KR20210004453A - Cleaner and controlling method thereof - Google Patents

Abstract

The present invention relates to a vacuum cleaner to perform cleaning while actively responding to a cleaning environment and a controlling method thereof. To achieve this, according to the present invention, a moving robot having a cleaning function embedded therein comprises: a main body; a driving unit moving the main body within a plurality of cleaning areas; a detection unit detecting obstacle information related to an obstacle existing within a preset distance from the main body; and a control unit using the obstacle information to detect the size of the obstacle, comparing the detected size of the obstacle with the size of a reference obstacle, selecting any one of a plurality of operation modes in accordance with a comparison result, and using the selected operation to control the driving unit. The size of the reference obstacle is individually set by each cleaning area.

Description

Cleaner and its control method {CLEANER AND CONTROLLING METHOD THEREOF}

The present invention relates to a cleaner and a control method thereof, and more particularly, to a cleaner capable of recognizing an obstacle and performing autonomous driving, and a control method thereof.

In general, robots have been developed for industrial use and have been responsible for a part of factory automation. In recent years, the field of application of robots has been further expanded, medical robots, aerospace robots, etc. are being developed, and home robots that can be used in general homes are also being made.

A typical example of the household robot is a robot cleaner, which is a kind of home appliance that sucks and cleans surrounding dust or foreign matter while traveling in a certain area. Such a robot cleaner generally includes a rechargeable battery, and includes an obstacle sensor capable of avoiding obstacles while driving, so that it can be cleaned while driving by itself.

In recent years, robot cleaners equipped with various driving modes have been developed to perform driving suitable for the size of obstacles.

However, since the obstacle criterion for selecting the driving mode is designed to be fixed, the inconvenience caused the user to move the object in the cleaning area to meet the requirements of the product.

Korean Patent Registration No. 10-0619749 discloses a technology for performing an avoidance driving in response to an obstacle, but in the technology, the above-described problem cannot be solved because the standard of the avoidance driving is fixedly set.

The technical problem to be solved by the present invention is to provide a mobile robot that actively responds to cleaning environments and a control method thereof.

It is also an object of the present invention to provide a mobile robot and a control method for performing cleaning in which an obstacle avoidance condition is variably set according to a cleaning area.

In order to solve the technical problem of the present invention as described above, a mobile robot equipped with a cleaning function according to the present invention includes a main body, a driving unit that moves the main body within a plurality of cleaning areas, and an obstacle existing within a preset distance from the main body. A detection unit that detects obstacle information related to the obstacle and the obstacle information are used to detect the size of the obstacle, compare the size of the detected obstacle with the reference obstacle size, and select any one of a plurality of driving modes according to the comparison result. And a control unit for controlling the driving unit by using any one selected driving mode, wherein the reference obstacle size is individually set for each cleaning area.

In one embodiment, further comprising an input unit receiving a user input for selecting at least one of a height, a width, and a depth of the obstacle, and the control unit is based on a user input applied by the input unit, the reference obstacle size for each cleaning area It characterized in that to set.

In one embodiment, the input unit is formed as a touch screen, the touch screen outputs a screen including a map related to a plurality of cleaning areas, and the controller is based on a touch input applied to the screen, It is characterized in that a reference obstacle size corresponding to any one of the plurality of cleaning areas is set.

In one embodiment, further comprising a communication unit for performing communication with the external terminal, the control unit is characterized in that based on the user input transmitted from the external terminal, set a reference obstacle size corresponding to each cleaning area. .

In one embodiment, further comprising a memory for storing a map including at least one of a floor area, a floor surface shape, and a type of each cleaning area, wherein the controller is based on the map stored in the memory, It characterized in that the reference obstacle size is set for each cleaning area.

In one embodiment, the sensing unit includes a position detection sensor for detecting position information of the main body, and the control unit uses the position information to determine a distance between the main body and a wall of a cleaning area in which the main body is located. It is characterized in that the calculated and variably set the reference obstacle size based on the calculated distance.

In one embodiment, the control unit is configured to determine whether to drive to avoid the obstacle by using a first reference obstacle size set corresponding to the first cleaning area when the main body is in the first cleaning area. It is characterized.

In one embodiment, when the main body moves from the first cleaning area to the second cleaning area, the control unit operates to avoid the obstacle by using a second reference obstacle size set corresponding to the second cleaning area. Characterized in determining whether or not.

In one embodiment, in setting the reference obstacle size, the control unit is characterized in that it sets reference information related to at least one of a height of an obstacle, a width of the obstacle, and a floor area of the obstacle.

In one embodiment, the control unit sets a cleaning target value for each cleaning area, and when the main body enters one cleaning area among the plurality of cleaning areas, the control unit is based on a cleaning target value set corresponding to the one cleaning area. It characterized in that the reference obstacle size is variably set.

A system including a mobile robot according to the present invention includes a mobile robot that performs cleaning within a plurality of cleaning areas, and a terminal that performs communication with the mobile robot.

Specifically, the terminal performs steps of receiving a reference obstacle size for each cleaning area and transmitting reference information including the set reference obstacle size to the mobile robot.

In addition, the mobile robot includes the steps of identifying an area in which the main body of the mobile robot is located among the plurality of cleaning areas, detecting any one corresponding to the identified area among the reference information received from the terminal, and the main body It characterized in that the step of detecting an obstacle existing within a predetermined distance from and determining whether to perform an avoidance driving for the obstacle by using the detected reference information.

In one embodiment, the terminal includes an output module that outputs a screen including a map of each cleaning area, an input module that receives a reference obstacle size for each cleaning area, a set reference obstacle size, and a cleaning area corresponding thereto. It characterized in that it comprises a communication module for transmitting the identification information of the mobile robot.

In one embodiment, the input module of the terminal comprises: a first user input for selecting one of the plurality of cleaning areas and a second user input for setting a reference obstacle size corresponding to the selected one of the cleaning areas It is characterized in that it is authorized.

In one embodiment, the second user input to which the input module of the terminal is applied includes a user input related to at least one of a height reference value of an obstacle, a width reference value of the obstacle, and a floor area reference value of the obstacle. It is characterized.

