KR20210007473A - A MOVING ROBOT Using artificial intelligence AND CONTROL METHOD THEREOF - Google Patents

Abstract

According to the present invention, a moving robot using artificial intelligence includes: a travelling unit for moving a main body; a function unit for performing a specific function; an immersion detection unit formed inside the main body and formed on a printed circuit board mounting components to detect immersion into the printed circuit board; and a control unit for determining whether the printed circuit board is immersed in accordance with a detection signal from the immersion detection unit and controlling the components to be protected. Therefore, provided is an immersion detection circuit capable of effectively detecting water immersion when the inside of moving robot is immersed in water, and the immersion detection circuit that does not have a cost increase and does not occupy a large area inside the moving robot can be provided.

Description

Mobile robot using artificial intelligence and control method of mobile robot {A MOVING ROBOT Using artificial intelligence AND CONTROL METHOD THEREOF}

The present invention relates to a mobile robot mobile robot and a control method of the mobile robot mobile robot, and more particularly, to detection of a mobile robot mobile robot using artificial intelligence and a driving technology according thereto.

Robots have been developed for industrial use and have been responsible for 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. Among these robots, those capable of driving by their own force are called mobile robots. Representative examples of mobile robots used at home are robot vacuum cleaners and lawnmowers.

Various technologies are known for detecting the environment and users around the mobile robot through various sensors provided in the mobile robot. In addition, techniques are known in which a mobile robot learns and maps a cleaning area by itself, and identifies a current location on a map. A robot cleaner is known that cleans a cleaning area while driving in a predetermined manner.

In addition, in the prior art (Korean Patent Publication No. 20100000455), a technique of performing a zigzag pattern running along a wall surface traveling outside of the area while driving the area to be cleaned by itself is disclosed.

On the other hand, in the use of such a mobile robot, immersion of a liquid containing water continues to be a problem.

In such electronic products, the problem of device failure due to flooding is not a problem only with robot vacuum cleaners.

In this regard, in the prior art (Korea Unexamined Utility Model Publication No. 20-2010-0006616), when a power supply pattern and a conducting wire pattern in a portable electronic device are short-circuited by immersion, the immersion detection printed circuit by the output inversion device Disclosed is a portable electronic device in which power supplied to the substrate 121 is cut off.

However, such a conventional technique forms a conductive pattern to surround the entire edge of the printed circuit board 121, and there is a problem in cost and miniaturization including an output inversion device.

Korean Patent Publication Publication No. 10-2008-0090925 (Publication date: October 19, 2008) Korean Utility Model Publication Publication No. 20-2010-0006616 (Publication date: June 29, 2010)

The first task is to propose a submersion detection circuit that can effectively detect when water is submerged inside a mobile robot.

A second task is to provide a flood detection circuit that includes a flood detection circuit inside a mobile robot, does not increase cost and does not occupy a large area.

In addition, in the prior art, by separately providing an output inverting element in the immersion detection circuit, an increase in cost and an additional circuit part for driving the element were required. A third object of the present invention is to provide a mobile robot including a flooding detection circuit capable of outputting an inversion signal due to flooding with only one resistor without adding a separate circuit.

Finally, a fourth object of the present invention is to provide a mobile robot capable of minimizing a failure by periodically reading an output from a flood detection circuit to determine whether there is flooding, and shutting off power applied to an electrical component accordingly.

A mobile robot according to an embodiment of the present invention includes a traveling unit for moving a main body; A functional unit that performs a specific function; A submersion detector disposed inside the main body and formed on a printed circuit board on which a component is mounted to detect submersion into the printed circuit board; And a control unit configured to determine whether to be submerged according to a detection signal from the submersion detection unit and control the component to be protected.

The printed circuit board may mount an electronic chip in which the control unit is implemented.

The immersion detection unit may include a first pad, a second pad spaced apart from the first pad and grounded, and a first resistor connected between the first pad and a positive voltage.

The controller may read a voltage between the first pad and the first resistor as the detection signal.

The separation distance between the first pad and the second pad may be a distance that can be electrically shorted to each other by immersion.

It may be satisfied that the separation distance between the first pad and the second pad is 0.1 mm or less.

The controller may periodically read the detection signal and determine that flooding has occurred when the detection signal falls low.

The immersion detection unit includes a plurality of pad pairs including the first pad and a second pad spaced apart from the first pad and grounded, and the plurality of pad pairs may be spaced apart from each other.

Each of the pair of pads may be formed to be spaced apart from each other in an edge region of the printed circuit board.

Each of the pairs of pads may be formed on different sides of the edge area of the printed circuit board.

Each pair of pads has the first pads connected in parallel to each other on the printed circuit board, and the positive voltage may be applied by one of the first resistors.

The first resistor may be disposed in a peripheral area of an electronic chip implementing the control unit.

The submersion detection unit includes a first pad group including a plurality of first pads disposed in a sensing area, a second pad group including a plurality of second pads disposed in the sensing area, and the first Each of the second pads of the second pad group may be disposed to be adjacent to each of the first pads of the pad group.

The first pad and the second pad have a polygonal shape, and one side of the first pad or the second pad is formed to be spaced apart from one side of the adjacent first pad and the second pad by a first distance Can be.

The plurality of first pads of the first pad group are connected in series and parallel to each other,

The plurality of second pads of the second pad group may be connected to each other in series and parallel.

When the detection signal falls to a low level, the control unit may determine that flooding has occurred and cut off power applied to the printed circuit board.

On the other hand, a control method of a mobile robot for performing cleaning while moving a main body, the method comprising: periodically reading a detection signal that is disposed inside the main body and indicates whether it is submerged into a printed circuit board on which a component is mounted; Determining that flooding into the printed circuit board has occurred when the state of the detection signal changes; And shutting off power to the printed circuit board when flooding into the printed circuit board occurs.

A first pad may be formed on the printed circuit board, a second pad spaced apart from the first pad and grounded, and a first resistor connected between the first pad and a positive voltage.

The reading of the detection signal may include reading a voltage between the first pad and the first resistor as the detection signal.

In the determining of the detection signal, when the detection signal falls from high to low, it may be determined that flooding has occurred.

Through the above solution, the present invention can provide a submerged detection circuit that can effectively detect when water is submerged inside the mobile robot.

In addition, it is possible to provide a flood detection circuit that does not increase the cost and does not occupy a large area inside the mobile robot.

In addition, since it is possible to output an inverted signal due to immersion with only one resistor without adding a separate circuit unit, the circuit is simplified and cost is reduced.

Finally, according to the present invention, a failure can be minimized by periodically reading the output from the flood detection circuit to determine whether there is flooding, and shutting off the power applied to the electrical component accordingly.

1 is a perspective view illustrating a mobile robot and a charging station for charging the mobile robot according to an embodiment of the present invention.
2 is an elevation view of the mobile robot of FIG. 1 as viewed from above.
3 is an elevation view of the mobile robot of FIG. 1 viewed from the front.
4 is an elevation view of the mobile robot of FIG. 1 as viewed from the lower side.
5 is a block diagram showing a control relationship between main components of the mobile robot of FIG. 1.
6 is an exploded perspective view showing the inside of a mobile robot according to an embodiment of the present invention.
7 is a circuit diagram showing a submersion detector according to an embodiment of the present invention.
8 is a flowchart illustrating a method of controlling a mobile robot according to an embodiment of the present invention.
9 is a circuit diagram showing a circuit state when the flood detection unit of the present invention is flooded.
10 is a block diagram illustrating a submersion detector according to another embodiment of the present invention.
11 is a circuit diagram showing a submerged detection unit according to another embodiment of the present invention.
12 is a perspective view showing a mobile robot according to another embodiment of the present invention.
13 is a rear view showing a mobile robot according to another embodiment of the present invention.
14 is a block diagram showing a submerged detection unit of a mobile robot according to another embodiment of the present invention.

In the large and small comparisons expressed linguistically/mathematical throughout this description,'less than or equal to (hereinafter)' and'less than (less than)' are degrees that can be easily substituted with each other from the standpoint of a person skilled in the art, and'greater than or equal to (Above)' and'greater (greater than)' are degrees that can be easily substituted with each other from the standpoint of a person of ordinary skill in the art, and it goes without saying that even if they are substituted in the implementation of the present invention, there is no problem in exhibiting their effects.

The mobile robot 100 of the present invention refers to a robot that can move by itself using wheels or the like, and may be a home helper robot and a mobile robot.

Hereinafter, with reference to FIGS. 1 to 5, a robot cleaner 100 is described as an example of a mobile robot, but is not limited thereto.

