KR20230109424A - Moving robot, Controlling method for the moving robot and Controlling system for the moving robot - Google Patents

Abstract

The present invention provides a robot cleaner that cleans a cleaning area while moving a main body, comprising: a driving unit that moves the main body; a sensing unit that senses an upper obstacle while driving in the cleaning area; and a control unit configured to control the driving unit and determine whether to break through or avoid driving into a lower area of the upper obstacle according to the height of the upper obstacle and the position of the upper obstacle detected through the sensing unit; and an application for controlling cleaning and driving of the robot cleaner, and a user who divides the cleaning area into a plurality of sub-areas from the application, sets a threshold value for the height of the upper obstacle for each sub-region, and transmits the set threshold value. A robot cleaner system including a terminal is provided. Therefore, breaking through or avoiding an upper obstacle having a lower space among obstacles detected by the robot cleaner may be performed by optimizing the height of the upper obstacle.

Description

Moving robot, control method for moving robot, and control system for moving robot

The present invention relates to a mobile robot, a control method thereof, and a control system thereof, and relates to obstacle avoidance driving between a mobile robot and a user terminal through an application.

Robots have been developed for industrial use and have been in charge of a part of factory automation. In recent years, the field of application of robots has been further expanded, and medical robots, space robots, etc. have been developed, and household robots that can be used at home are also being made. Among these robots, those capable of driving on their own are called mobile robots. A typical example of a mobile robot used at home is a robot vacuum cleaner.

Various technologies are known for sensing an environment around the robot cleaner and a user through various sensors provided in the robot cleaner. In addition, technologies are known in which a robot cleaner learns and maps a driving area by itself and identifies a current location on a map. A robot cleaner that cleans while driving in a driving area in a preset manner is known.

Conventional robot cleaners have identified distances between obstacles and walls and mapping in the surrounding environment of the cleaner through optical sensors that can easily determine distances, determine topography, and grasp images of obstacles.

As the terrain and obstacles are identified, the robot cleaner performs obstacle avoidance driving in various ways.

In particular, many techniques are disclosed for determining a driving method and whether to avoid or break through a low-height obstacle present on the floor.

For example, Korean Patent Laid-open Publication No. 10-2017-0096760 discloses driving in an obstacle cleaning area for determining whether or not to escape from a low obstacle cleaning area according to a battery level.

On the other hand, in the case of a high obstacle having a height greater than that of the robot cleaner, for example, an upper obstacle such as under a bed leg or under a sofa, it is required to determine whether to enter the lower part of the obstacle.

In this regard, as a prior art, Korean Patent Laid-Open Publication No. 10-2014-0140755 discloses dividing a low area into which access is impossible and performing cleaning by providing a separate cleaning robot to the low area.

However, in the case of an upper obstacle, there are cases in which the robot cleaner can travel in the lower space of the upper obstacle, or there are cases in which the user does not want to travel even if the robot cleaner can travel.

That is, there are various cases such as when there is an upper obstacle, when the robot cleaner cannot drive inside the obstacle, when it is possible to drive but the user does not want to clean the inside, or when the user wants to clean the inside.

Therefore, in the case of an upper obstacle, the user's intention is very important, and accordingly, avoidance or breakthrough driving of the robot cleaner is required.

Korean Patent Laid-open Publication No. 10-2017-0096760 (2016.02.17.) Korean Patent Laid-open Publication No. 10-2014-0140755 (2013.05.30.)

An object to be solved by the present invention is to provide a robot cleaner capable of optimizing and performing breakthrough or avoidance of an upper obstacle having a lower space among obstacles detected by the robot cleaner according to the height of the upper obstacle.

An object to be solved by the present invention is to perform cleaning reflecting the user's intention by determining whether to break through or avoid the lower part of the upper obstacle by reflecting the user's intention on the cleaning map of the robot cleaner.

Another problem to be solved by the present invention is to provide a cleaning operation in which a user's intention is reflected by setting threshold values for each of a plurality of sub-areas of a cleaning area using an application of a user terminal.

In order to solve the above problems, the present invention is a driving unit for moving the main body; a sensing unit that senses an upper obstacle while driving in the cleaning area; and a control unit for controlling the driving unit and determining whether to break through or avoid driving into a lower area of the upper obstacle according to the height of the upper obstacle and the position of the upper obstacle detected through the sensing unit.

When the height of the upper obstacle is greater than the threshold value, the control unit may break through to a lower area of the upper obstacle.

The cleaning area is divided into a plurality of sub-regions, and a threshold value for the upper obstacle may be individually set for each sub-region.

The threshold may be classified into a reference threshold, a first threshold set lower than the reference threshold, and a second threshold set higher than the reference threshold.

A plurality of subregions of the cleaning area may be set to one of the reference threshold, the first threshold, and the second threshold.

The subregion of the cleaning area may be divided by function.

The threshold value for each subregion may be received and set from the outside.

Meanwhile, the present invention provides a robot cleaner that cleans a cleaning area while moving a main body, comprising: a driving unit that moves the main body; a sensing unit that senses an upper obstacle while driving in the cleaning area; and a control unit configured to control the driving unit and determine whether to break through or avoid driving into a lower area of the upper obstacle according to the height of the upper obstacle and the position of the upper obstacle detected through the sensing unit; and an application for controlling cleaning and driving of the robot cleaner, and a user who divides the cleaning area into a plurality of sub-areas from the application, sets a threshold value for the height of the upper obstacle for each sub-region, and transmits the set threshold value. A robot cleaner system including a terminal is provided.

When the height of the upper obstacle is greater than the threshold value, the control unit may break through to a lower area of the upper obstacle.

The user terminal may divide the cleaning area into a plurality of subregions for each function, set the threshold for each of the plurality of subregions, and transmit the threshold value to the robot cleaner.

The threshold may be classified into a reference threshold, a first threshold set lower than the reference threshold, and a second threshold set higher than the reference threshold.

The user terminal may match any one of the reference threshold, the first threshold, and the second threshold to a plurality of subregions of the cleaning area.

The reference threshold may have a value greater than the height of the robot cleaner by a predetermined size.

The reference threshold may have a value greater than the height of the robot cleaner by a predetermined size.

