile robot detects an obstacle installed in the area and approaches or avoids the obstacle to perform an action.

Such a mobile robot may include a cleaning robot that performs cleaning while driving in an area, as well as a mobile robot that mows grass on the floor of the area. In general, a mobile robot device includes a riding-type device in which a user rides and moves according to the user's driving, mowing grass on the floor, and a walk-behind type or hand-type device in which the user manually pulls or pushes and mowers the lawn. There is a device of Such a mobile robot device moves by a user's direct manipulation, and it is inconvenient to operate the device directly by the user by mowing the lawn. Accordingly, a mobile robot type mobile robot device having a means for mowing the lawn in the mobile robot is being studied.

In the case of such a mobile robot for mowing (lawn mower), since it operates outdoors rather than indoors, it travels over a wider area than a mobile robot that travels in an indoor environment. Indoors, the ground is monotonous, and factors such as terrain/features that affect driving are limited. However, since it is an open space outdoors, factors affecting driving vary and are also greatly affected by topography. A mobile robot that travels in such an outdoor environment can cut grass while autonomously driving in a driving area. Due to the nature of the wide outdoor environment, it is difficult to weed the grass in the entire area in the same way, and the weeding is performed according to the user's request/expectation. There were limits that could not be reached. For example, it is difficult to intensively weed an area desired by a user or to weed a lawn condition in an area where a weeding operation is performed according to a user's request.

On the other hand, in US Patent Publication 2017/0344012A1 (published date: November 30, 2017) (hereinafter referred to as prior literature), a lawn mower that divides a driving area into one or more sections, and performs a weeding operation according to the divided sections A robot has been disclosed, but the lawn mower robot disclosed in this prior document only performs a weeding operation according to the division of sections, and a method for weeding the grass in the driving area in a user's desired shape is not suggested, so the user's request We did not suggest performing weeding operations that could meet /expectations.

That is, in the conventional mobile robot technology for lawn mowers, a technology for weeding grass in a wide outdoor environment according to the user's needs/expectations has not been proposed, which limits user satisfaction, usability, utility, and usability of the lawn mower robot. was followed In addition, due to these limitations, there is a limit in that it is difficult to diversify the technology related to the driving control of the mobile robot, the work method, and the work performance control.

The problem to be solved by the present invention is to improve the limitations of the prior art as described above.

Specifically, an object of the present invention is to provide a mobile robot system capable of designing a weeding state of a driving area and a control method of the mobile robot system.

Another object of the present invention is to provide a mobile robot system capable of weeding grass in a driving area so that a design according to a user's request is visually displayed on the driving area, and a control method of the mobile robot system.

In a mobile robot system and a control method of a mobile robot system according to the present invention for solving the above-described problems, an operation area is designated through a terminal, and a solution means for cutting grass while driving in the designated area according to a predetermined standard do it with

Specifically, by designating the operation area of the mobile robot through the terminal that controls the mobile robot, the mobile robot drives the designated area according to a certain standard and cuts the grass, so that the user's request can be achieved through the weeding state of the designated area Make the design visible.

That is, in the mobile robot system and the control method of the mobile robot system according to the present invention, the mobile robot sets an operation area according to a design specified through a terminal, and performs driving and weeding operation according to a predetermined standard in the set area. do it as a solution.

Through such a solution means, the mobile robot system and the control method of the mobile robot system according to the present invention can design the state of the grass on the running area by performing the driving and weeding operation according to a predetermined standard in the set area. You will solve the same problem as you did.

As described above, the mobile robot system and the control method of the mobile robot system according to the present invention as described above include a lawn mower robot, a control method of a lawn mower robot, a control means of a lawn mower robot, a lawn mower robot system, It can be applied to a control system of a lawn mower robot and a method for controlling a lawn mower robot, and the present specification provides an embodiment of a mobile robot system and a control method of a mobile robot system using the above technical features as a problem solving means. to provide.

The mobile robot system according to the present invention using the above technical features as a means for solving problems is a mobile robot system for cutting grass in a traveling area, and a terminal displaying a control screen for motion control of the mobile robot and the control screen When the mobile robot operates in response to the operation of the mobile robot and performs a design mode for designing the driving area, the terminal displays a map screen for designation of a design to be displayed in the driving area on the control screen. displayed, and the mobile robot sets a design area according to a design designated on the map screen, drives the design area according to a preset operation standard, and cuts the grass.

In addition, the method for controlling a mobile robot system according to the present invention using the technical features as described above as a problem solving means includes a terminal that displays a control screen for motion control of a mobile robot and a terminal that operates in response to manipulation of the control screen A control method of a mobile robot system comprising: a mobile robot; displaying a map screen for designation of a design to be displayed on the driving area on the control screen; displaying on the driving area according to a manipulation input on the map screen The method includes designating a design to be designed, setting a design area according to a design specified on the map screen, and cutting grass while driving the design area according to a preset operation standard.

In the mobile robot system and the control method of the mobile robot system according to the present invention, an operation area is designated through a terminal, and the grass is cut while driving in the designated area according to a predetermined standard, thereby designing the state of the grass in the running area. there is

In addition, the mobile robot system and the control method of the mobile robot system according to the present invention have the effect of weeding the grass in the driving area so that the design according to the user's request is visually displayed on the driving area.

