KR102350934B1 - Moving robot - Google Patents

Abstract

A mobile robot according to an aspect of the present invention includes a main body including an openable and openable head, a traveling unit for moving the main body, a fingerprint input unit for inputting a fingerprint, a storage unit for storing registered fingerprint information, and a fingerprint input unit By including a control unit that compares the input fingerprint information with the registered fingerprint information stored in the storage unit, and releases the lock setting so that the head can be opened when there is registered fingerprint information corresponding to the input fingerprint information, in a public place It can be operated safely.

Description

Moving robot

The present invention relates to a mobile robot, and more particularly, to a mobile robot in which a user can safely and conveniently check and control information.

Robots have been developed for industrial use and have been a part of factory automation. In recent years, the field of application of robots has been further expanded, and medical robots and aerospace robots have been developed, and household robots that can be used in general households are also being made. Among these robots, those capable of driving by their own power are called mobile robots.

A representative example of the mobile robot is a robot cleaner, which is a device that cleans a corresponding area by sucking dust or foreign substances around it while driving in a certain area by itself.

The robot cleaner disclosed in the prior art (Publication No. 10-2013-0092729) includes a main body having a traveling unit, a recognition unit provided in the main body to recognize information on an area to be cleaned, and a storage provided in the main body to store information on an area to be cleaned A display unit provided in the unit and main body to display cleaning-related information, and a control unit for recognizing and comparing information about a pre-stored cleaning area with information about a current cleaning area, and controlling the current cleaning progress state to be displayed on the display unit includes

Since the robot cleaner disclosed in the prior art is placed on the floor, the user has to check the display unit in a state in which the user bends the waist in order to check the current cleaning progress, and due to the size limitation of the display unit itself, the user can display There is a problem in that it is difficult to intuitively and easily view the information displayed on the unit.

On the other hand, mobile robots operated in public places such as airports, train stations, department stores, and ports where a large number of people stay or move may be more exposed to the risk of safety accidents or may cause safety accidents.

A safety accident may also occur when curious outside personnel try to manipulate the mobile robot while touching it in a public place.

Accordingly, there is a need for a method for preventing safety accidents caused by mobile robots operating in public places.

In addition, there is a need for a method capable of preventing theft of a mobile robot operated in a public place or parts in the mobile robot.

1. Publication No. 10-2013-0092729 (published on August 21, 2013)

An object of the present invention is to provide a mobile robot that can be safely operated in a public place.

An object of the present invention is to provide a mobile robot capable of reducing the risk of accidents between humans and mobile robots by providing a user interface screen in a specific situation.

An object of the present invention is to provide a mobile robot that allows a user to conveniently check and control information.

An object of the present invention is to provide a mobile robot capable of identifying a user and providing a user interface screen according to the user's authority.

In order to achieve the above or other object, a mobile robot according to an aspect of the present invention includes a main body including an openable and openable head, a traveling unit for moving the main body, a fingerprint input unit to which a fingerprint is input, and a method for storing registered fingerprint information. Comparing the fingerprint information input through the storage unit and the fingerprint input unit with the registered fingerprint information stored in the storage unit, and if there is registered fingerprint information corresponding to the input fingerprint information, unlocking the lock setting to open the head By including a control unit, it can be safely operated in a public place.

In order to achieve the above or other objects, a mobile robot according to an aspect of the present invention includes a main body including an openable and openable head and a body portion located at the lower end of the head and having an openable and openable cover, the rear surface of the main body It includes a lock provided in the lock, and a driving unit for moving the main body, and when a preset operation is performed on the locking device, the lock setting of the head and the cover can be released.

According to at least one of the embodiments of the present invention, it is possible to provide a mobile robot that can be safely operated in a public place.

In addition, according to at least one of the embodiments of the present invention, by providing a user interface screen in a specific situation, there is an advantage in that it is possible to reduce the risk of accidents between humans and mobile robots.

In addition, according to at least one of the embodiments of the present invention, it is possible to improve user convenience by providing various user interface screens.

In addition, according to at least one of the embodiments of the present invention, it is possible to provide a mobile robot capable of identifying a user and providing a user interface screen according to the user's authority.

On the other hand, various other effects will be disclosed directly or implicitly in the detailed description according to the embodiment of the present invention to be described later.

1 is a view showing a front part of a mobile robot according to an embodiment of the present invention.
2 is a view showing a rear portion of a mobile robot according to an embodiment of the present invention.
3 is a block diagram illustrating a control relationship between main components of a mobile robot according to an embodiment of the present invention.
4 is a view showing a front part of a mobile robot according to an embodiment of the present invention.
5 to 7 are views showing an open state of the head of the mobile robot according to an embodiment of the present invention.
8 is a view showing an open state of the head of the mobile robot according to an embodiment of the present invention.
9 is a diagram referenced in the description of fingerprint recognition and the corresponding operation of the mobile robot according to an embodiment of the present invention.
10 and 11 are diagrams illustrating an interface screen provided by a mobile robot according to an embodiment of the present invention.
12 is a diagram referenced in the description of a mobile robot including a locking device according to an embodiment of the present invention.
13 and 14 are diagrams referenced in the description of unlocking the lock setting according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, it goes without saying that the present invention is not limited to these embodiments and may be modified in various forms.

In the drawings, in order to clearly and briefly describe the present invention, the illustration of parts irrelevant to the description is omitted, and the same reference numerals are used for the same or extremely similar parts throughout the specification.

On the other hand, the suffixes "module" and "part" for the components used in the following description are given simply in consideration of the ease of writing the present specification, and do not give a particularly important meaning or role by themselves. Accordingly, the terms “module” and “unit” may be used interchangeably.

The mobile robot 100 according to an embodiment of the present invention means a robot capable of moving by itself using wheels, etc., and may be a robot cleaner or the like. Hereinafter, a robot cleaner having a cleaning function among mobile robots will be described as an example with reference to the drawings, but the present invention is not limited thereto.

FIG. 1 is a view showing a front part of a mobile robot according to an embodiment of the present invention, and FIG. 2 is a view showing a rear part of the mobile robot according to an embodiment of the present invention.

3 is a block diagram illustrating a control relationship between main components of a mobile robot according to an embodiment of the present invention.

1 to 3 , the mobile robot 100 may include a main body 101 and a traveling unit 160 that moves the main body 101 .

Hereinafter, in defining each part of the main body 101, the portion facing the ceiling in the traveling area is defined as the upper surface portion, the portion facing the floor in the traveling area is defined as the bottom surface portion, and the body 101 is located between the upper surface portion and the bottom surface portion. ), a portion facing the driving direction is defined as a front portion, and a portion facing the opposite direction of the front portion is defined as a rear portion.

The mobile robot 100 includes a traveling unit 160 that moves the main body 101 . The driving unit 160 includes at least one driving wheel 136 for moving the main body 101 . The driving unit 160 includes a driving motor (not shown) connected to the driving wheel 136 to rotate the driving wheel. The driving wheels 136 may be provided on the left and right sides of the main body 101, respectively, hereinafter referred to as a left wheel and a right wheel, respectively.

The left wheel and the right wheel may be driven by one driving motor, but if necessary, a left wheel driving motor for driving the left wheel and a right wheel driving motor for driving the right wheel may be provided, respectively. The traveling direction of the main body 101 can be switched to the left or right by making a difference in the rotation speeds of the left and right wheels.

A suction port (not shown) through which air is sucked may be formed at the bottom of the main body 101, and a suction device (not shown) that provides suction power so that air can be sucked through the suction port in the body 101; , a dust container (not shown) for collecting dust sucked together with air through the suction port may be provided. In addition, the dust bin may be provided with a dust bin cover (not shown) to dispose of internal dust.

The main body 101 may include a body portion 102 forming a space in which various parts constituting the mobile robot 100 are accommodated, and a head portion 110 disposed on the upper side of the body portion 102 to be opened and closed. can

The head unit 110 may include an openable and openable head 111 and a coupling unit 112 to which the head 111 is opened and closed.

In addition, depending on the embodiment, a switch or sensor for detecting whether the head 111 is opened or closed may be disposed on the head 111 and/or the fastening part 112 .

In addition, the mobile robot 100 may include a display 182 accommodated in the body 101 .

A user can open the head 111 to insert and remove the dust container from the inside of the main body 101 .

