KR102660026B1 - Method and Apparatus for Controlling the Operation of a Mobile Robot for Safety Management of Cleaning Module - Google Patents

Abstract

Disclosed is a method for controlling the operation of a mobile robot for safety management of a cleaning module and a device therefor.
A method of controlling the operation of a mobile robot for safety management according to an embodiment of the present invention includes a current measurement step of measuring a current value through current sensing for a motor connected to and driven by a cleaning module; A cleaning module safety management step of determining the state of the cleaning module based on the measured current value and determining a safety management control mode based on the determination result; And it may include an operation control step of controlling the operation of the mobile robot based on the safety management control mode.

Description

Method and apparatus for controlling the operation of a mobile robot for safety management of a cleaning module {Method and Apparatus for Controlling the Operation of a Mobile Robot for Safety Management of Cleaning Module}

The present invention relates to a method and device for controlling the operation of a mobile robot to safely manage overload and abnormal operation of a cleaning module such as a main brush.

The content described in this section simply provides background information on embodiments of the present invention and does not constitute prior art.

In the floor cleaning method of mobile robots, most mobile robots operate in conjunction with the side brush, which is an auxiliary cleaning module that rotates diagonally to the left and right in front of the mobile robot toward the inside of the robot, and the main brush, which acts as a main cleaning module at the center of the bottom of the robot. It has the structure of a suction module.

The side brush, which is an auxiliary cleaning module, sweeps dust that may be located on the outside of the robot's main suction module located at the bottom of the mobile robot and moves it toward the main cleaning module. The dust collected in this way is finally removed by the main cleaning module, the rotating main brush and suction module. It moves to the dust bin.

Depending on the floor environment, the mobile robot may place a load on cleaning modules such as the main brush. For example, a mobile robot operates without problems on a hard floor, but in the case of a deep carpet, it may operate with a large load on the main brush. Accordingly, a lot of energy is consumed in the motor to rotate the main brush, the current increases, and the temperature inside the motor rises rapidly.

Of course, there is no problem in a floor environment where carpets are placed intermittently, but in a floor environment where many carpets are placed, damage to the motor, gear, circuit elements, etc. of the cleaning module occurs as the motor continues to receive load. Additionally, if the mobile robot moves on the carpet in the direction of the grain of the pile, a low load is applied, and if it moves in the opposite direction of the grain, a high load is applied. In this case, damage to the cleaning module occurs only when moving in the reverse direction. Accordingly, safety management is necessary for overload and abnormal operation of the cleaning module during the cleaning operation of the mobile robot.

The present invention determines the status of the cleaning module based on the current value measured from the motor of the cleaning module, determines the safety management control mode based on the judgment result, and controls the operation of the mobile robot based on the safety management control mode. The main purpose is to provide a method and device for controlling the motion of a mobile robot for the safety management of a cleaning module.

According to one aspect of the present invention, a method for controlling the operation of a mobile robot for safety management to achieve the above object includes a current measurement step of measuring a current value through current sensing for a motor connected to and driven by a cleaning module; A cleaning module safety management step of determining the state of the cleaning module based on the measured current value and determining a safety management control mode based on the determination result; And it may include an operation control step of controlling the operation of the mobile robot based on the safety management control mode.

In addition, according to another aspect of the present invention, a mobile robot operation control device for safety management to achieve the above object includes a current measuring unit that measures a current value through current sensing for a motor connected to and driven by a cleaning module; a cleaning module safety management unit that determines the state of the cleaning module based on the measured current value and determines a safety management control mode based on the determination result; And it may include an operation control unit that controls the operation of the mobile robot based on the safety management control mode.

In addition, according to another aspect of the present invention, a mobile robot for achieving the above object includes at least two main wheels; a moving motor that generates a driving force to rotate the main wheel; a main brush incorporating at least one blade; a main brush motor that rotates the main brush; and measuring a current value through current sensing from the main brush motor, determining the status of the cleaning module based on the measured current value, determining a safety management control mode based on the judgment result, and controlling the safety management. It may include a mobile robot motion control device that controls the motion of the mobile robot based on the mode.

As described above, the present invention prevents overload on the cleaning motor and main brush motor of mobile robots operating in various environments, preventing damage or reduction in life of the cleaning motor due to overcurrent and internal temperature rise that may occur. There is a possible effect.

In addition, the present invention makes it possible to detect abnormal operation situations due to jamming rather than load due to the carpet even in a low or normal state when the voltage applied to the motor is low, so that the normal operation and internal modules of the mobile robot and internal modules can be detected. It has the effect of immediately providing error notifications about problem situations to the user.

1 is a block diagram schematically showing a mobile robot including a mobile robot operation control device for safety management of a cleaning module according to an embodiment of the present invention.
Figure 2 is a block diagram schematically showing the cleaning module safety management unit of the mobile robot operation control device according to an embodiment of the present invention.
3 to 6 are flowcharts illustrating a method of controlling the operation of a mobile robot for safety management of a cleaning module according to an embodiment of the present invention.
Figure 7 is a diagram showing a mobile robot according to an embodiment of the present invention.
Figure 8 is a block diagram schematically showing a mobile robot operation control device for safety management of a cleaning module according to another embodiment of the present invention.
9 and 10 are diagrams for explaining the floor environment detection operation of the mobile robot motion control device according to another embodiment of the present invention.
FIG. 11 is a diagram illustrating an operation of detecting a floor environment by correcting a measured current value based on a current offset in a mobile robot motion control device according to another embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. In describing the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description will be omitted. In addition, preferred embodiments of the present invention will be described below, but the technical idea of the present invention is not limited or restricted thereto, and of course, it can be modified and implemented in various ways by those skilled in the art. Hereinafter, with reference to the drawings, a method and device for controlling the operation of a mobile robot for safety management of a cleaning module proposed in the present invention will be described in detail.

The mobile robot of the present invention is preferably a cleaning robot, but is not necessarily limited thereto, and may be a robot in various fields applicable to floor environment monitoring. For example, mobile robots may be industrial robots, including household cleaning robots, public building cleaning robots, logistics robots, and service robots.

