KR20190046201A - Moving Robot and controlling method - Google Patents

Abstract

The present invention relates to a moving robot and a controlling method thereof. According to the present invention, the moving robot includes a control unit photographing an image during driving through an image acquisition unit to store a plurality of pieces of photographed image data, and starting a countermotion at a predetermined time point determined as an obstacle is placed within a predetermined distance by an obstacle detection unit, wherein the countermotion is determined in accordance with the obstacle determined based on the image data acquired before the predetermined time point. Accordingly, the obstacle is determined through the image photographed before a time point when the obstacle is placed within a predetermined distance such that countermotion can be immediately performed at the time point when the obstacle is placed within the predetermined distance. Moreover, the obstacle is determined through the image even if the same detection signal is inputted when a plurality of obstacles are detected such that a different motion is performed in accordance with the obstacle. Thus, various obstacles can be corresponded via countermotion, thereby effectively avoiding the obstacle and performing a motion in accordance with the type of obstacle.

Description

[0001] The present invention relates to a mobile robot,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile robot and a control method thereof, and more particularly, to a mobile robot that travels in a cleaning area to perform cleaning and a control method thereof.

Generally, a mobile robot is a device that automatically moves inside a region to be cleaned without user's operation, while suctioning foreign substances such as dust from a floor surface.

Such a mobile robot senses distances to obstacles such as furniture, office supplies, and walls installed in the cleaning area and performs an obstacle avoidance operation.

The mobile robot is provided with means for detecting an obstacle such as an infrared ray or a laser as means for detecting an obstacle. The mobile robot detects an obstacle within a predetermined distance based on a detection signal from a sensor such as an infrared ray or a laser to avoid an obstacle.

When an obstacle is detected, if the route is changed immediately, it is impossible to perform the cleaning for the area. Therefore, the route is changed as close as possible to the obstacle or after collision.

However, when approaching for the purpose of cleaning and colliding with an obstacle, there arises a problem that the object is damaged due to collision of the mobile robot. For example, the pollen on the table may fall, the obstacle may be damaged, and the position of the obstacle may be changed.

In addition, when the mobile robot collides with an obstacle, a slip phenomenon occurs, which causes a problem that an error occurs in a position and an actual position determined by the mobile robot.

Therefore, there is a need for the mobile robot to operate according to the obstacle by recognizing the type of the obstacle.

SUMMARY OF THE INVENTION The present invention provides a mobile robot that captures an image during driving and performs a motion corresponding to an obstacle through a captured image when an obstacle is detected, and a control method thereof.

A mobile robot according to an embodiment of the present invention includes a movable body; An image acquiring unit for acquiring an image of a driving direction; An obstacle detection unit for detecting an obstacle located in a driving direction; Wherein the obstacle detection unit is configured to store a plurality of image data photographed through the image acquisition unit and to start a corresponding motion at a predetermined time point at which the obstacle is determined to be located within a predetermined distance by the obstacle detection unit, And a controller for determining the corresponding motion according to the obstacle determined based on the data.

A control method of a mobile robot according to the present invention includes the steps of: capturing an image of a traveling direction by an image acquisition unit and storing image data during traveling; Determining that an obstacle is located within a predetermined distance through the obstacle detection unit; Determining a corresponding motion according to the obstacle determined based on the image data obtained at a predetermined time, which is determined to be located within a predetermined distance; Initiating a corresponding motion for the obstacle at the predetermined point in time; And operating in accordance with the corresponding motion to avoid or pass through the obstacle.

A mobile robot and a control method thereof according to the present invention set a plurality of corresponding motions corresponding to obstacles located in a driving direction on the basis of a detection signal of an obstacle and perform a corresponding motion of a plurality of corresponding motions Depending on the obstacle, different actions can be performed.

According to the present invention, when an obstacle is located within a predetermined distance, an image is photographed during driving, and the imaged image is analyzed to select one of a plurality of motions set for the obstacle, Even if the same sensing signal is inputted, different obstacles can be dealt with by performing different operations according to the obstacle by judging the obstacle through the image.

Further, according to the present invention, an obstacle can be determined through a previously captured image at a time when an obstacle is located within a predetermined distance by photographing an image in the running direction during traveling, and before the obstacle is positioned within a predetermined distance, The obstacle can be determined in advance and the corresponding operation can be performed immediately when the obstacle is located within the predetermined distance. Therefore, the obstacle can be effectively avoided and the operation according to the type of the obstacle can be performed.

According to the present invention, an obstacle can be tracked based on a photographed image, and an obstacle can be tracked instantaneously at the time when an obstacle is detected, thereby preventing damage to an obstacle due to collision with an obstacle, And it can operate by detecting environmental changes of the traveling area.

1 is a perspective view illustrating a mobile robot of a mobile robot system according to an embodiment of the present invention.
FIG. 2 is a view showing the horizontal angle of view of the mobile robot of FIG. 1. FIG.
3 is a front view of the mobile robot of FIG.
FIG. 4 is a bottom view of the mobile robot of FIG. 1. FIG.
FIG. 5 is a schematic view of a mobile robot and a system for obstacle recognition according to an embodiment of the present invention.
6 is a block diagram illustrating the main parts of a mobile robot according to an embodiment of the present invention.
Figs. 7 and 8 are views showing examples of images taken during traveling and running of the mobile robot of the invention. Fig.
FIG. 9 is a diagram for explaining sensing signals and obstacle recognition according to obstacles of a mobile robot according to an embodiment of the present invention. Referring to FIG.
FIG. 10 is a diagram for describing an operation of a mobile robot according to the type of an obstacle during travel according to an exemplary embodiment of the present invention. Referring to FIG.
11 is a diagram for describing a signal flow between a mobile robot and an apparatus for obstacle recognition according to an embodiment of the present invention.
12 is a flowchart illustrating a process of detecting and responding to an obstacle of a mobile robot according to an embodiment of the present invention.
13 is a flow chart for explaining an obstacle recognition and control method of a mobile robot according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention and the manner of achieving them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification. The control arrangement of the present invention may be comprised of at least one processor.

1 is a perspective view of a mobile robot according to an embodiment of the present invention. Fig. 2 shows the horizontal angle of view of the mobile robot of Fig. 1. Fig. 3 is a front view of the mobile robot of FIG. Fig. 4 is a bottom view of the mobile robot of Fig. 1. Fig.

1 to 4, a mobile robot 1 according to an embodiment of the present invention includes a main body 10 moving along the bottom of a cleaning area and sucking foreign substances such as dust on the floor, And sensing means for sensing an obstacle.

The main body 10 includes a casing 11 forming an outer appearance and defining a space for accommodating components constituting the main body 10 inwardly and a suction unit 12 disposed in the casing 11 for sucking foreign substances such as dust, A left wheel 36 (L) and a right wheel 36 (R) which are rotatably provided in the casing 11. As the left wheel 36 (L) and the right wheel 36 (R) rotate, the main body 10 moves along the bottom of the cleaning area, and foreign substances are sucked through the suction unit 34 in this process.

The suction unit 34 may include a suction fan (not shown) for generating a suction force and a suction port 10h for sucking the airflow generated by the rotation of the suction fan. The suction unit 34 may include a filter (not shown) for collecting foreign substances in the air stream sucked through the suction port 10h and a foreign matter collecting box (not shown) in which foreign substances collected by the filter are accumulated.

