KR102341703B1 - Robot for driving optimal path, and method for operating the same - Google Patents

Abstract

The present invention establishes a movement route from one point to another point within the travel area by recognizing a main body, a travel unit for moving the main body, a storage unit for storing a map for the travel area, and a current location, and the movement path a control unit for controlling the driving unit to repeatedly travel along Thus, there is provided a mobile robot for driving an optimal route, characterized in that it sets a detour route that bypasses the detour target point.

Description

Mobile robot for optimal route driving and its operation method {ROBOT FOR DRIVING OPTIMAL PATH, AND METHOD FOR OPERATING THE SAME}

The present invention relates to a mobile robot for driving an optimal route and an operating method thereof, and more particularly, to set an optimal movement route within a driving area and drive, but detect a change in floor flatness to set an optimal detour route It relates to a mobile robot for optimal path driving and an operation method thereof.

Recently, research on mobile robots incorporating autonomous driving technology has been actively conducted. However, most of the research is limited to detecting the area where the mobile robot can travel. As an example, Korean Patent Registration No. 10-1762504 also discloses only the content of effectively detecting a small obstacle on the floor using a laser distance sensor to secure a drivable area of the mobile robot.

On the other hand, when the mobile robot sets a movement path from one point to another within the driving area and drives, the floor is dented to a very small depth or sloped at a small angle despite the drivable area or drivable path. It may occur when the flatness of is not constant.

That is, according to the conventional mobile robot, if the mobile robot can travel on a route that can be driven even if the flatness of the floor is not constant, the optimal movement route is included when setting the optimal movement route having the shortest movement distance or the minimum movement time. . Even so, this did not cause any particular problems.

However, when the mobile robot repeatedly moves in the drivable area or drivable path where the floor flatness is not constant as described above, the mobile robot is Problems such as errors may occur in position recognition, poses may change even if the position of the mobile robot does not change, and malfunctions may occur in precisely designed mobile robots due to repeated shaking may occur.

In particular, the above problem mainly occurs in mobile robots having a high center of gravity and a light weight (or weight) than a mobile robot having a low center of gravity (for example, a robot cleaner, etc.), and the present inventors can solve this problem We would like to suggest a technology.

KR 10-2007-0027840 A1 KR 10-1762504 B1

According to the present invention, even if the mobile robot is capable of running, it is possible to set a detour target point that can affect the location recognition or posture recognition of the mobile robot through repeated driving, and an optimal route that can set another optimal route to bypass it. An object of the present invention is to provide a mobile robot for driving and an operation method thereof.

In order to solve the above problems, the present invention provides a main body, a driving unit for moving the main body, a storage unit for storing a map for the driving area, and a movement path from one point to another point in the driving area by recognizing the current location and a control unit for controlling the driving unit to repeatedly travel along the movement path, wherein the control unit detects the flatness of the floor on the movement path to generate floor information, and the movement based on the floor information There is provided a mobile robot for optimal route driving, characterized in that by selecting a detour target point on a path, and setting a detour route that bypasses the detour target point.

According to an embodiment, the control unit controls the driving unit to forcibly drive along the movement path passing through the detour target point according to a control command while the mobile robot travels along the detour path, but the movement The path may be the shortest distance or the optimal moving path that takes the least time.

According to an exemplary embodiment, the controller may control the vehicle to travel by changing a moving speed according to the type and/or shape of the detour target point.

According to an embodiment, the control unit predicts the information on the detour target point by applying the floor flatness calculated by driving along the movement route to the floor learning database, but the information on the detour target point, It may be the type and/or shape of the detour target point.

According to an embodiment, the control unit updates the floor information by combining the floor plan calculated by the mobile robot and the other mobile robot, wherein the other mobile robot includes: It may be a robot that approaches in a direction different from the approach direction.

According to an embodiment, the apparatus may further include a lidar configured to detect a front object using a laser light, and the controller may calculate the floor flatness using a value sensed by the lidar.

According to an embodiment, the mobile robot may further include a posture sensor for detecting the posture of the mobile robot, and the controller may calculate the floor flatness using a value sensed by the posture sensor.

