KR20190109609A - Moving robot, Docking unitand Moving robot system - Google Patents

Abstract

The present invention provides a moving robot which comprises: a docking device having a vertical portion in which a reference wire extends in a direction crossing a horizontal direction at least; and a magnetic field signal detection unit detecting a reference magnetic field signal generated in the vertical portion.

Description

Mobile robot, docking unit and moving robot system including these {Moving robot, Docking unitand Moving robot system}

The present invention relates to the position recognition of the charging stage of the mobile robot.

Robots have been developed for industrial use and have been a part of factory automation. Recently, the application of robots has been further expanded, medical robots, aerospace robots, and the like have been developed, and home robots that can be used in general homes have also been made. Among these robots, a moving robot capable of traveling by magnetic force is called a mobile robot. A representative example of a mobile robot used in a home outdoor environment is a mowing robot.

In the case of a mobile robot that autonomously runs indoors, the movable area is limited by walls or furniture, but in the case of a mobile robot that runs autonomously, it is necessary to set a movable area in advance. In addition, there is a need to limit the area that the lawn mower robot can move so as to travel in the grass-planted area.

In the prior art (Korean Patent Laid-Open Publication No. 2015-0125508), a wire is embedded to set an area to move a mowing robot, and the mowing robot senses a magnetic field formed by a current flowing through the wire. Can move within the area set by

In addition, according to the prior art, the lawn mower robot does not accurately recognize the position of the charging station, and continue to run along the wire that borders, and then find and charge the location of the charging station.

When the lawnmower robot travels along a wire bounded to position the charging station as in the prior art, there is a problem in that the distance of the lawn mower robot becomes far and the battery life of the residue mower robot is shortened.

In addition, since the lawnmower robot of the prior art returns along the same path in the process of returning to the charging station, the ground is dug along the return path of the residue mower robot, the fine ground exists to interfere with the operation of the lawn mower robot do.

In addition, there is a problem in that the cost is increased when a sensor for separately detecting the position of the charging stand in the lawn mower robot.

Korean Patent Publication No. 2015-0125508 (Published: November 9, 2015)

One object of the present invention is to provide a mobile robot that can easily and accurately recognize the position of the charging station.

Another object of the present invention is to provide a mobile robot that shares a sensor for recognizing the boundary of the driving route without attaching an additional sensor.

Still another object of the present invention is to provide a mobile robot that reduces ground digging caused by returning along a boundary when the mobile robot returns to the charging station.

In order to solve the above problems, the mobile robot, the docking device and the mobile robot system according to the solution of the present invention is characterized by recognizing at least the horizontal magnetic field.

In addition, the present invention is characterized in that the reference wire for generating a magnetic field in the horizontal direction is arranged in the docking device is charged with the mobile robot.

In addition, the present invention is characterized in that it recognizes the boundary of the driving route through the vertical magnetic field, and the position of the docking device through the horizontal magnetic field.

Specifically, the present invention includes a docking base defining a plane parallel to a horizontal direction, a docking support portion extending in a direction crossing the horizontal direction from the docking base, and a conductive reference wire, wherein the reference wire is at least in the horizontal direction. It includes a vertical portion extending in the direction intersecting with the.

The reference wire may further include a horizontal portion extending in a direction crossing the vertical portion.

The vertical portion may include a first vertical portion and a second vertical portion spaced apart from the first vertical portion.

The first vertical portion and the second vertical portion may be spaced apart in the front-rear direction.

The plurality of first vertical portions may be disposed along a line extending in the left and right directions, and the plurality of second vertical portions may be disposed along a line extending in the left and right directions.

The first vertical portion and the second vertical portion may be spaced apart in the left and right directions.

The plurality of first vertical portions may be disposed along a line extending in the front-back direction, and the plurality of second vertical portions may be disposed along a line extending in the front-back direction.

The reference wire may define at least a portion of a rectangle around a reference axis parallel to the horizontal direction.

The reference axis may extend in the front and rear directions or may extend in the left and right directions.

The reference wire may be disposed inside the docking support.

The wire terminal may be connected to the reference wire.

The reference wire may be disposed to surround the charging terminal.

The reference wire may be disposed to surround the docking connection.

On the other hand, the mobile robot of the present invention; A driving unit which moves the body with respect to a driving surface; A work part disposed on the body and provided to perform a predetermined task; And a magnetic field signal detector configured to detect a boundary magnetic field signal and a reference magnetic field signal generated outside the mobile robot, and the reference magnetic field signal includes a magnetic field in a horizontal direction.

The magnetic field signal detector may detect magnetic fields of three axes that are orthogonal to each other in space.

The present invention may further include a controller configured to set a position where the reference magnetic field signal is detected as a reference point when the reference magnetic field signal is detected by the magnetic field signal detector.

The controller may further include a controller configured to set a position at which the boundary magnetic field signal is detected as a boundary of a driving area when the boundary magnetic field signal is detected by the magnetic field signal detector.

The magnetic field signal detection unit may include a first magnetic field signal detection unit and a second magnetic field signal detection unit disposed to be spaced apart from each other on the front left and right of the body.

The first magnetic field signal detector detects a magnetic field signal in a direction orthogonal to the second magnetic field signal detector.

In addition, the mobile robot system of the present invention includes a mobile robot and a docking device to which the mobile robot is docked and charged, the mobile robot comprising: a body forming an appearance; A driving unit which moves the body with respect to a driving surface; A work part disposed on the body and provided to perform a predetermined task; And a magnetic field signal detector for sensing a boundary magnetic field signal and a reference magnetic field signal generated outside the mobile robot, wherein the docking device comprises: a docking base defining a plane parallel to a horizontal direction; A docking support extending from the docking base in a direction crossing the horizontal direction; And a reference wire for electrically conducting the reference magnetic field signal, wherein the reference wire includes a vertical portion extending at least in a direction crossing the horizontal direction.

Through the above solution, the present invention enables the mobile robot to accurately and easily recognize the position of the charging stand, and the path from which the mobile robot returns to the charging stand is not formed constantly along the boundary. There is an advantage that it can increase and prevent land from being dug by repetitive movement of the mobile robot.

In addition, the present invention recognizes both the position of the charging station and the recognition of the driving route through a single sensor through a magnetic field signal, and identifies the position and boundary of the charging station based on the direction difference, thereby reducing the manufacturing cost There is an advantage, and there is an advantage of reducing the control burden of the control unit.

In addition, since the present invention is the addition of a simple configuration of disposing a conductive wire inside the docking device, the manufacturing cost is reduced, the boundary wire constituting the boundary can be commonly used, and can be driven by the boundary wire and one power source. There is an advantage to this.

In addition, the present invention, since the conductive wire is disposed inside the vertically extending docking support, there is an advantage that does not need to change the configuration of the docking device separately to arrange the conductive wire.

1 is a perspective view of a mobile robot 100 according to an embodiment of the present invention.
FIG. 2 is an elevation view of the front of the mobile robot 100 of FIG. 1.
3 is an elevation view of the right side of the mobile robot 100 of FIG. 1.
4 is an elevation view of a lower side of the mobile robot 100 of FIG. 1.
FIG. 5 is a perspective view illustrating a docking device 200 for docking the mobile robot 100 of FIG. 1.
FIG. 6 is an elevational view of the docking device 200 of FIG.
7A is a rear view of the reference wire according to the first embodiment of the present invention.
7B is a view of the reference wire according to the first embodiment of the present invention from one side.
8A is a rear view of the reference wire according to the second embodiment of the present invention.
8B is a view of a reference wire according to a second embodiment of the present invention from one side.
9 is a rear view of the reference wire according to the third embodiment of the present invention.
10A is a view of a reference wire according to a fourth embodiment of the present invention from one side.
10B is a rear view of the reference wire according to the fourth embodiment of the present invention.
11A is a view of a reference wire according to a fifth embodiment of the present invention from one side.
11B is a rear view of the reference wire according to the fifth embodiment of the present invention.
12 is a view of a reference wire according to a sixth embodiment of the present invention from one side.
FIG. 13 is a block diagram illustrating a control relationship of the mobile robot 100 of FIG. 1.
14 is a conceptual diagram in which the mobile robot of the present invention recognizes the difference between the magnetic field of the reference wire and the boundary wire.

