KR20230142853A - A mobile robot - Google Patents

Abstract

An embodiment of the present invention for achieving the above object includes a traveling unit that moves the main body within a traveling area; A sensing unit that obtains information about situations outside the main body; and a control unit configured to control the robot to drive while excluding backlight from the current sun while performing pattern driving within the travel area. Therefore, when the grass robot moves in a pattern, it can maximize the amount of data acquired through the camera by periodically searching for the direction of the sun and preventing it from running against the sun.

Description

A MOBILE ROBOT}

The present invention relates to a mobile robot. Specifically, it relates to outdoor mobile robots, and more specifically, to driving control of mobile robots to minimize data loss due to sunlight.

The field of robot applications continues to expand, with medical robots, aerospace robots, etc. being developed, and household robots that can be used in general homes are also being created. Among these robots, those that can travel on their own are called mobile robots.

A representative example of a mobile robot used in a home outdoor environment is a lawn mowing robot.

In the case of mobile robots that autonomously navigate indoors, the movable area is limited by walls, furniture, etc., but in the case of mobile robots that autonomously navigate outdoors, there is a need to set the movable area in advance. Additionally, there is a need to limit the area in which the lawn mowing robot can move so that it can travel in areas where grass is planted.

In the prior art (United States Patent Publication US20170344012A1), a mobile robot is disclosed in which a boundary point is set and the mobile robot changes direction and runs randomly whenever it encounters the boundary point. In addition, in the prior art (Korean Patent Publication No. 2015-0125508), wires are buried to set the area in which the lawn mower robot will move, and the lawn mower robot senses the magnetic field formed by the current flowing through the wire. This allows you to move within the area set by the wire.

Additionally, according to the prior art, a traveling method is disclosed in which pattern traveling is performed using one point of a wire as a starting point. For one area, pattern driving is carried out multiple times, and the lawn is mowed sequentially accordingly.

However, in the case of executing pattern driving in this way, all driving progresses in the same direction, so a lawn robot running outdoors may run with its back to the sun over a predetermined period of time. If you drive with your back to the sun, no light is collected by the camera and data cannot be collected. Conversely, when driving toward the sun, too much direct sunlight can cause the stored data to be lost, which can cause a very serious problem.

U.S. Patent Publication US20170344012A1 (Publication date: November 30, 2017) Korean Patent Publication No. 2015-0125508 (Publication date: November 9, 2015)

The first object of the present invention is to periodically search for the direction of the sun when driving in a pattern and control the driving direction so as not to drive against the sun.

The second object of the present invention is to provide an outdoor mobile robot that can run while continuously reflecting the direction of the sun while sequentially changing the running direction multiple times.

An embodiment of the present invention for achieving the above object includes a traveling unit that moves the main body within a traveling area; A sensing unit that obtains information about situations outside the main body; and a control unit configured to control the robot to drive while excluding backlight from the current sun while performing pattern driving within the travel area.

The control unit may calculate the current orientation of the sun and the current orientation of the mobile robot, determine a traveling direction that excludes backlight to the sun, and control the traveling unit according to the traveling direction.

The sensing unit may include a gyro sensor, a GPS sensing unit, and a camera, and the control unit may periodically receive detection signals from the gyro sensor and the GPS sensing unit to calculate the current orientation of the sun and the current orientation of the mobile robot. there is.

The control unit may determine the traveling direction as an angle obtained by adding a predetermined value to the difference between the current direction of the sun and the current direction of the mobile robot.

The current orientation of the mobile robot may be calculated as the sum of the azimuth angle of the mobile robot from the gyro sensor and the orientation angle of the camera.

The predetermined value may be ±0 degrees.

The control unit performs a zigzag pattern of traveling along the major axis in a first direction with respect to the traveling area, traveling along the minor axis of a predetermined length, and then traveling along the major axis in the reverse direction of the first direction. When driving in an area begins, the detection signal is obtained to generate the driving direction, and the driving direction can be set by setting the angle of the long axis according to the driving direction.

When driving in one of the driving areas once, the control unit periodically receives the detection signal, calculates the driving direction, and, if the difference between the previous driving direction and the current driving direction is greater than a predetermined size, changes the current driving direction to the current driving direction. Direction can be changed.

The mobile robot may further include a work unit that performs the task of cutting grass within the travel area.