The robot cleaner 100 includes a body 110. Hereinafter, in defining each part of the main body 110, a portion facing the ceiling in the driving area is defined as an upper surface (see Fig. 2), and a portion facing the floor in the driving area is defined as a bottom surface (see Fig. 4). In addition, a portion of the portion forming the circumference of the main body 110 between the top and bottom portions toward the traveling direction is defined as a front portion (see FIG. 3 ). In addition, a portion facing a direction opposite to the front portion of the main body 110 may be defined as a rear portion. The body 110 may include a case 111 that forms a space in which various parts constituting the robot cleaner 100 are accommodated.

The robot cleaner 100 includes a sensing unit 130 that senses surrounding conditions. The sensing unit 130 may detect information outside the robot cleaner 100. The sensing unit 130 detects a user around the robot cleaner 100. The sensing unit 130 may detect objects around the robot cleaner 100.

The sensing unit 130 may detect information on the cleaning area. The sensing unit 130 may detect obstacles such as walls, furniture, and cliffs on the driving surface. The sensing unit 130 may detect information on the ceiling. The sensing unit 130 may include an object placed on the driving surface and/or an external upper object. The external upper object may include a ceiling or a lower surface of furniture disposed in the upper direction of the robot cleaner 100. Through the information detected by the sensing unit 130, the robot cleaner 100 may map the cleaning area.

The sensing unit 130 may detect information on a user around the robot cleaner 100. The sensing unit 130 may detect location information of the user. The location information may include direction information on the robot cleaner 100. The location information may include distance information between the robot cleaner 100 and the user. The sensing unit 130 may detect a direction of the user with respect to the robot cleaner 100. The sensing unit 130 may detect a distance between the user and the robot cleaner 100.

The location information may be immediately acquired by sensing by the sensing unit 130 or may be processed and acquired by the controller 140.

The sensing unit 130 may include an image sensing unit 135 that detects an image around it. The image sensing unit 135 may detect an image in a specific direction with respect to the robot cleaner 100. For example, the image detection unit 135 may detect an image in front of the robot cleaner 100. The image sensing unit 135 photographs a driving area, and may include a digital camera. The digital camera includes at least one optical lens and a plurality of photodiodes (eg, pixels) formed by light passing through the optical lens. And, it may include a digital signal processor (DSP: Digital Signal Processor) for configuring an image based on the signal output from the photodiodes. The digital signal processor may generate not only still images but also moving images composed of frames composed of still images.

The sensing unit 130 may include a distance sensing unit 131 that detects a distance to a surrounding wall. The distance between the robot cleaner 100 and the surrounding wall may be sensed through the distance sensing unit 131. The distance sensing unit 131 detects a distance to a user in a specific direction of the robot cleaner 100. The distance sensing unit 131 may include a camera, an ultrasonic sensor, or an IR (infrared) sensor.

The distance sensing unit 131 may be disposed on the front side of the main body 110 or may be disposed on the side.

The distance detection unit 131 may detect surrounding obstacles. A plurality of distance sensing units 131 may be provided.

The sensing unit 130 may include a cliff detection unit 132 that detects whether a cliff exists on the floor in the driving area. A plurality of cliff detection units 132 may be provided.

The sensing unit 130 may further include a lower image sensor 137 for obtaining an image of the floor.

Meanwhile, the sensing unit 130 may further include a submersion detector 137 that detects whether or not submersion has occurred into the robot cleaner 100.

The flood detection unit 137 is disposed inside the main body of the robot cleaner 100 and may be specifically formed on the printed circuit board 121 on which a plurality of driving modules are mounted.

The submersion detection unit 137 detects a risk that various liquids including water may penetrate the inside of the robot cleaner 100 and cause a malfunction in an electronic component, which is a driving module. The flood detection unit 137 may be electrically connected to a processor module constituting the controller 140 and transmit a detection signal to the controller 140, and the controller 140 may read this to determine whether flooding has occurred. .

The flood detection unit 137 may be formed by being divided into a plurality of areas on the printed circuit board 121, and may be implemented in various areas.

The robot cleaner 100 includes a traveling unit 160 for moving the main body 110. The driving unit 160 moves the body 110 with respect to the floor. The driving unit 160 may include at least one driving wheel 166 for moving the main body 110. The driving unit 160 may include a driving motor. The driving wheels 166 may be provided on the left and right sides of the main body 110, respectively, hereinafter referred to as the left wheel 166(L) and the right wheel 166(R), respectively.

The left wheel 166(L) and the right wheel 166(R) may be driven by one drive motor, but the left wheel drive motor and the right wheel 166(R) that drive the left wheel 166(L) as needed. Each of the right-wheel drive motors for driving) may be provided. The driving direction of the main body 110 can be switched to the left or right by making a difference in the rotational speed of the left wheel 166 (L) and the right wheel 166 (R).

The robot cleaner 100 includes a cleaning unit 180 that performs a cleaning function.

The robot cleaner 100 may move the cleaning area and clean the floor by the cleaning unit 180. The cleaning unit 180 includes a suction device for inhaling foreign substances, brushes 184 and 185 for performing scouring, a dust bin (not shown) for storing foreign substances collected by a suction device or brush, and/or a mop unit for mopping. (Not shown), etc. may be included.

A suction port 180h through which air is sucked may be formed at the bottom of the body 110. In the main body 110, a suction device (not shown) that provides a suction force so that air can be sucked through the suction port 180h, and a dust bin (not shown) that collects dust sucked together with the air through the suction port 180h. Can be provided.

An opening for insertion and removal of the dust bin may be formed in the case 111, and a dust bin cover 112 for opening and closing the opening may be rotatably provided with respect to the case 111.

A roll-shaped main brush 184 having brushes exposed through the suction port 180h, and an auxiliary brush 185 having a brush consisting of a plurality of radially extending blades located on the front side of the bottom portion of the main body 110 May be provided. Dust is removed from the floor in the driving area by the rotation of these brushes 184 and 185, and the dust separated from the floor is sucked through the suction port 180h and collected in the dust bin.

The battery 138 may supply power required for overall operation of the robot cleaner 100 as well as the driving motor. When the battery 138 is discharged, the robot cleaner 100 may perform a trip to return to the charging base 200 for charging, and during such a return driving, the robot cleaner 100 may self-reach the location of the charging base 200 Can be detected.

The charging station 200 may include a signal transmission unit (not shown) that transmits a predetermined return signal. The return signal may be an ultrasonic signal or an infrared signal, but is not necessarily limited thereto.

On the other hand, the image sensing unit 135 is provided on the upper surface of the main body 110 to obtain an image of the ceiling in the blue area, but the position and the shooting range of the image sensing unit 135 are not necessarily limited thereto. . For example, the image sensing unit 135 may be provided to acquire an image in front of the main body 110.

In addition, the robot cleaner 100 may further include a manipulation unit (not shown) capable of inputting On/Off or various commands.

Referring to FIG. 5, the robot cleaner 100 includes a storage unit 150 for storing various types of data. Various data necessary for controlling the robot cleaner 100 may be recorded in the storage unit 150. The storage unit 150 may include a volatile or nonvolatile recording medium. The recording medium 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, RAM, a CD-ROM, and Magnetic tapes, floppy disks, optical data storage devices, and the like may be included.

The storage unit 150 may store a map of the cleaning area. The map may be input by an external terminal capable of exchanging information with the robot cleaner 100 through wired or wireless communication, or may be generated by the robot cleaner 100 by self-learning. In the former case, examples of the external terminal include a remote control, a PDA, a laptop, a smart phone, and a tablet equipped with an application for setting a map.

The driving displacement measuring unit 165 may measure the driving displacement based on the image acquired by the image sensing unit 135. The traveling displacement is a concept including a moving direction and a moving distance of the robot cleaner 100. For example, the driving displacement measuring unit 165 may measure the driving displacement through a comparison of consecutive pixels of a floor image that varies according to the continuous movement of the robot cleaner 100.

In addition, the traveling displacement measuring unit 165 may measure the traveling displacement of the robot cleaner 100 based on the operation of the traveling unit 160. For example, the control unit 140 may measure the current or past moving speed, the distance traveled, etc. of the robot cleaner 100 based on the rotation speed of the driving wheel 136, and each driving wheel 136(L ), 136(R)) can also measure the current or past direction change process.

The traveling displacement measuring unit 165 may measure the traveling displacement by using at least one of the distance detecting unit 131 and the image detecting unit 135.

The controller 140 may recognize the location of the robot cleaner 100 on the map based on the measured driving displacement.