According to an embodiment, further comprising a wheel sensor for detecting the number of revolutions of one wheel of the driving unit, wherein the control unit compares the movement speed calculated using the value detected by the wheel sensor with the command speed The floor flatness may be calculated.

According to an embodiment, the controller may detect slippage due to the floor by comparing the command speed with the movement speed calculated using the value detected by the fan sensor.

In addition, the present invention provides a method of operating a mobile robot including a main body and a traveling unit for moving the main body, the steps of a storage unit providing a map for a traveling area, and a control unit recognizing a current location to be within the traveling area. Setting a movement path from one point to another point, controlling the traveling unit to repeatedly travel along the movement path, and the control unit generating floor information by sensing the flatness of the floor on the movement path; Provided is an operating method of a mobile robot for optimal route driving, comprising the step of, by a controller, selecting a detour target point on the movement route based on the floor information, and setting a detour route that bypasses the detour target point.

According to an embodiment of the present invention, when a groove of a minute depth or a slope of a minute angle exists on the optimal path on which the mobile robot can travel, it is set as a detour target point and is different from the optimal path according to the drivable path. By setting the optimal detour route, it is possible to solve the problem of position recognition error, posture recognition error, or malfunction of the mobile robot, which may occur by repeatedly driving the detour target point.

In addition, according to an embodiment of the present invention, by detecting the flatness of the floor by various means, it is possible to improve the detection accuracy.

In addition, according to an embodiment of the present invention, by combining the floor flatness sensed by a plurality of mobile robots rather than one mobile robot, preferably a mobile robot passing the detour target point in a different driving direction, more accurate Floor information can be obtained.

1 is an external view of a mobile robot according to an embodiment of the present invention.
2 is a block diagram of a mobile robot according to an embodiment of the present invention.
3 is an exemplary view of a map generated by a mobile robot according to an embodiment of the present invention.
4A is an exemplary diagram in which the mobile robot calculates an optimal movement path according to an embodiment of the present invention.
4B is an exemplary view in which a groove having a micro-depth is formed on the optimal movement path of FIG. 4A.
FIG. 4C is an exemplary view in which a detour route is calculated according to the groove shown in FIG. 4B.
5 is a view for explaining a process of combining the results of floor flatness detected by a plurality of mobile robots according to an embodiment of the present invention.
6 is a step-by-step flowchart of a method of operating a mobile robot according to an embodiment of the present invention.

Hereinafter, the embodiments disclosed in the present specification will be described in detail with reference to the accompanying drawings, but the same or similar components are assigned the same reference numbers regardless of reference numerals, and redundant description thereof will be omitted. The suffixes "module" and "part" for the components used in the following description are given or mixed in consideration of only the ease of writing the specification, and do not have distinct meanings or roles by themselves. In addition, in describing the embodiments disclosed in the present specification, if it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed in this specification, the detailed description thereof will be omitted. In addition, the accompanying drawings are only for easy understanding of the embodiments disclosed in the present specification, and the technical idea disclosed herein is not limited by the accompanying drawings, and all changes included in the spirit and scope of the present invention , should be understood to include equivalents or substitutes.

When an element is referred to as being “connected” or “connected” to another element, it is understood that it may be directly connected or connected to the other element, but other elements may exist in between. it should be On the other hand, when it is said that a certain element is "directly connected" or "directly connected" to another element, it should be understood that the other element does not exist in the middle.

The singular expression includes the plural expression unless the context clearly dictates otherwise.

In this specification, terms such as "comprises" or "have" are intended to designate that the features, numbers, steps, operations, components, parts, or combinations thereof described in the specification exist, but one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof.

mobile robot

FIG. 1 is an external view illustrating a mobile robot according to an embodiment of the present invention, and FIG. 2 is a configuration diagram of a mobile robot according to an embodiment of the present invention.

