KR20160128126A - Moving robot and controlling method thereof - Google Patents

Abstract

A lawn mowing robot, according to an embodiment of the present invention, comprises: a main body; a drive part which is driven to allow the main body to move in a work area; a sensing part which senses the information related to the posture of the main body; and a control part which detects the information related to a gradient corresponding to the current position of the main body by using the information related to the posture of the main body, and controls the drive part based on the information related to the detected gradient. Therefore, the present invention improves the work efficiency with respect to the work area.

Description

[0001] MOVING ROBOT AND CONTROLLING METHOD THEREOF [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a mobile robot and a control method thereof, and more particularly, to a lawn mower robot moving inside a wire and a control method thereof.

Lawn mower is a device to trim grass laid on the yard or playground in the home. Such lawn mowers may be divided into households for home use and tractors for use in a wide playground or on a large farm.

There are a walk behind type in which a person directly draws a lawn mower from behind and mows grass, and a hand type in which a person carries it by hand.

However, both types of lawn mowers have the hassle of manually operating the lawn mowers.

Especially, in the busy daily life, it is difficult for the user to directly operate the lawn mowing device to cut grass in the yard. Therefore, most of the workers are hired outside the lawn mowing, resulting in employment costs.

Therefore, an automatic robot type mowing device, i.e., a lawn mower robot, is being developed to prevent the occurrence of such additional costs and to reduce the labor cost of the user. Various studies have been conducted to control the movement performance of the lawnmower robot.

On the other hand, the working area of the lawn mower robot has a different characteristic compared with the working area of other mobile robots. In such a working area, the lawn mower robot equipped with the traveling algorithm of the general mobile robot has a problem that the working efficiency is significantly reduced Occurs.

Specifically, the outline formed by the working area of the lawn mower robot can be formed in various forms as compared with the indoor space, and the ground surface of the working area of the lawn mower robot can be formed of a material different from that of the indoor space. The lawn mower robot using the algorithm related to the traveling has a problem that the operation efficiency is reduced.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a grass mower robot and a control method thereof that can improve working efficiency of a working area of a mower.

Another object of the present invention is to provide a lawn mower robot and a control method thereof that can improve the work performance of a lawn mower.

According to another aspect of the present invention, there is provided a lawn mower including:

According to an embodiment of the present invention, the apparatus further comprises a memory for storing information related to the first and second coordinate axes of the work area, and the controller controls the first coordinate axis direction And a second compensation value for a travel distance in the second coordinate axis direction and controls the driving unit by using the first and second compensation values set in the first compensation value and the second compensation value, do.

According to one embodiment of the present invention, the memory stores first and second reference coordinate information included in the work area, and the sensing unit senses information related to a position change of the main body as the main body moves Wherein the control unit is configured to detect the first displacement information related to the positional change sensed by the sensing unit while the main body moves to a position corresponding to the second reference coordinate information at a position corresponding to the first reference coordinate information, Calculates second displacement information related to the difference between the first and second reference coordinate information, compares the calculated first and second displacement information to detect error information related to the inclination, And corrects the first and second compensation values using the detected error information.

According to one embodiment of the present invention, the first reference coordinate information corresponds to a position where the charging device of the lawn mower robot is installed, and the second reference coordinate information is information indicating whether the charging device Wherein when the main body moves to a position corresponding to the second reference coordinate information at a position corresponding to the first reference coordinate information, the control unit changes the outline of the work area And controls the driving unit to move along the wire installed in the driving unit.

According to an embodiment of the present invention, the driving unit performs zigzag running on at least one of the first and second coordinate axes in at least a part of the working area, and the control unit controls the zigzag- And repeatedly resetting the first and second compensation values for a part of the area.

According to an embodiment of the present invention, the apparatus further includes a memory for storing map information formed of a plurality of three-dimensional coordinate information included in the working area, wherein the controller uses the plurality of three- Wherein the controller controls the driving unit based on information related to the tilt when the main body enters the partial area.

According to an embodiment of the present invention, the control unit sets information related to the plurality of areas so that the working area is divided into a plurality of areas, detects information related to the inclination for each of the plurality of areas, Controlling the driving unit to move the main body in accordance with a predetermined movement pattern from an outline of any one of a plurality of regions that are spaced apart from each other by a predetermined additional travel distance, And the additional travel distance is changed.

According to another aspect of the present invention, there is provided a method of controlling a lawn mower, comprising: moving the lawn mower robot inside a wire forming a closed loop; sensing coordinate information related to a current position of the lawn mower Determining whether or not a return event is generated for the lawn mower robot and using at least one of map information stored in a memory and coordinate information related to the sensed current position when the return event is generated, And tracking along the wire so that the robot moves to a position corresponding to the preset reference coordinate information.

According to the present invention, within the working area of the lawn mower robot, an effect is obtained in which the portion where lawn is not cut can be minimized.

Further, according to the present invention, the working efficiency of the lawn mower robot can be increased.

Further, according to the present invention, it is possible to improve the accuracy of the map information related to the work area stored in the lawn mower.

Further, according to the present invention, it is possible to automate the power supply of the lawn mower robot and prevent various errors occurring in the lawn mower.

1A and 1B are conceptual diagrams illustrating an embodiment in which a mobile robot and a charging apparatus for a mobile robot according to the present invention are installed in a work area of a mobile robot.
1C and 1D are conceptual diagrams showing an embodiment of a mobile robot.
1E is a block diagram for explaining a mobile robot related to the present invention.
2 is a flowchart illustrating a method of controlling a mobile robot according to an embodiment of the present invention.
3A is a flowchart showing an embodiment of a method for generating map information related to a work area of a mobile robot according to the present invention.
FIGS. 3B to 3E are conceptual diagrams showing the embodiment shown in FIG. 3A.
4A is a flowchart showing an embodiment of a method of dividing a working area of a mobile robot according to the present invention into a plurality of areas.
4B to 4G are conceptual diagrams showing an embodiment shown in FIG. 4A.
5A is a flowchart illustrating an embodiment of a method for returning a mobile robot according to the present invention to a specific point in a work area.
5B to 5D are conceptual diagrams showing an embodiment shown in FIG. 5A.
FIG. 6A is a flowchart illustrating an operation control method for a tilt of a work area of a mobile robot according to an embodiment of the present invention.
6B and 6C are conceptual diagrams showing an embodiment shown in FIG. 6A.
FIG. 7A is a flowchart illustrating a method for determining whether an obstacle exists in a work area of a mobile robot according to an exemplary embodiment of the present invention. Referring to FIG.
FIG. 7B is a conceptual diagram showing the embodiment shown in FIG. 7A.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like or similar elements are denoted by the same or similar reference numerals, and a duplicate description thereof will be omitted. Suffix "unit " and" part "for constituent elements used in the following description are given or mixed in consideration only of ease of specification, and do not have their own meaning or role. In the following description of the embodiments of the present invention, a detailed description of related arts will be omitted when it is determined that the gist of the embodiments disclosed herein may be blurred. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. , ≪ / RTI > equivalents, and alternatives.