In one embodiment, the mobile robot includes a communication unit that receives information related to a reference obstacle size from the terminal, a driving unit that moves the mobile robot within a plurality of cleaning areas, and exists within a preset distance from the mobile robot. A detection unit that detects obstacle information related to an obstacle to be set, detects the size of the obstacle using the obstacle information, compares the size of the detected obstacle with the reference obstacle size, and among a plurality of driving modes according to the comparison result. And a control unit that selects any one and controls the driving unit by using any one of the selected operation modes.

According to the present invention, by setting a plurality of standards related to obstacle avoidance driving, there is an advantage of being able to actively cope with changes in the cleaning environment.

In addition, according to the present invention, it is possible to perform suitable driving in various cleaning environments without having to build a high-performance processor or a separate server in the mobile robot.

1 is a perspective view showing an example of a mobile robot equipped with a cleaning function according to the present invention.
2 is a block diagram showing components of a mobile robot equipped with a cleaning function according to an embodiment of the present invention.
3 is a conceptual diagram showing a communication connection between a mobile robot and an external terminal.
4 is a conceptual diagram illustrating a method of detecting the size of an obstacle.
5 is a conceptual diagram showing that a reference obstacle size is set for each cleaning area.
6 is a conceptual diagram showing a touch screen of a mobile robot according to the present invention.
7 is a conceptual diagram showing a touch screen of a mobile robot according to the present invention.
8 is a conceptual diagram illustrating an external terminal performing communication with a mobile robot according to the present invention.
9 is a conceptual diagram illustrating an external terminal performing communication with a mobile robot according to the present invention.
10 is a flowchart illustrating a method of controlling a mobile robot according to the present invention.

Hereinafter, embodiments disclosed in the present specification will be described in detail with reference to the accompanying drawings, but the technical terms used in this specification are used only to describe specific embodiments, and are intended to limit the spirit of the technology disclosed in the present specification. It should be noted that it is not.

1 is a perspective view showing an example of a mobile robot 100 according to the present invention.

For reference, in this specification, a mobile robot, a robot cleaner, and a vacuum cleaner that performs autonomous driving may be used as the same meaning.

Referring to FIG. 1, the mobile robot 100 performs a function of cleaning the floor while traveling in a certain area by itself. The cleaning of the floor referred to here includes inhaling dust (including foreign matter) from the floor or mopping the floor.

The mobile robot 100 includes a robot body 110, a suction unit 120, a sensing unit 130, and a dust bin 140.

The robot body 110 is provided with a control unit (not shown) for controlling the mobile robot 100 and a wheel unit 111 for driving the mobile robot 100. By the wheel unit 111, the mobile robot 100 may be moved or rotated back and forth, left and right.

The wheel unit 111 includes a main wheel and a sub wheel.

The main wheels are provided on both sides of the robot body 110 and are configured to be rotatable in one direction or the other direction according to a control signal from the controller. Each of the main wheels may be configured to be driven independently of each other. For example, each main wheel can be driven by a different motor.

The sub wheel supports the robot body 110 together with the main wheel, and is configured to assist the movement of the mobile robot 100 by the main wheel. Such a sub-wheel may also be provided in the suction unit 120 to be described later.

As described above, by controlling the driving of the wheel unit 111 by the control unit, the mobile robot 100 is configured to autonomously travel on the floor.

Meanwhile, a battery (not shown) that supplies power to the mobile robot 100 is mounted on the robot body 110. The battery is configured to be rechargeable, and may be configured to be detachably attached to the bottom of the robot body 110.

The suction unit 120 is disposed to protrude from one side of the robot body 110 and is configured to suck air containing dust. The one side may be a side on which the robot body 110 travels in the forward direction F, that is, a front side of the robot body 110.

In this drawing, it is shown that the suction unit 120 has a shape protruding from one side of the robot body 110 to both the front and left and right sides. Specifically, the front end of the suction unit 120 is disposed at a position spaced from one side of the robot body 110 forward, and the left and right ends of the suction unit 120 are spaced from one side of the robot body 110 to both left and right sides, respectively. Is placed in the position

As the robot body 110 is formed in a circular shape, and both sides of the rear end of the suction unit 120 protrude from the robot body 110 to both left and right sides, the robot body 110 and the suction unit 120 are empty. A space, that is, a gap can be formed. The empty space is a space between the left and right ends of the robot body 110 and the left and right ends of the suction unit 120 and has a shape recessed inside the mobile robot 100.

When an obstacle is caught in the empty space, a problem in which the mobile robot 100 is caught and cannot move may be caused. To prevent this, the cover member 129 may be disposed to cover at least a portion of the empty space. The cover member 129 may be provided on the robot body 110 or the suction unit 120. In this embodiment, it is shown that the cover members 129 are protruded on both sides of the rear end of the suction unit 120 and are disposed to cover the outer circumferential surface of the robot body 110.

The cover member 129 is disposed to fill at least a portion of the empty space, that is, the empty space between the robot body 110 and the suction unit 120. Accordingly, it is possible to prevent an obstacle from being pinched in the empty space, or a structure capable of being easily separated from the obstacle even if an obstacle is caught in the empty space.

The cover member 129 protruding from the suction unit 120 may be supported on the outer peripheral surface of the robot body 110. If the cover member 129 is protruding from the robot body 110, the cover member 129 may be supported on the rear portion of the suction unit 120. According to the above structure, when the suction unit 120 collides with an obstacle and receives an impact, a part of the impact is transmitted to the robot body 110 so that the impact can be dispersed.

The suction unit 120 may be detachably coupled to the robot body 110. When the suction unit 120 is separated into the robot body 110, a mop module (not shown) may be detachably coupled to the robot body 110 by replacing the separated suction unit 120. Therefore, when the user wants to remove dust from the floor, the suction unit 120 can be mounted on the robot body 110, and when cleaning the floor, the mop module can be mounted on the robot body 110.

When the suction unit 120 is mounted on the robot body 110, the mounting may be guided by the cover member 129 described above. That is, since the cover member 129 is disposed to cover the outer circumferential surface of the robot body 110, the relative position of the suction unit 120 with respect to the robot body 110 may be determined.

A sensing unit 130 is disposed on the robot body 110. As shown, the sensing unit 130 may be disposed on one side of the robot body 110 in which the suction unit 120 is located, that is, in front of the robot body 110.

The sensing unit 130 may be disposed to overlap the suction unit 120 in the vertical direction of the robot body 110. The sensing unit 130 is disposed above the suction unit 120 and is configured to detect an obstacle or a feature in front so that the suction unit 120 positioned at the front of the mobile robot 100 does not collide with the obstacle.