The robot cleaner may read the threshold value set in the small region to which the robot cleaner currently belongs and compare it with the sensed height of the upper obstacle to perform breakthrough driving or avoidance driving.

In addition, the present invention includes the steps of performing cleaning while driving in a cleaning area, detecting an upper obstacle, and calculating a height of the upper obstacle; reading a threshold value set in a subregion to which the current location belongs; and comparing the threshold value with the detected height of the upper obstacle to perform a breakthrough run or an avoidance run.

In the step of breaking through or avoiding driving, when the height of the upper obstacle is greater than the threshold value, the vehicle may break through to a lower area of the upper obstacle.

Thresholds for the upper obstacle are individually set for each subregion, and the thresholds include a reference threshold, a first threshold set lower than the reference threshold, and a threshold higher than the reference threshold. It can be classified as a second threshold that is set.

A plurality of subregions of the cleaning area may be set to one of the reference threshold, the first threshold, and the second threshold.

The method may further include dividing the sub-region of the cleaning area by function, and receiving the threshold value for each sub-region from the outside.

According to the mobile robot of the present invention, one or more of the following effects are provided.

First, breaking through or avoiding an upper obstacle having a lower space among obstacles detected by the robot cleaner may be optimized according to the height of the upper obstacle.

Second, by reflecting the user's intention on the cleaning map of the robot cleaner and determining whether to break through or avoid the lower part of the upper obstacle, it is possible to provide a customer-optimized service.

Third, it is possible to provide a cleaning operation in which the user's intention is reflected according to the characteristics of the corresponding sub-area by setting threshold values for each of the plurality of sub-areas of the cleaning area by utilizing an application of the user terminal.

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

1 is a perspective view showing a mobile robot according to an embodiment of the present invention.
2 is a plan view of the mobile robot of FIG. 1;
3 is a side view of the mobile robot of FIG. 1;
4 is a control block diagram of the mobile robot of FIG. 1;
5 is a conceptual diagram illustrating a network of a mobile robot and a server of FIG. 1;
6 is a flowchart illustrating a control method according to an embodiment of the present invention based on a mobile robot.
FIG. 7 is an exemplary view illustrating an operation of detecting a height of an upper obstacle in FIG. 6 .
8 and 9 show screens of applications executed in a user terminal.
10 is a graph showing changes in threshold values with respect to threshold levels.
11A and 11B are exemplary diagrams illustrating an operation of breaking through or avoiding a lower part of an upper obstacle according to the control method of FIG. 6 .

Advantages and features of the present invention, and methods of achieving them, will become clear with reference to the detailed description of the following embodiments taken in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only these embodiments make the disclosure of the present invention complete, and common knowledge in the art to which the present invention belongs. It is provided to completely inform the person who has the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numbers designate like elements throughout the specification.

The spatially relative terms "below", "beneath", "lower", "above", "upper", etc. It can be used to easily describe components and their correlations with other components. Spatially relative terms should be understood as encompassing different orientations of elements in use or operation in addition to the orientations shown in the drawings. For example, if you flip a component shown in the drawing, a component described as "below" or "beneath" another component will be placed "above" the other component. can Thus, the exemplary term “below” may include directions of both below and above. Elements may also be oriented in other orientations, and thus spatially relative terms may be interpreted according to orientation.

Terminology used herein is for describing the embodiments and is not intended to limit the present invention. In this specification, singular forms also include plural forms unless specifically stated otherwise in a phrase. As used herein, "comprises" and/or "comprising" means that a stated component, step and/or operation excludes the presence or addition of one or more other components, steps and/or operations. I never do that.

Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used in a meaning commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, terms defined in commonly used dictionaries are not interpreted ideally or excessively unless explicitly specifically defined.

The mobile robot 100 according to the present invention refers to a robot capable of moving by itself using wheels and the like, and may be a home helper robot and a robot vacuum cleaner.

Hereinafter, a robot cleaner related to the present invention will be described in more detail with reference to the drawings.

The embodiments disclosed herein are described in detail with reference to the accompanying drawings, but technical terms used herein are only used to describe specific embodiments, and are not intended to limit the spirit of the technology disclosed herein. should be noted

It is a perspective view showing an example of the mobile robot 100 according to the present invention, FIG. 2 is a plan view of the mobile robot 100 shown in FIG. 1, and FIG. 3 is a side view of the robot cleaner 100 shown in FIG. .

In this specification, a mobile robot, a mobile robot, and a vacuum cleaner performing autonomous driving may be used as the same meaning. In addition, in the present specification, a plurality of cleaners may include at least some of the configurations shown in FIGS. 1 to 3 below.

Referring to FIGS. 1 to 3 , the robot cleaner 100 performs a function of cleaning the floor while traveling in a certain area by itself. Floor cleaning as used herein includes suctioning dust (including foreign matter) on the floor or mopping the floor.

The mobile robot 100 includes a body 110. The main body 110 includes a cabinet forming an exterior. The mobile robot 100 may include a suction unit 120 and a dust bin 140 provided in the main body 110 . The mobile robot 100 includes a sensing unit 130 that senses information related to the environment around the mobile robot. The mobile robot 100 includes a driving unit 152 that moves the main body. The mobile robot 100 includes a controller 181 for controlling the mobile robot 100 . The controller 181 is provided in the main body 110 .

The driving unit 152 includes a wheel unit 111 for driving the mobile robot 100. The wheel unit 111 is provided on the main body 110 . The mobile robot 100 can be moved back and forth, left and right, or rotated by the wheel unit 111 . When the control unit controls driving of the wheel unit 111, the mobile robot 100 can autonomously travel on the floor. The wheel unit 111 includes a main wheel 111a and a sub wheel 111b.

The main wheels 111a are provided on both sides of the main body 110, and are configured to be rotatable in one direction or the other direction according to a control signal from the controller. Each of the main wheels 111a may be configured to be driven independently of each other. For example, each main wheel 111a may be driven by a different motor.

The sub wheel 111b supports the main body 110 together with the main wheel 111a and assists the driving of the mobile robot 100 by the main wheel 111a. Such a sub wheel 111b may also be provided in a suction unit 120 to be described later.