As a result, the mobile robot system and the control method of the mobile robot system according to the present invention improve the limitations of the prior art and increase the usability, efficiency, utility and utility of the mobile robot technology field for lawn mowers. has the effect of being

1A is a conceptual diagram illustrating a driving principle of a mobile robot system according to the present invention.
Figure 1b is a conceptual diagram showing a signal flow between devices for determining the position of the mobile robot system according to the present invention.
2 is a conceptual diagram illustrating an embodiment of a traveling area of a mobile robot according to the present invention.
3A is a block diagram showing an embodiment of a mobile robot according to the present invention.
Figure 3b is a block diagram showing an embodiment of the mobile robot according to the present invention b.
3c is a block diagram showing an embodiment of a mobile robot according to the present invention c.
4 is a block diagram showing a specific configuration of a mobile robot according to the present invention.
5 is an exemplary view showing an example of a control screen according to an embodiment of the mobile robot system according to the present invention.
6 is an exemplary view showing an example of displaying a map screen according to an embodiment of the mobile robot system according to the present invention.
7A is an exemplary view showing an example of a design according to an embodiment of a mobile robot system according to the present invention.
Figure 7b is an exemplary view showing an example of a design according to an embodiment of the mobile robot system according to the present invention b.
7c is an exemplary view showing an example of a design according to an embodiment of the mobile robot system according to the present invention c.
7d is an exemplary view showing an example of a design according to an embodiment of the mobile robot system according to the present invention d.
Figure 8a is an exemplary view showing an example of designation according to an embodiment of the mobile robot system according to the present invention.
Figure 8b is an exemplary view showing an example of designation according to an embodiment of the mobile robot system according to the present invention b.
Figure 9a is an exemplary view showing an example of the execution result of the design mode according to an embodiment of the mobile robot system according to the present invention.
Figure 9b is an exemplary view showing an example of the execution result of the design mode according to an embodiment of the mobile robot system according to the present invention b.
10 is a flow chart showing the sequence of the control method of the mobile robot system according to the present invention.

Hereinafter, embodiments of a mobile robot system and a control method thereof according to the present invention will be described in detail with reference to the accompanying drawings, but the same or similar components are given the same reference numbers regardless of reference numerals, and overlapping descriptions thereof are given. is to be omitted.

In addition, in describing the technology disclosed in the present specification, if it is determined that a detailed description of a related known technology may obscure the gist of the technology disclosed in this specification, the detailed description thereof will be omitted. In addition, it should be noted that the accompanying drawings are only for easy understanding of the spirit of the technology disclosed in this specification, and should not be construed as limiting the spirit of the technology by the accompanying drawings.

Hereinafter, an embodiment of a mobile robot system (hereinafter referred to as a system) according to the present invention will be described.

The robot may mean a robot capable of autonomous driving, a mobile lawnmower robot, a lawnmower robot, a lawnmower device, or a mobile robot for lawnmowers.

The system 1 may be a system of a mobile robot (hereinafter referred to as a robot) that cuts grass in a traveling area. Here, the robot may be a lawn mower robot. That is, the system 1 may be a running/controlling/moving system of a lawn mower robot that cuts grass in a running area.

As shown in FIG. 1A , the system 1 includes a terminal 300 displaying a control screen for motion control of the robot 100 and the robot 100 operating in response to manipulation of the control screen. includes That is, the terminal 300 displays the control screen on which the control screen of the mobile robot 100 is performed on the display unit, and the mobile robot 100 selects the driving area according to an operation on the control screen. It may be operable to drive and cut grass within the travel area. The system 1 may further include one or more of a transmitter 200 and a GPS satellite 400 for transmitting and receiving signals to and from one or more of the robot 100 and the terminal 300 .

In the system 1, the robot 100 may operate on a driving principle as shown in FIG. 1A, and a signal flow between devices for position determination as shown in FIG. 1B may be made. Accordingly, the robot 100 may travel in the traveling area 1000 as shown in FIG. 2 .

The robot 100 may travel by itself within the traveling area 1000 as shown in FIG. 2 . The robot 100 may perform a specific operation while driving. Here, the specific operation may be an operation of cutting grass in the driving area 1000 . The traveling area 1000 is an area corresponding to a traveling and operation target of the robot 100 , and a predetermined outdoor/outdoor area may be formed as the traveling area 1000 . For example, a garden or a yard for the robot 100 to cut grass may be formed as the driving area 1000 . A charging device 500 for charging the driving power of the robot 100 may be installed in the traveling area 1000 , and the robot 100 may be installed in the charging device 500 installed in the traveling area 1000 . It may be docked to charge the driving power.

The driving area 1000 may be formed as a constant boundary area 1200 as shown in FIG. 2 . The boundary area 1200 corresponds to the boundary line between the traveling area 1000 and the outer area 1100 , and the robot 100 travels within the boundary area 1200 so as not to deviate from the outer area 1100 . can be done In this case, the boundary region 1200 may be formed as a closed curve or a closed loop. Also, in this case, the boundary region 1200 may be defined by a wire 1200 formed as a closed curve or a closed loop. The wire 1200 may be installed in an arbitrary area, and the robot 100 may travel within the traveling area 1000 of a closed curve formed by the installed wire 1200 .

One or more transmitters 200 may also be disposed in the traveling area 1000 as shown in FIG. 2 . The transmitter 200 is a signal generating means for transmitting a signal for the robot 100 to determine the position information, and may be distributed and installed in the traveling area 1000 . The robot 100 may receive the signal transmitted from the transmitter 200 , and may determine a current location based on the reception result or may determine location information for the traveling area 1000 . In this case, the robot 100 may receive the signal through a receiver that receives the signal. The transmitter 200 may be preferably disposed in the vicinity of the boundary area 1200 in the travel area 1000 . In this case, the robot 100 may determine the boundary area 1200 based on the arrangement position of the transmitter 200 disposed in the vicinity of the boundary area 1200 .