1 and 2, the mobile robot 10 for optimal path driving according to an embodiment of the present invention includes a main body, a driving unit 120 for moving the main body, and A storage unit 130 for storing a map, and a control unit 110 for recognizing the current location, setting a movement route from one point to another point in the driving area, and controlling the driving unit 120 to repeatedly travel along the movement route may include In this case, the control unit 110 generates floor information by calculating the flatness of the floor on the movement path, selects a detour target point on the movement path based on the floor information, and can set a detour route that bypasses the detour destination point have.

The mobile robot 10 according to an embodiment of the present invention sets this as a detour target point when there is a groove of a minute depth or an inclination of a minute angle on a preset optimal drivable path, and sets it as a detour target point and avoids it. By setting the detour route, it is possible to solve the problem of position recognition error, posture recognition error, or malfunction of the mobile robot, which may occur by repeatedly driving the detour target point.

However, since the components shown in FIGS. 1 and 2 are not essential, it goes without saying that a mobile robot for optimal path driving having more or fewer components than that may be implemented.

Hereinafter, each component will be described.

The mobile robot 10 according to an embodiment of the present invention may be a mobile robot having a high center of gravity and a short weight (or weight). That is, as shown in FIG. 1, the body forming the exterior has a height longer than width or length, and is more sensitive to the flatness of the floor than a mobile robot with a low center of gravity, When traveling across a groove or a slope of a small angle in the floor, the mobile robot 10 may not be able to move as much as the amount of movement according to the control signal, and accordingly, the moving robot 10 An error may occur in the recognized current position, and even if an error does not occur in the current position of the mobile robot 10, the pose may change, and the mobile robot 10 may be rattled due to the flatness of the floor. There is a problem that may cause malfunction.

The driving unit 120 may include at least one wheel for moving the main body of the mobile robot 10 and a driving device including a motor for rotating the wheel.

The driving unit 120 may further include a steering device for setting the driving direction in the forward, backward, left, and right directions. However, when the steering device is not included, the driving unit 120 rotates the wheels provided on the left and right sides without the steering device. The driving direction of the main body may be changed to the left or right by differentiating the speed, or the main body may be rotationally driven.

Although not shown in the drawings, the mobile robot 10 according to an embodiment of the present invention may further include a battery for supplying power necessary for the overall operation, wherein the battery is preferably a rechargeable secondary battery.

The storage unit 130 may store a control program for controlling or driving the mobile robot 10 and data corresponding thereto. Specifically, the storage unit 130 may store a map of the driving area, and may store audio information, image information, obstacle information, location information, and the like. Also, the storage unit 130 may store a driving method and the like.

The storage unit 130 may mainly use a non-volatile memory, where a non-volatile memory (NVM, NVRAM) is a storage device that can continuously maintain stored information even when power is not supplied, for example, It may be a ROM, a flash memory, a magnetic computer storage device (eg, a hard disk, a diskette drive, a magnetic tape), an optical disk drive, magnetic RAM, PRAM, and the like.

The controller 110 is a means for controlling the overall operation of the mobile robot 10 , and may execute various application programs in conjunction with each component of the mobile robot 10 and perform related operations. That is, the controller 110 may control the driving of the mobile robot 10 by processing signals or data input/output through the components of the mobile robot 10 or by driving an application program stored in the storage unit 130 . have. Also, the controller 110 may control at least some of the components of the mobile robot 10 in order to drive the application program stored in the storage unit 130 .

The control unit 110 may generate a map for the driving area as shown in FIG. 3 by using the obstacle information detected by the forward detection sensor or the obstacle detection sensor and the position recognized by the at least one camera sensor. have. Alternatively, the map is not generated while the mobile robot 10 autonomously drives, but may be provided from the outside and stored in the storage unit 130 . A method of generating a map for the driving region follows a known method, and is not particularly limited in the present invention.

Among the terms used in this specification, 'driving area' is an area formed by an obstacle such as a wall, and may refer to an area in which the mobile robot 10 can move or travel.

In addition, the controller 110 may recognize the current position of the mobile robot 10 using image data captured by at least one camera (not shown) provided in the main body, and to increase the recognition accuracy of the current position. Image data captured by a plurality of cameras instead of one may be used, or signals or data output from an acceleration sensor, a gyro sensor, a wheel sensor, etc. may be combined. The method for the controller 110 to recognize the current location also follows a known method, and the present invention is not particularly limited.

