KR20210115305A - Moving robot - Google Patents

Abstract

According to one aspect of the present invention, a moving robot and a control method thereof, which can be stably operated appropriate for an outdoor environment and a situation by rotating a camera cover according to a predetermined reference.

Description

Moving robot

The present invention relates to a mobile robot and a method for controlling the same, and to a camera cover for a mobile robot autonomously driving in an outdoor environment and a method for controlling the same.

Robots have been developed for industrial use and have been a part of factory automation. Recently, the field of application of robots has been further expanded, and medical robots and aerospace robots have been developed, and household robots that can be used in general households are also being made. Among these robots, those capable of driving by their own force are called mobile robots. A representative example of a mobile robot used in an outdoor environment at home is a lawn mower robot.

In the case of a mobile robot that autonomously travels indoors, the movable area is limited by walls or furniture, but in the case of a mobile robot that autonomously travels outdoors, it is necessary to set the movable area in advance. In addition, there is a need to limit a movable area so that the lawn mower robot travels in an area where grass is planted.

In the prior art (Korean Patent Application Laid-Open No. 2015-0125508), a wire is buried to set the area to be moved by the lawn mower robot, and the lawn mower robot senses the magnetic field formed by the electric current flowing by the wire. You can move within the area set by

In addition, in limiting movement by setting a boundary, it is possible to limit the movement of the mobile robot by transmitting a signal in a beacon method to set a virtual wall.

On the other hand, the mobile robot is equipped with a camera, and can be used for obstacle recognition, position recognition, and the like. In this case, in the case of a robot working in an outdoor environment, foreign substances such as dust and mud were attached to the camera or the camera cover, so that it was difficult to recognize the camera.

It is an object of the present invention to prevent and remove foreign substances that obstruct the camera view of a mobile robot working in an outdoor environment.

An object of the present invention is to provide a mobile robot capable of removing foreign substances attached to the camera cover by centrifugal force by rotating the camera cover and a method for controlling the same.

An object of the present invention is to provide a mobile robot capable of securing a camera view by rotating a camera cover even in bad weather conditions outdoors and a control method thereof.

It is an object of the present invention to provide a mobile robot capable of preventing foreign substances from adhering to the camera cover by rotating the camera cover and a method for controlling the same.

It is an object of the present invention to provide a mobile robot having high efficiency and reliability in an outdoor environment and a method for controlling the same.

In order to achieve the above or other objects, a mobile robot and a control method thereof according to an aspect of the present invention, by rotating the camera cover, it is possible to minimize the obstruction of the camera view.

In order to achieve the above or other object, the mobile robot and the control method thereof according to an aspect of the present invention can operate stably according to the outdoor environment and situation by rotating the camera cover according to a predetermined standard.

In order to achieve the above or other object, a mobile robot working in an outdoor environment according to an aspect of the present invention includes a main body, a traveling unit for moving the main body, a camera accommodated in the main body to photograph the outside of the main body, A camera cover including a transparent window disposed in front of the camera, a first rotating body fixed to the transparent window, a first fixing body fixed to the case of the main body, and a motor for rotating the first rotating body may include

Meanwhile, the first rotating body and the first fixed body may have a ring shape.

On the other hand, in order to achieve the above or other object, the mobile robot according to an aspect of the present invention may further include a gear or a pulley that transmits a driving force by the rotation of the motor to the first rotating body.

In addition, the first rotating body may further include a holder portion extending in a direction toward the camera and connected to the gear or pulley.

Meanwhile, the first rotating body may further include a bending part that is bent inwardly from an end of the first rotating body to support the transparent window.

In addition, the first rotating body may be an inner ring of the bearing, and the first fixed body may be an outer ring of the bearing. In this case, the camera cover may further include a plurality of balls between the first rotating body and the first fixed body.

Alternatively, in order to achieve the above or other object, the mobile robot according to an aspect of the present invention may further include a bearing disposed between the first rotating body and the first fixed body.

In order to achieve the above or other object, the mobile robot according to an aspect of the present invention extracts feature points of an image acquired through the camera only to determine whether there is a foreign material, and drives the motor when it is determined that there is a foreign material to further include a control unit for controlling the first rotating body to rotate.

In addition, the controller may compare two or more images to determine whether foreign matter is present.

Also, the controller may detect the same object included in two or more consecutive images, and determine that the foreign material is present when the detected same object does not move.

In addition, the controller may detect the same object included in two or more consecutive images, and determine that the foreign material is present when a change in the detected size of the same object is smaller than a reference value.

Also, the controller may detect the same object included in two or more consecutive images, and determine the presence of the foreign material by determining the properties of the detected same object.

On the other hand, when the first rotating body is not rotating, the control unit may determine whether there is a foreign substance by extracting a feature point of an image obtained only through the camera.

Meanwhile, the control unit may control the first rotating body to rotate until the foreign material is removed.

In order to achieve the above or other object, the mobile robot according to an aspect of the present invention controls the first rotating body to rotate by driving the motor based on the sensing data of the rain sensor and the rain sensor. It may further include a control unit.

