KR20200072276A - Lawn mover robot system and controlling method for the same - Google Patents

Abstract

The present invention relates to a moving robot system and a control method of a moving robot system, wherein the moving robot system allows a moving robot to set an operation area in accordance with a predetermined design through a terminal to perform driving and weeding motions in accordance with a predetermined standard in the predetermined area. To this end, the moving robot system includes: the terminal displaying a control screen with respect to operation control of the moving robot; and the moving robot operated by responding to the operation of the control screen.

Description

Mobile robot system and control method of mobile robot system {LAWN MOVER ROBOT SYSTEM AND CONTROLLING METHOD FOR THE SAME}

The present invention relates to a mobile robot system for autonomous driving in a driving area and a control method for the mobile robot system.

2. Description of the Related Art In general, a mobile robot is a device that automatically performs a predetermined operation while driving in a predetermined area without user intervention. The mobile robot detects an obstacle installed in the zone and approaches or avoids the obstacle to perform an operation.

Such a mobile robot may include a cleaning robot that performs cleaning while driving in the area, as well as a mobile robot that mows the grass on the bottom surface of the area. In general, the mobile robot device is a passenger-type device for mowing the lawn or mowing the grass while the user boards and moves according to the user's driving, and the work-behind type or hand type for mowing the lawn while the user manually drags or slides and moves. There is a device. Such a mobile robot device moves by direct manipulation of the user, and has a hassle of operating the user's direct device by mowing the lawn. Accordingly, a mobile robot-type mobile robot device having a means for mowing the lawn has been studied.

Since the mobile robot for mowing the lawn (mowing the lawn) operates outdoors instead of indoors, it travels over a larger area than a mobile robot driving indoor environment. For indoors, the ground is monotonous, and the factors such as terrain/property affecting driving are limited, but for outdoor, it is an open space, so factors affecting driving are varied and also influenced by terrain. The mobile robot driving in such an outdoor environment can autonomously drive the driving area and cut the grass. Due to the nature of the wide outdoor environment, it is difficult to mow the entire lawn state equally, and weeding is made according to the user's needs/expectations. There were limits that were difficult to lose. For example, it has been difficult to intensively weed an area desired by the user or to mow the turf condition of the area where the weeding is performed according to the user's request.

On the other hand, in U.S. Patent Publication No. 2017/0344012A1 (published on November 30, 2017) (hereinafter referred to as prior art), the driving area is divided into one or more sections, and lawn mowing is performed according to the divided sections. Although the robot has been disclosed, the lawn mowing robot disclosed in these prior art documents merely performs a weeding operation according to the division of a section, and a method for weeding the grass in the driving area in a form desired by the user is not presented, so the user needs / We have not suggested performing a weeding operation to meet expectations.

In other words, in the conventional mobile robot technology for lawn mowing, a technique for weeding grass in a wide outdoor environment according to a user's needs/expectations has not been proposed, thereby limiting the satisfaction of the user, usability, utility and usability of the lawn mower robot. Followed. In addition, due to these limitations, it is difficult to diversify technologies related to driving control, work method, and work performance control of the mobile robot.

The problem to be solved by the present invention is to improve the limitations of the prior art as described above.

Specifically, it is intended to provide a mobile robot system and a control method of the mobile robot system capable of designing the weeding state of the driving area.

In addition, it is intended to provide a mobile robot system and a control method of a mobile robot system capable of weeding grass in the driving area so that a design according to a user's request is visually displayed on the driving area.

The mobile robot system and the control method of the mobile robot system according to the present invention for solving the above-described problems are solved means for cutting a lawn while a specified area is specified through a terminal and traveling along a specified area Is done.

Specifically, by designating an operating area of the mobile robot through a terminal controlling the mobile robot, the mobile robot travels the designated area according to a certain standard and cuts the grass, thereby in response to a user's request through the weed state of the designated area. Make the design visible.

That is, the control method of the mobile robot system and the mobile robot system according to the present invention is that the mobile robot sets an operation area according to a design specified through a terminal and performs driving and weeding operations according to a certain standard in the set area As a solution.

Through this solution, the mobile robot system and the control method of the mobile robot system according to the present invention can perform a driving and weeding operation according to a certain criterion in a set area, thereby designing a turf state on the driving area. You will solve the same problem.

Technical features as described above, the mobile robot system and the control method of the mobile robot system according to the present invention as described above, a lawn mowing robot, a control method of a lawn mowing robot, a control means of a lawn mowing robot, a lawn mowing robot system, The control system of the lawn mowing robot and the method of controlling the lawn mowing robot may be applied and implemented, and the present specification provides an embodiment of the mobile robot system and the control method of the mobile robot system using the above technical features as a problem solving means. to provide.

The mobile robot system according to the present invention using the above technical features as a problem solving means is a mobile robot system for cutting grass in a driving area, and a terminal and a control screen for displaying a control screen for motion control of the mobile robot When including the mobile robot operating in response to the operation of, and performing a design mode for designing the driving area, the terminal displays a map screen for designating a design to be displayed on the driving area on the control screen. In response, the mobile robot sets a design area according to a design specified on the map screen, and travels the design area according to a predetermined operation criterion to cut grass.

In addition, the control method of the mobile robot system according to the present invention using the above technical features as a problem solving means includes: a terminal displaying a control screen for motion control of the mobile robot and operating in response to manipulation of the control screen A control method of a mobile robot system including a mobile robot, displaying a map screen for designating a design to be displayed on the driving area on the control screen, and displaying the driving area according to an operation input on the map screen. The step of designing a to-be-designated step, setting a design area according to a design specified on the map screen, and cutting the grass while driving the design area according to a predetermined operation criterion.