The transmitter 170 may transmit information on the robot cleaner to another robot cleaner or a central server. The receiving unit 190 may receive information from another robot cleaner or a central server. Information transmitted by the transmitter 170 or information received by the receiver 190 may include configuration information of the robot cleaner.

The robot cleaner 100 includes a control unit 140 that processes and determines various types of information. The controller 140 may perform information processing for learning a cleaning area. The controller 140 may perform information processing for recognizing a current location on a map. The control unit 140 includes various components constituting the robot cleaner 100 (for example, a driving displacement measurement unit 165, a distance detection unit 131), a flood detection unit 137, an image detection unit 135, Through the control of the driving unit 160, the transmission unit 170, the reception unit 190, etc.), the overall operation of the robot cleaner 100 may be controlled.

The control method according to the present embodiment may be performed by the controller 140. The present invention may be a control method of the robot cleaner 100, or may be a robot cleaner 100 including a control unit 140 that performs the control method. The present invention may be a computer program including each step of the control method, or may be a recording medium on which a program for implementing the control method into a computer is recorded. The'recording medium' means a computer-readable recording medium. The present invention may be a mobile robot control system including both hardware and software.

The controller 140 of the robot cleaner 100 processes and determines various types of information such as mapping and/or recognizing the current location. The controller 140 may be provided to map a cleaning area through the image and learning and to recognize a current location on a map. That is, the control unit 140 may perform a SLAM (simultaneous localization and mapping) function.

The controller 140 may control the driving of the driving unit 160. The controller 140 may control an operation of the cleaning unit 180.

The robot cleaner 100 includes a storage unit 150 for storing various types of data. The storage unit 150 records various types of information required for control of the robot cleaner 100 and may include a volatile or nonvolatile recording medium.

The actual cleaning area may correspond to the cleaning area on the map. The cleaning area may be defined as a range in which all areas on the plane in which the robot cleaner 100 has driving experience and areas on the plane in which the robot cleaner 100 is currently traveling are summed.

The controller 140 may determine the moving path of the robot cleaner 100 based on the operation of the driving unit 160. For example, the controller 140 can determine the current or past moving speed, the distance traveled, etc. of the robot cleaner 100 based on the rotation speed of the driving wheel 166, and each driving wheel 166(L) , 166(R)), it is also possible to grasp the current or past direction change process. The location of the robot cleaner 100 on the map may be updated based on the driving information of the robot cleaner 100 identified in this way. In addition, the location of the robot cleaner 100 may be updated on the map using the image information.

Specifically, the controller 140 controls the driving of the robot cleaner 100 and controls the driving of the driving unit 160 according to a set driving mode. As the driving mode of the driving unit 160, a zigzag mode, an edge mode, a spiral mode, or a hybrid mode may be selectively set.

The zigzag mode is defined as a mode for cleaning while traveling in a zigzag while being separated from a wall or an obstacle by a predetermined distance or more. Edge mode is defined as a mode that cleans while sticking to a wall and driving in zigzag. The spiral mode is defined as a mode that spirally cleans within a certain area around one of the atmospheres.

Meanwhile, the controller 140 generates a map of the cleaning area. That is, the controller 140 may form a map of the cleaning area through the location recognized through the preceding cleaning and the image acquired at each location. The controller 140 matches the image acquired at each point with each node on the map. The acquired images can correspond to nodes one-to-one.

The controller 140 may recognize the current location using at least one of the distance detector 131 and the image detector 135 and may recognize the current location on a map.

The input unit 171 may receive On/Off or various commands. The input unit 171 may include a button, a key, or a touch type display. The input unit 171 may include a microphone for voice recognition.

The output unit 173 may notify a user of various types of information. The output unit 173 may include a speaker and/or a display.

Meanwhile, the controller 140 reads a detection signal from the submersion detection unit 137 to determine whether various liquids including water have penetrated the inside of the robot cleaner 100, and controls the operation according to the determination result. . The submersion detection unit 137 may be formed by being divided into a plurality of areas on the printed circuit board 121 inside the robot cleaner 100, and may be implemented in various areas.

In this way, the control unit 140 may determine whether to be submerged in connection with the submerged detection unit 137 formed around and electrically connected to the processor module implementing the control unit 140.

Hereinafter, with reference to FIGS. 6 to 9, the submerged detection unit 137 of the present invention and a control operation of the robot cleaner using the same will be described.

6 is an exploded perspective view showing the inside of the robot cleaner 100 according to an embodiment of the present invention, FIG. 7 is a circuit diagram showing a submersion detection unit according to an embodiment of the present invention, and FIG. 8 is an embodiment of the present invention. It is a flow chart showing a control method of the robot cleaner 100 according to an embodiment, and FIG. 9 is a circuit diagram showing a circuit state when the flood detection unit of the present invention is flooded.

Referring to FIG. 6, the robot cleaner 100 according to an embodiment of the present invention includes a body 110. The main body 110 includes an upper case 111 forming a space in which various parts constituting the robot cleaner 100 are accommodated, and a lower case that forms a space in which various parts are accommodated by being engaged with the upper case 111 ( 120) may be included.

A printed circuit board 121 in which various electronic components are mounted is accommodated in an inner space formed by interlocking the upper case 111 and the lower case 120.

Various electronic components and circuits electrically connecting them to each other are formed on the printed circuit board 121.

For example, various sensor elements constituting the sensing unit 130 may be disposed, and may be sensor elements constituting the distance sensing unit 131 and the image sensing unit 135. A processor including the control unit 140 and the communication units 170 and 190 may be integrated and mounted in a state of the chip 141 behind the sensor elements.

The electronic chip 141 constituting such a processor may be formed as a surface-mounted component so that it can be directly mounted on the printed circuit board 121, and may be directly attached to the electronic circuit of the printed circuit board 121.

At least one immersion detection unit 137 may be formed on the printed circuit board 121.

The immersion detection unit 137 may be electrically connected to the electronic chip constituting the processor by a pattern printed on the substrate, and may be formed of a resistance element formed on the substrate and a plurality of pads.

The plurality of pads of the immersion detection unit 137 may be disposed at a location where moisture may penetrate into the case, preferably in an edge region of the printed circuit board 121.

That is, referring to FIG. 7, the immersion detection unit 137 includes a pad unit 138 including a first pad 138a and a second pad 138b.

The first pad 138a is electrically connected to the central node no, and is defined as a pattern area exposed to the outside.

The first pad 138a is formed to have a first width w1 and a first length h1, is a region connected from a pattern and exposed to the outside, and is plated with at least one metal forming a pad. There may be.

The second pad 138b is formed to have a second width w2 and a second length h2, is a region connected from the pattern and exposed to the outside, and is plated with at least one metal forming the pad. There may be. One end of the second pad 138b faces the first pad 138a, and the other end is grounded.

The first width w1 and the second width w2 may be the same, but are not limited thereto. Also, the first length h1 and the second length h2 may be the same, but are not limited thereto.

Meanwhile, the first pad 138a and the second pad 138b have a first distance d1 and are spaced apart from each other.

The first distance d1 is a very small distance at which the first pad 138a and the second pad 138b can form a short due to immersion, for example, 0.1 mm or less, specifically 0.05 mm or less. I can.

Meanwhile, sensing resistors R1 and 139 are formed between the positive voltage VDD and the center node no connected to the first pad 138a.

The sensing resistor (R1) 139 is a high resistance element, and may be at least 100kΩ, or more.

This central node (no) is electrically connected to the In terminal of the chip on which the control unit is formed, and depending on whether there is another short circuit due to the immersion of the first pad 138a and the second pad 138b, a high voltage or a high voltage or a Ground voltage is applied.

In the submerged sensing unit 137 formed in this way, the sensing resistors R1 and 139 may be disposed near the first and second pads 138a and 138b as shown in FIG. 6, but unlike this It may be formed in.

However, the first pad 138a and the second pad 138b are located in the edge area of the printed circuit board 121 while maintaining a state of being separated from each other by the first distance d1, so that they are short-circuited according to whether or not they are submerged from the outside. Or not connected.

Hereinafter, a method of controlling the robot cleaner 100 according to an embodiment of the present invention will be described with reference to FIGS. 8 and 9.

The control method may be performed by the controller 140. Each step of the flowchart diagrams of the control method and combinations of the flowchart diagrams may be performed by computer program instructions. The instructions may be mounted on a general purpose computer or a special purpose computer or the like, and the instructions generate means for performing the functions described in the flowchart step(s).