The sensing unit 130 is configured to additionally perform a sensing function other than the sensing function. This will be described in detail later.

The robot main body 110 is provided with a dust bin accommodating part, and a dust bin 140 for separating and collecting dust in the sucked air is detachably coupled to the dust bin accommodating part. As shown, the dust bin accommodating portion may be formed on the other side of the robot body 110, that is, behind the robot body 110.

A part of the dust bin 140 is accommodated in the dust bin receiving part, and the other part of the dust bin 140 is formed to protrude toward the rear of the robot body 110 (ie, the reverse direction (R) opposite to the forward direction (F)). I can.

The dust bin 140 has an inlet through which air containing dust is introduced and an outlet through which air separated by dust is discharged. When the dust bin 140 is installed in the dust bin receiving part, the inlet and the outlet are formed on the inner wall of the dust bin receiving part. It is configured to communicate with the first and second openings, respectively.

The intake passage inside the robot body 110 corresponds to a passage from an inlet (not shown) communicating with the communication part to the first opening, and the exhaust passage corresponds to a passage from the second opening to the exhaust port.

According to this connection relationship, the air containing dust introduced through the suction unit 120 is introduced into the dust container 140 through the intake passage inside the robot body 110, and a filter or a cyclone of the dust container 140 is removed. As it passes through, air and dust are separated from each other. The dust is collected in the dust bin 140, and the air is discharged from the dust bin 140 and then finally discharged to the outside through an exhaust port through an exhaust passage inside the robot body 110.

In FIG. 2 below, an embodiment related to the components of the mobile robot 100 will be described.

The mobile robot 100 or the mobile robot according to an embodiment of the present invention includes a communication unit 1100, an input unit 1200, a driving unit 1300, a sensing unit 1400, an output unit 1500, a power supply unit 1600, At least one of the memory 1700, the control unit 1800, and the cleaning unit 1900, or a combination thereof may be included.

At this time, since the components shown in FIG. 2 are not essential, a robot cleaner having more components or fewer components than that can be implemented. Hereinafter, each component will be described.

First, the power supply unit 1600 is provided with a battery that can be charged by an external commercial power supply to supply power into the mobile robot. The power supply unit 1600 may supply driving power to each of the components included in the mobile robot, thereby supplying operation power required for the mobile robot to travel or perform a specific function.

In this case, the control unit 1800 detects the remaining amount of power of the battery and, when the remaining amount of power is insufficient, controls to move to a charging station connected to an external commercial power source, and receives a charging current from the charging station to charge the battery. The battery is connected to the battery detection unit so that the remaining amount of the battery and the state of charge may be transmitted to the controller 1800. The output unit 1500 may display the remaining amount of the battery on the screen by the control unit.

The battery may be located in the lower part of the center of the robot cleaner, or may be located in either the left or the right. In the latter case, the mobile robot may further include a counterweight to relieve the weight of the battery.

Meanwhile, the driving unit 1300 may include a motor and may rotate or move the main body by rotating the left and right main wheels in both directions by driving the motor. The driving unit 1300 may advance the main body of the mobile robot back and forth, left and right, curved travel, or rotated in place.

Meanwhile, the input unit 1200 receives various control commands for the robot cleaner from a user. The input unit 1200 may include one or more buttons, for example, the input unit 1200 may include a confirmation button, a setting button, and the like. The confirmation button is a button for receiving a command to check detection information, obstacle information, location information, and map information from the user, and the setting button is a button for receiving a command for setting the information from the user.

In addition, the input unit 1200 provides an input reset button for canceling a previous user input and receiving a user input again, a delete button for deleting a preset user input, a button for setting or changing an operation mode, and a command to return to the charging station. It may include an input button or the like.

In addition, the input unit 1200 may be installed above the mobile robot using a hard key, a soft key, or a touch pad. In addition, the input unit 1200 may have a form of a touch screen together with the output unit 1500.

Meanwhile, the output unit 1500 may be installed above the mobile robot. Of course, the installation location or installation form may vary. For example, the output unit 1500 may display a battery state or a driving method on the screen.

In addition, the output unit 1500 may output state information inside the mobile robot detected by the sensing unit 1400, for example, a current state of each component included in the mobile robot. In addition, the output unit 1500 may display external state information, obstacle information, location information, map information, etc. detected by the sensing unit 1400 on the screen. The output unit 1500 is any one of a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, and an organic light emitting diode (OLED). It can be formed as an element of.

The output unit 1500 may further include a sound output means for audibly outputting an operation process or operation result of the mobile robot performed by the control unit 1800. For example, the output unit 1500 may output a warning sound to the outside according to the warning signal generated by the control unit 1800.

In this case, the sound output means may be a means for outputting sound such as a beeper or a speaker, and the output unit 1500 uses audio data or message data having a predetermined pattern stored in the memory 1700 It can be output to the outside through an output means.

Accordingly, the mobile robot according to an exemplary embodiment of the present invention may output environmental information on a driving area on a screen through the output unit 1500 or output as sound. According to another embodiment, the mobile robot may transmit map information or environment information to the terminal device through the communication unit 1100 so that the terminal device outputs a screen or sound to be output through the output unit 1500.

Meanwhile, the communication unit 1100 is connected to a terminal device and/or other devices located in a specific area (in this specification, it will be mixed with the term “home appliance”) and one of wired, wireless, and satellite communication methods. To transmit and receive signals and data.

The communication unit 1100 may transmit and receive data with other devices located within a specific area. In this case, the other device may be any device capable of transmitting and receiving data by connecting to a network. For example, the other device may be a device such as an air conditioner, a heating device, an air purification device, a lamp, a TV, or a car. In addition, the other device may be a device that controls doors, windows, water valves, gas valves, and the like. In addition, the other device may be a sensor that detects temperature, humidity, atmospheric pressure, gas, and the like.

Meanwhile, the memory 1700 stores a control program for controlling or driving a robot cleaner and data corresponding thereto. The memory 1700 may store audio information, image information, obstacle information, location information, map information, and the like. Also, the memory 1700 may store information related to a driving pattern.