In order to achieve the above or other object, a control method of a mobile robot working in an outdoor environment according to an aspect of the present invention includes extracting a feature point of an image obtained only through a camera, Determining the presence of a foreign material based on the step, when it is determined that the foreign material is present, may include controlling the motor to rotate the first rotating body fixed to the transparent window disposed in front of the camera.

Meanwhile, in the determining of the presence of the foreign material, it is possible to determine whether the foreign material is present by comparing two or more images.

In order to achieve the above or other object, the method for controlling a mobile robot according to an aspect of the present invention may further include extracting a feature point of a foreign substance from an image obtained only through the camera.

In order to achieve the above or other object, in the control method of a mobile robot working in an outdoor environment according to an aspect of the present invention, the first rotating body is driven by driving the motor based on sensing data of a rain sensor. It can be controlled to rotate.

According to at least one of the embodiments of the present invention, there is an advantage in that it is possible to prevent and remove foreign substances that obstruct the camera view of a mobile robot working in an outdoor environment.

In addition, according to at least one of the embodiments of the present invention, it is possible to provide a mobile robot capable of removing foreign substances adhering to the camera cover by centrifugal force by rotating the camera cover, and a method for controlling the same.

In addition, according to at least one of the embodiments of the present invention, it is possible to provide a mobile robot capable of securing a camera view by rotating a camera cover even in bad weather conditions outdoors, and a method for controlling the same.

In addition, according to at least one of the embodiments of the present invention, it is possible to prevent foreign substances from adhering to the camera cover by rotating the camera cover.

On the other hand, various other effects will be disclosed directly or implicitly in the detailed description according to the embodiment of the present invention to be described later.

1 is a perspective view of a mobile robot according to an embodiment of the present invention.
2 is a block diagram illustrating main parts of a mobile robot according to an embodiment of the present invention.
3 to 6 are diagrams referenced in the description of the camera cover of the mobile robot according to an embodiment of the present invention.
7 is a flowchart of a method for controlling a mobile robot according to an embodiment of the present invention.
8 and 9 are diagrams referenced in the description of a method for controlling a mobile robot according to an embodiment of the present invention.

Expressions referring to directions such as “before (F) / after (R) / left (Le) / right (Ri) / up (U) / down (D)” mentioned below are defined as shown in the drawings, but , This is for the purpose of explaining the present invention to the extent that it can be clearly understood, and it goes without saying that each direction may be defined differently depending on where the reference is placed.

The use of terms with expressions such as 'first, second', etc. attached before the components mentioned below is only to avoid confusion of the components referred to, and is irrelevant to the order, importance, or master-slave relationship between the components. . For example, an invention including only the second component without the first component can also be implemented.

Hereinafter, with reference to FIGS. 1 and 2 , the lawn mower robot 100 among the mobile robots will be described as an example, but the present invention is not necessarily limited thereto.

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

Referring to FIG. 1 , a mobile robot 100 working in an outdoor environment according to an embodiment of the present invention includes a casing that forms an exterior of a main body 101 and forms a space in which parts are accommodated, Various parts such as a battery (not shown) providing power according to driving may be accommodated inside the casing.

The mobile robot 100 according to an embodiment of the present invention may include at least a pair of driving wheels 171 that are rotated by a driving force. The driving wheel 171 may include a left wheel and a right wheel. The driving wheel 171 is provided rotatably independently of each other so that the main body 101 can rotate and move forward with respect to the ground.

Also, the mobile robot 100 according to an embodiment of the present invention may include at least one auxiliary wheel 172 . The auxiliary wheel 172 is a wheel that does not receive driving force by the motor, and serves to support the main body 101 with respect to the ground.

The driving wheel 171 may be formed to be larger than the auxiliary wheel 172 . The auxiliary wheel 172 may be disposed in front of the driving wheel 171 , and in this case, the driving wheel 171 may be referred to as a rear wheel, and the auxiliary wheel 172 may be referred to as a front wheel.

In addition, the mobile robot 100 according to an embodiment of the present invention may include a photographing unit (not shown) having a camera. For example, the camera may be disposed on the front portion of the body 101 and detect an obstacle. According to an embodiment, the mobile robot 100 may use the camera for situation recognition, location recognition, etc. in addition to obstacle recognition.

The mobile robot 100 is provided with a suction unit for sucking dust from the floor in the case of a cleaning robot, and in the case of a lawn mower robot, a cutting unit (not shown) is provided at the bottom of the front part to mow grass or weeds to a predetermined size from the floor. Or it is formed on the bottom surface of the body.

The mobile robot 100 travels in an area formed by a boundary line. The mobile robot 100 senses the boundary line and may travel along the boundary line.

The mobile robot 100 sets any one side of the area formed by the boundary line as the area. The mobile robot sets the inner area of the boundary line as the running area.

The mobile robot travels within the set area while keeping it from escaping the boundary. The mobile robot 100 does not cross the boundary line or travel through the boundary line even when a physical obstacle such as a wall or a fence is not located on the boundary line.