Terms including ordinals, such as first, second, etc., may be used to describe various elements, but the elements are not limited to these terms. The terms are used only for the purpose of distinguishing one component from another.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The singular expressions include plural expressions unless the context clearly dictates otherwise.

In the present application, the terms "comprises", "having", and the like are used to specify that a feature, a number, a step, an operation, an element, a component, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

1A and 1B are conceptual diagrams showing an embodiment in which the charging apparatus 100 of the mobile robot 10 according to the present invention is installed in the work area 1000 of the mobile robot.

Referring to FIG. 1A, the mobile robot 10 can run on its own within a predetermined area. In addition, the mobile robot 10 can perform a specific operation while driving.

More specifically, the mobile robot 10 may be a lawn mower. In this case, the specific job may be cutting grass in the work area 1000.

Also, the work area 1000 may be defined by a closed curve or a wire 1200 formed by perforation. Specifically, the wire 1200 can be installed in an arbitrary region, and the mobile robot 10 can move within a region defined by a closed curve formed by the wire 1200 installed.

Meanwhile, referring to FIG. 1B, the wire 1200 may be installed inside the work area. More specifically, the wire 1200 can be installed at the boundary line between the working area 1000 and the outer area 1100 of the mobile robot 10, or can be installed at a predetermined distance d from the outer area 1100 . In this case, the value of the predetermined interval d at which the wire 1200 is installed is variable.

Therefore, the user can install the wire 1200 along the outline of the work area 1000 and does not need to consider the interval at which the wire 1200 is installed from the outer area or the outer area 1100, ) Can be installed more easily.

1B, the charging apparatus 100 of the mobile robot 10 may be installed so as to be connected to the wire 1200. Although not shown in FIG. 1B, the charging apparatus 100 may be installed in a part of the work area 1000 including the area where the wire 1200 is installed. Also, although not shown in FIG. 1B, the charging apparatus 100 may be installed in a part of the working area 1000 and in a part of the outside area 1100. FIG.

1C and 1D below, when the mobile robot 10 is a lawn mower, one embodiment of the lawn mower robot related to the present invention will be described.

Referring to Figs. 1C and 1D, the lawn mower 10 may be provided with a movable main body 50 capable of cutting grass. The main body 50 can cut grass in the work area 1000 while moving within the wire 1200.

In addition, the wire 1200 can be connected to a charging device 100 that can supply current to the wire. That is, the wire 1200 may be connected to the charging device 100 to generate a magnetic field by a current supplied from the charging device 100. Also, the main body 50 may be connected to the charging device 100 to charge the main body 50.

The main body 50 of the lawnmower robot may be provided with a cutting unit (not shown) capable of cutting grass. The cutting portion may be configured to rotate the sharp blade.

The main body 50 is provided with a driving unit for moving the main body 50 in a desired direction and rotating the main body 50. The drive may include a plurality of rotatable wheels, and each wheel may be individually rotatable so that the body 50 may be rotated in a desired direction. More specifically, the driving unit may include at least one main driving wheel 40 and a subsidiary wheel 20. For example, the main body 50 may include two main driving wheels 40, and the main driving wheels may be installed on a rear bottom surface of the main body 50.

The main body 50 may include a sensing unit capable of sensing the wire 1200. The sensing unit senses a magnetic field generated by a current flowing in the wire 1200 and a voltage value induced thereby to determine whether the main body 50 has reached the wire 1200, Information on whether the main body 50 is traveling along the wire 1200 or the like can be obtained.

Further, the sensing unit may sense various information related to the movement distance, the movement speed, and the relative positional change with the movement of the main body 50.

The main body 50 can drive the driving unit 40 using information sensed by the sensing unit. That is, the controller 18 controls driving of the main body 50 using the information measured by the sensing unit, and drives the driving unit so that the main body 50 is located inside the working area.

The main body 50 includes a sensing unit for sensing a voltage value derived from the wire 1200 and a control unit for determining a distance between the main body 50 and the wire 1200 according to a voltage value sensed by the sensing unit. (18).

The main body 50 may include a power receiving unit 60 for receiving electric power in contact with the charging apparatus 100. The power receiving unit 60 may include at least one terminal. Specifically, the terminal may be coupled with an elastic portion (not shown) so as to be vertically movable. The power receiving unit 60 may be installed above any one of the main driving wheels 40 of the driving unit. In addition, the power receiving unit 60 may be installed so as to be exposed above the main body 50.

1E, an embodiment of a mobile robot according to the present invention will be described.

1E, the mobile robot 10 includes a communication unit 11, an input unit 12, a driving unit 13, a sensing unit 14, an output unit 15, a memory 17, a control unit 18, And a power supply 19, as shown in FIG. The components shown in FIG. 1E are not essential for implementing a mobile robot, so that the mobile robot described in this specification can have more or fewer components than those listed above.

More specifically, the wireless communication unit 11 among the above-described components can communicate with the mobile robot 10 and the wireless communication system, between the mobile robot 10 and another mobile robot, between the mobile robot 10 and a mobile terminal (not shown) (Not shown) of the mobile robot 10 and the charging device 100 or between the mobile robot 10 and the external server between the mobile robot 10 and the external device. In addition, the communication unit 11 may include one or more modules for connecting the mobile robot 10 to one or more networks.

The communication unit 11 may include at least one of a mobile communication module, a wireless Internet module, a local area communication module, and a location information module.

The input unit 12 includes a camera or an image input unit for inputting a video signal, a microphone for inputting an audio signal, an audio input unit, a user input unit (e.g., a touch key) for receiving information from a user, , A mechanical key, etc.). The voice data or image data collected by the input unit 12 may be analyzed and processed by a user's control command.

The sensing unit 14 may include at least one sensor for sensing at least one of information in the mobile terminal, surrounding environment information surrounding the mobile terminal, and user information. For example, the sensing unit 14 may include a proximity sensor, an illumination sensor, a touch sensor, an acceleration sensor, a magnetic sensor, a gravity sensor G- sensor, a gyroscope sensor, a motion sensor, an RGB sensor, an infrared sensor, a finger scan sensor, an ultrasonic sensor, an optical sensor optical sensors, such as cameras), microphones, battery gauges, environmental sensors (e.g., barometers, hygrometers, thermometers, radiation sensors, thermal sensors, A sensor (e. G., An electronic nose, a healthcare sensor, a biometric sensor, etc.).

The sensing unit 14 includes at least two coils that are installed differently, and the two coils are capable of sensing a voltage value within the same area divided by the wire 1200, respectively. That is, the two coils are capable of sensing a voltage value inside a closed loop by the wire 1200.

Also, the sensing unit 14 may include a wheel sensor, and the wheel sensor may sense information related to an operation history of at least one of the main driving wheels and the auxiliary driving wheels included in the driving unit 13.

Meanwhile, the mobile robot disclosed in the present specification can combine and utilize information sensed by at least two of the sensors.

The output unit 15 is for generating output related to visual, auditory or tactile sense, and may include at least one of a display unit, a sound output unit, a vibration module, and a light output unit. The display unit may have a mutual layer structure with the touch sensor or may be integrally formed to realize a touch screen. The touch screen functions as a user input unit for providing an input interface between the mobile robot 10 and a user and can provide an output interface between the mobile robot 10 and a user.

