KR20210004678A - Moving Robot and controlling method - Google Patents

Abstract

According to the present invention, a moving robot and a method for controlling the same are disclosed. The moving robot generates authentication information in a product register process of connecting the moving robot and a terminal in a wireless communication method to perform a predetermined behavior corresponding to the authentication information, and is configured to compare data with the authentication information to authenticate the data when the data corresponding to the behavior of the moving robot is received from the terminal to authenticate and connect the terminal for wirelessly connecting with the terminal to minimize confusion between a plurality of wireless devices and prevent other device from being connected to the moving robot so as to enhance security.

Description

Moving robot and its control method {Moving Robot and controlling method}

The present invention relates to a mobile robot and a control method thereof, and to a mobile robot that controls an operation using an application and a control method thereof.

In general, a mobile robot travels by itself within an area to perform a designated operation. For example, a cleaning robot automatically cleans by inhaling foreign substances such as dust from the floor.

The mobile robot can create a map for the area while traveling in the area to be cleaned. The mobile robot may perform cleaning while driving based on the generated map.

In addition, as the mobile robot is equipped with a camera, it can be used as a security mode for freely traveling in an indoor area to monitor the indoor area and detect intrusion.

As such a mobile robot is connected to a terminal through a wireless communication method, even if a user does not approach the mobile robot, its operation can be controlled using the terminal from a distance, and the operation of the mobile robot can be monitored.

In order to connect the mobile robot and the terminal, it is necessary to establish an interconnection. However, since there is no boundary in the wireless signal during the connection process, there is a problem that crosstalk occurs in the connection due to signals from other devices. In particular, problems such as receiving signals from devices of other households or connecting to mobile robots in other households in densely populated areas may occur.

As a result, there is a problem in that the mobile robot is not normally controlled or the state information of the mobile robot and the home is exposed to others.

Korean Patent Application Publication No. 2015-0033569 relates to a security management method and apparatus in a home network system, and proposes security management using a device token that enables device authentication when a smartphone controls home appliances.

However, since a process such as requesting a device token from a home device based on a home network is required, and there is a process of processing a device token, convenience is deteriorated, and there is a limit to application when a terminal and a mobile robot are directly connected.

Accordingly, in controlling a mobile robot using wireless communication, there is a need for a way to enhance security with simple settings.

Republic of Korea Patent Publication No. 2015-0033569

The problem to be solved by the present invention is to enhance security by minimizing crosstalk between a plurality of wireless devices and preventing other devices from connecting to a mobile robot by authenticating and connecting the terminal in wireless connection It is to provide a robot and a control method thereof.

The present invention provides a mobile robot and a control method thereof that prevents an incorrect user from being connected to the mobile robot by allowing a mobile robot to be connected to a terminal of a user who owns the mobile robot through authentication.

The technical problems of the present invention are not limited to the technical problems mentioned above, and other technical problems that are not mentioned will be clearly understood by those skilled in the art from the following description.

A mobile robot and a control method thereof according to an embodiment of the present invention for achieving the above object, by performing a specific operation of the mobile robot in the process of connecting the mobile robot and the terminal, authentication corresponding to the operation of the mobile robot It is characterized in that the terminal is authenticated using information.

The present invention is characterized in that when product registration is in progress, authentication information is randomly generated and an operation corresponding to the authentication information is performed.

The present invention is characterized in that an authentication pattern is generated as authentication information, a movement path corresponding to the shape of the authentication pattern is generated, and the pattern is driven by moving according to the movement path.

The present invention is characterized by generating a password as authentication information and outputting it by voice.

The present invention is a main body for traveling in an area; A driving unit for moving the main body by operating a wheel; An output unit for outputting voice guidance; A communication unit connected to and communicating with a terminal; When a request for product registration is received from the terminal, authentication information is generated, the driving unit or the output unit is controlled to perform an operation corresponding to the authentication information, and data received from the terminal is compared with the authentication information. It includes a control unit that performs authentication for the terminal.

The control unit generates an authentication pattern in a certain form as the authentication information, sets a moving path corresponding to the form of the authentication pattern, and the driving unit causes the main body to move according to the movement path in response to a control command. It features.

The control unit is characterized in that, according to the request of the terminal, a password composed of a random number is generated as the authentication information, and the output unit outputs the password by voice.

The present invention comprises the steps of receiving a product registration request from a terminal; Generating authentication information in response to the request; Performing a designated operation by a driving unit or an output unit according to the authentication information; Performing authentication for the terminal by comparing data received from the terminal with the authentication information; And registering the terminal when authentication is completed. The present invention comprises the steps of generating an authentication pattern in a certain form as the authentication information; Setting a movement path corresponding to the type of the authentication pattern; And moving the body according to the movement path.

The present invention includes the steps of generating a password composed of a random number as the authentication information according to the request of the terminal; And outputting the password by voice.

The terminal further includes displaying a pattern input screen for the type of the authentication information.

The terminal further comprises displaying a password input screen for the type of the authentication information.

The mobile robot and its control method of the present invention have an effect of reinforcing security by authenticating the terminal using authentication information according to the motion of the mobile robot in the process of connecting the mobile robot and the terminal through a wireless communication method.

The present invention is an authentication method using the motion of a mobile robot, and authentication can be performed intuitively and easily.

According to the present invention, the connection of an erroneous user can be prevented in advance according to an authentication method using the motion of a mobile robot.

The present invention can enhance security by minimizing crosstalk between a plurality of wireless devices and preventing other devices from connecting to a mobile robot.

According to the present invention, the mobile robot is connected to the terminal of the user who owns the mobile robot through authentication, thereby preventing an incorrect user from being connected to the mobile robot.