The expressions referring to the following directions, such as “front (F) / after (R) / left (Le) / right (Ri) / upper (U) / lower (D)” are defined as indicated in the drawings. This is for the purpose of describing the present invention so that the present invention can be clearly understood, and of course, each direction may be defined differently according to where the reference is placed.

The use of terms such as 'first' and 'second' in front of the components mentioned below is only to avoid confusion of the components to which they refer, and is not related to the order, importance or main relationship between the components. . For example, an invention including only the second component without the first component may be implemented.

In the drawings, the thickness or size of each component is exaggerated, omitted, or schematically illustrated for convenience and clarity of description. In addition, the size and area of each component does not necessarily reflect the actual size or area.

In addition, the angle and direction mentioned in the process of demonstrating the structure of this invention are based on what was described in drawing. In the description of the structure in the specification, if the reference point and the positional relationship with respect to the angle is not clearly mentioned, reference is made to related drawings.

Hereinafter, referring to FIGS. 1 to 6, the lawn mower robot 100 is described as an example, but is not necessarily limited thereto.

1 to 4, the mobile robot 100 includes a body 110 forming an appearance. The body 110 forms an inner space. The mobile robot 100 includes a driving unit 120 for moving the body 110 with respect to the running surface. The mobile robot 100 includes a work unit 130 for performing a predetermined task.

The body 110 includes a frame 111 to which the driving motor module 123 to be described later is fixed. The blade motor 132 to be described later is fixed to the frame 111. The frame 111 supports a battery, which will be described later. Frame 111 also provides a skeleton structure for supporting other components. The frame 111 is supported by the assist wheel 125 and the drive wheel 121.

The body 110 includes side blocking portions 111a for blocking a user's finger from entering the blade 131 at both sides of the blade 131. The side blocking portion 111a is fixed to the frame 111. The side blocking portion 111a is disposed to protrude downward compared to the lower surface of the other part of the frame 111. The side blocking part 111a is disposed covering the upper part of the space between the driving wheel 121 and the auxiliary wheel 125.

The pair of side blocking portions 111a-1 and 111a-2 are disposed left and right with the blade 131 interposed therebetween. The side blocking portion 111a is disposed spaced apart from the blade 131 by a predetermined distance.

The front surface 111af of the side blocking portion 111a is formed to be round. The front surface 111af forms a surface that is bent upward from the lower surface of the side blocking portion 111a toward the front. By using the shape of the front surface 111af, when the mobile robot 100 moves forward, the side blocking portion 111a may easily ride over a lower obstacle below a predetermined reference.

The body 110 includes a front blocking part 111b for blocking a user's finger from entering the blade 131 in front of the blade 131. The front blocking portion 111b is fixed to the frame 111. The front blocking portion 111b is disposed covering a portion of the upper portion of the space between the pair of auxiliary wheels 125 (L) and 125 (R).

The front blocking portion 111b includes a protruding rib 111ba that projects downward compared to the lower surface of the other portion of the frame 111. The protruding ribs 111ba extend in the front-rear direction. The upper end of the protruding rib 111ba is fixed to the frame 111, and the lower end of the protruding rib 111ba forms a free end.

The plurality of protruding ribs 111ba may be spaced apart in the left and right directions. The plurality of protruding ribs 111ba may be disposed in parallel to each other. A gap is formed between two adjacent protruding ribs 111ba.

The front face of the protruding rib 111ba is formed to be round. The front face of the protruding ribs 111ba forms a surface that is bent upwards from the lower side of the protruding ribs 111ba toward the front. By using the shape of the front surface of the protruding ribs 111ba, when the mobile robot 100 moves forward, the protruding ribs 111ba may easily ride over lower obstacles below a predetermined reference.

The front blocking portion 111b includes an auxiliary rib 111bb that assists rigidity. An auxiliary rib 111bb for reinforcing the rigidity of the front blocking portion 111b is disposed between the upper ends of two adjacent protruding ribs 111ba. The auxiliary ribs 111bb may protrude downward and extend in a lattice shape.

The frame 111 is provided with a caster (not shown) for rotatably supporting the auxiliary wheel 125. The caster is rotatably disposed with respect to the frame 111. The caster is rotatably provided about the vertical axis. The caster is disposed below the frame 111. A pair of casters is provided corresponding to the pair of auxiliary wheels 125.

The body 110 includes a case 112 covering the frame 111 from above. The case 112 forms an upper side and a front / rear / left / right side of the mobile robot 100.

The body 110 may include a case connection part (not shown) for fixing the case 112 to the frame 111. It may be fixed to the case 112 on the top of the case connecting portion. The case connection part may be arranged to be movable on the frame 111. The case connection part may be disposed to be movable only in the vertical direction with respect to the frame 111. The case connection part may be provided to be movable only within a predetermined range. The case connecting portion flows integrally with the case 112. As a result, the case 112 may flow with respect to the frame 111.

Body 110 includes bumper 112b disposed at the front. The bumper 112b may absorb a shock when in contact with an external obstacle. A bumper groove formed in the front side of the bumper 112b may be formed to be recessed to the rear side and formed to extend in the left and right directions. A plurality of bumper grooves may be spaced apart in the vertical direction. The lower end of the protruding rib 111ba is disposed at a lower position than the lower end of the auxiliary rib 111bb.

The bumper 112b is formed by connecting the front surface and the left and right sides thereof to each other. The front and side surfaces of the bumper 112b are connected roundly.

The body 110 may include a bumper auxiliary part 112c disposed to surround the outer surface of the bumper 112b. Bumper auxiliary portion 112c is coupled to bumper 112b. The bumper auxiliary part 112c surrounds the lower part of the front face and the lower left and right sides of the bumper 112b. The bumper auxiliary part 112c may cover the lower half of the front surface and the left and right sides of the bumper 112b.

The front end face of the bumper auxiliary part 112c is disposed in front of the front end face of the bumper 112b. The bumper auxiliary portion 112c forms a surface protruding from the surface of the bumper 112b.

The bumper auxiliary part 112c may be formed of a material advantageous for shock absorption such as rubber. The bumper auxiliary part 112c may be formed of a flexible material.

The frame 111 may be provided with a flow fixing part (not shown) to which the bumper 112b is fixed. The flow fixing part may be disposed to protrude upward of the frame 111. The bumper 112b may be fixed to the upper end of the flow fixing part.

The bumper 112b may be disposed to be movable within a predetermined range with respect to the frame 111. The bumper 112b may be fixed to the flow fixing part and flow integrally with the flow fixing part.

The flow fixing part may be disposed in the frame 111 in a flowable manner. The flow fixing part may be provided to be rotatable within a predetermined range with respect to the frame 111 about the virtual rotation axis. Accordingly, the bumper 112b may be rotatably provided integrally with the flow fixing part with respect to the frame 111.

Body 110 includes handle 113. The handle 113 may be disposed at the rear side of the case 112.

The body 110 includes a battery inlet 114 for drawing out a battery. The battery input unit 114 may be disposed on the lower surface of the frame 111. The battery input unit 114 may be disposed at the rear side of the frame 111.

The body 110 includes a power switch 115 for turning on / off the power of the mobile robot 100. The power switch 115 may be disposed on the lower surface of the frame 111.