The suction unit 120 may be disposed in a form protruding from the front (F) of the main body 110 . The suction unit 120 is provided to suck air containing dust.

The suction unit 120 may protrude from the front of the main body 110 to both left and right sides. The front end of the suction unit 120 may be disposed at a position spaced forward from one side of the main body 110 . Both left and right ends of the suction unit 120 may be disposed at positions spaced apart from the main body 110 on both left and right sides, respectively.

The main body 110 is formed in a circular shape, and both sides of the rear end of the suction unit 120 protrude from the main body 110 to both left and right sides, respectively, between the main body 110 and the suction unit 120, an empty space, that is, Gaps may form. The empty space is a space between both left and right ends of the main body 110 and both left and right ends of the suction unit 120, and has a shape that is recessed into the mobile robot 100.

The suction unit 120 may be detachably coupled to the main body 110 . When the suction unit 120 is separated from the body 110, a mop module (not shown) may be detachably coupled to the body 110 to replace the separated suction unit 120.

The sensing unit 130 may be disposed on the main body 110 . The sensing unit 130 may be disposed on the front (F) of the main body 110 . The sensing unit 130 may be disposed to overlap the suction unit 120 in the vertical direction of the main body 110 . The sensing unit 130 may be disposed above the suction unit 120 .

The sensing unit 130 may detect obstacles around the mobile robot 100 . The sensing unit 130 may detect an obstacle or a feature in front so that the suction unit 120 located at the frontmost side of the mobile robot 100 does not collide with the obstacle. The sensing unit 130 may additionally perform other sensing functions to be described later in addition to these sensing functions.

The sensing unit 130 may include a first obstacle sensor 132 and a second obstacle sensor 131, respectively.

The first obstacle sensor 132 may be disposed below the sensing unit 130 and may be a lidar sensor for detecting an upper obstacle disposed above the mobile robot 100 .

The second obstacle sensor 131 is disposed above the sensing unit 130 and is disposed above the first obstacle sensor 132 . The second obstacle sensor 131 may be a lidar sensor for detecting a floor obstacle disposed below the mobile robot 100 .

Therefore, the first obstacle sensor 132 and the second obstacle sensor 131 emit lasers crossing each other so as to be offset from each other in the vertical direction, so that obstacles in the entire front can be detected without an undetected area in the front.

The sensing unit 130 may be configured to additionally perform other sensing functions in addition to these sensing functions. For example, the sensing unit 130 may include a camera for obtaining an image of the surroundings. A camera may include a lens and an image sensor. In addition, the camera converts an image around the cleaner body 110 into an electrical signal that the control unit 181 can process, and for example, an electrical signal corresponding to an upward image can be transmitted to the control unit 181. The electrical signal corresponding to the upward image may be used by the controller 181 to detect the position of the cleaner body 110 .

The sensing unit 130 can detect obstacles such as walls, furniture, and cliffs on the driving surface or on the driving path of the mobile robot 100, and is disposed at a higher position than the mobile robot 100 to prevent obstacles to driving. Obstacles (structures with spaces under the obstacles) can be detected.

In addition, the sensing unit 130 may detect the existence of a docking device performing battery charging. Also, the sensing unit 130 may detect ceiling information and map a driving area or cleaning area of the mobile robot 100 .

The main body 110 may include a dust container accommodating portion 113 . A dust bin 140 that separates and collects dust in the sucked air is detachably coupled to the dust bin accommodating portion 113 . The dust container accommodating portion 113 may be formed at the rear (R) of the main body 110 . A part of the dust bin 140 may be accommodated in the dust bin accommodating portion 113, and the other part of the dust bin 140 may protrude toward the rear R of the main body 110.

The dust bin 140 has an inlet (not shown) through which air containing dust is introduced and an outlet (not shown) through which dust-separated air is discharged. When the dust bin 140 is mounted in the dust bin accommodating part 113, the inlet and outlet of the dust bin 140 are formed through a first opening (not shown) and a second opening (not shown) formed on the inner wall of the dust bin accommodating part 113. ) and are configured to communicate with each other.

A suction passage (not shown) guiding air from the suction port of the suction unit 120 to the first opening is provided. An exhaust passage (not shown) guiding air from the second opening to an exhaust port (not shown) opened toward the outside is provided.

Air containing dust introduced through the suction unit 120 passes through the intake passage inside the main body 110 and flows into the dust bin 140, and passes through a filter or a cyclone in the dust bin 140 to remove air and dust. are separated from each other Dust is collected in the dust bin 140, and air is discharged from the dust bin 140, passes through the exhaust passage inside the main body 110, and is finally discharged to the outside through the exhaust port.

In FIG. 4 below, an embodiment related to components of the mobile robot 100 is described.

Referring to FIG. 4 , the mobile robot 100 includes a communication unit 182 communicating through a predetermined network 50 . The mobile robot 100 includes an input unit 183 that receives various instructions from a user. The mobile robot 100 includes an output unit 184 that outputs various types of information to a user. The mobile robot 100 includes a memory 185 for storing information.

At this time, since the components shown in FIG. 4 are not essential, it goes without saying that a mobile robot having more components or fewer components can be implemented. Also, as described above, the plurality of robot cleaners described in the present invention may include the same components as some of the components described below. That is, a plurality of mobile robots may be composed of different components.

The mobile robot 100 includes a power supply unit 189 that supplies power. The power supply unit 189 supplies driving power to each component included in the mobile robot 100 . The power supply unit 189 may supply operation power required for the mobile robot to drive or perform a specific function. The power supply unit 189 may include a battery (not shown) mounted on the main body 110 . The battery may be provided to be rechargeable. The battery is provided capable of being charged by an external commercial power source. The battery may be detachably configured on the lower surface of the main body 110 .

The control unit 181 may detect the remaining power of the battery and, if the remaining power is insufficient, control the mobile robot 100 to move to a charging station connected to an external commercial power source. The output unit 184 may display the battery remaining amount on the screen by the control unit.

The driving unit 152 includes a motor, and by driving the motor, the left and right main wheels can be rotated in both directions to rotate or move the main body. The driving unit 152 may move the main body of the mobile robot forward and backward, drive in a curve, or rotate in place.