The mobile robot may further include a work unit that performs cleaning while traveling in the large outdoor travel area.

According to the present invention, one or more of the following effects are achieved.

First, when the grass robot moves in a pattern, it can maximize the amount of data acquired through the camera by periodically searching for the direction of the sun and driving so as not to run against the sun.

In addition, data loss can be minimized by sequentially changing the driving direction multiple times and continuously reflecting the direction of the sun, so that the car does not drive against the sun even while driving the entire driving space once.

Meanwhile, 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 of a mobile robot according to an embodiment of the present invention.
FIG. 2 is an elevation view looking at the front of the mobile robot of FIG. 1.
FIG. 3 is an elevation view looking at the right side of the mobile robot of FIG. 1.
FIG. 4 is an elevation view looking at the lower side of the mobile robot of FIG. 1.
Figure 5 is a perspective view showing a docking device for docking the mobile robot of Figure 1.
FIG. 6 is an elevation view of the docking device of FIG. 5 viewed from the front.
Figure 7a is a view of the reference wire according to an embodiment of the present invention viewed from the rear.
Figure 7b is a view of a reference wire according to an embodiment of the present invention viewed from one side.
FIG. 8 is a block diagram showing the control relationship of the mobile robot of FIG. 1.
Figure 9a is a state diagram showing the basic driving method of the mobile robot of the present invention.
Figure 9b is a state diagram showing a change in the traveling direction of a mobile robot according to an embodiment of the present invention.
Figure 10 is a flowchart showing a method of controlling the traveling direction of a mobile robot.
Figure 11 is a flowchart showing a driving direction control method according to another embodiment of the present invention.
FIGS. 12A to 12C are state diagrams showing a different driving direction change from FIG. 11 .
Figure 13 is a diagram showing an example of a mobile robot according to another embodiment of the present invention.

In the magnitude comparison expressed verbally/mathematically throughout this description, 'less than or equal to (less than)' and 'less than' are easily interchangeable from the point of view of an ordinary technician, and 'greater than or equal to' From the point of view of a person skilled in the art, '(more than)' and 'greater than (greater than)' are degrees that can be easily substituted for each other, and of course, even if they are substituted in implementing the present invention, there is no problem in achieving the effect.

Expressions referring to directions such as "forward (F)/backward (R)/left (Le)/right (Ri)/up (U)/down (D)" mentioned below are defined as shown in the drawings. , This is for the purpose of explaining the present invention so that it can be clearly understood, and of course, each direction may be defined differently depending on where the standard is set.

The use of terms such as 'first, second' in front of the components mentioned below is only to avoid confusion about the components referred to, and has nothing to do with the order, importance, or master-slave relationship between the components. . For example, an invention that includes only the second component without the first component can also be implemented.

In the drawings, the thickness or size of each component is exaggerated, omitted, or schematically shown for convenience and clarity of explanation. Additionally, the size and area of each component do not entirely reflect the actual size or area.

In addition, angles and directions mentioned in the process of explaining the structure of the present invention are based on those described in the drawings. In the description of the structure in the specification, if the reference point and positional relationship for the angle are not clearly mentioned, the relevant drawings should be referred to.

Hereinafter, with reference to FIGS. 1 to 6, the lawn mowing robot 100 among mobile robots will be described as an example, but it is not necessarily limited thereto.

1 to 4, the mobile robot 100 includes a body 110 that forms the exterior. Body 110 forms an internal space. The mobile robot 100 includes a traveling unit 120 that moves the body 110 with respect to the traveling surface. The mobile robot 100 includes a work unit 130 that performs a predetermined task.

The body 110 includes a frame 111 on which a drive motor module 123, which will be described later, is fixed. A blade motor 132, which will be described later, is fixed to the frame 111. The frame 111 supports a battery that will be described later. The frame 111 provides a framework structure that supports various other parts. The frame 111 is supported by an auxiliary wheel 125 and a drive wheel 121.

The body 110 includes side blocking portions 111a for blocking the user's fingers from entering the blade 131 on both sides of the blade 131. The side blocking portion 111a is fixed to the frame 111. The side blocking portion 111a is disposed to protrude downward compared to the lower side of the other portion of the frame 111. The side blocking portion 111a is disposed to cover the upper portion of the space between the driving wheel 121 and the auxiliary wheel 125.