The memory 1700 mainly uses a nonvolatile memory. Here, the non-volatile memory (NVM, NVRAM) is a storage device capable of retaining stored information even when power is not supplied. For example, a ROM, a flash memory, and a magnetic computer It may be a storage device (eg, hard disk, diskette drive, magnetic tape), optical disk drive, magnetic RAM, PRAM, and the like.

Meanwhile, the sensing unit 1400 may include at least one of an impact sensor, an external signal detection sensor, a front detection sensor, a cliff detection sensor, a lower camera sensor, an upper camera sensor, and a 3D camera sensor.

The impact sensor may be installed at at least one point on the outer surface of the main body, and may sense a physical force applied to the point.

In one example, the impact sensor may be disposed on an outer surface of the main body and may be directed toward the front of the main body. In yet another example, the impact sensor may be disposed on the outer surface of the main body and directed to the rear of the main body. In another example, the impact sensor may be disposed on the outer surface of the body, and may be directed to the left or right side of the body.

The external signal detection sensor may detect an external signal of the mobile robot. The external signal detection sensor may be, for example, an infrared ray sensor, an ultra sonic sensor, or a radio frequency sensor.

The mobile robot can check the location and direction of the charging station by receiving a guide signal generated by the charging station using an external signal detection sensor. At this time, the charging station may transmit a guide signal indicating a direction and a distance so that the mobile robot can return. That is, the mobile robot may receive a signal transmitted from the charging station, determine a current position, set a moving direction, and return to the charging station.

Meanwhile, the front detection sensor may be installed at a predetermined interval in front of the mobile robot, specifically along the lateral outer peripheral surface of the mobile robot. The front detection sensor is located on at least one side of the mobile robot to detect an obstacle in front, and the front detection sensor detects an object, particularly an obstacle, in the moving direction of the mobile robot, and transmits detection information to the controller 1800. I can deliver. That is, the front detection sensor may detect protrusions, fixtures, furniture, walls, wall edges, etc. existing on the moving path of the mobile robot and transmit the information to the controller 1800.

The forward detection sensor may be, for example, an infrared sensor, an ultrasonic sensor, an RF sensor, a geomagnetic sensor, and the like, and the mobile robot may use one type of sensor as the forward detection sensor or use two or more types of sensors together as necessary. have.

As an example, the ultrasonic sensor may be mainly used to detect a distant obstacle in general. The ultrasonic sensor includes a transmitter and a receiver, and the controller 1800 determines the presence or absence of an obstacle based on whether the ultrasonic wave emitted through the transmitter is reflected by an obstacle or the like and is received by the receiver, and determines the ultrasonic radiation time and the ultrasonic reception time. Can be used to calculate the distance to the obstacle.

Also, the controller 1800 may detect information related to the size of an obstacle by comparing the ultrasonic waves emitted from the transmitter and the ultrasonic waves received from the receiver. For example, the controller 1800 may determine that the size of the obstacle increases as more ultrasonic waves are received by the receiver.

In one embodiment, a plurality of (for example, five) ultrasonic sensors may be installed along the outer peripheral surface on the front side of the mobile robot. In this case, preferably, the ultrasonic sensor may be installed on the front of the mobile robot by alternating the transmitter and receiver.

That is, the transmitter may be disposed to be spaced apart from the front center of the main body to the left and right, and one or more transmitters may be disposed between the receiver to form a receiving area of an ultrasonic signal reflected from an obstacle. With this arrangement, it is possible to expand the receiving area while reducing the number of sensors. The transmission angle of the ultrasonic waves may maintain an angle within a range that does not affect different signals to prevent crosstalk. Also, the reception sensitivity of the reception units may be set differently.

In addition, the ultrasonic sensor may be installed upward by a certain angle so that the ultrasonic wave transmitted from the ultrasonic sensor is output upward, and at this time, a predetermined blocking member may be further included to prevent the ultrasonic wave from being radiated downward.

Meanwhile, as for the front sensor, as described above, two or more types of sensors may be used together, and accordingly, the front sensor may use any one of an infrared sensor, an ultrasonic sensor, and an RF sensor. .

For example, the front detection sensor may include an infrared sensor as other types of sensors other than an ultrasonic sensor.

The infrared sensor may be installed on the outer peripheral surface of the mobile robot together with the ultrasonic sensor. The infrared sensor may also detect an obstacle existing in the front or side and transmit the obstacle information to the controller 1800. That is, the infrared sensor detects protrusions, furniture, furniture, walls, wall edges, etc. existing on the movement path of the mobile robot and transmits the information to the controller 1800. Accordingly, the mobile robot can move the body within a specific area without colliding with an obstacle.

On the other hand, the cliff detection sensor (or Cliff Sensor) can detect obstacles on the floor supporting the main body of the mobile robot by mainly using various types of optical sensors.

That is, the cliff detection sensor is installed on the rear surface of the mobile robot on the floor, but may be installed at different locations depending on the type of the mobile robot. The cliff detection sensor is located at the rear of the mobile robot to detect obstacles on the floor, and the cliff detection sensor is an infrared sensor having a light emitting part and a light receiving part like the obstacle detection sensor, ultrasonic sensor, RF sensor, PSD (Position Sensitive Detector) sensor, etc.

For example, one of the cliff detection sensors may be installed in front of the mobile robot, and the other two cliff detection sensors may be installed relatively behind the mobile robot.

For example, the cliff detection sensor may be a PSD sensor, but may be composed of a plurality of different types of sensors.

The PSD sensor detects the short and long distance position of incident light with one p-n junction using semiconductor surface resistance. The PSD sensor includes a one-dimensional PSD sensor that detects light in only one axis direction, and a two-dimensional PSD sensor that detects a light position on a plane, and both may have a pin photodiode structure. The PSD sensor is a kind of infrared sensor and measures the distance by measuring the angle of infrared rays reflected from obstacles after transmitting infrared rays using infrared rays. That is, the PSD sensor calculates the distance to the obstacle by using a triangulation method.

The PSD sensor includes a light-emitting unit that emits infrared rays to an obstacle and a light-receiving unit that receives infrared rays reflected from the obstacle and returns, and is generally configured in a module shape. When an obstacle is detected using a PSD sensor, stable measurement values can be obtained regardless of differences in reflectance and color of the obstacle.

The controller 1800 may detect a cliff and analyze its depth by measuring an infrared angle between an infrared light emitted by the cliff detection sensor and a reflected signal reflected by an obstacle and received by the cliff detection sensor.