The communication unit 150 is for performing communication with an external terminal device or server, and the communication method may be wired or wireless. For example, the communication method is WLAN (Wireless LAN), WiFi (Wireless Fidelity) Direct, DLNA ( Digital Living Network Alliance), Wibro (Wireless broadband), Wimax (World Interoperability for Microwave Access), HSDPA (High Speed Downlink Packet Access), etc. ), infrared communication (IrDA), Zigbee (Zigbee), such as short-distance wireless communication method may be one of.

Meanwhile, the control unit 110 may set a movement path from one point to another point in the traveling area, recognize the current location, and control the traveling unit 120 to repeatedly travel along the movement path.

To this end, the mobile robot 10 may include an input unit (not shown) for receiving various commands or inputs from the user.

The input unit may include at least one button to receive input from the user for setting a moving point, setting a moving route, or setting an action to be performed, and the input unit may be linked with the communication unit 150 to connect an external terminal device or a wired/wireless device or It can also receive various commands or inputs from the server.

Specifically, the user uses a remote terminal to generate and transmit a movement command to the mobile robot 10 to move to a certain point in the driving area, or set at least two points and follow the generated movement path. It is also possible to generate and transmit a driving command for driving once or twice or more.

4A is an exemplary diagram in which the mobile robot calculates an optimal movement path according to an embodiment of the present invention.

As shown in FIG. 4A, the mobile robot 10 receives a setting input for two points within the driving area, that is, from one point P1 to another point P6 according to the user input, and connects between the two set points. It is possible to receive a driving command to repeatedly drive. Of course, at this time, a command to perform a predetermined operation (for example, unloading goods, etc.) may be received between two points or at two points.

Accordingly, the mobile robot 10 may set the optimal movement path by referring to the map of the driving area from two points P1 and P6 according to the user input as a starting point. Specifically, the mobile robot 10 recognizes obstacles O1 and O2 existing on a straight path between two points P1 and P6, and sets a path to bypass the obstacles O1 and O2, but is set on the bypass path. The shortest distance path or the minimum time path can be calculated using the number of rotations of the mobile robot 10 at the intermediate points (P2 to P6), the rotation time, and the distance between the intermediate points, and the shortest distance movement and the minimum time An optimal movement path C1 may be set based on movement.

On the other hand, the mobile robot 10 according to an embodiment of the present invention may repeatedly travel between two points P1 and P6 along the optimal movement path C1, depending on the repeated driving between the two points, or As other external causes, before or after, as shown in reference numeral g in FIG. 4B , a groove of a very small depth is dented in the floor, an inclination of a small angle occurs, or slippage may occur. In this specification, the part indicated by the reference numeral g will be referred to as a 'bypass target point'.

Whenever the mobile robot 10, which repeatedly travels along the optimal movement path C1, moves across the detour target point g, an error may occur in the recognition of the position of the mobile robot, and Even if the position does not change, the pose may change, and problems such as a malfunction may occur in a precisely designed mobile robot due to repeated shaking.

In order to solve this problem, the mobile robot 10 (or the control unit 110) can be adjusted to an absolute position and/or an absolute posture from any one starting point P1 or P2 on the optimal movement path C1, but the present invention The mobile robot 10 according to an embodiment of , generates floor information by calculating the floor flatness on the movement path in advance, selects a detour target point (g) on the movement path based on the floor information, and selects the detour target A detour route that bypasses the point (g) can be set.

The control unit 110 may use the output signal of the sensor unit 140 to detect the detour target point g.

The sensor unit 140 is not particularly limited as long as the moving robot 10 is for detecting the detour target point g of the floor, but as a specific example, the lidar 141, the posture sensor 142 and the wheel sensor (143) may be any one or a combination thereof.

The lidar 141 is a means for detecting an object in front by using laser light, and it is possible to detect an object in front by detecting a light signal that has been reflected by irradiating light and measuring the distance. can The lidar 141 may be disposed in the traveling direction of the mobile robot 10, that is, in the front, rear, or left and right sides, but the arrangement is not particularly limited.