A pair of lateral blocking portions 111a-1 and 111a-2 are disposed left and right with the blade 131 in between. The side blocking portion 111a is disposed at a predetermined distance from the blade 131.

The front surface (111af) of the side blocking portion (111a) is formed to be round. The front surface 111af forms a surface that curves upward in a rounded direction from the lower side of the side blocking portion 111a toward the front. By using the shape of the front surface 111af, when the mobile robot 100 moves forward, the side blocking portion 111a can easily climb over a lower obstacle below a predetermined standard.

The body 110 includes a front blocking portion 111b for blocking the user's fingers from entering the blade 131 from the front of the blade 131. The front blocking portion 111b is fixed to the frame 111. The front blocking portion 111b is disposed to cover a portion of the upper portion of the space between the pair of auxiliary wheels 125(L) and 125(R).

The front blocking portion 111b includes a protruding rib 111ba that protrudes downward compared to the lower side of the other portion of the frame 111. The protruding ribs 111ba extend in the front-back direction. The upper end of the protruding rib 111ba is fixed to the frame 111, and the lower end of the protruding rib 111ba forms a free end.

A plurality of protruding ribs 111ba may be arranged to be spaced apart in the left and right directions. A plurality of protruding ribs 111ba may be arranged parallel to each other. A gap is formed between two adjacent protruding ribs 111ba.

The front surface of the protruding rib 111ba is formed to be round. The front surface of the protruding rib 111ba forms a surface that curves upward in a rounded manner as it moves forward from the lower side of the protruding rib 111ba. By using the shape of the front surface of the protruding rib 111ba, when the mobile robot 100 moves forward, the protruding rib 111ba can easily climb over lower obstacles below a predetermined standard.

The front blocking portion 111b includes an auxiliary rib 111bb that assists in rigidity. An auxiliary rib 111bb for reinforcing the rigidity of the front blocking portion 111b is disposed between the upper ends of the two adjacent protruding ribs 111ba. The auxiliary ribs 111bb may protrude downward and extend in a lattice shape.

A caster (not shown) is disposed on the frame 111 to rotatably support the auxiliary wheel 125. The caster is rotatably disposed with respect to the frame 111. The caster is rotatable about a vertical axis. Casters are disposed on the lower side of the frame 111. A pair of casters corresponding to a pair of auxiliary wheels 125 are provided.

The body 110 includes a case 112 that covers the frame 111 from the upper side. Case 112 forms the upper side and front/back/left/right sides of the mobile robot 100.

The body 110 may include a case connection part (not shown) that secures the case 112 to the frame 111. It can be fixed to the case 112 at the top of the case connection part. The case connection portion may be movably disposed on the frame 111. The case connection part may be arranged to be able to move only in the vertical direction with respect to the frame 111. The case connection part may be provided to be able to move only within a predetermined range. The case connection part flows integrally with the case 112. Accordingly, the case 112 can move with respect to the frame 111.

The body 110 includes a bumper 112b disposed at the front portion. The bumper 112b functions to absorb shock when it comes into contact with an external obstacle. At the front of the bumper 112b, a bumper groove that is recessed toward the rear and elongates in the left and right directions may be formed. A plurality of bumper grooves may be arranged to be spaced apart in the vertical direction. The lower end of the protruding rib 111ba is disposed at a lower position than the lower end of the auxiliary rib 111bb.

The bumper 112b is formed by connecting the front surface and the left and right sides. The front and side surfaces of the bumper 112b are rounded and connected.

The body 110 may include a bumper auxiliary portion 112c disposed to surround the outer surface of the bumper 112b. The bumper auxiliary portion 112c is coupled to the bumper 112b. The bumper auxiliary part 112c surrounds the lower part of the front surface and the lower part of the left and right sides of the bumper 112b. The bumper auxiliary part 112c may cover the front surface and the lower half of the left and right sides of the bumper 112b.

The front end surface of the bumper auxiliary portion 112c is disposed ahead of the front end surface of the bumper 112b. The bumper auxiliary portion 112c forms a protruding surface from the surface of the bumper 112b.

The bumper auxiliary portion 112c may be formed of a material advantageous for shock absorption, such as rubber. The bumper auxiliary portion 112c may be formed of a flexible material.

The frame 111 may be provided with a floating fixing part (not shown) to which the bumper 112b is fixed. The floating fixture may be disposed to protrude upward from the frame 111. The bumper 112b may be fixed to the upper end of the floating fixture.