In addition, the main body 10 may include a running portion for driving the left wheel 36 (L) and the right wheel 36 (R). The running section may include at least one drive motor. The at least one drive motor may include a left wheel drive motor for rotating the left wheel 36 (L) and a right wheel drive motor for rotating the right wheel 36 (R).

The left and right wheel driving motors and the right wheel driving motors can be controlled to be operated independently by the travel control unit of the control unit, thereby making it possible to straighten, reverse, or turn the main body 10. For example, when the main body 10 runs straight, the left wheel driving motor and the right wheel driving motor are rotated in the same direction. However, when the left wheel driving motor and the right wheel driving motor are rotated at different speeds or in opposite directions The running direction of the main body 10 can be switched. At least one auxiliary wheel 37 for stably supporting the main body 10 may be further provided.

A plurality of brushes 35, which are located on the front side of the bottom surface of the casing 11 and have a plurality of radially extending blades, may be further provided. The dusts are removed from the bottom of the cleaning area by the rotation of the plurality of brushes 35, so that the dusts separated from the floor are sucked through the suction port 10h and collected in the collecting box.

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

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

1 (b), the sensing means may include an obstacle sensing unit 100 disposed on the front surface of the main body 10 for sensing an obstacle, and an image acquiring unit 170 for sensing an image. have. The obstacle detection unit 100 irradiates a light pattern and detects an obstacle through an image to be photographed. The obstacle detecting unit 100 includes a pattern obtaining unit 140 and may also include a sensor unit 150.

The image acquiring unit 170 may be provided so as to face forward and photograph the running direction, and may be provided so as to face the ceiling as the case may be. In some cases, two image acquiring units 170 facing the front and the ceiling may be provided. When two image acquiring units are provided, they can be installed on the front and top of the main body, respectively, so that images of the front and ceiling can be photographed, respectively.

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

The obstacle detecting unit 100 is fixed to the front surface of the casing 11 and includes a first pattern irradiating unit 120, a second pattern irradiating unit 130, and a pattern obtaining unit 140. [ At this time, the pattern obtaining unit 140 may be disposed below the pattern irradiating unit or may be disposed between the first and second pattern irradiating units as shown in FIG.

2, the irradiation angle h shown in FIG. 2 represents the horizontal irradiation angle of the first pattern light P1 irradiated from the first pattern irradiation unit 120, It is preferable that the angle is set in the range of 130 DEG to 140 DEG, but it is not limited thereto. The dotted line shown in Fig. 2 is directed toward the front of the mobile robot 1, and the first patterned light P1 may be configured to be symmetrical with respect to the dotted line.

The main body 10 is provided with a rechargeable battery 38. The charging terminal 33 of the battery 38 is connected to a commercial power source (for example, a power outlet in a home) The main body 10 is docked to the charging terminal 400 so that the charging terminal 33 is electrically connected to the commercial power supply through contact with the terminal 410 of the charging stand and charging of the battery 38 can be performed. Electric components constituting the mobile robot 1 can be supplied with power from the battery 38. Therefore, in a state where the battery 38 is charged and the mobile robot 1 is electrically disconnected from the commercial power supply, It is possible to drive.

FIG. 5 is a schematic view of a mobile robot and a system for obstacle recognition according to an embodiment of the present invention.

The mobile robot (1) receives a cleaning command for a predetermined cleaning area of the travel area (H) and performs cleaning. The mobile robot (1) analyzes the images taken while driving to determine the type of the obstacle.

The mobile robot 1 recognizes an obstacle by sensing a plurality of obstacles 2 and 3 existing in the travel area H and performs any one of approach, pass, and avoid according to the type of the obstacle. At this time, the mobile robot 1 can avoid the obstacle without approaching it, can perform a predetermined operation after approaching a predetermined distance, can avoid the obstacle after approaching the obstacle, can pass the obstacle according to the shape of the obstacle have.

The mobile robot 1 photographs the driving direction through the image acquiring unit 170 provided during driving and detects obstacles located within a predetermined distance through the obstacle sensing unit 100. The mobile robot 1 can continuously photograph the running direction through the image obtaining unit 170 and can take an image at predetermined time intervals according to the setting.

When the obstacle is detected through the obstacle detection unit 100, the mobile robot 1 selects the corresponding motion that can be dealt with, and then, based on the obstacle determined through the image analysis, And determines the corresponding motion for the obstacle according to the type and operates.

Even when the same detection signal is inputted by the obstacle detection unit 100 for different obstacles, the mobile robot 1 analyzes the obstacle based on the previously captured image, sets the corresponding motion according to the obstacle, And performs an operation corresponding to the obstacle.

When the obstacle is detected by the obstacle detection unit 100, the mobile robot 1 analyzes the image at predetermined time intervals to detect obstacles included in the image. When the obstacle is detected by the obstacle detection unit 100, And the operation for the corresponding motion can be performed based on the type of the determined obstacle.

For example, the mobile robot (1) avoids approaching a dangerous obstacle according to an obstacle and avoids approaching to a proximity distance or avoiding an obstacle in the case of a general obstacle.

The mobile robot 1 can determine the type of the obstacle based on the data stored therein and can determine the type of the obstacle by being connected to the server 90 or the terminal 80. The mobile robot 1 may be connected to a separate communication device (not shown) to communicate with the server 90 via the network N. [

The mobile robot 1 filters each image data and transmits the filtered image data to the server or the terminal at predetermined time intervals to request the obstacle information so that information on the obstacles included in the image data can be transmitted to the server or the terminal And receives it from the terminal. When the obstacle detecting unit 100 determines that the obstacle is located within a predetermined distance, the mobile robot 1 can immediately check the obstacle through the image data.

The terminal 80 is provided with an application for controlling the mobile robot 1. The terminal 80 displays a map of the traveling area to be cleaned by the mobile robot 1 through the execution of the application, Can be specified. In addition, the position of the mobile robot is displayed based on data received from the mobile robot, and information on the state of cleaning is displayed.

The terminal may be a computer, a laptop, a smart phone, a PDA, a tablet PC, or the like, which is equipped with a program for controlling a mobile robot, or a mobile robot control application. Also, a wearable device such as a smart watch may be used as the terminal.

The terminal 80 can be interconnected with a mobile robot through a home network. The terminal and the mobile robot can communicate with each other using a short-range wireless communication method such as Bluetooth, infrared communication and ZigBee as well as WIFI. The communication method of the terminal and the mobile robot is not limited to this.

In addition, the terminal 80 can determine the type of the obstacle in response to the image received from the mobile robot 1. [ The terminal 80 may determine the type of the obstacle based on the stored data or may determine the type of the obstacle by being connected to the server. For example, when the mobile robot 1 can not connect to the server through the network connection, the terminal 80 can receive the data of the mobile robot and transmit the data to the server.

In addition, the terminal 80 may display an image on the screen, input the type of the obstacle through the input of the user, transmit the type of the obstacle to the mobile robot, and specify an operation for the specific obstacle through the menu of the application.

The server 90 analyzes image data received from the mobile robot 1, which is connected via a predetermined network N, to determine the type of the obstacle, and transmits a response to the mobile robot 1. The server 90 can determine the type of the obstacle and respond to the request when there is a request from the terminal.