In addition, in some embodiments, it is possible that the functions mentioned in the steps occur out of order. For example, two steps shown in succession may in fact be performed substantially simultaneously, or the steps may sometimes be performed in the reverse order depending on the corresponding function.

When the operation of the robot cleaner 100 starts, a map may be formed through prior cleaning. That is, when the preceding cleaning is completed, the controller 140 records the time required to the left and the cleaning area in which the preceding cleaning has been performed. If there is a previous map applied to the previous cleaning for a corresponding cleaning area among the maps recorded in the storage unit 150, the currently created map may be overlapped with the previous map for the cleaning area, and the error portion may be corrected to increase accuracy.

When the mapping for the cleaning area is completed as described above, the controller 140 sets a cleaning method of the cleaning area according to the mapping result, and performs cleaning of the cleaning area according to the corresponding cleaning method. When cleaning of the cleaning area is completed, the cleaning result for the cleaning area is recorded in the storage unit 150 so that it can be referred to in the next cleaning process.

In this way, the control method of the robot cleaner 100 according to an embodiment of the present invention performs mapping of a cleaning area through prior cleaning, matches a suitable cleaning method according to the shape of the cleaning area, and calculates the efficiency of the cleaning area. The optimal cleaning method can be applied to

At this time, referring to FIG. 8, while the robot cleaner 100 is driving, the control unit 140 periodically checks the voltage of the In terminal of the chip 141 on which the control unit 140 is formed to determine whether it is flooded. Read it (S10).

At this time, it is determined whether the detected voltage is higher or lower than the reference voltage (S20).

When the detected voltage is high, a voltage at a level in which the positive voltage VDD is partially lowered is detected at the center node no, which means that the first pad 138a and the second pad 138b are electrically connected to each other. It indicates that it has remained unconducted and not connected.

Accordingly, the control unit 140 repeatedly performs an operation of reading the voltage of the In terminal again in the next cycle to periodically detect whether or not the printed circuit board 121 is submerged.

In this way, when the detection voltage of the In terminal is caught low while periodically detecting whether the printed circuit board 121 is flooded, the controller 140 determines that the printed circuit board 121 is flooded (S30). .

That is, a case where a low voltage is applied to the In terminal is as shown in FIG. 9.

Referring to FIG. 9, the first pad 138a and the second pad 138b are connected to each other due to immersion, so that the current from the positive voltage VDD is transferred to the first and second pads through the sensing resistor R1 and 139. 2 A ground voltage is set at the center node no in a state in which a short circuit passes through the pads 138a and 138b and flows to the ground. Accordingly, the voltage of the In terminal through which the voltage applied to the center node no is transmitted as it is, becomes low.

Accordingly, since the voltage value sensed at the In terminal, that is, a signal value, has completely opposite values depending on whether or not immersion has occurred, the control unit 140 can detect whether the immersion has occurred by periodically reading the voltage of the In terminal.

If it is determined that it is flooded in this way, the control unit 140 applies power into the power supply unit in the chip 141, that is, the printed circuit board 121 in order to prevent damage or failure of the electrical component due to the immersion into the chip 141. Turn off the power of the part (S40).

At this time, the control unit 140 may induce the user to move the robot cleaner 100 from the portion where the immersion has occurred or to respond to the immersion by alarming the user of the fact that the robot has been flooded through sound or a display. (S50).

On the other hand, the flood detection unit 137 may be implemented according to another embodiment of the present invention.

10 is a block diagram showing a submerged detection unit 137 according to another embodiment of the present invention.

Referring to FIG. 10, in a robot cleaner 100 according to another embodiment of the present invention, a printed circuit board in which various electronic components are mounted in an inner space formed by meshing an upper case 111 and a lower case 120 121) has been accepted.

Various electronic components and circuits electrically connecting them to each other are formed on the printed circuit board 121. A processor including a control unit 140 and a communication unit may be integrated and mounted on the printed circuit board 121 in a chip 141 state.

The electronic chip 141 constituting such a processor may be formed as a surface-mounted component so that it can be directly mounted on the printed circuit board 121, and may be directly attached to the electronic circuit of the printed circuit board 121.

The immersion detection unit 137 may be formed on the printed circuit board 121.

The immersion detector 137 may be electrically connected to the electronic chip 141 constituting the processor by a pattern printed on the substrate, and may be formed of a sensing resistor R0 formed on the substrate 121 and a plurality of pads. have.

The plurality of pads of the immersion detection unit 137 may be disposed at a location where moisture may penetrate into the cases 111 and 120, preferably in an edge region of the printed circuit board 121.

In this case, the plurality of pads may be formed by connecting a plurality of pad pairs 138 ₁ , 138 ₂ , 138 ₃ , and 138 _{4 in} parallel as shown in FIG. 10.

Each pair of pads 138 ₁ , 138 ₂ , 138 ₃ and 138 ₄ includes a first pad 138a and a second pad 138b as shown in FIG. 7.

The first pad 138a is electrically connected to the central node no, and is defined as a pattern area exposed to the outside.

The first pad 138a is formed to have a first width w1 and a first length h1, is a region connected from a pattern and exposed to the outside, and is plated with at least one metal forming a pad. There may be.

The second pad 138b is formed to have a second width w2 and a second length h2, is a region connected from the pattern and exposed to the outside, and is plated with at least one metal forming the pad. There may be. One end of the second pad 138b faces the first pad 138a, and the other end is grounded.

The first width w1 and the second width w2 may be the same, but are not limited thereto. Also, the first length h1 and the second length h2 may be the same, but are not limited thereto.

Meanwhile, the first pad 138a and the second pad 138b have a first distance d1 and are spaced apart from each other.

The first distance d1 is a very small distance at which the first pad 138a and the second pad 138b can form a short due to immersion, and may be 0.1 mm or less, specifically 0.05 mm or less.

All of the first pads 138a of the pair of pads 138 ₁ , 138 ₂ , 138 ₃ , and 138 ₄ are connected at the center node no through a printed circuit pattern.

In this case, the sensing resistor R1 139 is formed between the positive voltage VDD and the center node no connected to the first pad 138a.

The sensing resistor (R1) 139 is a high resistance element, and may be at least 100kΩ, or more.

The plurality of pairs of pads 138 ₁ , 138 ₂ , 138 ₃ , and 138 ₄ are spaced apart from each other and disposed in the edge region of the printed circuit board 121. For example, each pair of pads 138 ₁ , 138 ₂ , 138 ₃ , and 138 ₄ may be formed on different sides, but the present invention is not limited thereto.

That is, a greater number of pad pairs 138 ₁ , 138 ₂ , 138 ₃ , and 138 ₄ may be disposed in a region where the probability of immersion occurs, and the arrangement thereof may be variously changed.

Such a central node (no) is electrically connected to the In terminal of the chip 141 on which the control unit 140 is formed, and whether there is another short circuit due to the immersion of the first pad 138a and the second pad 138b. Accordingly, a positive voltage or ground voltage is applied to the In terminal.

In the submerged sensing unit 137 formed as described above, the resistor R1 may be formed near the chip 141 as shown in FIG. 10, but is not limited thereto.

The immersion sensor 137, a plurality of pad pairs (138 _1, 138 _2, 138 _3, 138 ₄₎ are formed and spaced apart, and a plurality of pad pairs (138 _1, 138 _2, 138 _3, 138 ₄₎ of the any one of the pad pairs (138 _1, 138 _2, 138 _3, 138 ₄₎ in the case of a short circuit caused by flooding, the one of the plurality of pad pairs (138 _1, 138 _2, 138 _3, 138 ₄₎ that is open pad pair (138 _1, 138 _2, 138 _3, 138 ₄₎ short circuit occurred pad pairs by short circuit occurs in the (138 _1, 138 _2, 138 _3, 138 _4), a current flows into.

Accordingly, a ground voltage is applied to the center node no, and a low detection signal is read to the In terminal of the control chip 141.

In this way, it is possible to determine whether or not a plurality of areas are flooded by one sensing In terminal, thereby increasing the probability of flood detection.

11 is a circuit diagram showing the submersion detection unit 137 according to another embodiment of the present invention.

Referring to FIG. 11, a robot cleaner 100 according to another embodiment of the present invention is a printed circuit board in which various electronic components are mounted in an inner space formed by interlocking the upper case 111 and the lower case 120. 121 is disposed, and a submersion detection unit 137 is also formed on the printed circuit board 121.

That is, the processor including the control unit 140 and the communication unit is integrated and mounted on the printed circuit board 121 in the state of the chip 141, and the immersion detection unit 137 is formed on the printed circuit board 121 together. Can be.