The robot 100 communicates with the terminal 300 moving in a predetermined area as shown in FIG. 1A , and tracks the location of the terminal 300 based on the data received from the terminal 300 and drives can do. The robot 100 sets a virtual boundary in a predetermined area based on location information received from the terminal 300 or collected while driving by following the terminal 300, and an interior formed by the boundary The region may be set as the driving region 1000 . When the boundary area 1200 and the traveling area 1000 are set, the robot 100 may travel within the traveling area 1000 so as not to deviate from the boundary area 1200 . In some cases, the terminal 300 may set the boundary area 1200 and transmit it to the robot 100 . When the area is changed or expanded, the terminal 300 may transmit the changed information to the robot 100 so that the robot 100 travels in a new area. In addition, the terminal 300 may monitor the operation of the robot 100 by displaying the data received from the robot 100 on the screen.

The robot 100 or the terminal 300 may receive location information to determine a current location. The robot 100 and the terminal 300 determine the current location based on location information transmitted from the transmitter 200 disposed in the driving area 1000 or a GPS signal using the GPS satellite 400 . can do. The robot 100 and the terminal 300 preferably receive signals transmitted from three transmitters 200 and compare the signals to determine the current location. That is, three or more transmitters 200 may be disposed in the traveling area 1000 .

The robot 100 sets any one point in the traveling area 1000 as a reference position, and then calculates the position during movement as coordinates. For example, the initial starting position and the position of the charging device 500 may be set as the reference position, and the coordinates for the traveling area 1000 may be determined by using any one position of the transmitter 200 as the reference position. can be calculated. In addition, the robot 100 may determine the position while driving after setting the initial position as the reference position during each operation. The robot 100 calculates the travel distance based on the number of rotations of the driving wheels 11 , the rotation speed, the rotation direction of the main body 10 , etc. based on the reference position, and, accordingly, the travel area 1000 ) can be determined. Even when the robot 100 determines the position using the GPS satellite 400 , the robot 100 may determine the position by using any one point as the reference position.

As shown in FIG. 1B , the robot 100 may determine a current location based on location information transmitted from the transmitter 200 or the GPS satellite 400 . The location information may be transmitted in the form of a GPS signal, an ultrasonic signal, an infrared signal, an electromagnetic signal, or an Ultra Wide Band (UWB) signal. The signal transmitted from the transmitter 200 may preferably be an Ultra Wide Band (UWB) signal. Accordingly, the robot 100 may receive the UWB (Ultra Wide Band) signal transmitted from the transmitter 200, and determine the current location based on this.

As shown in FIG. 3A , the robot 100, which cuts the grass while traveling in the driving area 1000, includes a main body 10, a driving unit 11 for moving the main body 10, and a floor while driving. It may include a weeding unit 30 for mowing the cotton, and a control unit 20 that controls the driving unit 11 and the weeding unit 30 to control the driving and weeding operations of the robot 100 .

The robot 100 may be an autonomous driving robot including the main body 10 which is provided to be movable as shown in FIGS. 3B and 3C and can cut grass. The main body 10 forms the exterior of the robot 100 , and includes one or more means for performing operations such as running of the robot 100 and cutting grass. The main body 10 is provided with the driving unit 11 capable of moving and rotating the main body 10 in a desired direction. The driving unit 11 may include a plurality of rotatable driving wheels, and each wheel may be rotated individually, so that the main body 10 may be rotated in a desired direction. More specifically, the driving unit 11 may include at least one main driving wheel 11a and an auxiliary wheel 11b. For example, the main body 10 may include two main driving wheels 11a, and the main driving wheels may be installed on a rear bottom surface of the main body 10 .

The robot 100 controls the driving unit 11 so that the control unit 20 determines the current position of the main body 10 and travels within the traveling area 1000 to move the main body 10 . control, and control the weeding unit 30 to cut the grass on the floor while the main body 10 travels in the traveling area 1000 to control the running and weeding operation of the robot 100 can do.

As shown in FIG. 4 , the robot 100 operating in this way includes the main body 10 , the driving unit 11 , the weeding unit 30 , and the control unit 20 , and the traveling area You can cut grass while driving (1000). The robot 100 also includes a photographing unit 12 , a communication unit 13 , an output unit 14 , a storage unit 15 , a sensing unit 16 , a receiving unit 17 , an input unit 18 and an obstacle detecting unit. It may further include one or more of (19).

The driving unit 11 is a driving wheel provided at a lower portion of the main body 10 , and may be rotated to move the main body 10 . That is, the driving unit 11 may drive the main body 10 to travel in the traveling area 1000 . The driving unit 11 may include at least one driving motor to move the main body 10 so that the robot 100 travels. For example, it may include a left wheel driving motor rotating the left wheel and a right wheel driving motor rotating the right wheel.

The driving unit 11 may transmit information on a driving result to the control unit 20 and receive a control command for operation from the control unit 20 . The driving unit 11 may operate according to a control command received from the control unit 20 . That is, the driving unit 11 may be controlled by the control unit 20 .

The photographing unit 12 may be a camera for photographing the periphery of the main body 10 . The photographing unit 12 may generate image information about the driving area 1000 of the main body 10 by photographing the periphery of the main body 10 . The photographing unit 12 may photograph the front of the main body 10 to detect obstacles present in the vicinity of the main body 10 and on the driving area 1000 . The photographing unit 12 is a digital camera and may include an image sensor (not shown) and an image processing unit (not shown). An image sensor is a device that converts an optical image into an electrical signal, and is composed of a chip in which a plurality of photodiodes are integrated, for example, a pixel as the photodiode. Charges are accumulated in each pixel by the image formed on the chip by the light passing through the lens, and the charges accumulated in the pixels are converted into electrical signals (eg, voltage). As an image sensor, a CCD (Charge Coupled Device), CMOS (Complementary Metal Oxide Semiconductor), etc. are well known. In addition, the photographing unit 12 may include an image processing unit DSP that processes the photographed result to generate the image information.