The bumper 112b may be arranged to be able to move within a predetermined range with respect to the frame 111. The bumper 112b is fixed to the floating fixture and can flow integrally with the floating fixture.

The floating fixture may be movably disposed on the frame 111. The floating fixing unit may be provided to be rotatable within a predetermined range with respect to the frame 111, around a virtual axis of rotation. Accordingly, the bumper 112b may be provided to be rotatable integrally with the floating fixing part with respect to the frame 111.

Body 110 includes a handle 113. The handle 113 may be placed on the rear part of the case 112.

The body 110 includes a battery input portion 114 for inserting and inserting a battery. The battery input unit 114 may be disposed on the lower side of the frame 111. The battery input unit 114 may be placed on the rear part of the frame 111.

The body 110 includes a power switch 115 for turning on/off the power of the mobile robot 100. The power switch 115 may be placed on the lower side of the frame 111.

The body 110 includes a blade protection portion 116 that covers the lower central portion of the blade 131. The blade protection unit 116 is provided so that the blade of the centrifugal portion of the blade 131 is exposed but the central portion of the blade 131 is hidden.

The body 110 includes a first opening and closing portion 117 that opens and closes a portion where the height adjusting portion 156 and the height display portion 157 are disposed. The first opening and closing part 117 is hinged to the case 112 and is capable of opening and closing operations. The first opening and closing part 117 is disposed on the upper side of the case 112.

The first opening and closing part 117 is formed in a plate shape and covers the upper side of the height adjustment part 156 and the height display part 157 in the closed state.

The body 110 includes a second opening/closing unit 118 that opens and closes a portion where the display module 165 and the input unit 164 are disposed. The second opening and closing part 118 is hinged to the case 112 and is capable of opening and closing operations. The second opening and closing part 118 is disposed on the upper side of the case 112. The second opening/closing part 118 is disposed behind the first opening/closing part 117.

The second opening/closing unit 118 is formed in a plate shape and covers the display module 165 and the input unit 164 in the closed state.

The openable angle of the second opening and closing part 118 is preset to be smaller than the openable angle of the first opening and closing part 117. Through this, even in the open state of the second opening and closing unit 118, the user can easily open the first opening and closing unit 117 and the user can easily operate the height adjustment unit 156. Additionally, even in the open state of the second opening/closing unit 118, the user can visually check the contents of the height display unit 157.

For example, the opening angle of the first opening/closing unit 117 may be approximately 80 to 90 degrees based on the closed state. For example, the opening angle of the second opening/closing unit 118 may be approximately 45 to 60 degrees based on the closed state.

The first opening and closing unit 117 is opened by lifting the rear end upward around the front end, and the second opening and closing unit 118 is opened by lifting the rear end upward around the front end. Through this, the user can open and close the first opening and closing part 117 and the second opening and closing part 118 at the rear of the lawn mowing robot 100, which is a safe area even when the lawn mowing robot 100 moves forward. Additionally, through this, the opening operation of the first opening and closing unit 117 and the opening operation of the second opening and closing unit 118 can be prevented from interfering with each other.

The first opening and closing unit 117 may be provided to be rotatable with respect to the case 112 around a rotation axis extending in the left and right directions from the front end of the first opening and closing unit 117 . The second opening and closing unit 118 may be provided to be rotatable with respect to the case 112 around a rotation axis extending in the left and right directions from the front end of the second opening and closing unit 118 .

The body 110 includes a first motor housing 119a that accommodates the first drive motor 123 (L) therein, and a second motor housing (119a) that accommodates the second drive motor 123 (R) therein. 119b) may be included. The first motor housing 119a may be fixed to the left side of the frame 111, and the second motor housing 119b may be fixed to the right side of the frame. The right end of the first motor housing 119a is fixed to the frame 111. The left end of the second motor housing 119b is fixed to the frame 111.

The first motor housing 119a is generally formed in a cylindrical shape with heights on the left and right. The second motor housing 119b is formed as a whole in a cylindrical shape with heights on the left and right.