The controller 110 may calculate the floor flatness using the front floor running surface sensed by the lidar 141 while the mobile robot 10 is running, and may generate floor information using this. Here, the floor information includes information such as the flatness of the floor of the driving area or the location, size, and/or shape of obstacles existing on the floor, and may be a floor map.

The control unit 110 may calculate the flatness of the floor on the movement path by using the lidar 141, and the driving surface of the floor is even and flat. In this case, it can be determined that there is a detour target point (g) in the corresponding location.

In addition, the posture sensor 142 is a means for detecting the posture of the mobile robot 10, and may be made of any one or a combination of an acceleration sensor and a gyro sensor, and the controller 110 ) can generate floor information according to this by detecting a change in posture while driving of the mobile robot 10 and calculating the floor flatness.

Specifically, the acceleration sensor may detect a change in the speed of the mobile robot 10 , for example, a change in the movement speed generated by crossing the detour target point g. For example, the acceleration sensor may be attached to a position adjacent to the wheel to detect slippage or idling of the wheel. That is, the speed can be calculated using the acceleration detected by the acceleration sensor, and the flatness of the floor of the running surface can be calculated by comparing the speed with the command speed. In addition, the control unit 110 may compare the movement speed calculated using the acceleration sensor with the command speed, and detect the sliding of the mobile robot 10 on the floor according to the difference.

The gyro sensor may detect a rotational direction and/or a rotational angle when the mobile robot 10 travels. The gyro sensor may detect the angular velocity of the mobile robot 10 and output a voltage value proportional to the angular velocity, and the control unit 110 may use this to calculate the rotation direction and/or rotation angle of the mobile robot 10 have.

In addition, the wheel sensor 143 may be connected to the wheel to detect the number of revolutions of the wheel. The wheel sensor may be, for example, a rotary encoder, and the rotary encoder may detect and output the number of revolutions of at least one wheel when the mobile robot 10 drives.

The control unit 110 may calculate the rotational speed and the moving speed of the mobile robot 10 by using the number of revolutions of the wheels detected by the wheel sensor 143, and compare the moving speed with the command speed to determine the speed of the running surface. The floor flatness can be calculated. In addition, the control unit 110 may compare the movement speed calculated using the wheel sensor 143 with the command speed and detect the sliding of the mobile robot 10 on the floor according to the difference.

Coming back, the control unit 110 may set a detour route that bypasses the selected detour target point g based on the floor information generated using the sensor unit 140 .

FIG. 4C is an exemplary view in which a detour route is calculated according to the groove shown in FIG. 4B. That is, as shown in FIG. 4C , the controller 110 avoids the detour target point g on the optimal movement path C1 while driving along the previously set optimal movement path C1. A detour route (C2) can be set.

Similarly for the detour route (C2) setting, the optimal movement route is set by referring to the map for the driving area from two points P1 and P6, which are two points according to the user input, but the optimal movement route that does not pass the detour target point (g) is selected. It can be set as a detour route. That is, the optimal movement route (C1) that does not consider the detour target point (g) is a route that passes through P1, P2, P3, P4, P5, and P6 points in sequence, but depending on the occurrence of the detour target point (g), the detour target point The detour route C2 for avoiding (g) may be a route passing through points P1, P2, P21, P31, P41, P42, P5 and P6 in sequence.

Meanwhile, the mobile robot 10 according to an embodiment of the present invention can predict information on the detour target point g by applying the floor flatness calculated by driving along the movement route to the floor learning database.

The floor learning database contains information about the detour target point (g) corresponding to the floor flatness, that is, the type of the detour target point (g) (groove, chin, slope, smooth surface, etc.), size and/or direction. information can be stored.

That is, the control unit 110 applies the floor flatness detected and calculated by the sensor unit 140 while driving of the mobile robot 10 to a pre-stored floor learning database, thereby the corresponding bypass target detected by the sensor unit 140 . The optimal detour route C2 can be set by predicting the information on the point g and judging how far away from the detour target point g to evade maneuver.