The body 110 includes a blade protector 116 covering the lower side of the central portion of the blade 131. The blade protector 116 is provided so that the blade of the centrifugal portion of the blade 131 is exposed but the center portion of the blade 131 is covered.

The body 110 includes a first opening and closing portion 117 that opens and closes a portion where the height adjusting portion 156 and the height display portion 157 are disposed. The first opening and closing part 117 is hinged to the case 112 and is provided to enable the opening and closing operations. The first opening and closing part 117 is disposed on the upper side surface of the case 112.

The first opening / closing part 117 is formed in a plate shape and covers the upper side of the height adjusting part 156 and the height display part 157 in the closed state.

The body 110 includes a second opening and closing portion 118 that opens and closes a portion where the display module 165 and the input unit 164 are disposed. The second opening and closing part 118 is hinged to the case 112 and is provided to enable the opening and closing operations. The second opening and closing portion 118 is disposed on the upper side of the case 112. The second opening and closing portion 118 is disposed behind the first opening and closing portion 117.

The second opening / closing part 118 is formed in a plate shape to cover the display module 165 and the input unit 164 in the closed state.

The openable angle of the second opening / closing portion 118 is preset to be smaller than the openable angle of the first opening / closing portion 117. Through this, even in the open state of the second opening and closing portion 118, the user can easily open the first opening and closing portion 117, and allows the user to easily operate the height adjustment unit 156. In addition, even in the open state of the second opening and closing portion 118, the user can visually check the contents of the height display unit 157.

For example, the openable angle of the first opening / closing part 117 may be provided to be about 80 to 90 degrees based on the closed state. For example, the openable angle of the second opening / closing part 118 may be provided to be about 45 to 60 degrees based on the closed state.

The first opening / closing part 117 is opened by the rear end being lifted upward from the front end, and the second opening / closing part 118 is opened by the rear end being lifted upward from the front end. Through this, the user can open and close the first opening and closing portion 117 and the second opening and closing portion 118 in the rear of the lawn mowing robot 100, which is a safe area even when the mowing robot 100 moves forward. In addition, the opening operation of the first opening and closing portion 117 and the opening operation of the second opening and closing portion 118 may be prevented from interfering with each other.

The first opening and closing portion 117 may be provided to be rotatable with respect to the case 112 about the rotation axis extending in the left and right directions from the front end of the first opening and closing portion 117. The second opening and closing portion 118 may be provided to be rotatable with respect to the case 112 about the rotation axis extending in the left and right directions from the front end of the second opening and closing portion 118.

The body 110 includes a first motor housing 119a for accommodating the first drive motor 123 (L) and a second motor housing for accommodating the second drive motor 123 (R). 119b). The first motor housing 119a may be fixed to the left side of the frame 111, and the second motor housing 119b may be fixed to the right side of the frame. The right end of the first motor housing 119a is fixed to the frame 111. The left end of the second motor housing 119b is fixed to the frame 111.

The first motor housing 119a is formed in a cylindrical shape that forms a height from side to side as a whole. The second motor housing 119b is formed in a cylindrical shape that forms a height from side to side as a whole.

The driving unit 120 includes a driving wheel 121 that is rotated by the driving force of the driving motor module 123. The driving unit 120 may include at least one pair of driving wheels 121 that are rotated by the driving force of the driving motor module 123. The drive wheel 121 includes a first wheel 121 (L) and a second wheel 121 (R) which are provided on the left and right so as to be rotatable independently of each other. The first wheel 121 (L) is disposed at the left side, and the second wheel 121 (R) is disposed at the right side. The first wheel 121 (L) and the second wheel 121 (R) are spaced apart from side to side. The first wheel 121 (L) and the second wheel 121 (R) are disposed below the rear side of the body 110.

The first wheel 121 (L) and the second wheel 121 (R) are each rotatably provided so that the body 110 can rotate and move forward with respect to the ground. For example, when the first wheel 121 (L) and the second wheel 121 (R) rotate at the same rotational speed, the body 110 may move forward with respect to the ground. For example, the rotation speed of the first wheel 121 (L) is faster than the rotation speed of the second wheel 121 (R) or the rotation direction of the first wheel 121 (L) and the second wheel 121. When the rotation directions of (R) are different from each other, the body 110 may rotate in relation to the ground.

The first wheel 121 (L) and the second wheel 121 (R) may be larger than the auxiliary wheel 125. An axis of the first driving motor 123 (L) may be fixed to the center of the first wheel 121 (L), and a second driving motor 123 (R) to the center of the second wheel 121 (R). The axis of) may be fixed.

The driving wheel 121 includes a wheel outer circumferential portion 121b in contact with the ground. For example, the wheel outer circumference 121b may be a tire. The wheel outer circumferential portion 121b may be provided with a plurality of protrusions for increasing friction with the ground.

The driving wheel 121 may include a wheel frame (not shown) that fixes the wheel outer circumference 121b and receives the power of the motor 123. The shaft of the motor 123 is fixed to the center of the wheel frame, it can receive a rotational force. The wheel outer portion 121b is disposed to surround the circumference of the wheel frame.

The drive wheel 121 includes a wheel cover 121a that covers the outer surface of the wheel frame. The wheel cover 121a is disposed in a direction opposite to the direction in which the motor 123 is disposed based on the wheel frame. The wheel cover 121a is disposed at the center of the wheel outer circumferential portion 121b.

The driving unit 120 includes a driving motor module 123 for generating a driving force, and includes a driving motor module 123 for providing a driving force to the driving wheel 121. The driving motor module 123 includes a first wheel. And a first driving motor 123 (L) for providing a driving force of 121 (L), and a second driving motor 123 (R) for providing a driving force of the second wheel 121 (R). The first driving motor 123 (L) and the second driving motor 123 (R) may be disposed to be spaced apart from side to side.The first driving motor 123 (L) may be arranged as the second driving motor 123 (L). R)) may be disposed on the left side.

The first driving motor 123 (L) and the second driving motor 123 (R) may be disposed under the body 110. The first driving motor 123 (L) and the second driving motor 123 (R) may be disposed at the rear portion of the body 110.

The first driving motor 123 (L) is disposed on the right side of the first wheel 121 (L), and the second driving motor 123 (R) is disposed on the left side of the second wheel 121 (R). Can be. The first driving motor 123 (L) and the second driving motor 123 (R) are fixed to the body 110.

The first driving motor 123 (L) may be disposed inside the first motor housing 119a so that the motor shaft protrudes to the left side. The second driving motor 123 (R) may be disposed in the second motor housing 119b so that the motor shaft protrudes to the right.

In the present embodiment, the first wheel 121 (L) and the second wheel 121 (R) are the rotation shafts of the first drive motor 123 (L) and the rotation shafts of the second drive motor 123 (R), respectively. Although directly connected to the first wheel 121 (L) and the second wheel 121 (R), parts such as a shaft may be connected, or by a gear or a chain, such as a motor (123 (L), 123 (R)) ) May be implemented to be transmitted to the wheels (121a, 120b).

The driving unit 120 may include an auxiliary wheel 125 supporting the body 110 together with the driving wheel 121. The auxiliary wheel 125 may be disposed in front of the blade 131. The auxiliary wheel 125 is a wheel that does not receive the driving force by the motor, and serves to support the body 110 with respect to the ground. The caster supporting the rotation axis of the auxiliary wheel 125 is coupled to the frame 111 so as to be rotatable about a vertical axis. The first auxiliary wheel 125 (L) disposed on the left side and the second auxiliary wheel 125 (R) disposed on the right side may be provided.

The work unit 130 is provided to perform a predetermined task. The working portion 130 is disposed on the body 110.

For example, the work unit 130 may be provided to perform a task such as cleaning or mowing. As another example, the work unit 130 may be provided to perform an operation such as transporting an object or finding an object. As another example, the work unit 130 may perform a security function for detecting an external intruder or a dangerous situation in the vicinity.

