KR20180106472A - Moving robot - Google Patents

Abstract

According to one aspect of the present invention, provided is a moving robot, which comprises: a main body including an open and close head; a driving unit moving the main body; a fingerprint input unit enabling a fingerprint to be input; a storage unit storing registration fingerprint information; and a control unit comparing fingerprint information input through the fingerprint input unit with registration fingerprint information previously stored in the storage unit and releasing a lock setting to open the head when registration fingerprint information corresponding to the input fingerprint information is provided. Accordingly, the moving robot can be safely operated in a public space.

Description

Moving robot

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile robot, and more particularly, to a mobile robot that allows a user to securely and conveniently check and control information.

Robots have been developed for industrial use and have been part of factory automation. In recent years, medical robots, aerospace robots, and the like have been developed, and household robots that can be used in ordinary homes are being developed. Among these robots, mobile robots capable of traveling by magnetic force are called mobile robots.

A representative example of the mobile robot is a robot cleaner. The robot cleaner is a device for cleaning a corresponding area by sucking dirt or foreign matter around the robot while running a certain area by itself.

The robot cleaner disclosed in the prior art (Publication No. 10-2013-0092729) includes a main body having a traveling unit, a recognition unit provided in the main body and recognizing information of a region to be cleaned, and a storage unit And a control unit for controlling the display unit to display the current cleaning progress state by comparing the information about the pre-stored cleaning area and information about the current cleaning area, .

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

On the other hand, mobile robots operating in public places such as airports, train stations, department stores, and harbors where many people stay or move may be more exposed to safety accidents or cause safety accidents.

Safety accidents can also occur when a curious outside person tries to operate the robot by touching the robot in public places.

Therefore, there is a need to prevent a safety accident caused by a mobile robot operating in a public place.

Also, there is a need for a method for preventing theft of a mobile robot or a part in a mobile robot operating in a public place.

1. Published Japanese Patent Application No. 10-2013-0092729 (Publication date 2013.08.21.)

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

An object of the present invention is to provide a mobile robot capable of reducing the risk of an accident of a human and a mobile robot by providing a user interface screen in a specific situation.

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

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

According to an aspect of the present invention, there is provided a mobile robot including a main body including a head that can be opened and closed, a traveling unit for moving the main body, a fingerprint input unit to which the fingerprint is input, The storage unit and the fingerprint information input unit compares the fingerprint information inputted through the fingerprint input unit with the stored fingerprint information stored in the storage unit. If there is the registered fingerprint information corresponding to the inputted fingerprint information, the lock setting is canceled so that the head can be opened By including the control unit, it can be safely operated in a public place.

According to one aspect of the present invention, there is provided a mobile robot including a main body including a body having a head that can be opened and closed and a cover that can be opened and closed at a lower end of the head, And a running portion for moving the main body. When the predetermined operation is performed on the lock device, the lock setting of the head and the cover can be released.

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

In addition, according to at least one embodiment of the present invention, there is an advantage that a risk of an accident of a person and a mobile robot can be reduced by providing a user interface screen in a specific situation.

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

In addition, according to at least one embodiment of the present invention, a mobile robot capable of identifying a user and providing a user interface screen according to a user's authority can be provided.

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

1 is a front view of a mobile robot according to an embodiment of the present invention.
FIG. 2 is a rear view of a mobile robot according to an embodiment of the present invention. Referring to FIG.
3 is a block diagram illustrating a control relationship between the main components of the mobile robot according to an embodiment of the present invention.
4 is a front view of a mobile robot according to an embodiment of the present invention.
5 to 7 are views showing a state in which a head of a mobile robot is opened according to an embodiment of the present invention.
8 is a diagram illustrating a state in which a head of a mobile robot is opened according to an embodiment of the present invention.
FIG. 9 is a diagram for describing fingerprint recognition and corresponding operations of a mobile robot according to an embodiment of the present invention. Referring to FIG.
10 and 11 are views illustrating an interface screen provided by the mobile robot according to an embodiment of the present invention.
12 is a diagram referred to the description of a mobile robot including a locking device according to an embodiment of the present invention.
13 and 14 are diagrams referred to in explaining the unlock setting according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, it is needless to say that the present invention is not limited to these embodiments and can be modified into various forms.

In the drawings, the same reference numerals are used for the same or similar parts throughout the specification.

The suffix "module" and " part "for components used in the following description are given merely for convenience of description and do not give special significance or role in themselves. Accordingly, the terms "module" and "part" may be used interchangeably.

The mobile robot 100 according to an embodiment of the present invention refers to a robot that can move by itself using wheels or the like, and may be a robot cleaner or the like. Hereinafter, a robot cleaner having a cleaning function of a mobile robot will be described with reference to the drawings, but the present invention is not limited thereto.

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

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

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

The portion facing the ceiling in the running zone is defined as the upper surface portion, the portion facing the floor in the running zone is defined as the bottom portion, and the main body 101 is defined between the upper surface portion and the bottom surface portion. , A portion facing the running direction is defined as a front portion, and a portion facing the opposite direction of the front portion is defined as a rear portion.

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

The left wheel and the right wheel may be driven by a single drive motor, but may be provided with a left wheel drive motor for driving the left wheel and a right wheel drive motor for driving the right wheel, respectively, if necessary. The running direction of the main body 101 can be switched to the left or right side by making a difference in the rotational speeds of the left and right wheels.

A suction port (not shown) for sucking air can be formed on the bottom surface of the main body 101. A suction device (not shown) for providing a suction force to suck air through the suction port is provided in the main body 101 , And a dust container (not shown) for collecting the dust sucked together with the air through the suction port. In addition, a dust container cover (not shown) may be provided in the dust container to discard the dust therein.

The main body 101 includes a body part 102 forming a space for accommodating various components constituting the mobile robot 100 and a head part 110 disposed on the upper side of the body part 102 so as to be openable and closable .

The head unit 110 may include a head 111 that can be opened and closed and a coupling unit 112 coupled to the head 111 so as to be openable and closable.

In addition, according to the embodiment, a switch or a sensor for detecting whether the head 111 is open or closed may be disposed on the head 111 and / or the coupling part 112.

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

The user can open the head 111 and insert and remove the dust container in the main body 101. [

In some embodiments, the head portion 110 may be openable and closable in a plurality of ways or may include one or more opening and closing mechanism structures.

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

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

The mobile robot 100 includes a brush-type brush (not shown) having a brush which is exposed through a suction port, a brush (not shown) located on the front side of the bottom surface of the main body 101, The auxiliary brush 135 may be provided. By the rotation of these brushes, the dusts are separated from the floor in the running zone, and the dusts separated from the floor are sucked through the suction port and collected in the dustbin.