The present invention can prevent the user's privacy from being exposed to others.

1 is a perspective view showing a mobile robot according to an embodiment of the present invention.
2 is a block diagram schematically illustrating a configuration of a mobile robot according to an embodiment of the present invention.
3 is a diagram referenced for explaining a connection between a mobile robot and a terminal according to an embodiment of the present invention.
4 is a diagram illustrating a control screen of a terminal according to connection of a mobile robot according to an embodiment of the present invention.
5 is a flow chart illustrating a control method according to a connection between a mobile robot and a terminal according to an embodiment of the present invention.
6 is a diagram referred to for describing authentication information according to an operation of a mobile robot according to an embodiment of the present invention.
7 is an exemplary diagram illustrating a connection process between a mobile robot and a terminal according to an embodiment of the present invention.
8 and 9 are exemplary diagrams illustrating another example of a connection process between a mobile robot and a terminal according to an embodiment of the present invention.
10 is a flowchart illustrating a method of operating a terminal according to connection with a mobile robot according to an embodiment of the present invention.

Advantages and features of the present invention, and a method of achieving them will become apparent with reference to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in a variety of different forms, and only these embodiments make the disclosure of the present invention complete, and are common knowledge in the technical field to which the present invention pertains. It is provided to completely inform the scope of the invention to those who have, and the invention is only defined by the scope of the claims. The same reference numerals refer to the same components throughout the specification. The control configuration of the present invention may consist of at least one processor.

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

Referring to FIG. 1, a mobile robot 1 according to an embodiment of the present invention moves within an area and is configured to suck foreign substances such as dust on the floor while driving.

The mobile robot 1 includes a main body 10 that performs a designated operation, an obstacle detection unit 100 disposed in front of the main body 10 to detect an obstacle, and an image acquisition unit 170 for capturing a 360-degree image. Include.

The body 10 has a casing (not shown) that forms an exterior and forms a space in which parts constituting the body 10 are accommodated, and a left wheel (not shown) and a right wheel (not shown) rotatably provided in the casing. ) Can be included. In addition, the mobile robot includes a suction unit 180 disposed in the casing and formed toward the bottom surface to suck foreign substances such as dust or garbage to perform cleaning.

As the left and right wheels rotate, the main body 10 moves along the bottom of the area. The main body 10 may include a driving unit (not shown) for driving the left and right wheels. The driving unit may include at least one driving motor.

The suction unit 180 may include a suction fan (not shown) that generates a suction force, and a suction port (not shown) through which an airflow generated by rotation of the suction fan is sucked. The suction unit may include a filter (not shown) for collecting foreign substances from the airflow sucked through the suction port, and a foreign substance collecting container (not shown) in which foreign substances collected by the filter are accumulated.

The suction unit 180 includes a rotating brush (not shown) and rotates at the same time while inhaling airflow to assist in collecting foreign substances. The suction unit is configured to be detachable if necessary. The main body 10 may be further provided with a plurality of brushes (not shown) located on the front side of the bottom of the casing and having a brush made of a plurality of radially extending blades.

In addition, a wet mop cleaning unit may be attached to the suction unit 180. The wet mop cleaner may be mounted on the rear of the suction port. In some cases, the wet mop cleaning unit may be configured separately from the suction unit and may be replaced and mounted at a position fastened and fixed to the suction unit. The wet mop cleaner rotates while moving and wipes the floor in the direction of travel.

The main body 10 may be further provided with a plurality of brushes (not shown) located on the front side of the bottom of the casing and having a brush made of a plurality of radially extending blades. The veterinary brush removes dust from the floor of the cleaning area by rotation, and the dust separated from the floor is sucked through the suction port and collected in the collection bin.

A control panel including an operation unit (not shown) that receives various commands for controlling the mobile robot 1 from a user may be provided on the upper surface of the casing.

In addition, an image acquisition unit (not shown) and an obstacle detection unit 100 are disposed on the front or upper surface of the main body.

The obstacle detecting unit 100 detects an obstacle located in the driving direction or around the main body 10.

The image acquisition unit captures an image of an indoor area. Based on the image captured through the image acquisition unit, not only the indoor area can be monitored, but also obstacles around the main body can be detected.

The image acquisition unit 170 is disposed toward the front-up direction at a predetermined angle to photograph the front and the upper side of the mobile robot. The image acquisition unit may further include a separate camera for photographing the front side.

In addition, the image acquisition unit may be disposed above the main body 10 to face the ceiling, and in some cases, a plurality of cameras may be provided.

In addition, the image acquisition unit may be separately provided with a camera for photographing the bottom surface.

The mobile robot 1 may further include a location acquisition means (not shown) for acquiring current location information. The mobile robot 1 may determine the current location, including GPS and UWB. In addition, the mobile robot 1 may determine the current position using an image.

The main body 10 is provided with a rechargeable battery (not shown), and a charging terminal (not shown) of the battery is connected to a commercial power source (for example, a power outlet in a home), or a separate charging station connected to a commercial power source ( (Not shown), the main body 10 is docked, the charging terminal is electrically connected to the commercial power supply through contact with the terminal of the charging station, and the battery can be charged. The electric components constituting the mobile robot 1 may receive power from the battery, and thus, the mobile robot 1 can travel by magnetic force while the battery is charged and electrically separated from the commercial power source.

Hereinafter, the mobile robot 1 is described as an example of a cleaning mobile robot, but the present invention is not limited thereto, and it is specified that the mobile robot 1 is applicable to a robot that detects sound while autonomously traveling in an area.