In addition, the memory 17 stores data supporting various functions of the mobile robot 10. The memory 17 may store a plurality of application programs (application programs or applications) driven by the mobile robot 10, data for operation of the mobile robot 10, and commands. At least some of these applications may be downloaded from an external server via wireless communication. At least some of these application programs may exist on the mobile robot 10 from the time of shipment for the basic functions (e.g., cutting function, moving function, charging / discharging function, communication function) of the mobile robot 10 . On the other hand, the application program is stored in the memory 17, is installed on the mobile robot 10, and can be driven by the control unit 18 to perform the operation (or the function) of the mobile robot.

The control unit 18 generally controls the overall operation of the mobile robot 10, in addition to the operations associated with the application program. The control unit 18 may process or process signals, data, information, and the like input or output through the above-mentioned components, or may drive an application program stored in the memory 17 to provide or process appropriate information or functions to the user.

In addition, the control unit 18 may control at least some of the components illustrated in FIG. 1E in order to drive an application program stored in the memory 17. FIG. Furthermore, the control unit 18 may operate at least two of the components included in the mobile robot 10 in combination with each other for driving the application program.

Under the control of the control unit 18, the power supply unit 19 receives external power and internal power, and supplies power to the respective components included in the mobile robot 10. The power supply unit 19 includes a battery, which may be an internal battery or a replaceable battery.

At least some of the components may operate in cooperation with one another to implement a method of operation, control, or control of a mobile terminal according to various embodiments described below. In addition, the operation, control, or control method of the mobile terminal can be implemented on the mobile terminal by driving at least one application program stored in the memory 17. [

2, an embodiment of a method of controlling a mobile robot according to the present invention will be described.

As shown in Fig. 2, the mobile robot 10 can generate map information corresponding to the work area (S201).

Specifically, while the mobile robot 10 moves along the wire 1200 installed on the outline of the work area, it is possible to sense a plurality of coordinate information related to the movement path of the mobile robot 10. [ In addition, the mobile robot 10 can generate map information corresponding to the work area using the plurality of detected coordinate information.

In addition, the mobile robot 10 can set information related to the plurality of areas using map information so that the working area is divided into a plurality of areas (S202).

Specifically, the control unit 18 of the mobile robot 10 can divide the work area into a plurality of areas based on information related to the shape of the work area. The control unit 18 can divide the work area into a plurality of areas based on information related to the performance of the mobile robot 10. [

The mobile robot 10 may move according to a predetermined movement pattern for each of the plurality of divided regions (S203).

In addition, the mobile robot 10 can perform a grass cutting function while moving according to a predetermined movement pattern for each divided area. Specifically, the mobile robot 10 may perform a grass cutting function while performing zigzag operation repeatedly a predetermined number of times for each divided area.

When the operation of the work area of the mobile robot 10 is completed, the mobile robot 10 can return to the charging apparatus 100 (S204).

The mobile robot 10 may return to the charging device 100 when a return event is generated in the mobile robot 10 before the completion of the work on the work area.

In the following specification, various examples related to the lawn mower robot are described as an example of the mobile robot 10. [ That is, the robot 10, the robot 10, and the lawnmower 10 correspond to each other, and the robot 10 and the lawnmower 10 are connected to the mobile robot 10). ≪ / RTI > However, the configuration of the present invention is not limited to the lawnmower robot, and may be applied to various mobile robots.

3A to 3E, an embodiment of a method of generating map information related to a work area of a lawn mower robot according to the present invention will be described.

3A, the driving unit 13 of the lawn mower 10 may move along the wire 1200 installed in the contour of the predetermined working area 1000 (S301).

More specifically, the driving unit 13 of the lawn mower 10 may drive the main body of the lawn mower robot to move along the wire 1200. The driving unit 13 may drive the center of gravity of the robot body so as to be spaced apart from the wire 1200 by a predetermined distance.

For example, the driving unit 13 may drive the robot to move in a state where any one of the main driving wheels of the robot is in contact with the wire 1200. In another example, the driving unit 13 may be driven to move the robot to a moving path corresponding to a closed loop formed by the wire 1200.

Meanwhile, the sensing unit 14 may sense a voltage value derived from the wire, and the controller 18 may determine the distance between the body of the robot 10 and the wire 1200 using the sensed voltage value . Thereby, the control unit 18 can control the driving unit based on the determination result about the distance between the main body and the wire.

Next, the sensing unit 14 may sense coordinate information related to the position of the robot at specific time intervals.

Specifically, the sensing unit 14 may sense coordinate information related to the current position of the robot at a time interval set by the user.

For example, the sensing unit 14 may include a wheel sensor or a gyro sensor that senses information related to at least one of an operating state and an operation history of the driving wheels included in the driving unit 13. [ In this case, the information related to the operating state of the driving wheels may include information related to the current moving direction and the moving speed.

In addition, the wheel sensor can sense information related to the operating history of the driving wheels, and the controller 18 can use the predetermined reference coordinate information to detect information related to the operating history of the driving wheels, Can be converted into coordinate information related to the coordinate system.

In another example, the sensing unit 14 may include a GPS module that senses the GPS coordinate information of the robot 10. In this case, even if the reference coordinate information is not set separately by the user, the sensing unit 14 can sense the coordinate information related to the current position of the robot through the GPS module.

In this regard, referring to FIG. 3B, as the robot 10 moves the wire 1200, the sensing unit 14 can sense a plurality of coordinate information 310. FIG.

In one embodiment, the interval between the coordinate information 310 may be changed according to the property of the sensing unit 14. [ In another embodiment, the control unit 18 may control the sensing unit 14 so that the sensing unit 14 senses the coordinate information at a specific cycle, based on the user input related to the sensing period of the coordinate information.

The control unit 18 may convert coordinate information related to the current position of the robot detected by the sensing unit 14 to generate coordinate information corresponding to a point where the wire is installed. Specifically, the sensing unit 14 may sense first coordinate information corresponding to the center of gravity of the main body and information related to the main body posture at the time when the first coordinate information is sensed. In this case, the controller 18 may convert the first coordinate information into second coordinate information corresponding to a point where the wire is installed, using information related to the posture of the main body. Thus, the lawn mower robot 10 according to the present invention can acquire a plurality of coordinate information corresponding to a plurality of points provided with the wire.

Next, the control unit 18 can generate map information of a polygonal shape related to the work area 1000 using the coordinate information sensed by the sensing unit 14 (S303).

More specifically, the control unit 18 may perform filtering on the detected plurality of coordinate information 310 to select at least a part of the plurality of coordinate information 310.

3C, the controller 18 can select a part of the coordinate information 320 of the plurality of coordinate information 310 sensed by the sensing unit 14. In this case,

Specifically, the control unit 18 can set information related to a line segment that successively connects the plurality of coordinate information 310, based on the order in which the plurality of coordinate information 310 detected by the sensing unit 14 are detected have. Accordingly, the control unit 18 can group the plurality of coordinate information 310 into a plurality of groups by using the information related to the line segment.