Depending on the embodiment, the head unit 110 may be opened and closed in a plurality of ways or may include one or more opening/closing mechanism structures.

For example, the head 111 is opened by lifting the head 111, or a button is provided on the head part 110, and when the user presses the button, a predetermined cover is opened toward the user side. can be implemented.

In this case, the display 182 is disposed in a partitioned predetermined area of the internal storage space, and the opening/closing mechanism opened by the user's button operation may be configured as a dedicated opening/closing structure of the area in which the display 182 is disposed. . Accordingly, when the user presses the button, the display 182 may be configured to protrude toward the user.

On the other hand, the mobile robot 100 includes a roll-type main brush (not shown) having brushes exposed through the suction port, and a brush located on the front side of the bottom surface of the main body 101 and composed of a plurality of radially extending wings. An auxiliary brush 135 having an auxiliary brush may be provided. The rotation of these brushes separates the dust from the floor in the driving area, and the dust separated from the floor is sucked through the suction port and collected in the dust bin.

Meanwhile, the mobile robot 100 may include a power supply unit (not shown) that includes a rechargeable battery (not shown) and supplies power to the mobile robot 100 .

The power supply unit supplies driving power and operating power to each component of the mobile robot 100, and when the remaining power is insufficient, the power supply may be charged by receiving a charging current from a charging stand (not shown).

The mobile robot 100 may further include a battery detecting unit (not shown) that detects the state of charge of the battery (not shown) and transmits the detection result to the controller 140 . The battery is connected to the battery detection unit, and the remaining battery amount and charging state are transmitted to the control unit 140 . The remaining battery level may be displayed on the display 182 of the output unit 180 .

The battery (not shown) supplies power required for the overall operation of the mobile robot 100 as well as the driving motor. The body portion 102 may include an openable and openable cover 103 for battery inspection and/or replacement. The user may open the cover 103 to check or replace the battery state.

In addition, the body portion 102 may include a battery electric cord accommodating unit 193 through which the battery electric cord is put in and out according to the operation, and the button for operating the battery electric cord accommodating unit 193 is the cover 103 . can be provided in

When the battery is discharged, the mobile robot 100 may travel to return to the charging station (not shown) for charging, and during this return driving, the mobile robot 100 may detect the position of the charging station by itself. .

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

The mobile robot 100 may include a signal detector (not shown) for receiving a return signal. The charging base may transmit an infrared signal through the signal transmitter, and the signal detector may include an infrared sensor for detecting the infrared signal. The mobile robot 100 moves to the location of the charging station according to the infrared signal transmitted from the charging station and docks with the charging station. Charging is performed between the charging terminal (not shown) of the mobile robot 100 and the charging terminal (not shown) of the charging stand by this docking.

The image acquisition unit 120 captures the surroundings of the main body 101, a driving area, an external environment, and the like, and may include a camera module. The camera module may include a digital camera. A digital camera includes at least one optical lens and an image sensor (eg, CMOS image sensor) including a plurality of photodiodes (eg, pixels) that are imaged by light passing through the optical lens; It may include a digital signal processor (DSP) that configures an image based on signals output from the photodiodes. The digital signal processor may generate a still image as well as a moving picture composed of frames composed of still images.

A plurality of such cameras may be installed for each part for photographing efficiency. For example, the image acquisition unit 120 includes an upper camera that captures the upper side of the front of the main body 101 to obtain an image of the ceiling in the driving zone, a front camera that is provided to acquire an image of the front of the main body 101, It may include a depth camera. However, the number, arrangement, type, and shooting range of the cameras included in the image acquisition unit 120 are not necessarily limited thereto.

The image captured by the camera may be used to recognize the type of material such as dust, hair, floor, etc. present in the space, whether to clean it, or to check the cleaning time.

The image acquisition unit 120 may acquire an image by photographing the periphery of the main body 101 , and the acquired image may be stored in the storage unit 130 .

In addition, the mobile robot 100 may include a sensor unit 170 including sensors for sensing various data related to the operation and state of the mobile robot.

For example, a sensor (not shown) for detecting whether the head 111 is opened or closed may be included. As a sensor for detecting whether the head 111 is opened or closed, various known sensors may be used.

Meanwhile, the sensor unit 170 may include an obstacle detection sensor 131 that detects an obstacle in front. In addition, the sensor unit 170 may further include a cliff detection sensor (not shown) for detecting the presence of a cliff on the floor in the driving zone, and a lower camera sensor (not shown) for acquiring an image of the floor.

According to an embodiment, the obstacle detecting sensor 131 may include a plurality of sensors installed on the outer peripheral surface of the mobile robot 100 at regular intervals.

For example, the sensor unit 170 may include a first sensor and a second sensor disposed to be spaced apart left and right on the front surface of the main body 101 .

The obstacle detection sensor 131 may include an infrared sensor, an ultrasonic sensor, an RF sensor, a geomagnetic sensor, a Position Sensitive Device (PSD) sensor, and the like.

On the other hand, the position and type of the sensor included in the obstacle detection sensor 131 may vary depending on the model of the mobile robot, and the obstacle detection sensor 131 may include more various sensors.

Also, the sensor unit 170 may include a light detection and ranging (Lidar, 132a, 132b).

The lidar (132a, 132b) is an object such as an obstacle, based on a laser light as a medium, a time of flight (TOF) of a transmission signal and a reception signal or a phase difference between a transmission signal and a reception signal, can be detected.

The lidars 132a and 132b may be provided in plurality. For example, the lidar (132a, 132b) is a first lidar (132a) for detecting an object located in front of the mobile robot 100, and detecting an object located in the rear of the mobile robot (100) It may include a second lidar (132b).

Also, the lidars 132a and 132b may detect a distance to an object, a relative speed to the object, and a position of the object.

The lidar (132a, 132b) may be provided as a part of the configuration of the obstacle detection sensor (131).

In addition, the lidar (132a, 132b) may be provided as a sensor for creating a map (map).

For example, the map generation module 143 may generate a map of the driving area. The map generation module 143 may create a map by processing the image acquired through the image acquisition unit 120, and supplementally or independently create a map based on the sensing data of the lidar 132a, 132b. can write

The obstacle detection sensor 131 detects an object, particularly an obstacle, existing in the driving (moving) direction of the mobile robot, and transmits obstacle information to the controller 140 . That is, the obstacle detection sensor 131 may detect the movement path of the mobile robot 100, protrusions existing in front or on the side, household appliances, furniture, wall surfaces, wall corners, etc., and transmit the information to the control unit. have.

In this case, the controller 140 may detect the position of the obstacle based on at least two or more signals received through the ultrasonic sensor, and may control the movement of the mobile robot 100 according to the detected position of the obstacle.

According to an embodiment, the obstacle detection sensor 131 provided on the outer surface of the main body 101 may include a transmitter and a receiver.

For example, in the ultrasonic sensor, at least one transmitter and at least two receivers may be provided to cross each other. In addition, it is possible to radiate a signal at various angles and receive a signal reflected by an obstacle at various angles.

According to an embodiment, the signal received by the obstacle detection sensor 131 may be subjected to signal processing such as amplification and filtering, and then the distance and direction to the obstacle may be calculated.

Meanwhile, the sensor unit 170 may further include a motion detection sensor that detects the motion of the mobile robot 100 according to the driving of the main body 101 and outputs motion information. For example, as the motion detection sensor, a gyro sensor, a wheel sensor, an acceleration sensor, or the like may be used.

The gyro sensor detects a rotation direction and a rotation angle when the mobile robot 100 moves according to a driving mode. The gyro sensor detects the angular velocity of the mobile robot 100 and outputs a voltage value proportional to the angular velocity. The controller 140 calculates a rotation direction and a rotation angle by using a voltage value output from the gyro sensor.

The wheel sensor is connected to the left wheel and the right wheel to sense the number of rotations of the wheel. Here, the wheel sensor may be a rotary encoder. The rotary encoder detects and outputs the number of rotations of the left and right wheels.

The controller 140 may calculate the rotation speed of the left and right wheels using the rotation speed. Also, the controller 140 may calculate the rotation angle using a difference in rotation speed between the left wheel and the right wheel.