1 is a block diagram schematically showing a mobile robot including a mobile robot operation control device for safety management of a cleaning module according to an embodiment of the present invention.

The mobile robot 10 according to this embodiment includes a mobile robot motion control device 100 and a motor driver 200. The mobile robot 10 of FIG. 1 is according to one embodiment, and not all blocks shown in FIG. 1 are essential components. In other embodiments, some blocks included in the mobile robot 10 may be added, changed, or deleted. It can be.

The mobile robot 10 moves the cleaning area according to a preset cleaning path and removes dust or foreign substances from the floor.

The mobile robot 10 according to this embodiment determines the status of the cleaning module based on the current value measured from the motor of the cleaning module during the cleaning operation, determines the safety management control mode based on the judgment result, and performs safety management control. Controls cleaning operation based on mode.

The mobile robot 10 shown in FIG. 1 is intended to explain the control operation of the mobile robot operation for performing safety management of the cleaning module, and only some configurations for detecting the state related to the cleaning module and controlling the mobile robot operation are described. It could be. In other words, the mobile robot 10 shown in FIG. 1 may have components typically included in mobile robots (main wheels, auxiliary wheels, main brushes, side brushes, etc.) omitted.

The mobile robot operation control device 100 determines the status of the cleaning module based on the current value measured from the motor of the cleaning module, determines the safety management control mode based on the judgment result, and moves based on the safety management control mode. Controls the operation of the robot 10. The mobile robot operation control device 100 according to this embodiment includes a current measurement unit 110, a cleaning module safety management unit 120, and an operation control unit 130. Hereinafter, each component included in the mobile robot motion control device 100 will be described.

The current measuring unit 110 is connected to the cleaning module mounted on the mobile robot 10 and performs an operation of measuring the current value of the driven motor.

The current measuring unit 110 according to this embodiment preferably acquires a current value according to the rotational motion of the main brush from the main brush motor 210 connected to the main brush of the mobile robot 10, but is not necessarily limited to this. . For example, the current measurement unit 110 may obtain current values measured from all or part of the main brush motor 210, the suction motor 220, and the movement motor 230.

Meanwhile, the current measuring unit 110 is described as measuring the current value through current sensing in a motor connected to and driven by the cleaning module mounted on the mobile robot 10, but is not necessarily limited to this, and is not limited to this, and measures the current value through voltage sensing in the motor. You can also measure voltage through .

The cleaning module safety management unit 120 determines the state of the cleaning module based on the current value measured in the motor of the cleaning module and determines the safety management control mode based on the judgment result.

The cleaning module safety management unit 120 determines the current state of the motor by comparing the current value measured in the motor of the cleaning module with a preset reference current value. Specifically, the cleaning module safety management unit 120 compares the measured current value with at least one of a first reference current value, a second reference current value, and an average current value to determine the current state of the motor. .

The first reference current value refers to the maximum current value in the safety reference current value range preset for the motor, and the second reference current value refers to the minimum current value in the safety reference current value range preset for the motor. Additionally, the average current value refers to the average or standard deviation of current values measured over a certain period of time.

Thereafter, the cleaning module safety management unit 120 determines the safety state of the cleaning module based on the determination result of the current state. Specifically, the cleaning module safety management unit 120 determines at least one safety state among an overload state, an abnormal stop state, and an abnormal jam state based on the current state of the motor.

Thereafter, the cleaning module safety management unit 120 determines a safety management control mode corresponding to the safety status determination result of the cleaning module. Specifically, the cleaning module safety management unit 120 determines a safety management control mode to perform at least one control operation among controlling the applied voltage of the motor and processing error message notification for abnormal operation based on the safety status determination result. .

In an overload state, the cleaning module safety management unit 120 may determine a first safety management control mode that controls the voltage applied to the motor to the minimum voltage. Additionally, in an abnormal stop state, the cleaning module safety management unit 120 may determine a second safety management control mode that controls to stop applying voltage to the motor and processes an error message for the abnormal stop state. Additionally, in an abnormal jamming state, the cleaning module safety management unit 120 may determine a third safety management control mode that controls the voltage applied to the motor to the minimum voltage and processes an error message for the abnormal jamming state.

Hereinafter, safety management operations for overload conditions in the cleaning module safety management unit 120 will be described.

The cleaning module safety management unit 120 determines a safety state that the motor is in an overload state when the measured current value is greater than or equal to the first reference current value, and determines a first safety management control mode corresponding to the overload state. Here, the first safety management control mode refers to a control mode set to control the voltage applied to the motor to the minimum voltage.

Hereinafter, the safety management operation for an abnormal stop state in the cleaning module safety management unit 120 will be described.

If the measured current value is less than the second reference current value, the cleaning module safety management unit 120 determines the safety state that the motor is in an abnormal stop state, and determines a second safety management control mode corresponding to the abnormal stop state. . Here, the second safety management control mode refers to a control mode set to control to stop applying voltage to the motor and process an error message for an abnormal stop state.

The cleaning module safety management unit 120 can determine the safety status for an abnormal stop state in different ways depending on whether an encoder is connected to the motor.

When an encoder is connected to a motor, the cleaning module safety management unit 120 compares the rotational speed of the motor with the input voltage measured by the encoder to determine the safety status for an abnormal stop state.

Meanwhile, when the encoder is not connected to the motor, the cleaning module safety management unit 120 determines the safety state for the abnormal stop state based on whether a preset error detection condition is satisfied. Preset error detection conditions can be expressed as [Table 1].

Referring to [Table 1], when the encoder is not connected to the motor, the cleaning module safety management unit 120 determines that the voltage applied to the motor corresponds to the preset minimum applied voltage and the measured current of the motor corresponds to the preset overcurrent reference value. If the excessive state is maintained for a certain period of time, the safety state can be determined as an abnormal stop state.