The photographing unit 12 may transmit a photographing result to the control unit 20 and receive a control command for an operation from the control unit 20 . The photographing unit 12 may operate according to a control command received from the control unit 20 . That is, the photographing unit 12 may be controlled by the control unit 20 .

The communication unit 13 may communicate with one or more communication target means that communicate with the robot 100 . The communication unit 13 may communicate with the transmitter 200 and the terminal 300 in a wireless communication method. The communication unit 13 may also be connected to a predetermined network to communicate with an external server or the terminal 300 that controls the robot 100 . When communicating with the terminal 300 , the communication unit 13 transmits the generated map to the terminal 300 , receives a command from the terminal 300 , and provides information on the operating state of the robot 100 . Data may be transmitted to the terminal 300 . The communication unit 13 may transmit and receive data including communication modules such as Wi-Fi and WiBro as well as short-range wireless communication such as ZigBee and Bluetooth.

The communication unit 13 may transmit information on a communication result to the control unit 20 and receive a control command for an operation from the control unit 20 . The communication unit 13 may operate according to a control command received from the control unit 20 . That is, the communication unit 13 may be controlled by the control unit 20 .

The output unit 14 is an output means for outputting information about the state of the robot 100 in the form of a voice, for example, may include a speaker. When an event occurs during operation of the robot 100 , the output unit 14 may output an alarm related to the event. For example, when the driving power of the robot 100 is exhausted, an impact is applied to the robot 100, or an accident occurs in the driving area 1000, an alarm voice is issued so that information about this is transmitted to the user. may be output.

The output unit 14 may transmit information on an operation state to the control unit 20 and receive a control command for operation from the control unit 20 . The output unit 14 may operate according to a control command received from the control unit 20 . That is, the output unit 14 may be controlled by the control unit 20 .

The storage unit 15 is a storage means for storing 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, It may include RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device. In the storage unit 15, a received signal may be stored, reference data for determining an obstacle may be stored, and obstacle information about the detected obstacle may be stored. In addition, the storage unit 15 includes control data for controlling the operation of the robot 100 , data according to the operation mode of the robot 100 , location information to be collected, the traveling area 1000 and its boundary ( 1200) may be stored.

The sensing unit 16 may include one or more sensors for sensing information on the posture and operation of the main body 10 . The sensing unit 16 may include at least one of a tilt sensor sensing the movement of the main body 10 and a speed sensor sensing the driving speed of the driving unit 11 . The inclination sensor may be a sensor that senses posture information of the main body 10 . The inclination sensor may sense the posture information of the main body 10 by calculating the inclination direction and angle when the main body 10 is inclined in the front, rear, left, and right directions. As the inclination sensor, a tilt sensor, an acceleration sensor, etc. may be used, and in the case of the acceleration sensor, any one of a gyro type, an inertial type, and a silicon semiconductor type may be applied. In addition, various sensors or devices capable of detecting the movement of the main body 10 may be used. The speed sensor may be a sensor that senses a driving speed of a driving wheel provided in the driving unit 11 . When the driving wheel rotates, the speed sensor may sense the driving speed by sensing the rotation of the driving wheel.

The sensing unit 16 may transmit information on a sensing result to the control unit 20 and receive a control command for an operation from the control unit 20 . The sensing unit 16 may operate according to a control command received from the control unit 20 . That is, the sensing unit 16 may be controlled by the control unit 20 .

The receiver 17 may include a plurality of sensor modules for transmitting and receiving location information. The receiver 17 may include a position sensor module for receiving the signal from the transmitter 200 . The position sensor module may transmit a signal to the transmitter 200 . When the transmitter 200 transmits a signal in any one of ultrasonic waves, UWB (Ultra Wide Band), and infrared, the receiver 17 has a sensor module that transmits and receives ultrasonic, UWB, and infrared signals corresponding thereto can be provided. The receiver 17 may include a UWB sensor. For reference, UWB wireless technology does not use a radio carrier (RF carrier), but means using a very wide frequency band of several GHz or more in the baseband. UWB wireless technology uses very narrow pulses of a few nanoseconds or a few picoseconds. Since the pulses emitted from such a UWB sensor are several nanometers or several picos, penetrability is good, and accordingly, very short pulses emitted from other UWB sensors can be received even if there are obstacles around.

When the robot 100 is driven by following the terminal 300, the terminal 300 and the robot 100 each include a UWB sensor, and can transmit and receive UWB signals to and from each other through the UWB sensor. have. The terminal 300 transmits a UWB signal through a UWB sensor provided, and the robot 100 determines the location of the terminal 300 based on the UWB signal received through the UWB sensor, and the terminal 300 ) can be followed. In this case, the terminal 300 operates as a transmitting side and the robot 100 as a receiving side. When the transmitter 200 includes a UWB sensor and transmits a signal, the robot 100 or the terminal 300 may receive a signal transmitted from the transmitter 200 through the UWB sensor provided. In this case, the signal method of the transmitter 200 and the signal method of the robot 100 and the terminal 300 may be the same or different.

The receiver 17 may include a plurality of UWB sensors. When two UWB sensors are included in the receiving unit 17, for example, they are provided on the left and right sides of the main body 10, respectively, to receive signals, so that accurate position calculation is possible by comparing a plurality of received signals. can be done For example, if the distance measured by the sensor on the left and the sensor on the right is different depending on the positions of the robot 100 and the transmitter 200 or the terminal 300, the robot 100 and the The relative position of the transmitter 200 or the terminal 300 and the direction of the robot 100 may be determined.