The mobile robot 100 detects a boundary line while driving, detects an obstacle located in a driving direction, and avoids driving. The mobile robot 100 may move while mowing the lawn within the area.

The mobile robot 100 may generate a map for the area based on the detected boundary line and obstacle information. The mobile robot 100 may distinguish a drivable area from an impossible area while traveling in a set area, and may store it on a map.

The mobile robot 100 may determine the location by calculating the coordinates for the obstacle and the boundary line on the map. The mobile robot 100 may calculate the location of the charging station, store it on a map, and determine the location.

The mobile robot 100 may extract a feature point based on a boundary line or a position of an obstacle, set at least one waypoint based on the feature point, and set a movement path connecting the waypoints.

The mobile robot designates a position so as not to invade a boundary line with respect to a partial region that moves a point where it cannot travel in a straight line, and all points that interfere with linear movement can be set as feature points.

The mobile robot 100 may set a movement path including at least one waypoint from a starting point to a target point.

The feature point is any one point of the protruding region, and may be set at a bending point of a boundary line, for example, a corner, a position of an obstacle, or a corner of a boundary formed by the obstacle. The feature point may be formed not only on the convex edge but also on the concave edge.

The waypoint may be set to any one of a plurality of passthrough candidates set at a predetermined distance from the keypoint, including the keypoint. The feature point may also be set as a waypoint.

In response to the state of the battery, the mobile robot 100 stops the operation being performed and returns to a charging station (not shown) to charge. The charging station transmits a guide signal for the return of the mobile robot, and the mobile robot receives the guide signal and returns to the charging station.

The mobile robot 100 may communicate with a terminal (not shown) to share a map, and may operate according to a control command of the terminal. The mobile robot 100 may transmit data on the current state to the terminal so that a message indicating that charging is being performed is output through the terminal.

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

Referring to FIG. 2 , the mobile robot 100 includes an obstacle detecting unit 120 , an input/output unit 130 , a traveling unit 170 , a cutting unit 160 , a communication unit 150 , a data unit 140 , and an operation. It may include a control unit 110 for controlling the overall. According to an embodiment, the mobile robot 100 may further include a photographing unit 180 including a camera 181 . The controller 110 may detect an object such as an obstacle based on the image acquired by the camera 181 .

The input/output unit 130 includes an input means such as at least one button, a switch, and a touch pad, and an output means such as a display unit and a speaker to receive a user command and output the operating state of the mobile robot. The input/output unit 130 may output a warning when an abnormality occurs in the mobile robot, a driving impossible situation or an isolated situation occurs.

In the data unit 140, an input detection signal is stored, reference data for determining an obstacle is stored, and obstacle information about the detected obstacle is stored. In addition, the data unit 140 stores control data for controlling the operation of the mobile robot and data according to the operation mode of the mobile robot.

The data unit 140 stores the collected location information, and stores information and maps on boundary lines and driving areas.

The communication unit 150 may communicate with a terminal located within a predetermined distance through a wired or wireless communication method. In addition, the communication unit 150 may be connected to a predetermined network to communicate with an external server or a terminal that controls the mobile robot.

The communication unit 270 transmits the generated map to the terminal, receives a command from the terminal, and transmits data on the operating state of the mobile robot to the terminal. The communication unit 270 transmits and receives data including communication modules such as Wi-Fi and WiBro as well as short-range wireless communication such as ZigBee and Bluetooth.

The traveling unit 170 includes at least one driving motor to allow the mobile robot to travel according to a control command of the control unit 110 . The driving unit 170 may include a left wheel driving motor rotating the left wheel of the driving wheel 171 and a right wheel driving motor rotating the right wheel, and the driving unit 170 may include an auxiliary wheel 172 . . When the main body travels straight, the left wheel drive motor and the right wheel drive motor rotate in the same direction, but when the left wheel drive motor and the right wheel drive motor rotate at different speeds or in opposite directions, the traveling direction of the main body 10 This can be switched. At least one auxiliary wheel (not shown) for stable support of the main body 10 may be further provided.

The cutting unit 160 mows the grass on the floor while driving. The cutting unit 160 is provided with a brush or a blade for mowing the lawn to cut the lawn through rotation.

The obstacle detecting unit 120 detects an obstacle located in the driving direction including a plurality of sensors. Also, the obstacle detecting unit 120 may detect an obstacle in front of the main body, that is, in the driving direction, using at least one of a laser, an ultrasonic wave, an infrared ray, and a 3D sensor. In addition, the obstacle detection unit may further include a cliff detection sensor installed on the rear surface of the main body to detect a cliff.

The mobile robot 100 may further include a position sensing unit (not shown) including a plurality of sensor modules for transmitting and receiving position information.

The position sensing unit includes a GPS module for transmitting and receiving GPS signals, or a position sensor module for transmitting and receiving position information from a position information transmitter. When the location information transmitter transmits a signal in any one of ultrasonic waves, UWB (Ultra Wide Band), and infrared, a sensor module for transmitting and receiving ultrasonic, UWB, and infrared signals corresponding thereto is provided.