The server 90 includes a database (not shown) for recognizing an obstacle based on image data received from a plurality of mobile robots 1, recognizes the characteristics of the obstacle extracted from the image data, .

The server 90 accumulates and stores the obstacle information, analyzes the obstacle information, and determines the type of the obstacle. In addition, the server 90 can classify the obstacle according to the type and set the operation of the mobile robot 1 with respect to the obstacle.

The server 90 analyzes the new obstacle information and updates the previously stored obstacle information. In addition, the server 90 receives and stores the motion information of the mobile robot with respect to the obstacle set or changed by the terminal 80, and sets the setting of the motion of the mobile robot with respect to the obstacle by matching with the previously stored obstacle information Update.

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

6, the mobile robot 1 includes a communication unit 140, an obstacle detection unit 100, an image acquisition unit 170, a cleaning unit 260, a travel unit 250, a data unit 180, An output unit 190, an operation unit 160, a communication unit 280, and a control unit 110 for controlling overall operations.

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

The output unit 190 includes a display such as an LED and an LCD and displays an operation mode, reservation information, a battery status, an operation status, an error status, and the like of the mobile robot 1. The output unit 190 includes a speaker or a buzzer and outputs a predetermined sound effect, a warning sound, or a voice guidance corresponding to the operation mode, the reservation information, the battery status, the operation status, and the error status.

The communication unit 270 communicates with the terminal 80 through a wireless communication system. In addition, the communication unit 270 can be connected to the Internet network through the home network, and can communicate with an external server 90. [

The communication unit 270 transmits the generated map to the terminal 80, receives the cleaning command from the terminal, and transmits data on the operation state and the cleaning state of the mobile robot to the terminal. The communication unit 270 transmits and receives data including not only short-range wireless communication such as ZigBee and Bluetooth, but also communication modules such as Wi-Fi and WiBro.

The communication unit 140 transmits information on the obstacle detected from the obstacle detection unit 100 to the server 90 through the communication unit 140 and receives data on the obstacle from the server. The communication unit 140 receives the information on the obstacles existing in the travel zone from the terminal 80 and the operation information corresponding thereto and transmits the operation data of the mobile robot to the terminal 80. [

The traveling unit 250 includes at least one driving motor and allows the mobile robot to travel according to a control command of the traveling control unit 230. [ The traveling unit 250 may include a left wheel driving motor for rotating the left wheel 36 (L) and a right wheel driving motor for rotating the right wheel 36 (R), as described above.

The cleaning unit 260 operates the brush to make dust or foreign matter around the mobile robot easy to suck, and operates the suction device to suck dust or foreign matter. The cleaning unit 260 controls the operation of the suction fan provided in the suction unit 34 that sucks foreign matter such as dust or trash so that the dust is introduced into the foreign matter collecting box (dust container) through the suction port.

The cleaning unit 260 may further include a water-cleaning unit (not shown) installed at the rear of the bottom surface of the main body to wipe the bottom surface of the bottom surface of the main body 260, and a water bottle (not shown) .

The battery (not shown) supplies not only the drive motor but also the power required for the overall operation of the mobile robot 1. [ When the battery is discharged, the mobile robot 1 can return to the charging stand 400 for charging. During the return travel, the mobile robot 1 can detect the position of the charging stand by itself. The charging stand 400 may include a signal transmitting unit (not shown) for transmitting a predetermined return signal. The return signal may be an ultrasound signal or an infrared signal, but is not necessarily limited thereto.

In the data unit 180, a sensing signal input from the obstacle sensing unit 100 or the sensor unit 150 is stored, reference data for determining an obstacle is stored, and obstacle information for the sensed obstacle is stored.

The data unit 180 stores obstacle data 181 for determining the type of the obstacle, image data 182 for storing the captured image, and map data 183 for the area. The map data 183 includes obstacle information, and a basic map for a travelable area searched by the mobile robot, a cleaning map in which the area is divided from the basic map, A generated user map, and a guide map in which the cleaning map and the user map are displayed in a superimposed manner.

The obstacle data 181 is data for recognizing the obstacle and the type of the obstacle. The obstacle data 181 includes motion information on the motion of the mobile robot with respect to the recognized obstacle, for example, traveling speed, traveling direction, A warning sound, and voice guidance output through the speaker 173. The image data 182 includes the photographed image and recognition information for recognizing an obstacle received from the server.

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

The data unit 180 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) -ROM, magnetic tape, floppy disk, optical data storage device.

The obstacle detecting unit 100 includes a first pattern irradiating unit 120, a second pattern irradiating unit 130, and a pattern obtaining unit 140. In the case where the pattern irradiating unit is not provided as shown in FIG. 1 (a), the image acquiring unit can detect an obstacle from a photographed image without a pattern to be irradiated.

Also, a plurality of image acquisition units may be provided. When the pattern irradiating unit is provided, the image acquiring unit for photographing the image including the pattern and the separate image acquiring unit for photographing the traveling direction or the upper part of the forward direction may be further provided.

The obstacle detecting unit 100 includes a first pattern irradiating unit 120, a second pattern irradiating unit 130, and a pattern obtaining unit 140. In addition, the obstacle detection unit 100 may include a sensor unit 150 composed of at least one sensor. In some cases, the obstacle detection unit 100 may be constituted by a sensor unit.

As described above, the obstacle detecting unit 100 is installed on the front surface of the main body 10, and irradiates light P1 and P2 of the first and second patterns in front of the mobile robot, And captures an image including a pattern. The obstacle detection unit 100 inputs the acquired image to the control unit 200 as an obstacle detection signal.

The first and second pattern irradiating units 120 and 130 of the obstacle detecting unit 100 include a light source and an optical pattern projection element (OPPE) that generates a predetermined pattern by transmitting light irradiated from the light source . The light source may be a laser diode (LD), a light emitting diode (LED), or the like. In particular, the infrared ray or visible light is subject to variations in the accuracy of the distance measurement depending on factors such as the color and the material of the object, A laser diode is preferable as a light source. The pattern generator may include a lens, a diffractive optical element (DOE). Depending on the configuration of the pattern generator included in each of the pattern irradiators 120 and 130, light of various patterns can be irradiated.

The pattern obtaining unit 140 may obtain an image of the front of the main body 10. [ Particularly, the pattern light P1 or P2 appears in the image obtained by the pattern obtaining unit 140 (hereinafter, referred to as an acquired image), and the image of the pattern light P1 or P2, Since the pattern light P1 or P2 incident on the actual space is substantially formed on the image sensor, the same reference numerals as the pattern lights P1 and P2 are assigned to the first pattern light P1 And the second pattern light P2 are referred to as a first light pattern P1 and a second light pattern P2, respectively.

If the pattern irradiating unit is not provided, the pattern obtaining unit 140 acquires an image in the front of the main body that does not include the pattern light.

The pattern obtaining unit 140 may include a camera that converts an image of an object into an electrical signal and then converts the image into an electrical signal and stores the digital signal in a memory device. The 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 imaged by light passing through the optical lens, And a digital signal processor (DSP) that configures an image based on signals output from the diodes. The digital signal processor is capable of generating moving images composed of still frames as well as still images.