In the mobile robot system and the control method of the mobile robot system according to the present invention, an operation area is designated through a terminal, and the grass can be designed by designing a grass state of the driving area by cutting the grass while driving the designated area according to a predetermined standard. There is.

In addition, the control method of the mobile robot system and the mobile robot system according to the present invention has an effect of mowing the grass in the driving area so that the design according to the user's request is visually displayed on the driving area.

As a result, the mobile robot system and the control method of the mobile robot system according to the present invention can not only improve the limitations of the prior art, but also increase the usability, efficiency, utility, and usability of the mobile robot technology field for lawn mowing. It has the effect.

1A is a conceptual diagram showing a driving principle of a mobile robot system according to the present invention.
1B is a conceptual diagram showing signal flow between devices for determining a position of a mobile robot system according to the present invention.
2 is a conceptual diagram showing an embodiment of a driving area of a mobile robot according to the present invention.
Figure 3a is a block diagram showing an embodiment of a mobile robot according to the present invention a.
Figure 3b is a block diagram showing an embodiment of a mobile robot according to the present invention b.
Figure 3c is a block diagram showing an embodiment of a mobile robot according to the present invention c.
4 is a configuration diagram showing a specific configuration of the mobile robot according to the present invention.
5 is an exemplary view showing an example of a control screen according to an embodiment of the mobile robot system according to the present invention.
6 is an exemplary view showing an example in which a map screen according to an embodiment of the mobile robot system according to the present invention is displayed.
Figure 7a is an exemplary view showing an example of a design according to an embodiment of the mobile robot system according to the present invention a.
Figure 7b is an exemplary view showing an example of a design according to an embodiment of the mobile robot system according to the present invention b.
Figure 7c is an exemplary view showing an example of a design according to an embodiment of the mobile robot system according to the present invention c.
Figure 7d is an exemplary view showing an example of a design according to an embodiment of the mobile robot system according to the present invention d.
Figure 8a is an exemplary view showing an example of design design according to an embodiment of the mobile robot system according to the present invention a.
Figure 8b is an exemplary view showing an example of design design according to an embodiment of the mobile robot system according to the present invention b.
9A is an exemplary view showing an example of a result of performing a design mode according to an embodiment of the mobile robot system according to the present invention;
9B is an exemplary view showing an example of a result of performing a design mode according to an embodiment of the mobile robot system according to the present invention;
10 is a flow chart showing the sequence of the control method of the mobile robot system according to the present invention.

Hereinafter, exemplary embodiments of a mobile robot system and a control method thereof according to the present invention will be described in detail with reference to the accompanying drawings, but the same or similar elements are assigned the same reference numbers regardless of the reference numerals and overlapped descriptions thereof. Will be omitted.

In addition, in the description of the technology disclosed in the present specification, when it is determined that the detailed description of the related known technology may obscure the gist of the technology disclosed herein, the detailed description will be omitted. In addition, it should be noted that the accompanying drawings are only for easily understanding the spirit of the technology disclosed in the present specification, and should not be interpreted as limiting the spirit of the technology by the accompanying drawings.

Hereinafter, an embodiment of a mobile robot system (hereinafter referred to as a system) according to the present invention will be described.

The robot may mean a robot capable of autonomous driving, a lawn mowing robot, a lawn mowing robot, a lawn mowing device, or a mobile robot for mowing.

The system 1 may be a system of a mobile robot (hereinafter referred to as a robot) for cutting grass in the driving area. Here, the robot may be a lawn mowing robot. That is, the system 1 may be a driving/controlling/operating system of a lawn mower robot cutting grass in the driving area.

The system 1, as shown in Figure 1a, the terminal 300 for displaying a control screen for the operation control of the robot 100 and the robot 100 operating in response to the operation of the control screen It includes. That is, the terminal 300 displays the control screen on which the control of the mobile robot 100 is controlled, on the display unit, and the mobile robot 100 displays the driving area in response to manipulation of the control screen. As it travels, it may be operated to cut grass in the driving area. The system 1 may further include one or more of a transmitter 200 and a GPS satellite 400 that transmit and receive signals with one or more of the robot 100 and the terminal 300.

In the system 1, the robot 100 may operate on a driving principle as shown in FIG. 1A, and signal flow between devices for position determination as shown in FIG. 1B may be achieved. Accordingly, the robot 100 may travel in the driving area 1000 as illustrated in FIG. 2.

The robot 100 may travel on its own within the travel area 1000 as illustrated in FIG. 2. The robot 100 may perform a specific operation while driving. Here, the specific operation may be an operation of cutting grass in the driving area 1000. The driving area 1000 is an area corresponding to a driving and operation target of the robot 100, and a predetermined outdoor/outdoor area may be formed as the driving area 1000. For example, a garden, a yard, etc. for the robot 100 to cut grass may be formed as the driving area 1000. A charging device 500 in which driving power of the robot 100 is charged may be installed in the driving area 1000, and the robot 100 is connected to the charging device 500 installed in the driving area 1000. The driving power may be charged by docking.

The driving area 1000 may be formed of a constant boundary area 1200 as illustrated in FIG. 2. The boundary area 1200 corresponds to a boundary line between the driving area 1000 and the outer area 1100, so that the robot 100 does not run out of the outer area 1100 within the boundary area 1200. Can be done. In this case, the boundary region 1200 may be formed of a closed curve or a closed loop. Also, in this case, the boundary region 1200 may be defined by a wire 1200 formed of a closed curve or a closed loop. The wire 1200 may be installed in an arbitrary region, and the robot 100 may travel within the traveling region 1000 of a closed curve formed by the installed wire 1200.