The flood detection unit 137 may be electrically connected to the electronic chip 141 constituting the processor by a pattern printed on the substrate, and may be formed of a resistance element R1 formed on the substrate 121 and a plurality of pads. have.

The plurality of pads of the immersion detection unit 137 may be disposed at a location where moisture may penetrate into the case, preferably in an edge region of the printed circuit board 121.

In this case, the submersion detection unit 137 includes a first pad group P1 and a second pad group P2.

The first pad group P1 includes a plurality of first pads 138a, which are pattern areas exposed to the outside, and the plurality of first pads 138a are connected to each other in series and parallel. A plurality of first pads 138a that are connected in series and parallel to be electrically conductive have one end electrically connected to the central node n1, and the other end by a first distance d1 from one end of the second pad 138b. Can be arranged to be spaced apart.

Each of the first pads 138a is formed to have a first width w1 and a second length h1, and is a region connected from the pattern and exposed to the outside, and is made of at least one metal forming the pad. May be plated.

The second pad group P2 includes a plurality of second pads 138b, which are pattern areas exposed to the outside, and the plurality of second pads 138b are connected to each other in series and parallel. The plurality of second pads 138b connected in series and parallel to be electrically conductive may be arranged such that the other end is grounded and one end is spaced apart from the other end of the first pad 138a by a first distance d1.

The second pad 138b is formed to have a second width w2 and a second length h2, is a region connected from the pattern and exposed to the outside, and is plated with at least one metal forming the pad. There may be.

The first width w1 and the second width w2 may be the same, but are not limited thereto. Also, the first length h1 and the second length h2 may be the same, but are not limited thereto.

Both the first pad 138a and the second pad 138b have a polygonal shape, and may have a rectangular shape, more specifically a rectangular shape.

When each of the first pads 138a and the second pads 138b have a rectangular shape, the first pads 138a and the second pads 138b may have the same shape, but are not limited thereto. .

At this time, the first pad 138a and the second pad 138b are disposed so that one side thereof is adjacent to each other, and the adjacent first pad 138a and the second pad 138b have a distance d1 and are separated from each other. .

The first distance d1 is a very small distance at which the first pad 138a and the second pad 138b can form a short due to immersion, and may be 0.1 mm or less, specifically 0.05 mm or less.

As shown in FIG. 11, although the first pads 138a and the second pads 138b are disposed adjacent to each other to have a first distance d1, the plurality of first pads 138a are connected in series and parallel to each other. The second pads 138b are connected in series and parallel to each other, and show the same circuit as in FIG. 6.

In this way, when the area S1 representing each of the first pads 138a and the second pads 138b is divided into a plurality of pad pieces and disposed, when the flooded area occurs in multiple areas, it can be read more sensitively. It is easier to detect flooding.

Meanwhile, a sensing resistor R1 139 is formed between the center node n1 connected to the first pad group P1 and the positive voltage VDD.

The sensing resistor (R1) 139 is a high resistance element, and may be at least 100kΩ, or more.

The pad groups P1 and P2 having such a large area may be disposed in an edge area of the printed circuit board 121, and a pad piece having a larger area may be formed in an area in which flooding is likely to occur.

The central node n1 is electrically connected to the In terminal of the chip 141 on which the control unit 140 is formed, and whether a short circuit occurs due to the flooding of the first pad 138a and the second pad 138b Accordingly, a positive voltage (VDD) or a ground voltage is applied to the In terminal.

The immersion detection unit 137 is formed by being spaced apart from the pad pieces, and is opened when any one of the plurality of pad pieces is exposed to the first pad 138a and the second pad 138b adjacent to the second pad 138b due to immersion. A current flows along the short path between the existing first pad 138a and the adjacent second pad 138b.

Accordingly, a ground voltage is applied to the center node n1 and a low detection signal is read to the In terminal of the control chip 141.

In this way, it is possible to determine whether or not a plurality of areas are flooded by one sensing In terminal, thereby increasing the probability of flood detection.

Hereinafter, a submerged detection unit applied to a mobile robot according to another embodiment of the present invention will be described.

12 is a perspective view showing a mobile robot according to another embodiment of the present invention, FIG. 13 is a rear view showing a mobile robot according to another embodiment of the present invention, and FIG. 14 is a view showing a mobile robot according to another embodiment of the present invention. It is a block diagram showing the submerged detection unit of the mobile robot.

The mobile robot of FIGS. 12 to 14 may be a lawnmower, and will be described below with reference numeral 200.

The mobile robot 200 includes a body 210 forming an exterior. The body 210 forms an inner space. The mobile robot 200 includes a driving unit 120 that moves the body 210 with respect to a driving surface. The mobile robot 200 includes a work unit 130 that performs a predetermined task.

The body 210 includes a frame 211 to which a driving motor module 123, which will be described later, is fixed. A blade motor (not shown) to be described later is fixed to the frame 211. The frame 211 supports a battery to be described later. The frame 211 also provides a skeleton structure that supports various other components. The frame 211 is supported by an auxiliary wheel 225 and a driving wheel 221.

The body 210 includes lateral blocking portions 211a for blocking the user's fingers from entering the blade from both sides of the blade (not shown). The side blocking portion 211a is fixed to the frame 211. The side blocking portion 211a is disposed to protrude downward compared to the lower side of the other portion of the frame 211. The side blocking portion 211a is disposed to cover an upper portion of the space between the driving wheel 221 and the auxiliary wheel 225.

A pair of side blocking portions 211a-1 and 211a-2 are disposed left and right with the blades interposed therebetween. The side blocking portion 211a is disposed spaced apart from the blade by a predetermined distance.

The front surface 211af of the side blocking portion 211a is formed to be round. The front surface 211af forms a surface that is bent upwardly to be rounded toward the front from the lower side of the lateral blocking portion 211a. By using the shape of the front surface 211af, when the mobile robot 200 moves forward, the side blocking part 211a can easily ride over a lower obstacle less than a predetermined standard.

The body 210 includes a front blocking portion 211b for blocking the user's finger from entering the blade from the front of the blade. The front blocking portion 211b is fixed to the frame 211. The front blocking portion 211b is disposed to cover a part of the upper portion of the space between the pair of auxiliary wheels 225 (L) and 225 (R).

The front blocking portion 211b includes a protruding rib 211ba that protrudes downward compared to the lower side of the other portion of the frame 211. The protruding rib 211ba extends in the front-rear direction. The upper end of the protruding rib 211ba is fixed to the frame 211, and the lower end of the protruding rib 211ba forms a free end.

A plurality of protruding ribs 211ba may be disposed to be spaced apart in the left and right directions. A plurality of protruding ribs 211ba may be disposed parallel to each other. A gap is formed between the adjacent two protruding ribs 211ba.

The front surface of the protruding rib 211ba is formed to be round. The front surface of the protruding rib 211ba forms a surface that is curved upwardly to be rounded toward the front from the lower side of the protruding rib 211ba. By using the shape of the front surface of the protruding rib 211ba, when the mobile robot 200 moves forward, the protruding rib 211ba can easily ride over a lower obstacle below a predetermined standard.

The front blocking portion 211b includes an auxiliary rib 211bb to assist rigidity. An auxiliary rib 211bb for reinforcing the rigidity of the front blocking portion 211b is disposed between the upper ends of the adjacent two protruding ribs 211ba. The auxiliary rib 211bb may be formed to protrude downward and extend in a lattice shape.

A caster (not shown) for rotatably supporting the auxiliary wheel 225 is disposed on the frame 211. The casters are arranged rotatably with respect to the frame 211. The caster is provided to be rotatable about a vertical axis. The caster is disposed under the frame 211. A pair of casters corresponding to the pair of auxiliary wheels 225 are provided.

The body 210 includes a case 212 covering the frame 211 from the upper side. The case 212 forms an upper side and a front/rear/left/right side of the mobile robot 200.

The body 210 may include a case connector (not shown) that fixes the case 212 to the frame 211. It may be fixed to the case 212 at the top of the case connection part. The case connection portion may be disposed to be movable on the frame 211. The case connection portion may be disposed to be movable only in the vertical direction with respect to the frame 211. The case connection may be provided to be able to flow only within a predetermined range. The case connection part flows integrally with the case 212. Accordingly, the case 212 can flow with respect to the frame 211.