An image sensor is an apparatus for converting an optical image into an electrical signal. The image sensor is composed of a chip on which a plurality of photo diodes are integrated, and a photodiode is exemplified as a pixel. Charges are accumulated in the respective pixels by an image formed on the chip by the light passing through the lens, and the charges accumulated in the pixels are converted into an electrical signal (for example, voltage). Charge Coupled Device (CCD) and Complementary Metal Oxide Semiconductor (CMOS) are well known as image sensors.

The image processor generates a digital image based on the analog signal output from the image sensor. The image processing unit includes an AD converter for converting an analog signal into a digital signal, a buffer memory for temporarily storing digital information according to the digital signal output from the AD converter, And may include a digital signal processor (DSP) that processes the digital image and forms a digital image.

The obstacle sensing unit 100 senses an obstacle according to the pattern type by analyzing the pattern through the acquired image, and the sensor unit 150 senses an obstacle located at the sensing distance of each sensor through the sensor.

The sensor unit 150 includes a plurality of sensors to detect obstacles. The sensor unit 150 senses an obstacle in front of the main body 10, that is, an obstacle in the running direction, using at least one of laser, ultrasonic waves and infrared rays. In addition, the sensor unit 122 may further include a cliff detection sensor for detecting the presence or absence of a cliff on the floor in the driving area. When the transmitted signal is reflected and incident, the sensor unit 150 inputs information on the presence of an obstacle or a distance to the obstacle to the controller 200 as an obstacle detection signal.

The image acquisition unit 170 captures a continuous image when the mobile robot operates. Also, the image acquisition unit 170 may capture an image at a predetermined cycle. The image acquiring unit 170 photographs an image even when the obstacle is not detected by the obstacle detecting unit 100, even in the traveling or cleaning state.

For example, when the image acquisition unit 170 moves in the same traveling direction after one shot, the size of the obstacle photographed in the image taken one time while the traveling direction is maintained unchanged changes only in the same obstacle The image is periodically photographed at predetermined time intervals. In addition, the image acquisition unit 170 photographs a new image when the direction of travel is changed.

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

The image acquiring unit 170 stores the image photographed while the main body is traveling in the data unit 180 as the image data 182. [

On the other hand, the obstacle detecting unit 100 senses an obstacle located in the driving direction while driving and inputs a sensing signal to the control unit. The obstacle detection unit 100 inputs information on the position or movement of the obstacle to be detected to the control unit 110. [ The pattern obtaining unit 140 inputs the image including the pattern irradiated by the pattern irradiating unit to the control unit as a sensing signal, and the sensor unit 150 inputs a sensing signal for the obstacle sensed by the provided sensor to the control unit .

The control unit 110 controls the travel unit 250 so that the mobile robot travels within the specified travel area of the travel region H. [

The control unit 110 controls the traveling unit 250 and the cleaning unit 170 to absorb dust or foreign matter around the mobile robot to thereby perform cleaning of the traveling area. Accordingly, the cleaning unit 150 operates the brush to make dust or foreign matter around the mobile robot easy to suck, and operates the suction device to suck dust or foreign matter. And controls the cleaning unit to perform cleaning by sucking foreign matter while driving.

The control unit 110 checks the charging capacity of the battery and determines the return time of the charging station. When the charging capacity reaches a predetermined value, the control unit 110 stops the operation being performed and starts searching for a charging station to return to the charging station. The control unit 110 may output a notification of the charging capacity of the battery and a notification of the charging unit return.

The control unit 110 processes the data inputted by the operation of the operation unit 160 to set the operation mode of the mobile robot, outputs the operation state through the output unit 190, and detects the operation state, the error state, The sound, the sound effect, and the voice guidance are outputted through the speaker.

In addition, the controller 110 recognizes an obstacle to an obstacle detected from the image acquiring unit 170 or the obstacle sensing unit 100, and sets one of a plurality of corresponding motions corresponding to the obstacle to be performed.

The control unit 110 determines an obstacle from the image captured by the image obtaining unit 170. If it is detected by the obstacle detecting unit 100 that the obstacle is located within a predetermined distance, .

The control unit 110 may analyze an image captured through the image acquisition unit 170, that is, image data, before the obstacle is detected by the obstacle detection unit 100, to determine an obstacle included in the image data. The control unit 110 can determine an obstacle through data provided thereto, and can also determine the type of an obstacle by transmitting image data to a server or a terminal through a communication unit.

When the obstacle detecting unit 100 detects that the obstacle is located within a predetermined distance after the image is captured, the control unit 110 controls the sensor unit to set the corresponding motion according to the type of the obstacle When an obstacle is detected, the main body performs the designated operation according to the type of the obstacle recognized in advance.

The control unit 110 can cause the operation corresponding to the obstacle to be performed when the obstacle is detected according to the detection distance of the obstacle detection unit and also the obstacle is positioned within the specified distance even if the obstacle is detected by the obstacle detection unit The operation corresponding to the obstacle can be performed.

For example, when the obstacle is initially sensed from the sensing signal by the pattern acquiring unit and when the distance sensed by the ultrasonic sensor is different, the sensing signal for the obstacle is input. Accordingly, when a plurality of means for detecting an obstacle are present or a distance capable of detecting an obstacle such as a laser sensor is equal to or greater than a predetermined distance, the control unit 110 controls the operation of the obstacle detection unit 100, Based on the distance, when the obstacle is located at a specified distance, for example 30 cm, any one of a plurality of corresponding motions is performed.

Based on the detection signal of the obstacle, the control unit 110 selects a corresponding motion that can be performed among a plurality of corresponding motions according to the type of the sensing signal, analyzes the image data, recognizes an obstacle included in the image, And controls the operation of the main body.

For example, if the detection signal is an image included in the pattern, the controller can determine the detection signal as a different detection signal according to the pattern type, and can distinguish the obstacle according to the pattern of the detection signal, that is, the pattern.

When the obstacle is recognized through the image, the control unit 110 can perform the detection of the obstacle by the obstacle detection unit before the obstacle detection unit inputs the captured image at a predetermined cycle, and when the obstacle detection signal is inputted It is possible. The controller 110 may receive data on an obstacle by transmitting data to the server 90 or the terminal 80 as needed.

For example, when the same sensing signal is input to different obstacles, thresholds, fans, and tables, the controller 110 selects a plurality of corresponding motions that can be operated for the sensing signal, And sets the corresponding motion to control the operation.

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

The map generating unit 112 generates a map for the cleaning area based on the obstacle information while running the cleaning area in the initial operation or when the map for the cleaning area is not stored. Further, the map generating unit 112 updates the pre-generated map based on the obstacle information obtained during the running.

The map generating unit 112 generates a basic map based on information obtained from the obstacle recognizing unit 111 during travel, and generates a cleaning map by dividing the area from the basic map. Further, the map generating unit 112 arranges the area for the cleaning map, and sets the attribute for the area to generate the user map and the guide map. The basic map is a map in which the shape of the cleaning area obtained through running is indicated by an outline, and the cleaning map is a map in which the area is divided into basic maps. The basic map and the cleaning map include a travelable area and obstacle information of the mobile robot. The user map is a map that simplifies the area of the cleaning map and outlines the shape of the outline, and adds visual effects. The guide map is a map in which the cleaning map and the user map are superimposed. Since the cleaning map is displayed in the guide map, a cleaning command can be inputted based on the area that the mobile robot can actually travel.