2 is a block diagram schematically illustrating a configuration of a mobile robot according to an embodiment of the present invention.

As shown in FIG. 2, the mobile robot 1 includes a driving unit 290, a cleaning unit 260, a data unit 280, an obstacle detecting unit 100, an audio input unit 120, and an image acquisition unit 170. , A sensor unit 150, a communication unit 270, an operation unit 160, an output unit 190, and a control unit 200 for controlling overall operation.

The operation unit 160 receives a user command including input means such as at least one button, switch, and touch pad. As described above, the manipulation unit may be provided on the upper end of the main body 10.

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

The audio input unit 120 includes at least one microphone and receives sound generated in the vicinity or within a predetermined distance from the main body 10.

The audio input unit 120 may further include a signal processing unit (not shown) that filters, amplifies, and converts the input sound.

The data unit 280 stores the acquired image input from the image acquisition unit 170, the obstacle recognition unit 210 stores reference data for determining the obstacle, and the obstacle information on the detected obstacle is stored.

The data unit 280 stores obstacle data for determining the type of obstacle, image data for storing a photographed image, and map data for an area. The map data includes obstacle information, and various types of maps (maps) for the drivable area searched by the mobile robot are stored.

In addition, the data unit 280 stores sound data for distinguishing the input sound, and the voice data for recognition, sound effect, warning sound, and voice guidance output through the output unit are stored.

The data unit 280 may include an image captured through the image acquisition unit, for example, a still image, a moving image, and a panoramic image. In addition, the data unit 280 stores control data for controlling the operation of the mobile robot, data according to the cleaning mode of the mobile robot, and detection signals such as ultrasound/laser by the sensor unit 150.

In addition, the data unit 280 stores data that can be read by a micro processor, and includes a hard disk drive (HDD), a solid state disk (SSD), a silicon disk drive (SDD), a ROM, and a RAM. , CD-ROM, magnetic tape, floppy disk, optical data storage device.

The communication unit 270 communicates with the terminal 300 through a wireless communication method. In addition, the communication unit 270 may be connected to an Internet network through an in-home network to communicate with an external server or a terminal 300 controlling a mobile robot.

The communication unit 270 transmits the generated map to the terminal 300, receives a cleaning command from the terminal, and transmits data on the operation state and cleaning state of the mobile robot to the terminal. In addition, the communication unit 270 may transmit information on an obstacle detected while driving to the terminal 300 or a server. The communication unit 270 transmits and receives data including short-range wireless communication such as ZigBee and Bluetooth, and communication modules such as Wi-Fi and WiBro.

The communication unit 270 communicates with the charging station 40 and may receive a charging station return signal or a guide signal for docking the charging station. The mobile robot 1 searches for a charging station based on a signal received through the communication unit 270 and docks the charging station.

On the other hand, the terminal 300 is a device equipped with a communication module, a network connection is possible, a program for controlling a mobile robot, or an application for controlling a mobile robot is installed, and devices such as computers, laptops, smart phones, PDAs, and tablet PCs are Can be used. Further, the terminal may also be used as a wearable device such as a smart watch.

The terminal 300 may output a predetermined warning sound or display a received image according to data received from the mobile robot 1.

The terminal 300 may receive data of the mobile robot 1, monitor the operation state of the mobile robot, and control the mobile robot 1 through a control command.

The terminal 300 may be directly connected to the mobile robot 1 on a one-to-one basis, and may also be connected through a server, for example, a home appliance management server. The driving unit 290 includes at least one driving motor so that the mobile robot travels according to a control command from the driving control unit 230. As described above, the driving unit 290 may include a left wheel drive motor that rotates the left wheel and a right wheel drive motor that rotates the right wheel.

The cleaning unit 260 operates a brush to make it easy to inhale dust or foreign matter around the mobile robot, and operates a suction device to inhale dust or foreign matter. The cleaning unit 260 controls the operation of a suction fan provided in a suction unit that sucks foreign substances such as dust or garbage so that the dust is injected into the foreign substance collection bin through the suction port.

In addition, the cleaning unit 260 may further include a wet mop cleaning unit (not shown) installed behind the bottom of the main body to mop the floor in contact with the bottom surface, and a water container (not shown) for supplying water to the wet mop cleaning unit. . The cleaning unit 260 may be equipped with a cleaning tool. For example, a wet mop pad is attached to the mop cleaning unit to clean the floor. The cleaning unit 260 may further include a separate driving means for transmitting a rotational force to the mop pad of the mop cleaning unit.

The battery (not shown) supplies power necessary for the overall operation of the mobile robot 1 as well as the driving motor. When the battery is discharged, the mobile robot 1 can travel to return to the charging station for charging, and during such a return driving, the mobile robot 1 can detect the location of the charging station by itself. The charging station may include a signal transmitting unit (not shown) that transmits a predetermined return signal. The return signal may be an ultrasonic signal or an infrared signal, but is not limited thereto. The obstacle detecting unit 100 obtains the irradiated pattern as an image by irradiating a predetermined pattern. The obstacle detection unit may include at least one pattern irradiation unit (not shown) and a pattern acquisition unit. In addition, the obstacle detecting unit may include sensors such as an ultrasonic sensor, a laser sensor, an infrared sensor, and a 3D sensor, and may detect a position and a distance size of an obstacle positioned in the driving direction. In addition, the obstacle detecting unit 100 may detect an obstacle with an image of a driving direction. The sensor unit and the image acquisition unit may be included in the obstacle detection unit.

The sensor unit 150 includes a plurality of sensors to detect an obstacle. The sensor unit 150 detects an obstacle in the forward direction, that is, a driving direction using at least one of an ultrasonic sensor, a laser sensor, and an infrared sensor. The sensor unit 150 may be used as an auxiliary means for detecting an obstacle that cannot be detected by the obstacle detecting unit.