The acceleration sensor detects a change in speed of the mobile robot 100 , for example, a change in the mobile robot 100 according to start, stop, direction change, collision with an object, and the like. The acceleration sensor may be attached to a position adjacent to the main wheel or the auxiliary wheel to detect slippage or idling of the wheel.

Also, the acceleration sensor may be embedded in the controller 140 to detect a change in speed of the mobile robot 100 . That is, the acceleration sensor detects the amount of impact according to the speed change and outputs a voltage value corresponding thereto. Accordingly, the acceleration sensor may function as an electronic bumper.

The controller 140 may calculate a change in the position of the mobile robot 100 based on the motion information output from the motion detection sensor. This position becomes a relative position corresponding to the absolute position using the image information. The mobile robot can improve the performance of position recognition using image information and obstacle information through such relative position recognition.

In addition, the mobile robot 100 may include the output unit 180 to display reservation information, battery state, operation mode, operation state, error state, etc. as an image or output the sound.

The output unit 180 may include a display 182 that displays a user interface screen such as reservation information, battery state, operation mode, operation state, and error state as an image.

According to an embodiment, when the head 111 is opened, the display 182 is slid or pushed to the front, so that the user can more easily recognize the user interface screen provided through the display 182 . can do.

In addition, the display 182 may be configured as a touch screen by forming a layer structure with the touch pad. In this case, the display 182 may be used as an input device capable of inputting information by a user's touch in addition to an output device.

Also, the output unit 180 may further include a sound output unit 181 for outputting an audio signal. The sound output unit 181 may output a notification message such as a warning sound, an operation mode, an operation state, an error state, etc. in sound according to the control of the controller 140 . The sound output unit 181 may convert the electrical signal from the control unit 140 into an audio signal and output it. To this end, the sound output unit 181 may include a speaker or the like.

Referring to FIG. 3 , the mobile robot 100 includes a control unit 140 that processes and determines various types of information such as recognizing a current location, and a storage unit 130 that stores various data. In addition, the mobile robot 100 may further include a communication unit 190 for transmitting and receiving a signal to and from a preset external device.

For example, the communication unit 190 may transmit/receive data to and from a preset portable terminal.

The mobile terminal has an application for controlling the mobile robot 100, displays a map for the driving area to be cleaned by the mobile robot 100 through execution of the application, and designates an area to clean a specific area on the map have. The mobile terminal may include, for example, a remote controller, a PDA, a laptop, a smart phone, a tablet, etc. equipped with an application for setting a map.

The mobile terminal may communicate with the mobile robot 100 to display the current location of the mobile robot together with a map, and information on a plurality of areas may be displayed. In addition, the mobile terminal updates and displays the position according to the movement of the mobile robot.

Also, the communication unit 190 may transmit/receive data to/from a preset server. Accordingly, the mobile robot 100 may receive a control signal, general information about public places, and the like from the server, and may also receive information about other mobile robots connected to the network.

The controller 140 controls the overall operation of the mobile robot 100 by controlling the image acquisition unit 120 , the traveling unit 160 , the display 182 , and the like constituting the mobile robot 100 .

The storage unit 130 records various types of information necessary for controlling the mobile robot 100 , and may include a volatile or nonvolatile recording medium. A recording medium stores data that can be read by a microprocessor, such as HDD (Hard Disk Drive), SSD (Solid State Disk), SDD (Silicon Disk Drive), ROM, RAM, CD-ROM, magnetic may include tapes, floppy disks, optical data storage devices, and the like.

In addition, the storage unit 130 may store a map (Map) for the driving area. The map may be input by a mobile terminal or server capable of exchanging information with the mobile robot 100 through wired or wireless communication, or may be generated by the mobile robot 100 by itself.

The map may display the locations of the rooms in the driving area. In addition, the current position of the mobile robot 100 may be displayed on the map, and the current position of the mobile robot 100 on the map may be updated during the driving process. The mobile terminal may store the same map as the map stored in the storage unit 130 .

The storage unit 130 may store cleaning history information. Such cleaning history information may be generated whenever cleaning is performed.

The map for the driving area stored in the storage unit 130 is a navigation map used for driving while cleaning, a Simultaneous localization and mapping (SLAM) map used for location recognition, and an obstacle. Thus, it may be a learning map used for learning cleaning, a global location map used for global location recognition, an obstacle recognition map in which information on recognized obstacles is recorded, and the like.

Meanwhile, as described above, although maps can be stored and managed in the storage unit 130 by use, the maps may not be clearly classified by use. For example, a plurality of pieces of information may be stored in one map to be used for at least two or more purposes.

The control unit 140 may include a driving control module 141 , a location recognition module 142 , a map generation module 143 , and an obstacle recognition module 144 .

1 to 3 , the driving control module 141 controls the driving of the mobile robot 100 and controls the driving of the driving unit 160 according to the driving setting. Also, the driving control module 141 may determine the driving route of the mobile robot 100 based on the operation of the driving unit 160 . For example, the driving control module 141 may determine the current or past moving speed and distance traveled of the mobile robot 100 based on the rotation speed of the driving wheel 136 , and the rotation direction of each driving wheel. Accordingly, the current or past direction change process can also be identified. The position of the mobile robot 100 on the map may be updated based on the detected driving information of the mobile robot 100 .

The map generation module 143 may generate a map of the driving area. The map generation module 143 may create a map by processing the image acquired through the image acquisition unit 120 . That is, a cleaning map corresponding to the cleaning area may be created.

In addition, the map generation module 143 may process the image acquired through the image acquisition unit 120 at each location and link it with the map to recognize the global location.

The location recognition module 142 estimates and recognizes the current location. The position recognition module 142 uses the image information of the image acquisition unit 120 to determine the position in connection with the map generation module 143, thereby estimating the current position even when the position of the mobile robot 100 is suddenly changed. can be recognized by

The mobile robot 100 can recognize a position during continuous driving through the position recognition module 142, and, through the map generation module 143 and the obstacle recognition module 144 without the position recognition module 142, create a map. It can learn and estimate its current location.

While the mobile robot 100 is running, the image acquisition unit 120 acquires images around the mobile robot 100 . Hereinafter, an image acquired by the image acquisition unit 120 is defined as an 'acquired image'.

The acquired image includes various features such as lights located on the ceiling, edges, corners, blobs, and ridges.

The map generation module 143 detects a feature from each of the acquired images. In the field of computer vision technology, various methods for detecting features from an image (Feature Detection) are well known. Several feature detectors suitable for the detection of these features are known. For example, Canny, Sobel, Harris&Stephens/Plessey, SUSAN, Shi&Tomasi, Level curve curvature, FAST, Laplacian of Gaussian, Difference of Gaussians, Determinant of Hessian, MSER, PCBR, Gray-level blobs detector, and the like.

The map generation module 143 calculates a descriptor based on each feature point. The map generation module 143 may convert a feature point into a descriptor by using a scale invariant feature transform (SIFT) technique for feature detection. The descriptor may be expressed as an n-dimensional vector.

SIFT can detect features that are invariant with respect to changes in scale, rotation, and brightness of an object to be photographed, so that even if the same area is photographed with different postures of the moving robot 100 (that is, rotation is invariant) -invariant)) feature can be detected. Of course, the present invention is not limited thereto, and various other techniques (eg, HOG: Histogram of Oriented Gradient, Haar feature, Fems, LBP: Local Binary Pattern, MCT: Modified Census Transform) may be applied.

The map generation module 143 classifies at least one descriptor for each acquired image into a plurality of groups according to a predetermined sub-classification rule based on descriptor information obtained through the acquired image of each location, and classifies the same group according to a predetermined sub-representative rule. Each of the descriptors included in ? can be converted into a sub-representative descriptor.

As another example, all descriptors collected from acquired images within a predetermined area, such as a room, are classified into a plurality of groups according to a predetermined sub-classification rule, and descriptors included in the same group according to the predetermined sub-representative rule are respectively classified as sub-representative descriptors. can also be converted to

The map generation module 143 may obtain the feature distribution of each location through this process. Each location feature distribution may be expressed as a histogram or an n-dimensional vector. As another example, the map generating module 143 may estimate an unknown current location based on descriptors calculated from each feature point without going through a predetermined sub-classification rule and a predetermined sub-representative rule.

In addition, when the current position of the mobile robot 100 becomes unknown due to a position jump or the like, the current position may be estimated based on data such as a pre-stored descriptor or a sub-representative descriptor.