After generating the basic map, the map generating unit 112 divides the cleaning area into a plurality of areas, and includes a connection path connecting the plurality of areas, and generates a map including information on the obstacles in each area. The map generation unit 112 generates a map in which a representative region is set by dividing a small region for dividing a region on a map, and a divided sub-region is set as a separate sub-region to be merged into a representative region .

The map generating unit 112 processes the shape of the area for each of the divided areas. The map generation unit 112 sets attributes for the divided regions, and processes the types of regions according to the attributes for each region.

The obstacle recognition unit 111 determines obstacles through the data input from the image acquisition unit 170 or the obstacle detection unit 100. The map generation unit 112 generates a map of the traveling area, To be included in the map. In addition, the driving control unit 113 controls the driving unit 250 to change the moving direction or the traveling path in accordance with the obstacle information so as to pass the obstacle or to avoid the obstacle.

The travel control unit 113 controls the travel unit 250 to independently control the operation of the left and right wheel drive motors so that the main body 10 travels straight or rotates. The travel control unit 113 controls the traveling unit 250 and the cleaning unit 150 according to a cleaning command so that the main body 10 travels in the cleaning area and sucks foreign substances to perform cleaning.

The obstacle recognition unit 111 analyzes data input from the obstacle detection unit 100 to determine an obstacle. The obstacle recognition unit 111 calculates the direction of the obstacle or the distance to the obstacle based on a detection signal of the obstacle detection unit, for example, an ultrasonic wave or a laser, and analyzes the acquired image including the pattern And the obstacle is judged by analyzing the pattern form. When an ultrasonic wave or an infrared signal is used, the obstacle recognition unit 111 determines the obstacle based on the distance between the obstacle and the type of the ultrasonic wave received and the time of receiving the ultrasonic wave according to the position of the obstacle.

In addition, the obstacle recognizing unit 111 stores the image data obtained by imaging the obstacle by the image obtaining unit 170 in the data unit 180. Since the image acquiring unit 170 photographs the obstacle in front of the obstacle a plurality of times, a plurality of image data is also stored. When the image acquisition unit 170 continuously captures an image of the driving direction, the obstacle recognition unit 111 stores the input moving image as image data or the moving image divided into frames and stores the image as image data. The obstacle recognizing unit 111 analyzes the moving image frame by frame to remove unnecessary frames, that is, a frame in which the object is shaken or out of focus, or an empty frame (frame in which no obstacle is photographed) .

The obstacle recognition unit 111 analyzes a plurality of image data to determine whether or not the photographed object, that is, an obstacle can be recognized. At this time, the obstacle recognition unit 112 analyzes the image data and determines whether the image data is recognizable or not. For example, the obstacle recognizing unit 111 separates and discards a shaken image, an unfocused image, or an image that is dark and can not distinguish an obstacle.

The obstacle recognition unit 111 analyzes the image data and extracts it as a feature of the obstacle. The obstacle is determined based on the shape (shape), size and color of the obstacle, and the position of the obstacle is determined. The obstacle recognition unit 111 analyzes an obstacle from a plurality of photographed images and analyzes an image photographed before a predetermined time based on a point at which the obstacle is determined to be located at a specified distance to determine an obstacle.

The obstacle determination is performed through the image data after the obstacle is determined by the sensing signal. However, the present invention is not limited to this order, and it is possible to perform the obstacle determination by the sensing signal after performing the obstacle determination through the image, , Can be performed simultaneously.

Since only a part of the obstacle can be photographed when the obstacle is approaching within the designated distance, the obstacle is judged using the image photographed before the predetermined time, that is, the image taken at a distance longer than the specified distance and the entire shape of the obstacle was photographed. The obstacle recognizing unit 111 can determine the specific obstacle type, and may determine only the shape and the size depending on the case.

The obstacle recognizing unit 111 can determine the type of the obstacle by extracting the feature of the obstacle based on the previously stored obstacle data, excluding the background of the image from the image data. The obstacle data 181 is updated by new obstacle data received from the server. The mobile robot 1 may store the obstacle data for the obstacle to be sensed and receive data on the type of the obstacle from the server for the other data.

The obstacle recognition unit 111 detects features such as points, lines, and planes with respect to predetermined pixels constituting an image (feature detection), and detects obstacles based on the detected features.

The obstacle recognition unit 111 extracts the outline of the obstacle, recognizes the obstacle based on the outline of the obstacle, and determines the type of the obstacle. The obstacle recognition unit 111 can determine the type of the obstacle according to the color and size of the obstacle based on the shape. In addition, the obstacle recognition unit 112 can determine the type of the obstacle based on the type and motion of the obstacle.

The obstacle recognition unit 112 distinguishes people, animals, and objects based on the obstacle information. The obstacle recognition unit 112 classifies the types of obstacles as general obstacles, dangerous obstacles, biological obstacles, and bottom obstacles, and determines the types of detailed obstacles for each classification.

In addition, the obstacle recognition unit 111 transmits the recognizable image data to the server 90 through the communication unit 280 to determine the type of the obstacle. The communication unit 280 transmits at least one video data to the server 90.

When the image data is received from the mobile robot 1, the server 90 analyzes the image data, extracts an outline or a shape of the photographed object, compares the outline or shape with the previously stored data, and determines the type of the obstacle . The server 90 first searches for an obstacle similar to or similar to the color, extracts features from the image data, and compares the features to determine the type of the obstacle.

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

The obstacle recognition unit 111 stores data on obstacles received from the server through the communication unit in the data unit 180 as obstacle data. The obstacle recognition unit 111 allows the server to perform an operation corresponding to the type of the obstacle. The driving control unit 113 controls the driving unit to avoid, approach, or pass an obstacle in accordance with the type of the obstacle, and to output a predetermined sound effect, a warning sound, or a voice guidance through the speaker as occasion demands.

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

In addition, the obstacle recognition unit can recognize the obstacle based on the obstacle recognition data even if the image data is not transmitted to the server by storing the obstacle data for the obstacle recognition for the selected obstacle among the plurality of obstacles.

Since the storage unit of the data unit 180 has a limited capacity, the controller 110 may store information on selected selected obstacles as obstacle recognition data. For example, the control unit 110 may store the obstacle recognition data in the data unit for the obstacle having a large number of times of detection based on the obstacle selected by the terminal 80 or the number of times of sensing.

Accordingly, the obstacle recognizing unit 111 can store an obstacle present in the cleaning area, an obstacle repeatedly detected, in the data unit, so that the obstacle recognizing unit 111 can immediately perform an operation corresponding to the obstacle when the obstacle is detected.

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

If it is determined that the obstacle is located within a predetermined distance according to the detection signal of the obstacle detection unit 100, the travel control unit 113 determines that the obstacle is within the predetermined distance based on the image data An operation is performed by setting any one of a plurality of corresponding motions according to the type of the obstacle and the shape size.

In response to the obstacle recognized by the obstacle recognition unit 111, the driving control unit 113 determines whether or not the vehicle is capable of running or approaches the obstacle, and determines whether the vehicle is approaching or departing from the obstacle, And controls the traveling unit 250 by setting a cleaning route.

For example, in response to an obstacle, the travel control unit 113 causes the main body 10 to change stop, decelerate, accelerate, reverse, turn, or travel direction, It can wait. In addition, the travel control unit 113 may cause the sound designated by the obstacle to be output through the speaker, and output the sound along with the designated operation.