Hereinafter, the safety management operation for an abnormal jam state in the cleaning module safety management unit 120 will be described.

The cleaning module safety management unit 120 determines that the motor is in an abnormal jam state when the measured current value falls within the range between the first reference current value and the second reference current value and is in a current state that is more than the average current value measured for a certain period of time. and determine the third safety management control mode corresponding to the abnormal jamming condition. Specifically, the cleaning module safety management unit 120 calculates the standard deviation of the current value measured over a certain period of time, and if the standard deviation is greater than or equal to the average current value, the cleaning module safety management unit 120 may determine the safety state as if the motor is in an abnormally jammed state. Here, the third safety management control mode refers to a control mode set to control the voltage applied to the motor to the minimum voltage and process error messages for abnormal jamming conditions.

The operation control unit 130 controls the operation of the mobile robot based on the safety management control mode determined by the cleaning module safety management unit 120.

When the first safety management control mode is determined, the operation control unit 130 controls the operation of the mobile robot 10 to control the voltage applied to the motor to the minimum voltage based on the first safety management control mode corresponding to the overload condition. do.

When the second safety management control mode is determined, the operation control unit 130 controls to stop applying voltage to the motor based on the second safety management control mode corresponding to the abnormal stop state and sends an error message for the abnormal stop state. The operation of the mobile robot 10 is controlled to process notifications.

When the third safety management control mode is determined, the operation control unit 130 controls the voltage applied to the motor to the minimum voltage based on the third safety management control mode corresponding to the abnormal jamming state and sends an error message for the abnormal jamming state. The operation of the mobile robot 10 is controlled to process notifications.

The motor driving unit 200 refers to a module including at least one motor mounted on the mobile robot 10. The motor driver 200 may include various types of motors related to the cleaning operation of the mobile robot 10.

The motor drive unit 200 is linked with the mobile robot motion control device 100 and can provide operation information for each of at least one motor included in the motor drive unit 200 to the mobile robot motion control device 100.

Operation information for each motor may include motor on/off information, current value for driving the motor, motor rotation speed (rotation speed per second), etc.

The motor drive unit 200 according to this embodiment may include a main brush motor 210, a suction motor 220, and a movement motor 230. Hereinafter, each component included in the motor drive unit 200 will be described.

The main brush motor 210 is a motor for rotating the main brush 710 that rotates in contact with the floor to effectively perform a cleaning operation in which dust or foreign substances from the floor are sucked in, and provides a driving force to rotate the main brush 710. Occurs.

The main brush connected to the main brush motor 210 is implemented by combining a cylindrical pipe with a blade made of an elastic material, a bristle material, etc. As the main brush is rotated by the main brush motor 210, the shape of the combined braid is deformed when it comes into contact with the floor or foreign substances, and is restored to its previous shape when it falls off the floor or foreign substances. Here, the blade coupled to the main brush may be a rubber material with a predetermined hardness, but is not necessarily limited thereto, and various materials may be applied as long as the shape of the blade can be transformed and restored.

The main brush motor 210 may transmit a current value measured for the driving force that rotates the main brush to the mobile robot operation control device 100. Here, the current value measured by the main brush motor 210 may change due to the resistance generated when the rotating main brush contacts the floor.

The main brush motor 210 adjusts the driving force to rotate the main brush 710 for safety management of the cleaning module according to the motion control signal received from the mobile robot motion control device 100.

The suction motor 220 refers to a motor that is connected to the suction port of the mobile robot 10 and generates suction force to suction dust or foreign substances.

The suction motor 220 is driven while the mobile robot 10 moves through the cleaning area according to a cleaning path set by a processor (not shown) of the mobile robot 10, so that dust or foreign substances on the floor are sucked into the suction port.

In addition, the suction motor 220 adjusts the suction power for suctioning dust or foreign substances for safety management of the cleaning module according to the motion control signal received from the mobile robot motion control device 100.

The mobile motor 230 is a motor for rotating the main wheels 740a and 540b of the mobile robot 10. It is connected to the main wheels 740a and 540b and generates a driving force to rotate the main wheels 740a and 540b. do.

The mobile motor 230 rotates the main wheels 740a and 540b so that the mobile robot 10 can move according to a cleaning path set by a processor (not shown) of the mobile robot 10.

In addition, the mobile motor 230 adjusts the driving force for rotating the main wheels 740a and 540b for safety management of the cleaning module according to the motion control signal received from the mobile robot motion control device 100.

In FIG. 1, the motor drive unit 200 is described as including only the main brush motor 210, the suction motor 220, and the mobile motor 230, but is not necessarily limited thereto, and includes the mobile robot 10 such as the side brush motor. ) may additionally include various types of motors related to the cleaning operation.

Figure 2 is a block diagram schematically showing the cleaning module safety management unit of the mobile robot operation control device according to an embodiment of the present invention.

The cleaning module safety management unit 120 of the mobile robot operation control device 100 according to this embodiment determines the status of the cleaning module based on the current value measured from the motor of the cleaning module, and performs safety management control based on the determination result. Decide on the mode.

The cleaning module safety management unit 120 according to this embodiment includes a current state determination unit 122, a cleaning module status determination unit 124, and a safety management control mode determination unit 126. Hereinafter, the operation of performing safety management of the cleaning module through each component included in the cleaning module safety management unit 120 will be described.

The current state determination unit 122 determines the current state of the motor by comparing the current value measured in the motor of the cleaning module with a preset reference current value. Specifically, the current state determination unit 122 compares the measured current value with at least one of a first reference current value, a second reference current value, and an average current value to determine the current state of the motor. . The first reference current value refers to the maximum current value in the safety reference current value range preset for the motor, and the second reference current value refers to the minimum current value in the safety reference current value range preset for the motor. Additionally, the average current value refers to the average or standard deviation of current values measured over a certain period of time.

The cleaning module state determination unit 124 determines the safety state of the cleaning module based on the current state determination result. Specifically, the cleaning module state determination unit 124 determines at least one safety state among an overload state, an abnormal stop state, and an abnormal jam state based on the current state of the motor.