In the present embodiment, the work unit 130 is described as mowing the lawn, but the kind of work of the work unit 130 may be various examples, and need not be limited to the example of the present description.

The work unit 130 may include a blade 131 rotatably provided to mow the lawn. The work unit 130 may include a blade motor 132 that provides a rotational force of the blade 131.

The blade 131 is disposed between the driving wheel 121 and the auxiliary wheel 125. The blade 131 is disposed at the lower side of the body 110. The blade 131 is provided to be exposed from the lower side of the body 110. The blade 131 rotates about a rotation axis extending in the vertical direction to mow the lawn.

The blade motor 132 may be disposed in front of the first wheel 121 (L) and the second wheel 121 (R). The blade motor 132 is disposed below the central portion in the internal space of the body 110.

The blade motor 132 may be disposed at the rear side of the auxiliary wheel 125. The blade motor 132 may be disposed below the body 110. The rotational force of the motor shaft is transmitted to the blade 131 using a structure such as a gear.

The mobile robot 100 includes a battery (not shown) for supplying power to the driving motor module 123. The battery supplies power to the first driving motor 123 (L). The battery supplies power to the second driving motor 123 (R). The battery may supply power to the blade motor 132. The battery may provide power to the controller 190, the azimuth sensor 176, and the output unit 165. The battery may be disposed below the rear part in the internal space of the body 110.

The mobile robot 100 is provided to change the height of the blade 131 with respect to the ground, it is possible to change the mowing height of the grass. The mobile robot 100 includes a height adjusting unit 156 for changing a height of the blade 131 by the user. The height adjusting unit 156 may include a rotatable dial to change the height of the blade 131 by rotating the dial.

The mobile robot 100 includes a height display unit 157 that displays the level of the height of the blade 131. When the height of the blade 131 is changed according to the operation of the height adjusting unit 156, the height level displayed by the height display unit 157 is also changed. For example, the height display unit 157 may display the expected height value of the lawn after the mobile robot 100 mows to the current blade 131 height.

The mobile robot 100 includes a docking insertion unit 158 connected to the docking device 200 when the docking device 200 is docked. The docking inserting portion 158 is provided to be recessed to insert the docking connection portion 210 of the docking device 200. The docking insert 158 is disposed at the front of the body 110. By connecting the docking inserting portion 158 and the docking connecting portion 210, the accurate position can be guided when the mobile robot 100 is charged.

The mobile robot 100 may include a charging corresponding terminal 159 disposed at a position in contact with the charging terminal 211, which will be described later, while the docking insertion unit 158 is inserted into the docking connection unit 210. . The charging corresponding terminal 159 may include a pair of charging corresponding terminals 159a and 159b disposed at positions corresponding to the pair of charging terminals 211 (211a and 211b). The pair of charging corresponding terminals 159a and 159b may be disposed left and right with the docking insertion portion 158 interposed therebetween.

A terminal cover (not shown) may be provided to cover the docking insertion unit 158 and the pair of charging terminals 211, 211a and 211b so as to be opened and closed. When the mobile robot 100 runs, the terminal cover may cover the docking inserting portion 158 and the pair of charging terminals 211 (211a, 211b). When the mobile robot 100 is connected to the docking device 200, a terminal cover may be opened to expose the docking insertion unit 158 and a pair of charging terminals 211a and 211b.

Meanwhile, referring to FIGS. 5 and 6, the docking device 200 includes a docking base 230 disposed on the bottom, and a docking support part 220 protruding upward from the front portion of the docking base 230.

The docking base 230 defines a plane parallel to the horizontal direction. The docking base 230 has a plate shape in which the mobile robot 100 may be seated. The docking support 220 extends in the docking base 230 in a direction crossing the horizontal direction.

When the mobile robot 100 is charged, the docking connector 210 is inserted into the docking insertion unit 158. The docking connection portion 210 may protrude rearward from the docking support 220.

The docking connection portion 210 may have a thickness in the vertical direction smaller than the width in the left and right directions. The left and right width of the docking connection portion 210 may be formed to be narrower toward the rear side. As viewed from above, the docking connection 210 is trapezoidal in its entirety. The docking connection portion 210 is formed in a symmetrical shape. The rear portion of the docking connection portion 210 forms a free end, and the front portion of the docking connection portion 210 is fixed to the docking support portion 220. The rear portion of the docking connection portion 210 may be formed in a rounded shape.

When the docking connection unit 210 is completely inserted into the docking insertion unit 158, charging by the docking device 200 of the mobile robot 100 may be performed.

The docking device 200 includes a charging terminal 211 for charging the mobile robot 100. The charging terminal 211 and the charging corresponding terminal 159 of the mobile robot 100 are in contact with each other, so that power for charging may be supplied from the docking device 200 to the mobile robot 100.

The charging terminal 211 includes a contact surface facing the rear side, and the charging corresponding terminal 159 includes a contact corresponding surface facing the front side. When the contact surface of the charging terminal 211 and the contact corresponding surface of the charging corresponding terminal 159 contact each other, the power supply of the docking device 200 is connected to the mobile robot 100.

The charging terminal 211 may include a pair of charging terminals 211 (211a and 211b) forming a positive electrode and a negative electrode. The first charging terminals 211 and 211a are provided to contact the first charging corresponding terminal 159a, and the second charging terminals 211 and 211b are provided to contact the second charging corresponding terminal 159b.

The pair of charging terminals 211, 211a and 211b may be disposed with the docking connection portion 210 interposed therebetween. The pair of charging terminals 211, 211a and 211b may be disposed at left and right sides of the docking connection portion 210.

The docking base 230 includes a wheel guard 232 on which the driving wheel 121 and the auxiliary wheel 125 of the mobile robot 100 are raised. The wheel guard 232 includes a first wheel guard 232a for guiding the movement of the first auxiliary wheel 125 and a second wheel guard 232b for guiding the movement of the second auxiliary wheel 125. . An upper convex center base 231 is disposed between the first wheel guard 232a and the second wheel guard 232b. The docking base 230 includes a slip prevention part 234 for preventing sliding of the first wheel 121 (L) and the second wheel 121 (R). The slip prevention part 234 may include a plurality of protrusions protruding upward.

On the other hand, the boundary wire 290 for setting the boundary of the travel area of the mobile robot 100 may be implemented. The boundary wire 290 may generate a predetermined boundary magnetic field signal. The mobile robot 100 may detect the boundary magnetic field signal and recognize the boundary of the driving area set by the boundary wire 290.

For example, a predetermined electric current may flow along the boundary wire 290 to generate a magnetic field around the boundary wire 290. Here, the generated magnetic field is a boundary magnetic field signal. By allowing an alternating current having a predetermined change pattern to flow through the boundary wire 290, the magnetic field generated around the boundary wire 290 may change with a predetermined change pattern. The mobile robot 100 may recognize that it is close to the boundary wire 290 within a predetermined distance by using the magnetic field signal detection unit 177 that detects a magnetic field, and thereby, within the boundary set by the boundary wire 290. You can only drive in the driving area.

The boundary wire 290 may generate a magnetic field in a direction distinct from the reference wire 270. For example, the boundary wire 290 may be disposed substantially parallel to the horizontal plane. Here, substantially parallel may include parallel in an engineering sense including complete parallelism of mathematical meaning and a certain level of error.

The docking device 200 may serve to send a predetermined current to the boundary wire 290. The docking device 200 may include a wire terminal 250 that is connected to the boundary wire 290. Both ends of the boundary wire 290 may be connected to the first wire terminal 250a and the second wire terminal 250b, respectively. Through the connection of the boundary wire 290 and the wire terminal 250, a power source of the docking device 200 may supply a current to the boundary wire 290.