The mobile robot 100 acquires an acquired image through the image acquisition unit 120 at an unknown current position. Various features such as lights located on the ceiling, edges, corners, blobs, and ridges are identified through the image.

The location recognition module 142 detects features from the acquired image. Descriptions of various methods for detecting features from an image in the field of computer vision technology and various feature detectors suitable for detecting these features have been described above.

The location recognition module 142 calculates a recognition descriptor through a recognition descriptor calculation step based on each recognition feature point. In this case, the recognition feature point and the recognition descriptor are for describing the process performed by the location recognition module 142 and are to be distinguished from terms describing the process performed by the map generation module 143 . However, the characteristics of the external world of the mobile robot 100 are merely defined by different terms.

The location recognition module 142 may convert the recognition feature point into a recognition descriptor by using a Scale Invariant Feature Transform (SIFT) technique to detect the present feature. The recognition descriptor may be expressed as an n-dimensional vector (vector).

As described above, SIFT selects a feature point that is easy to identify, such as a corner point, from an acquired image, and then selects a feature point that is easy to identify, and then the distribution characteristics of the brightness gradient of pixels belonging to a certain area around each feature point (direction of change in brightness and degree of abrupt change) ), it is an image recognition technique that obtains an n-dimensional vector in which the degree of abrupt change in each direction is a numerical value for each dimension.

The location recognition module 142 is based on at least one piece of recognition descriptor information obtained through the acquired image of an unknown current location, location information to be compared according to a predetermined sub-conversion rule (eg, feature distribution of each location) and information that can be compared with (lower recognition feature distribution).

According to a predetermined sub-comparison rule, each positional feature distribution may be compared with each recognized feature distribution to calculate each similarity. A degree of similarity (probability) may be calculated for each location corresponding to each location, and a location from which the greatest probability is calculated may be determined as the current location.

In this way, the controller 140 may divide the driving zone and generate a map composed of a plurality of areas, or recognize the current location of the main body 101 based on a pre-stored map.

When the map is generated, the controller 140 may transmit the generated map to a mobile terminal, a server, or the like through the communication unit 190 . Also, as described above, when a map is received from a mobile terminal, a server, or the like, the controller 140 may store the map in the storage unit.

Also, when the map is updated while driving, the controller 140 transmits the updated information to the portable terminal so that the map stored in the portable terminal and the mobile robot 100 is the same. As the maps stored in the mobile terminal and the mobile robot 100 are kept the same, the mobile robot 100 can clean the designated area in response to a cleaning command from the mobile terminal, and the current location of the mobile robot is displayed in the mobile terminal. in order to be displayed.

In this case, the map may divide the cleaning area into a plurality of areas, may include a connection passage connecting the plurality of areas, and may include information on obstacles in the area.

When a cleaning command is input, the control unit 140 determines whether the location on the map matches the current location of the mobile robot. The cleaning command may be input from a remote control, a display, or a portable terminal.

When the current location does not match the location on the map, or when the current location cannot be confirmed, the controller 140 recognizes the current location and restores the current location of the mobile robot 100, and then based on the current location The driving unit 160 may be controlled to move to a designated area.

When the current location does not match the location on the map or when the current location cannot be confirmed, the location recognition module 142 analyzes the acquired image input from the image acquisition unit 120 to estimate the current location based on the map can do. In addition, the obstacle recognition module 144 or the map generation module 143 may also recognize the current location in the same way.

After recognizing the position and restoring the current position of the mobile robot 100, the driving control module 141 calculates a driving route from the current position to the designated area, and controls the driving unit 160 to move to the designated area.

When receiving the cleaning pattern information from the server, the driving control module 141 may divide the entire driving zone into a plurality of regions according to the received cleaning pattern information, and may set one or more regions as a designated region.

In addition, the driving control module 141 may calculate a driving route according to the received cleaning pattern information, travel along the driving route, and perform cleaning.

When cleaning of the set designated area is completed, the controller 140 may store the cleaning record in the storage unit 130 .

In addition, the control unit 140 may transmit the operation state or the cleaning state of the mobile robot 100 to the mobile terminal or the server at a predetermined cycle through the communication unit 190 .

Accordingly, the mobile terminal displays the location of the mobile robot along with a map on the screen of the running application based on the received data, and also outputs information on the cleaning status.

The mobile robot 100 according to an embodiment of the present invention moves in one direction until an obstacle or a wall is detected, and when the obstacle is recognized through the sensor unit 170 and the obstacle recognition module 144, the recognized obstacle properties According to this, a driving pattern such as going straight or turning can be determined.

For example, if the recognized obstacle is a type of obstacle that can be overcome, the mobile robot 100 may continue to move straight. Alternatively, if the property of the recognized obstacle is a type of obstacle that cannot be crossed, the mobile robot 100 rotates and moves a certain distance, and then moves to a distance where the obstacle is detected in the opposite direction to the initial movement direction to form a zigzag can drive with

The mobile robot 100 according to an embodiment of the present invention may perform machine learning-based obstacle recognition and avoidance.

The control unit 140 controls the driving of the driving unit 160 based on the obstacle recognition module 144 for recognizing an obstacle previously learned by machine learning from the input image and the properties of the recognized obstacle. It may include a driving control module 141 to control.

The mobile robot 100 according to an embodiment of the present invention may include an obstacle recognition module 144 in which the properties of obstacles are learned by machine learning.

Machine learning means that a computer learns from data without a human instructing the computer to directly instruct logic, and allows the computer to solve problems on its own.

Deep Learning is. Based on Artificial Neural Networks (ANN) for constructing artificial intelligence, it is a method of teaching a human way of thinking to a computer.

The artificial neural network (ANN) may be implemented in the form of software or hardware such as a chip.

The obstacle recognition module 144 may include an artificial neural network (ANN) in the form of software or hardware in which properties of obstacles are learned.

For example, the obstacle recognition module 144 is a deep neural network (DNN) such as a Convolutional Neural Network (CNN), a Recurrent Neural Network (RNN), and a Deep Belief Network (DBN) trained by deep learning. may include

The obstacle recognition module 144 may determine the property of an obstacle included in the input image data based on weights between nodes included in the deep neural network (DNN).

The image acquisition unit 120 may acquire an image within a predetermined angular range in the moving direction of the mobile robot 100 , and the obstacle recognition module 144 performs machine learning from the image acquired by the image acquisition unit 120 . (machine learning) can recognize obstacles based on previously learned data.

1 to 3 , the mobile robot 100 according to an embodiment of the present invention includes a lamp unit 150 having various lamps having a signal function to notify people of the driving state of the mobile robot 100 . ) may be included.

The lamp unit 150 includes a status notification light 151 , which outputs light indicating the current state of the mobile robot 100 , is disposed on the front of the main body 101 , and is positioned in the traveling direction of the mobile robot 100 . It may include a forward direction indicator light 152 that is turned on according to the direction, and a rear direction indicator light 153 that is disposed on the rear side of the main body 101 and is turned on according to the traveling direction of the mobile robot 100 .

The lamps 151 , 152 , and 153 of the lamp unit 150 may each include one or more light sources. For example, the status notification light 151 , the front direction indicator light 152 , and the rear direction indicator light 153 may each include one or more light emitting diodes (LEDs).

Existing analog lighting has a limitation in precisely controlling the illuminance, but the light emitting diode (LED) can precisely control the illuminance by adjusting the amount of applied current and the width of the driving pulse. In addition, when light emitting diodes (LEDs) of R, G, and B colors are installed in combination, light of a specific color may be provided and color temperature may be easily adjusted.

The light emitting diode (LED) may be a single color light emitting diode (LED) such as red, blue, green, and white. According to an embodiment, the light emitting diode (LED) may be a multi-color light emitting diode (LED) capable of reproducing a plurality of colors.

In addition, the status notification light 151 may include a plurality of light emitting diodes (LEDs), all of the plurality of light emitting diodes (LED) may emit white light to provide white illumination, red (Red), By combining blue and green light emitting diodes (LEDs), it is possible to provide illumination of a specific color or light of white color.

For example, the status notification light 151 includes a first color (Yellowish White) indicating a standby/stop state, a second color (Blueish Green) indicating a cleaning in progress state, and a third color indicating a pause and an error state. It is possible to output light of color (Red).