The safety management control mode determination unit 126 determines a safety management control mode corresponding to the safety status determination result of the cleaning module. Specifically, the safety management control mode determination unit 126 sets a safety management control mode for performing at least one control operation among controlling the applied voltage of the motor and processing error message notification for abnormal operation based on the determination result of the safety state. decide

In an overload state, the cleaning module safety management unit 120 may determine a first safety management control mode that controls the voltage applied to the motor to the minimum voltage. Additionally, in an abnormal stop state, the cleaning module safety management unit 120 may determine a second safety management control mode that controls to stop applying voltage to the motor and processes an error message for the abnormal stop state. Additionally, in an abnormal jamming state, the cleaning module safety management unit 120 may determine a third safety management control mode that controls the voltage applied to the motor to the minimum voltage and processes an error message for the abnormal jamming state.

3 to 6 are flowcharts illustrating a method of controlling the operation of a mobile robot for safety management of a cleaning module according to an embodiment of the present invention.

Figure 3 shows the overall mobile robot motion control operation for safety management of the cleaning module.

The mobile robot operation control device 100 acquires the measured current value of the main brush motor while the mobile robot is driving (S310).

The mobile robot operation control device 100 determines the current state by comparing the measured current value with a preset reference current value (S320).

If the measured current value is greater than or equal to the first reference current value (S330), the mobile robot operation control device 100 determines that the cleaning module is in an overload state (S340).

The mobile robot operation control device 100 controls the voltage applied to the motor to the minimum value based on the first safety management control mode corresponding to the overload state (S350).

Meanwhile, if the measured current value is less than the second reference current value (S332), the mobile robot operation control device 100 determines that the cleaning module is in an abnormal stop state (S360).

The mobile robot operation control device 100 controls to stop applying voltage to the motor based on the second safety management control mode corresponding to the abnormal stop state and controls to process an error message for the abnormal stop state (S370). .

Meanwhile, if the measured current value is greater than the average current value (S334), the mobile robot operation control device 100 determines that the cleaning module is in an abnormally jammed state (S380).

The mobile robot operation control device 100 controls the voltage applied to the motor to the minimum voltage based on the third safety management control mode corresponding to the abnormal jamming state and controls to notify an error message for the abnormal jamming state ( S390).

Figure 4 shows the mobile robot motion control operation for safety management of the cleaning module in an overload state.

If the measured current value is greater than or equal to the first reference current value, the mobile robot operation control device 100 determines that the cleaning module is in an overload state (S410).

The mobile robot operation control device 100 reduces the rotation speed of the main brush by reducing the voltage applied to the motor by a preset value (S420).

The mobile robot operation control device 100 determines whether the state of the cleaning module has been stabilized (S430).

If the state of the cleaning module is not stabilized, the mobile robot operation control device 100 controls the rotation of the main brush at the minimum speed by controlling the applied voltage to the minimum value (S440).

Meanwhile, the mobile robot operation control device 100 performs the cleaning operation normally when the state of the cleaning module is stabilized.

Figure 5 shows the mobile robot motion control operation for safety management of the cleaning module in an abnormal stop state.

If the measured current value is less than the second reference current value, the mobile robot operation control device 100 checks whether the encoder exists (S510).

If there is an encoder connected to the motor (S520), the mobile robot motion control device 100 determines an abnormal stop state based on the encoder measurement value (S530) and controls to notify and process an error message for the abnormal stop state. (S540).

Meanwhile, when the encoder connected to the motor does not exist (S520), the mobile robot motion control device 100 determines an abnormal stop state based on preset error detection conditions (S532) and sends an error message for the abnormal stop state. Control notification processing (S540).

Figure 6 shows the mobile robot motion control operation for safety management of the cleaning module in an abnormal jam state.

If the measured current value is greater than or equal to the average current value, the mobile robot operation control device 100 determines the current state for a certain period of time (S610).

The mobile robot operation control device 100 calculates the standard deviation of the measured current value after a certain period of time has elapsed (S620).

If the calculated standard deviation is more than a preset standard value (S630), the mobile robot operation control device 100 determines that it is an abnormal operation (abnormal jamming state) (S640).

The mobile robot operation control device 100 controls the applied voltage of the motor to the minimum value to control the rotation of the main brush at the minimum speed (S650) and controls to notify an error message for abnormal operation (abnormal jamming state) (S650) S660).

In each of FIGS. 3 to 6 , each step is described as being executed sequentially, but the process is not limited to this. In other words, the steps described in FIGS. 3 to 6 may be applied by changing or executing one or more steps in parallel, and therefore, each of FIGS. 3 to 6 is not limited to a time series order.

The mobile robot operation control method for safety management of the cleaning module according to the present embodiment described in each of FIGS. 3 to 6 can be implemented as an application (or program) and recorded on a recording medium that can be read by a terminal device (or computer). there is. The recording medium on which the application (or program) for implementing the mobile robot operation control method for safety management of the cleaning module according to this embodiment is recorded and readable by the terminal device (or computer) is data that can be read by the computing system. Includes all types of recording devices or media where information is stored.

Figure 7 is a diagram showing a mobile robot according to an embodiment of the present invention.

The mobile robot 10 according to this embodiment includes a main brush 710, a main brush motor 210 connected to the main brush 710, and a side brush ( 720a, 520b), a suction motor 220 for a cleaning operation that sucks dust and foreign substances from the floor, and a motor for moving the mobile robot 10 by driving the main wheels 740a, 540b and the auxiliary wheels 730. Includes a movement motor 230.

Additionally, the mobile robot 10 includes an encoder 300 connected to at least one motor 210, 220, or 230. Here, the encoder 300 refers to a sensor used to measure the rotational speed (angular speed, etc.) of a charged object.

In addition, the mobile robot 10 includes a mobile robot operation control device 100 that controls the main brush motor 210, suction motor 220, and movement motor 230 of the mobile robot 10 for safety management of the cleaning module. Includes.