The body 210 includes a bumper 212b disposed at the front portion. The bumper 212b performs a function of absorbing an impact upon contact with an external obstacle. In the front part of the bumper 212b, a bumper groove may be formed that is recessed to the rear and formed to be elongated in the left and right directions. A plurality of bumper grooves may be arranged to be spaced apart in the vertical direction. The lower end of the protruding rib 211ba is disposed at a lower position than the lower end of the auxiliary rib 211bb.

The bumper 212b is formed by connecting the front and left and right sides to each other. The front and side surfaces of the bumper 212b are connected to be round.

The body 210 may include a bumper auxiliary part 212c disposed to surround the outer surface of the bumper 212b. The bumper auxiliary part 212c is coupled to the bumper 212b. The bumper auxiliary part 212c surrounds the lower part of the front surface and the lower part of the left and right sides of the bumper 212b. The bumper auxiliary part 212c may cover the front surface and the lower half of the left and right side surfaces of the bumper 212b.

The front end surface of the bumper auxiliary part 212c is disposed in front of the front end surface of the bumper 212b. The bumper auxiliary part 212c forms a surface protruding from the surface of the bumper 212b.

The bumper auxiliary part 212c may be formed of a material advantageous for shock absorption, such as rubber. The bumper auxiliary part 212c may be formed of a flexible material.

The frame 211 may be provided with a flow fixing part (not shown) to which the bumper 212b is fixed. The flow fixing part may be disposed to protrude upward of the frame 211. The bumper 212b may be fixed to the upper end of the flow fixing part.

The bumper 212b may be disposed to be movable within a predetermined range with respect to the frame 211. The bumper 212b may be fixed to the flow fixing part and flow integrally with the flow fixing part.

The flow fixing unit may be disposed to be flowable on the frame 211. The flow fixing part may be provided so as to be rotatable with respect to the frame 211 within a predetermined range around the virtual axis of rotation. Accordingly, the bumper 212b may be provided to be rotatable integrally with the flow fixing part with respect to the frame 211.

The body 210 includes a handle 213. The handle 213 may be disposed on the rear side of the case 212.

The body 210 includes a height adjustment unit 256 and a first opening/closing unit 217 for opening and closing a portion in which the height display unit 257 is disposed. The first opening/closing part 217 is hinged to the case 212 and is provided to enable an opening operation and a closing operation. The first opening and closing part 217 is disposed on the upper side of the case 212.

The first opening/closing part 217 is formed in a plate shape, and covers the upper side of the height adjustment part 256 and the height display part 257 in the closed state.

The body 210 includes a second opening/closing part 218 for opening and closing a portion in which the display module 265 and the input part 264 are disposed. The second opening/closing part 218 is hingedly coupled to the case 212 and is provided to enable an opening operation and a closing operation. The second opening/closing part 218 is disposed on the upper side of the case 212. The second opening and closing portion 218 is disposed behind the first opening and closing portion 217.

The second opening/closing part 218 is formed in a plate shape, and covers the display module 265 and the input part 264 in the closed state.

The openable angle of the second opening and closing part 218 is preset to be smaller than the openable angle of the first opening and closing part 217. Through this, even in the open state of the second opening and closing portion 218, the user can easily open the first opening and closing portion 217, and the user can easily operate the height adjustment portion 256. In addition, even in the open state of the second opening/closing part 218, the user can visually check the contents of the height display part 257.

For example, the openable angle of the first opening and closing part 217 may be provided to be about 80 to 90 degrees based on the closed state. For example, an openable angle of the second opening/closing part 218 may be provided to be about 45 to 60 degrees based on the closed state.

The first opening/closing part 217 is opened by lifting the rear end upwardly around the front end, and the second opening/closing part 218 is opened by lifting the rear end upwardly around the front end. Through this, the user can open and close the first opening/closing part 217 and the second opening/closing part 218 at the rear of the lawn mowing robot 200, which is a safe area even when the lawnmower 200 moves forward. In addition, through this, the opening operation of the first opening and closing unit 217 and the opening operation of the second opening and closing unit 218 may not interfere with each other.

The first opening/closing part 217 may be provided to rotate with respect to the case 212 around a rotation axis extending in the left-right direction from the front end of the first opening/closing part 217. The second opening/closing part 218 may be provided to rotate with respect to the case 212 around a rotation axis extending in the left-right direction from the front end of the second opening/closing part 218.

The driving unit may include at least a pair of driving wheels 221 rotating by a driving force of the driving motor module. The driving wheel 221 includes a first wheel 221 (L) and a second wheel 221 (R) that are provided on the left and right so as to be independently rotatable, respectively. The first wheel 221(L) is disposed on the left, and the second wheel 221(R) is disposed on the right. The first wheel 221 (L) and the second wheel 221 (R) are spaced apart from each other to the left and right. The first wheel 221 (L) and the second wheel 221 (R) are disposed at the rear lower portion of the body 210.

The first wheel 221 (L) and the second wheel 221 (R) are each independently rotatable so that the body 210 can rotate and move forward with respect to the ground. For example, when the first wheel 221(L) and the second wheel 221(R) rotate at the same rotational speed, the body 210 may move forward with respect to the ground. For example, the rotation speed of the first wheel 221 (L) is faster than the rotation speed of the second wheel 221 (R), or the rotation direction of the first wheel 221 (L) and the second wheel 221 When the rotation directions of (R)) are different from each other, the body 210 may perform rotational motion with respect to the ground.

The first wheel 221 (L) and the second wheel 221 (R) may be formed larger than the auxiliary wheel 225. The driving wheel 221 includes a wheel outer peripheral portion 221b in contact with the ground. For example, the outer circumference of the wheel 221b may be a tire. A plurality of protrusions may be formed on the outer circumference of the wheel 221b to increase frictional force with the ground.

The driving wheel 221 may include a wheel frame (not shown) that fixes the wheel outer circumference 221b and receives power from the motor. The shaft of the motor is fixed to the center of the wheel frame, so that the rotational force can be transmitted. The outer circumference of the wheel 221b is disposed surrounding the wheel frame.

The driving wheel 221 includes a wheel cover 221a covering the outer surface of the wheel frame. The wheel cover 221a is disposed in a direction opposite to the direction in which the motor is disposed based on the wheel frame. The wheel cover 221a is disposed at the center of the outer circumference of the wheel 221b.

The driving unit may include an auxiliary wheel 225 supporting the body 210 together with the driving wheel 221. The auxiliary wheel 225 may be disposed in front of the blade. The auxiliary wheel 225 is a wheel that does not receive a driving force by a motor, and serves to auxiliaryly support the body 210 with respect to the ground. The casters supporting the rotational axis of the auxiliary wheel 225 are coupled to the frame 211 so as to be rotatable about a vertical axis. A first auxiliary wheel 225(L) disposed on the left side and a second auxiliary wheel 225(R) disposed on the right side may be provided.

The working unit (not shown) is provided to perform a predetermined task. The working unit is disposed on the body 210.

For example, the working unit may be provided to perform an operation such as cleaning or mowing the lawn. As another example, the work unit may be provided to carry out an operation such as transporting or finding an object. As another example, the work unit may perform a security function that detects an external intruder or a dangerous situation.

In the present embodiment, it is described that the work unit mows the lawn, but there may be various examples of the types of work of the work unit, and there is no need to be limited to the example of this description.

The working unit may include a blade rotatably provided to mow the lawn. The working unit may include a blade motor (not shown) that provides rotational force of the blade.

The blade is disposed between the drive wheel 221 and the auxiliary wheel 225. The blade is disposed on the lower side of the body 210. The blade is provided to be exposed from the lower side of the body 210. The blade is rotated around a rotational axis extending in the vertical direction to mow the lawn.

The blade motor may be disposed in front of the first wheel 221 (L) and the second wheel 221 (R). The blade motor 132 is disposed below the central portion in the inner space of the body 210.

The blade motor 132 may be disposed on the rear side of the auxiliary wheel 225. The blade motor may be disposed on the lower side of the body 210. The rotational force of the motor shaft is transmitted to the blade using a structure such as a gear.

The mobile robot 200 is provided to be able to change the height of the blade relative to the ground, so that the height of the lawn can be changed. The mobile robot 200 includes a height adjustment unit 256 for a user to change the height of the blade. The height adjustment unit 256 includes a rotatable dial, and may change the height of the blade by rotating the dial.

The mobile robot 200 includes a height display unit 257 that displays the level of the height of the blade. When the height of the blade is changed according to the operation of the height adjustment unit 256, the height level displayed by the height display unit 257 is also changed. For example, the height display unit 257 may display an expected height value of the lawn after the mobile robot 200 mows the lawn with the current blade height.

