KR102500529B1 - Moving Robot and controlling method - Google Patents

Abstract

A mobile robot and a control method thereof according to the present invention are a mobile robot generating a map of an area in response to obstacle information detected while driving in an area, and displaying the map received from the mobile robot on a screen and selecting from the map. and a terminal that transmits a cleaning command for an area to the mobile robot, and when an unexplored area is selected from the map by the terminal, the mobile robot moves to the unexplored area and creates a map for the unexplored area. By updating the generated and pre-stored map, by adding a map for a new area to the existing map, the updated map can be used while maintaining the area classification and cleaning data for each area, and the driving pattern of the mobile robot is set. Thus, the mobile robot can be controlled with a driving pattern corresponding to each area having a different shape.

Description

Mobile robot and its control method {Moving Robot and controlling method}

The present invention relates to a mobile robot and a control method thereof, and more particularly, to a mobile robot traveling in a cleaning area and a control method thereof.

In general, a mobile robot is a device that automatically cleans by sucking foreign substances such as dust from the floor while traveling on its own in an area to be cleaned without a user's manipulation.

The mobile robot detects the distance to obstacles such as furniture, office supplies, and walls installed in the cleaning area, and performs an obstacle avoidance operation. The mobile robot may include a means for detecting an obstacle to detect an obstacle within a predetermined distance and avoid the obstacle.

The mobile robot creates a map while driving in the area, and performs cleaning based on the generated map. When a predetermined area is designated to be cleaned, cleaning may be performed by moving to the corresponding area based on a map.

The mobile robot drives based on the map, but when it reaches an area not on the map, it can determine it as an unexplored area and create a map for it.

However, when creating a map for an unexplored area, a conventional mobile robot deletes a previously stored map and creates a new map including the unexplored area. A new map is created while driving the entire area including the new area as well as the existing area.

When a new map is created in this way, there is a problem in that the existing area is searched again because it is unnecessary, and the area must be newly distinguished.

In addition, information about areas previously cleaned, such as classification of areas, the number of times of cleaning for each area, and information about obstacles located in the area, are deleted or are no longer available.

In addition, Korean Patent Laid-open Publication No. 10-2009-0019459 describes generating a map for the entire area by combining maps for individual areas by generating maps in individual areas, extracting common feature points between divided areas and matching them with each other. are doing However, in order to create a map of the entire area, maps for each area are created and combined, and it is not considered whether to use the created map or add a new map to the already created map.

An object to be solved by the present invention is to provide a mobile robot and a control method for adding a new area by updating the generated map according to the driving environment of the mobile robot and instructing cleaning using the map.

The mobile robot of the present invention controls a main body traveling in an area, a sensing means for detecting an obstacle while driving, and controlling the driving of the main body, and generates a map for the area in response to obstacle information detected through the sensing means, A controller configured to control the driving unit to perform cleaning while traveling in each area within the map, and a communication unit configured to transmit the map to a terminal, wherein the control unit, when one area is selected in response to a user input, the area If this is the search area of the map, it drives in the area according to the driving pattern set in the area and performs a designated operation. If the area is an unexplored area, it drives in the unexplored area It is characterized in that a map is created and added to the previously created map.

The controller may control the driving unit to move the main body to enter the unexplored area targeting a point corresponding to the user input among the unexplored areas.

The control unit is characterized in that after moving to an area adjacent to the undiscovered area among the search areas of the map, the controller moves to the undiscovered area.

The control unit may control the driving unit to set a driving route to the unexplored area and move to the unexplored area in response to the dragged direction after being touched by the user input.

The control unit may transmit an updated map to which the map for the unexplored area is added to a terminal through the communication unit, and receive the user input from the terminal.

In addition, the present invention includes a main body traveling in an area, sensing means for detecting obstacles during driving, a control unit for controlling driving of the main body and generating a map for the area in response to obstacle information detected through the sensing means, and a communication unit transmitting the map to a terminal, wherein the control unit moves to the unexplored area and, when a driving command for an unexplored area not included in the map is received from the terminal, displays a map for the unexplored area. Characterized in that it is created and added to the map.

The terminal may set a driving pattern for the mobile robot in response to a user input, and transmit a cleaning command to which the driving pattern is applied to the mobile robot.

The method for controlling a mobile robot of the present invention includes generating a map while driving in at least one area, selecting one area in response to a user input, when the area is one of the search areas of the map, Driving in the area and performing a designated operation according to a driving pattern set in the area, driving in the unexplored area if the area is an unexplored area, generating a map for the unexplored area, and and adding a map of the unexplored area to the generated map.

The method for controlling a mobile robot of the present invention includes displaying a map received from the mobile robot on a terminal, selecting an unexplored area from the map, and sending a driving command to the unexplored area by the terminal to the mobile robot. Transmitting to, in response to the driving command, moving the mobile robot to the unexplored area, generating a map for the unexplored area when leaving the area of the map and entering the unexplored area and updating the map by adding a map of the unexplored area to the map.

The terminal may set a driving pattern for the mobile robot in response to a user input and transmit the cleaning command including the driving pattern.

The present invention provides a mobile robot that generates a map of the region in response to obstacle information detected while driving in an area, outputs the map received from the mobile robot to a screen, and issues a cleaning command for an area selected from the map. and a terminal that transmits information to the mobile robot, and when an unexplored area is selected from the map by the terminal, the mobile robot moves to the unexplored area, creates a map for the unexplored area, and generates a map for the previously stored map. It is characterized by updating.

When the mobile robot enters a new area while driving, it recognizes the new area as a new area and creates a map for the new area.

The mobile robot is characterized in that, when a control command for driving into the unexplored area is received from the terminal, it moves to the unexplored area and creates a map of the unexplored area.

The mobile robot is characterized in that it updates the previously stored map by gradually adding maps for the unexplored area based on the point of time when it leaves the area of the previously stored map and enters the unexplored area.

When a control command for driving into the unexplored area is received, the mobile robot moves to an area adjacent to the unexplored area, and then sets a movement path to the unexplored area based on detected obstacle information. do.

In response to a user input, when an unexplored area not designated on the map is selected, the terminal transmits a control command to the mobile robot to move to the selected point and search the unexplored area, and determines the location of the selected point based on a previously stored map. Characterized in that the relative position is calculated and transmitted to the mobile robot.

The terminal displays a selected area among a plurality of areas on a screen, the terminal displays a pattern setting screen, analyzes an input pattern in response to a user input, and sets a driving pattern for the mobile robot. .

The mobile robot and its control method according to the present invention can control the operation of the mobile robot based on the map by dividing and cleaning the area based on the map generated while driving in the area, and transmitting the generated map to a terminal. there is.

According to the present invention, when a mobile robot reaches a new area, a map is generated by searching for the new area, and a map for the new area is added to the existing map, thereby dividing the area and maintaining the cleaning data for each area and updating the map. can be used.

According to the present invention, a driving pattern of the mobile robot can be newly registered, and accordingly, the mobile robot can travel with a driving pattern corresponding to each area having a different shape.

According to the present invention, cleaning and driving conditions of the mobile robot can be monitored through a terminal, and settings for the mobile robot can be changed according to a user's input.

1 is a perspective view of a mobile robot according to an embodiment of the present invention.
2 is a diagram illustrating a terminal communicating with the mobile robot of FIG. 1;
3 is a block diagram showing main parts of a mobile robot according to an embodiment of the present invention.
4 is a diagram referenced for explaining a map of a mobile robot according to an embodiment of the present invention.
5 is a diagram referenced to describe a search operation for an unexplored area of a mobile robot according to an embodiment of the present invention.
FIG. 6 is a reference diagram for explaining map creation for an unexplored area of the mobile robot of FIG. 5 .
7 is an exemplary view referenced to describe setting a cleaning command using a terminal of a mobile robot according to an embodiment of the present invention.
8 is a view for explaining a driving pattern of a mobile robot according to an embodiment of the present invention.
9 is a diagram referenced to explain a method of generating a map for a new area of a mobile robot according to an embodiment of the present invention.
10 is a flowchart illustrating a control method according to a driving pattern of a mobile robot according to an embodiment of the present invention.