The wire terminal 250 may be disposed in front of the docking device 200. That is, the wire terminal 250 may be disposed on the side opposite to the direction in which the docking connection portion 210 protrudes. The wire terminal 250 may be disposed on the docking support 220. The first wire terminal 250a and the second wire terminal 250b may be spaced apart from left and right.

The docking device 200 may include a wire terminal opening and closing unit 240 to cover the wire terminal 250 to be opened and closed. The wire terminal opening and closing unit 240 may be disposed at the front side F of the docking support unit 220. Wire terminal opening and closing unit 240 is hinged to the docking support portion 220, it may be set in advance to open and close the operation through the rotation operation.

On the other hand, the reference wire 270 for recognizing the position of the docking device 200 to the mobile robot 100 may be implemented. The reference wire 270 may generate a predetermined reference magnetic field signal. The mobile robot 100 detects the reference magnetic field signal, recognizes the position of the docking device 200 by the reference wire 270, and when a return command or charging is required, moves to the recognized docking device 200 position. You can return. Such a position of the docking device 200 may be a reference point of driving of the mobile robot 100.

The reference wire 270 is formed of a conductive material through which electricity can flow. The reference wire 270 may be connected to a power source of the docking device 200 which will be described later.

For example, a predetermined current may flow along the reference wire 270 to generate a magnetic field around the reference wire 270. Here, the generated magnetic field is a reference magnetic field signal. An alternating current having a predetermined change pattern flows in the reference wire 270 so that a magnetic field generated around the reference wire 270 may change with a predetermined change pattern. The mobile robot 100 may recognize that the magnetic field signal detecting unit 177 detects a magnetic field and approaches the reference wire 270 within a predetermined distance, and thereby the docking device set by the reference wire 270. It may return to the position of 200.

Reference wire 270 may generate a magnetic field in a direction distinct from boundary wire 290. For example, the reference wire 270 may extend in a direction crossing the horizontal direction. Preferably, the reference wire 270 may extend in the vertical direction perpendicular to the horizontal direction.

The reference wire 270 may be installed in the docking device 200. The reference wire 270 may be disposed at various locations in the docking device 200.

7A is a view of the reference wire 270 according to the first embodiment of the present invention from the rear, and FIG. 7B is a view of the reference wire 270 according to the first embodiment of the present invention from one side.

6, 7A, and 7B, the reference wire 270 according to the first embodiment may be disposed inside the docking support 220. Since the reference wire 270 has to generate a magnetic field signal in the horizontal direction, the reference wire 270 is disposed to extend in the vertical direction. If the reference wire 270 is disposed on the docking base 230, there is a disadvantage that the thickness of the docking base 230 is very thick.

The reference wire 270 may include a vertical portion 271 extending at least in a direction crossing the horizontal direction. The vertical portion 271 may be disposed substantially in parallel with the vertical direction UD. The vertical portion 271 may be formed to be rounded with curvature while extending in a direction crossing the horizontal plane.

The direction of electricity input from the vertical portion 271 of the reference wire 270 may proceed from the top to the bottom direction, or may proceed from the bottom to the top direction.

A plurality of vertical portions 271 may be arranged to generate a predetermined reference magnetic field signal in the entire peripheral area of the docking device 200. For example, the vertical portion 271 may include a first vertical portion 271a and a second vertical portion 271b spaced apart from the first vertical portion 271a. Of course, the vertical portion 271 may include only one of the first vertical portion 271a and the second vertical portion 271b.

The first vertical portion 271a and the second vertical portion 271b are spaced apart in the left and right directions. The first vertical portion 271a may be disposed adjacent to the right end of the docking support 220, and the second vertical portion 271b may be disposed adjacent to the left end of the docking support 220. When the first vertical portion 271a and the second vertical portion 271b are disposed adjacent to both ends of the docking support 220, an area where a magnetic field is generated by the reference wire 270 is maximized around the docking device 200. Will be expanded.

The traveling directions of the currents of the first vertical portion 271a and the second vertical portion 271b may be the same or different. Preferably, when electricity flows from the upper portion to the lower portion of the first vertical portion 271a, the second vertical portion 271b may flow from the lower portion to the upper direction.

In order to reinforce the strength of the electric fields of the first vertical portion 271a and the second vertical portion 271b, a plurality of the first vertical portion 271a and the second vertical portion 271b may be provided. The first vertical portion 271a and the second vertical portion 271b may be a collection of multiple wires, and the first vertical portion 271a and the second vertical portion 271b may have a constant arrangement. Of course, a single number of the first vertical portion 271a and the second vertical portion 271b may be disposed.

For example, the plurality of first vertical portions 271a are arranged in rows along a line extending in the front-back direction, and the plurality of second vertical portions 271b are arranged in rows along a line extending in the front-back direction. Can be.

When the plurality of first vertical portions 271a and the second vertical portions 271b are disposed at both ends in the left and right directions of the docking support 220 and arranged in rows in the front-rear direction, the plurality of first vertical portions 271a ) And the charging terminal 211 and the docking connection portion 210 may be disposed between the second vertical portion 271b. When the charging terminal 211 and the docking connection portion 210 are disposed between the plurality of first vertical portions 271a and the second vertical portion 271b, the configurations of the charging terminal 211 and the docking connection portion 210 are not changed. There is an advantage in that the reference wire 270 can be placed.

The plurality of first vertical portions 271a and the second vertical portions 271b may be electrically connected to each other, or may be supplied with electricity from a separate power source. The docking device 200 may serve to send a predetermined current to the reference wire 270. The docking device 200 may include a wire terminal 250 connected to the reference wire 270. Both ends of the reference wire 270 may be connected to the first wire terminal 250a and the second wire terminal 250b, respectively. Through the connection of the reference wire 270 and the wire terminal 250, the power supply of the docking device 200 may supply a current to the reference wire 270.

Specifically, both ends of the plurality of first vertical portions 271a are connected to the first wire terminal 250a and the second wire terminal 250b, respectively, and both ends of the plurality of second vertical portions 271b are respectively the first ends. It may be connected to the wire terminal 250a and the second wire terminal 250b.

8A is a view of the reference wire 270 according to the second embodiment of the present invention from the rear, and FIG. 8B is a view of the reference wire 270 according to the second embodiment of the present invention from one side.

The reference wire 270 according to the second embodiment may further include a horizontal portion 273 as compared with the first embodiment. The reference wire 270 of the second embodiment may have a structure in which the first vertical portion 271a and the second vertical portion 271b are connected to each other to receive power from one power source. Hereinafter, the differences from the first embodiment will be mainly described, and the configuration without special description will be regarded as the same as the first embodiment.

8A and 8B, the horizontal portion 273 of the reference wire 270 extends in a direction intersecting with the vertical portion 271, and defines the first vertical portion 271a and the second vertical portion 271b. Connect. The horizontal portion 273 may be disposed substantially in parallel with the horizontal direction.

The horizontal portion 273 includes a first horizontal portion 273a connecting the lower end and an upper end of the second vertical portion 271b, and a first vertical portion 271a connected to the lower end of the first vertical portion 271a. Two horizontal portions 273b. Of course, the horizontal portion 273 may include only the first horizontal portion 273a of the first vertical portion 271a and the second vertical portion 271b. The point where the horizontal portion 273 and the vertical portion 271 are connected may be bent with curvature.

The first horizontal portion 273a is disposed adjacent the upper end of the docking support 220, and the second horizontal portion 273b is disposed adjacent the lower end of the docking support 220. The charging terminal 211 or / and the docking connection 210 may be disposed between the first horizontal portion 273a and the second horizontal portion 273b. Therefore, even if the 1st horizontal part 273a and the 2nd horizontal part 273b are arrange | positioned, it does not need to change another structure.