For example, the control unit 18 may group some of a plurality of coordinate information 310 forming a substantially straight line into the same group. Thus, the control unit 18 can select coordinate information located at both ends of the grouped coordinate information.

In another example, the control unit 18 can detect information related to a plurality of line segments formed by two coordinate information adjacent to each other among a plurality of coordinate information 310. [ In addition, the controller 18 may perform filtering on the plurality of coordinate information 310 using information related to the angles formed by the detected line segments. The control unit 18 can select at least some of the plurality of coordinate information 310 based on the filtering result.

In addition, the control unit 18 can generate the map information 330 of the polygonal shape using the selected coordinate information 320. That is, the control unit 18 can generate map information 330 of a polygonal shape including a part of a plurality of coordinate information 310 as vertexes.

On the other hand, when the main body of the robot 10 moves along the wire 1200 forming the closed loop, the control unit 18 returns to the reference point at which the coordinate information 310 starts to be sensed, It can be determined that the generation of the information is completed. In this case, the reference point may correspond to a point where the charging apparatus 100 of the robot 10 is installed.

In one embodiment, when the robot 10 is circularly moved along the closed loop by a preset number of times, the control unit 18 can determine that the generation of the map information is completed. Thereby, the accuracy of the generated map information can be improved.

Next, the control unit 18 can set information related to the rectangle tangent to the polygon corresponding to the generated map information (S304). Further, the control unit 18 can set information related to the traveling coordinate axes of the robot 10 using the information related to the set rectangle (S305).

More specifically, referring to FIG. 3D, the control unit 18 can set information related to the coordinate axes 331 and 332 corresponding to the generated map information. In addition, the control unit 18 can set the coordinate information 333 related to the reference point corresponding to the work area.

For example, the coordinate axis information corresponding to the map information may be global coordinate axis information. That is, the coordinate axis information corresponding to the map information can be related to the coordinate axis corresponding to the south-north direction and the coordinate axis corresponding to the east-west direction.

3D, the control unit 18 can set the information 340a related to the rectangle tangent to the polygon corresponding to the generated map information.

More specifically, the control unit 18 can set information (340a) related to a polygon corresponding to the map information and a rectangle circumscribing at at least four contact points. The control unit 18 can set information related to the traveling coordinate axes 341a and 342a of the robot 10 using the information 340a related to the rectangle to be enclosed.

In this case, the control unit 18 can determine the running direction of the robot 10 using the information associated with the set travel coordinate axes 341a and 342a.

Referring to FIG. 3E, the controller 18 can calculate the area difference between the polygon corresponding to the map information and the rectangle circumscribing the map information. The controller 18 can set information related to the rectangle so that the calculated area difference becomes a minimum value.

More specifically, the control unit 18 rotates the set travel coordinate axes 341a and 342a, and associates the rectangle 340b corresponding to the rotated traveling coordinate axes and the polygon corresponding to the map information 330, You can reset the information.

The control unit 18 can detect an angle difference θ between the coordinate axes 331 and 332 associated with the map information that minimizes the area difference between the polygon and the rectangle and the traveling coordinate axes 341b and 342b.

In one embodiment, the control unit 18 can detect the angle difference? That minimizes the area difference between the polygon and the rectangle while rotating the traveling coordinate axes 341b and 342b by 1 占.

As described above, the control unit 18 can set information related to the rectangle circumscribing the polygon and the coordinate axes 341a and 342a corresponding to the rectangle, and the memory 17, together with the set information, And may store information related to the lengths of the first and second sides.

In this case, the control unit 18 can control the driving unit 13 so that the robot 10 reciprocates in the direction of the second traveling coordinate axis 342a while moving in the direction of the first driving coordinate axis 341a. The control unit 18 can also control the driving unit 13 to move by the zigzag running in which the robot 10 performs the reciprocating operation in the direction of the second traveling coordinate axis 342a.

4A and 4B to 4G, an embodiment will be described in which a lawn mower robot according to the present invention divides a work area into a plurality of areas and performs work for a plurality of areas.

In the control method of the lawn mower robot described in the following embodiments, information related to the traveling coordinate axes 400a and 400b set by the control method described with reference to FIG. 3A may be used, Information relating to the traveling coordinate axes 400a and 400b may be used. In the control method of the lawn mower robot described in the following embodiments, reference coordinate information corresponding to the position where the filling apparatus is installed can be used.

First, the control unit 18 can set first information related to at least one reference line by using coordinate information corresponding to a vertex of the polygon forming the work area (S401).

4B, the control unit 18 determines the concave vertices 410a, 410b, 410c, and 410d of the vertex 320 of the polygon using the map information 330 related to the polygon forming the work area, Can be detected. The control unit 18 can set the first information using the coordinate information corresponding to the detected concave vertex.

That is, the controller 18 can set the first information related to the at least one reference line 420 using the coordinate information corresponding to the concave vertex. For example, the first information may include information related to the angle formed by the reference line 420 and the driving coordinate axis, coordinate information of the concave apex 410a included in the reference line 420, and the like. In another example, the baseline 420 includes a concave vertex and may be parallel to any one of preset driving coordinate axes.

For example, referring to FIG. 4C, the interior angle 411a of the polygon formed around the concave apex 410a may be an obtuse angle. That is, the controller 18 may set the first information related to the concave apex 410a in order to select the vertex whose apex angle of the polygon is obtuse as the concave apex 410a among the plurality of apexes of the polygon.

Next, using the first information, the control unit 18 can set the second information related to the plurality of areas so that the working area is divided into a plurality of areas (S402).

The control unit 18 can set first information related to at least one reference line that divides the work area into a plurality of areas. Further, the control unit 18 can set the second information related to the plurality of areas such that the working area is divided into a plurality of areas using the at least one reference line.

For example, the second information may include coordinate information corresponding to a vertex located at a boundary of the divided region, identification information of each divided region, information related to the area of each divided region, and the like.

The control unit 18 can set information related to at least one reference line for dividing the work area into a plurality of areas by using the coordinate information corresponding to the selected concave vertex.

More specifically, the control unit 18 compares the coordinate information corresponding to at least one concave vertex 410a, 410b, 410c, and 410d and the coordinate information associated with the rectangle (see FIG. 3e) tangent to the polygon forming the working area , And the at least one concave vertex can be selected.

That is, the control unit 18 can select any one of the at least one concave vertexes based on the distance between the at least one concave vertex included in the polygon forming the work area and one side of the rectangle. For example, the control unit 18 may select a concave vertex farthest from the one side of the rectangle among the at least one concave vertex. In another example, the one side of the rectangle may be parallel to any one of the traveling coordinate axes of the robot.

In this case, the control unit 18 may include the selected concave vertex and set information related to the reference line perpendicular to the traveling coordinate axis 400b. In addition, the control unit 18 can divide the work area into a plurality of areas using a reference line perpendicular to the traveling coordinate axis.

On the other hand, the control unit 18 compares the distance value from the at least one concave vertex to the first side of the rectangle and the length value of the second side perpendicular to the first side of the rectangle, Can be determined.