UWB wireless technology does not use a radio carrier (RF carrier), but uses a very wide frequency band of several GHz or more in baseband. UWB wireless technology uses very narrow pulses of a few nanoseconds or a few picoseconds. Since the pulses emitted from such a UWB sensor are several nanometers or several picos, penetrability is good, and accordingly, very short pulses emitted from other UWB sensors can be received even if there is an obstacle in the vicinity. In the UWB sensor, a transmitter and a receiver may be formed as one module.

As described above, since the signal of the UWB sensor can be transmitted through an obstacle, the signal transmission is not affected even if the user moves while carrying the terminal. However, in the case of an obstacle of a certain size or more, the signal may not be transmitted or the transmission distance may be reduced although it penetrates.

The mobile robot may be provided with a plurality of UWB sensors. When two UWB sensors are provided, for example, they are provided on the left and right sides of the main body, respectively, to receive signals, so that it is possible to compare a plurality of received signals to accurately calculate a position. For example, if the distance measured by the sensor on the left and the sensor on the right is different depending on the location of the reference location information transmitter or the terminal, the mobile robot uses the difference between the received signals to determine the relative position and movement The direction of the robot can be determined. When the location information transmitter is provided with a UWB sensor and transmits a signal, the terminal may receive the signal of the location information transmitter through the UWB signal provided.

In addition, the mobile robot may include at least one inclination sensor (not shown) to detect the movement of the main body. The tilt sensor calculates the tilted direction and angle when the body tilts in the front, back, left, and right directions. As the tilt sensor, a tilt sensor, an acceleration sensor, etc. may be used, and in the case of the acceleration sensor, any one of a gyro type, an inertial type, and a silicon semiconductor type is applicable. In addition, various sensors or devices capable of detecting the movement of the body may be used.

According to an embodiment, the mobile robot 100 may further include a photographing unit 180 including a camera 181 . The controller 110 may detect an object such as an obstacle or recognize a current situation based on the image acquired by the camera 181 . For example, the camera 181 may be disposed on the front portion of the body 101 and may detect an obstacle. According to an embodiment, the mobile robot 100 may use the camera for situation recognition, location recognition, etc. in addition to obstacle recognition.

The camera 181 is a digital camera and may include an image sensor (not shown) and an image processing unit (not shown). An image sensor is a device that converts an optical image into an electrical signal, and is composed of a chip in which a plurality of photodiodes are integrated, for example, a pixel as the photodiode. Charges are accumulated in each pixel by the image formed on the chip by the light passing through the lens, and the charges accumulated in the pixels are converted into electrical signals (eg, voltage). As an image sensor, CCD (Charge Coupled Device), CMOS (Complementary Metal Oxide Semiconductor), etc. are well known. Also, the camera 181 may include an image processing unit DSP that processes the captured image.

The controller 110 controls input/output of data, and controls the driving unit so that the mobile robot runs according to the setting. The control unit 110 controls the driving unit 170 to independently control the operation of the left wheel drive motor and the right wheel drive motor so that the main body 10 travels in a straight line or rotates.

The controller 110 controls driving by recognizing the detected boundary lines and obstacles.

The control unit 110 may set any one of the areas formed by the boundary line as the drivable area. In addition, the control unit 110 connects the discontinuous location information with a line or a curve to set a boundary line in the form of a closed loop, and sets the inner area as a drivable area. In addition, when a plurality of boundary lines are set, the control unit 110 may set any one of the areas formed by the boundary lines as a drivable area.

The control unit 110 generates a map based on information acquired along the boundary line, location information, and information on obstacles within an area detected while driving. The control unit calculates coordinates from the map and determines the location by matching the area formed by the boundary line.

When the driving area and its boundary are set, the controller 110 controls the driving unit so as not to deviate from the boundary while driving within the region.

The control unit 110 controls driving based on information on boundary lines and obstacles sensed during driving.

In addition, the control unit 110 may determine the obstacle information input by the obstacle detecting unit 120 to avoid the obstacle and drive, and in some cases, may correct a preset area. The controller 110 may determine the position of the obstacle in response to the obstacle information, determine the type of the obstacle, and set the avoidance direction, and may set not to approach more than a predetermined distance when a cliff is detected.

The control unit 110 controls the cutting unit and the driving unit to mow the lawn while driving the area according to the input control command.

In response to the control command, the controller 110 may move to a specific location and start an operation. The control unit sets the moving route by calculating the current position, the starting point, and the target point based on the map.

The controller 110 may calculate a plurality of feature points based on boundary lines and obstacles based on the map and set a movement path based on the feature points. The control unit 110 may set any point of a bending point, an edge, or a protruding area of an area formed by a boundary line or an obstacle as a feature point.

The control unit 110 sets a plurality of passing candidates at a predetermined distance and a predetermined angle based on the feature point, and designates at least one of the passing candidates as a way point to set a movement path connecting the starting point, the way point, and the target point. . The control unit 110 may set a waypoint based on the keypoint, but may also set the keypoint as a waypoint.