Also, one or more transmitters 200 may be disposed in the driving area 1000 as illustrated in FIG. 2. The transmitter 200 is a signal generating means for the robot 100 to transmit a signal for determining location information, and may be installed in a distributed manner within the driving area 1000. The robot 100 may receive a signal transmitted from the transmitter 200, determine a current location based on a reception result, or determine location information for the driving area 1000. In this case, the robot 100 may receive the signal through a receiving unit that receives the signal. The transmitter 200 may be preferably disposed in the vicinity of the boundary area 1200 in the driving area 1000. In this case, the robot 100 may determine the boundary area 1200 based on the placement position of the transmitter 200 disposed near the boundary area 1200.

The robot 100 communicates with the terminal 300 moving in a predetermined area as shown in FIG. 1A, and follows the position of the terminal 300 based on data received from the terminal 300 and then travels. can do. The robot 100 sets a virtual boundary in a predetermined area based on location information received from the terminal 300 or collected while driving by following the terminal 300, and is formed by the boundary. An area may be set as the driving area 1000. When the boundary area 1200 and the driving area 1000 are set, the robot 100 may travel within the driving area 1000 so as not to deviate from the boundary area 1200. In some cases, the terminal 300 may set the boundary area 1200 and transmit it to the robot 100. When the terminal 300 changes or expands an area, the changed information may be transmitted to the robot 100 to cause the robot 100 to travel in a new area. In addition, the terminal 300 may monitor the operation of the robot 100 by displaying data received from the robot 100 on a screen.

The robot 100 or the terminal 300 may receive the location information and determine the current location. The robot 100 and the terminal 300 determine a current location based on location information transmitted from the transmitter 200 disposed in the driving area 1000 or a GPS signal using the GPS satellite 400. can do. The robot 100 and the terminal 300 may desirably determine a current position by receiving signals transmitted from the three transmitters 200 and comparing the signals. That is, three or more transmitters 200 may be preferably disposed in the driving area 1000.

The robot 100 sets any one point in the driving area 1000 as a reference position, and calculates the position during movement as coordinates. For example, an initial starting position, a position of the charging device 500 may be set as a reference position, and a coordinate of the driving area 1000 may be set using a position of any one of the transmitters 200 as a reference position. Can be calculated. In addition, the robot 100 may determine the position while driving, after setting the initial position as the reference position during each operation. The robot 100 calculates the driving distance based on the number of revolutions, the rotational speed of the driving wheel 11, the rotational direction of the main body 10 based on the reference position, and accordingly the driving area 1000 ) Can determine the current location. The robot 100 may determine the location using any one point as a reference location, even when determining the location using the GPS satellite 400.

As illustrated in FIG. 1B, the robot 100 may determine a current location based on location information transmitted from the transmitter 200 or the GPS satellite 400. The location information may be transmitted in the form of a GPS signal, an ultrasonic signal, an infrared signal, an electromagnetic signal, or a UWB (Ultra Wide Band) signal. The signal transmitted from the transmitter 200 may be a UWB (Ultra Wide Band) signal. Accordingly, the robot 100 may receive a UWB (Ultra Wide Band) signal transmitted from the transmitter 200 and determine the current location based on this.

The robot 100 for cutting the grass while driving the driving area 1000 as described above, as shown in FIG. 3A, the main body 10, the driving unit 11 for moving the main body 10, the floor during driving It may include a control unit 20 for controlling the driving and weeding operation of the robot 100 by controlling the weeding unit 30 for mowing the lawn of the surface and the driving unit 11 and the weeding unit 30.

The robot 100 may be an autonomous driving robot including the main body 10 capable of cutting grass, provided to be movable as illustrated in FIGS. 3B and 3C. The main body 10 forms an external appearance of the robot 100, and is provided with one or more means for performing operations such as driving and cutting grass of the robot 100. The main body 10 is provided with the driving unit 11 capable of moving and rotating the main body 10 in a desired direction. The driving unit 11 may include a plurality of rotatable driving wheels, and each wheel may be individually rotated, so that the main body 10 can be rotated in a desired direction. More specifically, the driving unit 11 may include at least one main driving wheel 11a and an auxiliary wheel 11b. For example, the main body 10 may include two main driving wheels 11a, and the main driving wheel may be installed on the rear bottom surface of the main body 10.

The robot 100, the control unit 20 determines the current position of the main body 10, and controls the driving unit 11 to travel in the driving area 1000 to drive the main body 10 Controlling the body 10 while the main body 10 is driving the driving area 1000 so that the weeding part 30 cuts the grass on the bottom surface, thereby controlling the robot 100 to perform driving and weeding operations. can do.

The robot 100 operating as described above, as shown in FIG. 4, includes the main body 10, the driving unit 11, the weeding unit 30, and the control unit 20, the driving area You can cut grass while driving (1000). The robot 100 also includes a photographing unit 12, a communication unit 13, an output unit 14, a storage unit 15, a sensing unit 16, a receiving unit 17, an input unit 18, and an obstacle detection unit (19) may further include.

The driving unit 11 is a driving wheel provided on the lower portion of the main body 10 and can be driven to rotate to move the main body 10. That is, the driving unit 11 may be driven such that the main body 10 travels through the driving area 1000. The driving unit 11 may include at least one driving motor to move the main body 10 so that the robot 100 travels. For example, a left wheel driving motor for rotating the left wheel and a right wheel driving motor for rotating the right wheel may be included.