That is, when the distance from one of the at least one concave vertex to the first side of the rectangle is 10% or more of the length of the second side perpendicular to the first side of the rectangle, The second information can be set to divide the work area on the basis of one concave vertex.

Further, when the distance value from any one of the at least one concave vertex to the first side of the rectangle is equal to or less than a preset percentage value of the length value of the second side perpendicular to the first side of the rectangle, The work area may not be divided based on any one of the concave vertexes. For example, the predetermined percentage value may be 10%.

The control unit 18 can select any one of the at least one reference line using the third information related to the predetermined traveling direction. In addition, the control unit 18 may set second information related to a plurality of areas included in the work area using the first information related to the selected reference line.

In this case, the third information may include coordinate axis information 341a, 342a associated with a rectangle tangent to a polygon forming the working area described in Fig. 3E. That is, the controller 18 can detect the rectangle having the smallest area difference from the polygon forming the work area, and then set the direction of the side of the rectangle to the direction of travel of the robot.

In addition, the control unit 18 can select any one of the at least one reference line that is orthogonal to the predetermined running direction. Thereby, the control unit 18 can set the second information related to the plurality of areas included in the work area.

In other words, the control unit 18 uses the reference line orthogonal to the predetermined coordinate axis including any one of the concave vertexes to divide the working area into a plurality of areas, and the second information related to the plurality of areas Can be set.

If a plurality of concave vertexes are detected, the control unit 18 groups the plurality of concave vertexes into at least one group, selects a concave vertex having a maximum distance from the concave vertex to the one side of the rectangle . Further, the control unit 18 can set the second information related to the plurality of areas so as to divide the working area into a plurality of areas, using the reference line including the concave vertexes selected for each group.

On the other hand, when it is determined that there is no concave vertex among the vertexes of the polygon forming the work area, the control unit 18 uses the fourth information related to the predetermined maximum travel distance value to divide the work area into a plurality of areas, The second information can be set. The control unit 18 sets information related to the reference line orthogonal to the predetermined driving direction when the maximum width value in the predetermined driving direction of the working area is larger than the maximum driving distance value, .

For example, the maximum mileage value may be set to 20 m. In another example, the control unit 18 may set information related to the maximum mileage value based on user input.

4D, the control unit 18 may use at least one reference line 440a including some of the concave vertices, using coordinate information associated with the selected concave vertices 410a, 410b, 410c, and 410d. , 440b, 440c, 440d, 440e, and 440f.

4E, the control unit 18 uses the first information related to the reference line 441 to generate second information related to the plurality of areas S1 and S2 so that the working area is divided into a plurality of areas, Can be set.

Next, using the second information, the control unit 18 can control the driving unit to move the main body according to a predetermined movement pattern for each of a plurality of areas (S403).

4B, the controller 18 controls the driving unit to move the main body of the robot 10 according to a predetermined movement pattern for each of the plurality of divided areas using the set second information (step < RTI ID = 0.0 > . The control unit 18 may control a blade unit included in the driving unit to perform a cutting operation for each of the plurality of divided areas while the robot 10 is moving.

For example, the control unit 18 can control the driving unit 13 to move the robot 10 in a zigzag manner 430a on the basis of a predetermined traveling direction in the first area S1, and the second area S2 The driving unit 13 can be controlled so as to move in a zigzag manner 430b.

In another example, the control unit 18 may control the driving unit 13 based on information associated with different movement patterns in the first area and the second area. In another example, the control unit 18 may set information related to a movement pattern of movement of the robot 10 by a plurality of areas included in the work area, based on user input.

In another example, the control unit 18 can set coordinate information related to the operation start point of the robot 10 for each of a plurality of areas S1 and S2 included in the work area. Specifically, the control unit 18 can set a position corresponding to the vertex having the maximum coordinate value or the minimum coordinate value as the operation start point of the robot 10 with respect to any one of the preset travel coordinate axes 400a and 400b.

In another example, when the robot 10 arrives at the start point of the robot 10, the control unit 18 controls the robot 10 so that the traveling direction of the robot 10 is parallel to any of the predetermined traveling coordinate axes 400a and 400b 10) can be changed. In this case, the control unit 18 can control the driving unit 13 such that the posture of the robot 10 is parallel to any one of the traveling coordinate axes.

4F, when the maximum length of the predetermined driving direction 400b of the divided area S1 is larger than the predetermined maximum driving distance value, the control unit 18 determines that the divided area S1 It is possible to reset the second information so that the first information S1 is divided into the plurality of detailed areas S1a and S1b.

4F, the controller 18 compares the coordinate information corresponding to the plurality of vertexes included in the divided area S1 in the work area, and determines a predetermined running direction 400b of the divided area, The maximum length can be calculated. The control unit 18 resets the second information to divide the divided area into a plurality of detailed areas when the maximum length calculated for the divided area is larger than the predetermined maximum driving distance value d .

For example, the reset second information may include at least one of information related to the contour of the detail area, information related to the vertex forming the detail area, and information related to the additional baseline 450 defining the detail area .

In another example, the maximum mileage value may be 20m.

In another example, the control unit 18 may set information related to the maximum mileage value based on user input.

Specifically, the control unit 18 may change the maximum travel distance value based on information related to at least one of the sensitivity and the accuracy of the sensing unit that senses the attitude of the robot. Further, the control unit 18 can change the maximum travel distance value based on information related to the attribute of the cutting device included in the driving unit. For example, the control unit 18 may increase the maximum travel distance value when the accuracy of the sensing unit increases or as the length of the cutting unit increases.

In addition, the controller 18 may set information related to the number of sub-areas using at least one of the maximum length value of the polygon in the predetermined traveling direction and the predetermined maximum travel distance value.

Specifically, the controller 18 can determine the number of the detailed areas by using a value obtained by dividing the maximum length value in the predetermined running direction of the polygon by the predetermined maximum travel distance value. For example, when the maximum length value in the travel direction is d and the predetermined maximum travel distance is A, the number n of the detailed areas may be a minimum integer greater than the d / A value.

Meanwhile, although not shown in FIG. 4F, the controller 18 may determine whether to divide the divided area into sub-areas using information related to the area of the divided area S1. That is, the control unit 18 can reset the second information to re-divide the divided area into the detailed area only when the divided area exceeds the reference value using a predetermined reference value related to the area .

4 (g), the controller 18 controls the main body to move in accordance with the predetermined movement pattern from the contour of the divided area to the area separated by the predetermined additional travel distance r, The driving unit can be controlled.

Specifically, when the robot 10 is moving based on a predetermined movement pattern for the divided area S1 or the detailed areas S1a and S1b re-divided from the divided area, By using the second information, the robot 10 can detect information related to the contour of the area in which the robot 10 is moving. The control unit 18 can control the driving unit 13 to move the robot 10 from the contour to a region spaced apart by a predetermined additional travel distance r.

In this case, the control unit 18 can set the value of the additional travel distance r by using the maximum length value in the predetermined traveling direction of the area where the robot 10 is moving. For example, the value of the additional mileage (r) may be included in the range of 5% to 10% of the maximum length value in the running direction. In another example, the control unit 18 may set the value of the additional mileage (r) based on user input.