Meanwhile, the mobile robot 100 may include a power supply unit (not shown) provided with a rechargeable battery (not shown) to supply power to the mobile robot 100.

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

The mobile robot 100 may further include a battery sensing unit (not shown) that senses a charged state of a battery (not shown) and transmits the sensed result to the control unit 140. The battery is connected to the battery sensing unit, and the battery remaining amount and the charging state are transmitted to the control unit 140. The battery remaining amount may be displayed on the display 182 of the output unit 180. [

The battery (not shown) supplies not only the drive motor but also the power required for the overall operation of the mobile robot 100. The body 102 may include an openable cover 103 for battery checking and / or replacement. The user can open the cover 103 to check or replace the battery condition.

The body part 102 may include a battery electric cord storage part 193 in which a battery electric cord is inserted and received according to an operation and a button for operating the battery electric cord storage part 193 may be included in the cover 103. [ As shown in FIG.

When the battery is discharged, the mobile robot 100 can return to the charging stand (not shown) for charging. During the return travel, the mobile robot 100 can detect the position of the charging stand by itself .

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

The mobile robot 100 may include a signal sensing unit (not shown) for receiving a return signal. The charging unit may transmit an infrared signal through a signal transmission unit, and the signal sensing unit may include an infrared sensor that senses an infrared signal. The mobile robot 100 moves to the position of the charging base according to the infrared signal transmitted from the charging base and docks with the charging base. (Not shown) of the mobile robot 100 and the charging terminal (not shown) of the charging base by such docking.

The image acquiring unit 120 photographs the periphery of the main body 101, a traveling zone, an external environment, and the like, and may include a camera module. The camera module may include a digital camera. A digital camera includes an image sensor (e.g., a CMOS image sensor) configured with at least one optical lens, and a plurality of photodiodes (e.g., pixels) that are formed by light passing through the optical lens, And a digital signal processor (DSP) that forms an image based on signals output from the photodiodes. The digital signal processor is capable of generating moving images composed of still frames as well as still images.

Several cameras may be installed for each part of the camera for photographing efficiency. For example, the image acquisition unit 120 may include an upper camera for capturing an image of the ceiling in the driving area by photographing the image of the upper side of the main body 101, a front camera provided for acquiring images of the front of the main body 101, And a depth camera. However, the number, arrangement, type, and photographing range of the cameras provided in the image obtaining unit 120 are not necessarily limited to these.

The image captured by the camera can be used to identify the kind of material such as dust, hair, floor, etc. present in the space, whether it is cleaned, or to confirm the cleaning time.

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

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

For example, it may include a sensor (not shown) for detecting whether the head 111 is open or closed. The sensors for detecting whether the head 111 is opened or closed can be various known sensors.

Meanwhile, the sensor unit 170 may include an obstacle detection sensor 131 for sensing an obstacle ahead. In addition, the sensor unit 170 may further include a cliff detection sensor (not shown) for detecting the presence or absence of a cliff on the floor in the driving area, and a lower camera sensor (not shown) for acquiring a bottom image.

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

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

The obstacle detection sensor 131 may include an infrared sensor, an ultrasonic sensor, an RF sensor, a geomagnetic sensor, a position sensitive device (PSD) sensor, and the like.

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

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

The lidarities 132a and 132b transmit the object such as an obstacle based on the TOF (Time of Flight) of the transmission signal and the reception signal or the phase difference between the transmission signal and the reception signal through the laser light Can be detected.

The plurality of Ladas 132a and 132b may be provided. For example, the lidarities 132a and 132b are a first ray 132a for detecting an object located in front of the mobile robot 100 and a first ray 132a for detecting an object located behind the mobile robot 100 And a second RL 132b.

In addition, the RLAs 132a and 132b can detect the distance to the object, the relative speed with the object, and the position of the object.

The lines 132a and 132b may be provided as part of the configuration of the obstacle detection sensor 131. [

Also, the RLAs 132a and 132b may be provided as a sensor for creating a map.

For example, the map generation module 143 may generate a map of the running area. The map generation module 143 can generate a map by processing the image acquired through the image acquisition unit 120 and supplementarily or independently generate the map on the basis of the sensing data of the lines 132a and 132b Can be created.

The obstacle detection sensor 131 senses an object, particularly an obstacle, existing in a traveling direction (movement direction) of the mobile robot, and transmits the obstacle information to the control unit 140. That is, the obstacle detection sensor 131 can sense the moving path of the mobile robot 100, protrusions existing on the front or side of the mobile robot 100, household appliances, furniture, walls, wall corners, etc. and transmit the information to the control unit have.

At this time, the controller 140 detects the position of the obstacle based on at least two signals received through the ultrasonic sensor, and controls the movement of the mobile robot 100 according to the position of the detected obstacle.

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

For example, the ultrasonic sensor may be provided such that at least one transmitting portion and at least two receiving portions are staggered from each other. Also, it is possible to radiate signals at various angles and to receive signals reflected from obstacles at various angles.

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

The sensor unit 170 may further include a motion detection sensor for detecting motion of the mobile robot 100 according to driving of the main body 101 and outputting motion information. For example, a gyro sensor, a wheel sensor, an acceleration sensor, or the like can be used as the motion detection sensor.

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

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

The control unit 140 can calculate the rotational speeds of the left and right wheels using the number of rotations. Also, the control unit 140 can calculate the rotation angle using the difference in the number of rotations of the left and right wheels.

The acceleration sensor senses a change in the speed of the mobile robot 100, for example, a change in the mobile robot 100 due to a start, a stop, a change of direction, a collision with an object or the like. The acceleration sensor is attached to the main wheel or the adjoining positions of the auxiliary wheels, so that the slip or idling of the wheel can be detected.

In addition, the acceleration sensor is built in the control unit 140 and can detect a speed change of the mobile robot 100. [ That is, the acceleration sensor detects the amount of impact according to the speed change and outputs a corresponding voltage value. Thus, the acceleration sensor can perform the function of an electronic bumper.

The control unit 140 can calculate the positional change of the mobile robot 100 based on the operation information output from the motion detection sensor. Such a position is a relative position corresponding to the absolute position using the image information. The mobile robot can improve the performance of the position recognition using the image information and the obstacle information through the relative position recognition.

In addition, the mobile robot 100 may display the reservation information, the battery status, the operation mode, the operation status, the error status, and the like, including the output unit 180, or may output it as an audio.