Meanwhile, the status notification light 151 may output light of a first color indicating a standby/stop state, and then may be turned off after a predetermined time.

When the status notification light 151 includes a plurality of light emitting diodes, after the plurality of light emitting diodes are turned on all at once, the plurality of light emitting diodes may be sequentially turned off at regular intervals.

In addition, when the first cleaning starts, all the light emitting diodes of the status notification light 151 may blink once at the same time, and the light of the second color indicating the cleaning in progress state may be output.

The status notification light 151 may serve as a kind of traffic light to indicate the current progress status through the color of the output light, and to notify the stop, avoidance, and status change for avoiding the human body.

For example, in case of a pause/error, the status notification light 151 may provide a red light.

In addition, when avoiding by detecting a human body, the state notification light 151 may flicker a light of a specific color to inform people of evasive driving.

The mobile robot 100 according to an embodiment of the present invention may be set to avoid running immediately upon detecting a human body, or to avoid running depending on whether a person moves after waiting a predetermined time. In any case, the state notification light 151 may constantly output or flicker light of a predetermined color for a predetermined time before and during the avoidance driving.

Also, upon detecting a human body, the sound output unit 181 may output and provide a voice notification such as “Please move away for a moment” to people.

The front direction indicator light 152 and the rear direction indicator light 153 may display a direction indication and an emergency stop.

The front direction indicator light 152 and the rear direction indicator light 153 may be turned on and flashed according to the traveling direction of the mobile robot 100 . In addition, the front turn indicator light 152 and the rear turn indicator light 153 may be turned on or flashed together in synchronization with each other.

The front turn indicator light 152 and the rear turn indicator light 153 may include indicator lights corresponding to left and right directions, respectively.

Referring to FIG. 2 , the rear turn indicator light 153 may include a left turn indicator light 153L and a right turn indicator light 153R, and when the mobile robot 100 turns left and right while driving, the direction to change The direction indicator lights 153L and 153R corresponding to the direction may be turned on or flashed.

Referring to FIG. 1 , the forward direction indicator light 152 may include an indicator light corresponding to a left direction and an indicator light corresponding to a right direction disposed adjacently.

Alternatively, in the forward direction indicator light 152 , the indicator light corresponding to the left direction and the indicator light corresponding to the right direction may be disposed to be spaced apart from each other by a predetermined distance.

For example, the front turn indicator 152 and the rear turn indicator 153 may output light of a predetermined color, for example, an orange color, corresponding to the rotation direction when rotating left/right.

In addition, depending on the embodiment, the front turn indicator light 152 and the rear turn indicator light 153 may also be configured to output light of various colors.

In this case, the front turn indicator light 152 and the rear turn indicator light 153 may also output red light when a pause/error occurs.

In addition, during evasive driving, the front turn indicator 152 and the rear turn indicator 153 may also notify the departure of the area with emergency flashing.

Also, the control unit 140 may control the lamp unit 150 .

For example, the controller 140 may control the status notification light 151 to output different colors of light according to the current state of the mobile robot 100 . In addition, the controller 140 may control the status notification light 151 to blink at a predetermined cycle for a predetermined time.

Also, the controller 140 may control the front direction indicator light 152 and the rear direction indicator light 153 to turn on according to the traveling direction of the mobile robot 100 . In addition, the control unit 140 may control the front direction indicator light 152 and the rear direction indicator light 153 to blink at a predetermined period for a predetermined time period.

Meanwhile, the front turn indicator light 152 and the rear turn indicator light 153 may be driven in synchronization.

That is, the control unit 140 may control the front direction indicator light 152 and the rear direction indicator light 153 to turn on or blink in the same way when turning left/right.

According to an embodiment, the control unit 140 controls the front direction indicator light 152 and the rear direction indicator light 153 to output light of the same color as the light output from the status notification light 151 in a specific situation. can be controlled

Meanwhile, referring to FIG. 1 , the status notification light 151 may have a circular ring shape. Also, the status notification light 151 may have a circular ring shape disposed along the front outer portion of one of the cameras included in the image acquisition unit 120 .

Meanwhile, as described above, the controller 140 may recognize the property of the obstacle based on the image acquired by the image acquisition unit 120 .

Also, the controller 140 may control the driving of the driving unit 160 based on the recognized attribute of the obstacle.

For example, the controller 140 may control the movement of the main body 101 to stop when the recognized obstacle is at least a part of a human body.

In this case, when the recognized movement of the body is detected within a predetermined waiting time, the controller 140 may control to resume the existing movement. Also, if the recognized body movement is not detected within a predetermined waiting time, the controller 140 may control to perform avoidance driving on the recognized body.

In addition, the controller 140 may control the sound output unit 181 to output a preset sound when the attribute of the recognized obstacle is at least a part of a human body.

When the mobile robot 100 cleans while moving (driving), even when a user approaches the mobile robot 100 for information confirmation, setting input, and other manipulations, or when a child or the like touches the mobile robot 100 out of curiosity, it moves If the robot 100 continues to run, a safety accident such as a collision may occur.

In particular, public places such as airports, train stations, terminals, department stores, and marts have a large floating population and many unexpected variables, which increases the risk of safety accidents.

Therefore, the mobile robot 100 according to the present invention outputs a light indicating the current state of the mobile robot 100 through the front state notification light 151 during cleaning work in a public place, thereby Signal information that allows a plurality of people to easily know the current state of the mobile robot 100 may be provided.

In addition, according to the rotational driving and avoidance driving of the mobile robot 100, the status notification lamp 151, the forward direction indicator light 152, and the rear direction indicator lamp 153 output light of a predetermined color to determine whether to rotate or not. It is possible to provide people with notification information regarding the direction and whether to avoid driving.

Accordingly, it is possible to reduce the possibility of an accident between a person and the mobile robot 100 in a public place.

The mobile robot 100 according to an embodiment of the present invention may include a predetermined lock to prevent unauthorized persons from operating, disassembling, or stealing the mobile robot 100 in a public place. .

For example, the predetermined locking device may be a fingerprint reader that unlocks only a registered fingerprint.

1 to 3 , a mobile robot 100 according to an embodiment of the present invention includes a main body 101 including an openable and openable head 111 , and a driving unit 160 for moving the main body 101 . ), a fingerprint input unit 210 to which a fingerprint is input, a storage unit 130 for storing registered fingerprint information, and comparing the fingerprint information input through the fingerprint input unit 210 with the registered fingerprint information pre-stored in the storage unit and, when there is registered fingerprint information corresponding to the input fingerprint information, the controller 140 may include a control unit 140 for releasing the lock setting to open the head 111 .

The main body 101 may include a fingerprint input unit 210 for receiving a user's fingerprint. For example, the fingerprint input unit 210 may be provided on the rear surface of the head 111 or the fastening unit 112 .

Fingerprint recognition technology is a technology that can distinguish people by using fingerprints that indicate the unique characteristics of each person. Fingerprint recognition is a technology that can authenticate individuals and identify differences between individuals using such fingerprint information. There is no risk of loss or theft that may occur in passwords or cards, etc. It is used in various fields of application.

Fingerprints are composed of ridges that protrude upward from the epidermis and valleys, which are the spaces between the ridges, so the pattern of ridges and valleys of the fingerprint is different for each individual. recognition is performed. In more detail, it is recognized through a fingerprint sensor, which is a device that detects ridges in a fingerprint and converts it into two-dimensional image data.

Since the present invention does not limit the fingerprint recognition method, various fingerprint recognition methods may be used. Fingerprint information may be obtained by various methods, such as an optical method, a semiconductor device method for sensing capacitance or electrical conduction, an ultrasonic method, a heat sensing method, a non-contact method, or a combination of the above methods.

For example, fingerprint input reflects the shape of a fingertip placed on the platen by projecting strong light onto the platen, and the reflected fingerprint image passes through a high refractive lens and converts light into electricity to be read. An optical fingerprint input method that inputs to the CCD (Charge-Coupled Device), which is a device made to allow users It can be made by a semiconductor-type fingerprint input method that reads.

Thereafter, the process may further include a process of removing impurities such as sweat, moisture, other oil, and dust on the human hand, or noise components that may be generated according to the sensitivity of the input device.