Meanwhile, the controller 1800 may determine whether to pass or not according to the ground state of the cliff detected using the cliff detection sensor, and determine whether to pass the cliff according to the determination result. For example, the control unit 1800 determines whether the cliff exists and the depth of the cliff through the cliff detection sensor, and then passes through the cliff only when the reflected signal is detected through the cliff detection sensor.

As another example, the controller 1800 may determine the lifting phenomenon of the mobile robot using a cliff detection sensor.

On the other hand, the lower camera sensor is provided on the rear surface of the mobile robot to obtain image information on the lower side during movement, that is, the floor surface (or the surface to be cleaned). The lower camera sensor is also referred to as an optical flow sensor in other words. The lower camera sensor converts a downward image input from an image sensor provided in the sensor to generate image data in a predetermined format. The generated image data may be stored in the memory 1700.

In addition, one or more light sources may be installed adjacent to the image sensor. At least one light source irradiates light onto a predetermined area of the floor surface photographed by the image sensor. That is, when the mobile robot moves a specific area along the floor surface, if the floor surface is flat, a certain distance is maintained between the image sensor and the floor surface. On the other hand, when the mobile robot moves the floor surface of the non-uniform surface, it is separated by a certain distance or more due to irregularities and obstacles on the floor surface. At this time, one or more light sources may be controlled by the controller 1800 to adjust the amount of irradiated light. The light source may be a light emitting device capable of adjusting the amount of light, for example, a Light Emitting Diode (LED).

Using the lower camera sensor, the control unit 1800 may detect the position of the mobile robot regardless of the sliding of the mobile robot. The controller 1800 may compare and analyze image data captured by the lower camera sensor over time to calculate a moving distance and a moving direction, and calculate the position of the moving robot based on this. By using the image information on the lower side of the mobile robot using the lower camera sensor, the control unit 1800 can perform robust correction against slipping for the position of the mobile robot calculated by other means.

On the other hand, the upper camera sensor is installed so as to face upward or forward of the mobile robot to take pictures around the mobile robot. When the mobile robot includes a plurality of upper camera sensors, the camera sensors may be formed on the upper or side surfaces of the mobile robot at a predetermined distance or angle.

The 3D camera sensor may be attached to one surface or a part of the body of the mobile robot to generate 3D coordinate information related to the surroundings of the body.

That is, the 3D camera sensor may be a 3D depth camera that calculates a far-field distance between the moving robot and the object to be photographed.

Specifically, the 3D camera sensor may capture a 2D image related to the circumference of the main body, and may generate a plurality of 3D coordinate information corresponding to the captured 2D image.

In one embodiment, the 3D camera sensor includes two or more cameras for acquiring a conventional two-dimensional image, and a stereo vision for generating three-dimensional coordinate information by combining two or more images obtained from the two or more cameras. It can be formed in a way.

Specifically, the 3D camera sensor according to the embodiment includes a first pattern irradiation unit that irradiates a first pattern of light downward toward the front of the main body, and a second pattern irradiation unit upwardly toward the front of the main body. It may include a second pattern irradiation unit and an image acquisition unit for obtaining an image of the front of the body. Accordingly, the image acquisition unit may acquire an image of a region to which the light of the first pattern and the light of the second pattern are incident.

In another embodiment, the 3D camera sensor includes an infrared pattern emitting unit for irradiating an infrared pattern together with a single camera, and capturing the shape of the infrared pattern irradiated from the infrared pattern emitting unit projected onto the object to be photographed, The distance between the sensor and the object to be photographed can be measured. Such a 3D camera sensor may be an IR (Infra Red) type 3D camera sensor.

In another embodiment, the 3D camera sensor includes a light emitting unit that emits light together with a single camera, receives a part of the laser emitted from the light emitting unit that is reflected from the object to be photographed, and analyzes the received laser, The distance between the camera sensor and the object to be photographed can be measured. This 3D camera sensor may be a 3D camera sensor of a TOF (Time of Flight) method.

Specifically, the laser of the 3D camera sensor as described above is configured to irradiate a laser extending in at least one direction. In one example, the 3D camera sensor may include first and second lasers, the first laser irradiating a linear laser intersecting each other, and the second laser irradiating a single linear laser can do. According to this, the lowermost laser is used to detect obstacles in the bottom part, the uppermost laser is used to detect obstacles in the upper part, and the intermediate laser between the lowest laser and the uppermost laser is used to detect obstacles in the middle part. Used for

In FIG. 4, an embodiment related to a method of detecting an obstacle in the vicinity of the mobile robot 100 described in FIGS. 1 to 3 is described.

Referring to FIG. 4, the mobile robot 100 may detect information related to the size of the obstacle by using the obstacle information sensed by the sensing unit 1400.

Specifically, the sensing unit 1400 may detect obstacle information related to an object or obstacle existing within a predetermined distance from the robot body. In addition, the controller 1800 may detect the size of the obstacle by using the obstacle information sensed by the sensing unit 1400.

In this case, the obstacle information may include information related to at least one of the height (H) of the obstacle, the width of the obstacle (W), and the floor area (S) of the obstacle. In addition, the obstacle information may include information related to a distance between the obstacle and the robot body.

In order to detect the obstacle information as described above, the sensing unit 1400 may obtain information related to the obstacle using various types of sensors. For example, the camera of the sensing unit 1400 may capture an image related to an obstacle. In another example, the 3D sensor of the sensing unit 1400 may acquire to generate a 3D coordinate of a point on the outer surface of the obstacle. In another example, the ultrasonic sensor of the sensing unit 1400 may obtain a time value for the ultrasonic wave radiated from the main body to be reflected from the obstacle and return to the main body.

In FIG. 4, the shape of the obstacle is shown as a rectangular parallelepiped, but the sensing unit 1400 of the present invention is not limited to the shape of the obstacle and may detect a value related to the size of the obstacle.

The controller 1800 may compare the size of the detected obstacle with the reference obstacle size, and select any one of a plurality of driving modes according to the comparison result.

For example, the controller 1800 may select a first driving mode among a plurality of driving modes to avoid the detected obstacle based on the comparison result.

In this case, the first operation mode is for preventing a collision between an obstacle and the robot body 110. Specifically, the controller 1800 may set the moving path of the first driving mode to be separated from the detected obstacle by a predetermined distance or more.