As shown in FIG. 4G, the control method according to the present invention derives the effect of improving the work rate for the work area by running the robot from the area corresponding to the set second information to the area superimposed by the additional travel distance do.

5A to 5D, an embodiment in which the mobile robot according to the present invention is returned to a specific point in the work area will be described.

5A, the control unit 18 can control the driving unit 13 so that the body of the robot 10 moves inside the wire forming the closed loop (S501).

Specifically, the control unit 18 can control the driving unit 13 to move the body of the robot 10 inside the wire installed to define the contours of the work area.

In this case, the memory 17 may store map information including coordinate information related to the closed loop. For example, the map information may be generated by the control method shown in FIG. 3A.

Next, the control unit 18 may control the sensing unit 14 to detect the coordinate information related to the current position of the robot 10 in real time during the operation of the robot 10 (S502).

In this way, the memory 17 can store coordinate information related to the current position of the robot 10 detected in real time.

Specifically, the sensing unit 14 may sense coordinate information related to the current position of the robot 10 by sensing information related to the operation history of the driving unit 13 at predetermined time intervals. In addition, the control unit 18 uses the preset reference coordinate information together with the information related to the operation history of the sensed driving unit 13 to obtain coordinate information related to the position of the robot 10 relative to the position corresponding to the reference coordinate information Can be detected.

5B, the memory 17 stores map information 330 related to the polygon forming the working area of the robot 10, coordinate information 530a and 530b related to the vertex included in the polygon, Information related to the traveling coordinate axes 400a and 400b of the robot 10, coordinate information cx and cy related to the current position of the robot 10, preset reference coordinate information 500, And / or < / RTI >

Next, the control unit 18 can determine whether a return event has occurred to the robot 10 (S503).

Specifically, in one embodiment, the control unit 18 can detect information related to the remaining power stored in the power supply unit 19 that supplies power to the robot 10. [ The control unit 18 may determine that the return event is generated when the remaining amount of the power is less than a predetermined reference value using the detected information.

For example, the power supply unit 19 may be a chargeable and dischargeable battery.

In another example, the control unit 18 may use the user input to set information associated with a predetermined reference value.

In another example, the control unit 18 may change the predetermined reference value based on the coordinate information related to the current position of the robot 10 and the distance between the reference coordinate information 500. [ That is, when the distance from the position corresponding to the reference coordinate information 500 is increased, the control unit 18 can increase the predetermined reference value.

In this case, the reference coordinate information 500 may correspond to information related to the position where the charging apparatus 100 of the robot 10 is installed.

In another embodiment, the control unit 18 can detect information related to whether or not the communication unit 11 of the robot 10 performing wireless communication receives a signal related to the summoning command. Using the detected information, the control unit 18 can determine that the return event is generated when the communication unit 11 receives a signal related to the summoning command.

In this case, the signal related to the summoning command may be transmitted from a communication device (not shown) of the charging apparatus 100 or may be transmitted based on a user input from a remote controller (not shown) of the robot 10 .

In another embodiment, the sensing unit 14 may sense information related to the failure of the robot 10. [ In this case, the controller 18 can determine whether the robot 10 is malfunctioning by using the information related to the failure of the robot sensed by the sensing unit 14. If the controller 10 determines that a failure has occurred in the robot 10, the control unit 18 can determine that the return event has occurred.

Specifically, the sensing unit 14 may sense information related to the operation state of the driving unit 13 of the robot 10. [ The controller 18 can determine whether the driver 13 is faulty by using information related to the operating state of the driver 13. [ For example, based on the information sensed by the sensing unit 14, the control unit 18 determines whether or not a failure has occurred in at least one of the main driving wheels, the auxiliary driving wheels, and the cutting devices included in the driving unit 13 .

Next, when the return event is generated in the robot 10, the controller 18 performs tracking of the robot along the wire based on the map information related to the closed loop and the coordinate information related to the current position of the robot. The controller may control the driving unit 13 to move to a position corresponding to the preset reference coordinate information in the coordinate information related to the closed loop (S504).

Specifically, referring to FIG. 5B, the controller 18 may detect information related to the traveling path in the first direction 540a along the wire. In addition, the control unit 18 can detect information related to the traveling path in the second direction 540b, which is different from the first direction along the wire.

In addition, the control unit 18 may compare the detected information and set information related to the movement path of the robot 10. [

In one embodiment, the controller 18 controls the movement of the robot 10 relative to the movement path of the robot 10 so as to minimize at least one of the time and power required for the robot 10 to move to the position corresponding to the reference coordinate information 500 Information can be set.

That is, when the robot 10 moves to a position corresponding to the reference coordinate information 500 in the first and second directions, the control unit 18 outputs information related to at least one of the time and power consumed Respectively. The control unit 18 may use the detected information to minimize the time required for the robot 10 to move to the position corresponding to the reference coordinate information 500 or to minimize the required power, And the traveling route in the second direction can be selected.

In this regard, referring to FIG. 5C, the control unit 18 can control the driving unit 13 using information related to the set travel route. That is, when a return event is generated in the robot 10, the control unit 18 can control the driving unit 13 so that the robot 10 moves along the wire to the charging apparatus 100.

Meanwhile, as shown in FIG. 5C, the controller 18 may correct the stored map information using the coordinate information sensed by the sensing unit while the robot 10 moves along the wire.

More specifically, while the robot 10 moves from the position (cx, cy) at the time when the return event is generated to the position 500 corresponding to the reference coordinate information (rx, ry) The sensing unit 14 can be controlled to detect the coordinate information at each time interval of the time interval.

When the robot 10 arrives at a position 500 corresponding to the reference coordinate information rx and ry, the control unit 18 determines whether or not the robot 10 has been detected by the sensing unit 14 Information related to the difference between the coordinate information (cx ', xy') and the reference coordinate information (rx, ry) can be detected.

Thereby, the control unit 18 can correct the map information 330 related to the work area stored in the memory 17, using the detected difference.

On the other hand, the control unit 18 can determine whether or not the cutting operation has been completed for a part of the work area where the robot 10 is located at the time when the return event of the robot 10 is generated.

The control unit 18 can set coordinate information related to the restart point of the robot 10 when the return event is generated in a state where the cutting operation for the partial area where the robot 10 is located is not completed yet.

Specifically, the control unit 18 uses at least one of the coordinate information related to the position of the robot 10 at the point where the return event is generated and the information related to the traveling coordinate axis, As coordinate information related to the restart point of the robot 10.

In this case, when it is determined that a restart event has occurred in the robot 10, the controller 180 controls the driving unit 13 to move the robot 10 to a position corresponding to the coordinate information related to the set restart point Can be controlled.

In this regard, referring to FIG. 5C, the control unit 18 determines that at least one point 550 of the wire closest to the direction of the coordinate axis of the robot 10 at the position of the robot 10 at the time of occurrence of the return event is a restart point Can be set.

If there are a plurality of restart points set, the control unit 18 may select the closest point at a position corresponding to the reference coordinate information among the plurality of restart points and select a final restart point.