The output unit 180 may include a display 182 for displaying the user interface screen such as the reservation information, the battery status, the operation mode, the operation status, and the error status as an image.

The display 182 may be slid or pushed to the front to allow the user to more easily recognize the user interface screen provided through the display 182 can do.

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

The output unit 180 may further include an audio output unit 181 for outputting an audio signal. The sound output unit 181 can output a sound message such as a warning sound, an operation mode, an operation state, an error state, etc., under the control of the control unit 140. [ The sound output unit 181 can convert an electric signal from the control unit 140 into an audio signal and output it. To this end, the sound output section 181 may include a speaker or the like.

Referring to FIG. 3, the mobile robot 100 includes a controller 140 for processing and determining various information such as recognizing a current position, and a storage unit 130 for storing various data. In addition, the mobile robot 100 may further include a communication unit 190 for transmitting and receiving signals with a predetermined external device.

For example, the communication unit 190 can transmit / receive data to / from a predetermined portable terminal.

The mobile terminal has an application for controlling the mobile robot 100. The mobile terminal 100 displays a map of a traveling area to be cleaned by the mobile robot 100 through the execution of the application and can designate a region for cleaning a specific area on the map have. Examples of the portable terminal include a remote controller, a PDA, a laptop, a smart phone, and a tablet on which an application for setting a map is mounted.

The portable terminal communicates with the mobile robot 100 to display the current position of the mobile robot together with the map, and information about a plurality of areas can be displayed. Further, the portable terminal updates its position and displays it according to the running of the mobile robot.

In addition, the communication unit 190 can transmit / receive data to / from the predetermined server. Accordingly, the mobile robot 100 can receive control signals, information on the entire public place, etc. from the server, and can receive information on other mobile robots connected to the network.

The control unit 140 controls the overall operation of the mobile robot 100 by controlling the image acquisition unit 120, the driving unit 160, the display 182, and the like, which constitute the mobile robot 100.

The storage unit 130 records various kinds of information required for controlling the mobile robot 100, and may include a volatile or nonvolatile recording medium. The storage medium stores data that can be read by a microprocessor, and includes a hard disk drive (HDD), a solid state disk (SSD), a silicon disk drive (SDD), a ROM, a RAM, a CD- Tape, floppy disk, optical data storage, and the like.

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

The map can display the location of the rooms in the driving area. In addition, the current position of the mobile robot 100 can be displayed on the map, and the current position of the mobile robot 100 on the map can be updated in the course of travel. The portable terminal can store the same map as the map stored in the storage unit 130. [

The storage unit 130 may store cleaning history information. Such cleaning history information can be generated each time cleaning is performed.

The map of the traveling area stored in the storage unit 130 may include a navigation map used for traveling during cleaning, a simultaneous localization and mapping (SLAM) map used for location recognition, A learning map used for learning cleaning, a global position map used for global position recognition, an obstacle recognition map for recording information on the recognized obstacle, and the like.

Meanwhile, as described above, the maps can be stored and managed in the storage unit 130 separately for each use. However, the maps may not be clearly classified for each use. For example, a plurality of pieces of information may be stored in one map for use in at least two applications.

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

1 to 3, the travel control module 141 controls the travel of the mobile robot 100, and controls the travel of the travel unit 160 according to the travel setting. In addition, the travel control module 141 can grasp the travel path of the mobile robot 100 based on the operation of the travel unit 160. [ For example, the travel control module 141 can grasp the current or past traveling speed and the traveling distance of the mobile robot 100 based on the rotational speed of the driving wheel 136, The current or past redirection process can also be identified. Based on the travel information of the mobile robot 100, the position of the mobile robot 100 on the map can be updated.

The map generating module 143 may generate a map of the running area. The map generation module 143 can process the image acquired through the image acquisition unit 120 to generate a map. That is, a cleaning map corresponding to the cleaning area can be created.

Also, the map generation module 143 can process the image acquired through the image acquisition unit 120 at each position and recognize the global position in association with the map.

The position recognition module 142 estimates and recognizes the current position. The position recognition module 142 grasps the position in cooperation with the map generation module 143 by using the image information of the image acquisition unit 120 so that even if the position of the mobile robot 100 suddenly changes, .

The mobile robot 100 is capable of recognizing the position during the continuous running through the position recognition module 142 and is capable of recognizing the map through the map generation module 143 and the obstacle recognition module 144 without the position recognition module 142 You can learn and estimate your current location.

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

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

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

The map generation module 143 calculates a descriptor based on each minutiae point. The map generation module 143 may convert a feature point into a descriptor using a Scale Invariant Feature Transform (SIFT) technique for feature detection. The descriptor may be denoted by an n-dimensional vector.

The SIFT can detect unchanging features with respect to the scale, rotation, and brightness change of the object to be photographed. Even if the same region is photographed with a different attitude of the mobile robot 100 (i.e., -invariant) can be detected. Of course, various other techniques (e.g., HOG: Histogram of Oriented Gradient, Haar feature, Fems, Local Binary Pattern (LBP), Modified Census Transform (MCT)) may be applied.

The map generation module 143 classifies at least one descriptor for each acquired image into a plurality of groups according to a predetermined lower classification rule on the basis of the descriptor information obtained through the acquired image of each position, Can be converted into lower representative descriptors, respectively.

As another example, it is also possible to classify all descriptors gathered from acquired images in a predetermined area, such as a room, into a plurality of groups according to a predetermined sub-classification rule, and write descriptors included in the same group according to the predetermined lower representative rule, . ≪ / RTI >

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

In addition, when the current position of the mobile robot 100 becomes an unknown state due to a positional jump or the like, the current position can be estimated based on data such as a previously stored descriptor or a lower representative descriptor.

The mobile robot 100 acquires an acquired image through the image acquisition unit 120 at an unknown current position. Through the image, various features such as lights, edges, corners, blobs, ridges, etc., are found on the ceiling.

The position recognition module 142 detects the features from the acquired image. Various methods of detecting features from an image in the field of computer vision technology and descriptions of various feature detectors suitable for detecting these features are as described above.

The position recognition module 142 calculates the recognition descriptor through the recognition descriptor calculation step based on each recognition feature point. Herein, the recognition minutiae and the recognition descriptor are used to describe the process performed by the position recognition module 142, and are intended to distinguish the terms used to describe the process performed by the map generation module 143. [ However, the characteristics of the external world of the mobile robot 100 are merely defined by different terms.

The location recognition module 142 may convert the recognized minutiae point into the recognition descriptor using the Scale Invariant Feature Transform (SIFT) technique for detecting the feature. The recognition descriptor may be denoted by an n-dimensional vector.