The input unit 183 receives various control commands for the robot cleaner from the user. The input unit 183 may include a button, a dial, or a touch screen. The input unit 183 may include a microphone for receiving a user's voice instruction.

The output unit 184 may visually or audibly output various types of information. The output unit 184 may include a display. For example, a battery state or driving method may be displayed on the display. The output unit 184 may include a speaker that outputs sound or voice.

For example, environmental information about the driving area may be output on a screen or sound through the output unit 184 . As another example, predetermined information may be transmitted to a terminal device through a predetermined network 50 so that the terminal device outputs visual information or auditory information.

The controller 181 serves to process information based on artificial intelligence technology, and may include one or more modules that perform at least one of information learning, information reasoning, information perception, and natural language processing. there is.

The control unit 181 uses machine running technology to learn vast amounts of information (big data, big data) such as information stored in the cleaner, environmental information around the mobile terminal, and information stored in a communicable external storage, At least one of reasoning and processing may be performed.

Then, the control unit 181 predicts (or infers) the operation of at least one executable cleaner by using the information learned using machine learning technology, and the operation with the highest feasibility among the at least one predicted operation is determined. You can control the cleaner to run. Machine learning technology is a technology that collects and learns large-scale information based on at least one algorithm, and determines and predicts information based on the learned information.

Learning of information is an operation of identifying the characteristics, rules, and criteria of information, quantifying the relationship between information, and predicting new data using quantified patterns.

The algorithm used by machine learning technology can be an algorithm based on statistics, for example, a decision tree using a tree structure as a predictive model, and an artificial neural network that mimics the structure and function of a neural network in a living organism. (neural network), genetic programming based on the evolutionary algorithm of organisms, clustering that distributes observed examples into subsets called clusters, and Monte Carlo method that calculates function values as probabilities through randomly extracted random numbers (Monter Carlo method) and the like.

As a field of machine learning technology, deep learning technology is a technology that performs at least one of learning, judgment, and processing of information using a Deep Neuron Network (DNN) algorithm. An artificial neural network (DNN) may have a structure that connects layers and transfers data between layers. Such deep learning technology can learn a vast amount of information through an artificial neural network (DNN) using a graphic processing unit (GPU) optimized for parallel computation.

The control unit 181 uses training data stored in an external server or memory, and may be equipped with a learning engine that detects features for recognizing a predetermined object. In this case, the characteristics for recognizing the object may include the size, shape, and shade of the object.

Specifically, when the controller 181 inputs a part of an image acquired through a camera installed in the cleaner to the learning engine, the learning engine may recognize at least one object or living creature included in the input image. More specifically, the controller 181 may recognize artificial marks among objects recognized as objects through various methods.

Here, the artificial mark may include an artificially displayed shape, symbol, and the like. An artificial marker may include at least two line segments. Specifically, the artificial marker may include a combination of two or more straight lines or curves. Preferably, the artificial mark may be a polygonal shape, a star shape, or a specific appearance of an object. The size of the artificial marker may be smaller than that of walls and ceilings. Preferably, the size of the artificial marker may be 1% to 5% of the size of the wall or ceiling.

Specifically, the controller 181 may analyze images collected within the cleaning area, determine an immovable shape among the collected images, and specify at least one of the shapes determined as immovable shapes as an artificial marker. An immovable shape means a shape displayed on an immovable object. By recognizing the shape displayed on the immovable object as an artificial mark, it is possible to prevent mismatching of the obstacle map caused by the movement of the artificial mark.

In addition, the controller 181 may analyze images collected within the cleaning area and specify at least one of shapes determined to be located on a wall or ceiling among the collected images as an artificial marker.

In this way, when the learning engine is applied to the driving of the cleaner, the controller 181 can recognize whether or not there are obstacles such as chair legs, electric fans, and certain types of balconies that interfere with the running of the cleaner around the cleaner. , it is possible to increase the efficiency and reliability of vacuum cleaner operation.

Meanwhile, the above learning engine may be installed in the control unit 181 or may be installed in an external server. When the learning engine is installed in an external server, the controller 181 may control the communication unit 182 to transmit at least one image that is an analysis target to the external server.

The external server may recognize at least one object or living creature included in the image by inputting the image transmitted from the cleaner to the learning engine. In addition, the external server may transmit information related to the recognition result to the cleaner again. In this case, the information related to the recognition result may include information related to the number of objects included in the image to be analyzed and the name of each object.

The sensing unit 130 detects information related to an environment in which the main body 110 is located while driving.

In addition to the first and second obstacle sensors 132 and 131, the sensing unit 130 includes at least one of an external signal detection sensor, a cliff detection sensor, a lower camera sensor, an upper camera sensor, a 3D camera sensor, an encoder, an impact detection sensor, and a microphone. may contain one.

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

The mobile robot 100 may detect information about the position and direction of the charging station by receiving a guide signal generated by the charging station using an external signal detection sensor. At this time, the charging station may transmit a guide signal indicating a direction and distance so that the mobile robot 100 can return. That is, the mobile robot 100 may receive a signal transmitted from the charging station, determine the current position, set a moving direction, and return to the charging station.

As described above, the first and second obstacle detection sensors 132 and 131 may be installed in front of the mobile robot 100 . The first and second obstacle detection sensors 132 and 131 may detect a forward obstacle.

The first and second obstacle detection sensors 132 and 131 may detect an object existing in the moving direction of the mobile robot 100 and transmit an obstacle detection signal generated to the control unit 181 . That is, the first and second obstacle detection sensors 132 and 131 detect protrusions, fixtures in the house, furniture, wall surfaces, wall corners, etc. existing on the moving path of the mobile robot 100, and transmit the detection signals to the control unit 181) can be forwarded.

The first and second obstacle detection sensors 132 and 131 may be lidar sensors that emit laser. The mobile robot 100 may use one type of sensor as an obstacle detection sensor or may use two or more types of sensors together as needed.

The cliff sensor may detect an obstacle on the floor supporting the main body of the mobile robot by mainly using various types of optical sensors.