The receiver 17 may further include a GPS module for transmitting and receiving a GPS signal from the GPS satellite 400 .

The receiver 17 may transmit a signal reception result to the controller 20 and receive a control command for operation from the controller 20 . The receiver 17 may operate according to a control command received from the controller 20 . That is, the receiver 17 may be controlled by the controller 20 .

The input unit 18 may include an input unit such as at least one button, a switch, and a touch pad, and an output unit such as a display unit to receive a user command and output the operating state of the robot 100 . . For example, a command for performing the monitoring mode may be input through the display unit, and a status regarding the execution of the monitoring mode may be output.

The input unit 18 may display a state of the robot 100 through the display unit and display a control screen on which a control operation of the robot 100 is performed. The control screen may refer to a user interface screen on which a driving state of the robot 100 is displayed and output, and a command for a driving operation of the robot 100 is input from a user. The control screen may be displayed on the display unit under the control of the control unit 20 , and display and input commands on the control screen may be controlled by the control unit 20 .

The input unit 18 may transmit information on an operation state to the control unit 20 and receive a control command for operation from the control unit 20 . The input unit 18 may be operated according to a control command received from the control unit 20 . That is, the input unit 18 may be controlled by the control unit 20 .

The obstacle detection unit 19 includes a plurality of sensors to detect obstacles present in the driving direction. The obstacle detecting unit 19 may detect an obstacle in front of the main body 10 , that is, in a driving direction, using at least one of a laser, an ultrasonic wave, an infrared ray, and a 3D sensor. The obstacle detection unit 19 may further include a cliff detection sensor installed on the rear surface of the main body 10 to detect a cliff.

The obstacle detection unit 19 may transmit information on a detection result to the control unit 20 and receive a control command for an operation from the control unit 20 . The obstacle detection unit 19 may be operated according to a control command received from the control unit 20 . That is, the obstacle detection unit 19 may be controlled by the control unit 20 .

The weeding unit 30 mows the grass on the floor while driving. The weeding unit 30 may be provided with a brush or a blade for mowing the lawn, and may be rotated to mow the lawn on the floor.

The weeder 30 may transmit information on the operation result to the controller 20 and receive a control command for the operation from the controller 20 . The weeding unit 30 may operate according to a control command received from the control unit 20 . That is, the weeding unit 30 may be controlled by the control unit 20 .

The control unit 20 may perform overall operation control of the robot 100 including the central processing unit. The control unit 20 determines the state of the driving region 1000 while driving the driving region 1000 through the main body 10 , the driving unit 11 , and the photographing unit 12 , and the main body (10), the communication unit 13, the output unit 14, the storage unit 15, the sensing unit 16, the receiving unit 17, the input unit 18, the obstacle The function/operation of the robot 100 may be controlled to be performed through the sensing unit 19 and the weeding unit 30 .

The control unit 20 may control input/output of data, and may control the driving unit 11 so that the main body 10 travels according to a setting. The control unit 20 may control the driving unit 11 to independently control the operation of the left wheel driving motor and the right wheel driving motor, thereby controlling the main body 10 to travel in a straight line or by rotating.

The control unit 20 sets a boundary 1200 for the driving area 1000 based on location information received from the terminal 300 or location information determined based on a signal received from the transmitter 200 . can The controller 20 may also set a boundary 1200 for the driving area 1000 based on location information collected by itself while driving. The controller 20 may set any one of the regions formed by the set boundary 1200 as the driving region 1000 . The controller 20 may connect the discontinuous location information with a line or a curve to set the boundary 1200 in a closed loop form, and set the inner region as the driving region 1000 . When the driving region 1000 and the boundary 1200 are set, the controller 20 controls the driving of the main body 10 so as not to deviate from the set boundary 1200 while driving within the driving region 1000 . can do. The control unit 20 determines the current position based on the received position information, and controls the driving unit 10 by controlling the driving unit 11 so that the determined current position is located within the driving area 1000 . can

In addition, the control unit 20 controls the traveling of the main body 10 to avoid the obstacle according to the obstacle information input by at least one of the photographing unit 12 and the obstacle detecting unit 19 . can do. In this case, the controller 20 may modify the driving area 1000 by reflecting the obstacle information in pre-stored area information for the driving area 1000 .

As such, the robot 100 traveling in the traveling area 1000 including the main body 10 , the driving unit 11 , the weeding unit 30 and the control unit 20 is configured according to a plurality of operation modes. action can be performed. Here, the operation mode means a mode in which the robot 100 performs an operation according to a predetermined standard, and one of a plurality of operation modes may be set through the robot 100 or the terminal 300 . . Accordingly, the terminal 300 controls the operation of the robot 100 by displaying a control screen according to a set operation mode, and the robot 100 may perform an operation according to the operation mode. . The system 1 may control the operation of the robot 100 and perform the operation accordingly according to any one or more operation modes set among the plurality of operation modes.

When the design mode for designing the traveling area 1000 is performed in the system 1 including the robot 100 and the terminal 300, the terminal 300 is , a map screen ZM for designation of a design to be displayed in the driving area 1000 is displayed on the control screen CS, and the robot 100 displays the map screen ( A design area is set according to a design designated on the ZM), and the grass is cut while driving the design area according to a preset operation standard. That is, when performing the design mode, as shown in FIG. 5 , the terminal 300 displays a map screen ( ) of the driving area 1000 on the control screen CS for controlling the robot 100 . ZM) and, as shown in FIG. 6, when a design is designated on the map screen ZM according to a user's manipulation of the screen displayed on the terminal 300, the robot 100 displays the map screen ( ZM), the design area corresponding to the operation target area according to the operation standard among the traveling area 1000 may be set according to the design designated in ZM), and the grass may be cut while driving the design area according to the operation standard. .