The traveling unit 120 includes a driving wheel 121 that rotates by the driving force of the driving motor module 123. The traveling unit 120 may include at least one pair of driving wheels 121 that rotate by the driving force of the driving motor module 123. The driving wheel 121 includes a first wheel 121(L) and a second wheel 121(R) provided on the left and right sides so as to be independently rotatable. The first wheel 121(L) is placed on the left, and the second wheel 121(R) is placed on the right. The first wheel 121(L) and the second wheel 121(R) are spaced left and right. The first wheel 121(L) and the second wheel 121(R) are disposed at the rear lower portion of the body 110.

The first wheel 121(L) and the second wheel 121(R) are each rotatable independently so that the body 110 can rotate and move forward with respect to the ground. For example, when the first wheel 121(L) and the second wheel 121(R) rotate at the same rotational speed, the body 110 may move forward with respect to the ground. For example, the rotation speed of the first wheel 121(L) is faster than the rotation speed of the second wheel 121(R), or the rotation direction of the first wheel 121(L) and the second wheel 121 When the rotation directions (R)) are different from each other, the body 110 can rotate with respect to the ground.

The first wheel 121(L) and the second wheel 121(R) may be formed to be larger than the auxiliary wheel 125. The axis of the first drive motor 123(L) may be fixed at the center of the first wheel 121(L), and the second drive motor 123(R) may be fixed at the center of the second wheel 121(R). )) axis can be fixed.

The drive wheel 121 includes a wheel outer peripheral portion 121b in contact with the ground. For example, the outer peripheral portion of the wheel 121b may be a tire. A plurality of protrusions may be formed on the outer peripheral portion of the wheel 121b to increase friction with the ground.

The driving wheel 121 may include a wheel frame (not shown) that fixes the wheel outer peripheral portion 121b and receives power from the motor 123. The axis of the motor 123 is fixed to the center of the wheel frame, so that rotational force can be transmitted. The wheel outer peripheral portion 121b is arranged to surround the circumference of the wheel frame.

The driving wheel 121 includes a wheel cover 121a that covers the outer surface of the wheel frame. The wheel cover 121a is disposed in a direction opposite to the direction in which the motor 123 is disposed based on the wheel frame. The wheel cover 121a is disposed in the central portion of the wheel outer peripheral portion 121b.

The driving unit 120 includes a driving motor module 123 that generates driving force. It includes a driving motor module 123 that provides driving force to the driving wheel 121. The driving motor module 123 is a first wheel It includes a first drive motor 123(L) that provides driving force of (121(L)) and a second drive motor 123(R) that provides driving force of the second wheel 121(R). . The first drive motor 123 (L) and the second drive motor 123 (R) may be arranged to be spaced left and right. The first drive motor 123 (L) is the second drive motor 123 ( It can be placed on the left side of R)).

The first drive motor 123(L) and the second drive motor 123(R) may be disposed on the lower part of the body 110. The first drive motor 123(L) and the second drive motor 123(R) may be disposed at the rear portion of the body 110.

The first drive motor 123(L) is disposed on the right side of the first wheel 121(L), and the second drive motor 123(R) is disposed on the left side of the second wheel 121(R). It can be. The first drive motor 123(L) and the second drive motor 123(R) are fixed to the body 110.

The first drive motor 123(L) may be disposed inside the first motor housing 119a and have the motor shaft protrude to the left. The second drive motor 123(R) may be disposed inside the second motor housing 119b so that the motor shaft protrudes to the right.

In this embodiment, the first wheel 121(L) and the second wheel 121(R) are the rotation axis of the first drive motor 123(L) and the rotation axis of the second drive motor 123(R), respectively. It is directly connected to, but parts such as shafts may be connected to the first wheel 121(L) and the second wheel 121(R), and the motors 123(L) and 123(R) may be connected to the first wheel 121(L) and the second wheel 121(R). ) may be implemented so that the rotational force is transmitted to the wheels 121a and 120b.

The traveling unit 120 may include an auxiliary wheel 125 that supports the body 110 along with a driving wheel 121. The auxiliary wheel 125 may be disposed in front of the blade 131. The auxiliary wheel 125 is a wheel that does not receive driving force from a motor, and serves to auxiliary support the body 110 against the ground. A caster supporting the rotation axis of the auxiliary wheel 125 is coupled to the frame 111 so as to be rotatable about a vertical axis. A first auxiliary wheel 125(L) disposed on the left and a second auxiliary wheel 125(R) disposed on the right may be provided.

The work unit 130 is equipped to perform a predetermined task. The working part 130 is disposed on the body 110.