Advantages and features of the present invention, and methods of achieving them, will become clear with reference to the detailed description of the following embodiments taken in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only these embodiments make the disclosure of the present invention complete, and common knowledge in the art to which the present invention belongs. It is provided to completely inform the person who has the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numbers designate like elements throughout the specification. The control configuration of the present invention may be configured as hardware so as to be configured with at least one processor.

1 is a perspective view of a mobile robot according to an embodiment of the present invention.

Referring to FIG. 1, a mobile robot 1 according to an embodiment of the present invention has a body 10 that moves along the floor of an area and sucks foreign substances such as dust on the floor, and a front surface of the body 10. It includes a sensing means disposed to detect an obstacle.

The main body 10 forms an exterior and includes a casing 11 that forms a space in which parts constituting the main body 10 are accommodated, and a suction unit disposed in the casing 11 to suck foreign substances such as dust or garbage. (not shown), and a left wheel (not shown) and a right wheel (not shown) rotatably provided in the casing 11 may be included. As the left and right wheels rotate, the main body 10 moves along the floor of the cleaning area, and in this process, foreign substances are sucked in through the suction unit.

The suction unit may include a suction fan (not shown) generating suction power and a suction port (not shown) through which airflow generated by rotation of the suction fan is sucked. The suction unit may include a filter (not shown) for collecting foreign substances from airflow sucked through the suction port, and a foreign substance collection container (not shown) for accumulating the foreign substances collected by the filter. The suction unit is disposed on the rear surface of the main body 10 . In some cases, the suction nozzle may be installed on the front of the main body, toward the rear.

In addition, the main body 10 may include a driving part for driving the left wheel and the right wheel. The driving unit may include at least one driving motor. The at least one drive motor may include a left wheel drive motor for rotating a left wheel and a right wheel drive motor for rotating a right wheel.

The operation of the left wheel drive motor and the right wheel drive motor is independently controlled by the driving control unit of the control unit, so that the main body 10 can go straight, move backward or turn. For example, when the main body 10 travels straight, the left wheel drive motor and the right wheel drive motor rotate in the same direction, but when the left wheel drive motor and the right wheel drive motor rotate at different speeds or in opposite directions, The running direction of the main body 10 may be switched. At least one auxiliary wheel for stably supporting the main body 10 may be further provided.

A plurality of brushes 35 located on the front side of the bottom surface of the casing 11 and having a brush made of a plurality of radially extending wings may be further provided. Dust is removed from the floor of the cleaning area by the rotation of the plurality of brushes 35, and the dust separated from the floor is sucked through the suction port and collected in the collection container.

A control panel including a manipulation unit 160 receiving various commands for controlling the mobile robot 1 from a user may be provided on an upper surface of the casing 11 .

The sensing unit includes a sensor unit 150 that detects an obstacle using a plurality of sensors and an image acquisition unit 170 that captures an image, as shown in FIG. 1 (a).

In addition, the sensing means may include an obstacle sensing unit 100 disposed on the front of the main body 10 to detect an obstacle and an image acquisition unit 170 to capture an image, as shown in FIG. 1 (b). there is. The obstacle sensing unit 100 irradiates light patterns PT1 and PT2 and detects obstacles through captured images. The obstacle detecting unit 100 may include a pattern acquisition unit 140 and may also include a sensor unit 150 .

The image acquisition unit 170 is provided to face forward to take pictures of the driving direction, and may also be provided to face the ceiling. In some cases, two image acquisition units 170 facing the front and the ceiling may be provided. When two image acquisition units are provided, they are installed on the front and top of the main body, respectively, so that images of the front and ceiling can be taken respectively. Depending on the shape of the casing or the location of the image acquisition unit, the front and part of the ceiling can be taken. there is.

The obstacle detection unit 100 may be disposed on the front of the main body 10 .

The obstacle detecting unit 100 is fixed to the front surface of the casing 11 and includes a first pattern irradiation unit 120 , a second pattern irradiation unit 130 and a pattern acquisition unit 140 . In this case, the pattern acquisition unit 140 may be installed below the pattern irradiation unit or disposed between the first and second pattern irradiation units, as shown.

The pattern irradiation units 120 and 130 have a predetermined horizontal irradiation angle. The horizontal irradiation angle represents an angle between both ends of the horizontal line and the pattern irradiation units 120 and 130, and is preferably determined in the range of 130˚ to 140˚, but is not necessarily limited thereto.

The main body 10 is provided with a rechargeable battery (not shown), and the charging terminal of the battery is connected to a commercial power source (eg, a power outlet in the home), or a separate charging base 40 connected to the commercial power source. (10) is docked, the charging terminal is electrically connected to commercial power through contact with the terminal 410 of the charging station, and the battery can be charged. Electric parts constituting the mobile robot 1 can receive power from a battery, and thus, in a state in which the battery is charged, the mobile robot 1 is capable of self-driving in a state electrically separated from a commercial power source.

2 is a diagram illustrating a terminal communicating with the mobile robot of FIG. 1;

As shown in FIG. 2 , the mobile robot 1 communicates with the terminal 200 .

The mobile robot 1 generates a map while driving in an area, and transmits the generated map to the terminal 200 . The terminal 200 stores the received map and displays it on the screen.

The terminal 200 transmits a cleaning command corresponding to the user's input to the mobile robot 1 . Accordingly, the mobile robot may perform cleaning while driving in a predetermined area based on the received cleaning command.

In addition, the mobile robot may travel in a designated area by setting a crime prevention mode, etc., take an image, and transmit the image to the terminal. The mobile robot 1 may capture images while driving and transmit the images to the terminal.

The terminal 200 may display the current location of the mobile robot on the screen and display data received from the mobile robot 1 on the screen.

The mobile robot 1 determines the type of obstacle by analyzing an image captured while driving. While driving, the mobile robot 1 may detect at least one obstacle located in the driving direction and recognize the obstacle.

The pattern irradiation units 120 and 130 irradiate the pattern forward, and the pattern acquisition unit 140 photographs the pattern. The mobile robot 1 detects an obstacle based on the shape change of the pattern.

In addition, the image acquisition unit 170 captures an image of the driving direction, and the mobile robot 1 analyzes the image to extract features of the obstacle to recognize the type of the obstacle.

In addition, the sensor unit 150 may detect an obstacle located within a certain distance based on signals such as ultrasonic waves, laser beams, and infrared rays.

The mobile robot 1 generates a map (map) for an area based on obstacles detected through the sensing means, and avoids the obstacles detected through the sensing means while driving based on the map.

The terminal 200 has an application for controlling the mobile robot 1, displays a map for a driving area to be cleaned by the mobile robot 1 through the execution of the application, and selects an area on the map to clean a specific area. can be specified. In addition, the terminal 200 displays the location of the mobile robot based on the data received from the mobile robot and displays information about the cleaning state.

The terminal 200 is a device equipped with a communication module, capable of network access, and installed with a program for controlling the mobile robot or an application for controlling the mobile robot, and devices such as computers, laptops, smart phones, PDAs, and tablet PCs can be used. there is. In addition, a wearable device such as a smart watch may also be used as the terminal.

The terminal 200 may be interconnected with the mobile robot through a network established in the home. The terminal and the mobile robot can communicate with each other using short-distance wireless communication methods such as Bluetooth, infrared communication, and ZigBee, as well as being connected via WIFI. It is specified that the communication method between the terminal and the mobile robot is not limited thereto.