The design mode may be one of operation modes performed by the robot 100 in the traveling area 1000 . The design mode may be a mode for designing the display of the driving area 1000 . The design mode may be a mode for designing a weeding state of the driving area 1000 .

In the design mode, a design to be displayed in the driving area 1000 is designated according to a manipulation input on the map screen ZM, and the design is displayed in the driving area 1000 through the design area. may be a mode in which driving and weeding operations are performed according to the operation standard. That is, the design mode may be a mode in which a design to be displayed in the driving area 1000 is designated through the terminal 300 and the robot 100 performs a driving and cutting operation according to the designated design. . Accordingly, the grass of the driving area 1000 is cut according to the designated design, so that the designated design can be displayed on the driving area 1000 .

The design mode may be performed according to the operation of the robot 100 or the terminal 300 . The design mode may be performed by setting the operation mode of the robot 100 according to the manipulation of the robot 100 or a manipulation input on the control screen CS displayed on the terminal 300 . When the design mode is performed, the terminal 300 specifies a design to be displayed on the driving area 1000 according to a manipulation input on the map screen ZM displayed on the control screen CS, This information is transmitted to the robot 100, and the robot 100 sets the design area according to the design specified on the map screen ZM based on the information received from the terminal 300. , the grass may be cut while driving the design area according to the operation standard.

The design designated through the map screen ZM may mean a display in which one or more lines are identified. The design D may be a display drawn according to a manipulation input on the map screen ZM. For example, it may be a picture as shown in FIG. 7A , a specific figure as shown in FIG. 7B , a specific text as shown in FIG. 7C , or a specific pattern as shown in FIG. 7D . The design (D) may also include one or more of a symbol, a character, a pattern, a logo, a figure, a picture, and a pattern. When the design designated through the map screen ZM is as shown in FIG. 7 , the design as shown in FIG. 7 may be displayed on the driving area 1000 .

The manipulation input may mean an input according to a user's manipulation of the control screen CS. The manipulation input may be an input according to manipulation of at least one of touch and drag. Accordingly, as shown in FIG. 6 , the design D may be designated according to a user's touch and drag input to the map screen ZM displayed on the control screen CS.

An example in which a design designated according to a user's arbitrary manipulation input to the map screen ZM is displayed on the driving area 1000 may be as shown in FIG. 8 . As shown in FIG. 8A , when the design "robot" is designated through the manipulation input of the map screen ZM, the robot 100 sets a design area according to the designated "robot", and sets the design By driving and cutting the area according to the operation standard, the grass of the traveling area 1000 is mowed in a form in which "robot" is displayed, and "robot" is mowed on the traveling area 1000 as shown in FIG. 8A. Robot" design can be displayed. Alternatively, as shown in FIG. 8B , when the design "HAPPY ♡ BIRTHDAY" is specified through the manipulation input of the map screen ZM, the robot 100 sets the design area according to the designated "HAPPY ♡ BIRTHDAY" And, by driving and cutting the set design area according to the operation standard, the grass of the traveling area 1000 is weeded in a form in which "HAPPY ♡ BIRTHDAY" is displayed, as shown in FIG. 8B . The design "HAPPY ♡ BIRTHDAY" may be displayed on the driving area 1000 .

When performing the design mode, the robot 100 may set the design area according to the designated design inputted through the map screen ZM. The design area may be an area in which the robot 100 will cut grass while driving according to the operation standard among the traveling areas 1000 . That is, the design area may be an operation target area according to the operation standard. Accordingly, when the design mode is performed, the robot 100 divides the traveling area 1000 into the design area to be operated according to the operation standard and an area other than the design area to perform traveling and cutting operations. can be That is, in the robot 100, the design area corresponding to the designated design runs according to the operation standard and cuts the grass, and the area other than the design area travels regardless of the operation standard and cuts the grass. can

In this way, the robot 100 sets the design area according to the designated design, divides the design area and the area outside the design area, and performs driving and cutting operations, so that the design area and the area outside the design area are performed. There is a difference in the degree of cutting of the turf between the turf areas, and accordingly, the turf in the design area can be contrasted with the turf in the area outside the design area. Accordingly, the design area corresponding to the designated design is recognizable on the driving area 1000 so that the designated design can be displayed on the driving area 100 .

The operation criterion may include at least one of a driving criterion for the design area and a cutting criterion for the turf in the design area. The operation criterion may be set differently from the operation criterion for an area outside the design area. For example, the driving standard is set to be different from the driving standard for the area outside the design area so that the design area is driven differently from the area outside the design area, and the turf in the design area is cut differently from the turf in the area outside the design area. In order to do this, the cutting criterion may be set differently from the criterion for an area outside the design area. Accordingly, the robot 100 may drive the design area differently from the area outside the design area, and cut the turf in the design area differently from the turf in the area outside the design area.

The driving criterion may be a criterion for one or more of a driving speed, a time point, a time, and a number of driving in the design area. Accordingly, when the robot 100 travels in the design area, the control unit 20 allows the control unit 20 to run at least one of a traveling speed, a time point, a time, and a number differently than when traveling in an area outside the design area. The driving unit 11 may be controlled. For example, when the driving standard is set to a driving speed of 0.1 [m/s], the control unit 20 controls the driving of the driving unit 11 to travel in the design area at a speed of 0.1 [m/s]. can be controlled.