In another example, the controller 1800 may select a second driving mode from among a plurality of driving modes so that the robot body 110 approaches a position close to the detected obstacle based on the comparison result.

In this case, the second operation mode is for the mobile robot 100 to perform cleaning to a point separated by a predetermined distance or less from a position where an obstacle exists. Specifically, the controller 1800 may set the moving path of the second driving mode to enter a predetermined distance or less from the detected obstacle. In addition, when the second driving mode is selected, the controller 1800 may control the driving unit 1300 to approach the robot body 110 toward the obstacle until the robot body 110 contacts the obstacle.

In another example, the controller 1800 may select a third driving mode from among a plurality of driving modes so that the robot body 110 returns to the charging station based on the comparison result.

In another example, the controller 1800 may select a fourth operation mode from among a plurality of operation modes to stop the operation of the robot body 110 based on the comparison result.

In another example, the controller 1800 may select a fifth driving mode from among a plurality of driving modes so that information related to the cleaning area is transmitted to an external terminal based on the comparison result.

In this case, the fifth operation mode is for transmitting information related to at least one of audio and video related to the cleaning area in which the mobile robot 100 exists to an external terminal.

As described above, the controller 1800 may select a driving mode to be performed by the mobile robot according to the size of the obstacle. The controller 1800 may set an obstacle size range corresponding to each of the first to fifth driving modes.

Specifically, the controller 1800 may set a first obstacle size range as a condition for performing the first driving mode, and may set a second obstacle size range as a condition for performing the second driving mode.

The controller 1800 may set a plurality of numerical ranges respectively corresponding to the height, width, and floor area of the obstacle, and the plurality of numerical ranges set as described above may constitute the obstacle size range.

Accordingly, the method of comparing the detected obstacle size and the reference obstacle size may include determining whether the detected obstacle size is included in any one of a plurality of preset obstacle size ranges.

Referring to FIG. 5, the controller 1800 of the mobile robot 100 according to the present invention may individually set a reference obstacle size for each cleaning area.

The mobile robot 100 of the present invention may set different sizes of obstacles to be recognized as obstacles for each cleaning area based on a user request.

For example, when the user wants to clean using the mobile robot 100, the user may want to set different heights of objects recognized as obstacles for each cleaning area, or different widths of objects recognized as obstacles. have. That is, the user may differently set the reference obstacle size for the mobile robot 100 to recognize as an obstacle for each cleaning area.

Examples in which the reference obstacle size should be set differently may be as follows.

For example, in the first cleaning area in which the infant mat is disposed, the user may want the mobile robot 100 not to rise above the infant mat. In this case, the user may set the height value of the reference obstacle size based on the height value corresponding to the height of the infant mat in the first cleaning area.

For example, the controller 1800 of the mobile robot 100 sets a height value lower than the height value corresponding to the height of the infant mat as a reference obstacle size (or reference obstacle height) so that the infant mat is recognized as an obstacle. Can be set.

In this case, when an object corresponding to the height of the infant mat is recognized in the first cleaning area, the control unit 1800 of the mobile robot 100 recognizes the infant mat as an obstacle and prevents it from climbing on the infant mat. The mobile robot 100 can be driven.

As another example, when a threshold exists in the second cleaning area or a threshold exists on the boundary of each cleaning area, the user wants the mobile robot 100 to cross the threshold. In this case, the controller 1800 of the mobile robot 100 may set a reference obstacle height in an area where the threshold exists based on the height of the threshold based on a user request.

For example, in an area where the threshold is present, the controller 1800 of the mobile robot 100 uses a height value higher than a height of the threshold so that the threshold is not recognized as an obstacle based on a user input. It can be set to the size (or the reference obstacle height).

In this case, even if an object corresponding to the height of the threshold is recognized in the region where the threshold is present, the controller 1800 of the mobile robot 100 reduces the threshold because the height of the threshold is lower than the reference obstacle size. It may not be recognized as an obstacle. Accordingly, the mobile robot 100 may not recognize the threshold as an obstacle and may cross the threshold.

In the reference obstacle size, not only the height of the obstacle, but also the width of the obstacle needs to be set differently for each cleaning area.

For example, in a certain area, in the case of a small object (for example, a toy, etc.) that can be moved, the user may want to clean while the vacuum cleaner is pushed back. In this case, the controller 1800 of the mobile robot 100 may set the reference obstacle width in the certain area to be greater than a predetermined value based on a user request. In this case, the controller 1800 of the mobile robot 100 may perform cleaning while pushing the obstacle without recognizing it as an obstacle even if an object smaller than the predetermined value is detected.

As another example, in another area, the user may not want the mobile robot 100 to hit the cleaner.

In this case, the controller 1800 of the mobile robot 100 may set the reference obstacle width in the other region to be smaller than a specific value based on a user request. In this case, when an object larger than the specific value is detected, the controller 1800 of the mobile robot 100 recognizes an object larger than the specific value as an obstacle and drives the mobile robot 100 so as not to collide with the object. I can make it.

Due to this necessity, the mobile robot 100 of the present invention can set the reference obstacle size (height or width) differently for each cleaning area.

As shown in FIG. 5, the control unit 1800 includes a first cleaning area A1, a second cleaning area A2, a third cleaning area A3, and a fourth cleaning area A4, respectively. To the fourth reference obstacle size may be set.

Specifically, the controller 1800 may set at least one of an obstacle height (H), an obstacle width (W), and an obstacle floor area (S) corresponding to each cleaning area.

For example, the controller 1800 may set a first obstacle height value corresponding to the first cleaning area A1 to 20, and set a first obstacle width corresponding to the first cleaning area A1 to 100. have.

In another example, the controller 1800 sets a second obstacle height value corresponding to the second cleaning area A2 to 10, sets a second obstacle width corresponding to the second cleaning area A2 to 300, and , The area of the second obstacle floor corresponding to the second cleaning area A2 may be set to 15000.

In one embodiment, when the main body is in the first cleaning area A1, the control unit 1800 determines whether to drive to avoid obstacles using a first reference obstacle size set in correspondence with the first cleaning area. I can.

In addition, when the main body moves from the first cleaning area A1 to the second cleaning area A2, the control unit 1800 uses the second reference obstacle size set corresponding to the second cleaning area A2, You can decide whether to drive or not to avoid driving.