The cliff detection sensor may be installed on the back of the mobile robot on the floor. The cliff detection sensor may detect an obstacle on the floor. The cliff detection sensor may be an infrared sensor, an ultrasonic sensor, an RF sensor, a Position Sensitive Detector (PSD) sensor, or the like having a light emitting unit and a light receiving unit, like the obstacle detection sensor.

For example, the cliff detection sensor may be a PSD sensor, but may also be composed of a plurality of different types of sensors. The PSD sensor includes a light emitting unit that emits infrared rays from an obstacle and a light receiving unit that receives infrared rays reflected from the obstacle and returned, but is generally configured in a module form. When an obstacle is detected using the PSD sensor, a stable measurement value can be obtained regardless of the difference in reflectance and color of the obstacle.

The control unit 181 measures an infrared angle between an infrared emission signal emitted by the cliff detection sensor toward the ground and a reflection signal reflected by an obstacle and received, thereby detecting the cliff and obtaining field data about the depth thereof. .

The lower camera sensor may be provided on the back of the mobile robot. The lower camera sensor acquires image information about the surface to be cleaned while moving. The lower camera sensor is also referred to as an optical flow sensor in other words. The lower camera sensor may generate image data (field data) of a predetermined format by converting a lower image input from an image sensor provided in the sensor. Field data for an image recognized through the lower camera sensor may be generated.

Using the lower camera sensor, the controller 181 can detect the position of the mobile robot regardless of the movement of the mobile robot. The controller 181 compares and analyzes image data captured by the lower camera sensor over time to calculate a moving distance and a moving direction, and based on this, may calculate the location of the mobile robot.

The upper camera sensor is installed to face upward or forward of the mobile robot, and can take pictures of the mobile robot's surroundings. When the mobile robot has a plurality of upper camera sensors, the camera sensors may be formed on the top or side of the mobile robot at a predetermined distance or at a predetermined angle. Field data for an image recognized through the upper camera sensor may be generated.

The 3D camera sensor may be attached to one surface or part of the body of the mobile robot to generate 3D coordinate information related to the circumference of the body. That is, the 3D camera sensor may be a 3D depth camera that calculates a near and far distance between the mobile robot 100 and an object to be photographed. Accordingly, field data for the 3D coordinate information may be generated.

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

In one embodiment, the 3D camera sensor includes two or more cameras that acquire conventional 2D images, and combines two or more images obtained from the two or more cameras to generate stereo vision to generate 3D coordinate information. can be formed in this way.

Specifically, the 3D camera sensor according to the embodiment includes a first pattern irradiation unit for radiating light of a first pattern downward toward the front of the main body, and radiating light of a second pattern upward toward the front of the main body. It may include a second pattern irradiation unit and an image acquisition unit that acquires an image of the front of the main body. Accordingly, the image acquiring unit may obtain an image of an area where the light of the first pattern and the light of the second pattern are incident.

The 3D camera sensor may include first and second lasers, the first laser may irradiate lasers in the form of a straight line crossing each other, and the second laser may irradiate a laser in the form of a single straight line. According to this, the uppermost laser may be used to detect an obstacle on the floor, and the lowermost laser may be used to detect an upper obstacle.

The encoder may detect information related to an operation of a motor that operates wheels of the driving unit 152 . Accordingly, data about the operation of the motor is generated.

The impact detection sensor may detect impact when the mobile robot 100 collides with an external obstacle. Accordingly, data on external impact is generated.

The microphone can detect external sound. Accordingly, data on external sound is generated.

In this embodiment, the sensing unit 130 includes an image sensor. In this embodiment, the field data is image information obtained by the image sensor or feature point information extracted from the image information, but is not necessarily limited to eg.

Meanwhile, the memory 185 stores a control program for controlling or driving the robot cleaner and corresponding data. The memory 185 may store audio information, image information, obstacle information, location information, map information, and the like. Also, the memory 185 may store information related to driving patterns.

The memory 185 of the mobile robot 100 may store information received from the network 50 through the communication unit 182 . The memory 185 may store instructions from the input unit 183 .

The memory 185 may include non-volatile memory. Here, the non-volatile memory (NVM, NVRAM) is a storage device capable of continuously maintaining stored information even when power is not supplied, for example, a ROM, a flash memory, a magnetic computer It may be a storage device (eg, hard disk, diskette drive, magnetic tape), optical disk drive, magnetic RAM, PRAM, and the like.

Meanwhile, the communication unit 182 is connected to a terminal device and/or another device located in a specific area by one of wired, wireless, and satellite communication methods to transmit and receive signals and data.

The communication unit 182 can communicate with other devices located within a specific area. The communication unit 182 may communicate with the external server 500 or the user terminal 200 through the network 50 as shown in FIG. 5 .

Referring to FIG. 5 , the communication unit 182 of the mobile robot 100 may wirelessly communicate with the user terminal 200 . The communication unit 182 may directly communicate with the server 500 wirelessly. For example, the communication unit 182 may be implemented for wireless communication using wireless communication technologies such as IEEE 802.11 WLAN, IEEE 802.15 WPAN, UWB, Wi-Fi, Zigbee, Z-wave, and Blue-Tooth. The communication unit 182 may vary depending on the communication method of another device or server to be communicated with.

Information obtained from the input unit 183 may be transmitted over a network through the communication unit 182 . Information acquired from the sensing unit 130 may be transmitted over the network 50 through the communication unit 182 . Current operating state information of the mobile robot 100 may be transmitted over a network through the communication unit 182 .

Information can be received from the mobile robot 100 on the network through the communication unit 182, and the mobile robot 100 can be controlled based on the received information. Based on the information (eg, update information) received by the mobile robot 100 on the network through the communication unit 182, the mobile robot 100 controls an algorithm (eg, a recognition algorithm and/or recognition algorithm) can be updated.

The network may be built based on technologies such as Wi-Fi, Ethernet, zigbee, z-wave, and Bluetooth.

The communication unit 182 may transmit information to the server 500 through a predetermined network. The server 500 may transmit update information to be described later to the communication unit 182 through a predetermined network.

The mobile robot 100 and the user terminal 200 may be placed in a building such as a house. The server 500 may be implemented within the building, but may also be implemented outside the building as a more extensive network.