Figure 8 is a block diagram schematically showing a mobile robot operation control device for safety management of a cleaning module according to another embodiment of the present invention.

The mobile robot motion control device 100 according to another embodiment of the present invention additionally performs a statistical characteristic value calculation operation and a floor environment detection operation in the mobile robot motion control device 100 of FIG. 1, and performs safety management of the cleaning module. Perform. Accordingly, in FIG. 8, a statistical feature value calculation unit 810 that performs a statistical feature value calculation operation added to the mobile robot motion control device 100 and a floor environment detection unit 820 that performs a floor environment detection operation are explained. and omit descriptions of overlapping configurations.

The statistical characteristic value calculation unit 810 calculates the first statistical characteristic value by calculating the average of the current values acquired during a preset certain time (buffer), and the standard deviation of the current values obtained during a preset certain time (buffer). is calculated to calculate the second statistical feature value.

The statistical characteristic value calculation unit 810 compares the current statistical characteristic value according to the current operation routine of the mobile robot 10 and the past statistical characteristic value according to the past operation routine, and provides An operation to predict additional load applied to the main brush due to additional factors is additionally performed. Thereafter, the statistical feature value calculation unit 810 calculates a statistical feature value after subtracting an error due to the predicted additional load from the obtained current value or voltage value.

Current operation routines and past operation routines for predicting additional load refer to operation routines created using camera images, images generated by LiDAR sensors, maps, coordinates, etc. Here, the current operation routine refers to the routine after the current cleaning start, and the past operation routine refers to the routine after the cleaning start on the previous date.

The mobile robot 10 may generate additional load due to additional factors independent of the floor environment. Here, additional factors independent of the floor environment may include foreign substances (dust, hair, etc.) present on the rotation axis of the main brush or other structures that interfere with the rotation of the main brush due to mechanical failure. For example, while using the mobile robot 10, dust may accumulate on the main brush, and even though the mobile robot 10 travels on a hard floor in the same manner as in the past operation routine, additional load may be generated due to dust on the main brush.

The floor environment detection unit 820 calculates and sets a judgment reference value for detecting a floor environment mode for the floor environment, and detects the floor environment mode for the floor environment by comparing at least one statistical characteristic value with the judgment reference value.

Hereinafter, the operation of calculating the judgment reference value by the floor environment detection unit 820 will be described.

The floor environment detection unit 820 calculates and sets a judgment reference value for detecting the floor environment mode for the floor environment. Here, the floor environment detection unit 820 can calculate the judgment standard value using the current value acquired during a preset time, and if a previously calculated judgment standard value exists, the newly calculated judgment standard value and the previously calculated judgment standard value You can also perform an update by comparing .

The floor environment detection unit 820 calculates the average value of current values obtained over a preset time period, and when a preset judgment reference value does not exist, the floor environment detection unit 820 may calculate and set the average value of the current values as the judgment reference value.

Meanwhile, the floor environment detection unit 820 calculates the average value of the current values obtained during a preset time, and when a pre-calculated judgment reference value exists, compares the average value of the current value with the previously set existing judgment reference value to make the optimal decision. Adjust the judgment standard value to the standard value.

The floor environment detection unit 820 adjusts the judgment standard value to the newly calculated optimal judgment value when the average value of current values obtained during a preset time differs from the existing judgment standard value by more than a preset threshold.

Hereinafter, the operation of detecting the floor environment based on the judgment reference value calculated by the floor environment detection unit 820 will be described.

The floor environment detection unit 820 detects a floor environment mode for the floor environment by comparing at least one statistical characteristic value with a judgment reference value. Here, the floor environment mode may be one of a first floor environment mode and a second floor environment mode. Here, the first floor environment mode is a mode for a general floor environment and means a floor environment in the form of a hard floor. Additionally, the second floor environment mode is a mode for a carpet floor environment and refers to a floor environment in which piles exist on the surface of the fabric.

Specifically, the floor environment detection unit 820 compares the first statistical feature value and the second statistical feature value with the first judgment reference value and the second judgment reference value, respectively, and selects one of the first floor environment mode and the second floor environment mode. Detect floor environment mode.

If a change in the floor environment mode is not detected, the floor environment detection unit 820 determines the status of the cleaning module and determines the safety management control mode based on the judgment result. The cleaning module safety management operation (cleaning module safety management unit ( The operation of 120) can be performed selectively. Here, the change in the floor environment mode may be a change from the first floor environment mode to the second floor environment mode or a change from the second floor environment mode to the first floor environment mode.

The floor environment detection unit 820 may selectively perform a cleaning module safety management operation based on a preset operation setting or a user's manipulation input.

Meanwhile, the floor environment detection unit 820 can essentially perform a cleaning module safety management operation that determines the status of the cleaning module when a change in the floor environment mode is detected and determines a safety management control mode based on the judgment result. there is.

Hereinafter, the operations of each of the first determination unit for performing the primary determination, the second determination unit for performing the secondary determination, and the floor environment mode determination unit for determining the floor environment mode included in the floor environment detection unit 820. Let me explain.

The first determination unit (not shown) performs an operation to determine the current floor environment mode by comparing statistical characteristic values and judgment reference values.

Specifically, the first determination unit compares the first statistical feature value and the first judgment reference value, and compares the second statistical feature value with the second judgment reference value to determine the current floor environment mode.

The first determination unit determines that the current floor environment mode is the second floor environment mode when the first statistical characteristic value is greater than or equal to the first judgment standard value and the condition that the second statistical characteristic value is greater than or equal to the second judgment standard value is satisfied.

Additionally, the first determination unit determines that the current floor environment mode is the first floor environment mode when the first statistical characteristic value is less than the first judgment standard value and the condition that the second statistical feature value is less than the second judgment standard value is satisfied.

Meanwhile, if the result of comparing the first statistical characteristic value and the first judgment standard value and the result of comparing the second statistical characteristic value and the second judgment standard value are different from each other, the first determination unit sets the current floor environment mode to the default setting mode. It is determined that it is the first floor environment mode.