The mobile robot 1 may communicate with the server 90 as needed.

A server (not shown) analyzes image data received from the mobile robot 1, which is connected through a predetermined network N, determines the type of obstacle, and transmits a response thereof to the mobile robot 1. When there is a request from the terminal, the server may determine the type of obstacle and respond.

The server accumulates image data received from a plurality of mobile robots 1 and analyzes the plurality of image data to learn about obstacles. The server 90 includes a database (not shown) for obstacle recognition based on a plurality of image data, recognizes characteristics of the obstacle extracted from the image data, and determines the type of obstacle.

The server analyzes new obstacle information and updates pre-stored obstacle information. In addition, the server receives and stores operation information of the mobile robot for the obstacle set or changed by the terminal 200, and matches the pre-stored obstacle information to update the setting for the operation of the mobile robot for the obstacle.

3 is a block diagram showing main parts of a mobile robot according to an embodiment of the present invention.

As shown in FIG. 3, the mobile robot 1 includes an obstacle detection unit 100, an image acquisition unit 170, a cleaning unit 260, a driving unit 250, a data unit 180, and an output unit 190. , It includes a control unit 110 that controls the operation unit 160, the communication unit 290 and the overall operation.

The control unit 160 includes at least one button, switch, and touch input means, and receives on/off or various commands necessary for the overall operation of the mobile robot 1 and inputs them to the control unit 110.

The output unit 190 is equipped with a display such as an LED or LCD, and displays the operation mode, reservation information, battery status, operation status, error status, etc. of the mobile robot 1. In addition, the output unit 190 includes a speaker or a buzzer to output predetermined sound effects, warning sounds, or voice guidance corresponding to operation mode, reservation information, battery status, operation status, and error status.

The communication unit 290 transmits and receives data by including communication modules such as Wi-Fi and WiBro as well as short-range wireless communication such as ZigBee and Bluetooth.

The communication unit 290 communicates with the terminal 200 in a wireless communication method.

The communication unit 290 transmits the generated map to the terminal 200, receives a cleaning command from the terminal, and transmits data on the operating state and cleaning state of the mobile robot to the terminal. In addition, the communication unit 290 receives information on obstacles existing in the driving area and corresponding operation information from the terminal 200 and transmits operation data of the mobile robot to the terminal 200 .

The communication unit 290 may communicate with an external server 90 by being connected to an Internet network through a home network. The communication unit 290 transmits information about obstacles detected by the obstacle detection unit 100 to the server 90 through the communication unit 290 and receives data about obstacles from the server.

The communication unit 290 communicates with the charging station 40 and may receive a charging station return signal and also receive a tool separation signal. Also, the communication unit 290 may receive a tool position signal transmitted from the tool.

The traveling unit 250 includes at least one driving motor so that the mobile robot travels according to a control command of the traveling controller 113 . As described above, the driving unit 250 may include a left wheel drive motor for rotating the left wheel and a right wheel drive motor for rotating the right wheel.

The cleaning unit 260 operates a brush to make it easy to suck in dust or foreign substances around the mobile robot, and operates a suction unit to suck in dust or foreign substances. The cleaning unit 260 controls the operation of a suction fan provided in the suction unit 261 to suck foreign substances such as dust or garbage so that dust is put into a foreign substance collection container (dust container) through a suction port.

In addition, the cleaning unit 260 may further include a wet mop cleaning unit (not shown) installed at the rear of the bottom surface of the main body to wet the floor in contact with the floor, and a water tank (not shown) for supplying water to the wet mop cleaning unit. .

A battery (not shown) supplies not only the driving motor, but also power necessary for the overall operation of the mobile robot 1 . When the battery is discharged, the mobile robot 1 can travel back to the charging station 40 for charging, and during this return driving, the mobile robot 1 can detect the position of the charging station by itself. The charging station 40 may include a signal transmission unit (not shown) that transmits a predetermined return signal. The return signal may be an ultrasonic signal or an infrared signal, but is not necessarily limited thereto.

The data unit 180 stores detection signals input from the obstacle sensing unit 100 or sensor unit 150, stores reference data for determining obstacles, and stores obstacle information about detected obstacles.

The data unit 180 stores obstacle data 181 for determining the type of obstacle, image data 182 for storing a captured image, and map data 183 for an area. The map data 183 includes obstacle information, and various types of maps (maps) for the drivable area searched by the mobile robot are stored. For example, a basic map containing information on a drivable area searched by a mobile robot, a cleaning map in which areas are separated from the basic map, and a user map created so that the user can check the shape of the cleaning map area. , and a guide map in which the cleaning map and the user map are overlapped and displayed may be stored.

The obstacle data 181 is data for recognizing obstacles and determining the type of obstacles, and includes motion information about the operation of the mobile robot with respect to the recognized obstacles, for example, driving speed, driving direction, whether to avoid, whether to stop, etc., and a speaker. Data for sound effects, warning sounds, and voice guidance output through (173) are included. The image data 182 includes a captured image and recognition information for obstacle recognition received from the server.

In addition, the data unit 180 stores control data for controlling the operation of the mobile robot, data according to the cleaning mode of the mobile robot, and detection signals such as ultrasound/laser by the sensor unit 150.

The data unit 180 stores data that can be read by a microprocessor, and includes Hard Disk Drive (HDD), Solid State Disk (SSD), Silicon Disk Drive (SDD), ROM, RAM, and CD. -Can include ROM, magnetic tape, floppy disk, and optical data storage devices.

The obstacle sensing unit 100 includes a first pattern irradiation unit 120 , a second pattern irradiation unit 130 , and a pattern acquisition unit 140 .

At least one image acquisition unit 170 is provided.

The image acquisition unit 170 is installed toward the front to capture images in the driving direction and also to capture the ceiling in front. In some cases, an image acquisition unit for photographing the front and an image acquisition unit for photographing the ceiling may be respectively provided.

In addition, the sensing means may include a sensor unit 150 composed of at least one sensor. In some cases, the obstacle sensing unit 100 may be configured as a sensor unit.

As described above, the obstacle detection unit 100 is installed on the front of the main body 10, radiates light of the first and second patterns to the front of the mobile robot, and photographs the light of the irradiated pattern to include the pattern. acquire the image. The obstacle detection unit 100 inputs the obtained image to the control unit 110 as an obstacle detection signal.

The first and second pattern irradiators 120 and 130 of the obstacle detection unit 100 may include a light source and an optical pattern projection element (OPPE) that generates a predetermined pattern by transmitting light irradiated from the light source. can The light source may be a laser diode (LD) or a light emitting diode (LED). Laser light is superior to other light sources in terms of monochromaticity, straightness, and connection characteristics, enabling precise distance measurement. Since there is a problem in that a large amount of is generated, a laser diode is preferable as a light source. The pattern generator may include a lens and a diffractive optical element (DOE). Various patterns of light may be irradiated according to the configuration of the pattern creator provided in each of the pattern irradiation units 120 and 130 .

The pattern acquisition unit 140 may obtain an image of the front of the main body 10 . In particular, pattern lights PT1 and PT2 appear in the image acquired by the pattern acquisition unit 140 (hereinafter, referred to as an acquired image), and hereinafter, the images of the pattern lights PT1 and PT2 appearing in the acquired image are displayed as light. It is called a pattern, and since it is an image of the pattern lights PT1 and PT2 substantially incident on the real space and reflected on the image sensor, the same reference numerals as the pattern lights PT1 and PT2 are given, and the first pattern light PT1 ) and the images corresponding to the second pattern light PT2 are referred to as the first light pattern PT1 and the second light pattern PT2.