Further, the sensor unit 150 may further include a cliff detection sensor that detects whether a cliff exists on the floor in the driving area. When the transmitted signal is reflected and incident, the sensor unit 150 inputs information about the existence of an obstacle or the distance to the obstacle as an obstacle detection signal to the controller 200.

The sensor unit 150 includes at least one tilt sensor to detect the tilt of the body. The tilt sensor calculates the tilted direction and angle when tilted in the front, rear, left and right directions of the main body. Tilt sensor, acceleration sensor, etc. can be used as the tilt sensor, and in the case of the acceleration sensor, any one of a gyro type, an inertial type, and a silicon semiconductor type can be applied.

In addition, the sensor unit 150 may detect an operating state or abnormality through a sensor installed inside the mobile robot 1.

The image acquisition unit 170 is composed of at least one camera.

The image acquisition unit 170 may include a camera that converts an image of a subject into an electrical signal and then converts the image into a digital signal and stores it in a memory device. The camera includes at least one optical lens, a plurality of photodiodes (for example, pixels) formed by light passing through the optical lens, and an image sensor (for example, a CMOS image sensor), and a light A digital signal processor (DSP) that configures an image based on signals output from the diodes may be included. The digital signal processor is capable of generating not only still images but also moving images composed of frames composed of still images.

The 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 exemplified as a photo diode. Charges are accumulated in each of the pixels by an image deposited on the chip by light passing through the lens, and charges accumulated in the pixels are converted into electrical signals (eg, voltage). As image sensors, CCD (Charge Coupled Device), CMOS (Complementary Metal Oxide Semiconductor), etc. are well known.

The image acquisition unit 170 continuously captures images when the mobile robot operates. Also, the image acquisition unit 170 may capture an image at a predetermined period or in a predetermined distance unit.

The image acquisition unit 170 may set a photographing period according to the moving speed of the mobile robot.

The image acquisition unit 170 may acquire an image in front of the driving direction, as well as photograph an upward ceiling shape.

The image acquisition unit 170 stores an image captured while the main body is traveling as image data in the data unit 280.

The obstacle detection unit inputs the position of the detected obstacle or information on the movement thereof to the control unit 200. The sensor unit 150 may input a detection signal for an obstacle detected by the provided sensor to the control unit. The image acquisition unit 170 inputs the captured image to the control unit.

The controller 200 controls the driving unit 290 so that the mobile robot travels within a designated area of the driving area.

The control unit 200 processes the data input by the operation of the operation unit 160 to set the operation mode of the mobile robot, outputs the operation state through the output unit 190, and detects the operation state, error state, or obstacle. The corresponding warning sound, sound effect, and voice guidance are output through the speaker of the output unit.

The control unit 200 is connected to a terminal or a server through a communication unit, and may perform product registration upon initial connection. When starting product registration according to the request of the terminal, the controller 200 randomly generates authentication information to perform authentication for the terminal.

The control unit 200 performs an operation corresponding to the authentication information by controlling the driving unit or the output unit in response to the authentication information. The controller 200 performs authentication by comparing data received from the terminal with authentication information. Authentication information is randomly generated, and an authentication pattern or password can be used.

The control unit 200 generates a map for the driving area based on the image acquired from the image acquisition unit 170 and the obstacle information detected by the sensor unit 150 or the obstacle detection unit 100. The control unit 200 generates a map based on information on obstacles while driving in the area, but may generate a map by determining the shape of the driving area from the image of the image acquisition unit.

The controller 200 recognizes the obstacle with respect to the obstacle detected by the image acquisition unit 170 or the obstacle detection unit 100 and controls the driving unit to move by performing a specific operation or changing a path in response thereto. In addition, the controller may output a predetermined sound effect or warning sound through the output unit as needed, and may control the image acquisition unit to capture an image.

The controller 200 may recognize a voice by analyzing a sound input through the audio input unit 120. In some cases, the controller 200 may recognize the input voice by transmitting the input sound to a voice recognition server (not shown). When voice recognition is completed, the control unit 200 performs an operation corresponding to the voice command.

The control unit 200 performs cleaning of the driving area by controlling the driving unit 290 and the cleaning unit 260 to absorb dust or foreign substances around the mobile robot while driving. Accordingly, the cleaning unit 260 operates the brush to make it easy to suck dust or foreign matter around the mobile robot, and operates the suction device to suck the dust or foreign matter. The cleaning unit is controlled to perform cleaning by sucking foreign substances while driving.

The control unit 200 checks the charging capacity of the battery and determines when to return to the charging station. When the charging capacity reaches a predetermined value, the control unit 200 stops the operation being performed and starts searching for a charging station to return to the charging station. The controller 200 may output a notification about the charging capacity of the battery and a notification about the return of the charging station. In addition, when a signal transmitted from the charging station is received through the communication unit 270, the controller 200 may return to the charging station.

The control unit 200 includes an obstacle recognition unit 210, a map generation unit 220, a driving control unit 230, and a location recognition unit 240.

The map generation unit 220 generates a map for the area based on obstacle information while driving the area during an initial operation or when a map for the area is not stored. Also, the map generator 220 updates a previously generated map based on obstacle information acquired while driving. In addition, the map generator 220 analyzes an image acquired while driving to determine the shape of an area to generate a map.

After generating the basic map, the map generator 220 divides the cleaning area into a plurality of areas, includes a connection passage connecting the plurality of areas, and generates a map including information on obstacles in each area.