The horizontal portion 273 electrically connects the first horizontal portion 273a and the second horizontal portion 273b spaced apart from each other, such that a reference magnetic field signal is generated in the plurality of vertical portions 271 by one power source. Specifically, when the reference wire 270 includes the first horizontal portion 273a, the first vertical portion 271a, and the second vertical portion 271b, the lower end of the first vertical portion 271a may be the first wire. The lower end of the second vertical portion 271b may be connected to the second wire terminal 250b.

As another example, when the reference wire 270 includes the first horizontal portion 273a, the second horizontal portion 273b, the first vertical portion 271a and the second vertical portion 271b, the second horizontal portion ( A left end of 273b may be connected to the first wire terminal 250a, and a lower end of the second vertical portion 271b may be connected to the second wire terminal 250b.

In order to reinforce the strength of the electric fields of the first vertical portion 271a and the second vertical portion 271b, when the plurality of the first vertical portion 271a and the second vertical portion 271b are each provided with a plurality of horizontal portions ( 273 may also be provided in plurality.

The first vertical portion 271a, the second vertical portion 271b and the horizontal portion 273 may be a collection of several wires, and the first vertical portion 271a, the second vertical portion 271b and the horizontal portion ( 273 may have a constant arrangement.

For example, as shown in FIG. 8B, the plurality of first vertical portions 271a are arranged in rows along a line extending in the front and rear directions, and the plurality of second vertical portions 271b extend the lines extending in the front and rear directions. The plurality of first horizontal portions 273a may be arranged along a row, and may connect upper ends of the plurality of first vertical portions 271a to upper ends of the plurality of second vertical portions 271b, respectively. The two horizontal portions 273b may be connected to lower ends of the plurality of first vertical portions 271a and may extend in the direction of the second vertical portions 271b. Therefore, the reference wire 270 may be disposed to surround the charging terminal 211 and the docking connection portion 210 when viewed from the front.

As another example, the reference wire 270 may define at least a portion of a rectangle around a reference axis parallel to the horizontal direction, and each corner may be rounded. The shape of the rectangle may be repeated in a spiral form from the front to the rear direction. The reference axis extends in the front-rear direction. That is, the plurality of horizontal portions 273 and the plurality of vertical portions 271 of the reference wire 270 are wound around a reference axis to form one wire row, and the wire row above. Plural pieces may be arranged in this reference axis direction.

As another example, the reference wire 270 may define at least a portion of an ellipse around a reference axis parallel to the horizontal direction. In this case, two focal points of the ellipse defined by the reference wire 270 may be disposed on a reference axis parallel to the horizontal direction.

9 is a rear view of the reference wire 270-2 according to the third embodiment of the present invention.

Compared with the second embodiment, the reference wire 270-2 according to the third embodiment has a difference in the arrangement of the plurality of horizontal portions 273 and the plurality of vertical portions 271. Hereinafter, the differences from the second embodiment will be mainly described, and the configuration without special description will be regarded as the same as the second embodiment.

The reference wire 270 of the third embodiment may have a structure in which the first vertical portion 271a and the second vertical portion 271b are connected to each other to receive power from one power source.

Referring to FIG. 9, the reference wire 270 of the third embodiment defines at least a portion of a rectangle around a reference axis parallel to the horizontal direction. That is, the plurality of horizontal portions 273 and the plurality of vertical portions 271 of the reference wire 270 are wound around a reference axis to form one wire row, and the wire row above. A plurality of columns can be defined in this outward direction.

Specifically, the plurality of first vertical portions 271a are arranged in a row along a line extending in the left and right directions, and the plurality of second vertical portions 271b are arranged in a row along a line extending in the left and right directions. The plurality of first horizontal parts 273a may be arranged in a row along a line extending in the vertical direction, and the plurality of second horizontal parts 273b may be arranged in a row along a line extending in the vertical direction. . All of the first vertical portions 271a, the second vertical portions 271b, the first horizontal portions 273a and the second horizontal portions 273b may be formed of one wire.

10A is a view of the reference wire 270-3 according to the fourth embodiment of the present invention from one side, and FIG. 10B is a view of the reference wire 270-3 according to the fourth embodiment of the present invention from the rear side. to be.

Compared to the first embodiment, the reference wire 270-3 according to the fourth embodiment has a difference in the position of the first vertical portion 271c and the second vertical portion 271d. Hereinafter, the differences from the first embodiment will be mainly described, and the configuration without special description will be regarded as the same as the first embodiment.

The first vertical portion 271c and the second vertical portion 271d of the present embodiment are disposed to be spaced apart in the front-rear direction. The first vertical portion 271c may be disposed adjacent to the rear end of the docking support 220, and the second vertical portion 271d may be disposed adjacent to the front end of the docking support 220. When the first vertical portion 271c and the second vertical portion 271d are disposed adjacent to both front and rear ends of the docking support 220, an area in which a magnetic field is generated by the reference wire 270 is moved around the docking device 200. It will expand as much as possible.

The plurality of first vertical portions 271c may be arranged in rows along a line extending in the left and right directions, and the plurality of second vertical portions 271d may be arranged in rows along a line extending in the left and right directions.

11A is a view of the reference wire 270 according to the fifth embodiment of the present invention from one side, and FIG. 11B is a view of the reference wire 270 according to the fifth embodiment of the present invention from the rear.

Compared to the second embodiment, the reference wire 270 according to the fifth embodiment has a difference in the positions of the first and second vertical portions 271 and the first and second horizontal portions 273. Hereinafter, the differences from the second embodiment will be mainly described, and the configuration without special description will be regarded as the same as the second embodiment.

The reference wire 270 according to the fifth embodiment may define at least a portion of a quadrangle having a reference axis extending in a horizontal direction parallel to the horizontal direction.

11A and 11B, the first horizontal portion 273c is disposed adjacent the top of the docking support 220, and the second horizontal portion 273d is disposed adjacent the bottom of the docking support 220. The first vertical portion 271c is disposed adjacent to the rear end of the docking support 220, and the second vertical portion 271d is disposed adjacent to the front end of the docking support 220.

The plurality of first vertical portions 271c are arranged in rows along a line extending in the left and right directions, and the plurality of second vertical portions 271d are arranged in rows along a line extending in the left and right directions. The first horizontal portions 273c connect the upper ends of the plurality of first vertical portions 271c and the upper ends of the plurality of second vertical portions 271d, respectively, and the plurality of second horizontal portions 273d include the plurality of second horizontal portions 273d. It may be connected to the lower end of the first vertical portion 271c and extend in the direction of the second vertical portion 271d.

As another example, the reference wire 270 defines a quadrangle centering on a reference axis parallel to the horizontal direction, and the shape of the quadrangle may be repeated in a spiral form from left to right. The reference axis extends in the left and right directions. That is, the plurality of horizontal portions 273 and the plurality of vertical portions 271 of the reference wire 270 are wound around a reference axis to form one wire row, and the wire row above. Plural pieces may be arranged in this reference axis direction.

12 is a view of the reference wire 270 according to the sixth embodiment of the present invention from one side.

Compared with the third embodiment, the reference wire 270 according to the sixth embodiment has a difference in the positions of the first and second vertical portions 271d and the first and second horizontal portions 273d. Hereinafter, the differences from the third embodiment will be mainly described, and the configuration without special description will be regarded as the same as the third embodiment.

The reference wire 270 according to the fifth embodiment may have a structure in which the first vertical portion 271c and the second vertical portion 271d are connected to each other to receive power from one power source.

Referring to FIG. 12, the reference wire 270 of the sixth embodiment defines at least a portion of a rectangle around a reference axis parallel to the left and right directions. That is, the plurality of horizontal portions 273 and the plurality of vertical portions 271 of the reference wire 270 are wound around a reference axis to form one wire row, and the wire row above. You can define multiple columns in this outward direction.