On the other hand, based on the recognized fingerprint, fingerprint information including the location and properties of a feature point consisting of a branching point, an end point, or a broken point of the fingerprint protrusion can be generated, stored, and registered to be utilized in the subsequent authentication process. That is, the fingerprint information may include at least one of image data of the recognized fingerprint, coded data of the image data, and positions and properties of feature points.

The controller 140 compares the input fingerprint information with the registered fingerprint information pre-stored in the storage unit 130 . The enrolled fingerprint information may include at least the user's level information. Also, the registered fingerprint information may include at least one of a user's name, image data of a registered fingerprint, data obtained by encoding the image data, and positions and properties of feature points.

When there is registered fingerprint information corresponding to the input fingerprint information, the controller 140 may release the lock setting to open the head 111 .

Accordingly, it is possible to prevent an unauthorized person from opening the head 111 of the mobile robot 100, thereby preventing safety accidents and theft accidents.

Meanwhile, as described above, the mobile robot 100 according to an embodiment of the present invention may further include a display 181 accommodated in the main body 101 .

In this case, the controller 140 may control the user interface screen corresponding to the corresponding registered fingerprint information to be displayed on the display 182 .

For example, when user rights are managed by grade, the controller 140 may control a user interface screen according to a user grade corresponding to the corresponding registered fingerprint information to be displayed on the display 182 . .

When the corresponding registered fingerprint information corresponds to an administrator level with management authority for the plurality of mobile robots, the controller 140 may display a user interface screen including information on the plurality of mobile robots on the display ( 182) can be controlled to be displayed.

Here, the user interface screen including information on the plurality of mobile robots may include current state information and operation history information of the plurality of mobile robots.

That is, when the user corresponding to the manager level opens the head 111 of one of the plurality of mobile robots 100 , the user can check information on the plurality of mobile robots displayed on the display 182 .

Accordingly, the user corresponding to the manager level does not need to open the heads of all the plurality of mobile robots one by one, and can check all information on the plurality of mobile robots by simply opening the heads of the mobile robots in a nearby location.

In addition, there is an advantage in that information on other mobile robots can be checked even when the head of a specific mobile robot is opened because work and confirmation of a specific mobile robot are required.

In addition, when user rights are managed individually, the controller 140 may control a user interface screen personalized according to a user corresponding to the corresponding registered fingerprint information to be displayed on the display 182 .

The control unit 140, when the corresponding registered fingerprint information corresponds to the general user level, to the usage history of the user corresponding to the corresponding registered fingerprint information or the usage history of a plurality of users included in the general user level It is possible to control a user interface screen based on the display to be displayed on the display.

That is, a user interface screen according to a user level including the authenticated user may be provided, or a personalized user interface screen may be provided to the authenticated user.

Meanwhile, the user interface screen includes a status information area including status information of the mobile robot and a main menu area including a plurality of main menu items, wherein the main menu area includes a cleaning command for inputting a cleaning execution command. It may include a start item, a return item for inputting a movement command to a designated place, and a cleaning setting item for performing an input regarding a cleaning area and a cleaning mode.

In this case, when a selection input for any one of the items included in the main menu area is received, the controller 140 displays a detailed screen corresponding to the item for which the selection input is received on the display 182 can be controlled as much as possible.

The user interface screen will be described later in detail with reference to FIGS. 9 to 11 .

In some embodiments, the control unit 140 controls the display 182 to be turned on when the head 111 is opened, thereby preventing the display 182 from being unnecessarily driven and reducing power consumption. can reduce

Meanwhile, the main body 101 may further include a body 102 having a cover 103 that is unlocked by interlocking with the unlocking of the head 111 .

In addition, the main body 101 may further include a battery electric cord accommodating part 195 that is unlocked by interlocking with the unlocking of the head 111 .

That is, when a user is authenticated through a fingerprint, the mobile robot 100 according to the present invention releases the lock settings for the opening and closing means such as the head 111, the cover 103, and the battery electric cord receiving unit 195 at once. can

4 is a view showing a front part of a mobile robot according to an embodiment of the present invention.

Since the mobile robot illustrated in FIG. 4 is similar to the front of the mobile robot illustrated in FIG. 1 as a whole, differences will be mainly described.

Referring to FIG. 4 , the forward turn indicator 152 may include a left turn indicator 152L and a right turn indicator 152R that are disposed to be spaced apart from each other by a predetermined distance, and the mobile robot 100 turns left and right while driving. When doing so, the turn indicators 152L and 152R corresponding to the direction to be changed may be turned on or flashed.

The forward direction indicator light 152 of the mobile robot 100 illustrated in FIG. 1 includes an indicator light corresponding to the left direction and an indicator light corresponding to the right direction disposed adjacently in a predetermined panel.

The forward direction indicator light 152 of the mobile robot 100 illustrated in FIG. 1 is also located within a predetermined panel, and the forward direction indicator light 152 also has an indicator light corresponding to the left direction and an indicator light corresponding to the right direction spaced apart from each other. .

In addition, referring to FIG. 4 , the image acquisition unit 120 captures the upper side of the front of the main body 101 to obtain an image of the ceiling in the driving area. It may include a front camera 120b and a depth camera 120c that are provided to acquire. However, the number, arrangement, type, and shooting range of the cameras included in the image acquisition unit 120 are not necessarily limited thereto.

The upper camera 120a may acquire an image of the ceiling in the driving zone, and the mobile robot 100 may use the image acquired by the upper camera 120a for simultaneous localization and mapping (SLAM).

The front camera 120b may capture an image for user recognition and a situation of an obstacle or a cleaning area existing in front of the mobile robot 100 in the traveling direction.

In this case, the status notification light 151 according to an embodiment of the present invention may be implemented in a circular ring shape surrounding the upper camera 120a.

On the other hand, although the front camera 120b and the depth camera 120c are not shown in FIG. 1 , the front camera 120b and the depth camera 120c in a predetermined panel on which the status notification light 152 is disposed. It is also possible to be provided.

2 and 4 , front and rear direction indicator lights 152L, 152R and rear direction indicator lights 153L and 153R are disposed on the front and rear left and right sides of the mobile robot 100. When the mobile robot 100 rotates, it flickers. Accordingly, it is possible to inform people in a public place of a change in the driving direction of the mobile robot 100 .

Accordingly, it is possible to prevent the occurrence of a collision accident by having people in a public place know and prepare for a change in the driving direction of the mobile robot 100 .

5 to 7 are views showing an open state of the head of the mobile robot according to an embodiment of the present invention.

5 to 7 , the mobile robot 100 may include the display 182 accommodated in the body 101 , and the display 182 may be checked by opening the head 111 .

In addition, dust that is sucked through the brush and suction port located on the bottom of the main body 101 is collected in the dust container 115 , and the user opens the head 111 to insert the dust container 115 into the main body 101 . and can be removed.

5 and 6 , the display 182 may be disposed on the dust container cover 116 .

Alternatively, referring to FIG. 7 , the display 182 may be provided separately from the dust container 115 .

According to an embodiment, when the head 111 is opened, the display 182 is slid or pushed to the front, so that the user can more easily recognize the user interface screen provided through the display 182 . can do.

In addition, the display 182 may be configured as a touch screen by forming a layer structure with the touch pad. In this case, the display 182 may be used as an input device capable of inputting information by a user's touch in addition to an output device.

Depending on the embodiment, the head unit 110 may be opened and closed in a plurality of ways or may include one or more opening/closing mechanism structures.

For example, the head 111 is opened by lifting the head 111, or a button is provided on the head part 110, and when the user presses the button, a predetermined cover is opened toward the user side. can be implemented.

8 is a view showing an open state of the head of the mobile robot according to an embodiment of the present invention.

Referring to FIG. 8 , the display 182 is disposed in a predetermined area partitioned in the internal storage space, and the opening/closing mechanism structure opened by the user's button operation is a display-only cover 112a in the area where the display 182 is disposed. can be composed of Accordingly, when the user presses the button, the display-only cover 112a is opened, and the display 182 can be configured to be exposed toward the user.

9 is a diagram referenced in the description of the operation of the mobile robot corresponding to the fingerprint recognition according to an embodiment of the present invention. shows the screen displayed when the authenticated user is the super administrator.

The mobile robot 100 operated in an area with many people has a very high exposure frequency for many people, and there are several risk factors when a curious external person approaches, unlocks, and operates the robot 100 .