The cutting criterion may be a criterion for one or more of a cutting height, an angle, a time, and a number of cutting the turf in the design area. Accordingly, when the robot 100 runs in the design area, the control unit cuts one or more of the cutting height, cutting angle, time, and number of the grass differently from when cutting the grass outside the design area. (20) may be to control the driving of the weeding unit (30). For example, when the cutting standard is set to a cutting height of 5 [cm], the controller 20 adjusts the height of the weeding unit 30 to cut the grass in the design area at a cutting height of 5 [cm]. can be controlled.

As such, the operation criterion including at least one of the driving criterion and the cutting criterion may be preferably set as a criterion for operating so that the turf in the design area is cut lower than the turf in the area outside the design area. That is, the robot 100 may be set to cut the turf in the design area lower than the turf in the area outside the design area. In addition, the operation criterion may be set as a criterion for operating so that the turf in the design area is cut higher than the turf in the area outside the design area. That is, the operation criterion may be set as a criterion for operating so that the turf in the design area is cut differently from the turf in the area other than the design area.

In this way, the robot 100 performing the design mode sets an area corresponding to the designated design among the travel area 1000 as the design area, drives the design area according to the operation standard, and cleans the grass. can be cut For example, as illustrated in FIG. 9A , when the designated design D is “my house”, an area corresponding to “my house” among the driving area 1000 is set as the design area, and the design area By cutting the grass in the design area while driving according to the operation standard, "my house" may be displayed on the driving area 1000 . In this case, the operation criterion may be set such that the turf in the design area is cut lower than the turf in the area outside the design area.

If the operation standard is set so that the turf in the design area is cut higher than the turf in the area outside the design area, as shown in FIG. 9B , the robot 100 cuts the grass in the design area into the design area. By cutting higher than the grass in the outdoor area, "my house" can be displayed on the driving area 1000 .

The robot 100 may also set an area of the traveling area 1000 excluding an area corresponding to the designated design as the design area, and may cut the grass while driving the design area according to the operation standard. . For example, as shown in FIG. 9B , when the designated design D is "my house", an area other than the area corresponding to "our house" among the driving area 1000 is set as the design area, By driving the design area according to the operation standard and cutting the grass in the design area, "my house" may be displayed on the driving area 1000 . In this case, the operation criterion may be set such that the turf in the design area is cut lower than the turf in the area outside the design area.

If the operation standard is set such that the grass of the design area is cut higher than the grass of the area outside the design area, as shown in FIG. 9A , the robot 100 cuts the grass of the design area into the design area. By cutting higher than the grass in the outdoor area, "my house" can be displayed on the driving area 1000 .

The system 1 as described above may be implemented by applying a control method (hereinafter, referred to as a control method) of a mobile robot system to be described below.

The control method is a method for controlling the system 1 as shown in FIGS. 1A to 1C , and includes the robot 100 and the robot 100 and the terminal 300 described above. It can be applied to the system (1), and can also be applied in addition to the system (1) described above.

The control method includes the main body 10 , the driving unit 11 for moving the main body 10 , and image information about the driving area 1000 of the main body 10 by photographing the periphery of the main body 10 . By controlling the communication unit 13 and the driving unit 11 that communicate with the monitoring means installed in the photographing unit 12, the driving area 1000 to receive the photographing information of the monitoring means (C), A control method of the robot 100 including the control unit 20 for controlling the traveling of the main body 10 and determining the state of the traveling area 1000 based on the image information, wherein the traveling area 1000 ) may be a method of performing a monitoring mode that monitors and drives.

The control method includes a terminal 300 displaying a control screen CS for controlling the operation of the robot 100 and the mobile robot 100 operating in response to the manipulation of the control screen CS As a control method of the system 1 , it may be a method of performing a design mode for designing the driving area 1000 .

The control method may be a method in which the robot 100 and the terminal 300 perform the design mode.

The control method includes, as shown in FIG. 10 , displaying a map screen ZM for designation of a design to be displayed in the driving area 1000 on the control screen CS (S10), the map Designating a design to be displayed on the driving area 1000 according to a manipulation input on the screen ZM (S20), setting a design area according to the design designated on the map screen ZM (S30), and the and cutting the grass while driving the design area according to a preset operation standard (S40).

That is, the system 1 may perform the design mode in the order of the displaying step (S10), the designated step (S20), the setting step (S30), and the cutting step (S40). have.

The control method may be performed when a command for performing the design mode is input to one or more of the robot 100 or the terminal 300 .

The displaying (S10) may be a step in which the terminal 300 displays the map screen ZM for designation of a design to be displayed on the driving area 1000 on the control screen CS. .

In the displaying (S10), after the design mode is set, the terminal 300 may display the map screen ZM on the control screen CS.

The designating step ( S20 ) may be a step in which a design to be displayed on the driving area 1000 is designated according to a manipulation input on the map screen ZM displayed in the displaying step ( S10 ).

In the designated step (S20), a manipulation input for the map screen ZM is made on the map screen ZM of the terminal 300, and a design to be displayed on the driving area 1000 according to the manipulation input is made. can be specified.

In the designated step ( S20 ), a design to be displayed on the driving area 1000 may be designated according to an input according to an operation of at least one of touch and drag on the map screen ZM.

The setting step (S30) may be a step in which the robot 100 sets the design area according to the design specified in the designated step (S20).

In the setting step (S30), the robot 100 may set the design area according to the designated design input by manipulation through the map screen ZM of the terminal 300 .

In the setting ( S30 ), a region corresponding to the designated design inputted through the map screen ZM among the driving region 1000 may be set as the design region.

The setting step ( S30 ) may also set an area of the driving area 1000 , excluding an area corresponding to the designated design input manipulated through the map screen ZM, as the design area.

The cutting step (S40) may be a step of cutting the grass while the robot 100 travels in the design area set in the setting step (S30) according to the operation standard.