Referring to FIG. 5D, the controller 18 can determine whether the wire tracked by the robot 10 is a wire installed on the outer periphery of the obstacle located in the work area. The control unit 18 may control the driving unit to move the robot 10 to any one of the wires provided on the outline of the work area, based on the determination result.

That is, when the wire 1200a forming the separate closed loop is installed in the closed loop associated with the work area, the controller 18 can distinguish the wire forming the separate closed loop from the wire installed in the contour of the work area have.

Specifically, the controller 18 compares the coordinate information related to the set restart point with the map information 330 related to the work area stored in the memory 17, and determines whether the set restart point is a wire 1200a installed separately in the work area, It is possible to judge whether or not it corresponds to "

The control unit 18 compares the length of the traveling path of the robot 10 circulating along the wire from the set restart point with the contour length of the work area extracted from the map information 330, It is possible to determine whether or not it corresponds to the wire 1200a installed separately in the work area.

In addition, if it is determined that the set restart point corresponds to the wire 1200a installed in the work area separately, the control unit 18 can change the coordinate information related to the restart point.

5D, the control unit 18 moves the robot 10 toward the changed restart point 560b and sends a wire 1200 (FIG. 5D) defining the contour of the work area from the changed restart point toward the charging apparatus 100 The robot 10 can be moved along 560c.

6A to 6C, an embodiment of a traveling control method for the inclination of the work area of the mobile robot according to the present invention will be described.

As shown in FIG. 6A, the sensing unit 14 may sense information related to the posture of the robot 10 (S601).

Specifically, the sensing unit 14 may sense information related to the posture of the robot 10 with respect to a predetermined three-dimensional coordinate system. That is, the sensing unit 14 may sense information related to pitch, roll, and yaw corresponding to coordinate axes of the three-dimensional coordinate system. The sensing unit 14 may sense information related to the pitch angle, the roll angle, and the yaw angle, respectively.

For example, the sensing unit 14 may sense at least one of Attitude Heading Reference System (AHRS) and Inertial Measurement Unit (IMU) to detect information related to the posture or orientation of the robot 10.

6B, the information associated with the preset three-dimensional coordinate system may include information related to the traveling coordinate axes 400a and 400b stored in the memory 17. In this case, In addition, the information associated with the predetermined three-dimensional coordinate system may include information related to a coordinate axis set in a vertical direction from the ground.

Next, the control unit 18 can detect information related to the inclination corresponding to the current position of the robot 10 using information related to the attitude of the robot 10 (S602).

Specifically, the information related to the inclination may include information related to the first angle, the second angle and the third angle corresponding to the coordinate axes of the preset three-dimensional coordinate system, respectively. For example, the first angle, the second angle, and the third angle may correspond to a pitch angle, a roll angle, and a yaw angle, respectively.

Next, the control unit 18 can control the driving unit 13 based on the information related to the detected inclination (S603).

Specifically, the memory 17 may store information related to the first and second coordinate axes for the working area of the robot 10. [ In this case, the controller 18 can set the first compensation value for the travel distance in the first coordinate axis direction using the information related to the inclination. Also, the controller 18 may set a second compensation value for the travel distance in the second coordinate axis direction by using the information related to the inclination. In addition, the controller 18 may control the driving unit 13 using the first and second compensation values.

In this regard, referring to FIG. 6B, a method of controlling the driving unit 13 of the robot 10 in a work area having a specific inclination angle? With respect to the first coordinate axis 400a will be described.

As shown in Fig. 6B, the first side 610a of the working area may be below the slope, and the second side 610b may be above the slope.

The memory 17 may store map information 330 related to the work area, information related to the travel coordinate axes 400a and 400b of the robot 10, and the like. In this case, the stored driving coordinate axes may correspond to the first and second coordinate axes.

6B, the controller 18 may set a first compensation value 603 for the travel distance in the direction of the first coordinate axis 400a using information related to the inclination of the first coordinate axis 400a have.

For example, in order to move the robot 10 to the first path 601, the control unit 18 can set the first compensation value 603 in consideration of the inclination degree? Of the working area. The control unit 18 may control the driving unit 13 so that the robot 10 travels in the second path 602 by applying the first compensation value 603. [ The slip may occur in the driving wheels included in the driving unit 13 while the driving unit 13 of the robot 10 travels in the second path 602. As a result, 1 path 601 in FIG.

Meanwhile, the memory 17 may store first and second reference coordinate information included in the working area. The sensing unit 14 may sense information related to a change in the position of the robot 10 as the robot 10 moves.

In this case, the control unit 18 determines whether or not the robot is in the position corresponding to the first reference coordinate information, while the robot moves to the position corresponding to the second reference coordinate information, 1 displacement information can be calculated.

In addition, the controller 18 may calculate second displacement information related to the difference between the first and second reference coordinate information. The control unit 18 may compare the calculated first and second displacement information to detect error information related to the inclination. Thereby, the control unit 18 can correct the first and second compensation values using the detected error information.

For example, the first reference coordinate information may correspond to a position where the charging device of the lawnmower robot is installed. The second reference coordinate information may correspond to a position of the coordinate information included in the working area that is farthest from the position where the charging device is installed.

In this case, when the robot 10 moves from the position corresponding to the first reference coordinate information to the position corresponding to the second reference coordinate information, the controller 18 follows the wire provided on the contour of the working area The driving unit can be controlled to move.

In another example, the driving unit 13 may perform zigzag running on at least one of the first and second coordinate axes 400a and 400b in at least a part of the working area.

In this case, the control unit 18 can repeatedly reset the first and second compensation values for the partial area in accordance with the zigzag running.

Meanwhile, the memory 17 may store map information formed of a plurality of three-dimensional coordinate information included in the working area.

In this case, the control unit 18 can detect information related to the inclination of at least a part of the working area using the plurality of three-dimensional coordinate information. When the robot 10 enters the partial area, the control unit 18 can control the driving unit based on the information related to the inclination.

As shown in Fig. 6C, the control unit 18 can set information related to the plurality of areas such that the working area is divided into a plurality of areas S1a and S1b. The control unit 18 may detect information related to the inclination by the plurality of areas.

The control unit 18 can control the driving unit to move the main body according to a predetermined movement pattern from an outline of any one of the divided plurality of areas to a region spaced apart by a predetermined additional driving distance.

As a remedy, the control unit 18 can change the additional mileage using information related to the detected slope.

6C, when the first side 610a of the working area is the lower side of the slope and the upper side of the second side 610b of the slope is dl, the controller 18 controls the first area S1a included in the working area, It is possible to detect information related to the slope corresponding to the slope.

The control unit 18 may set the robot 10 to a predetermined distance from the boundary line 450 of the first area by an additional distance r ' Movement pattern.

For example, comparing FIG. 6C and FIG. 4G, it can be seen that the additional travel distance r '(see FIG. 6C) in the work area having the inclined plane is longer than the additional travel distance r in the flat work area Can be set.

7A and 7B, an embodiment of a method for determining the presence or absence of an obstacle in the working area of the mobile robot according to the present invention will be described.