The driving unit 11 may transmit information on a driving result to the control unit 20 and receive control commands for operations from the control unit 20. The driving unit 11 may operate according to a control command received from the control unit 20. That is, the driving unit 11 may be controlled by the control unit 20.

The photographing unit 12 may be a camera that photographs the periphery of the main body 10. The photographing unit 12 may photograph the periphery of the main body 10 to generate image information on the driving area 1000 of the main body 10. The photographing unit 12 may photograph the front of the main body 10 to detect an obstacle around the main body 10 and on the driving area 1000. The photographing unit 12 is a digital camera, and may include an image sensor (not shown) and an image processing unit (not shown). An image sensor is a device that converts an optical image into an electrical signal, and is composed of a chip in which a plurality of photo diodes are integrated, and a pixel is an example of the photodiode. Charges are accumulated in each pixel by an image formed on the chip by light passing through the lens, and the charges accumulated in the pixels are converted into electrical signals (eg, voltage). As image sensors, CCD (Charge Coupled Device), CMOS (Complementary Metal Oxide Semiconductor), and the like are well known. In addition, the photographing unit 12 may include an image processing unit (DSP) that processes the photographed result and generates the image information.

The photographing unit 12 may transmit a photographing result to the control unit 20 and receive a control command for an operation from the control unit 20. The photographing unit 12 may operate according to a control command received from the control unit 20. That is, the photographing unit 12 may be controlled by the control unit 20.

The communication unit 13 may communicate with one or more communication target means for communicating with the robot 100. The communication unit 13 may communicate with the transmitter 200 and the terminal 300 in a wireless communication method. The communication unit 13 may also be connected to a predetermined network to communicate with an external server or the terminal 300 controlling the robot 100. When communicating with the terminal 300, the communication unit 13, transmits the generated map to the terminal 300, receives a command from the terminal 300, for the operating state of the robot 100 Data may be transmitted to the terminal 300. The communication unit 13 may transmit and receive data including communication modules such as Wi-Fi and WiBro as well as short-range wireless communication such as Zigbee and Bluetooth.

The communication unit 13 may transmit information on a communication result to the control unit 20 and receive control commands for operations from the control unit 20. The communication unit 13 may operate according to a control command received from the control unit 20. That is, the communication unit 13 may be controlled by the control unit 20.

The output unit 14 is an output means for outputting information on the state of the robot 100 in the form of voice, for example, may include a speaker. The output unit 14 may output an alarm related to the event when an event occurs during the operation of the robot 100. For example, when the driving power of the robot 100 is exhausted, an impact is applied to the robot 100, or an accident occurs on the driving area 1000, an alarm voice is transmitted to inform the user of this. Can be printed.

The output unit 14 may transmit information on an operation state to the control unit 20 and receive control commands for the operation from the control unit 20. The output unit 14 may operate according to a control command received from the control unit 20. That is, the output unit 14 may be controlled by the control unit 20.

The storage unit 15 is a storage means for storing data that can be read by a microprocessor, a hard disk drive (HDD), solid state disk (SSD), silicon disk drive (SDD), ROM, RAM, CD-ROM, magnetic tape, floppy disk, and optical data storage. The received signal may be stored in the storage unit 15, reference data for determining an obstacle may be stored, and obstacle information about the detected obstacle may be stored. In addition, the storage unit 15 includes control data for controlling the operation of the robot 100, data according to the operation mode of the robot 100, location information collected, the driving area 1000 and its boundaries ( 1200) may be stored.

The sensing unit 16 may include one or more sensors for sensing information on the posture and motion of the main body 10. The sensing unit 16 may include at least one of a tilt sensor sensing the movement of the main body 10 and a speed sensor sensing a driving speed of the driving unit 11. The tilt sensor may be a sensor that senses posture information of the main body 10. The tilt sensor may sense the posture information of the main body 10 by calculating the inclined direction and angle when the front, rear, left, and right directions of the main body 10 are tilted. The tilt sensor may be a tilt sensor, an acceleration sensor, or the like, and in the case of an acceleration sensor, any of a gyro type, an inertial type, and a silicon semiconductor type may be applied. In addition, various sensors or devices capable of sensing the movement of the main body 10 may be used. The speed sensor may be a sensor that senses a driving speed of a driving wheel provided in the driving unit 11. When the drive wheel rotates, the speed sensor may sense the rotation of the drive wheel to sense the drive speed.

The sensing unit 16 may transmit information on the sensing result to the control unit 20 and receive control commands for operations from the control unit 20. The sensing unit 16 may operate according to a control command received from the control unit 20. That is, the sensing unit 16 may be controlled by the control unit 20.

The receiver 17 may include a plurality of sensor modules for transmitting and receiving location information. The receiver 17 may include a position sensor module that receives the signal from the transmitter 200. The position sensor module may transmit a signal to the transmitter 200. When the transmitter 200 transmits a signal in one of ultrasonic, UWB (Ultra Wide Band), and infrared, the receiver 17 has a sensor module that transmits and receives ultrasonic, UWB, and infrared signals correspondingly. It may be provided. The receiver 17 may preferably include a UWB sensor. For reference, UWB radio technology means not using a radio frequency carrier (RF carrier), but using a very wide frequency range of several GHz or more in a baseband. UWB radio technology uses very narrow pulses of a few nanoseconds or a few picoseconds. Since the pulse emitted from the UWB sensor is several nano or several pico, the permeability is good, and accordingly, a very short pulse emitted from another UWB sensor can be received even if there is an obstacle around.