The control unit 110 sets a movement route by designating a waypoint when a straight-line driving to the target point is impossible based on the map.

When the target point is located outside the area, the control unit 110 may set a point adjacent to the target point within the area as a via point and drive the vehicle. In this case, the set waypoint may be a new target point.

When a new obstacle is detected by the obstacle detecting unit 120 and/or the photographing unit 180 while driving, the controller 110 determines the position and size of the obstacle, and the shape (outer line) of the obstacle, stores the obstacle information, and provides a map location can be displayed. When the size of the obstacle is greater than or equal to a certain size, the controller 110 may set the area in which the obstacle is located as the non-movable area.

The controller 110 may change the movement route by setting a new waypoint when a new obstacle is detected or a boundary line is violated while driving according to the movement route, approaches or collides with the obstacle.

In addition, even when a new obstacle occurs or invades the boundary line, the controller 110 may drive along the boundary line for a predetermined time and then set a new movement path to drive to the target point.

The mobile robot 100 working in an outdoor environment according to an embodiment of the present invention takes pictures of a main body 101 , a traveling unit 170 that moves the main body 101 , and the outside of the main body 101 . It may include a photographing unit 180 that

The photographing unit 180 may further include a camera cover 183 for protecting the camera 181 and a motor 185 for rotating at least a portion of the camera cover 183 .

The camera cover 183 includes a transparent window (not shown) formed of a transparent material, and the transparent window may be disposed in front of the camera 181 spaced apart by a predetermined distance. Since the transparent window is disposed in front of the camera 181 , it is possible to prevent foreign substances such as grass, soil, and garbage from being attached to the camera 181 without interfering with the photographing of the camera 181 .

According to an embodiment of the present invention, since at least a portion of the camera cover 183 rotates, it is possible to minimize the attachment of the obstacle to the camera cover 183 , and even if the obstacle is attached, it is possible to remove it. The controller 110 may control the motor 185 to rotate at least a part of the camera cover 183 .

3 to 6 are diagrams referenced in the description of the camera cover 183 of the mobile robot 100 according to an embodiment of the present invention.

3 illustrates an example of the photographing unit 180 with the camera cover 183 of the mobile robot 100 as a center according to an embodiment of the present invention.

Referring to FIG. 3 , the photographing unit 180 is located in the front of the camera 181 , which is accommodated in the body 101 to photograph the outside of the body 101 , and a part of the body 101 is located in front of the camera 181 . ) may include a camera cover 183 that is exposed to the outside to protect the camera 181 .

The camera cover 183 may include a transparent window 310 disposed in front of the camera 181 . The transparent window 310 may be made of a transparent material to protect the camera 181 without interfering with the photographing of the camera 181 . For example, the transparent window 310 may be formed of glass.

The camera cover 183 may include a first rotating body 320 fixed to the transparent window 310 and a first fixing body 320 fixed to the case of the main body 101 .

The transparent window 310 may have a circular shape. For example, the transparent window 310 may be made of round glass.

In addition, the first rotating body 320 and the first fixing body 330 may have a ring shape. The first rotating body 320 and the first fixing body 330 are manufactured in a ring shape with an open center, and the first rotating body 320 is formed in the transparent window 310 from the outside of the circular transparent window 310 . ) and the first fixing body 320 may be disposed outside the first rotating body 320 .

The transparent window 310 has a circular shape, and as the first rotating body 320 and the first fixing body 330 have a ring shape, a virtual extension extending forward from the center of the camera 181 . It is suitable for rotation with the axis of rotation. In addition, since the first rotating body 320 and the first fixing body 330 are not exposed in the front see-through area of the transparent window 310 , the view of the camera 181 may not be obstructed. Accordingly, the front surface of the transparent window 310 can be utilized, and the image acquired by the camera 183 does not have an obscured portion.

The outer surface of the first fixing body 330 and the case of the main body 101 are sealed and fixed, and airtightness can be maintained.

According to the embodiment, a cushioning material such as elastic rubber or synthetic resin may be disposed between the first rotating body 320 and the transparent window 310 . In addition, a cushioning material such as elastic rubber or synthetic resin may be disposed between the first fixing body 330 and the case of the main body 101 .

Meanwhile, the photographing unit 180 may include a motor 185 for rotating the first rotating body 320 . The controller 110 may rotate the first rotating body 320 by driving the motor 185 . The first rotating body 320 and the transparent window 310 fixed to the first rotating body 320 may rotate according to the rotation of the first rotating body 320 .

Meanwhile, the photographing unit 180 according to an embodiment of the present invention further includes a gear or a pulley 350 that transmits a driving force by the rotation of the motor 185 to the first rotating body 320 . can do. In some cases, the first rotating body 320 may further include a holder portion 321 extending in a direction toward the camera 181 and connected to the gear or pulley.

In the case of a robot working outdoors, it may be difficult to recognize through the camera when foreign substances such as dust or mud are attached to the camera and camera cover or in bad weather with a lot of rain.