When the obstacle is located within the designated distance through the obstacle detection unit 100, the travel control unit 113 sets avoidance, approach, approach distance and stop, decelerate, accelerate, reverse, turn, And sets the corresponding motion in accordance with the obstacle judged from the photographed image data to control the traveling section.

That is, the driving control unit 113 sets a plurality of corresponding motions in accordance with the input sensing signal, and selects one of a plurality of corresponding motions corresponding to the obstacle determined from the image data of the time before the sensed signal is input And controls the traveling section such that the corresponding motion is performed. When the type of the obstacle is specifically determined based on the image data, the driving control unit 113 sets the corresponding motion according to the type of the obstacle, and if the type of the obstacle can not be determined accurately, Can be set. For example, although the specific type is not known, it is possible to set the body to pass through the obstacle when there is a space of a certain size or more from the floor surface, that is, a space having a height and width for allowing the mobile robot to pass through.

Figs. 7 and 8 are views showing examples of images taken during traveling and running of the mobile robot of the invention. Fig.

As shown in FIG. 7, the mobile robot 1 detects an obstacle located in front of the main body 10 during traveling.

When the mobile robot 1 travels toward the window O4 in the travel region H as shown in Fig. 7 (a), the image as shown in Fig. 7 (b) is photographed. The photographed image includes a plurality of obstacles (O01 to O06) positioned in the running direction.

The image acquiring unit 170 can photograph the images continuously or repeatedly in a predetermined cycle.

When the mobile robot 1 advances a certain distance, as shown in FIG. 8, the obstacle is photographed in an enlarged form as it approaches the obstacle.

As the main body of the mobile robot 1 moves, the area occupied by the obstacle located in the traveling direction of the mobile robot increases and the area occupied by the obstacle located opposite to the traveling direction of the mobile robot decreases .

As the mobile robot moves as shown in FIG. 8A, the second and third obstacles O02 and O03 among the plurality of obstacles O01 to O06 located in the area are approached. The second and third obstacles O02 and O03 are photographed on the image photographed through the image acquiring unit 170 as shown in FIG. 8 (b).

The obstacle recognizing unit 111 stores an image photographed at a position as shown in FIG. 7, and can recognize and recognize a plurality of obstacles (O01 to O06) through stored image data. 8, when the mobile robot 1 approaches the second and third obstacles O02 and O03, a detection signal is input by the obstacle detection unit 100, and the obstacle recognition unit 111 recognizes the obstacle And determines an obstacle on the basis of the image data photographed. The obstacle recognition unit 111 can determine an obstacle before inputting a sensing signal and can also determine an obstacle by transmitting image data to a server or a terminal.

In the case where the traveling direction of the mobile robot 1 is changed and the obstacle is judged according to the detection signal, there is a high possibility that the obstacle in the traveling direction is not captured in the image data photographed before the traveling direction is changed. The obstacle is judged based on the subsequent image. Accordingly, when the obstacle is located within the designated distance according to the detection signal of the obstacle detection unit 100, the mobile robot 1 determines the obstacle based on the image data photographed in the same traveling direction.

The mobile robot 1 recognizes the obstacle from the photographed image data and determines the type of the obstacle. The image acquiring unit 170 stores image data photographed during driving, and the controller analyzes the image data according to a predetermined cycle to determine an obstacle, or the obstacle sensing unit 100 An obstacle can be determined using the image data photographed.

The controller determines the information on the type, shape, size, and the like of the obstacle through the image data as described above with respect to the second and third obstacles (O02, O03), and controls the traveling unit so that the corresponding motion is performed correspondingly.

For example, when the detection signal for the second obstacle is input to the second obstacle O002 as a table, the control unit 110 selects two corresponding motions of avoiding approach and entering, analyzes the image data, And determines whether or not any one of the corresponding motions is available.

Even if a table of the same kind is different, the size of the space under the table is different, and the size of the mobile robot may also be different. Therefore, (Motion), for example, avoiding, approaching, or passing through a plurality of corresponding motions based on the type of the obstacle, shape (form) and size through image analysis And determines to perform one of the motion corresponding motions.

Depending on the height of the table and the width of the table legs, it is determined whether or not to go under the table and the direction of travel is determined. Also, for the same second obstacle O2, the table, the corresponding motion can be changed depending on whether or not the third obstacle 03 is present.

Accordingly, the mobile robot sets a plurality of corresponding motions that can be processed when the detection signal is inputted to the obstacle, and sets any corresponding motion according to the information of the obstacle determined through the image, It is possible to perform different corresponding motions depending on the size, shape, size of the body of the mobile robot, and the like.

FIG. 9 is a diagram for explaining a detection signal and an obstacle recognition according to an obstacle of a mobile robot according to an embodiment of the present invention. FIG. Fig. 6 is a diagram for explaining an operation according to the present invention.

As shown in FIG. 9 (a), when the obstacle detecting unit 100 detects that an obstacle is located within the designated distance, it inputs a sensing signal for the obstacle.

When the pattern irradiated from the pattern irradiating unit is photographed in the pattern obtaining unit, the pattern P1 irradiated to the obstacle is displayed on the image as shown in Fig.

As the pattern is located above the reference line ref1, the obstacle recognizing unit 111 can determine that an obstacle having a certain height in the traveling direction is located.

Accordingly, the travel control unit sets a plurality of corresponding motions that can be performed on the obstacles located ahead in response to the detection signals. For example, you can set corresponding motions such as avoidance, approach, entry, and pass.

Also, the obstacle recognizing unit 111 analyzes the image data photographed before the sensing signal is inputted, and judges an obstacle located in the traveling direction when the sensing signal is inputted.

When a pattern is irradiated on the lower end of the air conditioner as shown in FIG. 9 (b), when a pattern is irradiated on the pedestal portion of the fan as shown in FIG. 9 (c) 9 (e), when a pattern is irradiated on a small box, the pattern as shown in FIG. 9 (a) described above can be photographed as an image.

As the same pattern is detected even though they are different obstacles, the obstacle recognizing unit 111 judges an obstacle based on the photographed images.

As shown in FIG. 10, it is possible to determine that the obstacle located in the driving direction is a fan by analyzing the captured image before the sensing signal is input.

10 (a), the mobile robot 1 stores the photographed image while driving, and when it is detected by the obstacle detection unit 100 that the obstacle is located within the designated distance, (111) analyzes the photographed image, recognizes the obstacle photographed in the image data, and judges information about obstacles such as type, size, shape (form) and the like.

The obstacle recognizing unit 111 analyzes the photographed image data to determine an obstacle before the detection signal is inputted, that is, when the obstacle is located at a distance greater than the designated distance.

For example, when the sensing signal is input at the second distance D02, the obstacle recognizing unit 111 photographs only a part of the obstacle at the second distance as shown in (c) of FIG. 10, The obstacle is determined by analyzing the image of FIG. 10B photographed at the first distance D01 a predetermined time before the detection signal is inputted. The obstacle recognizing unit 1111 photographs based on the image taken in the same traveling direction.

The obstacle recognizing unit 111 judges an obstacle from the photographed image after the traveling direction is changed when the traveling echo of the main body is changed.