When the robot 100 travels following the terminal 300, the terminal 300 and the robot 100 each include a UWB sensor, and can transmit and receive UWB signals to each other through the UWB sensor. have. The terminal 300 transmits a UWB signal through a UWB sensor provided, and the robot 100 determines the location of the terminal 300 based on the UWB signal received through the UWB sensor, and the terminal 300 ). In this case, the terminal 300 operates as a transmitting side, and the robot 100 operates as a receiving side. When the transmitter 200 is equipped with a UWB sensor to transmit a signal, the robot 100 or the terminal 300 may receive a signal transmitted from the transmitter 200 through a UWB sensor provided. At this time, the signal method of the transmitter 200 and the signal method of the robot 100 and the terminal 300 may be the same or different.

The receiver 17 may include a plurality of UWB sensors. When two UWB sensors are included in the receiver 17, for example, they are provided on the left and right sides of the main body 10, respectively. It can be done. For example, if the distance measured by the sensor on the left and the sensor on the right is different according to the positions of the robot 100 and the transmitter 200 or the terminal 300, based on this, the robot 100 and The relative position of the transmitter 200 or the terminal 300 and the direction of the robot 100 may be determined.

The receiver 17 may further include a GPS module that transmits and receives a GPS signal from the GPS satellite 400.

The reception unit 17 may transmit a result of receiving the signal to the control unit 20 and receive a control command for an operation from the control unit 20. The receiver 17 may operate according to a control command received from the controller 20. That is, the receiving unit 17 may be controlled by the control unit 20.

The input unit 18 may include input means such as at least one button, switch, or touch pad, and output means such as a display unit to receive a user command and output an operating state of the robot 100. . For example, a command for performing the monitoring mode may be input through the display unit, and a state for performing the monitoring mode may be output.

The input unit 18 may display the state of the robot 100 through the display unit, and display a control screen on which the control operation of the robot 100 is performed. The control screen may refer to a user interface screen in which a driving state of the robot 100 is displayed and output, and a command for a driving operation of the robot 100 is input from a user. The control screen is displayed on the display unit through the control of the control unit 20, and the display and input commands on the control screen can be controlled by the control unit 20.

The input unit 18 may transmit information on an operation state to the control unit 20 and receive control commands for the operation from the control unit 20. The input unit 18 may operate according to a control command received from the control unit 20. That is, the input unit 18 may be controlled by the control unit 20.

The obstacle detecting unit 19 includes a plurality of sensors to detect obstacles present in the driving direction. The obstacle detecting unit 19 may detect an obstacle in front of the main body 10, that is, in a driving direction, using at least one of a laser, ultrasonic, infrared, and 3D sensors. The obstacle detecting unit 19 may further include a cliff sensing sensor installed on the rear surface of the main body 10 to sense a cliff.

The obstacle detecting unit 19 may transmit information on the detection result to the control unit 20 and receive a control command for an operation from the control unit 20. The obstacle detecting unit 19 may operate according to a control command received from the control unit 20. That is, the obstacle detection unit 19 may be controlled by the control unit 20.

The mower 30 mowers the grass on the bottom surface while driving. The weeding part 30 is provided with a brush or a blade for mowing the lawn, so that the lawn of the floor can be mowed through rotation.

The weeding unit 30 may transmit information on an operation result to the control unit 20 and receive a control command for the operation from the control unit 20. The weeding unit 30 may operate according to a control command received from the control unit 20. That is, the weeding unit 30 may be controlled by the control unit 20.

The control unit 20 may perform overall operation control of the robot 100, including a central processing unit. The control unit 20 determines the state of the driving area 1000 while driving the driving area 1000 through the main body 10, the driving part 11, and the photographing part 12 to determine the state of the driving area 1000. (10) to control the running, the communication unit 13, the output unit 14, the storage unit 15, the sensing unit 16, the receiving unit 17, the input unit 18, the obstacle Through the sensing unit 19 and the weeding unit 30, it is possible to control the function/operation of the robot 100 to be performed.

The control unit 20 may control input/output of data and control the driving unit 11 such that the main body 10 travels according to a setting. The control unit 20 may control the driving unit 11 to independently control the operation of the left wheel driving motor and the right wheel driving motor, thereby controlling the main body 10 to travel in a straight or rotating manner.

The control unit 20 sets a boundary 1200 for the driving area 1000 based on location information received from the terminal 300 or location information determined based on a signal received from the transmitter 200. Can be. The controller 20 may also set a boundary 1200 for the driving area 1000 based on location information collected during driving. The controller 20 may set any one of the regions formed by the set boundary 1200 as the driving region 1000. The control unit 20 may set the boundary 1200 in the form of a closed loop by connecting discontinuous location information with a line or a curve, and set the inner region as the driving region 1000. When the driving area 1000 and the boundary 1200 are set, the control unit 20 controls driving of the main body 10 so as to travel within the driving area 1000 and not deviate from the set boundary 1200. can do. The control unit 20 determines the current position based on the received location information, and controls the driving unit 11 to control the driving of the main body 10 so that the determined current position is located in the driving area 1000 Can be.

In addition, the control unit 20, according to the obstacle information input by one or more of the photographing unit 12 and the obstacle detection unit 19, controls the running of the main body 10 to avoid the obstacle to run can do. In this case, the controller 20 may modify the driving area 1000 by reflecting the obstacle information in pre-stored area information for the driving area 1000.