Accordingly, the present invention provides a robot head locking device that cannot be accessed by anyone other than an authorized management person.

Referring to (a) of FIG. 9 , an administrator, a cleaning service worker, or a worker (general user) inputs his/her fingerprint through the fingerprint input unit 210 , and the controller 140 may recognize the input fingerprint.

The control unit 140 compares the input fingerprint information with the registered fingerprint information pre-stored in the storage unit 130, and when there is registered fingerprint information corresponding to the input fingerprint information, lock the head 111 to open it. setting can be turned off.

When the head 111 is opened, the controller 140 controls the display 182 to be turned on, thereby preventing the display 182 from being unnecessarily driven and reducing power consumption.

Also, when the head 111 is opened, the controller 140 may control the display 182 to display a predetermined interface screen.

When multiple fingerprints are registered, functions are displayed on the interface screen by being differentiated according to the fingerprints of the administrator/cleaner (general user).

That is, the controller 140 may control the user interface screen corresponding to the corresponding registered fingerprint information to be displayed on the display 182 .

For example, when user rights are managed by grade, the controller 140 may control a user interface screen according to a user grade corresponding to the corresponding registered fingerprint information to be displayed on the display 182 . .

Referring to FIG. 9B , when the corresponding registered fingerprint information corresponds to an administrator level having management authority for the plurality of mobile robots, the controller 140 provides information on the plurality of mobile robots. The user interface screen 900 including the may be controlled to be displayed on the display 182 .

Here, the user interface screen 900 including information on the plurality of mobile robots may include current state information and operation history information of the plurality of mobile robots.

Referring to FIG. 9B , the manager level user interface screen 900 provided through the display 182 includes a status information area 910 including status information of the mobile robot 100 , and a plurality of main menu items. It may include a main menu area 920 including the , and a management area 930 including current state information and operation history information of a plurality of mobile robots.

The status information area 910 may include a status bar implemented as a bar type and disposed at the top of the screen. The status information displayed in the status information area 910 may include at least one of current time information, battery status information, parts replacement information, and error information.

The main menu area 920 is an area for displaying the main menu, and relates to a cleaning start item for inputting a cleaning execution command, a return item for inputting a movement command to a designated place, a cleaning area and a cleaning mode It may include a cleaning setting item capable of performing an input.

When a selection input for any one of the items included in the main menu area 920 is received, the controller 140 controls the display 182 to display a detailed screen corresponding to the item for which the selection input is received. can do.

In addition, in the management area 930 , recent cleaning and inspection details, weekly inspection details, and remaining battery amount information of a plurality of robots, for example, the Thomas robot and the Alex robot may be displayed.

In addition, when the fingerprint of the top administrator or high-level administrator is recognized, general management details such as cleaning equipment failure diagnosis, consumable replacement cycle, cleaning history, and charging state may be provided in the management area 930 of the user interface screen.

That is, when the user corresponding to the manager level opens the head 111 of one of the plurality of mobile robots 100 , the user can check information on the plurality of mobile robots displayed on the display 182 .

Accordingly, the user corresponding to the manager level does not need to open the heads of all the plurality of mobile robots one by one, and can check all information on the plurality of mobile robots by simply opening the heads of the mobile robots in a nearby location.

In addition, there is an advantage in that information on other mobile robots can be checked even when the head of a specific mobile robot is opened because work and confirmation of a specific mobile robot are required.

In addition, when user rights are managed individually, the controller 140 may control a user interface screen personalized according to a user corresponding to the corresponding registered fingerprint information to be displayed on the display 182 .

The control unit 140, when the corresponding registered fingerprint information corresponds to the general user level, to the usage history of the user corresponding to the corresponding registered fingerprint information or the usage history of a plurality of users included in the general user level It is possible to control a user interface screen based on the display to be displayed on the display.

That is, a user interface screen according to a user level including the authenticated user may be provided, or a personalized user interface screen may be provided to the authenticated user.

For example, a last used or frequently used function may be prioritized according to a user on a user interface screen provided when a fingerprint of a hairdresser is recognized.

10 and 11 are diagrams illustrating an interface screen provided by the mobile robot according to an embodiment of the present invention, illustrating an interface screen provided to users of general user level.

10 illustrates a user interface screen provided through a display 182 provided in the mobile robot 100, and FIG. 11 illustrates a user interface screen provided through a display unit provided in a portable terminal (not shown). did it

The user interface screen illustrated in FIGS. 10 and 11 is a screen including main menu items of higher depth, and may be called a home user interface screen, a home screen, or a main screen.

Referring to FIG. 10 , the home user interface screen 1000 provided through the display 182 includes a status information area 1010 including status information of the mobile robot 100 and a main menu including a plurality of main menu items. It may include an area 1020 and a management area 1030 including operation reservation information and operation history information.

The status information displayed in the status information area 1010 may include at least one of current time information, battery status information, parts replacement information, and error information.

The main menu area 1020 is an area for displaying the main menu, and relates to a cleaning start item for inputting a cleaning execution command, a return item for inputting a movement command to a designated place, a cleaning area, and a cleaning mode It may include a cleaning setting item capable of performing an input.

When a selection input for any one of the items included in the main menu area 1020 is received, the controller 140 controls the display 182 to display a detailed screen corresponding to the item for which the selection input is received. can do.

In addition, when a predetermined command is input through the detailed screen, the controller 140 may control to further display a pop-up instructing to close the head 111 on the display 182 .

Thereafter, when the user closes the head 111 , the controller 140 may control to perform an operation corresponding to a predetermined command.

The management area 1030 may include operation reservation information and operation history information.

Referring to FIG. 10 , the management area 1030 may include a set reservation schedule information and a reservation add button for adding a reservation schedule, and information on the most recent cleaning history and a plurality of cleaning history information. It may include a cleaning history button that can be called.

According to an embodiment, the management area 1030 may further include an item capable of displaying the most recent cleaning history on a map, and the user may display the most recent cleaning history on the map. By selecting the items that can be displayed, the most recent cleaning history can be played on the map.

On the other hand, depending on the setting, items capable of displaying the most recent cleaning history on a map may be included only in the user interface screen provided through the display 182 of the mobile robot 100 .

Meanwhile, the management area 1030 may be divided into an area 1031 representing reservation management and an area 1032 representing cleaning history management.

In this case, the area 1031 representing the reservation management may include a reservation schedule item displaying reservation time/day of the week by card type and a reservation addition button.

In addition, the area 1032 representing the cleaning history management may include a recent cleaning history including last cleaning date/time information, a cleaning history button, a cleaning area map display item, and a 2x/4x/8x playback button. can

Referring to FIG. 11 , the home user interface screen 1100 provided through the portable terminal includes a status information area 1110 including status information of the mobile robot 100 and a main menu area including a plurality of main menu items ( 1120 ), and a management area 1130 including operation reservation information and a mobile robot operation menu.

The status information displayed in the status information area 1110 may include at least one of current time information, battery status information, parts replacement information, and error information.

The main menu area 1120 is an area for displaying the main menu, and relates to a cleaning start item for inputting a cleaning execution command, a return item for inputting a movement command to a designated place, a cleaning area, and a cleaning mode It may include a cleaning setting item capable of performing an input.

The user may operate the mobile terminal to select any one of the items included in the main menu area 1120 or input a predetermined command, and the mobile terminal may transmit a control signal including the predetermined command to the mobile robot 100 ) can be transmitted.

When a predetermined command is received through the communication unit 190 , the control unit 140 may determine whether the head 111 is closed.

If the head 111 is not in the closed state, the control unit 140 may transmit a signal indicating that the head 111 is open to the portable terminal through the communication unit 190 .

The portable terminal may display a message to close the head 111 .

Thereafter, when the user closes the head 111 , the controller 140 may control to perform an operation corresponding to a predetermined command.

Meanwhile, the management area 1130 may include operation reservation information and a mobile robot operation menu.

The management area 1130 may be divided into an area 1131 indicating reservation management and a robot operation area 1132 .

In this case, the area 1031 representing the reservation management may include a reservation schedule item for displaying reservation time/day of the week by card type, a reservation delete button (X button), and a reservation add button.

In addition, the robot manipulation area 1132 is an area for manipulating the robot and may include a robot operation 4 direction key, a stop button, a suction on/off button, and the like.