Specifically, the plurality of first vertical portions 271c are arranged in a row along a line extending in the front-back direction, and the plurality of second vertical portions 271d are arranged in a row along a line extending in the front-back direction. The plurality of first horizontal parts 273c may be arranged in a row along a line extending in the vertical direction, and the plurality of second horizontal parts 273d may be arranged in a row along a line extending in the vertical direction. . All the first vertical portions 271c, the second vertical portions 271d, the first horizontal portions 273c and the second horizontal portions 273d may be formed of one wire.

FIG. 13 is a block diagram illustrating a control relationship of the mobile robot 100 of FIG. 1.

Meanwhile, referring to FIG. 13, the mobile robot 100 may include an input unit 164 for inputting various instructions of a user. The input unit 164 may include a button, a dial, a touch type display, and the like. The input unit 164 may include a microphone (not shown) for speech recognition. In this embodiment, a plurality of buttons are arranged on the upper side of the case 112.

The mobile robot 100 may include an output unit 165 for outputting various types of information to the user. The output unit 165 may include a display module for outputting visual information. The output unit 165 may include a speaker (not shown) that outputs auditory information.

In the present embodiment, the display module 165 outputs an image in the upward direction. The display module 165 is disposed above the case 112. For example, the display module 165 may include a thin film transistor liquid-crystal display (LCD) panel. In addition, the display module 165 may be implemented using various display panels, such as a plasma display panel or an organic light emitting diode display panel.

The mobile robot 100 includes a storage unit 166 that stores various kinds of information. The storage unit 166 records various kinds of information necessary for the control of the mobile robot 100 and may include a volatile or nonvolatile recording medium. The storage unit 166 may store information input from the input unit 164 or received by the communication unit 167. The storage unit 166 may store a program for controlling the mobile robot 100.

The mobile robot 100 may include a communication unit 167 for communicating with an external device (such as a terminal), a server, a router, and the like. For example, the communication unit 167 may be implemented to wirelessly communicate with a wireless communication technology such as IEEE 802.11 WLAN, IEEE 802.15 WPAN, UWB, Wi-Fi, Zigbee, Z-wave, Blue-Tooth and the like. The communication unit may vary depending on what the communication method of the other device or server to communicate with.

The mobile robot 100 includes a sensing unit 170 that detects information related to a state of the mobile robot 100 or an environment outside the mobile robot 100. The sensing unit 170 may include a remote signal detector 171, an obstacle detector 172, a rain detector 173, a case flow sensor 174, a bumper sensor 175, an azimuth sensor 176, and a magnetic field signal. The detector 177, the GPS detector 178, and the cliff detector 179 may be included.

The remote signal detector 171 receives an external remote signal. When a remote signal is transmitted by an external remote controller, the remote signal detector 171 may receive the remote signal. For example, the remote signal may be an infrared signal. The signal received by the remote signal detector 171 may be processed by the controller 190.

A plurality of remote signal detection unit 171 may be provided. The plurality of remote signal detectors 171 may include a first remote signal detector 171a disposed at the front of the body 110 and a second remote signal detector 171b disposed at the rear of the body 110. ) May be included. The first remote signal detector 171a receives a remote signal transmitted from the front side. The second remote signal detector 171b receives a remote signal transmitted from the rear side.

The obstacle detecting unit 172 detects an obstacle around the mobile robot 100. The obstacle detecting unit 172 may detect an obstacle in front of the vehicle. A plurality of obstacle detection units 172a, 172b, and 172c may be provided. The obstacle detecting unit 172 is disposed on the front surface of the body 110. The obstacle detecting unit 172 is disposed above the frame 111. The obstacle detecting unit 172 may include an infrared sensor, an ultrasonic sensor, an RF sensor, a geomagnetic sensor, a position sensitive device (PSD) sensor, and the like.

The rain detector 173 detects rain when it rains in an environment in which the mobile robot 100 is placed. The rain detector 173 may be disposed in the case 112.

The case flow sensor 174 senses the flow of the case connection. When the case 112 is lifted upward with respect to the frame 111, the case connection part flows upward, and the case flow sensor 174 detects the lift of the case 112. When the case flow sensor 174 detects the lifting of the case 112, the controller 190 may control to stop the operation of the blade 131. For example, the case flow sensor 174 can detect this when a user raises the case 112 or when a significant obstacle lowers the case 112.

The bumper sensor 175 may detect rotation of the flow fixing part. For example, a magnet may be disposed on one side of the lower part of the flow fixing part, and a sensor for detecting a change in the magnetic field of the magnet may be disposed on the frame 111. When the flow fixing part rotates, the sensor senses a change in the magnetic field of the magnet, such that the bumper sensor 175 may sense the rotation of the flow fixing part. When bumper 112b collides with an external obstacle, the flow fixing part rotates integrally with bumper 112b. The bumper sensor 175 detects the rotation of the flow fixing part, thereby detecting the impact of the bumper 112b.

The sensing unit 20 includes an inclination information acquisition unit 180 for acquiring inclination information with respect to the inclination of the driving surface S. FIG. The inclination information acquisition unit 180 may acquire inclination information on the inclination of the running surface S on which the body 110 is mounted by detecting the inclination of the body 110. For example, the tilt information acquirer 180 may include a gyro sensing module 176a. The tilt information acquisition unit 180 may include a processing module (not shown) for converting the sensing signal of the gyro sensing module 176a into tilt information. The processing module may be implemented as an algorithm or a program as part of the controller 190. As another example, the tilt information acquisition unit 180 may include the magnetic field sensing module 176c to obtain tilt information based on the sensing information about the magnetic field of the earth.

The gyro sensing module 176a may acquire information about the rotational angular velocity of the horizontal plane of the body 30. In detail, the gyro sensing module 176a may detect rotational angular velocities around the X and Y axes that are parallel to each other and are orthogonal to the horizontal plane. Through the processing module, the rotational angular velocity with respect to the horizontal plane can be calculated by combining the rotational angular velocity with respect to the X axis (roll) and the rotational angular velocity with respect to the Y axis (pitch). The inclination value can be calculated by integrating the rotational angular velocity through the processing module.

The gyro sensing module 176a may detect a predetermined reference direction. The tilt information acquirer 180 may obtain tilt information based on the reference direction.

The azimuth sensor (AHRS) 176 may have a gyro sensing function. The azimuth sensor 176 may further include an acceleration sensing function. The azimuth sensor 176 may further include a magnetic field sensing function.

The azimuth sensor 176 may include a gyro sensing module 176a that performs gyro sensing. The gyro sensing module 176a may detect a horizontal rotation speed of the body 110. The gyro sensing module 176a may detect a tilting speed of the horizontal plane of the body 110.

The gyro sensing module 176a may have a gyro sensing function for three axes of a spatial coordinate system that are orthogonal to each other. The information collected by the gyro sensing module 176a may be roll, pitch, and yaw information. The processing module can calculate the direction angles of the cleaners 1 and 1 'by integrating a rolling, pitch, and yaw angular velocity.

The azimuth sensor 176 may include an acceleration sensing module 176b that performs acceleration sensing. The acceleration sensing module 176b may have an acceleration sensing function with respect to three axes of a spatial coordinate system orthogonal to each other. The predetermined processing module can calculate the speed by integrating the acceleration, and can calculate the moving distance by integrating the speed.

The azimuth sensor 176 may include a magnetic field sensing module 176c that performs magnetic field sensing. The magnetic field sensing module 176c may have a magnetic field sensing function with respect to three axes of a spatial coordinate system orthogonal to each other. The magnetic field sensing module 176c may detect a magnetic field of the earth.