As described above, the robot 100 traveling through the driving area 1000 including the main body 10, the driving part 11, the weeding part 30, and the control part 20 may be operated according to a plurality of operation modes. You can perform the operation. Here, the operation mode means a mode in which the robot 100 performs an operation according to a predetermined criterion, and one of a plurality of operation modes may be set through the robot 100 or the terminal 300. . Accordingly, the terminal 300 controls the operation of the robot 100 by displaying a control screen according to the set operation mode, and the robot 100 may perform an operation according to the operation mode. . The system 1 may control the operation of the robot 100 and perform the operation according to one or more operation modes set among the plurality of operation modes.

When the design mode for designing the driving area 1000 in the system 1 including the robot 100 and the terminal 300 is performed, the terminal 300 is as illustrated in FIG. 5. On the control screen CS, a map screen ZM for designating a design to be displayed on the driving area 1000 is displayed, and the robot 100 displays the map screen ( The design area is set according to the design designated on the ZM), and the design area is driven according to a predetermined operation criterion to cut grass. That is, in the case of performing the design mode, the map screen of the driving area 1000 on the control screen CS for the terminal 300 to control the robot 100 as shown in FIG. 5 ( ZM), and when a design is designated on the map screen ZM according to a user's manipulation of the screen displayed on the terminal 300 as shown in FIG. 6, the robot 100 displays the map screen ( According to the design specified in ZM), the design area corresponding to an operation target area according to the operation criterion among the driving areas 1000 may be set to drive the design area according to the operation criterion and cut grass. .

The design mode may be one of the operation modes performed by the robot 100 in the driving area 1000. The design mode may be a mode for designing the display of the driving area 1000. The design mode may be a mode for designing a weeding state of the driving area 1000.

In the design mode, a design to be displayed on the driving area 1000 is designated according to an operation input on the map screen ZM, so that the design area is displayed on the driving area 1000 through the design area. It may be a mode for performing the driving and weeding operation according to the operation criteria. That is, the design mode may be a mode in which a design to be displayed on the driving area 1000 is designated through the terminal 300 and the robot 100 performs driving and cutting operations according to the designated design. . Accordingly, the grass of the driving area 1000 is cut according to the designated design, so that the designated design can be displayed on the driving area 1000.

The design mode may be performed according to the operation of the robot 100 or the terminal 300. The design mode may be performed by setting the operation mode of the robot 100 according to the operation of the robot 100 or the operation input on the control screen CS displayed on the terminal 300. When the design mode is performed, the terminal 300 is assigned a design to be displayed on the driving area 1000 according to an operation input on the map screen ZM displayed on the control screen CS, Information about this is transmitted to the robot 100, and the robot 100 sets the design area according to the design specified on the map screen ZM based on the information received from the terminal 300. , The design area may be driven in accordance with the operation criteria to cut grass.

The design, which is designated through the map screen ZM, may refer to a display consisting of one or more lines. The design D may be a display drawn according to an operation input on the map screen ZM. For example, it may be a picture as shown in Fig. 7A, a specific figure as shown in Fig. 7B, a specific phrase as shown in Fig. 7C, or a specific pattern as shown in Fig. 7D. The design (D) may also include one or more of symbols, letters, patterns, logos, figures, pictures and patterns. When the design designated through the map screen ZM is as illustrated in FIG. 7, the design as illustrated in FIG. 7 may be displayed on the driving area 1000.

The manipulation input may mean an input according to a user's manipulation of the control screen CS. The manipulation input may be an input according to one or more manipulations among touch and drag. Accordingly, the design D may be designated according to a user's touch and drag input to the map screen ZM displayed on the control screen CS, as shown in FIG. 6.

An example in which a design designated according to a user's arbitrary manipulation input to the map screen ZM is displayed on the driving area 1000 may be as illustrated in FIG. 8. As shown in FIG. 8A, when a design called “robot” is designated through an operation input of the map screen ZM, the robot 100 sets a design area according to the designated “robot” and sets the design By driving and cutting the area in accordance with the operation criteria, the grass of the driving area 1000 is mowed in the form in which the "robot" is displayed, and as shown in FIG. The "robot" design can be displayed. Alternatively, as illustrated in FIG. 8B, when a design “HAPPY ♡ BIRTHDAY” is designated through manipulation input of the map screen ZM, the robot 100 sets a design area according to the designated “HAPPY ♡ BIRTHDAY”. Then, by driving and cutting the set design area according to the operation criteria, the grass of the driving area 1000 is mowed in a form in which "HAPPY ♡ BIRTHDAY" is displayed, as shown in FIG. 8B. The “HAPPY ♡ BIRTHDAY” design can be displayed on the driving area 1000.

When performing the design mode, the robot 100 may set the design area according to the designated design input by manipulation through the map screen ZM. The design area may be an area in which the robot 100 travels according to the operation criterion among the travel areas 1000 and cut grass. That is, the design area may be an operation target area according to the operation standard. Accordingly, when performing the design mode, the robot 100 divides the driving area 1000 into the design area to be operated according to the operation criteria and an area other than the design area to perform driving and cutting operations. Can be. That is, the robot 100, the design area corresponding to the designated design is traveling according to the motion criteria and cutting grass, and the area outside the design area is traveling regardless of the motion criteria and cutting the grass. Can be.

As described above, the robot 100 sets the design area according to the designated design, divides the design area from the design area, and performs a driving and cutting operation, so that the design area and the area outside the design area There is a difference in the degree of cutting of the grass of the liver, so that the grass in the design area can be contrasted with the grass in the area outside the design area. Accordingly, the design area corresponding to the designated design is recognizablely displayed on the driving area 1000, so that the designated design can be displayed on the driving area 100.