When the pattern irradiation unit is not provided, the pattern acquisition unit 140 acquires an image of the front of the main body that does not include the pattern light.

The pattern acquisition unit 140 may include a camera that converts an image of a subject into an electrical signal and then converts it into a digital signal and stores the image in a memory device. A camera includes at least one optical lens, an image sensor (eg, CMOS image sensor) including a plurality of photodiodes (eg, pixels) on which an image is formed by light passing through the optical lens, and It may include a digital signal processor (DSP) that composes an image based on signals output from the diodes. The digital signal processor can create not only still images, but also moving images composed of frames composed of still images.

An image sensor is a device that converts an optical image into an electrical signal, and is composed of a chip in which a plurality of photo diodes are integrated, and a pixel may be exemplified as the photo diode. Charges are accumulated in each pixel by the image projected on the chip by light passing through the lens, and the charges accumulated in the pixels are converted into electrical signals (eg, voltage). As image sensors, CCD (Charge Coupled Device), CMOS (Complementary Metal Oxide Semiconductor), and the like are well known.

The image processor generates a digital image based on the analog signal output from the image sensor. The image processing unit includes an AD converter that converts an analog signal into a digital signal, a buffer memory that temporarily records digital data according to the digital signal output from the AD converter, and the information recorded in the buffer memory. It may include a digital signal processor (DSP) that processes and configures a digital image.

The obstacle sensing unit 100 detects an obstacle according to the shape of the pattern by analyzing the pattern through the obtained image, and the sensor unit 150 detects an obstacle located at a sensing distance of each sensor through a sensor provided.

The sensor unit 150 includes a plurality of sensors to detect obstacles. The sensor unit 150 detects an obstacle in front of the main body 10, that is, in the driving direction, using at least one of laser, ultrasonic, and infrared light. In addition, the sensor unit 150 may further include a cliff detection sensor for detecting whether a cliff exists on the floor within the driving area. When the transmitted signal is reflected and incident, the sensor unit 150 inputs information about the existence of an obstacle or the distance to the obstacle to the controller 110 as an obstacle detection signal.

The image acquisition unit 170 continuously captures images when the mobile robot operates. Also, the image acquisition unit 170 may capture images at predetermined intervals. The image acquisition unit 170 captures an image even in a driving or cleaning state in which an obstacle is not detected by the obstacle detection unit 100 .

For example, if the image acquisition unit 170 moves in the same driving direction after taking a picture once, the size of the obstacle photographed in the image taken once changes while the driving direction remains unchanged, but the same obstacle Since it is filmed, images are taken periodically. The image acquisition unit 170 may capture images in units of a predetermined time or a predetermined distance. Also, the image acquisition unit 170 captures a new image when the driving direction is changed.

The image acquisition unit 170 may set a photographing cycle according to the moving speed of the mobile robot. In addition, the image acquisition unit 170 may set a photographing period in consideration of the sensing distance by the sensor unit and the moving speed of the mobile robot.

The image acquisition unit 170 stores an image captured while the main body is driving in the data unit 180 as image data 182 .

Meanwhile, the obstacle detecting unit 100 detects obstacles located in the driving direction during driving and inputs a detection signal to the controller. The obstacle detecting unit 100 inputs information about the position or motion of the detected obstacle to the controller 110 . The pattern acquisition unit 140 inputs an image including the pattern irradiated by the pattern irradiation unit to the control unit as a detection signal, and the sensor unit 150 inputs a detection signal for an obstacle detected by a sensor provided to the control unit. .

The controller 110 controls the driving unit 250 so that the mobile robot travels within a designated driving area among driving areas.

The control unit 110 processes data input by manipulation of the control unit 160 to set the operation mode of the mobile robot, outputs the operation status through the output unit 190, and detects the operation status, error status or obstacle. Warning sounds, effect sounds, and voice guidance are output through the speaker.

The controller 110 cleans the driving area by controlling the driving unit 250 and the cleaning unit 260 to absorb dust or foreign substances around the mobile robot while driving. Accordingly, the cleaning unit 260 operates the brush to make it easy to suck in dust or foreign substances around the mobile robot, and operates the suction device to suck in the dust or foreign substances. The cleaner is controlled to perform cleaning by sucking in foreign substances while driving.

The controller 110 checks the charge capacity of the battery and determines when to return to the charging base. When the charging capacity reaches a predetermined value, the controller 110 stops the operation being performed and starts searching for a charging station to return to the charging station. The controller 110 may output a notification about the charging capacity of the battery and a notification about returning to the charging station.

The control unit 110 may recognize an obstacle with respect to an obstacle detected by the image acquisition unit 170 or the obstacle detection unit 100, and set any one of a plurality of corresponding motions in response to the obstacle to be performed. In addition, when the detection signal is an image included in a pattern, the control unit may determine the detection signal as a different detection signal according to the shape of the pattern, and may distinguish an obstacle according to the detection signal, that is, the shape of the pattern.

The controller 110 transmits the map generated through the communication unit 290 to the terminal 200 and moves to a designated area in response to data received from the terminal 200 to perform cleaning.

On the other hand, if the area designated by the terminal 200 is a new area that does not exist on the map, the controller 110 may create a new map by determining it as an unexplored area.

When a new area is reached, the controller 110 maintains a previously generated map, but when the new area is connected to an existing area, the controller 110 may create a map for the new area and add it to the previously created map.

In addition, the controller may update the map according to the degree of movement of the main body. That is, before generating a map for the entire new area, a map for a new area may be gradually added based on information detected as the main body moves.

The control unit may gradually add a map for an unexplored area to update a pre-stored map, and may update the map step by step according to a driving distance in the unexplored area.

The controller 110 determines the location of a designated area based on a pre-stored map, and controls the driving unit 250 to start searching for a new area from a certain point on the pre-stored map. The control unit 110 controls the driving unit 250 by calculating the relative distance and position between the designated area and the map. The control unit 110 stores and analyzes data input from the obstacle detection unit 100, the image acquisition unit 170, and the sensor unit 150 to detect obstacles located in the driving direction, and to detect obstacles located in the surrounding area based on the designated position. can be expanded to create a map of the unexplored area.

The controller 110 transmits the map to which the new area is added to the terminal 200 .

The control unit 110 includes an obstacle recognition unit 111, a map generator 112, and a driving control unit 113.

The map generator 112 generates a map of the cleaning area based on obstacle information while driving in the cleaning area during an initial operation or when a map of the cleaning area is not stored. In addition, the map generator 112 updates a pre-generated map based on obstacle information acquired while driving.

The map generator 112 generates a basic map based on information acquired by the obstacle recognizing unit 111 while driving, and separates areas from the basic map to generate a cleaning map. In addition, the map generator 112 organizes the area for the cleaning map and sets properties for the area to create a user map and a guide map. The basic map is a map in which the shape of a cleaning area obtained through driving is displayed as an outline, and the cleaning map is a map in which areas are divided on the basic map. The basic map and the cleaning map include information on the driving area of the mobile robot and obstacles. The user map is a map to which visual effects are added by simplifying the area of the cleaning map and arranging and processing the shape of the outline. A guide map is a map in which a cleaning map and a user map are overlapped. Since a cleaning map is displayed on the guide map, a cleaning command may be input based on an area in which the mobile robot can actually drive.

After generating the basic map, the map generator 112 divides the cleaning area into a plurality of areas, includes a connection passage connecting the plurality of areas, and generates a map including information about obstacles in each area. The map generator 112 separates small areas to set a representative area to classify areas on the map, sets the separated small areas as separate detailed areas, and merges them into the representative area to create a map in which areas are divided. .

The map generator 112 processes the shape of each divided area. The map generator 112 sets properties for the divided areas and processes the shape of the areas according to the properties for each area.