As described above, the SIFT selects characteristic points that are easily distinguishable, such as corner points, from the acquired image, and then determines the distribution characteristics of the brightness gradient of pixels belonging to a certain region around each characteristic point ) Is an image recognition technique that obtains an n-dimensional vector (vector) in which the degree of change in each direction is a numerical value for each dimension.

Based on at least one recognition descriptor information obtained through an acquired image of an unknown current position, the position recognition module 142 generates position information (for example, feature distribution of each position) (Lower recognition feature distribution).

According to a predetermined lower comparison rule, each position feature distribution can be compared with each recognition feature distribution to calculate each similarity. The similarity degree (probability) is calculated for each position corresponding to each position, and the position where the greatest probability is calculated can be determined as the current position.

In this way, the control unit 140 can recognize the current location of the main body 101 based on the pre-stored map, or can generate a map composed of a plurality of regions by distinguishing the travel regions.

When the map is generated, the control unit 140 can transmit the generated map to the portable terminal, the server, and the like through the communication unit 190. [ Also, as described above, the control unit 140 can store the map in the storage unit when the map is received from the portable terminal, server, or the like.

Also, when the map is updated while the vehicle is running, the controller 140 transmits the updated information to the portable terminal so that the map stored in the portable terminal and the mobile robot 100 are the same. As the map stored in the portable terminal and the mobile robot 100 are kept the same, the mobile robot 100 can clean the designated area with respect to the cleaning command from the mobile terminal, and the current position of the mobile robot So that it can be displayed.

At this time, the map is divided into a plurality of areas for the cleaning area, and includes a connection path for connecting the plurality of areas, and may include information about the obstacles in the area.

When the cleaning command is inputted, the control unit 140 determines whether or not the position on the map matches the current position of the mobile robot. The cleaning command may be input from a remote controller, a display, or a portable terminal.

If the current position does not coincide with the current position on the map or the current position can not be confirmed, the controller 140 recognizes the current position and restores the current position of the mobile robot 100, The traveling section 160 can be controlled to move to the designated area.

If the current position does not coincide with the position on the map or the current position can not be confirmed, the position recognition module 142 analyzes the acquired image input from the image obtaining unit 120 and estimates the current position based on the map can do. In addition, the obstacle recognition module 144 or the map generation module 143 may also recognize the current position in the same manner.

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

In the case of receiving the cleaning pattern information from the server, the travel control module 141 can divide the entire traveling area into a plurality of areas and set one or more areas as designated areas according to the received cleaning pattern information.

Also, the travel control module 141 may calculate the travel route in accordance with the received cleaning pattern information, travel along the travel route, and perform cleaning.

The control unit 140 may store the cleaning history in the storage unit 130 when the cleaning of the designated area is completed.

The control unit 140 may transmit the operation state or the cleaning state of the mobile robot 100 to the portable terminal and the server through the communication unit 190 at predetermined intervals.

Accordingly, based on the received data, the mobile terminal displays the position of the mobile robot together with the map on the screen of the application being executed, and also outputs information about the cleaning state.

The mobile robot 100 according to an embodiment of the present invention moves until an obstacle or a wall surface is sensed in one direction and when the obstacle is recognized through the sensor unit 170 and the obstacle recognition module 144, It is possible to determine a running pattern such as a straight run or a rotation.

For example, if the recognized obstacle is an obstacle of a kind that can be passed over, the mobile robot 100 can continue to go straight. Alternatively, if the recognized obstacle is an obstacle of a type that can not be surpassed, the mobile robot 100 rotates and moves a certain distance, moves to a distance in which the obstacle is sensed in the direction opposite to the initial moving direction, and is moved in a zigzag . ≪ / RTI >

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

The control unit 140 includes an obstacle recognition module 144 for recognizing an obstacle learned through machine learning in the input image and a driving unit for driving the driving unit 160 based on the recognized obstacle characteristics And a travel control module 141 for controlling the vehicle.

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

Machine learning means that the computer learns from the data through the computer, and the computer takes care of the problem, even though the computer does not instruct the person directly with the logic.

Deep Learning (Deep Learning). It is based on Artificial Neural Networks (ANN) for constructing artificial intelligence. It is an artificial intelligence technology that allows a computer to learn like a human being without learning it as a way of teaching people how to think.

The ANN may be implemented in a software form or a hardware form such as a chip.

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

For example, the obstacle recognition module 144 may include a Deep Neural Network (DNN) such as CNN (Convolutional Neural Network), RNN (Recurrent Neural Network), DBN (Deep Belief Network) . ≪ / RTI >

The obstacle recognition module 144 may determine an attribute of the obstacle included in the input image data based on the weights among the nodes included in the DNN.

The image acquisition unit 120 may acquire an image within a predetermined angle range in the moving direction of the mobile robot 100 and the obstacle recognition module 144 may acquire an image the obstacle can be recognized based on the data learned in the machine learning.

1 to 3, a mobile robot 100 according to an embodiment of the present invention includes a lamp unit 150 having various lamps having a signal function for informing people of the traveling state of the mobile robot 100, ).

The lamp unit 150 includes a status notification lamp 151 for outputting light representing the current state of the mobile robot 100 and a status notification lamp 151 disposed on the front surface of the main body 101, And a backward direction indicator 153 disposed on the rear surface of the main body 101 and turned on according to the traveling direction of the mobile robot 100. [

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

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

The light emitting diode (LED) may be a single color light emitting diode (LED) such as Red, Blue, Green, and White. According to an embodiment, the light emitting diode (LED) may be a multicolor light emitting diode (LED) capable of reproducing a plurality of colors.

The status indicator 151 may include a plurality of light emitting diodes (LEDs), and the plurality of light emitting diodes (LEDs) may emit white light to provide white light. Red, Blue, and Green light emitting diodes (LEDs) may be combined to provide a particular color of illumination or white light.

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

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

In a case where the status notification light 151 includes a plurality of light emitting diodes, a plurality of light emitting diodes may be turned on simultaneously, and then a plurality of light emitting diodes may be sequentially turned off at regular intervals.

In addition, at the start of the initial cleaning, all the light emitting diodes of the status notification light 151 blink at the same time and can output light of the second color indicating the cleaning in progress status.

The status notification light 151 may display a current progress state of the output light through color, and may serve as a kind of signal light for notifying stop, avoidance, and state change for avoiding the human body.

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

In addition, when avoiding a human body, the state notifying light 151 may blink light of a specific color to notify people of the avoidance driving.