The server 500 includes a processor capable of processing programs. The functions of the server 500 may be performed by a central computer (cloud) or may be performed by a user's computer or a mobile terminal.

For example, the server 500 may be a server operated by a manufacturer of the mobile robot 100. As another example, the server 500 may be a server operated by a public application store operator. As another example, the server 500 may be a home server that is provided in the home and stores state information about home appliances or content shared by the home appliances.

The server 500 may store firmware information and driving information (course information, etc.) for the mobile robot 100 and register product information for the mobile robot 100.

The server 500 may perform machine learning. The server 500 may perform data mining. The server 500 may perform learning using data.

The user terminal 200 may be wirelessly connected to the mobile robot 100 through wi-fi or the like.

The user terminal 200 communicating with the mobile robot 100 includes, for example, an application for controlling the mobile robot 100, and a map of a driving area to be cleaned by the mobile robot 100 through execution of the application. can be displayed, and an area can be designated to clean a specific area on the map. The user terminal 200 may be, for example, a remote controller, a PDA, a laptop, a smart phone, a tablet, and the like loaded with applications for map setting and cleaning setting.

While communicating with the mobile robot 100 through the network 50, the user terminal 200 may receive a cleaning command and a status from the mobile robot 100 through manipulation of an application.

In particular, the user terminal 200 may execute an application, provide a map of the cleaning area to the user, and induce individual cleaning commands for each subarea to be instructed in the cleaning areas divided into subareas.

In detail, the user terminal 200 may provide an icon for the user to designate by adjusting a threshold value for an upper obstacle when cleaning in each subregion through an application.

The control unit 130 of the mobile robot 100 receives a cleaning command from the user terminal 200, and while driving according to the cleaning command, changes the threshold value according to the change in the threshold value for the upper obstacle of each small area to break through the upper obstacle. Or perform avoidance driving.

Therefore, it is possible to provide an optimized cleaning service by selectively performing the cleaning of the lower area of the upper obstacle according to the characteristics of each sub-region by reflecting the user's intention.

Hereinafter, control for driving with a threshold value change for such an upper obstacle will be described with reference to FIGS. 6 to 11B.

6 is a flowchart illustrating a control method based on a mobile robot according to an embodiment of the present invention, FIG. 7 is an exemplary view illustrating an operation of detecting the height of an upper obstacle in FIG. 6, and FIGS. 8 and 9 are user It shows a screen of an application executed in a terminal, and FIG. 10 is a graph showing a change in a threshold value with respect to a threshold level.

The mobile robot 100 and the user terminal 200 may share an obstacle map in which the current position of the mobile robot 100 is displayed as coordinates with respect to the cleaning history of the area to be cleaned, that is, the cleaning space.

The obstacle map includes area-related information of a specific space (e.g., area shape, wall position, floor height, door/sill position, etc.), vacuum cleaner location information, charging station location information, and obstacles present in a specific space. It may include information about (eg, location, size, etc. of obstacles). Here, the obstacles may include not only fixed and moving obstacles such as walls, furniture, fixtures, etc. that protrude from the floor of the cleaning area and hinder the running of the cleaner, but also cliffs.

First, the mobile robot 100 may receive an obstacle map of a cleaning area from the user terminal 200 through the network 50 (S10).

Receiving such an obstacle map means that the user terminal 200 executes an application to receive an obstacle map in which an area to be cleaned is defined on the obstacle map of the corresponding cleaning area.

Specifically, the user terminal 200 executes an application to execute an obstacle map of a cleaning area where the mobile robot 100 is to perform cleaning.

The obstacle map of the cleaning area may be divided into a plurality of sub-areas.

At this time, the division of a plurality of subregions can be separated according to the physical distance, physical size, and physical shape of each zone, but in the present invention, it may be preferably separated according to the function of each subregion.

That is, according to the function and role of each subregion, if the corresponding cleaning zone is a house, it can be classified into a living room, a kitchen, a bedroom, a study, and the like.

Classification into such small groups may have different characteristics of furniture, that is, obstacles placed according to the function of each small group, and the threshold value for the upper obstacle 300 may be adjusted by reflecting this.

When cleaning starts, the user executes an application for the mobile robot 100 on the user terminal 200, and through the application selects a subarea to be cleaned among subareas classified in the obstacle map of the cleaning area. can

The mobile robot 100 receives the user's small area selection information and the cleaning start information from the user terminal 200 . At this time, the mobile robot 100 may receive selection information by receiving the obstacle map itself in which the small area to be cleaned is selected.

The mobile robot 100 updates the obstacle map or the small area selection information from the user terminal 200 in the memory 185 .

Next, threshold change information of the upper obstacle 300 for each small area is received from the user terminal 200 (S11).

First, the user selects at least one small area to be cleaned from the application of the user terminal 200 and transmits it through the user terminal 200, and then, as shown in FIG. 8, the upper obstacle 300 for each small area is selected. It is selected whether to perform obstacle height adjustment cleaning (202) or general cleaning (201), which changes the threshold value of .

Specifically, among the obstacles that the mobile robot 100 faces while driving, the upper obstacle 300 exists. As shown in FIG. 7, the upper obstacle 300 may be defined as an obstacle protruding from the top of the mobile robot 100 even though the lower part of the robot 100 is open, that is, the lower part of the upper obstacle 300 is open. can

When the upper obstacle 300 is detected, the mobile robot 100 determines whether to perform breakthrough driving or avoidance driving.

In this determination of the mobile robot 100, a threshold value for the height h1 of the upper obstacle 300 is set. The reference threshold Lth set in this way is set to a predetermined size or more than the total height h0 of the mobile robot 100, that is, the height from the end of the wheel to the top of the mobile robot 100.

Therefore, as shown in FIG. 7 , the mobile robot 100 detects the upper obstacle 300 from the boundary point of the upper obstacle 300 detected by the lidar by the first and second obstacle detection sensors 132 and 131 and the boundary point of the floor. The height (h1) of can be calculated.

The calculated height h1 of the upper obstacle 300, that is, the height h1 from the floor to the lower surface of the upper obstacle 300, is calculated and compared with a reference threshold to determine the driving mode.