The map generator 220 processes the shape of the area for each divided area. The map generator 220 may set properties for the divided areas.

Also, the map generator 220 may classify an area from features extracted from an image. The map generation unit 220 may determine the location of the door based on the connection relationship between the features, and accordingly, may generate a map composed of a plurality of areas by dividing boundaries between areas.

The obstacle recognition unit 210 determines an obstacle through data input from the image acquisition unit 170 or the obstacle detection unit 100, and the map generation unit 220 generates a map for the driving area and detects the obstacle Information on the map is included in the map.

The obstacle recognition unit 210 determines an obstacle by analyzing data input from the obstacle detection unit 100. The direction of the obstacle or the distance to the obstacle is calculated according to the detection signal of the obstacle detection unit, for example, a signal such as ultrasound or laser. In addition, the obstacle recognition unit may analyze the acquired image including the pattern to extract the pattern and determine the obstacle by analyzing the shape of the pattern. When using an ultrasonic or infrared signal, the obstacle recognition unit 210 determines an obstacle based on the difference in the shape of the ultrasonic wave received and the time at which the ultrasonic wave is received according to the distance to the obstacle or the position of the obstacle.

The obstacle recognition unit 210 may analyze an image captured through the image acquisition unit 170 to determine an obstacle located around the main body.

The obstacle recognition unit 210 may detect a human body. The obstacle recognition unit 210 analyzes data input through the obstacle detection unit 100 or the image acquisition unit 170 to detect a human body based on a silhouette, size, face shape, etc., and whether the human body is a registered user. Judge whether or not. The obstacle recognition unit 210 may store pre-registered user data, for example, an image of the user, and characteristics according to the shape of the user as data, and determine whether the user is a registered user when detecting a human body. The obstacle recognition unit 210 may also recognize a companion animal. The obstacle recognition unit 210 analyzes the image data, extracts it as a characteristic of the obstacle, determines the obstacle based on the shape (shape), size, and color of the obstacle, and determines its position.

The obstacle recognition unit 210 may determine the type of the obstacle by extracting features of the obstacle based on the previously stored obstacle data, excluding the background of the image from the image data. The obstacle data 181 is updated by new obstacle data received from the server. The mobile robot 1 may store obstacle data on the detected obstacle and receive data on the type of obstacle from the server for other data.

In addition, the obstacle recognition unit 210 stores information on the recognized obstacle in obstacle data, and transmits recognizable image data to the server 90 through the communication unit 270 to determine the type of the obstacle. The communication unit 270 transmits at least one image data to the server 90.

The obstacle recognition unit 210 determines the obstacle based on the image data converted by the image processing unit.

The location recognition unit 240 calculates the current location of the main body. The location recognition unit 240 may extract features from an image of the image acquisition unit, that is, image data, and compare the features to determine a current location. The location recognition unit 240 may determine the current location from the image using structures around the main body and the shape of a ceiling.

The location recognition unit 240 detects features such as points, lines, and planes for predetermined pixels constituting an image, and determines a location by analyzing features of an area based on the detected features. . The location recognition unit 240 may extract the outline of the ceiling and extract features such as lighting.

The location recognition unit continuously determines the current location in the area through image data, matches features to reflect changes in surrounding structures, learns, and calculates the location.

The driving control unit 230 travels the area based on the map, and controls the driving unit 290 to travel through the obstacle or avoid the obstacle by changing a moving direction or a driving path in response to detected obstacle information.

The driving control unit 230 controls the driving unit 290 to independently control the operation of the left-wheel drive motor and the right-wheel drive motor so that the main body 10 moves straight or rotates. The driving control unit 230 controls the driving unit 290 and the cleaning unit 260 according to the cleaning command so that the main body 10 sucks foreign substances while driving the cleaning area to perform cleaning.

The driving control unit 230 controls the driving unit 290 to move to a set area based on the map generated by the map generating unit 220 or to move the main body within the set area. In addition, the driving control unit 230 controls driving based on the current position calculated from the position recognition unit 240.

The driving control unit 230 controls the driving unit to perform a predetermined operation in response to an obstacle or change a driving path according to a detection signal of the obstacle detection unit 100 to travel.

In response to the detected obstacle, the driving control unit 230 controls the driving unit to perform at least one of avoidance, approach, and approach distance, and at least one of stop, deceleration, acceleration, reverse driving, U-turn, and driving direction change.

In addition, the driving control unit 230 may output an error and, if necessary, may output a predetermined warning sound or voice guidance.

3 is a diagram referenced for explaining a connection between a mobile robot and a terminal according to an embodiment of the present invention.

As shown in (a) of FIG. 3, the mobile robot 1 is connected to a terminal through a wireless communication method. In addition, the mobile robot 1 may be connected to a plurality of terminals 301 to 304.

The mobile robot 1 may be directly connected to the terminal through Bluetooth, Wi-Fi, or the like, and may be connected through a network in the home. In addition, the mobile robot 1 may be connected to a terminal through a server connection.

The terminal 300 receives data from the mobile robot 1 and displays a map of the area. The terminal 300 displays information on an area, a cleaning state, a cleaning progress, and a degree of dust. In addition, the terminal 300 may display an indoor image received from the mobile robot through a monitoring mode or a security mode.

In addition, the terminal 300 transmits control commands such as cleaning, monitoring, and intrusion detection to the mobile robot 1 to control the operation of the mobile robot.

As shown in (b) of FIG. 3, since a boundary does not exist in the wireless signal, a signal can be received by another home according to the reachable range (SA) distance of the signal.