The mobile robot 100 according to an embodiment of the present invention can be set to avoid an obstacle immediately when a human body is sensed or to avoid obstacles depending on whether a person is moving after waiting for a predetermined time. The state notifying lamp 151 can output light of a predetermined color constantly for a predetermined time before blinking and during avoidance running, or blink.

In addition, when a human body is detected, the sound output unit 181 can output and provide voice reminders to people such as " Please take a moment. "

The forward direction indicator 152 and the backward direction indicator 153 may indicate direction indication and emergency stop.

The forward direction indicator 152 and the backward direction indicator 153 may be turned on and blink according to the traveling direction of the mobile robot 100. [ In addition, the forward direction indicator 152 and the backward direction indicator 153 may be synchronized with each other and turned on or blink together.

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

2, the backward direction indicator 153 may include a leftward direction indicator 153L and a rightward direction indicator 153R. When the mobile robot 100 changes its direction to the right or left while driving, The direction indicator lamps 153L and 153R corresponding to the direction can be turned on or blinked.

Referring to FIG. 1, the forward direction indicator 152 may include an indicator light corresponding to the left direction and an indicator light corresponding to the right direction arranged adjacent to each other.

Alternatively, the forward direction indicator light 152 may also be arranged such that the indicator light corresponding to the left direction and the indicator light corresponding to the right direction are spaced apart from each other by a predetermined distance.

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

Also, depending on the embodiment, the forward direction indicator 152 and the backward direction indicator 153 may be configured to output light of various colors.

In this case, the forward direction indicator light 152 and the backward direction indicator light 153 can also output red light in case of a pause / error.

Further, at the avoidance traveling, the forward direction indicator light 152 and the rearward direction indicator light 153 can also notify the area departure as an emergency flashing.

In addition, the controller 140 may control the lamp unit 150.

For example, the control unit 140 may control the status notification light 151 to output lights of different colors according to the current state of the mobile robot 100. Also, the controller 140 may control the status notification lamp 151 to blink at predetermined intervals for a predetermined period of time.

The control unit 140 may control the forward direction indicator 152 and the backward direction indicator 153 to be turned on according to the traveling direction of the mobile robot 100. In addition, the controller 140 may control the forward direction indicator 152 and the backward direction indicator 153 to flicker at predetermined intervals for a predetermined time.

Meanwhile, the forward direction indicator 152 and the backward direction indicator 153 may be synchronously driven.

That is, the controller 140 can control the forward direction indicator 152 and the backward direction indicator 153 to turn on or blink in the same manner as the left / right rotation.

The control unit 140 controls the forward direction indicator 152 and the backward direction indicator 153 to output light having the same color as the light output from the status indicator 151 in a specific situation Can be controlled.

Meanwhile, referring to FIG. 1, the status indicator light 151 may have a circular ring shape. In addition, the status notification light 151 may be in the shape of a circular ring disposed along the outer edge of the front surface of one of the cameras included in the image acquisition unit 120. [

Meanwhile, as described above, the controller 140 can recognize the attribute of the obstacle based on the image acquired by the image acquiring unit 120. [0034] FIG.

In addition, the controller 140 may control driving of the driving unit 160 based on the recognized property of the obstacle.

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

In this case, the controller 140 may control to resume the existing movement when the recognized movement of the body is detected within a predetermined waiting time. In addition, the control unit 140 may control to avoid the recognized body if the recognized movement of the body is not detected within a predetermined waiting time.

Also, the controller 140 may control the sound output unit 181 to output a predetermined sound when the recognized obstacle property is at least a part of the human body.

Even when a user touches the mobile robot 100 in proximity to the mobile robot 100 for information confirmation, setting input, or other manipulation or when a child or the like touches the mobile robot 100 when the mobile robot 100 moves (travels) When the robot 100 continues to run, a collision safety accident may occur.

Especially, public places such as airports, railway stations, terminals, department stores, and marts have a large number of floating population, and there are many unexpected variables that lead to a higher risk of safety accidents.

Therefore, the mobile robot 100 according to the present invention outputs light indicating the current state of the mobile robot 100 through the frontal status notification 151 during the cleaning operation in a public place, It is possible to provide signal information that allows a large number of people to easily recognize the current state of the mobile robot 100. [

The state notification light 151, the forward direction indicator light 152 and the rearward direction indicator light 153 output light of a predetermined color according to the rotation travel and avoidance travel of the mobile robot 100, Direction information, whether or not the vehicle is running away, and the like.

Accordingly, the probability of an accident between a person and the mobile robot 100 in a public place can be reduced.

The mobile robot 100 according to an embodiment of the present invention may include a predetermined lock to prevent a person who is not allowed in a public place from manipulating, disassembling, or stolen the mobile robot 100 .

For example, the predetermined lock device may be a fingerprint recognizer that unlocks only registered fingerprints.

1 to 3, a mobile robot 100 according to an embodiment of the present invention includes a main body 101 including a head 111 that can be opened and closed, a travel unit 160 for moving the main body 101 A fingerprint input unit 210 to which a fingerprint is input, a storage unit 130 to store fingerprint information to be registered, and fingerprint information input through the fingerprint input unit 210 to be compared with stored fingerprint information stored in the storage unit And a controller 140 for releasing the lock setting so as to open the head 111 if there is registered fingerprint information corresponding to the input fingerprint information.

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

Fingerprint recognition technology is a technology that can distinguish people by using fingerprints that show the characteristic difference of each person. Fingerprint recognition is a technology that identifies the difference between individuals and authentication by using such fingerprint information. There is no risk of loss or theft that may occur in passwords or cards, and it is highly reliable and convenient. It is used in various applications.

The fingerprint is composed of a ridge protruding from the surface of the skin and a valley as a space between the ridges. The ridge and the pattern of the fingerprint are different for each individual. Recognition. More specifically, fingerprint sensors, which detect ridges in fingerprints and convert them into two-dimensional image data, are recognized.

Since the present invention does not limit the fingerprint recognition method, various fingerprint recognition methods can be used. The fingerprint information may be obtained in various ways such as optical, electrostatic or capacitive sensing semiconductor devices, ultrasonic, thermal, noncontact, or combinations of the above.

For example, a fingerprint input reflects the fingerprint form of the fingertip placed on the platen by emitting strong light onto the platen, and the reflected fingerprint image passes through the high-index lens to convert the light into electricity to be read The optical fingerprint input method that is input to a CCD (Charge-Coupled Device) which is made to make the device, and the electric conduction characteristic of the skin makes it possible to directly touch the surface of the silicon chip with the finger, And a semiconductor type fingerprint input method for reading.