According to an embodiment of the present invention, by rotating at least a portion of the camera cover 183, it is possible to minimize the camera view obstruction by foreign substances. For example, the control unit 110 drives the motor 185 to rotate the first rotating body 320 to minimize the adhesion of foreign substances to the transparent window 310 by centrifugal force, and to prevent foreign substances from adhering to the transparent window 310 by centrifugal force. The attached foreign material can be dropped.

According to an embodiment of the present invention, since the rotation axis is not formed on the front sighting area of the camera 181, there is no obstruction of the field of view by the camera cover 183 structure.

According to an embodiment of the present invention, the camera cover 183 may protect the internal camera 181 .

Meanwhile, according to an embodiment of the present invention, a bearing may be used to rotate the camera cover 183. The bearing may be coupled to a rotating shaft to fix the shaft and rotate the shaft.

For example, a rolling bearing may be used for rotation of the camera cover 183 . The first rotating body 320 may be an inner ring of a bearing, and the first fixed body 330 may be an outer ring of the bearing. The first rotating body 320 and the first fixed body 330 may be inner and outer rings of a ball bearing and a roller bearing.

4 shows an example of fixing the rotating shaft in the same way as a ball bearing.

Referring to FIG. 4 , the first rotating body 320 of the inner ring having a ring shape fixes the circular transparent window 310 and is spaced apart from the outside of the first rotating body 320 by a predetermined distance to have a larger diameter ring. The first fixing body 330 of the outer ring having a shape is positioned. The first rotating body 320 and the first fixed body 330 may be configured in one layer and two layers.

The camera cover 183 may further include a plurality of balls 340 between the first rotating body 320 and the first fixed body 330 to reduce frictional force during rotation. Preferably, the plurality of balls 340 may be disposed to be spaced apart from each other at regular intervals.

The first rotating body 320 and the first fixed body 330 are disposed on the outside of the circular transparent window 310 so as not to obstruct the view of the camera 181, the transparent window 310 and the first rotating body 320 can be rotated.

According to an embodiment, the first rotating body 320 and the first fixed body 330 may have a deformed structure for coupling and rigidity reinforcement.

5 illustrates a structure of the first rotating body 520 according to an embodiment of the present invention.

Referring to FIG. 5 , the first rotating body 520 may further include a bending part 525 that is bent inward from the end of the first rotating body 520 to support the transparent window 510 . can Accordingly, it is possible to prevent the first rotating body 520 and/or the transparent body 510 from being separated or separated even after repeated rotation by increasing the fixing force between the first rotating body 520 and the transparent body 510 .

On the other hand, if the bending part 525 is too long inward from the end of the first rotating body 520 , it may obstruct the view of the camera 181 , so the length of the bending part 525 is the camera 181 . It may be determined based on the distance between the and the transparent window 510 and the viewing angle of the camera 181 .

Meanwhile, according to an embodiment of the present invention, the first rotating body 320 and the first fixed body 330 do not form a bearing structure, and may further include a separate bearing.

6 illustrates an example of the photographing unit 180 centering on the camera cover 183 of the mobile robot 100 according to an embodiment of the present invention.

Referring to FIG. 6 , the mobile robot 100 according to an embodiment of the present invention may further include a bearing 600 disposed between the first rotating body 320 and the first fixed body 330 . can The bearing 600 may be a rolling bearing, and may be a ball bearing illustrated in FIG. 4 .

By disposing the bearing 600 between the first rotating body 320 and the first fixed body 330, the transparent window 310 and the first rotating body 320 can be rotated while holding the rotating shaft. have.

The mobile robot 100 according to an embodiment of the present invention may stably operate according to an outdoor environment and situation by rotating at least a portion of the camera cover 183 according to a predetermined standard.

For example, the rotation of the first rotating body 320 is always possible, and when it is determined that foreign substances are attached to the camera cover 183, or when it is determined as bad weather weather through a temperature sensor, a rain sensor, etc. It may only work if

According to an embodiment of the present invention, foreign substances do not adhere to the transparent window 310 and the first rotating body 320 due to the centrifugal force rotating, so a clear view can be secured, and by operating it when necessary, it can be operated even in bad weather conditions outdoors. The camera view can be secured.

The controller 110 may stop the rotation by determining when the weather is good or there is no foreign material through a temperature sensor, a rain sensor, etc. provided in the mobile robot 110 .

The controller 110 extracts feature points of an image obtained only through the camera 181 to determine whether there is a foreign material, and if it is determined that there is a foreign material, drives the motor 185 to drive the first rotating body 320 ) can be controlled to rotate.

The control unit 110 may compare two or more images to determine whether foreign matter is present. For example, the controller 110 may detect the same object included in two or more consecutive images, and determine that the foreign material is present when the detected same object does not move. Alternatively, the controller 110 may detect the same object included in two or more consecutive images, and determine that the foreign material is present when a change in the size of the detected same object is smaller than a reference value. . Alternatively, the controller 110 may detect the same object included in two or more consecutive images and determine the properties of the detected same object to determine that the foreign material is present.