The second determination unit (not shown) performs an additional judgment operation to verify the judgment result regarding the current floor environment mode.

If the first determination unit determines that the current floor environment mode is the second floor environment mode, the second determination unit additionally determines the current floor environment mode based on the state maintenance time of the second floor environment mode.

The second determination unit further determines that the current floor environment mode is the second floor environment mode when the state in the second floor environment mode continues for more than a preset maintenance time.

Meanwhile, if the second determination unit determines that the current floor environment mode is the first floor environment mode in the first determination unit, the additional determination operation may be omitted.

The floor environment mode determination unit (not shown) determines the final floor environment mode based on the determination result of the current floor environment mode.

If the floor environment mode determination unit determines that the current floor environment mode has changed from the second floor environment mode to the first floor environment mode based on the judgment result of the first determination unit, it determines the first floor environment mode as the final floor environment mode and operates. The control unit 150 generates an operation control signal for the mobile robot 10 corresponding to the first floor environment mode.

When the floor environment mode determination unit determines that the current floor environment mode is the second floor environment mode based on the judgment result of the first determination unit, and the second determination unit further determines that the second floor environment mode is maintained for a certain period of time, The second floor environment mode is determined as the final floor environment mode, and the operation control unit 150 generates an operation control signal of the mobile robot 10 corresponding to the second floor environment mode. Here, the operation control signal may include a control signal for whether to perform the cleaning module safety management operation.

9 and 10 are diagrams for explaining the floor environment detection operation of the mobile robot motion control device according to another embodiment of the present invention.

The mobile robot operation control device 100 compares the first judgment standard and the first statistical characteristic value set as the 1-1 judgment standard value and the 1-2 judgment standard value, and makes the 2-1 judgment standard value and the 2-2 judgment. The current state of the floor environment can be determined by comparing the second judgment standard set as the reference value and the first statistical characteristic value.

Figure 9 is an example diagram for explaining the operation of comparing the first statistical feature value with the judgment standard set as the 1-1 judgment standard value and the 1-2 judgment standard value, and Figure 10 is the 2-1 judgment standard value and the second judgment standard value. This is an example diagram for explaining the operation of comparing the second judgment standard set as the -2 judgment standard value and the second statistical characteristic value.

Referring to FIG. 9, the mobile robot operation control device 100 uses the 1-1 judgment standard value and the 1-2 judgment standard value to distinguish the first section, the second section, and the third section for the first judgment standard. You can. Here, the 1-1st judgment standard value is preferably smaller than the 1-2nd judgment standard value.

In the first judgment standard, the first section corresponds to the first floor environment mode (hard floor) section, and the second section corresponds to the judgment pending section. Additionally, in the first judgment criterion, the third section corresponds to the second floor environment mode (carpet floor environment) section.

The mobile robot operation control device 100 may set the 1-1st judgment reference value and the 1-2th judgment reference value using the first judgment reference value. For example, the mobile robot operation control device 100 determines the 1-1 judgment standard value as the same value as the first judgment standard value, and determines the 1-2 judgment standard value by adding a certain threshold value to the first judgment standard value. You can.

Referring to FIG. 10, the mobile robot operation control device 100 uses the 2-1 judgment standard value and the 2-2 judgment standard value to distinguish the first section, the second section, and the third section for the second judgment standard. You can. Here, it is preferable that the 2-1 decision reference value is a value smaller than the 2-2 decision reference value.

In the second judgment standard, the first section corresponds to a section for maintaining the floor environment, and the second section corresponds to a judgment pending section. Additionally, in the second judgment standard, the third section corresponds to a section for floor environment change.

The mobile robot operation control device 100 may set the 2-1st judgment standard value and the 2-2nd judgment standard value using the second judgment reference value. For example, the mobile robot operation control device 100 determines the 2-1 judgment standard value as the same value as the second judgment standard value, and determines the 2-2 judgment standard value by adding a certain threshold value to the second judgment standard value. You can.

The mobile robot operation control device 100 determines the first judgment result section for the first judgment standard using the 1-1 judgment reference value and the 1-2 judgment reference value, the 2-1 judgment reference value, and the 2-2 judgment reference value. The floor environment mode can be finally determined based on the second judgment result section for the second judgment standard used.

When each of the first judgment result section and the second judgment result section both correspond to the third section, the mobile robot operation control device 100 determines that the first floor environment mode has changed to the second floor environment mode, and the floor environment mode is changed from the first floor environment mode to the second floor environment mode. Controls the cleaning operation of the mobile robot for changes.

When the mobile robot operation control device 100 determines that the floor environment mode has changed because each of the first and second judgment result sections correspond to the third section, the mobile robot operation control device 100 determines the state of the cleaning module and based on the judgment result. A cleaning module safety management operation (operation of the cleaning module safety management unit 120) that determines the safety management control mode is performed. Here, when the floor environment mode is changed, the mobile robot operation control device 100 may perform an operation to determine only the safety state of whether or not there is an overload state.

Meanwhile, when the first judgment result section corresponds to the third section and the second judgment result section corresponds to the second section, the mobile robot operation control device 100 postpones the judgment on the floor environment change for a certain period of time. If the section continues to be maintained, it is determined to be a boundary area where the floor environment changes, and the cleaning operation of the mobile robot for the boundary area is controlled.

The mobile robot operation control device 100 determines the state of the cleaning module when the first judgment result section corresponds to the third section and the second judgment result section corresponds to the second section and the judgment on the floor environment change is reserved. And, based on the judgment result, a cleaning module safety management operation (operation of the cleaning module safety management unit 120) is performed to determine the safety management control mode. Here, when the judgment on the floor environment change is reserved, the mobile robot motion control device 100 may perform an operation to determine at least one safety state among an overload state, an abnormal stop state, and an abnormal jam state.

Meanwhile, when the first judgment result section corresponds to the second section, the mobile robot operation control device 100 postpones the decision on the floor environment change.