That is, when the height (h1) of the upper obstacle 300 is greater than the reference threshold, a breakthrough run is performed to drive under the upper obstacle 300, and the height (h1) of the upper obstacle 300 When is smaller than the reference threshold, avoidance driving is performed by determining that the area is an undrivable area.

In the case of avoidance driving, it means changing the driving direction by turning left or right.

Determining the driving mode by determining the height h1 of the upper obstacle 300 and comparing it with the reference threshold value Lth in this way is performed in the general cleaning mode 201, and is performed by the user through the user terminal 200. When the general cleaning 201 icon is selected, the mobile robot 100 cleans while driving in the corresponding cleaning area.

On the other hand, when the user selects the obstacle height adjustment cleaning 202 icon for which the threshold value is adjusted according to the height h1 of the upper obstacle 300 while running the application on the user terminal 200, the user terminal 200 enters the obstacle height adjustment cleaning 202 mode. do the cleaning

When the obstacle height adjustment cleaning 202 is selected, the user terminal 200 may provide an obstacle map as shown in FIG. 9 through an application.

As shown in FIG. 9 , the applicator may set each threshold value for each subregion of the cleaning area shown in the obstacle map.

Specifically, since each subregion is classified according to function, when zone A is a bedroom, the threshold value may be adjusted in consideration of the presence of upper obstacles 300 such as bedroom furniture, for example, a bed.

Zone B may be set to a threshold having a first level (L1), zone A may be set to a threshold having a second level (L2), zone D is a 0th level, and a reference threshold ( Lth) can be set to maintain.

At this time, the threshold value can be changed according to the function of each zone, that is, the role.

As shown in FIG. 10 , level values provided from the user terminal 200 are distributed.

In the case of the 0th level (L0), the threshold value is set to the same height as the reference threshold value (Lth), and in the case of the first level (L1), the threshold value is higher than the reference threshold value (Lth) by a predetermined size (Δh). It is set to have a threshold (Lth+Δh), and in the case of the second level (L2), it is set to have a threshold (Lth-Δh) lower than the reference threshold by a predetermined size (Δh).

Although classified into three levels in FIGS. 9 and 10, it is not limited thereto, and various threshold values may be presented according to the level.

When the user selects a specific subregion, for example, zone B in FIG. 9 , a selection icon for selecting a threshold level for zone B is displayed.

A threshold level is set in zone B by the user selecting a threshold of a level to be set in zone B from among various levels with a selection icon.

At this time, when zone B is a bedroom, even if the lower part of the furniture of the bedroom is at a height at which the mobile robot 100 can enter, there are many cases where various undisclosed items are stored, and cleaning is often not desired.

In this case, the user can increase the threshold of breaking through the lower part of the upper obstacle 300 when the mobile robot 100 travels in area B by greatly increasing the threshold of zone B.

Therefore, even if it is physically possible to drive to the lower area of the upper obstacle 300, as the threshold value increases, the breakthrough change is possible only when the height h1 of the upper obstacle 300 is smaller than the increased threshold value. Thus, avoidance driving can be induced.

On the other hand, when zone A is a living room, when considering the furniture in the living room, if cleaning is desired in the lower area of the furniture, etc., the mobile robot 100 lowers the size of the threshold so that the mobile robot 100 moves under the upper obstacle 300. Breakthrough driving into the area can be induced.

In this way, when the user changes the threshold for each subregion, the mobile robot 100 receives information about the threshold change through the user terminal 200 .

When a cleaning start command is received from the user terminal 200 or the input unit of the mobile robot 100, the mobile robot 100 cleans while driving in the selected small area (S12).

While the mobile robot 100 travels, it searches for obstacles disposed on the top and bottom of the front through the obstacle sensor (S13).

When the upper obstacle 300 is present from the obstacle sensor, the height h1 of the upper obstacle 300 is calculated through the detected values of the first obstacle sensor 132 and the second obstacle sensor 131 as shown in FIG. 7 . (S14).

The height h1 of the upper obstacle 300 is the vertical distance from the bottom surface to the bottom surface of the upper obstacle 300, and corresponds to the height h1 of the lower area of the upper obstacle 300.

Next, the mobile robot 100 checks whether there is a change in the threshold for the upper obstacle 300 in the current small area (S15). If there is no change in the threshold for the current subregion, the reference threshold is read and set as the threshold for the current subregion (S16).

At this time, if there is a change in the threshold value for the current subregion from the user terminal 200, the changed threshold value is read and the threshold value for the current subregion is set to the changed threshold value (S17).

The mobile robot 100 compares the set threshold with the detected height of the upper obstacle 300 to determine whether to avoid running (S19).

When the height of the upper obstacle 300 is greater than the set threshold value, it is determined that the space under the upper obstacle 300 is large enough for the mobile robot 100 to run, and the breakthrough run is performed (S20).

That is, it travels to the lower space of the upper obstacle 300 and cleans the lower space of the upper obstacle 300 .

On the other hand, when the height of the upper obstacle 300 is not greater than the set threshold value, it is determined that the space under the upper obstacle 300 is not large enough for the mobile robot 100 to run, and avoidance driving is performed (S21).

That is, instead of traveling to the lower space of the upper obstacle 300, the space other than the corresponding area is cleaned by performing avoidance driving by turning left or right.

In this way, after dividing the cleaning area into a plurality of subregions according to functions, by setting the threshold value for the height of the upper obstacle 300 to be actively changed for each subregion, the mobile robot 100 breaks through or avoids driving according to the zone. possible.

11A and 11B are exemplary diagrams illustrating an operation of breaking through or avoiding the lower part of the upper obstacle 300 according to the control method of FIG. 6 .

FIG. 11A shows a case where the threshold is set to a second level in the living room, which is a small area A.

When the upper obstacle 300 is a sofa, the height of the lower space of the sofa, that is, the height of the upper obstacle 300 is smaller than the reference threshold value, but larger than the height of the mobile robot 100.

In this case, if the threshold value is not changed, avoidance driving is performed without driving to the lower space of the upper obstacle 300 . However, due to the nature of the space, the lower part of the sofa is an exposed space, and cleaning is required. Therefore, the user can perform cleaning by changing the height of the upper obstacle 300 by changing the threshold value of the corresponding small area to the second level.