Since it is determined whether there is a foreign material based on the image, it is not necessary to provide a separate foreign material detection sensor, and manufacturing cost can be reduced.

On the other hand, according to the embodiment, when the first rotating body 320 is not rotating, the control unit 110 extracts a feature point of an image obtained only through the camera 181 and there is a foreign substance. It can be determined whether When the transparent window 310 rotates at a sufficient speed according to the rotation of the first rotation body 320 , foreign substances do not adhere to the camera cover 183 , so the camera cover 183 such as the first rotation body 320 . ), it is possible to reduce the system load by determining the presence of foreign substances only during non-rotation.

According to an embodiment, the control unit 110 may control the first rotating body 320 to rotate until the foreign material is removed. When a foreign material is detected, the controller 110 may rotate the camera cover 183 until the foreign material is not detected, and may stop the rotation of the camera cover 183 after the foreign material is removed.

According to an embodiment of the present invention, the controller 110 may determine whether it is raining through sensing data of a rain sensor. The controller 110 may control the first rotating body 320 to rotate by driving the motor 185 based on the sensing data of the rain sensor.

7 is a flowchart of a method for controlling a mobile robot according to an embodiment of the present invention, and FIGS. 8 and 9 are diagrams referenced in the description of a method for controlling a mobile robot according to an embodiment of the present invention.

Referring to FIG. 7 , the mobile robot 100 according to an embodiment of the present invention may extract a feature point of an image acquired only through the camera 181 ( S720 ), and the controller 110 may Based on the feature points of the extracted image, it may be determined whether there is a foreign substance (S740).

When it is determined that the foreign material is present (S740), the motor 185 may be controlled to rotate the first rotating body 320 fixed to the transparent window 310 disposed in front of the camera 181 ( S750). As the first rotating body 320 rotates, the transparent window 310 also rotates.

According to an embodiment, the transparent window 310 may be a transparent cover glass that protects the camera 181 and does not obstruct the view of the camera 181 . The cover glass may be rotated by the user by manipulating the input/output unit 130 . Alternatively, as shown in FIG. 7 , it is possible to automatically determine whether to rotate the cover glass by judging the case where the foreign material is attached.

That is, if the cover glass is rotated by the user's manipulation (S710), it is not necessary to determine whether to rotate, so the feature point extraction (S720) and the foreign material determination (S740) are not performed.

In addition, if the cover glass rotates at a sufficient speed (S710), the foreign material does not adhere to the camera cover 183, so whether the foreign material exists only when the camera cover 183, such as the first rotating body 320, is not rotated. By determining it, the system load can be reduced.

The control unit 110 may compare two or more images to determine whether foreign matter is present.

The controller 110 may extract feature points from the images ( S720 ), and may match the feature points between consecutive images. The controller 110 may detect the same object included in two or more consecutive images, and determine that the foreign material is present when the detected same object does not move.

According to an embodiment, the controller 110 may extract a feature point of a foreign substance from an image acquired only through the camera 181 ( S730 ). It is possible to determine whether a specific feature point in the image does not move under the condition that the continuous image is matched and the specific feature point and object are tracked (S730), that is, the feature point that does not move is extracted, and it is converted into a foreign material feature point. It can be determined (S730).

On the other hand, when the movement information of the mobile robot 100 is received through a sensor such as an encoder, the controller 110 compares the movement information of the mobile robot 100 with whether the feature points in the image change, and the feature points that do not move can be judged If the mobile robot 100 moves but the feature point does not move, the controller 110 may determine that a foreign material is attached to the cover glass (S740).

8 and 9 illustrate two consecutive images 800 and 900 .

8 and 9 , two objects 810 and 850 are detected in the first image 800 acquired through the camera 181 . In the second image 900 continuous to the first image 800 , some objects 810 of the first image 800 disappear and only a specific object 850 can be detected. In addition, an object 910 that is not present in the first image 800 may be additionally detected in the second image 900 . Meanwhile, the controller 110 may determine the object 850 commonly detected in the two consecutive images 800 and 900 as a foreign material.

Alternatively, the controller 110 may detect the same object included in two or more consecutive images, and determine that the foreign material is present when a change in the size of the detected same object is smaller than a reference value. . In the examples of FIGS. 8 and 9 , there is little change in the size of the object 850, so it can be determined as a foreign substance.

Alternatively, the controller 110 considers the sensing data of a sensor such as an encoder together with the images 800 and 900 to determine the object 850 that does not move despite the movement of the mobile robot 100 as a foreign substance. can

Alternatively, the controller 110 may detect the same object included in two or more consecutive images and determine the properties of the detected same object to determine that the foreign material is present. The controller 110 may include deep-learning artificial intelligence to determine the properties of an object based on an image. Alternatively, the mobile robot 100 may further include a separate foreign material learner previously learned. In this case, the control unit 110 may determine whether there is a foreign material such as grass or soil and the type of foreign material based on the image.

The controller 110 drives the motor 185 to rotate the cover glass to remove foreign substances (S750).