In the cutting step ( S40 ), the robot 100 may cut the grass while driving the design area of the traveling area 1000 according to the operation standard.

In the cutting step ( S40 ), the grass may be cut while driving the design area according to at least one of the driving standard and the cutting standard.

In the cutting ( S40 ), the turf in the design area may be cut lower than the turf in the area outside the design area.

In the cutting ( S40 ), the turf in the design area may be cut higher than the turf in the area outside the design area.

The control method including the step of displaying (S10), the step of being designated (S20), the step of setting (S30) and the step of cutting (S40) is a computer-readable medium in which a program is recorded. It can be implemented as code. The computer-readable medium includes all types of recording devices in which data readable by a computer system is stored. Examples of computer-readable media include Hard Disk Drive (HDD), Solid State Disk (SSD), Silicon Disk Drive (SDD), ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. There is also a carrier wave (for example, transmission through the Internet) that includes the implementation. In addition, the computer may include the control unit 20 .

As described above, the mobile robot system and the control method of the mobile robot system according to the present invention include a lawn mower robot, a control method for a lawn mower robot, a control means for a lawn mower robot, a lawn mower robot system, a control system for a lawn mower robot, and It may be applied to a method of controlling a lawn mower robot and the like. However, the technology disclosed herein is not limited thereto, and may be applied and implemented to all mobile robots, control means for controlling the mobile robots, mobile robot systems, methods for controlling the mobile robots, etc. to which the technical idea of the technology can be applied. can

Although specific embodiments according to the present invention have been described so far, various modifications are possible without departing from the scope of the present invention. Therefore, the scope of the present invention should not be limited to the described embodiments, and should be defined by the claims described below as well as the claims and equivalents.

As described above, although the present invention has been described with reference to limited embodiments and drawings, the present invention is not limited to the above-described embodiments, which are various modifications and variations from these descriptions by those of ordinary skill in the art to which the present invention pertains. Transformation is possible. Accordingly, the spirit of the present invention should be understood only by the claims described below, and all equivalents or equivalent modifications thereof will fall within the scope of the spirit of the present invention.

1: mobile robot system 10: main body
11: drive unit 20: control unit
30: weeding unit 100: mobile robot
200: transmitter 300: terminal
400: GPS satellite 1000: driving range

Claims (10)

A mobile robot system for cutting grass in a traveling area, the mobile robot system comprising:
a terminal for displaying a control screen for motion control of the mobile robot;
Including; the mobile robot operating in response to the manipulation of the control screen;
The mobile robot is
a sensing unit for sensing information on the posture and motion of the mobile robot; and
A control unit for controlling the traveling of the mobile robot to avoid obstacles on the traveling area and to travel,
When performing a design mode for designing the driving area,
The terminal is
displaying a map screen for designation of a design to be displayed in the driving area on the control screen,
The mobile robot is
A design area is set according to the design specified on the map screen, and the grass is cut while driving the design area according to a preset operation standard,
The design mode is
A design to be displayed in the driving area is designated according to a manipulation input on the map screen, and a driving and cutting operation is performed in the design area according to the operation standard so that the designated design is displayed in the driving area through the design area, It is a mode in which an operation is performed differently from an area other than the design area,
The operating standard is
including at least one of a driving criterion for the design area and a cutting criterion for the turf in the design area,
The driving standard is
A standard for at least one of a driving speed, a time point, a time, and a number of driving in the design area is set differently from the driving standard for an area other than the design area,
The cutting criterion is
The standard for one or more of the cutting height, angle, time and number of cutting the grass in the design area is set differently from the cutting standard for areas other than the design area,
The mobile robot is
Controlling one or more of the cutting height, angle, time and number of cutting the grass in the design area while driving the design area according to the operation standard and cutting the grass, cutting the grass so that the designated design is designed The mobile robot system, characterized in that the turf in the design area and the turf in the area other than the design area are cut differently. delete According to claim 1,
The design is
A mobile robot system comprising at least one of a symbol, a character, a pattern, a logo, a figure, a picture, and a pattern. According to claim 1,
The operation input is
A mobile robot system, characterized in that it is an input according to one or more manipulations of touch and drag. delete delete delete According to claim 1,
The mobile robot is
The mobile robot system, characterized in that by setting an area corresponding to the designated design among the traveling areas as the design area, and cutting the grass while driving the design area according to the operation standard. According to claim 1,
The mobile robot is
The mobile robot system according to claim 1, wherein an area excluding an area corresponding to the designated design is set as the design area, and the design area is driven according to the operation standard and grass is cut. a terminal for displaying a control screen for controlling an operation of a mobile robot that cuts grass in a driving area; and
In the control method of a mobile robot system comprising a; the mobile robot operating in response to the manipulation of the control screen,
displaying a map screen for designation of a design to be displayed in the driving area on the control screen;
designating a design to be displayed in the driving area according to a manipulation input on the map screen;
setting a design area according to a design designated on the map screen; and
Including; driving the design area according to a preset operation standard and cutting the grass;
The operating standard is
including at least one of a driving criterion for the design area and a cutting criterion for the turf in the design area,
The driving standard is
A standard for at least one of a driving speed, a time point, a time, and a number of driving in the design area is set differently from the driving standard for an area other than the design area,
The cutting criterion is
The standard for one or more of the cutting height, angle, time and number of cutting the grass in the design area is set differently from the cutting standard for areas other than the design area,
The step of cutting the grass while driving the design area according to a preset operation standard,
Controlling one or more of the cutting height, angle, time and number of cutting the grass in the design area while driving the design area according to the operation standard and cutting the grass, and cutting the grass so that the designated design is designed, The control method of the mobile robot system, characterized in that the turf in the design area and the turf in the area other than the design area are cut differently.

Images