As an example, the work unit 130 may be equipped to perform tasks such as cleaning or lawn mowing. As another example, the work unit 130 may be equipped to perform tasks such as transporting or finding an object. As another example, the work unit 130 may perform a security function that detects external intruders or dangerous situations in the surrounding area.

In this embodiment, it is explained that the work unit 130 performs lawn mowing. However, there may be various types of work of the work unit 130, and there is no need to be limited to the examples in this description.

The work unit 130 may include a blade 131 rotatably provided for mowing the lawn. The working unit 130 may include a blade motor 132 that provides rotational force to the blade 131.

The blade 131 is disposed between the driving wheel 121 and the auxiliary wheel 125. The blade 131 is disposed on the lower part of the body 110. The blade 131 is provided to be exposed from the lower side of the body 110. The blade 131 rotates around a rotation axis extending in the vertical direction to mow the lawn.

The blade motor 132 may be disposed in front of the first wheel 121(L) and the second wheel 121(R). The blade motor 132 is disposed on the lower side of the central portion within the internal space of the body 110.

The blade motor 132 may be disposed at the rear of the auxiliary wheel 125. The blade motor 132 may be disposed on the lower part of the body 110. The rotational force of the motor shaft is transmitted to the blade 131 using a structure such as a gear.

The mobile robot 100 includes a battery (not shown) that supplies power to the driving motor module 123. The battery provides power to the first drive motor 123(L). The battery provides power to the second drive motor 123(R). The battery may supply power to the blade motor 132. The battery may provide power to the control unit 190, the azimuth sensor 176, and the output unit 165. The battery may be placed on the lower side of the rear portion within the internal space of the body 110.

The mobile robot 100 is equipped to change the height of the blade 131 relative to the ground, so that the mowing height of the lawn can be changed. The mobile robot 100 includes a height adjustment unit 156 that allows the user to change the height of the blade 131. The height adjustment unit 156 includes a rotatable dial, and the height of the blade 131 can be changed by rotating the dial.

The mobile robot 100 includes a height display unit 157 that displays the height level of the blade 131. When the height of the blade 131 changes according to the operation of the height adjustment unit 156, the height level displayed by the height display unit 157 also changes. For example, the height display unit 157 may display the expected height value of the grass after the mobile robot 100 mows the lawn at the current height of the blade 131.

When docked to the docking device 200, the mobile robot 100 includes a docking insertion portion 158 connected to the docking device 200. The docking insertion portion 158 is provided to be recessed so that the docking connection portion 210 of the docking device 200 is inserted. The docking insertion portion 158 is disposed on the front portion of the body 110. By connecting the docking insertion part 158 and the docking connection part 210, the mobile robot 100 can be guided to an accurate location when charging.

The mobile robot 100 may include a charging corresponding terminal 159 disposed in a position that can be contacted with the charging terminal 211, which will be described later, in a state in which the docking insertion portion 158 is inserted into the docking connection portion 210. . The charging corresponding terminal 159 may include a pair of charging terminals 211 (211a, 211b) and a pair of charging corresponding terminals 159a and 159b disposed at corresponding positions. A pair of charging corresponding terminals 159a and 159b may be arranged left and right with the docking insertion portion 158 in between.

A terminal cover (not shown) may be provided to open and close the docking insertion portion 158 and the pair of charging terminals 211 (211a, 211b). When the mobile robot 100 is traveling, the terminal cover may cover the docking insertion portion 158 and the pair of charging terminals 211 (211a, 211b). When the mobile robot 100 is connected to the docking device 200, the terminal cover may be opened to expose the docking insertion portion 158 and the pair of charging terminals 211 (211a, 211b).

Meanwhile, with reference to FIGS. 5 and 6 , the docking device 200 includes a docking base 230 disposed on the floor, and a docking support 220 protruding upward from the front of the docking base 230.

The docking base 230 defines a surface parallel to the horizontal direction. The docking base 230 has a plate shape on which the mobile robot 100 can be seated. The docking support portion 220 extends from the docking base 230 in a direction crossing the horizontal direction.

When charging the mobile robot 100, it includes a docking connection portion 210 that is inserted into the docking insertion portion 158. The docking connection portion 210 may protrude rearward from the docking support portion 220.