In this way, when the user changes the threshold for the upper obstacle 300 to a second level lower than the reference threshold by a predetermined size through the application of the user terminal 200, the mobile robot 100 changes the threshold of the second level. Compare the value with the height of the bottom of the sofa.

When the threshold value is lowered as described above, the mobile robot 100 may determine that it is capable of driving into the lower space of the sofa, and may clean the lower space of the sofa by breaking through to the lower space of the sofa.

Meanwhile, as shown in FIG. 11B , when space B is a bedroom, height adjustment cleaning of the upper obstacle 300 may be performed on the furniture of the bedroom, for example, the lower part of the bed.

At this time, when the threshold of space B is set to the value of the changed first level, the third height, which is the height of the lower part of the bed, is compared with the threshold of the first level greater than the reference threshold.

When the threshold of the first level is higher than the reference threshold and becomes greater than the third height, the mobile robot 100 defines the space under the bed as an area in which driving is impossible and performs avoidance driving.

In this way, even if the third height, which is the lower height of the bed, is a height at which the mobile robot 100 can sufficiently drive, the upper obstacle 300 in the bedroom is reduced by lowering the threshold for the upper obstacle 300 in the bedroom according to the user's intention. In the lower space, avoidance driving can be induced by setting the difficulty of driving high.

In this way, when the cleaning space is classified into a plurality of small groups according to the user's intention, a threshold value for the height of the upper obstacle 300 is variably set for each small group while classifying each small group by function, so that an upper obstacle for a specific space is classified. It is possible to evade or induce a breakthrough to the lower space of (300).

Although the preferred embodiments of the present invention have been shown and described above, the present invention is not limited to the specific embodiments described above, and in the technical field to which the present invention belongs without departing from the gist of the present invention claimed in the claims. Various modifications and implementations are possible by those skilled in the art, and these modifications should not be individually understood from the technical spirit or perspective of the present invention.

Claims (20)

a driving unit for moving the main body;
a sensing unit that senses an upper obstacle while driving in the cleaning area; and
A control unit that controls the driving unit and determines whether to break through or avoid driving into a lower area of the upper obstacle according to the height of the upper obstacle and the position of the upper obstacle detected through the sensing unit.
A mobile robot comprising a. According to claim 1,
The mobile robot, characterized in that, when the height of the upper obstacle is greater than the threshold value, the control unit breaks through and travels to a lower area of the upper obstacle. According to claim 2,
The cleaning area is divided into a plurality of subregions,
The mobile robot, characterized in that for each subregion, a threshold value for the upper obstacle is individually set. According to claim 3,
The mobile robot characterized in that the threshold is classified into a reference threshold, a first threshold set lower than the reference threshold, and a second threshold set higher than the reference threshold. . According to claim 4,
The mobile robot, characterized in that a plurality of subregions of the cleaning area are set to one of the reference threshold, the first threshold, and the second threshold. According to claim 5,
The mobile robot, characterized in that the sub-region of the cleaning area is divided by function. According to claim 6,
The mobile robot, characterized in that the threshold value for each subregion is received from the outside and set. A robot cleaner that cleans a cleaning area while moving a main body, comprising: a driving unit that moves the main body; a sensing unit that senses an upper obstacle while driving in the cleaning area; and a control unit configured to control the driving unit and determine whether to break through or avoid driving into a lower area of the upper obstacle according to the height of the upper obstacle and the position of the upper obstacle detected through the sensing unit; and
An application for controlling cleaning and running of the robot cleaner is installed, a user terminal that divides the cleaning area into a plurality of subregions, sets a threshold value for the height of the upper obstacle in each subregion, and transmits the set threshold value for each subregion.
A robot cleaner system comprising a. According to claim 8,
The robot cleaner system according to claim 1 , wherein the control unit breaks through and travels to a lower area of the upper obstacle when the height of the upper obstacle is greater than the threshold value. According to claim 9,
The user terminal,
The robot cleaner system, characterized in that the cleaning area is divided into a plurality of subregions for each function, and the threshold value is set for each of the plurality of subregions and transmitted to the robot cleaner. According to claim 10,
The threshold is classified into a reference threshold, a first threshold set lower than the reference threshold, and a second threshold set higher than the reference threshold, and the robot cleaner characterized in that system. According to claim 11,
The robot cleaner system, characterized in that the user terminal matches any one of the reference threshold, the first threshold, and the second threshold to a plurality of subregions of the cleaning area. According to claim 12,
The robot cleaner system, characterized in that the reference threshold has a value greater than the height of the robot cleaner by a predetermined size. According to claim 13,
The robot cleaner system, characterized in that the reference threshold has a value greater than the height of the robot cleaner by a predetermined size. According to claim 13,
The robot cleaner system, characterized in that the robot cleaner performs a breakthrough run or an avoidance run by reading the threshold value set in the small region to which the current position of the robot cleaner belongs and comparing it with the detected height of the upper obstacle. driving in a cleaning area to perform cleaning, detecting an upper obstacle, and calculating a height of the upper obstacle;
reading a threshold value set in a subregion to which the current location belongs; and
Comparing the threshold with the detected height of the upper obstacle to perform breakthrough driving or avoidance driving
Control method of a robot cleaner comprising a. According to claim 16,
The step of performing the breakthrough driving or avoidance driving,
The control method of the robot cleaner, characterized in that when the height of the upper obstacle is greater than the threshold value, the robot cleaner is driven through a lower region of the upper obstacle. According to claim 17,
Thresholds for the upper obstacle are individually set for each subregion, and the thresholds include a reference threshold, a first threshold set lower than the reference threshold, and a threshold higher than the reference threshold. A method for controlling a robot cleaner, characterized in that it is classified as a set second threshold. According to claim 18,
A control method for a robot cleaner, characterized in that the plurality of subregions of the cleaning area are set to one of the reference threshold, the first threshold, and the second threshold. According to claim 19,
The control method of the robot cleaner further comprising dividing the subregion of the cleaning area by function, and receiving the threshold value for each subregion from the outside.