Thereafter, it may further include a process of removing impurities such as sweat, moisture, other oil, dust, etc. in the hand of a person or a noise component that may be generated depending on the sensitivity of the input device.

Meanwhile, the fingerprint information including the position and the attribute of the minutiae point including the diverging point, the ending point or the broken point of the fingerprint protrusion based on the recognized fingerprint can be generated, stored and registered, and utilized in the subsequent authentication process. That is, the fingerprint information may include at least one of the image data of the recognized fingerprint, the data in which the image data is encoded, and the location and attributes of the feature point.

The control unit 140 compares the inputted fingerprint information with the stored fingerprint information stored in the storage unit 130. [ The registered fingerprint information may include at least user rating information. The registered fingerprint information may include at least one of a user's name, image data of a registered fingerprint, data encoded with the image data, positions and attributes of the feature points.

The control unit 140 can release the lock setting so as to open the head 111 if there is registered fingerprint information corresponding to the input fingerprint information.

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

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

In this case, the control unit 140 may control the display unit 182 to display a user interface screen corresponding to the corresponding registered fingerprint information.

For example, when the user authority is managed for each class, the control unit 140 may control the display unit 182 to display a user interface screen according to the user class corresponding to the corresponding registered fingerprint information .

When the corresponding registered fingerprint information corresponds to a manager class having a management right for a plurality of mobile robots, the controller 140 displays a user interface screen including information on the plurality of mobile robots on the display 182, as shown in FIG.

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

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

Therefore, a user corresponding to the manager class does not have to open the heads of all the plurality of mobile robots, and can open all of the information on the plurality of mobile robots by simply opening the head of the mobile robot in the close position.

In addition, it is advantageous in that information on other mobile robots can be confirmed even when the head of a specific mobile robot is opened because work and confirmation for the specific mobile robot are required.

Also, when the user authority is managed for each individual, the control unit 140 may control the display unit 182 to display a personalized user interface screen according to the user corresponding to the corresponding registered fingerprint information.

If the corresponding registered fingerprint information corresponds to the general user class, the control unit 140 determines whether the corresponding registered fingerprint information corresponds to the usage history of the user corresponding to the corresponding registered fingerprint information or the usage history of the plurality of users included in the general user class So that a user interface screen based on the user interface screen is displayed on the display.

That is, it is possible to provide a user interface screen according to a user class including an authenticated user, or to provide an individualized user interface screen to an authenticated user.

Meanwhile, the user interface screen includes a status information area including status information of the mobile robot, main menu areas including a plurality of main menu items, and the main menu area includes a cleaning A start entry, a return entry for entering a move command to the specified place, a cleaning area, and a cleaning setting item capable of performing input regarding the cleaning mode.

In this case, when the selection input for one of the items included in the main menu area is received, the control unit 140 displays a detailed screen corresponding to the received item on the display 182 .

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

The control unit 140 controls the display 182 to be turned on when the head 111 is opened to prevent the display 182 from being unnecessarily driven, .

The main body 101 may further include a body 102 having a cover 103 to be unlocked in conjunction with release of the lock of the head 111. [

In addition, the main body 101 may further include a battery electric cord storage part 195 which is unlocked in conjunction with the unlocking of the head 111. [

That is, when the user is authenticated through the fingerprint, the mobile robot 100 according to the present invention collectively releases the lock setting for the openable and closable means such as the head 111, the cover 103, and the battery electric cord storage unit 195 .

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

The mobile robot illustrated in FIG. 4 is generally similar to the front view of the mobile robot illustrated in FIG. 1, so that the differences will be mainly described.

4, the forward direction indicator 152 may include a leftward direction indicator 152L and a rightward direction indicator 152R which are disposed at a predetermined distance apart from each other. When the mobile robot 100 is turned to the right The direction indicator lamps 152L and 152R corresponding to the direction in which the direction is to be turned on may turn on or blink.

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

The forward direction indicator light 152 of the mobile robot 100 illustrated in FIG. 1 may also be disposed in a predetermined panel such that the forward direction indicator light 152 is separated from the indicator light corresponding to the left direction and the indicator light corresponding to the right direction .

4, the image acquisition unit 120 includes an upper camera 120a that captures an image of the upper side of the main body 101 in front of the main body 101 to acquire an image of the ceiling within the traveling area, A front camera 120b, and a depth camera 120c, which are provided to acquire the image data. However, the number, arrangement, type, and photographing range of the cameras provided in the image obtaining unit 120 are not necessarily limited to these.

The upper camera 120a can acquire an image of the ceiling in the travel zone and the mobile robot 100 can use the image acquired by the upper camera 120a for SLAM (Simultaneous Localization and Mapping).

The front camera 120b can photograph an image of a user, a situation of an obstacle, a cleaning area, or the like existing in the front of the mobile robot 100 in the traveling direction.

In this case, the status notification light 151 according to an embodiment of the present invention may be embodied as a circular ring that surrounds the upper camera 120a.

Although the front camera 120b and the depth camera 120c are not shown in FIG. 1, the front camera 120b and the depth camera 120c may be disposed in a predetermined panel, May be provided.

2 and 4, the forward direction indicator lights 152L and 152R and the backward direction indicator lights 153L and 153R are disposed on the right and left front and rear sides of the mobile robot 100 so that when the mobile robot 100 rotates, Thereby informing people in the public place of the change of the traveling direction of the mobile robot 100.

Accordingly, it is possible to prevent the occurrence of a collision by allowing the people in the public place to know the change of the traveling direction of the mobile robot 100.

5 to 7 are views showing a state in which a head of a mobile robot is opened according to an embodiment of the present invention.

5 to 7, the mobile robot 100 may include a display 182 housed in the main body 101 and open the head 111 to identify the display 182. [

The brush located at the bottom of the main body 101 and the dust sucked through the suction port collect in the dust receptacle 115 and the user opens the head 111 to insert the dust receptacle 115 into the main body 101 And can be removed.

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

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

The display 182 may be slid or pushed to the front to allow the user to more easily recognize the user interface screen provided through the display 182 can do.

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

Depending on the embodiment, the head portion 110 may be openable and closable in a plurality of ways or may include one or more opening and closing mechanism structures.

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

8 is a diagram illustrating a state in which a head of a mobile robot is opened according to an embodiment of the present invention.

8, the display 182 is disposed in a predetermined area defined in the inner storage space, and the open / close mechanism structure opened by the user's button operation is provided with a display dedicated cover 112a in a region where the display 182 is disposed, ≪ / RTI > Accordingly, when the user presses the button, the display-dedicated cover 112a is opened and the display 182 can be configured to be exposed toward the user.