The operation criterion may include one or more of a driving criterion for the design area and a cutting criterion for grass in the design area. The operation criterion may be set differently from the operation criterion for an area outside the design area. For example, in order to drive the design area differently from the area outside the design area, the driving reference is set differently from the driving standard for the area outside the design area, and the grass of the design area is cut differently from the grass outside the design area. Thus, the cutting criterion may be set differently from the criterion for an area outside the design area. Accordingly, the robot 100 may travel the design area differently from the area outside the design area, and cut the grass in the design area differently from the grass outside the design area.

The driving criterion may be a criterion for one or more of a driving speed, a time point, a time, and a number of times for driving the design area. Accordingly, when the robot 100 is traveling in the design area, the control unit 20 may be configured to travel at least one of a driving speed, a time point, a time, and a number of times differently when traveling in an area outside the design area. The driving of the driving unit 11 may be controlled. For example, when the driving standard is set to a driving speed of 0.1 [m/s], the control unit 20 drives the driving unit 11 to travel the design area at a speed of 0.1 [m/s]. Can be controlled.

The cutting criterion may be a criterion for one or more of a cutting height, angle, time, and number of times for cutting grass in the design area. Accordingly, the robot 100, when driving the design area, the control unit to cut at least one of the cutting height, cutting angle, time and number of times of the grass differently than when cutting the grass outside the design area 20 may be to control the driving of the weeding unit 30. For example, when the cutting criterion is set to a cutting height of 5 [cm], the control unit 20 increases the height of the weeding unit 30 to cut the grass in the design area to a cutting height of 5 [cm]. Can be controlled.

As such, the operation criterion including at least one of the driving criterion and the cutting criterion may be set as a criterion that operates so that the turf of the design area is cut lower than the turf of the design area. That is, the robot 100 may be set to cut grass in the design area lower than grass in the area outside the design area. In addition, the operation criterion may be set as a criterion for operating the grass in the design area to be cut higher than the grass in the area outside the design area. That is, the operation criterion may be set as a criterion for operating the grass in the design area to be cut differently from the grass in the area outside the design area.

In this way, the robot 100 performing the design mode sets an area corresponding to the designated design among the driving areas 1000 as the design area, and drives the design area according to the operation criteria and moves the grass. Can be cut. For example, as illustrated in FIG. 9A, when the designated design D is “my home,” an area corresponding to “my home” among the driving areas 1000 is set as the design area, so that the design area is By driving in accordance with the operating criteria and cutting the grass in the design area, "my house" may be displayed on the driving area 1000. In this case, the operation criterion may be set such that the grass in the design area is cut lower than the grass in the area outside the design area.

If the operation criterion is set so that the grass in the design area is cut higher than the grass in the area outside the design area, as illustrated in FIG. 9B, the robot 100 uses the grass in the design area as the design area. By cutting higher than the grass in the outside area, it is possible to cause the "home" to be displayed on the driving area 1000.

The robot 100 may also set an area of the driving area 1000 excluding an area corresponding to the designated design as the design area, so that the design area travels according to the operation criteria and cuts the grass. . For example, as illustrated in FIG. 9B, when the designated design D is “my home”, an area excluding the area corresponding to “my home” among the driving areas 1000 is set as the design area, By driving the design area according to the operation criteria and cutting grass in the design area, a “my home” may be displayed on the travel area 1000. In this case, the operation criterion may be set such that the grass in the design area is cut lower than the grass in the area outside the design area.

If the operation criterion is set so that the grass in the design area is cut higher than the grass in the area outside the design area, as illustrated in FIG. 9A, the robot 100 moves the grass in the design area to the design area. By cutting higher than the grass in the outside area, it is possible to cause the "home" to be displayed on the driving area 1000.

The system 1 as described above may be implemented by applying a control method (hereinafter referred to as a control method) of a mobile robot system to be described below.

The control method is a method for controlling the system 1 as shown in FIGS. 1A to 1C, and includes the robot 100 and the robot 100 and the terminal 300 described above. It can be applied to the system 1, it can also be applied in addition to the above-described system (1).

The control method, the main body 10, the driving unit 11 for moving the main body 10, by photographing the periphery of the main body 10, image information for the driving area 1000 of the main body 10 By controlling the communication unit 13 and the driving unit 11 receiving communication information of the monitoring unit C by communicating with the monitoring unit 12 installed in the driving area 1000, As a control method of the robot 100 including the control unit 20 that controls the driving of the main body 10 and determines the state of the driving area 1000 based on the image information, the driving area 1000 ) May be a method of performing a monitoring mode for monitoring and driving.

The control method includes a terminal 300 displaying a control screen CS for motion control of the robot 100 and the mobile robot 100 operating in response to manipulation of the control screen CS As a control method of the system 1, it may be a method of performing a design mode for designing the driving area 1000.

The control method may be a method in which the robot 100 and the terminal 300 perform the design mode.

In the control method, as shown in FIG. 10, displaying a map screen ZM for designating a design to be displayed on the driving area 1000 on the control screen CS (S10 ), the map The design (S20) of the design to be displayed on the driving area 1000 according to the operation input on the screen ZM is designated (S30), and the setting of the design area according to the design specified on the map screen ZM (S30) and the It includes a step (S40) of driving the design area according to a predetermined operation criterion and cutting grass.

That is, the system 1 may perform the design mode in the order of displaying (S10), specifying (S20), setting (S30) and cutting (S40). have.

The control method may be performed when a command for performing the design mode is input to one or more of the robot 100 or the terminal 300.

The displaying step S10 may be a step in which the terminal 300 displays the map screen ZM for designating a design to be displayed on the driving area 1000 on the control screen CS. .

In the displaying (S10), after the design mode is set, the terminal 300 may display the map screen ZM on the control screen CS.