Meanwhile, depending on the setting, the robot manipulation area 1132 may be included only in the user interface screen provided through the portable terminal.

On the other hand, when a selection input for any one of the items included in the main menu areas 1020 and 1120 is received, a detailed screen corresponding to the item for which the selection input is received is displayed through the display 182 or the mobile terminal. can be provided.

12 is a diagram referenced in the description of a mobile robot including a locking device according to an embodiment of the present invention.

The mobile robot illustrated in FIG. 12 is unlocked according to the physical manipulation of the head hardware locking device, and the mobile robot described with reference to FIGS. 1 to 11 is the same except for the difference that fingerprint recognition is used.

Accordingly, features other than the locking device may be applied in the same manner as in the above-described embodiment even if not specified in FIG. 12 .

Referring to FIG. 12 , the mobile robot 100 according to an embodiment of the present invention includes an openable and openable head 111 and a body portion ( It may include a main body 101 including a body 102 , locks 220 and 230 provided on the rear surface of the main body, and a traveling unit 160 for moving the main body 101 .

As shown in (a) of FIG. 12 , the lock may be a dial-type locking device 220 in which the lock setting is released by an operation of rotating a dial to match a preset password.

Alternatively, as shown in (b) of FIG. 12 , the lock may be a keypad-type locking device 230 in which the lock setting is released by an operation of inputting a preset password through a button provided on the keypad.

Accordingly, the mobile robot 100 according to an embodiment of the present invention can release the lock settings of the head 111 and the cover 102 when a preset operation is performed on the locking devices 220 and 230 . .

Accordingly, it is possible to prevent an unauthorized person from opening the head 111 and the cover 102 of the mobile robot 100, thereby preventing safety accidents and theft accidents.

In addition, the main body 101 may further include a battery electric cord accommodating part 195 that is unlocked by interlocking with the unlocking of the head 111 .

That is, when a user is authenticated through a fingerprint, the mobile robot 100 according to the present invention releases the lock settings for the opening and closing means such as the head 111, the cover 103, and the battery electric cord receiving unit 195 at once. can

Meanwhile, as described above, the mobile robot 100 according to an embodiment of the present invention may further include a display 181 accommodated in the main body 101 .

In this case, the controller 140 may control a predetermined user interface screen to be displayed on the display 182 .

For example, the user interface screen includes a status information area including status information of the mobile robot and a main menu area including a plurality of main menu items, and the main menu area may input a cleaning execution command. It may include a cleaning start item, a return item capable of inputting a movement command to a designated place, and a cleaning setting item capable of performing an input regarding a cleaning area and a cleaning mode.

In this case, when a selection input for any one of the items included in the main menu area is received, the controller 140 displays a detailed screen corresponding to the item for which the selection input is received on the display 182 can be controlled as much as possible.

In some embodiments, the control unit 140 controls the display 182 to be turned on when the head 111 is opened, thereby preventing the display 182 from being unnecessarily driven and reducing power consumption. can reduce

13 and 14 are diagrams referenced in the description of unlocking the lock setting according to an embodiment of the present invention.

13 and 14, if a legal fingerprint is input through the fingerprint input unit 210, or there is a legal operation input according to physical manipulation of the locking device 220, 230, the cover 103 of the body 102, The lock setting for the battery electric cord accommodating part 195 may be released.

A user may open the cover 103 to remove or replace a detergent container, a gear module, a battery, and the like.

In addition, the user can charge the battery by opening the battery electric cord accommodating part 195 , taking out an electric cord for charging the battery, and connecting it to an outlet.

On the other hand, if a legal fingerprint is input through the fingerprint input unit 210 or a legal operation input is received according to physical manipulation of the locking device 220 or 230, as described in FIGS. 5 to 7, the head 111 is opened. can

According to at least one of the embodiments of the present invention, it is possible to provide a mobile robot that can be safely operated in a public place.

In addition, according to at least one of the embodiments of the present invention, by providing a user interface screen in a specific situation, there is an advantage in that it is possible to reduce the risk of accidents between humans and mobile robots.

In addition, according to at least one of the embodiments of the present invention, it is possible to improve user convenience by providing various user interface screens.

In addition, according to at least one of the embodiments of the present invention, it is possible to provide a mobile robot capable of identifying a user and providing a user interface screen according to the user's authority.

In the mobile robot according to the present invention, the configuration and method of the described embodiments are not limitedly applicable, but all or part of each embodiment is selectively combined so that various modifications can be made. may be configured.

Meanwhile, the method for controlling a mobile robot according to an embodiment of the present invention can be implemented as a processor-readable code on a processor-readable recording medium. The processor-readable recording medium includes all types of recording devices in which data readable by the processor is stored. Examples of the processor-readable recording medium include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc., and also includes those implemented in the form of carrier waves such as transmission over the Internet . In addition, the processor-readable recording medium is distributed in a computer system connected to a network, so that the processor-readable code can be stored and executed in a distributed manner.

In addition, although preferred embodiments of the present invention have been illustrated and described above, the present invention is not limited to the specific embodiments described above, and the technical field to which the present invention belongs without departing from the gist of the present invention as claimed in the claims Various modifications may be made by those of ordinary skill in the art, and these modifications should not be individually understood from the technical spirit or perspective of the present invention.

Mobile Robot: 100
Body: 101
Head: 111
Controls: 140
Driving part: 160
Display: 182
Communications Department: 190
Fingerprint input unit: 210
Lock: 220, 230

Claims (15)

a body including an openable and openable head;
a driving unit for moving the body;
a fingerprint input unit to which a fingerprint is input;
a storage unit for storing registered fingerprint information;
A control unit that compares the fingerprint information input through the fingerprint input unit with the registered fingerprint information pre-stored in the storage unit, and releases the lock setting so that the head can be opened when there is registered fingerprint information corresponding to the input fingerprint information ; and,
Including; a display accommodated inside the main body;
When the head is opened, the display is slid or pushed to the front, and is turned on to display a user interface screen corresponding to the corresponding registered fingerprint information.
. delete According to claim 1,
When the corresponding registered fingerprint information corresponds to an administrator level with management authority for the plurality of mobile robots, the control unit controls so that a user interface screen including information on the plurality of mobile robots is displayed on the display A mobile robot characterized in that. 4. The method of claim 3,
The user interface screen including information on the plurality of mobile robots includes current state information and operation history information of the plurality of mobile robots. According to claim 1,
The control unit, when the corresponding registered fingerprint information corresponds to a general user grade, a user based on a usage history of a user corresponding to the corresponding registered fingerprint information or a usage history of a plurality of users included in the general user grade A mobile robot, characterized in that the interface screen is controlled to be displayed on the display. According to claim 1,
The user interface screen includes a status information area including status information of the mobile robot, and main menu areas including a plurality of main menu items,
The main menu area includes a cleaning start item for inputting a cleaning execution command, a return item for inputting a command to move to a designated place, and a cleaning setting item for performing an input regarding a cleaning area and a cleaning mode Mobile robot, characterized in that.
delete According to claim 1,
The main body, the mobile robot characterized in that it further comprises a body portion (body) provided with a cover (cover) unlocked by interlocking with the unlocking setting of the head. According to claim 1,
The main body, the mobile robot characterized in that it further comprises a battery electric cord receiving unit unlocked in association with the unlocking of the lock setting of the head. delete a body including an openable and openable head and a body located at a lower end of the head and having an openable and openable cover;
a lock provided on the rear surface of the main body;
a driving unit for moving the body;
a display accommodated in the body; and,
a control unit for controlling a predetermined user interface screen to be displayed on the display when the head is opened;
When a preset operation is performed on the locking device, the lock setting of the head and the cover is released,
When the head is opened, the display is slid or pushed to the front, and the mobile robot is turned on. 12. The method of claim 11,
The main body, the mobile robot characterized in that it further comprises a battery electric cord receiving unit unlocked in association with the unlocking of the lock setting of the head. delete 12. The method of claim 11,
The user interface screen includes a status information area including status information of the mobile robot, and main menu areas including a plurality of main menu items,
The main menu area includes a cleaning start item for inputting a cleaning execution command, a return item for inputting a command to move to a designated place, and a cleaning setting item for performing an input regarding a cleaning area and a cleaning mode Mobile robot, characterized in that.
delete

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