The driving control unit determines through the image that the obstacle is a fan as shown in FIG. 9C among a plurality of corresponding motions corresponding to the detection signal, and performs a corresponding motion thereon. For example, in the case of an electric fan, since the mobile robot may rise up above the half-needle of the fan, it may occur that the moving robot is isolated, so that the driving unit is controlled by setting the corresponding motion (avoiding approaching a certain distance) so as not to approach the fan more than 10 cm.

Also, in the case where the box is determined as a box as shown in FIG. 9 (e) through the image, it is possible to set the box to approach and collide with the box, and then check whether the box is movable before avoiding it. If the box is light, the position can be changed by the mobile robot, so that the corresponding motion can be set so as to approach and collide.

The control unit 110 stores information on the detected obstacle as obstacle data.

In the obstacle data, data on an obstacle frequently detected according to the number of times the obstacle is detected is stored.

The driving control unit 113 may further determine whether the vehicle is a dangerous obstacle according to the type of the obstacle and control the driving unit to perform the operation corresponding thereto. The travel control unit 113 allows the designated operation to be performed when the operation is designated according to the type of the obstacle, and the degree of access to the obstacle can be varied according to whether the operation is not designated as a dangerous obstacle. In addition, if the obstacle is a dangerous obstacle, the travel control unit 113 may output a predetermined sound effect or a warning sound depending on the obstacle and output a voice guidance. The travel control unit 113 can set a potentially damaging object such as a pot, a vase, a pet, a chair leg with possibility of being isolated as a dangerous obstacle.

In addition, the obstacle recognizing unit 111 can perform different corresponding motions according to the size or shape of the obstacle even when the same obstacle is located by inputting the same sensing signal.

For example, in the case where a sensing signal judged to be the shoulder leg is inputted, even if it is judged that the will is through the image, the operation of avoiding, approaching, and entering can be performed according to the interval between the height of the chair and the legs of the chair . The obstacle recognizing unit 111 analyzes the image after inputting the sensing signal, calculates the height between the legs of the chair and the height of the chair, and judges whether or not the chair enters the chair. Accordingly, the driving control unit causes any one of the avoiding, approaching, and entering corresponding motions to be performed.

11 is a diagram for describing a signal flow between a mobile robot and an apparatus for obstacle recognition according to an embodiment of the present invention.

As shown in Fig. 11, the mobile robot 1 carries out cleaning while traveling in a traveling area.

The mobile robot 1 photographs a moving image while driving and stores the image as image data. When the obstacle is determined through the image, the controller 110 analyzes the image based on the stored obstacle information to determine an obstacle (S1).

In addition, the mobile robot 1 may transmit image data to the server 90 or the terminal 80 to request an obstacle confirmation (S2).

The server 90 analyzes the image data, extracts characteristics of the obstacle, and determines the type of the obstacle based on the shape. The server 90 stores the data of the accumulated obstacles in the database and utilizes them for obstacle determination.

The terminal 80 can transmit data to the server when the mobile robot 1 can not connect to the server. In addition, the terminal 80 can determine the type of the obstacle based on the received image data, and can determine the type of the obstacle through the user input.

The server 90 or the terminal 80 transmits data on the type of the obstacle to the mobile robot 1 in response to the request of the mobile robot (S3). In addition, the server 90 or the terminal 80 can transmit data on the avoiding action corresponding to the type of the obstacle to the mobile robot 1. [ The mobile robot (1) performs the avoiding operation according to the received data.

12 is a flowchart illustrating a process of detecting and responding to an obstacle of a mobile robot according to an embodiment of the present invention.

 As shown in Fig. 12, the mobile robot 1 photographs a plurality of images through the image acquisition unit 170 while driving. The control unit 110 causes the obstacle detection unit to shoot an image while the vehicle is running while an obstacle is not detected.

The image can be photographed as a still image at predetermined time intervals, or can be photographed as a moving image through continuous shooting. The image obtaining unit 170 stores the captured image in the data portion using a plurality of image data I01 to I03 (S11).

The image processing unit included in the image obtaining unit 170 filters the photographed images to store the image data at predetermined time intervals. When the moving images are photographed, the image processing unit analyzes the frames in units of frames to remove unnecessary frames, and then stores the image data.

When the obstacle is detected by the obstacle detection unit (T1), the control unit 110 analyzes the captured image data when the obstacle is located within the designated distance, and removes the background (S12) (S13). The obstacle recognition unit 111 determines the shape (shape), size, and type of the obstacle (S14).

The control unit 110 sets the corresponding motion in response to the obstacle determined through the sensing signal and the image, and controls the driving unit to operate accordingly.

The controller 110 analyzes the image data in a predetermined unit, filters and extracts the features of the image data in steps S12 and S13 before the detection signal is input by the obstacle detection unit 100, The type can be determined (S14). If a detection signal is inputted by the obstacle detection unit 100 in a state where the determination of the obstacle is completed (T2), the control unit sets a corresponding motion for the obstacle based on the detection signal and the obstacle determination through the image, (S17).

On the other hand, the control unit 1110 transmits a plurality of image data to the server (S15), and can request the server to determine the obstacle. When data on an obstacle is received from the server, the obstacle information S16 is stored and an obstacle is determined accordingly (S14).

The control unit 110 sets the corresponding motion based on the detection signal of the obstacle detection unit 100 and the obstacle determination through the image, and operates accordingly (S17).

FIG. 13 is a flow chart for explaining an obstacle recognition and control method of a mobile robot according to an embodiment of the present invention. Referring to FIG.

As shown in FIG. 13, the mobile robot 1 travels in a travelable region in the travel region H and performs cleaning on the designated region (S310).

The mobile robot 1 shoots an image through the image acquisition unit 170 when a move or clean command is inputted. The image obtaining unit 170 may continuously capture images (moving images) or images at predetermined time intervals (S320). The captured image is stored as image data.

The image acquisition unit 170 may set the imaging cycle according to the moving speed of the mobile robot, and may also set the distance that the obstacle detection unit can detect based on the obstacle detection distance.

The image obtaining unit 170 determines whether or not the plurality of image data is recognizable, filters the image data, and selects an image capable of image analysis and stores the image data as image data.

For example, when the obstacle can not be normally photographed due to the movement of the obstacle or the movement of the main body 10 during the shooting, for example, if the image of the obstacle to be imaged is shaken and the obstacle can not be recognized , Except for cases where it is impossible to recognize the camera because the camera is out of focus, images are normally taken and stored as image data.

The image acquisition unit 170 photographs an image while the mobile robot 1 is operating, and the obstacle detection unit 100 detects an obstacle located in the traveling direction using an ultrasonic wave, an infrared ray, or a laser, A signal is input (S300).

The obstacle recognizing unit 111 can determine the presence or absence of obstacles located in the traveling direction based on the sensing signal or the size, position, etc. of the obstacle through pattern analysis using the 3D sensor at step S340.

In the case where the obstacle is judged based on the pattern shape obtained by examining the pattern, the controller 110 classifies and classifies the obstacles to which the same sensing signal is input, and sets a plurality of corresponding motions that can be performed according to the respective sensing signals (S350).

The control unit 110 determines the distance to the obstacle based on the sensing signal, and determines whether the obstacle is located at the designated distance (S360) because there is a difference in the distance that can be sensed according to the sensor type of the obstacle sensing unit.