As shown in Fig. 7A, the memory 17 may store information related to the movement history of the robot 10 (S701).

Specifically, the control unit 18 can generate information related to the movement history of the robot 10 using information related to the operating state of the driving unit 13 at predetermined time intervals, and the generated information is stored So that the memory 17 can be controlled.

For example, the control unit 18 can detect information related to the movement distance, the movement direction, and the movement start point of the robot 10 immediately before the change, whenever the running direction of the robot 10 is changed, And stores the information in the memory 17 as information related to the movement history of the robot 10.

Next, the control unit 18 can determine whether or not an obstacle exists in at least a part of the work area based on the information related to the movement history of the robot 10 (S702).

In this regard, referring to FIG. 7B, the driving unit 13 may operate to move the robot 10 based on a predetermined movement pattern in the working area. 7B, an embodiment related to the robot 10 including the driving unit 13 which travels in the direction of the first driving axis 400b and performs zigzag traveling will be described.

The memory 17 may store information related to the movement history of the robot 10 in correspondence with the first travels 701 and 702 of the drive unit 13. [

The controller 18 determines that the second travels 703 and 704 of the robot 10 having the shorter travel distance than the first travel occur more than a predetermined reference number after the first travel 701 and 702, Thereafter, when the third travel 705 of the robot 10 having a longer travel distance than the second travel occurs, it can be determined that an obstacle exists in at least a part of the work area.

In this case, the reference number may be changed based on user input.

Next, if it is determined that an obstacle exists in the partial area, the control unit 18 may control the driving unit 13 to change the moving direction of the robot 10 (S703).

Specifically, referring to FIG. 7B, the robot 10 travels in the positive direction of the first coordinate axis 400a and can travel in a zigzag manner. That is, the robot 10 can sequentially perform the first travel 701, 702, the second travel 703, 704, and the third travel 705.

In this case, as described above, when the controller 18 determines that the obstacle 700 exists in a partial area of the work area, the robot 10 advances in the negative direction of the first coordinate axis 400a , It is possible to control the driving unit 13 to change the moving direction.

Next, the control unit 18 may verify the determination result related to the presence of the obstacle by using the information related to the running of the robot 10 after the moving direction of the robot 10 is changed (S704).

Specifically, referring to FIG. 7B, after the moving direction of the robot 10 is changed, the driving unit 13 may perform the fourth travel 706. [ The control unit 18 compares the coordinate information related to the end point of the performed fourth running 706 and the coordinate information related to the end point of the second running 704 to determine whether the obstacle 700 exists Can be verified.

That is, the control unit 18 determines that the second coordinate axis 400b component of the coordinate information related to the end point of the fourth travel 706 is the second coordinate axis component 400b of the coordinate information related to the end point of the second travel 704 , It is possible to verify the judgment result related to the presence of the obstacle 700. [

Next, the control unit 18 can control the driving unit 13 based on the verification result (S705).

Specifically, when it is verified that an obstacle exists, the controller 18 moves the robot 10 to a specific position using the information related to the second travel, and then controls the driving unit 13 to restart the cutting operation . Referring to FIG. 7B, when it is verified that an obstacle exists, the control unit 18 uses the history information related to the second travel 703 to determine whether or not the region where the robot has failed to perform the cutting operation due to the verified obstacle The robot 10 can be moved to a specific position so as to restart the cutting operation. For example, the specific position may be a position corresponding to the second coordinate axis coordinate information of the second travel 703 among the wires installed on the contour of the work area.

If it is verified that an obstacle does not exist, the control unit 18 may change the changed moving direction again before changing the moving direction so as to control the driving unit 13 to move the robot 10 according to a predetermined moving pattern have.

According to the present invention, within the working area of the lawn mower robot, an effect is obtained in which the portion where lawn is not cut can be minimized.

Further, according to the present invention, the working efficiency of the lawn mower robot can be increased.

Further, according to the present invention, it is possible to improve the accuracy of the map information related to the work area stored in the lawn mower.

Further, according to the present invention, it is possible to automate the power supply of the lawn mower robot and prevent various errors occurring in the lawn mower.

It will be apparent to those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. Accordingly, the above description should not be construed in a limiting sense in all respects and should be considered illustrative. The scope of the present invention should be determined by rational interpretation of the appended claims, and all changes within the scope of equivalents of the present invention are included in the scope of the present invention.

Claims (8)

main body;
A driving unit driven to move the main body within the working area;
A sensing unit sensing information related to the posture of the main body; And
Detecting information related to an inclination corresponding to a current position of the main body using information related to the detected attitude of the main body,
And a control unit for controlling the driving unit based on information related to the detected inclination. The method according to claim 1,
Further comprising a memory for storing information associated with the first and second coordinate axes for the work area,
Wherein,
Setting a first compensation value for a travel distance in the first coordinate axis direction and a second compensation value for a travel distance in the second coordinate axis direction using information related to the inclination,
And controls the driving unit using the set first and second compensation values. 3. The method of claim 2,
Wherein the memory stores first and second reference coordinate information included in the working area,
The sensing unit senses information related to a positional change of the main body as the main body moves,
Wherein,
Calculating a first displacement information related to the positional change sensed by the sensing unit while the main body moves to a position corresponding to the second reference coordinate information at a position corresponding to the first reference coordinate information,
Calculating second displacement information related to the difference between the first and second reference coordinate information,
Comparing the calculated first and second displacement information to detect error information related to the inclination,
And corrects the first and second compensation values using the detected error information. The method of claim 3,
Wherein the first reference coordinate information corresponds to a position where the charging device of the lawnmower robot is installed,
Wherein the second reference coordinate information corresponds to a position that is farthest from the coordinate information included in the working area at a position where the charging device is installed,
Wherein,
When the main body moves to a position corresponding to the second reference coordinate information at a position corresponding to the first reference coordinate information, controls the driving unit to move along the wire provided on the contour of the working area Lawn mower robot. 3. The method of claim 2,
Wherein the driving unit performs zigzag running on at least one of the first and second coordinate axes in at least a part of the working area,
Wherein,
And repeatedly resetting the first and second compensation values for the part of the area in accordance with the zigzag running. The method according to claim 1,
And a memory for storing map information formed of a plurality of three-dimensional coordinate information included in the working area,
Wherein,
Detecting information related to an inclination of at least a part of the working area using the plurality of three-dimensional coordinate information,
Wherein the controller controls the driving unit based on information related to the inclination when the main body enters the partial area. The method according to claim 1,
Wherein,
Setting information related to the plurality of areas such that the working area is divided into a plurality of areas,
Detecting information related to the inclination for each of the plurality of areas,
Controls the driving unit to move the main body according to a predetermined movement pattern from an outline of any one of the plurality of divided regions to a region spaced apart by a predetermined additional driving distance,
And changes the additional mileage using information related to the detected slope. A control method of a lawn mower robot,
Sensing information related to the posture of the lawnmower robot;
Detecting information related to an inclination corresponding to a current position of the lawn mower using information related to the detected posture of the lawn mower robot; And
And controlling the driving unit of the lawn mower robot based on information related to the detected inclination.

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