The mobile robot 200 includes a docking insertion unit 258 connected to the docking device when docking with the docking device. The docking insertion part 258 is provided to be recessed so that the docking connection part of the docking device is inserted. The docking insert 258 is disposed on the front side of the body 210. By connecting the docking insertion part 258 and the docking connection part, the mobile robot 200 may be guided with an accurate position when charging.

The mobile robot 200 may include a charging corresponding terminal 259 disposed in a contactable position while the docking insert 258 is inserted into the docking connection. The charging corresponding terminal 259 may include a pair of charging corresponding terminals 259a and 259b disposed at positions corresponding to the pair of charging terminals 211 and 211a and 211b. The pair of charging corresponding terminals 259a and 259b may be disposed left and right with the docking insert 258 interposed therebetween.

A terminal cover (not shown) may be provided to cover the docking insert 258 and the pair of charging terminals 211, 211a, 211b to open and close. When the mobile robot 200 is traveling, the terminal cover may cover the docking insert 258 and the pair of charging terminals 211, 211a, 211b. When the mobile robot 200 is connected to the docking device, the terminal cover may be opened to expose the docking insert 258 and a pair of charging terminals 211, 211a, 211b.

Meanwhile, a boundary wire (not shown) for setting the boundary of the traveling area of the mobile robot 200 may be implemented. The boundary wire can generate a predetermined boundary signal. The mobile robot 200 may detect the boundary signal and recognize the boundary of the driving area set by the boundary wire.

Referring to FIG. 12, the mobile robot 200 may include an input unit 264 for inputting various instructions from a user. The input unit 264 may include a button, a dial, a touch display, or the like. The input unit 264 may include a microphone (not shown) for speech recognition. In this embodiment, a plurality of buttons are disposed on the upper side of the case 212.

The mobile robot 200 may include an output unit 265 that outputs various types of information to a user. The output unit 265 may include a display module that outputs visual information. The output unit 265 may include a speaker (not shown) that outputs auditory information.

In this embodiment, the display module 265 outputs an image in the upward direction. The display module 265 is disposed on the upper side of the case 212. For example, the display module 265 may include a thin film transistor liquid-crystal display (LCD) panel. In addition, the display module 265 may be implemented by using various display panels such as a plasma display panel or an organic light emitting diode display panel.

The mobile robot 200 includes a storage unit (not shown) that stores various types of information. The storage unit records various types of information necessary for control of the mobile robot 200 and may include a volatile or nonvolatile recording medium. The storage unit may store information input from the input unit 264 or received by the communication unit. The storage unit may store a program for controlling the mobile robot 200.

The mobile robot 200 may include a communication unit for communicating with external devices (terminals, etc.), servers, and routers. For example, the communication unit may be implemented to wirelessly communicate with wireless communication technologies such as IEEE 802.11 WLAN, IEEE 802.15 WPAN, UWB, Wi-Fi, Zigbee, Z-wave, Blue-Tooth, and the like. The communication unit may vary depending on the communication method of another device or server to communicate with.

The mobile robot 200 includes a sensing unit that detects information related to a state of the mobile robot 200 or an environment outside the mobile robot 200. The sensing unit may include at least one of a remote signal detection unit, an obstacle detection unit, a lane detection unit, a case flow sensor, a bumper sensor, an azimuth sensor, a warning signal detection unit 277, a GPS detection unit, and a cliff detection unit.

The remote signal detection unit 271 receives an external remote signal. When a remote signal is transmitted by an external remote controller, the remote signal detector 271 may receive the remote signal. For example, the remote signal may be an infrared signal. The signal received by the remote signal detection unit 271 may be processed by a control unit (not shown).

A plurality of remote signal detection units 271 may be provided. The plurality of remote signal detection units 271 include a first remote signal detection unit 271a disposed in the front portion of the body 210 and a second remote signal detection unit 271b disposed at the rear portion of the body 210. ) Can be included. The first remote signal detection unit 271a receives a remote signal transmitted from the front. The second remote signal detection unit 271b receives a remote signal transmitted from the rear.

The obstacle detection unit 272 detects obstacles around the mobile robot 200. The obstacle detecting unit 272 may detect an obstacle in front. A plurality of obstacle detection units 272a, 272b, 272c may be provided. The obstacle detection unit 272 is disposed on the front surface of the body 210. The obstacle detection unit 272 is disposed above the frame 211. The obstacle detection unit 272 may include an infrared sensor, an ultrasonic sensor, an RF sensor, a geomagnetic sensor, a Position Sensitive Device (PSD) sensor, and the like.

The rain detector detects rain when it rains in the environment in which the mobile robot 200 is placed. The lane detection unit may be disposed on the case 212.

The case flow sensor detects the flow of the case connection. When the case 212 is lifted upward with respect to the frame 211, the case connection part flows upward, and the case flow sensor detects that the case 212 is lifted. When the case flow sensor detects that the case 212 is raised, the controller may control the blade to stop operating. For example, when a user lifts the case 212 or a situation in which a lower obstacle of a substantial size lifts the case 212 occurs, the case flow sensor may detect this.

The bumper sensor can detect the rotation of the flow fixture. For example, a magnet may be disposed on one side of the lower portion of the flow fixing unit, and a sensor may be disposed on the frame 211 to detect a change in the magnetic field of the magnet. When the flow fixing part rotates, the sensor detects a change in the magnetic field of the magnet, so that a bumper sensor that senses the rotation of the flow fixing part may be implemented. When the bumper 212b collides with an external obstacle, the flow fixing unit rotates integrally with the bumper 212b. The bumper sensor detects the rotation of the fixed part, thereby detecting the impact of the bumper 212b.

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

The azimuth sensor may include a gyro sensing module that performs gyro sensing. The gyro sensing module may detect the horizontal rotation speed of the body 210. The gyro sensing module may detect a tilting speed of the body 210 with respect to the horizontal plane.

The gyro sensing module may have a gyro sensing function for three axes of a spatial coordinate system that are orthogonal to each other. The information collected by the gyro sensing module may be roll, pitch, and yaw information. The processing module can calculate the direction angle of the mobile robot 200 by integrating the angular speeds of rolling, pitching, and yaw.

The azimuth sensor may include an acceleration sensing module that senses acceleration. The acceleration sensing module may have an acceleration sensing function for three axes of a spatial coordinate system that are orthogonal to each other. A predetermined processing module may calculate the speed by integrating the acceleration, and calculate the moving distance by integrating the speed.

The azimuth sensor may include a magnetic field sensing module that senses a magnetic field. The magnetic field sensing module may have a magnetic field sensing function for three axes of a spatial coordinate system that are orthogonal to each other. The magnetic field sensing module can detect the Earth's magnetic field.

The boundary signal detection unit 277 detects a boundary signal of the boundary wire 290 or/and a docking position signal of the reference wire 270.

The alert signal detection unit 277 may be disposed in the front portion of the body 210. Through this, while moving forward, which is the main driving direction of the mobile robot 200, the boundary of the driving area can be detected early. The alert signal detection unit 277 may be disposed in the inner space of the bumper 212b.

The boundary signal detection unit 277 may include a first boundary signal detection unit 277a and a second boundary signal detection unit 277b disposed to be spaced apart from the left and right. The first warning signal detection unit 277a and the second warning signal detection unit 277b may be disposed in front of the body 210.

For example, the alert signal detection unit 277 includes a magnetic field sensor. The alert signal detection unit 277 may be implemented using a coil to detect a change in a magnetic field. The alert signal detector 277 may detect a magnetic field in at least a horizontal direction. The boundary signal detection unit 277 may detect magnetic fields about three axes that are orthogonal to each other in space.

Specifically, the first boundary signal detection unit 277a may detect a magnetic field signal in a direction orthogonal to the second boundary signal detection unit 277b. The first boundary signal detection unit 277a and the second boundary signal detection unit 277b detect magnetic field signals in directions that are orthogonal to each other, and combine the detected magnetic field signal values, so that the three axes are orthogonal to each other in space. Magnetic field can be detected.

When the boundary signal detection unit 277 detects the magnetic fields for three axes that are orthogonal to each other in space, the direction of the magnetic field is determined by the sum vector value for the three axes, and if the direction of the magnetic field is close to the horizontal direction The docking position signal is recognized, and if it is close to the vertical direction, it can be recognized as a boundary signal.

In addition, when a plurality of divided driving regions exist, the boundary signal detection unit 277 distinguishes between the adjacent boundary signals and the boundary signals of the plurality of driving regions by the difference in the strength of the magnetic field, and determines the adjacent boundary signals and the docking position signals. It can be distinguished by the difference in the direction of the magnetic field.