The mobile robot operation control device 100 determines whether the measured current value increases due to an external factor based on history data when the judgment reservation state in which the first judgment result section corresponds to the second section continues to be maintained for a certain period of time. You can. Here, the history data may include a pre-stored cleaning map (e.g., a map generated by a camera image, a lidar sensor, etc.), floor environment mode information for at least one point set in the cleaning map, etc.

If the mobile robot operation control device 100 determines that the first judgment result section for the current floor environment is different from the past for the same cleaning point based on history data, for example, the past is the first section, but the current section is In the second section, it is determined that the measured current value has increased due to external factors such as foreign matter (e.g. dust, hair, obstacles, etc.), and the operation of the mobile robot is controlled so that messages such as error notifications are notified. do.

FIG. 11 is a diagram illustrating an operation of detecting a floor environment by correcting a measured current value based on a current offset in a mobile robot motion control device according to another embodiment of the present invention.

Referring to FIG. 11, the mobile robot operation control device 100 calculates a current offset for the additional load applied to the main brush due to additional factors independent of the floor environment, and is mounted on the mobile robot 10 and operates. Statistical characteristic values can be calculated based on the corrected current value calculated by subtracting the current offset from the measured current value measured from the motor. Here, the mobile robot operation control device 100 is described as calculating a current offset for the current value, but if the measured value is a voltage value, the corrected voltage value can be calculated by calculating the voltage offset.

The mobile robot operation control device 100 sets the initial setting state to calculate the current offset. Here, the initialization setting state refers to a setting state that is minimally affected by foreign substances or malfunctions, and the state of a new product or the state after internal cleaning of the mobile robot is performed can be defined as the initialization setting state. However, it is not easy to consistently set the initialization setting state based on the internal cleaning state that is performed intermittently in the mobile robot operation control device 100, so the current value of the running mobile robot 10 is set to a certain standard (e.g., the first The initialization setting state can be defined as when the current value is maintained below the judgment standard value) or when the distribution pattern of the current value is observed to be low compared to the driving of the last cleaning operation. Here, the initialization setting state can be a standard related to calculating the current offset, which will be described later.

Thereafter, the mobile robot operation control device 100 may compare the map additional information at the first anchor point 1110 with the previously stored cleaning map and calculate the difference in current values as the first current offset. Here, the first current offset means the difference between the current value between the previous driving point and the current driving point of the first anchor point 1110. .

Additionally, the mobile robot operation control device 100 may compare the map additional information at the second anchor point 1120 with the previously stored cleaning map and calculate the difference in current values as the second current offset. Here, the second current offset means the difference between the current value between the previous driving point and the current driving point of the second anchor point 1120.

The first anchor point and the second anchor point are points extracted using pre-stored map information and mean a point corresponding to a position in the current routine that is similar to a position in a past movement routine. A cleaning map refers to a map created based on information obtained from camera images, lidar sensors, etc., and map additional information refers to environmental sensor values (e.g., current values, voltage values) acquired at each point forming the cleaning map. , statistical feature values, etc.).

The mobile robot operation control device 100 may calculate one selected value or an average value among the current offsets as the final current offset.

The mobile robot operation control device 100 may perform a judgment operation to determine the floor environment mode by applying a corrected current value obtained by subtracting the final current offset from the measured current value obtained in the current routine.

Meanwhile, the mobile robot operation control device 100 may calculate the cumulative current offset by storing the current offset at preset intervals. Here, the preset cycle may be set to 3 weeks, 1 month, 2 months, etc.

The mobile robot operation control device 100 causes the mobile robot 10 to be in a fault state when the accumulated current offset, which is calculated by accumulating the current offset for each anchor point over a predetermined time period, exceeds a certain standard (preset threshold). It can be judged that it is.

If the mobile robot operation control device 100 confirms that the cumulative current offset is in a gradually increasing pattern (an increase pattern less than a preset increase amount), it can be predicted that the cause of the failure is caused by steadily occurring foreign substances such as dust and hair. .

Meanwhile, the mobile robot operation control device 100 may predict that the cause of the failure is due to a predetermined external impact or internal failure when the accumulated current offset is confirmed to be a rapidly increasing pattern (an increase pattern exceeding a preset increase amount). there is.

The mobile robot operation control device 100 can estimate whether the cause of the failure is due to accumulation of foreign substances or a failure due to impact through analysis of the change in the pattern of the accumulated current offset.

According to another embodiment of the present invention, the mobile robot motion control device of the present invention may further include a learning unit (not shown) that extracts floor environment characteristic values from sensor values according to the floor environment. The learning unit may be implemented as an artificial neural network including an input layer, a hidden layer, and an output layer. Each layer includes a plurality of nodes, and nodes between adjacent layers can be implemented to be connected according to decision weights already learned through training data. Additionally, the mobile robot motion control device may further include a preprocessing unit (not shown) that preprocesses sensor values. For example, the preprocessor receives a current signal according to the intensity of the current acquired in a certain time interval, samples the current signal at a constant sampling period, and converts the sampled value into a vector matrix value that can be processed by the learning unit. It can be converted.

In addition, the current value observed in acceleration/deceleration sections such as a section in which a mobile robot changes direction or a section in which an obstacle is detected, observed under conditions where there is no load on the floor, and the current in a constant speed movement section moving at a constant speed. The values have different patterns. In this embodiment, the current value of the motor observed in a substantially no-load state is defined as a reference current value for each driving mode. The floor environment feature value is preferably a feature value obtained by subtracting the reference current value for each driving mode from the observed current value as an input to the learning unit. Through this, the floor environment can be detected more accurately by excluding the deviation of the motor load depending on the driving mode. In this embodiment, when determining the floor environment, the floor environment detection unit may further consider floor environment characteristic values obtained through the learning unit to determine the floor environment where the mobile robot is currently located.