As illustrated in FIG. 5, the controller 1800 may differently set the reference obstacle size for each cleaning area based on a user input. The controller 1800 may not only set different values related to the reference obstacle size, but also set different types of parameters constituting the reference obstacle size.

According to the embodiment illustrated in FIG. 5, the height of the obstacle, the width of the obstacle, and the area of the floor of the obstacle set for each cleaning area are integers, but the present invention is not limited thereto.

That is, the reference obstacle size may be composed of at least one of a height range, a width range, and a floor area range.

In one embodiment, the input unit 1200 of the mobile robot 100 according to the present invention may receive a user input for setting at least one of a height, a width, and a floor area of an obstacle.

In addition, the controller 1800 may set a reference obstacle size for each cleaning area based on a user input applied by the input unit 1100.

Referring to FIG. 6, an embodiment related to a method of setting a reference obstacle size for a plurality of cleaning areas is illustrated.

When the input unit 1200 of the mobile robot 100 is formed as a touch screen, the touch screen may output a screen 600 including maps related to a plurality of cleaning areas.

The controller 1800 may set a reference obstacle size corresponding to any one of the plurality of cleaning areas based on a touch input applied to the screen 600.

For example, the controller 1800 may select any one of a plurality of cleaning areas based on a user input applied while the screen 600 is output.

Referring to FIG. 7, after a cleaning area is selected, the controller 1800 may control the touch screen to output a window 700 for setting a reference obstacle size on the screen 600.

Specifically, the controller 1800 may detect a point on the screen 600 to which a user input is applied, and select any one of the plurality of cleaning areas based on the detected point. In addition, the controller 1800 may output a window 700 for setting a reference obstacle size corresponding to the selected cleaning area.

According to the example shown in FIG. 7, the controller 1800 may control the touch screen so that a window 700 for setting a first reference obstacle size corresponding to the first cleaning area is output on the screen 600. .

For example, the window 700 for setting the reference obstacle size includes a predetermined button 701 for receiving reference information related to at least one of a height (H), a width (W), and a floor area (S). can do.

In more detail, the window 700 includes a first button 710 for determining whether to apply at least one of a height, a width, and a floor area to a reference obstacle size, and a second button 710 for adjusting a reference value ( 720) may be included.

The controller 1800 may set a reference obstacle size corresponding to the selected cleaning area based on a user input applied to the window 700.

Meanwhile, the communication unit 1100 of the mobile robot 100 may perform communication with an external terminal. In addition, the controller 1800 may set a reference obstacle size corresponding to each cleaning area based on a user input transmitted from an external terminal performing communication with the communication unit 1100.

In FIG. 8, an embodiment related to a method of setting a reference obstacle size using the external terminal 1000 is shown.

Referring to FIG. 8, the display of the external terminal 1000 performing communication with the mobile robot 100 may output an app screen 800 including maps related to a plurality of cleaning areas.

Referring to FIG. 9, the external terminal 1000 sets the app screen 800 to set a reference obstacle size corresponding to any one of a plurality of cleaning areas based on a user input applied to the display. It can be switched to the screen 900.

Specifically, the controller (not shown) of the external terminal 1000 is configured with at least one of a height, a width, and a floor area based on a user input applied to a portion 910 of the setting screen 900 output on the display. You can set the standard obstacle size.

In addition, the setting screen 900 includes a transfer button 920, and when a touch input is applied to the transfer button 920, the external terminal 1000 is a user input applied on the setting screen 900 The reference obstacle size set by may be transmitted to the mobile robot 100.

As described above, the reference obstacle size may be set by a user input applied to the mobile robot 100 or a user input applied to an external terminal 1000 performing communication with the mobile robot 100.

The external terminal 1000 may include an output module (display) that outputs a screen including a map of each cleaning area, and an input module that sets a reference obstacle size for each cleaning area.

In addition, the external terminal 1000 may include a communication module that transmits the set reference obstacle size and identification information of a cleaning area corresponding thereto to the mobile robot.

Specifically, the input module of the external terminal 1000 includes a first user input for selecting any one of the plurality of cleaning areas and a second user input for setting a reference obstacle size corresponding to any one selected cleaning area. Can be authorized.

The second user input to which the input module of the external terminal 1000 is applied may include a user input related to at least one of a height reference value of an obstacle, a width reference value of the obstacle, and a floor area reference value of the obstacle.

Meanwhile, even when a separate user input is not applied, the mobile robot 100 according to the present invention may set a reference obstacle size corresponding to each cleaning area based on various attributes of the cleaning area.

In an embodiment, the memory 1700 may store a map including at least one of a floor area, a floor shape, and a type of each cleaning area. In this case, the type of the cleaning area may be classified into a room type, a living room type, and a kitchen type.

The controller 1800 may set a reference obstacle size for each cleaning area based on a map stored in the memory 1700.

Specifically, when moving from the first cleaning area to the second cleaning area, the control unit 1800 determines the reference obstacle size based on the difference in floor area, floor shape, and type between the first cleaning area and the second cleaning area. Can be changed.

In another embodiment, the sensing unit 1400 of the mobile robot 100 may include a position detection sensor that detects position information of the main body. In this case, the controller 1800 may calculate a distance between the main body and the wall of the cleaning area in which the main body exists, using the location information detected by the position detection sensor.

In addition, the controller 1800 may variably set the size of the reference obstacle based on the distance between the main body and the wall calculated as above.

In another embodiment, the controller 1800 sets a cleaning target value for each cleaning area, and when the main body enters one cleaning area among the plurality of cleaning areas, the control unit 1800 is based on the set cleaning target value corresponding to the cleaning area. Obstacle size can be set variable.

Specifically, as the cleaning target value is lower, the controller 1800 may expand the range of the reference obstacle corresponding to the first driving mode for avoiding the obstacle. Conversely, as the cleaning target value is lower, the controller 1800 may reduce the range of the reference obstacle corresponding to the second driving mode.

In FIG. 10 below, an embodiment related to a method of controlling the mobile robot 100 according to the present invention will be described.

The controller 1800 may set a reference obstacle size for each cleaning area (S1001).

After entering the cleaning area, the controller 1800 may detect the location of the main body (S1002).

In addition, the controller 1800 may identify a cleaning area corresponding to the detected location (S1003).