As another example, when a plurality of divided driving regions exist, the boundary signal detector 277 may distinguish between an adjacent boundary signal and a boundary signal of the plurality of driving regions by a difference in magnetic field distribution. Specifically, the boundary signal detection unit 277 may detect that the intensity of the magnetic field has a plurality of peaks within a predetermined distance on a plane coordinate and recognize as an adjacent boundary signal.

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

The cliff detector detects the presence of a cliff on the driving surface. The cliff detection unit is disposed at the front portion of the body 210 and may detect the presence or absence of a cliff in front of the mobile robot 200.

The sensing unit 170 may include an open/close detection unit (not shown) that detects whether at least one of the first open/close unit 217 and the second open/close unit 218 is opened or closed. The opening/closing detection unit may be disposed on the case 212.

The mobile robot 200 includes a control unit that controls autonomous driving. The controller may process a signal from the sensing unit. The control unit may process a signal from the input unit 264.

The controller may control driving of the driving motor. The controller may control the driving of the blade motor. The control unit may control the output of the output unit 265.

The control unit may be formed of a control chip 241 mounted on a main board 221 disposed in an inner space of the body 210 as shown in FIG. 14. The main board 221 means a PCB.

The control unit may control autonomous driving of the mobile robot 200. The control unit may control driving of the driving unit based on a signal received from the input unit 264. The controller may control driving of the driving unit based on a signal received from the sensing unit.

Also, the control unit may process the signal of the alert signal detection unit 277. Specifically, the control unit 190 may determine the current position by analyzing the warning signal through the warning signal detection unit 277 and control the driving of the driving unit according to the driving pattern.

Referring to FIG. 14, in the mobile robot 200 according to another embodiment of the present invention, a space in which various parts are accommodated is formed in a body 210, and a control chip 241 having a control unit in color is mounted in the space. The main board 221 that has been made is disposed.

Various electronic components and circuits electrically connecting them to each other are formed on the main board 221.

For example, various sensor elements 245 constituting the sensing unit may be disposed. A processor including a control unit and a communication unit may be integrated and mounted in a state of a chip 241 behind the sensor elements 245.

The control chip 241 constituting such a processor may be formed as a surface mount component so that it can be directly mounted on the main board 221, and may be directly attached to the electronic circuit of the main board 221.

At least one immersion detection unit 237 may be formed on the main board 221.

The immersion detection unit 237 may be electrically connected to the electronic chip 241 constituting the processor by a pattern printed on the substrate, and may be formed of a resistance element formed on the substrate 221 and a plurality of pads.

The plurality of pads of the immersion detection unit 237 may be disposed at a location where moisture may penetrate into the case, preferably in an edge region of the main board 221.

That is, referring to FIG. 14, the immersion detection unit 237 performs the same function as the immersion detection unit 137 of FIG. 6, and the pad unit 238 including the pad 238a and the second pad 238b Includes.

The first pad 238a is defined as a pattern area exposed to the outside.

The first pad 238a is the same as the first pad 138a of FIG. 7, has a first width w1, is formed to have a first length h1, and is connected from the pattern to be exposed to the outside. As an example, it may be plated with at least one metal forming the pad.

The second pad 238b is the same as the second pad 138b of FIG. 7, has a second width w2, and is formed to have a second length h2, and is connected from the pattern to be exposed to the outside. As an example, it may be plated with at least one metal forming the pad. One end of the second pad 238b faces the first pad 238a and the other end is grounded.

Meanwhile, the first pad 238a and the second pad 238b have a first distance d1 and are spaced apart from each other.

The first distance d1 is a very small distance at which the first pad 238a and the second pad 238b can form a short due to immersion, for example, 0.1 mm or less, specifically 0.05 mm or less. I can.

Meanwhile, sensing resistors R1 and 239 are formed between the positive voltage VDD and the center node no connected to the first pad 238a.

The sensing resistors (R1) 239 are high-resistance elements, and may be at least 200kΩ, or more.

This central node (no) is electrically connected to the In terminal of the chip on which the control unit is formed, and depending on whether there is another short circuit due to the immersion of the first pad 238a and the second pad 238b, a high voltage or a high voltage or a Ground voltage is applied.

In the submerged sensing unit 237 formed as described above, the sensing resistors R1 and 239 may be disposed near the first and second pads 238a and 238b as shown in FIG. 6, but unlike this It may be formed in.

However, the first pad 238a and the second pad 238b are located in the edge region of the main board 221 while maintaining a state of being spaced apart from each other by the first distance d1, so that they are shorted to each other depending on whether they are submerged from the outside. Not connected

The immersion detection unit 237 may be configured and function as shown in FIGS. 6 to 11, and may prevent the control chip 241 from being damaged by liquid penetrating from the outside.

100, 200: mobile robot 120: sensing unit
140: control unit 150: storage unit
160: driving unit 135: image sensing unit
137: flood detection unit 180: cleaning unit

Claims (20)

A driving unit for moving the main body;
A functional unit that performs a specific function;
A submersion detector disposed inside the main body and formed on a printed circuit board on which a component is mounted to detect submersion into the printed circuit board; And
A control unit controlling to protect the part by determining whether or not submersion has occurred according to a detection signal from the submersion detection unit;
Mobile robot comprising a. The method of claim 1,
The printed circuit board is
A mobile robot, characterized in that mounting an electronic chip in which the control unit is implemented. The method of claim 1,
The immersion detection unit
First pad,
A second pad spaced apart from the first pad and grounded, and
A first resistor connected between the first pad and a positive voltage
It characterized in that it comprises a, mobile robot. The method of claim 3,
The control unit,
A mobile robot, characterized in that reading a voltage between the first pad and the first resistor as the detection signal. The method of claim 4,
The mobile robot, characterized in that the distance between the first pad and the second pad is a distance that can be electrically shorted to each other by immersion. The method of claim 5,
The mobile robot, characterized in that the separation distance between the first pad and the second pad satisfies 0.1 mm or less. The method of claim 1,
The control unit,
The mobile robot, characterized in that it is determined that flooding has occurred when the detection signal is periodically read and the detection signal falls to low. The method of claim 5,
The immersion detection unit,
And a plurality of pad pairs including the first pad and a second pad spaced apart from the first pad and grounded,
The plurality of pairs of pads are spaced apart from each other. The method of claim 8,
Each of the pair of pads is formed to be spaced apart from each other in the edge region of the printed circuit board, mobile robot. The method of claim 9,
Each of the pair of pads is formed on a different surface of the edge region of the printed circuit board. The method of claim 9,
Each of the pair of pads has the first pads connected in parallel to each other on the printed circuit board,
The mobile robot, characterized in that the positive voltage is applied by one of the first resistors. The method of claim 11,
The first resistor is disposed in a peripheral area of the electronic chip implementing the control unit. The method of claim 5,
The immersion detection unit,
A first pad group including a plurality of the first pads disposed in the sensing area, and
A second pad group including a plurality of the second pads disposed in the sensing area
Including,
Wherein each of the second pads of the second pad group is disposed to be adjacent to each of the first pads of the first pad group. The method of claim 13,
The first pad and the second pad
Has a polygonal shape,
A mobile robot, wherein one side of the first pad or the second pad is formed to be spaced apart by a first distance from one side of the adjacent first pad or the second pad. The method of claim 14,
The plurality of first pads of the first pad group are connected in series and parallel to each other,
A mobile robot, characterized in that the plurality of second pads of the second pad group are connected to each other in series and parallel. The method of claim 7,
The control unit
When the detection signal falls to low, it is determined that flooding has occurred and the power applied to the printed circuit board is cut off. In the control method of a mobile robot that performs a set function while moving a body,
Periodically reading a detection signal that is disposed inside the main body and indicates whether it is submerged into a printed circuit board on which a component is mounted;
Determining that flooding into the printed circuit board has occurred when the state of the detection signal changes; And
Cutting off the power to the printed circuit board when the water immersion into the printed circuit board occurs
Control method of a mobile robot comprising a. The method of claim 17,
On the printed circuit board
First pad,
A second pad spaced apart from the first pad and grounded, and
A first resistor connected between the first pad and a positive voltage
A control method of a mobile robot, characterized in that the is formed. The method of claim 18,
The step of reading the detection signal,
A method of controlling a mobile robot, comprising reading a voltage between the first pad and the first resistor as the detection signal. The method of claim 19,
The step of determining the detection signal,
When the detection signal falls from high to low, it is determined that flooding has occurred.

Images