9 (a) and 9 (b) illustrate a fingerprint recognition process, and FIG. 9 illustrates a fingerprint recognition process according to an embodiment of the present invention. Referring to FIG. 9, Illustrates the screen shown when the authenticated user is the super administrator.

The mobile robot 100 operating in a large area of people has a high frequency of exposure to many people, and there are various risk factors when unlocking and manipulating when curious external personnel approaches.

Thus, the present invention provides a robotic head locking device that is otherwise inaccessible to authorized management personnel.

Referring to FIG. 9A, a manager or a worker (general user) inputs his / her fingerprint through the fingerprint input unit 210, and the controller 140 can recognize the inputted fingerprint.

The control unit 140 compares the input fingerprint information with the stored fingerprint information stored in the storage unit 130 and if there is registered fingerprint information corresponding to the input fingerprint information, You can disable the setting.

The controller 140 controls the display 182 to be turned on when the head 111 is opened so that the display 182 is prevented from being unnecessarily driven and power consumption can be reduced.

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

When a plurality of fingerprints are registered, the interface screen is distinguished according to an administrator / senior user (general user) fingerprint, and functions are displayed.

That is, the control unit 140 may control the display unit 182 to display a user interface screen corresponding to the corresponding registered fingerprint information.

For example, when the user authority is managed for each class, the control unit 140 may control the display unit 182 to display a user interface screen according to the user class corresponding to the corresponding registered fingerprint information .

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

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

9B, an administrator-level user interface screen 900 provided through the display 182 includes a status information area 910 including status information of the mobile robot 100, a plurality of main menu items And a management area 930 including current state information and operation history information of a plurality of mobile robots.

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

The main menu area 920 is an area for displaying a main menu, and includes a cleaning start entry for inputting a cleaning execution command, a return entry for inputting a movement command to a specified location, a cleaning area, and a cleaning mode And may include a cleaning setting item capable of performing input.

The control unit 140 controls the display 182 to display a detailed screen corresponding to the received item on the display 182 when a selection input for one of the items included in the main menu area 920 is received, can do.

In the management area 930, the latest cleaning inspection history, weekly inspection history, and remaining battery power information of a plurality of robots, for example, Thomas Robot and Alex Robot, may be displayed.

In addition, when the highest manager or a high-grade manager fingerprint is recognized, the management area 930 of the user interface screen may be provided with overall management details such as cleaning equipment failure diagnosis, consumable replacement period, cleaning history, and charging status.

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

Therefore, a user corresponding to the manager class does not have to open the heads of all the plurality of mobile robots, and can open all of the information on the plurality of mobile robots by simply opening the head of the mobile robot in the close position.

In addition, it is advantageous in that information on other mobile robots can be confirmed even when the head of a specific mobile robot is opened because work and confirmation for the specific mobile robot are required.

Also, when the user authority is managed for each individual, the control unit 140 may control the display unit 182 to display a personalized user interface screen according to the user corresponding to the corresponding registered fingerprint information.

If the corresponding registered fingerprint information corresponds to the general user class, the control unit 140 determines whether the corresponding registered fingerprint information corresponds to the usage history of the user corresponding to the corresponding registered fingerprint information or the usage history of the plurality of users included in the general user class So that a user interface screen based on the user interface screen is displayed on the display.

That is, it is possible to provide a user interface screen according to a user class including an authenticated user, or to provide an individualized user interface screen to an authenticated user.

For example, if the user's fingerprint is recognized, the last used or frequently used function may be placed on the provided user interface screen according to the user.

FIGS. 10 and 11 illustrate an interface screen provided by a mobile robot according to an embodiment of the present invention, and illustrate interface screens provided to users of a general user class.

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

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

10, the home user interface screen 1000 provided through the display 182 includes a status information area 1010 including status information of the mobile robot 100, a main menu including a plurality of main menu items, An area 1020, and a management area 1030 including operation schedule information and operation history information.

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

The main menu area 1020 is a region for displaying a main menu, and includes a cleaning start entry for inputting a cleaning execution command, a return entry for inputting a movement command to a specified location, a cleaning area, And may include a cleaning setting item capable of performing input.

The control unit 140 controls the display 182 to display a detailed screen corresponding to the received item on the display 182 when a selection input for one of the items included in the main menu area 1020 is received, can do.

The control unit 140 may further control the display 182 to display a pop-up for guiding the head 111 to be closed when a predetermined command is input through the detailed screen.

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

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

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

According to an embodiment, the management area 1030 may further include items for displaying the most recent cleaning history on a map, and the user may select the most recent cleaning history on a map By selecting an item that can be displayed, the latest cleaning history can be reproduced on the map.

Depending on the setting, items that can display the latest cleaning history on the map may be included only in the user interface screen provided through the display 182 of the mobile robot 100.

On the other hand, the management area 1030 can be divided into an area 1031 indicating reservation management and an area 1032 indicating cleaning history management.

In this case, the area 1031 indicating the reservation management may include a reservation schedule item for displaying the reservation time / day as a card type and a reservation addition button.

In addition, the area 1032 indicating the cleaning history management includes a latest cleaning history including the latest cleaning date / time information, a cleaning history button, a cleaning area map display item, and a 2x / 4x / 8x reproduction button .

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

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

The main menu area 1120 is an area for displaying a main menu, and includes a cleaning start entry for inputting a cleaning execution command, a return entry for inputting a movement command to a specified location, a cleaning area, And may include a cleaning setting item capable of performing input.

The user can operate the portable terminal to select one of the items included in the main menu area 1120 or input a predetermined command and the portable terminal transmits a control signal including a predetermined command to the mobile robot 100 ).

The control unit 140 can determine whether the head 111 is closed when a predetermined command is received through the communication unit 190. [

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

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

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

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

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

In this case, the area 1031 indicating the reservation management may include a reservation schedule item for displaying the reservation time / day as a card type, a reservation deletion button (X button), and a reservation addition button.

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

On the other hand, depending on the setting, the robot operation area 1132 may be included only in the user interface screen provided through the portable terminal.

Meanwhile, when a selection input for one of the items included in the main menu areas 1020 and 1120 is received, a detailed screen corresponding to the item receiving the selection input is displayed on the display 182 or the portable terminal Can be provided.

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

The mobile robot illustrated in Fig. 12 is unlocked according to the physical manipulation of the head hardware lock device, and the mobile robot described with reference to Figs. 1 to 11 is the same except for the difference using fingerprint recognition.

Therefore, features other than the locking device can be applied in the same manner as in the above-described embodiment even if they are not described in Fig.