The control unit 110 determines a plurality of corresponding motions that can be performed on the obstacle located in the driving direction according to the type of the sensing signal. If the obstacle is located within the designated distance, the controller 110 analyzes the image data of the previous imaging point ), And determines an obstacle (S380).

The obstacle recognizing unit 111 analyzes the image data and filters the obstacle according to whether or not the obstacle can be recognized, removes the background from the image data filtered through the image processing, extracts the outline or minutiae of the obstacle, And features.

The obstacle recognizing unit 111 can determine whether the image data is identified based on the brightness, sharpness, and moving speed of the main body 10 of the image data. The obstacle recognition unit 111 determines the brightness of the image data based on the brightness values of the plurality of pixel values of the image data, thereby distinguishing the overexposure, the underexposure, and the normal exposure. In addition, when the moving speed of the main body is equal to or higher than the set speed, the obstacle recognizing unit 111 can determine that there is blurring in the photographed image and judges the clarity of the image data to determine whether or not it can be discriminated.

The obstacle recognition unit 111 extracts the outlines and features of the extracted obstacle, analyzes the type, and determines the type and size of the obstacle based on the obstacle data

On the other hand, if no obstacle data exists or the obstacle data can not be determined from the obstacle data, the obstacle recognition unit 111 can request the server 90 or the terminal to confirm the obstacle by transmitting the image data. The determination of the obstacle through the server can be performed immediately when the image is captured. The type of the obstacle is judged by the self judgment or the response from the server.

The server 90 stores a plurality of image data for one obstacle, extracts characteristics of the specific obstacle, and stores the extracted characteristic data in the database. The server 90 analyzes the image data received from the mobile robot 1 and compares the image data with previously stored data to determine the type of the obstacle. The server 90 transmits the kind of the obstacle and the obstacle data related thereto to the mobile robot 1. [

The obstacle recognizing unit 111 sets any one of a plurality of corresponding motions based on the data of the obstacle determined in accordance with the shape and characteristics of the obstacle (S390).

The driving control unit controls the driving unit to perform the operation corresponding to the set corresponding motion (S400).

In the case of a dangerous obstacle, the driving control unit 113 sets the obstacle to avoid an obstacle more than a certain distance to travel. In addition, the travel controller 113 sets the designated operation to perform the designated operation when there is the designated operation according to the type of the obstacle.

The travel control unit 113 can be set to avoid the obstacle after approaching the obstacle, or to avoid the obstacle immediately when reaching the specified distance, and to set the approach distance when approaching the obstacle. Further, the mobile robot may output a predetermined warning sound.

Accordingly, even when the same sensing signal is input, the mobile robot 1 can perform different operations according to obstacles through the image analysis, and even if the same sensing signals and the same types of obstacles are present, Can be performed differently.

According to an embodiment of the present invention, an obstacle can be instantaneously responded to a predetermined distance by approaching a specified distance to an obstacle, and an obstacle can be easily determined by using a previously captured image, thereby more effectively avoiding obstacles.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention.

1: mobile robot 10: main body
100: obstacle detection unit 110: control unit
111: an obstacle recognition unit 113:
120, 130: pattern irradiation unit 140: pattern obtaining unit
150: sensor unit 170: image acquiring unit
180: Data portion
250: running part 260: cleaner

Claims (22)

A movable body;
An image acquiring unit for acquiring an image of a driving direction;
An obstacle detection unit for detecting an obstacle located in a driving direction;
Wherein the obstacle detection unit is configured to store a plurality of image data photographed through the image acquisition unit and to start a corresponding motion at a predetermined time point at which the obstacle is determined to be located within a predetermined distance by the obstacle detection unit, And a controller for determining the corresponding motion according to the obstacle determined based on the data. The method according to claim 1,
Wherein the controller is configured to set a plurality of corresponding motions according to a predetermined type of sensing signal input from the obstacle sensing unit so that one of the plurality of corresponding motions is selected by the image data, robot. 3. The method of claim 2,
Wherein the controller determines whether the obstacle is located within a predetermined distance based on a distance from the obstacle calculated through the sensing signal. 3. The method of claim 2,
Wherein the control unit performs control so that different corresponding motions are performed based on the image data for the sensing signal that is input in the same manner. The method according to claim 1,
Wherein the controller determines the obstacle by analyzing image data photographed before a predetermined time based on a time point at which the obstacle is determined to be located at a predetermined distance by the obstacle detection unit. The method according to claim 1,
Wherein the control unit determines the obstacle based on image data photographed in a traveling direction identical to a traveling direction of the main body at a time when the obstacle is determined to be located at a predetermined distance. The method according to claim 1,
Wherein the control unit analyzes the image data to determine the shape, size, or type of the obstacle. 3. The method of claim 2,
Wherein the controller determines the obstacle by analyzing the image data before inputting the sensing signal. 3. The method of claim 2,
Wherein the control unit determines the obstacle by analyzing the image data when the sensing signal is input. The method according to claim 1,
Wherein the control unit transmits the image data to a terminal or a server and receives information on the obstacle included in the image data. The method according to claim 1,
Wherein the image acquiring unit consecutively photographs the moving direction or photographs an image at a designated time and stores the image data. The method according to claim 1,
Wherein the control unit controls to perform the corresponding motion in combination with at least one of stop, decelerate, accelerate, reverse, wait, avoid, close-out approach, and voice guidance. The method according to claim 1,
Wherein the obstacle detection unit includes at least one of an ultrasonic sensor, a laser sensor, an infrared sensor, and a 3D sensor. The method according to claim 1,
Wherein the control unit requests the obstacle confirmation by transmitting the image data to the terminal or the server, and determines the type of the obstacle according to the response data received from the server or the terminal. A step of photographing an image in a traveling direction by an image acquisition unit and storing image data during traveling;
Determining that an obstacle is located within a predetermined distance through the obstacle detection unit;
Determining a corresponding motion according to the obstacle determined based on the image data obtained at a predetermined time, which is determined to be located within a predetermined distance;
Initiating a corresponding motion for the obstacle at the predetermined point in time; And
And moving in accordance with the corresponding motion so as to avoid or pass the obstacle. 16. The method of claim 15,
Further comprising the step of determining whether the obstacle is located within a predetermined distance from the main body based on the detection signal detection signal input from the obstacle detection unit. 16. The method of claim 15,
The step of setting the corresponding motion further includes setting a plurality of corresponding motions according to the type of the sensing signal input from the obstacle sensing unit and selecting one of the plurality of corresponding motions by the image data A control method of the mobile robot. 16. The method of claim 15,
Further comprising the step of analyzing the image data and determining the obstacle before the sensing signal for the obstacle is inputted from the obstacle sensing unit after the image sensing. 16. The method of claim 15,
Further comprising the step of analyzing the image data to determine the obstacle when the detection signal for the obstacle is input from the obstacle detection unit. 20. The method according to claim 18 or 19,
And determines the obstacle based on the image data of the traveling direction that is the same as the traveling direction at the time when the sensing signal is inputted. 20. The method according to claim 18 or 19,
And analyzing the image data to determine the shape, size, or type of the obstacle. 16. The method of claim 15,
And transmitting the image data to a terminal or a server to receive information on the obstacle included in the image data.

Images