In addition, the controller 1800 may detect information related to an obstacle around the main body using the sensing unit 1400 (S1004).

The controller 1800 may compare the detected obstacle and the reference obstacle size (S1005). The controller 1800 may select an operation mode based on the comparison step S1005 (S1006).

Meanwhile, a system including a mobile robot according to the present invention may include a mobile robot 100 that performs cleaning within a plurality of cleaning areas, and a terminal 1000 that communicates with the mobile robot 100. .

The terminal 1000 may perform the steps of setting a reference obstacle size for each cleaning area and transmitting reference information including the set reference obstacle size to the mobile robot.

The mobile robot 100 includes the steps of identifying an area in which the main body of the mobile robot is located among a plurality of cleaning areas, detecting any one corresponding to the identified area among the reference information received from the terminal, and the A step of detecting an obstacle existing within a predetermined distance from the main body and determining whether to perform an avoidance driving for the obstacle may be performed using the detected reference information.

According to the present invention, since it is possible to more accurately determine the type of an obstacle included in an image using a recognizer formed of a plurality of layers, there is an advantage in that the performance of the autonomous driving cleaner is improved.

In addition, according to the present invention, by using the result of the primary recognizer commonly applied to a plurality of obstacle types, the secondary recognizer specialized for any one obstacle type again verifies the recognition result, thereby recognizing obstacles of the autonomous driving cleaner. Can improve performance.

Claims (15)

main body;
A driving unit for moving the main body within a plurality of cleaning areas;
A sensing unit for detecting obstacle information related to an obstacle existing within a preset distance from the main body; And
Detecting the size of the obstacle using the obstacle information,
Compare the detected obstacle size with the reference obstacle size, and select any one of a plurality of driving modes according to the comparison result,
It includes a control unit for controlling the driving unit using any one selected operation mode,
A mobile robot equipped with a cleaning function, wherein the reference obstacle size is individually set for each cleaning area. The method of claim 1,
Further comprising an input unit receiving a user input for selecting at least one of the height, width, and depth of the obstacle,
The control unit,
A mobile robot equipped with a cleaning function, characterized in that, based on a user input applied by the input unit, a reference obstacle size is set for each cleaning area. The method of claim 2,
The input unit is formed as a touch screen,
The touch screen outputs a screen including maps related to a plurality of cleaning areas,
The control unit,
A mobile robot equipped with a cleaning function, wherein a reference obstacle size corresponding to any one of the plurality of cleaning areas is set based on a touch input applied to the screen. The method of claim 1,
Further comprising a communication unit for performing communication with an external terminal,
The control unit,
A mobile robot equipped with a cleaning function, characterized in that, based on a user input transmitted from the external terminal, a reference obstacle size corresponding to each cleaning area is set. The method of claim 1,
Further comprising a memory for storing a map including at least one of a floor area, a floor shape, and a type of each cleaning area,
The control unit,
A mobile robot equipped with a cleaning function, characterized in that the reference obstacle size is set for each cleaning area based on the map stored in the memory. The method of claim 1,
The sensing unit includes a position detection sensor for detecting position information of the main body,
The control unit,
Using the location information, a distance between the main body and the wall of the cleaning area in which the main body is located is calculated,
A mobile robot equipped with a cleaning function, characterized in that the reference obstacle size is variably set based on the calculated distance. The method of claim 1,
The control unit,
When the main body exists in the first cleaning area, the movement with a cleaning function, characterized in that it determines whether or not to drive to avoid the obstacle using a first reference obstacle size set corresponding to the first cleaning area robot. The method of claim 7,
The control unit,
When the main body moves from the first cleaning area to the second cleaning area, it is determined whether or not to drive to avoid the obstacle by using a second reference obstacle size set corresponding to the second cleaning area. A mobile robot equipped with functions. The method of claim 1,
The control unit,
In setting the reference obstacle size, a mobile robot equipped with a cleaning function, wherein reference information related to at least one of a height of an obstacle, a width of the obstacle, and a floor area of the obstacle is set. The method of claim 1,
The control unit,
A cleaning target value is set for each cleaning area, and when the main body enters one of the plurality of cleaning areas, the reference obstacle size is variably set based on a set cleaning target value corresponding to the one cleaning area. A mobile robot equipped with a cleaning function, characterized in that. A mobile robot that performs cleaning within a plurality of cleaning areas; And
Including a terminal for performing communication with the mobile robot,
The terminal,
The step of setting a standard obstacle size for each cleaning area, and
Transmitting reference information including a set reference obstacle size to the mobile robot,
The mobile robot,
Identifying an area in which the main body of the mobile robot is located among the plurality of cleaning areas,
Detecting any one of the reference information received from the terminal corresponding to the identified area,
Detecting an obstacle existing within a predetermined distance from the main body,
A system including a mobile robot equipped with a cleaning function, characterized in that performing the step of determining whether to perform an avoidance driving for the obstacle using the detected reference information. The method of claim 11,
The terminal,
An output module that outputs a screen including a map of each cleaning area;
An input module that sets a standard obstacle size for each cleaning area,
A system comprising a mobile robot equipped with a cleaning function, characterized in that it comprises a communication module that transmits a set reference obstacle size and identification information of a cleaning area corresponding thereto to the mobile robot. The method of claim 12,
The input module of the terminal,
A first user input for selecting any one of the plurality of cleaning areas;
A system including a mobile robot equipped with a cleaning function, characterized in that receiving a second user input for setting a reference obstacle size corresponding to any one selected cleaning area. The method of claim 13,
The second user input to which the input module of the terminal is applied,
A system including a mobile robot equipped with a cleaning function, comprising a user input related to at least one of a height reference value of an obstacle, a width reference value of the obstacle, and a floor area reference value of the obstacle. The method of claim 12,
The mobile robot,
A communication unit that receives information related to a reference obstacle size from the terminal;
A driving unit for moving the mobile robot within a plurality of cleaning areas,
A sensing unit that detects obstacle information related to an obstacle existing within a preset distance from the mobile robot,
Detecting the size of the obstacle using the obstacle information, comparing the size of the detected obstacle with the reference obstacle size, selecting any one of a plurality of driving modes according to the comparison result, and selecting any one selected driving mode. A system including a mobile robot equipped with a cleaning function, characterized in that it comprises a control unit for controlling the driving unit by using.

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