According to an embodiment of the present invention, the controller 110 may determine whether it is raining through sensing data of a rain sensor. The controller 110 may control the first rotating body 320 to rotate by driving the motor 185 based on the sensing data of the rain sensor. Accordingly, it is possible to remove water droplets or water droplets adhering to the cover glass.

On the other hand, when an internal foreign substance is generated in the camera cover 183 and the motor load increases, the control unit 110 may output a cleaning notification or the like through the input/output unit 130 . Accordingly, the user can efficiently manage the camera cover 183 .

The mobile robot and its control method according to the present invention are not limited to the configuration and method of the described embodiments as described above, but all or part of each embodiment may be modified so that various modifications may be made. They may be selectively combined and configured.

Likewise, although acts are depicted in the drawings in a particular order, it should not be construed that such acts must be performed in that particular order or sequential order shown, or that all depicted acts must be performed in order to achieve desirable results. . In certain cases, multitasking and parallel processing may be advantageous.

Meanwhile, the method for controlling a mobile robot according to an embodiment of the present invention may be implemented as a processor-readable code on a processor-readable recording medium. The processor-readable recording medium includes all types of recording devices in which data readable by the processor is stored. In addition, the processor-readable recording medium is distributed in a computer system connected through a network, so that the processor-readable code can be stored and executed in a distributed manner.

In addition, although preferred embodiments of the present invention have been illustrated and described above, the present invention is not limited to the specific embodiments described above, and the technical field to which the present invention pertains without departing from the gist of the present invention as claimed in the claims In addition, various modifications may be made by those of ordinary skill in the art, and these modifications should not be individually understood from the technical spirit or perspective of the present invention.

100: mobile robot
101: body
110: control unit
120: obstacle detection unit
160: cutting part
170: driving unit
180: filming department

Claims (20)

A mobile robot working in an outdoor environment, comprising:
main body;
a driving unit for moving the main body;
a camera accommodated inside the body to photograph the outside of the body;
a camera cover including a transparent window disposed in front of the camera, a first rotating body fixed to the transparent window, and a first fixing body fixed to the case of the main body; and,
A mobile robot comprising a; a motor for rotating the first rotating body. According to claim 1,
The first rotating body and the first fixed body are mobile robot, characterized in that the ring (ring) shape. According to claim 1,
The mobile robot further comprising a; gear or pulley for transmitting the driving force by the rotation of the motor to the first rotating body. 4. The method of claim 3,
The first rotating body extends in a direction toward the camera and further comprises a holder portion connected to the gear or the pulley. According to claim 1,
The first rotating body, the mobile robot further comprising a bending unit for supporting the transparent window by being bent inward from the end of the first rotating body. According to claim 1,
The first rotating body is an inner ring of a bearing, and the first fixed body is an outer ring of the bearing. 7. The method of claim 6,
The camera cover, mobile robot, characterized in that it further comprises a plurality of balls between the first rotating body and the first fixed body. According to claim 1,
The mobile robot further comprising a; bearing disposed between the first rotating body and the first fixed body. According to claim 1,
Mobile robot further comprising a; by extracting feature points of an image obtained through the camera only to determine whether there is a foreign material, and if it is determined that there is a foreign material, a control unit for controlling the first rotating body to rotate by driving the motor . 10. The method of claim 9,
The control unit, by comparing two or more images, the mobile robot, characterized in that to determine the presence of foreign matter. 11. The method of claim 10,
wherein the control unit detects the same object included in two or more consecutive images, and determines that the foreign material is present when the detected same object does not move. 11. The method of claim 10,
wherein the control unit detects the same object included in two or more consecutive images, and determines that the foreign material is present when the detected size change of the same object is smaller than a reference value. 11. The method of claim 10,
wherein the control unit detects the same object included in two or more consecutive images, and determines the presence of the foreign material by determining the properties of the detected same object. 10. The method of claim 9,
The control unit, if the first rotating body is not rotating, the mobile robot, characterized in that by extracting the feature points of the image obtained through the camera only to determine whether there is a foreign material. 10. The method of claim 9,
The control unit, mobile robot, characterized in that the control to rotate the first rotating body until the foreign matter is removed. According to claim 1,
rain sensor;
The mobile robot further comprising a; a control unit for controlling the first rotating body to rotate by driving the motor based on the sensing data of the rain sensor. A method for controlling a mobile robot working in an outdoor environment, the method comprising:
extracting feature points of an image acquired through a camera;
determining whether foreign matter is present based on the feature points of the extracted image;
When it is determined that the foreign material is present, controlling a motor to rotate a first rotating body fixed to a transparent window disposed in front of the camera; 18. The method of claim 17,
The determining of the presence of foreign substances comprises comparing two or more images to determine whether foreign substances are present. 18. The method of claim 17,
The control method of the mobile robot further comprising; extracting the feature point of the foreign material from the image obtained through the camera. 18. The method of claim 17,
Controlling the first rotating body by driving the motor based on the sensing data of a rain sensor; controlling the first rotating body to rotate.

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