The obstacle recognition unit 111 determines obstacles through data input from the image acquisition unit 170 or the obstacle detection unit 100, and the map generator 112 creates a map of the driving area and detects obstacles. information about is included in the map. In addition, the driving control unit 113 controls the driving unit 250 to pass through obstacles or avoid obstacles by changing a moving direction or a driving path in response to obstacle information.

The obstacle recognizing unit 111 determines an obstacle by analyzing data input from the obstacle detection unit 100 . The obstacle recognizing unit 111 calculates the direction of the obstacle or the distance to the obstacle according to the detection signal of the obstacle detection unit, for example, a signal such as ultrasonic wave or laser, and also analyzes the acquired image including the pattern to determine the pattern. Extract and analyze the shape of the pattern to determine the obstacle. When ultrasonic or infrared signals are used, the obstacle recognizing unit 111 determines the obstacle based on the difference in the type of ultrasonic waves received and the time at which ultrasonic waves are received depending on the distance from the obstacle or the position of the obstacle.

In addition, the obstacle recognizing unit 111 stores the image data captured by the image acquiring unit 170 in the data unit 180 when image data is input. Since the image acquisition unit 170 photographs the front obstacle multiple times, a plurality of image data is also stored. In addition, when the image acquisition unit 170 continuously captures images of the driving direction, the obstacle recognizing unit 111 stores the input video as image data or divides the video into frames and stores the video as image data.

The obstacle recognizing unit 111 analyzes a plurality of image data and determines whether or not a photographed object, that is, an obstacle can be recognized. At this time, the obstacle recognition unit 111 analyzes the image data and determines whether the image data is recognizable or not. For example, the obstacle recognizing unit 111 separates and discards a shaken image, an image that is out of focus, and an image in which an obstacle cannot be distinguished because it is dark.

The obstacle recognizing unit 111 analyzes image data, extracts features of the obstacle, determines the obstacle based on the shape (form), size, and color of the obstacle, and determines its location. The obstacle recognizing unit 111 analyzes obstacles from a plurality of pre-photographed images and determines obstacles by analyzing images captured before a predetermined time based on the point in time when it is determined that the obstacle is located at a designated distance.

The obstacle recognizing unit 111 may exclude the background of the image from the image data and extract characteristics of the obstacle based on pre-stored obstacle data to determine the type of the obstacle. The obstacle data 181 is updated by new obstacle data received from the server. The mobile robot 1 may store obstacle data for detected obstacles and receive data on the types of obstacles from the server for other data.

The obstacle recognizing unit 111 detects features such as points, lines, and planes of predetermined pixels constituting an image, and detects obstacles based on the detected features.

The obstacle recognizing unit 111 extracts the outline of the obstacle, recognizes the obstacle based on its shape, and determines the type. The obstacle recognizing unit 111 may determine the type of obstacle based on the shape and color and size of the obstacle. In addition, the obstacle recognizing unit 111 may determine the type of obstacle based on the shape and motion of the obstacle.

The obstacle recognizing unit 111 classifies people, animals, and objects based on obstacle information. The obstacle recognizing unit 111 classifies the types of obstacles into general obstacles, dangerous obstacles, biological obstacles, and floor obstacles, and can determine detailed obstacle types for each classification.

In addition, the obstacle recognizing unit 111 transmits recognizable image data to the server 90 through the communication unit 290 to determine the type of obstacle. The communication unit 290 transmits at least one image data to the server 90 .

When image data is received from the mobile robot 1, the server 90 analyzes the image data to extract the outline or shape of the captured object, compares it with pre-stored data on obstacles, and determines the type of obstacle. . The server 90 first searches for obstacles of a similar shape or color, extracts features from corresponding image data, and compares them to determine the types of obstacles.

After determining the type of obstacle, the server 90 transmits data about the obstacle to the mobile robot 1 .

The obstacle recognizing unit 111 stores obstacle data received from the server through the communication unit in the data unit 180 as obstacle data. When the type of obstacle is determined by the server, the obstacle recognizing unit 111 performs an operation corresponding thereto. The driving control unit 113 controls the driving unit to avoid, approach, or pass through the obstacle in response to the type of obstacle, and outputs a predetermined sound effect, warning sound, or voice guidance through a speaker in some cases.

As described above, the obstacle recognizing unit 111 determines whether image data can be recognized, transmits the image data to the server according to the stored obstacle data, and recognizes the type of obstacle according to the server's response.

In addition, the obstacle recognizing unit may recognize the obstacle based on the obstacle recognition data without transmitting image data to the server by storing obstacle data for obstacle recognition for a selected obstacle among a plurality of obstacles.

The driving control unit 113 controls the driving unit 250 to independently control the operation of the left wheel driving motor and the right wheel driving motor so that the main body 10 travels straight or rotates. The driving controller 113 controls the driving unit 250 and the cleaning unit 260 according to a cleaning command so that the main body 10 travels in the cleaning area and sucks in foreign substances to perform cleaning.

When the driving control unit 113 recognizes the type of obstacle from the image data, the driving control unit 113 controls the driving unit 250 in response to the type of obstacle so that the main body 10 performs a predetermined operation.

When the driving control unit 113 determines that an obstacle is located within a predetermined distance according to the detection signal of the obstacle detection unit 100, the corresponding motion that can be executed according to the type or form of the detection signal is determined based on the image data. According to the type and size of the obstacle, one of a plurality of corresponding motions is set and the operation is performed.

When an obstacle is located within a designated distance through the obstacle sensing unit 113, the driving control unit 113 sets avoidance, approach, approach distance, stop, deceleration, acceleration, reverse travel, U-turn, and travel direction according to the detection signal. A plurality of corresponding motions such as change are set, and one corresponding motion is set according to an obstacle determined from pre-photographed image data to control the traveling unit.

The driving control unit 113 may output an error and, if necessary, output a predetermined warning sound or voice guide.

When a new area is reached during driving, the driving controller 113 controls the driving unit 250 to drive in the corresponding area to create a map.

The driving controller 113 may calculate the location of a new area from a previously stored map and control the driving unit 250 to start driving from an end point of the previously stored map. In addition, the driving controller 113 may control the driving unit to move from the current position to a nearby wall (or obstacle) and then move along the wall to drive in a new area.

While the main body 10 is driving, the obstacle recognizing unit 111 analyzes the data input from the sensing means, that is, the obstacle sensing unit 100, the image acquisition unit 170, and the sensor unit 150 to analyze the obstacles in the driving direction. to detect obstacles.

The map generator 112 creates a map for a new area based on information about obstacles such as the position of the mobile robot during driving, the driving route and moving distance, and the position and size of obstacles.

When the main body 10 starts driving from the end point of a pre-stored map and travels in a new area, the map generator 112 may additionally create a map for the new area by connecting from the end point of the map.

Meanwhile, the terminal executes an application in response to a user input input through a display unit (not shown) displaying data, an input unit (not shown) including at least one key and a touch input means, and a menu screen. It includes a terminal control unit (not shown) configured and outputted through the display unit. The terminal includes a communication unit for transmitting and receiving data by communicating with the mobile robot. The communication unit includes a plurality of communication modules and transmits/receives data to and from the server by accessing the mobile robot as well as a predetermined network.

The terminal includes a plurality of sensors to recognize a user's gesture, detect vibration or movement of the terminal, recognize voice, and execute a corresponding operation. The terminal includes a speaker that outputs sound effects and voice guidance.

4 is a diagram referenced for explaining a map of a mobile robot according to an embodiment of the present invention.

As shown in (a) of FIG. 4 , the indoor space is divided into first to third areas A1 to A3.

The mobile robot 1 creates a map for an area while driving. While the main body 10 travels in each area by the driving unit 250, obstacles may be recognized based on data sensed by the sensing means, and a map may be generated accordingly.