In particular, in the case of a dense housing in which a plurality of homes are adjacent to each other, such as an apartment, a villa, or a multi-family house, a signal generated in the first area A1 reaches the adjacent second to fourth areas A2 to A4. Each of the first to fourth areas is an independent area, and one area is composed of a home, an office, and the like.

As the signal of the mobile robot 1 located in the first area A1 reaches the second to fourth areas A2 to A4, the second to fourth terminals 302 to 304 are also the mobile robot 1 ). When one of the second to fourth terminals is connected to the mobile robot, since information of the first area is provided to the corresponding terminal, there is a concern of invasion of privacy.

When the mobile robot 1 connects to the terminal, it does not check the location of the terminal, so it is necessary to check whether the terminal attempting connection is the first terminal 301 located in the first area.

Accordingly, the mobile robot 1 performs authentication to confirm whether the first terminal 301 is located in the same first area.

4 is a diagram illustrating a control screen of a terminal according to connection of a mobile robot according to an embodiment of the present invention.

As shown in FIG. 4, when the mobile robot 1 and the terminal 300 are connected for mutual communication, a separate registration process may be performed.

As shown in (a) of FIG. 4, the terminal 300 executes an application for controlling the mobile robot, and selects product registration from the control menu. When product registration starts, the terminal 300 searches for signals from the surrounding mobile robot 1 and attempts connection, and displays a connection attempt screen 311. At this time, the mobile robot 1 may also transmit a signal for connection.

The terminal 300 receiving the signal from the mobile robot 1 displays the recognized mobile robot 1. When the terminal 300 and the mobile robot 1 are connected to the same network, product registration is possible using a communication method of the network. In addition, the terminal 300 may be connected to the mobile robot 1 on a one-to-one basis using a short-range communication method.

At this time, the mobile robot 1 and the terminal 300 perform a predetermined authentication process.

The mobile robot 1 randomly generates authentication information, performs an operation corresponding thereto, and performs authentication by comparing data received from the terminal with the authentication information. The authentication information may be an authentication pattern or password.

The mobile robot 1 and the terminal 300 register products by transmitting and receiving mutual device information.

When product registration is complete, the terminal 300 displays information on the registered device on the screen 312 as shown in Fig. 4B. An image or icon for the registered device is displayed, and the current charging state , The connection method is displayed.

When the registered mobile robot 1 is selected, the terminal 300 displays a control menu and displays data received from the mobile robot 1 on the screen. Further, the terminal 300 may transmit a control command to the mobile robot through a control menu to control its operation.

When the terminal 300 is connected to a plurality of devices, a list of the plurality of devices is displayed on the registered product.

5 is a flowchart illustrating a control method according to a connection between a mobile robot and a terminal according to an embodiment of the present invention.

As shown in FIG. 5, the terminal is connected to the mobile robot to perform product registration.

The terminal 300 starts product registration by executing the control application (S401).

The mobile robot 1 starts product registration upon connection with the terminal 300 (S403). The mobile robot 1 transmits a predetermined signal, and the terminal 300 receives the signal transmitted from the mobile robot 1. The mobile robot 1 and the terminal 300 may establish a temporary communication channel.

The terminal 300 attempts to connect to the mobile robot 1 by receiving a signal transmitted from the mobile robot (S405).

The mobile robot 1 generates authentication information when a request from the terminal 300 is received. Authentication information can be randomly generated.

The mobile robot 1 generates an authentication pattern as authentication information (S407) and requests authentication from the terminal 300 (S406).

In addition, the mobile robot 1 may generate a password composed of at least one of random numbers, alphabets, and special characters as authentication information.

The terminal 300 displays a menu screen for authentication in response to the authentication request, and displays a guide for the authentication process according to product registration with respect to the authentication pattern (S411). On the menu screen, a guide on the authentication method may be displayed in text or image.

The mobile robot 1 transmits the authentication request, waits for a predetermined time, and then receives the pattern driving request from the terminal 300, sets a movement path based on the generated authentication pattern, and performs the pattern driving (S413). The mobile robot 1 sets a movement path of the same type as the generated authentication pattern and travels accordingly.

The user checks the pattern driving of the mobile robot 1, and when the pattern driving of the mobile robot 1 is completed (S415), a shape according to the pattern driving is input to the terminal 300 as an authentication pattern. The authentication pattern is used as authentication information.

The terminal 300 transmits the input authentication pattern as authentication information to the mobile robot 1 (S419) and waits.

The mobile robot 1 compares the authentication pattern received from the terminal 300 with a pre-generated authentication pattern to determine whether they match (S423).

If the authentication pattern does not match, the mobile robot 1 regenerates the authentication pattern and repeats the authentication process (S407 to S423). The mobile robot 1 transmits a notification about the mismatch of the authentication pattern to the terminal 300 and performs re-authentication.

When the authentication pattern matches, the mobile robot 1 transmits a notification according to authentication completion to the terminal 300.

The mobile robot 1 and the terminal 300 mutually transmit and receive data (S427).

The mobile robot 1 provides device information of the mobile robot 1 to the terminal 300. The terminal 300 transmits the device information of the terminal to the mobile robot 1. The device information may include unique numbers of the mobile robot 1 and the terminal 300.

The terminal 300 stores device information of the mobile robot 1 and registers a product based on the device information (S429).

The terminal 300 transmits the terminal data to the mobile robot 1, and the mobile robot 1 registers the terminal by storing the terminal data (S431).

After authentication is completed, the mobile robot 1 and the terminal 300 transmit and receive mutual data to complete registration (S433).

When product registration is completed, the mobile robot icon is added to the list in the terminal 300 as shown in FIG. 4B described above.

6 is a diagram referred to for describing authentication information according to an operation of a mobile robot according to an embodiment of the present invention.