The docking connection portion 210 may be formed so that the thickness in the vertical direction is smaller than the width in the left and right directions. The width of the docking connection portion 210 in the left and right directions may be formed to become narrower toward the rear. When viewed from above, the docking connection 210 is generally trapezoidal. The docking connection portion 210 is formed in a left and right symmetrical shape. The rear portion of the docking connector 210 forms a free end, and the front portion of the docking connector 210 is fixed to the docking support portion 220. The rear portion of the docking connection portion 210 may be formed in a rounded shape.

When the docking connector 210 is completely inserted into the docking insertion portion 158, charging of the mobile robot 100 can be performed using the docking device 200.

The docking device 200 includes a charging terminal 211 for charging the mobile robot 100. When the charging terminal 211 and the charging corresponding terminal 159 of the mobile robot 100 come into contact, power for charging can be supplied from the docking device 200 to the mobile robot 100.

The charging terminal 211 includes a contact surface facing the rear, and the charging corresponding terminal 159 includes a contact surface facing the front. When the contact surface of the charging terminal 211 and the contact corresponding surface of the charging corresponding terminal 159 come into contact, the power of the docking device 200 is connected to the mobile robot 100.

The charging terminal 211 may include a pair of charging terminals 211 (211a, 211b) forming a + pole and a - pole. The first charging terminals 211 (211a) are provided in contact with the first charging corresponding terminal 159a, and the second charging terminals 211 (211b) are provided in contact with the second charging corresponding terminal 159b.

A pair of charging terminals 211 (211a, 211b) may be disposed with the docking connection portion 210 interposed therebetween. A pair of charging terminals 211 (211a, 211b) may be disposed on the left and right sides of the docking connection portion 210.

The docking base 230 includes a wheel guard 232 on which the driving wheel 121 and the auxiliary wheel 125 of the mobile robot 100 rise. The wheel guard 232 includes a first wheel guard 232a that guides the movement of the first auxiliary wheel 125, and a second wheel guard 232b that guides the movement of the second auxiliary wheel 125. . A central base 231 convex upward is disposed between the first wheel guard 232a and the second wheel guard 232b. The docking base 230 includes a slip prevention portion 234 to prevent the first wheel 121(L) and the second wheel 121(R) from slipping. The slip prevention portion 234 may include a plurality of protrusions protruding upward.

Meanwhile, a boundary wire 290 may be implemented to set the boundary of the driving area of the mobile robot 100. The boundary wire 290 may generate a predetermined boundary signal. The mobile robot 100 may detect a boundary signal and recognize the boundary of the driving area set by the boundary wire 290.

For example, a magnetic field may be generated around the boundary wire 290 by allowing a predetermined current to flow along the boundary wire 290. Here, the generated magnetic field is a warning signal. By allowing alternating current with a predetermined change pattern to flow through the boundary wire 290, the magnetic field generated around the boundary wire 290 may change with a predetermined change pattern. The mobile robot 100 can recognize that it is within a predetermined distance to the boundary wire 290 using the boundary signal detector 177 that detects a magnetic field, and through this, it can recognize that it is within the boundary set by the boundary wire 290. You can only drive in the driving zone.

The boundary wire 290 may generate a magnetic field in a direction distinct from that of the reference wire 270. For example, boundary wire 290 may be disposed substantially parallel to a horizontal plane. Here, substantially parallel may include complete parallelism in a mathematical sense and parallelism in an engineering sense that includes a certain level of error.

The docking device 200 may serve to send a predetermined current to the boundary wire 290. The docking device 200 may include a wire terminal 250 connected to the boundary wire 290. Both ends of the boundary wire 290 may be connected to the first wire terminal 250a and the second wire terminal 250b, respectively. By connecting the boundary wire 290 and the wire terminal 250, the power source of the docking device 200 can supply current to the boundary wire 290.

The boundary wire 290 may include a plurality of boundary wires defining boundaries of a plurality of driving areas. That is, the entire area can be divided into two areas for a random homing driving path.

The wire terminal 250 may be disposed in the front (F) of the docking device 200. That is, the wire terminal 250 may be disposed on a side opposite to the direction in which the docking connector 210 protrudes. The wire terminal 250 may be disposed on the docking support 220. The first wire terminal 250a and the second wire terminal 250b may be arranged to be spaced left and right.

The docking device 200 may include a wire terminal opening/closing unit 240 that covers the wire terminal 250 in an opening/closing manner. The wire terminal opening/closing unit 240 may be disposed in front (F) of the docking support unit 220. The wire terminal opening/closing unit 240 may be hinged to the docking support unit 220 and may be preset to perform an opening/closing operation through a rotational movement.