The above description is merely an exemplary explanation of the technical idea of the embodiments of the present invention, and those skilled in the art can make various modifications and modifications without departing from the essential characteristics of the embodiments of the present invention. Transformation will be possible. Accordingly, the embodiments of the present invention are not intended to limit but to explain the technical idea of the embodiment of the present invention, and the scope of the technical idea of the embodiment of the present invention is not limited by these embodiments. The scope of protection of the embodiments of the present invention should be interpreted in accordance with the claims below, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of rights of the embodiments of the present invention.

10: Mobile robot
100: Mobile robot motion control device 200: Motor driving unit
110: Current measuring unit 120: Cleaning module safety management unit
130: motion control unit

Claims (15)

In a method of performing motion control for safety management of a cleaning module in a mobile robot motion control device,
A current measurement step of measuring the current value through current sensing for a motor connected to and driven by the cleaning module;
A cleaning module safety management step of determining the state of the cleaning module based on the measured current value and determining a safety management control mode based on the determination result; and
Including an operation control step of controlling the operation of the mobile robot based on the safety management control mode,
The cleaning module safety management step includes comparing the measured current value with at least one of a first reference current value, a second reference current value, and an average current value to determine the current state of the motor. Judgment stage; A cleaning module state determination step of determining a safety state of the cleaning module based on the current state determination result; And a safety management control mode determination step of determining a safety management control mode corresponding to the safety status determination result of the cleaning module,
In the cleaning module safety management step, if the measured current value falls within the range between the first reference current value and the second reference current value and is in a current state that is more than the average current value measured for a certain period of time, the motor is abnormally engaged. A mobile robot operation control method for safety management, characterized by determining the safety state as being in a state and determining a third safety management control mode corresponding to the abnormal jamming state. According to paragraph 1,
The current measurement step is,
A mobile robot operation control method for safety management, characterized in that the current value is measured according to the rotational movement of the main brush from the motor connected to the main brush of the mobile robot. delete delete According to paragraph 1,
The cleaning module status determination step is,
A mobile robot operation control method for safety management, characterized in that determining at least one of the safety states among an overload state, an abnormal stop state, and an abnormal jam state based on the current state of the motor. According to clause 5,
The safety management control mode decision step is,
Movement for safety management, characterized in that determining the safety management control mode for performing at least one control operation of controlling the applied voltage of the motor and processing error message notification for abnormal operation based on the determination result of the safety state. Robot motion control method. According to paragraph 1,
The cleaning module safety management step is,
If the measured current value is in a current state greater than or equal to the first reference current value, the safety state is determined as the motor is in an overload state, and a first safety management control mode corresponding to the overload state is determined. Mobile robot motion control method for management. According to paragraph 1,
The cleaning module safety management step is,
If the measured current value is in a current state that is less than the second reference current value, the safety state is determined as the motor is in an abnormal stop state, and a second safety management control mode corresponding to the abnormal stop state is determined. Mobile robot motion control method for safety management. According to clause 8,
The cleaning module safety management step is,
When an encoder is connected to the motor, a mobile robot for safety management is characterized in that the safety state for the abnormal stop state is determined by comparing the rotational speed of the motor with the input voltage measured by the encoder. Motion control method. According to clause 8,
The cleaning module safety management step is,
If an encoder is not connected to the motor, the voltage applied to the motor corresponds to a preset minimum applied voltage, and the measured current of the motor exceeds the preset overcurrent reference value is maintained for a certain period of time, the abnormal stop state occurs. A mobile robot operation control method for safety management, characterized in that the safety state is determined to be. delete According to paragraph 1,
The cleaning module safety management step is,
Mobile robot operation for safety management, characterized in that calculating the standard deviation of the current value measured for a certain period of time, and if the standard deviation is greater than the average current value, determining the safety state as if the motor is in an abnormally jammed state. Control method. In a device for controlling the operation of a mobile robot for safety management of a cleaning module,
A current measurement unit that measures the current value through current sensing for a motor connected to and driven by the cleaning module;
a cleaning module safety management unit that determines the state of the cleaning module based on the measured current value and determines a safety management control mode based on the determination result; and
It includes an operation control unit that controls the operation of the mobile robot based on the safety management control mode,
The cleaning module safety management unit compares the measured current value with at least one of a first reference current value, a second reference current value, and an average current value to determine the current state of the motor. wealth; a cleaning module state determination unit that determines a safety state of the cleaning module based on the current state determination result; And a safety management control mode determination unit that determines a safety management control mode corresponding to the safety status determination result of the cleaning module,
If the cleaning module safety management unit is in a current state where the measured current value falls within the range between the first reference current value and the second reference current value and is more than the average current value measured for a certain period of time, the motor is in an abnormal jam state. A mobile robot motion control device for safety management, characterized in that it determines the safety state and determines a third safety management control mode corresponding to the abnormal jamming state. According to clause 13,
The current measuring unit is a mobile robot operation control device for safety management, characterized in that it measures the current by obtaining the current value according to the rotational motion of the main brush from the motor connected to the main brush of the mobile robot. In a mobile robot that performs cleaning operations based on safety management of the cleaning module,
at least two main wheels;
a moving motor that generates a driving force to rotate the main wheel;
a main brush incorporating at least one blade;
a main brush motor that rotates the main brush; and
Measures a current value through current sensing from the main brush motor, determines the status of the cleaning module based on the measured current value, determines a safety management control mode based on the judgment result, and determines the safety management control mode. It includes a mobile robot motion control device that controls the motion of the mobile robot based on
The mobile robot operation control device compares the measured current value with at least one of a first reference current value, a second reference current value, and an average current value to determine the current state of the motor, The safety status of the cleaning module is determined based on the current state determination result, and a safety management control mode corresponding to the safety status determination result of the cleaning module is determined,
The mobile robot operation control device, when the measured current value falls within the range between the first reference current value and the second reference current value and is in a current state that is more than the average current value measured for a certain period of time, the motor is abnormally engaged. A mobile robot characterized in that it determines the safety state as being in a state and determines a third safety management control mode corresponding to the abnormal jamming state.

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