As shown in (a) of FIG. 6, when the mobile robot 1 starts product registration, an authentication pattern is randomly generated as authentication information. In addition, the mobile robot 1 may generate a password composed of at least one of random numbers, alphabets, and special characters as authentication information.

When generating the authentication pattern, the mobile robot 1 generates an authentication pattern P1 of a specific shape based on 9 points of 3x3. As an example, the illustrated authentication pattern may be formed as 4x4 or 5x5, and is set within a range in which the mobile robot can travel, and is not limited to the drawings. For example, the mobile robot can travel according to the authentication pattern within the range of 3m x 3m.

The control unit generates an authentication pattern connecting at least two or more points with respect to a plurality of points arranged at a predetermined distance.

Based on the generated authentication pattern P1, the mobile robot 1 generates a movement path L1 in the same shape as the authentication pattern P1 and travels, as shown in FIG. 6B.

Based on the distances D1 and D2 between points in the generated authentication pattern, the mobile robot travels according to the movement path L1 based on the unit distance D2.

The driving unit 290 moves according to a movement path using the minimum distance between points as a unit distance.

The unit distance D2 is set based on the minimum distance among the distances between adjacent points of the authentication pattern, and is set with a distance difference that the user can visually check by the driving of the mobile robot. That is, the first distance D1 and the second distance D2 are set so that the user can visually check them.

7 is an exemplary diagram illustrating a connection process between a mobile robot and a terminal according to an embodiment of the present invention.

As shown in FIG. 7, when registering a product for the mobile robot, the terminal 300 displays a guide for the authentication process on the screen.

As shown in (a) of FIG. 7, when product registration starts, the terminal 300 displays a guide screen 321 for a product registration method.

The terminal 300 guides the mobile robot 1 to form a space by removing obstacles so that the mobile robot 1 can perform pattern driving according to the authentication pattern.

When the pattern drawing button is selected, the terminal 300 requests the mobile robot 1 to run the pattern.

As shown in (b) of FIG. 7, while the mobile robot 1 performs pattern driving on a movement path corresponding to the authentication pattern, the terminal 300 displays a screen 322 indicating that the pattern driving is being performed. Indicate.

As shown in (c) of FIG. 7, when the pattern driving of the mobile robot 1 is completed, the terminal 300 displays an authentication pattern input screen 323.

The terminal 300 displays a pattern on the screen in response to a user input. The terminal 300 displays a pattern by connecting a line segment in a direction in which the touch is then dragged. When redraw is selected, the previously input pattern is discarded and a new pattern input becomes possible.

As shown in (d) of FIG. 7, when the pattern input is complete, the mobile robot 1 displays a symbol according to the input completion, transmits the pattern information to the mobile robot 1, and receives the authentication result. The waiting screen 324 is displayed.

The mobile robot 1 compares the received pattern information with the authentication pattern and completes authentication if they match.

8 and 9 are exemplary diagrams illustrating another example of a connection process between a mobile robot and a terminal according to an embodiment of the present invention.

As shown in FIGS. 8 and 9, the terminal 300 performs authentication when registering a product for the mobile robot 1.

As shown in (a) of FIG. 8, the terminal 300 displays a product registration menu screen 331, and displays a selection menu for a device to be added. The terminal 300 may register not only the mobile robot 1 but also other home appliances such as air conditioners, washing machines, dryers, and TVs. When the mobile robot (robot cleaner) is selected, product registration for the mobile robot starts.

As shown in (b) of FIG. 8, a setting guide screen 332 for connection with a product is displayed. The guide may be displayed differently depending on the type of the previously selected device.

The terminal 300 guides the mobile robot 1 to be set to start product registration. The terminal 300 guides the communication setting of the mobile robot 1 for connection with the mobile robot 1. Depending on the settings, the mobile robot and the terminal are connected to enable communication.

As shown in (c) and (d) of FIG. 8, a guide for connection with a mobile robot is displayed on the guide screen 333 for product registration. The password key is displayed on the guide screen.

When the password key is selected, the terminal 300 requests the mobile robot 1 to output the password.

The mobile robot 1 outputs a password according to the request of the terminal 300.

When the product registration starts, the mobile robot 1 randomly generates a password composed of at least one of numbers, alphabets, and special characters.

The mobile robot 1 outputs a password by voice. In some cases, a password may be output through a key input of the operation unit of the mobile robot.

The mobile robot 1 may output a previously stored password, and may also generate randomly according to the request of the terminal. The output unit outputs the password by voice.

When the password is output from the mobile robot 1, the user can hear the voice for the password.

As shown in (a) of FIG. 9, the terminal 300 displays a password input screen 335. The user inputs the password output from the mobile robot 1.

In response to a user input, the terminal 300 inputs and stores a password, and transmits the password to the mobile robot 1. The mobile robot 1 may determine whether or not they match.

In some cases, after the mobile robot 1 outputs a password by voice, it may be transmitted to the terminal. The terminal may compare the received password and the input password to determine whether they match.

If the password matches, authentication is completed.

When authentication is completed as shown in (b) of FIG. 9, the terminal 300 displays a network setting screen 336. When a network to which the mobile robot 1 and the terminal 300 can connect is selected, registration is completed by transmitting and receiving mutual data of the mobile robot's terminal 300 as shown in FIG. 9C.

As shown in (d) of FIG. 9, when registration is completed, the terminal 300 informs the registration completion and displays information on the registered device on the screen 338.

10 is a flowchart illustrating a method of operating a terminal according to connection with a mobile robot according to an embodiment of the present invention.