The designated step S20 may be a step in which a design to be displayed on the driving area 1000 is designated according to an operation input on the map screen ZM displayed in the displaying step S10.

In the designated step (S20), an operation input to the map screen ZM is performed on the map screen ZM of the terminal 300, and a design to be displayed on the driving area 1000 according to the operation input Can be specified.

In the designated step S20, a design to be displayed on the driving area 1000 may be designated according to input according to one or more manipulations of touch and drag on the map screen ZM.

The setting step S30 may be a step in which the robot 100 sets the design area according to the design specified in the designated step S20.

In the setting (S30), the robot 100 may set the design area according to the designated design that has been manipulated and input through the map screen ZM of the terminal 300.

In the setting (S30 ), an area corresponding to the designated design, which is input and manipulated through the map screen ZM, among the driving areas 1000 may be set as the design area.

In the setting (S30 ), an area other than the area corresponding to the designated design, which has been manipulated and input through the map screen ZM, may be set as the design area in the driving area 1000.

The cutting step S40 may be a step in which the robot 100 travels the design area set in the setting step S30 according to the operation standard and cuts the grass.

In the cutting step (S40), the robot 100 may drive the design area among the driving areas 1000 according to the operation criteria to cut grass.

In the cutting (S40), the design area may be cut according to one or more of the driving reference and the cutting reference to cut grass.

In the cutting (S40), the grass in the design area may be cut lower than the grass in the area outside the design area.

In the cutting (S40 ), the grass in the design area may be cut higher than the grass in the area outside the design area.

The control method comprising the step of displaying (S10), the step of specifying (S20), the step of setting (S30) and the step of cutting (S40) can be read by a computer on a medium in which a program is recorded. It is possible to implement it as code. The computer-readable medium includes all types of recording devices in which data readable by a computer system is stored. Examples of computer-readable media include a hard disk drive (HDD), solid state disk (SSD), silicon disk drive (SDD), ROM, RAM, CD-ROM, magnetic tape, floppy disk, and optical data storage device. This includes, and is also implemented in the form of a carrier wave (eg, transmission over the Internet). Also, the computer may include the control unit 20.

The control method of the mobile robot system and the mobile robot system according to the present invention as described above, the lawn mowing robot, the control method of the lawn mowing robot, the control means of the lawn mowing robot, the lawn mowing robot system, the control system of the lawn mowing robot and It can be applied and implemented by a method of controlling a lawn mowing robot. However, the technology disclosed in this specification is not limited thereto, and may be applied to all mobile robots to which the technical idea of the above technology can be applied, control means for controlling a mobile robot, a mobile robot system, a method for controlling a mobile robot, and the like. Can be.

So far, a specific embodiment according to the present invention has been described, but various modifications are possible without departing from the scope of the present invention. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined not only by the scope of claims to be described later, but also by the claims and equivalents thereof.

As described above, although the present invention has been described by limited embodiments and drawings, the present invention is not limited to the above embodiments, and various modifications and modifications from these descriptions will be made by those skilled in the art. Deformation is possible. Accordingly, the spirit of the present invention should be understood only by the claims set forth below, and all equivalent or equivalent modifications thereof will be said to fall within the scope of the spirit of the present invention.

1: mobile robot system 10: main body
11: driving unit 20: control unit
30: mowing part 100: mobile robot
200: transmitter 300: terminal
400: GPS satellite 1000: driving area

Claims (10)

In the mobile robot system for cutting the grass in the driving area,
A terminal that displays a control screen for motion control of the mobile robot; And
Includes; the mobile robot operating in response to the operation of the control screen;
When performing a design mode to design the driving area,
The terminal,
A map screen for designating a design to be displayed on the driving area is displayed on the control screen,
The mobile robot,
A mobile robot system characterized by setting a design area according to a design specified on the map screen, and cutting the grass while driving the design area according to a preset motion criterion. According to claim 1,
The design mode,
A mode in which a design to be displayed on the driving area is designated according to an operation input on the map screen, and a driving and cutting operation is performed on the design area according to the operation criterion such that the designated design is displayed on the driving area through the design area. Mobile robot system, characterized in that. According to claim 2,
The above design,
A mobile robot system comprising one or more of symbols, letters, patterns, logos, shapes, pictures and patterns. According to claim 2,
The operation input,
A mobile robot system, characterized in that it is an input according to one or more manipulations of touch and drag. According to claim 1,
The operation standard is,
And a driving reference for the design area and a cutting reference for grass in the design area. The method of claim 5,
The driving standard is,
A mobile robot system characterized in that it is a reference for one or more of a driving speed, a starting point, a time, and a number of times driving the design area. The method of claim 5,
The cutting standard,
The mobile robot system, characterized in that the reference to one or more of the cutting height, angle, time and number of times to cut the grass in the design area. According to claim 1,
The mobile robot,
A mobile robot system, characterized in that an area corresponding to the designated design among the driving areas is set as the design area, and the design area is driven according to the operation criteria to cut grass. According to claim 1,
The mobile robot,
A mobile robot system, characterized in that an area other than the area corresponding to the designated design is set as the design area, and the design area is moved according to the operation criteria to cut grass. A terminal displaying a control screen for motion control of a mobile robot cutting grass in the driving area; And
In the control method of a mobile robot system comprising; the mobile robot operating in response to the operation of the control screen,
Displaying a map screen for designating a design to be displayed on the driving area on the control screen;
Designating a design to be displayed in the driving area according to an operation input on the map screen;
Setting a design area according to a design specified on the map screen; And
And driving the design area according to a predetermined operation criterion and cutting grass.

Images