In addition, since the mobile robot 10 according to an embodiment of the present invention approaches the detour target point g only in one or two directions as shown in FIG. 4B, due to limited base information, the detour target point ( g), there may be limitations in predicting information about

Accordingly, the mobile robot 10 according to the preferred embodiment may update the existing floor information by combining the calculated floor flatness detected by the other mobile robots 11 to 13 . At this time, the other mobile robots 11 to 13 may be robots that approach the detour target point g from a different direction or travel in a different direction. Reference numerals d1 to d3 indicate the approach or travel direction of the plurality of mobile robots to the detour target point g.

Specifically, as shown in FIG. 5, any one mobile robot 10 or server (not shown) combines the results of floor flatness detected and calculated by a plurality of other mobile robots 11 to 13, thereby detour target It is possible to improve the information accuracy about the point (g).

To this end, the plurality of mobile robots 10 to 13 may directly transmit/receive data through the communication unit 150 or may transmit/receive data through a service.

Furthermore, by applying the floor flatness calculated by each of the plurality of mobile robots 10 to 13 to the floor learning database, and combining information on each predicted detour target point (g), to the detour target point (g) prediction accuracy can be further improved.

On the other hand, the mobile robot 10 according to an embodiment of the present invention may set a detour route C2 to avoid the detour target point g, and travel along the detour route C2, but as described above Similarly, the detour route C2 has a problem in that it takes a long time or a movement distance compared to the previously set optimal movement route C1.

In addition, since the detour target point (g) among the terms used in this specification is not a driving impossibility point where the mobile robot 10 cannot drive, it is an optimal movement path other than the detour route C2 according to user input. (C1) can be forcibly driven.

That is, the mobile robot 10 according to an embodiment of the present invention can travel along the optimal movement route C1 that takes the shortest distance or the minimum time, rather than the detour route C2, according to the user's control command. In this case, a detour target point g may exist on the optimal movement path C1.

At this time, when the mobile robot 10 passes over the detour target point (g), by using information about the detour target point (g), the moving speed is changed according to the type and/or shape of the detour target point (g). can drive

As an example, if the detour target point (g) is a recessed groove with a small width, the mobile robot 10 travels over the detour target point (g) at high speed to minimize the impact on the mobile robot 10. If there is, and the detour target point g is a downhill slope, the mobile robot 10 travels over the detour target point g at a slow speed so that the mobile robot 10 deviates from the optimal movement path C1 or in front of it. It can prevent collision with obstacles.

At this time, the information on the detour target point (g), as in the previous embodiment, is predicted using a floor learning database or a combination of floor flatness calculated by a plurality of mobile robots, or a plurality of It may be a combination of those predicted from the floor flatness calculated by the mobile robot.

Operation method of mobile robot for optimal route driving

6 is a step-by-step flowchart of a method of operating a mobile robot for optimal path driving according to an embodiment of the present invention.

As shown in FIG. 6 , the operating method of the mobile robot for optimal path driving according to an embodiment of the present invention includes the steps of the storage unit 130 preparing a map for the driving area (S110), and the control unit ( 110) recognizing the current location, setting a movement path from one point to another point in the traveling area, and controlling the traveling unit 120 to repeatedly travel along the movement path (S120), and the control unit 110 generating floor information by calculating the flatness of the floor on the movement path (S130), the controller 110 selects a detour target point (g) on the movement path based on the floor information, and (g) may include the step of setting a detour route to bypass (S140).

Accordingly, the mobile robot 10 according to an embodiment of the present invention sets a detour route for avoiding and maneuvering when a detour target point g exists on a preset optimal drivable route. It is possible to solve the position recognition error problem, the posture recognition error problem, or the malfunction problem of the mobile robot that may occur by repeatedly driving (g).

Since the description of each step included in the operating method of the mobile robot for the optimal route running overlaps with the above, the description thereof will be omitted and will be replaced therewith.

computer readable recording medium

The operating method of the mobile robot for optimal path driving according to an embodiment of the present invention described above may be implemented in the form of program instructions that can be executed through various computer components and recorded in a computer-readable recording medium.