When creating a map, among the first to third areas A1 to A3, if the door to the third area is closed or the mobile robot 1 cannot enter the third area A3, the first and second areas to create a map for

The mobile robot 1 that generated the map for the first and second areas A1 and A2 transmits the map to the terminal 200, and the terminal 200 displays the map received from the mobile robot 1 as shown in FIG. As shown in (b), it can be displayed on the screen.

The mobile robot 1 recognizes only the first area and the second area, moves to a designated location according to the cleaning command of the terminal 200, and performs cleaning. The mobile robot 1 travels based on a basic map or a cleaning map and performs a designated operation.

The terminal 200 displays a map (map) received from the mobile robot 1 on the screen. Depending on the convenience of the user of the terminal 200, a user map and a guide map may be selectively displayed. In addition, the terminal may display any one of a basic map, a cleaning map, a user map, and a guide map as needed.

5 is a diagram referenced to describe a search operation for an unexplored area of a mobile robot according to an embodiment of the present invention.

As shown in (a) of FIG. 5 , the terminal 200 displays a map 281 on a screen 280 .

As described above, the first area A1 and the second area A2 are displayed on the map. The terminal 200 may transmit a command for the first area or the second area to the mobile robot 1 in response to a user's input. For example, it is a command for a cleaning command, crime prevention mode setting, and the like.

The terminal 200 can recognize user manipulations such as touch, key input, multi-touch, long key input, and touch-and-drag as user input, execute an application, display a specific menu screen, and store and transmit data. there is.

The terminal 200 receives data on the current location of the mobile robot 1 from the mobile robot 1 and displays the location on a map displayed on the screen 280 . It is specified that the mobile robot 1 displayed on the screen also has the same reference numerals. The mobile robot 1 may be displayed as an image or icon corresponding to the mobile robot.

On the other hand, a first point, any one point in the unsearched area An, which is an area other than the search area on the map 281 by the user, that is, an area outside the first area A1 and the second area A2 (P1) can be selected.

The first point may be selected by touch or long key input.

When the terminal 200 selects a point in the unsearched area An, not the searched area on the map 281, that is, the first point P1, as shown in FIG. 5(b), the user In response to the input, a control command is transmitted to the mobile robot 1 to move to the first point P1.

The terminal 200 may calculate a relative position with respect to the selected first point P1 based on a pre-stored map and transmit it to the mobile robot 1 .

The mobile robot 1 moves to a position corresponding to the first point P1 in response to a control command received from the terminal 200 .

Based on the pre-stored map, the mobile robot 1 determines that the selected first point P1 is an unexplored area, not the first and second areas. The mobile robot 1 moves to a location adjacent to a first point selected from the map and moves to the first point based on detected obstacle information.

After moving to the first area A1 adjacent to the first point P1, the mobile robot 1 detects an obstacle from the first area A1 and moves to a position corresponding to the first point P1.

For example, the mobile robot 1 calculates the data for the first point received from the terminal 200, that is, the relative position based on the current map, and calculates the first point P1 in the first area A1. You can try driving in a straight line.

When moving from the first area A1 to the first point P1, the mobile robot 1 may detect an obstacle, for example, a wall, while driving. The mobile robot 1 travels toward the first point by setting a route again through re-search in response to an obstacle detected during driving.

While driving, the mobile robot 1 may search for a connection point P11 where the first point P1 and the first area A1 are connected, and move to the first point P1 through this search.

When the mobile robot moves out of the area of the pre-stored map and moves to the first point, which is the selection point, the last point of the pre-stored map is set as the connection point. In addition, the mobile robot may set a connection point with a pre-stored map based on an entry route into a new area.

When unable to move to the first point, the mobile robot may output an error. The terminal may output a guide message informing that access to the first point is impossible.

Meanwhile, as shown in (c) of FIG. 5 , the terminal 200 may output a guide or warning notifying that the unexplored area An on the map is selected on the screen.

For example, 'Unexplored area selected. Please check again.' may be displayed as a pop-up window on the screen.

When the user selects the progress key 284 with respect to the guide message, a control command is transmitted to the mobile robot 1 as described above for the selected point (first point). In some cases, it is possible to check again whether the selected point is correct or not through a guide message.

When the cancel key 285 is selected, the terminal 200 returns to the map screen again when canceling the point selection.

Also, in response to a user input, the mobile robot may move to an unexplored area and create a map of the unexplored area.

When a point on the map 281 is touched according to a user input and then dragged to an unexplored area, the terminal 200 may transmit a search command for the unexplored area to the mobile robot 1 .

The terminal 200 may transmit a search command including information on the touched point, the dragged direction, and the dragged point (last point) to the mobile robot.

After moving to a point on the map corresponding to the touched point, the mobile robot 1 may enter the unexplored area while driving in the actual area according to the dragged direction.

When the mobile robot 1 moves to a position corresponding to the dragged point and enters the unexplored area beyond the area of the map (search area), it can create a map for the unexplored area.

FIG. 6 is a diagram referenced to explain map generation for an unexplored area of the mobile robot of FIG. 5 .

In addition, as shown in (a) of FIG. 6, while the mobile robot 1 is moving to the first point P1, the terminal 200 receives location information from the mobile robot 1 and maps the screen. The location of the mobile robot can be displayed on the screen.

When the mobile robot 1 leaves the first area A1 through the connection point P11 and travels in an unexplored area, the terminal 200 displays an extended area on the map 281 based on the current location of the mobile robot. (282) can be displayed.

When the mobile robot 1 reaches the first point P1, it recognizes it as a new area, searches for the new area, and creates a map based on data sensed accordingly.

The mobile robot 1 creates a map for the third area A3 while driving in the third area A3, for example, performing wall-following.

At this time, the driving control unit 113 controls the driving unit 250 to drive the third area to create a map for a new area. The driving control unit may store data on a connection point with the first area based on a route entering the third area, and control the driving unit to move with the connection point as a starting point.

In addition, the driving control unit 113 may control the driving unit to move along the wall surface after searching for a wall surface close to the current position based on the data sensed by the sensing unit based on the current position.

During driving, the sensing unit detects an obstacle, the obstacle recognizing unit 111 recognizes the type of obstacle and stores it together with the location of the obstacle, and the map generator 112 provides movement route, location information, type and size of the obstacle And based on the location data, a map is generated for the third area. In addition, the map generator may connect a pre-stored map and a map of the third area based on the connection point, and divide the third area based on the connection point.

As shown in (b) of FIG. 6, when a map of the third area is created, the mobile robot 1 adds a new map of the third area to the previously created map based on the connection point P11, Update the saved map. Maps for the first and second areas and data on obstacles may be maintained and only maps for the third area may be added.

The mobile robot 1 transmits the updated map to the terminal 200.

The terminal 200 receives the updated map and displays the map including the newly added third area A3 on the screen 280 .

Meanwhile, the mobile robot 1 may enter the third area A3 while traveling in the first area A1. The mobile robot 1 may determine that the third area is a new area as it is an unexplored area not on the map.

Accordingly, the mobile robot 1 may generate a map for the third area while driving in the third area. As described above, the mobile robot 1 creates a map for the third area, and updates the map by adding a map for the third area to the pre-created map based on the connection point between the third area and the first area. and send it to the terminal.

The terminal displays the received updated map on the screen.

7 is an exemplary view referenced to describe setting a cleaning command using a terminal of a mobile robot according to an embodiment of the present invention.

As shown in (a) of FIG. 7 , the terminal 200 displays the updated map to which the third area A3 is added on the screen 280 .

When at least one of the first to third areas A1 to A3 on the map is selected, the terminal 200 displays the selected area differently from other areas. For example, the terminal 200 may change and display the color of the selected area, and may indicate the selected area as 'V' as shown.