As shown in FIG. 10, the terminal 300 registers products for the mobile robot.

The terminal 300 displays a product registration menu through the control application (S500), and selects a product to be registered in response to a user input (S505). The terminal 300 displays a setting guide for a registration method for the selected product on the screen (S510).

The terminal 300 displays a guide for authentication information (S515). The authentication information may be an authentication pattern according to the pattern driving or a password output as a voice. The authentication information is not limited thereto, and can be applied as long as it is a method that can be checked adjacent to the mobile robot.

As shown in FIG. 7 described above, the authentication information can be confirmed by pattern driving of the mobile robot. In addition, as shown in FIGS. 8 and 9, the password can be confirmed through a voice output from the mobile robot.

The terminal 300 receives a user input using the authentication pattern or password according to the pattern driving as authentication information (S520). When re-listening is selected (S525), the terminal 300 transmits a re-listening request to the mobile robot to request re-output of the authentication information (530).

In response to the request, the mobile robot 1 re-executes the pattern driving or re-outputs the password by voice.

The input authentication information, that is, the authentication pattern or password is checked (S535), and it is determined whether the authentication information matches. Whether the authentication information is matched may be performed by either the mobile robot 1 or the terminal 300. When the mobile robot determines whether the authentication information matches or not, the terminal 300 transmits the input authentication information to the mobile robot, and when the mobile robot determines whether the authentication information is matched, the mobile robot may transmit the authentication information to the terminal.

If the authentication information is inconsistent, the terminal 300 informs about the inconsistency (S545) and performs the authentication process again (S515 to S540).

If the authentication information matches, the terminal 300 establishes a network with the mobile robot 1 (S550), transmits mutual data (S555), and exchanges device information to complete registration (S560).

When registration is completed, when the mobile robot is selected by executing the application, the terminal 300 may immediately communicate with the mobile robot to receive information of the mobile robot, and transmit a control command to control the operation.

The mobile robot according to the present embodiment operating as described above may be implemented in the form of an independent hardware device, and is driven in a form included in other hardware devices such as a microprocessor or a general-purpose computer system as at least one processor. Can be.

The above description is merely illustrative of the technical idea of the present invention, and those of ordinary skill in the art to which the present invention pertains will be able to make various modifications and variations without departing from the essential characteristics of the present invention. Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain the technical idea, and the scope of the technical idea of the present invention is not limited by these embodiments.

1: mobile robot 300: terminal
100: obstacle detection unit 150: sensor unit
160: operation unit 170: image acquisition unit
200: control unit 210: obstacle recognition unit
230: driving control unit 240: position recognition unit
300: terminal

Claims (19)

A main body running through the area;
A driving unit for moving the main body by operating a wheel;
An output unit for outputting voice guidance;
A communication unit connected to and communicating with a terminal;
When a request for product registration is received from the terminal, authentication information is generated, and the driving unit or the output unit is controlled to perform an operation corresponding to the authentication information,
When data corresponding to the operation is received from the terminal, a mobile robot comprising a control unit for performing authentication on the terminal by comparing it with the authentication information. The method of claim 1,
The control unit generates an authentication pattern in a certain form as the authentication information,
A mobile robot, characterized in that setting a movement path corresponding to the form of the authentication pattern. The method of claim 2,
The moving robot, characterized in that in response to a control command, the main body to move according to the movement path. The method of claim 2,
The control unit generates an authentication pattern connecting at least two or more points with respect to a plurality of points arranged at regular distance intervals. The method of claim 4,
The mobile robot, wherein the driving unit moves according to the movement path by setting a unit distance based on the distance between the points. The method of claim 1,
And the control unit generates a password consisting of at least one of random numbers, alphabets, and special characters as the authentication information according to the request of the terminal. The method of claim 6,
The mobile robot, characterized in that the output unit outputs the password by voice. The method of claim 1,
The control unit, when receiving a re-output request from the terminal, to re-execute the operation according to the authentication information mobile robot. The method of claim 1,
The mobile robot, characterized in that the terminal displays a product registration menu on a screen and displays a product registration method. The method of claim 1,
The mobile robot, wherein the terminal displays a pattern input screen for the type of the authentication information during product registration. The method of claim 1,
The mobile robot, wherein the terminal displays a password input screen for the type of the authentication information during product registration. The method of claim 1,
When the authentication is completed, the terminal sets network information for communication with the main body. Receiving a product registration request from a terminal;
Generating authentication information in response to the request;
Performing a designated operation by a driving unit or an output unit according to the authentication information;
Receiving data corresponding to the operation from the terminal;
Performing authentication for the terminal by comparing the data with the authentication information; And
A control method of a mobile robot comprising the step of registering the terminal when authentication is completed. The method of claim 13,
Generating an authentication pattern in a certain form as the authentication information;
Setting a movement path corresponding to the type of the authentication pattern; And
The method of controlling a mobile robot further comprising: moving the main body according to the movement path. The method of claim 14,
The authentication pattern is set to connect at least two or more points with respect to a plurality of points arranged at predetermined distance intervals. The method of claim 15,
A method of controlling a mobile robot, wherein a unit distance is set based on the distance between the points, and the main body moves according to the movement path based on the unit distance. The method of claim 13,
Generating a password composed of at least one of random numbers, alphabets, and special characters as the authentication information according to the request of the terminal; And
The method of controlling a mobile robot further comprising: outputting the password as a voice. The method of claim 14,
The control method of a mobile robot further comprising the step of displaying, by the terminal, a pattern input screen with respect to the authentication information. The method of claim 14,
The control method of a mobile robot further comprising the step of displaying, by the terminal, a password input screen for the authentication information.

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