The mobile robot 100 according to an embodiment of the present invention includes a body 111 having an openable and closable head 111 and a cover 103 positioned at the lower end of the head 111 and capable of being opened and closed and a traveling unit 160 for moving the main body 101. The main body 101 includes a main body 101 and a body 102. The main body 101 includes a locking unit 220,

As shown in FIG. 12A, the lock may be a dial type lock device 220 in which the lock is unlocked by rotating the dial to set it to a preset password.

Alternatively, as shown in FIG. 12 (b), the lock may be a keypad type lock device 230 that is unlocked by an operation of inputting a predetermined password through a button provided on the keypad.

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

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

In addition, the main body 101 may further include a battery electric cord storage part 195 which is unlocked in conjunction with the unlocking of the head 111. [

That is, when the user is authenticated through the fingerprint, the mobile robot 100 according to the present invention collectively releases the lock setting for the openable and closable means such as the head 111, the cover 103, and the battery electric cord storage unit 195 .

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

In this case, the control unit 140 may control the display unit 182 to display a predetermined user interface screen.

For example, the user interface screen may include a state information area including status information of the mobile robot, main menu areas including a plurality of main menu items, A cleaning start item, a return item for inputting a move command to a specified place, a cleaning area, and a cleaning setting item capable of performing an input regarding a cleaning mode.

In this case, when the selection input for one of the items included in the main menu area is received, the control unit 140 displays a detailed screen corresponding to the received item on the display 182 .

The control unit 140 controls the display 182 to be turned on when the head 111 is opened to prevent the display 182 from being unnecessarily driven, .

13 and 14 are diagrams referred to in explaining the unlock setting according to an embodiment of the present invention.

13 and 14, if a legitimate fingerprint is inputted through the fingerprint input unit 210 or there is a legitimate operation input according to a physical operation of the locking devices 220 and 230, the cover 103, The lock setting for the battery electric cord storage portion 195 can be released.

The user can open the cover 103 to remove or replace the detergent container, the gear module, the battery, and the like.

In addition, the user can open the battery electric cord storage part 195 to remove the electric cord for charging the battery, and connect the battery to the outlet to charge the battery.

If a legitimate fingerprint is inputted through the fingerprint input unit 210 or there is a legitimate operation input according to the physical manipulation of the locking devices 220 and 230, .

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

In addition, according to at least one embodiment of the present invention, there is an advantage that a risk of an accident of a person and a mobile robot can be reduced by providing a user interface screen in a specific situation.

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

In addition, according to at least one embodiment of the present invention, a mobile robot capable of identifying a user and providing a user interface screen according to a user's authority can be provided.

The mobile robot according to the present invention is not limited to the configuration and method of the embodiments described above, but the embodiments may be modified such that all or some of the embodiments are selectively combined .

Meanwhile, the control method of the mobile robot according to the embodiment of the present invention can be implemented as a code that can be read by a processor on a recording medium readable by the processor. The processor-readable recording medium includes all kinds of recording apparatuses in which data that can be read by the processor is stored. Examples of the recording medium that can be read by the processor include a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like, and may also be implemented in the form of a carrier wave such as transmission over the Internet . In addition, the processor-readable recording medium may be distributed over network-connected computer systems so that code readable by the processor in a distributed fashion can be stored and executed.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It should be understood that various modifications may be made by those skilled in the art without departing from the spirit and scope of the present invention.

Mobile Robot: 100
Body: 101
Head: 111
Control section: 140
Driving section: 160
Display: 182
Communication department: 190
Fingerprint input unit: 210
Locks: 220, 230

Claims (15)

A main body including an openable head;
A traveling part for moving the main body;
A fingerprint input unit to which a fingerprint is input;
A storage unit for storing registered fingerprint information; And
A control unit for comparing the fingerprint information inputted through the fingerprint input unit with the registered fingerprint information stored in the storage unit and releasing the lock setting so that the registered fingerprint information corresponding to the input fingerprint information can be opened, And a mobile robot. The method according to claim 1,
And a display housed inside the main body,
Wherein the control unit controls the user interface screen corresponding to the corresponding registered fingerprint information to be displayed on the display. 3. The method of claim 2,
Wherein the control unit controls the display unit such that a user interface screen including information on the plurality of mobile robots is displayed on the display when the corresponding registered fingerprint information corresponds to an administrator class having a management right for a plurality of mobile robots, And the mobile robot. The method of claim 3,
Wherein the user interface screen including information on the plurality of mobile robots includes current state information and operation history information of the plurality of mobile robots. 3. The method of claim 2,
Wherein the control unit is configured to determine whether the corresponding registered fingerprint information corresponds to the general user class, based on the usage history of the user corresponding to the corresponding registered fingerprint information or the usage history of the plurality of users included in the general user class, And the interface screen is displayed on the display. 3. The method of claim 2,
Wherein the user interface screen includes a state information area including status information of the mobile robot, main menu areas including a plurality of main menu items,
The main menu area includes a cleaning start entry for inputting a cleaning execution command, a return entry for inputting a movement command to a specified location, a cleaning area, and a cleaning setting item capable of performing input regarding a cleaning mode Wherein the mobile robot is a mobile robot. 3. The method of claim 2,
Wherein the control unit controls the display to be on when the head is opened. The method according to claim 1,
Wherein the main body further comprises a body having a cover to be unlocked in conjunction with release of the lock of the head. The method according to claim 1,
Wherein the main body further includes a battery electric cord storage part which is unlocked in conjunction with release of the lock setting of the head. The method according to claim 1,
And a communication unit for transmitting and receiving signals to / from a predetermined external device. A body including a body having a head which can be opened and closed and a cover which can be opened and closed at a lower end of the head;
A lock provided on a rear surface of the main body; And
And a traveling part for moving the main body,
And releases the locking of the head and the cover when a predetermined operation is performed on the locking device. 12. The method of claim 11,
Wherein the main body further includes a battery electric cord storage part which is unlocked in conjunction with release of the lock setting of the head. 12. The method of claim 11,
A display housed inside the body; And
And a controller for controlling the display of a predetermined user interface screen on the display when the head is opened. 14. The method of claim 13,
Wherein the user interface screen includes a state information area including status information of the mobile robot, main menu areas including a plurality of main menu items,
The main menu area includes a cleaning start entry for inputting a cleaning execution command, a return entry for inputting a movement command to a specified location, a cleaning area, and a cleaning setting item capable of performing input regarding a cleaning mode Wherein the mobile robot is a mobile robot. 14. The method of claim 13,
Wherein the control unit controls the display to be on when the head is opened.

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