Also, the terminal 200 may display numbers according to the selected order. The terminal 200 may allow cleaning to be performed according to the order selected for each area.

If necessary, the terminal 200 may designate a separate cleaning order regardless of the selected order. If the cleaning order is specified through the menu setting, numbers are displayed according to the cleaning order on the map.

The terminal 200 transmits a cleaning command including the selected area and a cleaning sequence to the mobile robot 1 .

As shown in (b) of FIG. 7 , the mobile robot 1 receives a cleaning command from the terminal 200 .

The mobile robot 1 docked at the charging stand located at the second point P2 of the first area A1 performs cleaning while traveling in the area according to the received cleaning command.

When the mobile robot 1 receives a cleaning command while traveling in an area, it performs cleaning according to the cleaning command. When a cleaning command is received while performing a preset operation as needed, the mobile robot 1 may execute the cleaning command after completing the preset operation. In addition, the mobile robot may determine the importance of the preset operation and the cleaning command, stop the preset operation, perform the cleaning command first, complete the operation according to the cleaning command, and then perform the preset operation again.

The mobile robot 1 performs cleaning while moving through each area according to the cleaning area and cleaning order included in the cleaning command.

When the first to third areas are designated as cleaning areas, and the cleaning order is designated in the order of the third area A3, second area A2 and first area A1, the mobile robot 1 Cleaning is performed while moving through each area in sequence.

The mobile robot 1 may move to the third area (S1), clean the third area, and then move to the second area (S2). When the cleaning of the second area is completed, it moves to the first area (S3) and cleans the first area. Although the moving path of the mobile robot is shown as a curve in the drawing, it is specified that it is different from the actual traveling path of the mobile robot. When moving between areas, the mobile robot can move by setting the shortest path and can avoid or pass through obstacles according to obstacles located in the driving direction.

On the other hand, if the cleaning order is not specified, the mobile robot 1 may prioritize cleaning an area close to the current location and then move to the next area.

The terminal 200 may display the current location of the mobile robot on a map on the screen based on data received from the mobile robot 1 .

The terminal 200 may display a cleaning progress status for each area based on data received from the mobile robot 1 . The terminal may display cleaning complete for an area where cleaning is completed, and display a progress rate for an area in progress of cleaning. The cleaning completion and progress rate may be displayed as a combination of at least one of images, graphs, numbers, and text. In addition, the terminal may display the cleaning completed area, the area in progress, and the area not yet cleaned in different colors, respectively.

Also, when an area is selected from a map displayed on the screen, the terminal 200 may correct the selected area in response to a user input. For example, if any one side is touched and then dragged after the second area is selected, the area may be expanded or reduced in accordance with the dragged direction.

8 is a view for explaining a driving pattern of a mobile robot according to an embodiment of the present invention.

As shown in (a) of FIG. 8 , the terminal 200 may input a driving pattern (or driving pattern) through a control menu for the mobile robot 1 . The driving pattern is applied to the cleaning operation, and may also be applied to movement within an area other than the cleaning operation.

The terminal 200 stores the touch and drag direction as an input pattern L1. The terminal 200 stores the input pattern based on information about the position of each point up to the point where the touch ends after the touch is dragged.

As shown in (b) of FIG. 8, the terminal 200 analyzes the input pattern and generates a driving pattern applied to the actual driving of the mobile robot.

The terminal 200 may analyze the characteristics of the input pattern and search for a similar pattern from pre-stored pattern data. When a similar pattern exists, the terminal 200 registers the corresponding driving pattern. In addition, when a similar driving pattern does not exist, a driving pattern is generated according to the input pattern as described above.

The mobile robot 1 may move an area in a designated form according to a designated driving pattern L2.

The terminal 200 may generate a driving pattern L3 in response to the input pattern L, as shown in (c) of FIG. 8 . That is, instead of moving as it is according to the input pattern, based on the driving principle of the input pattern, it can spirally run from the outside to the inside according to the shape of the area. Accordingly, the mobile robot 1 may travel in the area A4 according to the driving pattern L3.

The driving pattern is applied to the cleaning operation, and may also be applied to movement within an area other than the cleaning operation.

9 is a reference diagram for explaining a method of generating a map for a new area of a mobile robot according to an embodiment of the present invention.

As shown in FIG. 9 , the mobile robot 1 generates and stores a map of an area and transmits the generated map to the terminal 200 .

The terminal 200 displays a map (map) received from the mobile robot 1 on the screen. Depending on the convenience of the user of the terminal 200, a user map and a guide map may be selectively displayed. In addition, the terminal may display any one of a basic map, a cleaning map, a user map, and a guide map as needed.

The mobile robot 1 travels using one of the cleaning maps and performs a designated operation. The mobile robot 1 can also operate based on a basic map. Since the user map and the guide map are matched with the basic map and the cleaning map, even if a cleaning command is input based on the user map or the guide map, an operation is possible accordingly.

The terminal 200 selects one area or one point in response to a user input from the map displayed on the screen (S320).

The terminal 200 determines whether the selected area is an indoor area (S330). That is, the terminal 200 determines whether the selected area is an indoor area and is a search area previously searched and divided into indoor areas.

When the selected area is one of previously searched indoor areas, for example, the first area A1 or the second area A2, the terminal 200 determines whether to modify the area in response to a user input. It is judged (S370).

When modifying the area, the terminal 200 may modify the size or shape of a pre-stored map in response to a user input (S380). For example, if a side is selected and dragged after the second region is selected, the region can be expanded or reduced in the direction of the drag.

The terminal 200 stores the modified map and displays the updated map on the screen (S390). In addition, the terminal transmits the updated map to the mobile robot 1.

If the region is not modified, a cleaning command for the selected region may be set in response to a user input (S400).

The terminal 200 transmits a cleaning command to the mobile robot 1, and the mobile robot 1 moves to a designated area based on a map and performs a designated operation in response to the cleaning command.

Meanwhile, the terminal 200 may transmit a search command to the mobile robot when an unexplored area other than an indoor area is selected.

The terminal 200 calculates location information for a selected point based on a pre-stored map and transmits it to the mobile robot.

At this time, the terminal 200 may output a guide message or a warning message informing that an unexplored area other than the indoor area has been selected.

The terminal 200 transmits data on the selected point in the unexplored area to the mobile robot, and in response thereto, the mobile robot 1 moves to the selected point (S340).

The mobile robot 1 may determine that the selected point is located in an unexplored area, first move to an adjacent area, and then set a movement path to the selected point to move. The mobile robot 1 sets a route based on a relative position to a selected point calculated based on a pre-stored map. The mobile robot 1 may travel in a straight line, but may change its path according to an obstacle.

In addition, when the mobile robot 1 travels in a straight line, since an obstacle such as a wall is located, the mobile robot 1 avoids the obstacle and searches for a path that can move to the selected point.

Although the map for the third area is not created in FIG. 4 described above, since the third area is connected to the first area through a door, the mobile robot can map the third area based on obstacle information detected while driving in the first area. You can detect the door that is the connection point to the . The mobile robot 1 may detect a connection point capable of suppressing the pressure to the third area while traveling along the left wall of the first area A1.

The mobile robot 1 finds and moves to a connection point based on obstacle information input from at least one of the sensing means, that is, the obstacle sensing unit 100, the image acquisition unit 170, and the sensor unit 150.

The mobile robot stores location information about a point entering the third area from the first area, sets it as a connection point, and divides the area based on the connection point when creating a map.

When the mobile robot 1 leaves the first area and reaches a new area where the selection point is located (S350), it creates a map while driving in the new area (S360).

The mobile robot 1 updates the map by adding a map of the third area, which is a new area, to a pre-stored map. A new area can be added based on a connection point while maintaining data such as obstacle information, area information, area cleaning history, and dust amount information for each area included in a pre-stored map.