The computer-readable recording medium may include program instructions, data files, data structures, etc. alone or in combination. The program instructions recorded on the computer-readable recording medium may be specially designed and configured for the present invention, or may be known and available to those skilled in the computer software field. Examples of the computer-readable recording medium include hard disks, magnetic media such as floppy disks and magnetic tapes, optical recording media such as CD-ROMs and DVDs, and magneto-optical media such as floppy disks. media), and hardware devices specially configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like. The hardware device may be configured to operate as one or more software modules for carrying out the processing according to the present invention, and vice versa.

As above, preferred embodiments of the present invention have been described in detail with reference to the drawings. The description of the present invention is for illustrative purposes, and those skilled in the art to which the present invention pertains will understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention.

Accordingly, the scope of the present invention is indicated by the claims described below rather than the above detailed description, and all changes or modifications derived from the meaning, scope, and equivalent concept of the claims are included in the scope of the present invention. should be interpreted

10: mobile robot 110: control unit
120: driving unit 130: storage unit
140: sensor unit 141: lidar
142: attitude sensor 143: wheel sensor
150: communication department

Claims (10)

main body;
a driving unit for moving the main body;
a storage unit for storing a map for the driving area; and
a control unit for recognizing a current location, setting a movement path from one point to another point within the traveling area, and controlling the traveling unit to repeatedly travel along the movement path;
including,
The control unit generates floor information by sensing the flatness of the floor on the movement path, and selects a detour target point on the movement path based on the floor information. Sets the movement distance or travel time longer than the movement route -
The detour target point corresponding to the flatness of the floor is a combination of the floor information calculated by a plurality of mobile robots approaching the detour target point in different directions, and the control unit determines how far from the detour target point to determine whether an evasive maneuver should be performed along the detour route, and if the detour target point is a point that is not a driving impossibility point where the mobile robot cannot drive, the control unit causes the mobile robot to repeat along the detour route Control to force driving along the movement path to pass over the detour target point according to a control command during the driving process,
The mobile robot for optimal path driving, characterized in that the traveling speed is changed to travel over the detour target point according to the type and/or shape of the detour target point. delete delete The method of claim 1,
The control unit is
The information on the detour target point is predicted by applying the floor flatness calculated by driving along the movement route to the floor learning database,
The information on the detour target point is a type and/or form of the detour target point. delete The method of claim 1,
LiDAR that detects a front object using laser light;
further comprising,
The control unit, the mobile robot for optimal path driving, characterized in that for calculating the flatness of the floor using the value sensed by the lidar. The method of claim 1,
a posture sensor for detecting the posture of the mobile robot;
further comprising,
The control unit, the mobile robot for optimal path driving, characterized in that for calculating the flatness of the floor using the value sensed by the posture sensor. The method of claim 1,
a wheel sensor for detecting the number of revolutions of one wheel of the driving unit;
further comprising,
wherein the control unit compares the movement speed calculated using the value sensed by the wheel sensor with the command speed to calculate the floor flatness. 9. The method of claim 8,
The control unit is
The mobile robot for optimal path driving, characterized in that it detects slippage due to the floor by comparing the movement speed calculated using the value detected by the wheel sensor with the command speed. In the operating method of a mobile robot comprising a main body and a traveling part for moving the main body,
The storage unit may include: preparing a map for the driving area;
Controlling the driving unit to recognize a current location, set a moving path from one point to another point in the driving area, and repeatedly travel along the moving path;
generating, by the controller, floor information by sensing the flatness of the floor on the movement path; and
The control unit selects a detour target point on the movement path based on the floor information, and a detour route that bypasses the detour destination point. setting up;
including,
The detour target point corresponding to the floor flatness is a combination of the floor information calculated by other mobile robots approaching in different directions, and the control unit follows the detour path at some distance from the detour target point. It is determined whether an evasive maneuver is to be performed, and when the detour target point is a point that is not a point where the mobile robot cannot run, the control unit provides a control command during the process of repeatedly driving the mobile robot along the detour route. Controlled to forcibly drive along the movement path to pass over the detour target point according to Operation method of mobile robot for optimal route driving.

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