The magnetic field signal detector 177 detects a boundary magnetic field signal of the boundary wire 290 and / or a reference magnetic field signal of the reference wire 270. The magnetic field signal detector 177 may be disposed at the front of the body 110. In this way, the boundary of the travel area can be detected early while moving forward, which is the main travel direction of the mobile robot 100. The magnetic field signal detector 177 may be disposed in the inner space of the bumper 112b.

The magnetic field signal detector 177 may include first magnetic field signal detectors 177 and 177a and second magnetic field signal detectors 177 and 177b spaced apart from the left and right. The first magnetic field signal detectors 177 and 177a and the second magnetic field signal detectors 177 and 177b may be disposed in front of the body 110.

For example, the magnetic field signal detector 177 includes a magnetic field sensor. The magnetic field signal detector 177 may be implemented using a coil to detect a change in the magnetic field. The magnetic field signal detector 177 may detect a magnetic field in at least the horizontal direction. The magnetic field signal detector 177 may detect magnetic fields of three axes orthogonal to each other in space.

In detail, the first magnetic field signal detectors 177 and 177a may detect magnetic field signals in a direction orthogonal to the second magnetic field signal detectors 177 and 177b. The first magnetic field signal detectors 177 and 177a and the second magnetic field signal detectors 177 and 177b detect magnetic field signals in directions perpendicular to each other, combine the detected magnetic field signal values, and are orthogonal to each other in space. It can detect the magnetic field about three axes.

The GPS detector 178 may be provided to detect a Global Positioning System (GPS) signal. The GPS detector 178 may be implemented using a PCB.

The cliff detecting unit 179 detects the presence of a cliff on the running surface. The cliff detector 179 may be disposed at the front of the body 110 to detect the presence of a cliff in front of the mobile robot 100.

The sensing unit 170 may include an opening / closing detector (not shown) that detects whether at least one of the first opening and closing portion 117 and the second opening and closing portion 118 is opened or closed. The open / close detection unit may be disposed in the case 112.

The mobile robot 100 includes a controller 190 for controlling autonomous driving. The controller 190 may process a signal from the sensing unit 170. The controller 190 may process a signal of the input unit 164.

The controller 190 may control driving of the first driving motor 123 (L) and the second driving motor 123 (R). The controller 190 may control the driving of the blade motor 132. The controller 190 may control the output of the output unit 165.

The controller 190 includes a main board (not shown) disposed in the internal space of the body 110. Main board means PCB.

The controller 190 may control autonomous driving of the mobile robot 100. The controller 190 may control the driving of the driving unit 120 based on the signal received from the input unit 164. The controller 190 may control the driving of the driving unit 120 based on the signal received from the sensing unit 170.

In addition, the controller 190 may process a signal of the magnetic field signal detector 177. In detail, when the reference magnetic field signal is detected by the magnetic field signal detector 177, the controller 190 may set a position where the reference magnetic field signal is detected as a reference point. When the return command is input to the reference point determined by the reference magnetic field signal, the controller 190 may cause the mobile robot 100 to travel to the reference point.

In addition, when the boundary magnetic field signal is detected by the magnetic field signal detector 177, the controller 190 may set a position at which the boundary magnetic field signal is detected as the boundary of the driving area. The controller 190 may drive the mobile robot 100 within the boundary of the travel area.

14 is a conceptual diagram in which the mobile robot 100 of the present invention recognizes a difference between the magnetic field of the reference wire 270 and the boundary wire 290.

When electricity is applied to the first vertical portion 271a and the second vertical portion 271b of the reference wire 270, the first vertical portion 271a and the second vertical portion 271b are centered by the right hand rule. Magnetic fields BA1 and BA2 are generated along the circular orbit. The magnetic fields generated in the first vertical portion 271a and the second vertical portion 271b are in the horizontal direction.

When electricity is applied to the boundary wire 290, the magnetic field BB is generated along a circular trajectory around the boundary wire 290 based on the right hand rule. The magnetic field generated by the boundary wire 290 is a vertical direction which is distinct from the magnetic field direction of the reference wire 270.

100: mobile robot 110: body
120: running part 130: working part
170: sensing unit 180: gradient information acquisition unit
190: control unit 200: docking device
270: reference wire 290: boundary wire
271: horizontal part

Claims (20)

A docking base defining a plane parallel to the horizontal direction;
A docking support extending from the docking base in a direction crossing the horizontal direction; And
Including a conductive reference wire,
The reference wire,
And a vertical portion extending at least in a direction crossing the horizontal direction. The method of claim 1,
The reference wire,
And a horizontal portion extending in a direction crossing the vertical portion. The method of claim 1,
The vertical portion,
The first vertical portion,
And a second vertical portion disposed spaced apart from the first vertical portion. The method of claim 3,
And the first vertical portion and the second vertical portion are spaced apart in the front-rear direction. The method of claim 4, wherein
The first vertical portion and the second vertical portion include a plurality;
The plurality of first vertical portions are disposed along a line extending in the left and right directions,
The plurality of second vertical portions are disposed along a line extending in the left and right directions. The method of claim 3,
And the first vertical portion and the second vertical portion are spaced apart in the left and right directions. The method of claim 5,
The first vertical portion and the second vertical portion include a plurality;
The plurality of first vertical portions are disposed along a line extending in the front-rear direction,
And the plurality of second vertical portions are disposed along a line extending in the front-rear direction. The method of claim 1,
The reference wire,
A docking device defining at least a portion of a rectangle about a reference axis parallel to the horizontal direction. The method of claim 8,
And the reference axis extends in the front-rear direction. The method of claim 8,
The docking device extends in the horizontal direction. The method of claim 1,
And the reference wire is disposed inside the docking support. The method of claim 1,
A charging terminal disposed on the docking support part to supply power to the mobile robot,
And the reference wire is disposed to surround the charging terminal. The method of claim 1,
A docking connection inserted into the mobile robot and protruding rearward from the docking support;
And the reference wire is disposed to surround the docking connection. A body forming an appearance;
A driving unit which moves the body with respect to a driving surface;
A work part disposed on the body and provided to perform a predetermined task;
It includes a magnetic field signal detector for sensing the boundary magnetic field signal and the reference magnetic field signal generated outside the mobile robot,
And the reference magnetic field signal comprises a magnetic field in a horizontal direction. The method of claim 14,
The magnetic field signal detector is a mobile robot for detecting the magnetic field for three axes orthogonal to each other in space. The method of claim 14,
And a controller configured to set a position at which the reference magnetic field signal is detected as a reference point when the reference magnetic field signal is detected by the magnetic field signal detector. The method of claim 16,
The boundary magnetic field signal comprises a vertical magnetic field,
The controller further includes a controller configured to set a position at which the boundary magnetic field signal is detected as a boundary of a driving area when the boundary magnetic field signal is detected by the magnetic field signal detector. The method of claim 14,
The magnetic field signal detector,
A mobile robot comprising a first magnetic field signal detector and a second magnetic field signal detector disposed to be spaced apart from each other on the front left and right of the body. The method of claim 18,
And the first magnetic field signal detector detects a magnetic field signal in a direction orthogonal to the second magnetic field signal detector. A mobile robot and a docking device to which the mobile robot is docked and charged,
The mobile robot,
A body forming an appearance;
A driving unit which moves the body with respect to a driving surface;
A work part disposed on the body and provided to perform a predetermined task;
It includes a magnetic field signal detector for sensing the boundary magnetic field signal and the reference magnetic field signal generated outside the mobile robot,
The docking device,
A docking base defining a plane parallel to the horizontal direction;
A docking support extending from the docking base in a direction crossing the horizontal direction; And
A reference wire for electrically conducting the reference magnetic field signal,
The reference wire,
And a vertical portion extending at least in a direction crossing the horizontal direction.

Images