In addition, in response to a user input, when a point is touched and then dragged to an unexplored area, the terminal 200 calculates location information corresponding to the touched point and the dragged direction, and sends a search command to the mobile robot. can be sent to

The mobile robot 1 may move to a location corresponding to the touched point in response to a search command, set a driving direction corresponding to the dragged direction, and move to an unexplored area. The mobile robot 1 may set the driving direction based on the dragged direction based on the position corresponding to the touched point and the location information of the dragged point.

When the mobile robot 1 enters the unexplored area from the map area (search area), it creates a map for the unexplored area.

The mobile robot 1 transmits the updated map to the terminal 200, and the terminal 200 updates the previously stored map based on the received data and displays the updated map on the screen (S390).

10 is a flowchart illustrating a control method according to a driving pattern of a mobile robot according to an embodiment of the present invention.

As shown in FIG. 10, the terminal 200 displays a map (S410).

When any one area of the map is selected (S420), a cleaning command for the selected area may be input or a driving pattern may be registered (S430).

In addition, a driving pattern may be registered through a separate menu.

When driving pattern registration is selected in response to a user input (S430), the terminal 200 displays a pattern input screen (S440).

As shown in FIG. 8 described above, the shape of the selection area is displayed and a pattern corresponding to the user input is recognized (S450). When the display unit 200 is touched and then dragged, the terminal 200 recognizes a pattern from the touched point in the dragged direction to the dragged direction and the dragged end point.

In addition, the terminal may calculate location information for each point touched and dragged based on the map.

The terminal 200 generates a driving pattern by analyzing the input pattern (S460).

The terminal 200 may analyze the input pattern and search whether a driving pattern of a similar type exists. If necessary, the terminal 200 may access the server and receive driving pattern data.

The terminal 200 may generate a driving pattern so that the mobile robot can drive, based on location information calculated by matching the input pattern to the map. For example, as shown in (b) of FIG. 8 described above, a driving pattern is generated so that the mobile robot travels along a designated path by matching an input pattern to an area.

In addition, the terminal 200 may generate a driving pattern by analyzing an input pattern and extracting a rule for a corresponding area. For example, as shown in (c) of FIG. 8 , an input pattern may be analyzed and a driving pattern may be generated to spirally move from the periphery of the region to the center of the region. At this time. A driving pattern may be created so that the mobile robot does not move in a circular shape, but moves along the outline of an area.

The terminal 200 stores the generated driving pattern as a new driving pattern and registers the driving pattern so that it can be selected when a cleaning command is input (S470). The created driving pattern can be shared through a server or the like.

The terminal 200 may transmit a cleaning command to the mobile robot by applying the registered driving pattern (S490).

In addition, the terminal 200 sets cleaning based on information about the area to be cleaned and information about the cleaning order (S480). When a driving pattern for the selected area is selected, the terminal may set cleaning for the selected area including the driving pattern.

The terminal 200 may transmit a cleaning command to the mobile robot (S490).

Accordingly, the mobile robot 1 performs an operation while traveling according to a driving pattern in a designated area.

Accordingly, in the present invention, a map may be created through search for a new area, but the map may be updated by maintaining previously stored map data and adding a new map. In the present invention, when an unexplored area is selected or a new area is entered while driving, a map for a new area may be added based on a connection point with a pre-stored map.

According to the present invention, a mobile robot may be driven by applying a driving pattern of a similar form in response to a user input through a terminal. In addition, the present invention analyzes the input pattern input through the terminal to register a specific type of driving pattern, and accordingly, the mobile robot can drive according to the designated driving pattern within an area.

The above description is merely an example of the technical idea of the present invention, and various modifications and variations can be made to those skilled in the art without departing from the essential characteristics of the present invention.

1: mobile robot 10: body
100: obstacle detection unit 110: control unit
111: obstacle recognition unit 113: driving control unit
120, 130: pattern investigation unit 140: pattern acquisition unit
150: sensor unit 170: image acquisition unit
180: data unit
250: driving unit 260: cleaning unit

Claims (22)

a body that travels the area;
sensing means for detecting an obstacle while driving;
a driving unit for moving the main body; and
a control unit for controlling driving of the main body, generating a map of the area in response to obstacle information detected through the sensing means, and controlling the driving unit to drive and clean each area in the map; and
When an area is selected in response to a user input, the control unit drives the area according to a driving pattern set in the area and performs a designated operation when the selected area is a search area of the map;
If the selected area is an unexplored area outside the map, after moving to a first area adjacent to the area among the search areas of the map, the Searching for a connection point that is the last point in the first area, moving to the unexplored area through the connection point, driving through the unexplored area through wall following, and drawing a map of the unexplored area and connecting the map for the unexplored area based on the connection point while maintaining the previously generated map as it is. According to claim 1,
The mobile robot according to claim 1 , wherein the control unit controls the driving unit so that the main body moves to enter the unexplored area targeting a point corresponding to the user input among the unexplored areas. According to claim 1,
The mobile robot according to claim 1 , wherein the control unit controls the driving unit to move to the unexplored area by setting a driving path for the unexplored area in response to a direction touched and dragged by the user input. According to claim 1,
The mobile robot according to claim 1 , wherein the control unit creates a map of the unexplored area based on obstacle information detected in the unexplored area based on a time point of leaving the search area and entering the unexplored area. According to claim 1,
The mobile robot, characterized in that the control unit updates the map step by step according to the travel distance in the unexplored area. delete According to claim 1,
Further comprising a communication unit for transmitting the map to a terminal;
The control unit transmits an updated map to which the map for the unexplored area is added to the terminal through the communication unit;
Mobile robot characterized in that for receiving the user input from the terminal. According to claim 1,
The mobile robot, characterized in that the control unit cleans or monitors the area based on the driving pattern set by the terminal. According to claim 8,
The mobile robot, characterized in that, in response to a user input, the driving pattern is set in correspondence with a position from a touched point to a dragged point according to a dragged direction after a touch. According to claim 8,
The terminal analyzes the positional change from the touched point to the dragged end point in response to a user input, according to the direction in which the drag is touched, and searches for a similar pattern from pre-stored pattern data to perform the driving. A mobile robot characterized by setting a pattern. generating a map while the main body travels in at least one area;
selecting one area in response to a user input;
if the selected area is one of the search areas of the map, driving in the area according to a driving pattern set in the area and performing a designated operation;
If the selected area is an unexplored area outside the map, after moving to a first area adjacent to the area among the search areas of the map, the Searching for a connection point that is the last point in the first area, moving to the unexplored area through the connection point, driving through the unexplored area through wall following, and drawing a map of the unexplored area generating; and
and connecting a map of the unexplored area based on the connection point while maintaining the previously created map as it is. According to claim 11,
and if the area is an unexplored area, moving the main body aiming at a point corresponding to the user input among the unexplored areas to enter the unexplored area. According to claim 11,
The control method of the mobile robot further comprising the step of entering into the unexplored area by setting a driving path for the unexplored area in response to the direction of the touch and drag by the user input. According to claim 11,
and generating a map for the unexplored area based on obstacle information detected in the unexplored area when entering the unexplored area after leaving the search area. According to claim 11,
The control method of the mobile robot further comprising updating the map step by step according to the mileage in the unexplored area. delete According to claim 11,
transmitting the map to which the map for the unexplored area is added to a terminal; and
The method of controlling a mobile robot further comprising receiving and displaying the map on a screen by the terminal. According to claim 11,
inputting a pattern for the region in response to a user input; and
The control method of the mobile robot further comprising the step of analyzing the characteristics of the pattern and searching for a similar pattern from pre-stored pattern data to set the driving pattern. delete delete delete delete

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