Meanwhile, a reference wire 270 may be implemented to allow the mobile robot 100 to recognize the location of the docking device 200. The reference wire 270 may generate a predetermined docking position signal. The mobile robot 100 detects the docking position signal, recognizes the position of the docking device 200 using the reference wire 270, and moves to the recognized location of the docking device 200 when a return command or charging is required. You can return. The location of the docking device 200 may serve as a reference point for driving the mobile robot 100.

The reference wire 270 is made of a conductive material through which electricity can flow. The reference wire 270 may be connected to a power source of the docking device 200, which will be described later.

For example, a magnetic field may be generated around the reference wire 270 by allowing a predetermined current to flow along the reference wire 270 . Here, the generated magnetic field is the docking position signal. By allowing alternating current with a predetermined change pattern to flow through the reference wire 270, the magnetic field generated around the reference wire 270 may change with a predetermined change pattern. The mobile robot 100 can recognize that it is within a predetermined distance to the reference wire 270 using the boundary signal detection unit 177 that detects a magnetic field, and through this, the docking device set by the reference wire 270 It can be returned to the position (200).

The reference wire 270 may generate a magnetic field in a direction that is distinct from the boundary wire 290. For example, the reference wire 270 may extend in a direction crossing the horizontal direction. Preferably, the reference wire 270 may extend in a vertical direction perpendicular to the horizontal direction.

The reference wire 270 may be installed in the docking device 200. Reference wire 270 may be placed in various locations in docking device 200.

FIG. 7A is a view of the reference wire 270 according to the first embodiment of the present invention as seen from the rear, and FIG. 7B is a view of the reference wire 270 according to the first embodiment of the present invention as seen from one side.

Referring to FIGS. 6, 7A, and 7B, the reference wire 270 according to the first embodiment may be disposed inside the docking support 220. Since the reference wire 270 must be horizontal to generate a magnetic field signal, the reference wire 270 is arranged to extend in the vertical direction. When the reference wire 270 is disposed on the docking base 230, there is a disadvantage in that the thickness of the docking base 230 becomes very thick.

The reference wire 270 may include a vertical portion 271 extending at least in a direction intersecting the horizontal direction. The vertical portion 271 may be arranged substantially parallel to the vertical direction UD.

The direction of electricity input from the vertical portion 271 of the reference wire 270 may proceed from top to bottom or from bottom to top.

A plurality of vertical portions 271 may be disposed to generate a docking position signal of a certain level or more throughout the surrounding area of the docking device 200. For example, the vertical portion 271 may include a first vertical portion 271a and a second vertical portion 271b disposed to be spaced apart from the first vertical portion 271a. Of course, the vertical portion 271 may include only one of the first vertical portion 271a and the second vertical portion 271b.

The first vertical portion 271a and the second vertical portion 271b are arranged to be spaced apart in the left and right directions. The first vertical portion 271a may be disposed adjacent to the right end of the docking support portion 220, and the second vertical portion 271b may be disposed adjacent to the left end of the docking support portion 220. When the first vertical portion 271a and the second vertical portion 271b are disposed adjacent to both ends of the docking support 220, the area where the magnetic field is generated by the reference wire 270 is as close to the docking device 200 as possible. It becomes expanded.

The direction of current flow in the first vertical portion 271a and the second vertical portion 271b may be the same or different. Preferably, when electricity flows from the top to the bottom of the first vertical portion 271a, electricity may flow from the bottom to the top of the second vertical portion 271b.

In order to reinforce the strength of the electric field of the first vertical portion 271a and the second vertical portion 271b, a plurality of first vertical portions 271a and a plurality of second vertical portions 271b may be provided. The first vertical part 271a and the second vertical part 271b may be a collection of several wires, and the first vertical part 271a and the second vertical part 271b may have a certain arrangement. Of course, a single number of the first vertical portion 271a and the second vertical portion 271b may be disposed.

For example, the plurality of first vertical parts 271a are arranged in a row along a line extending in the front-back direction, and the plurality of second vertical parts 271b are arranged in a row along a line extending in the front-back direction. It can be.

When the plurality of first vertical parts 271a and the second vertical parts 271b are disposed at both left and right ends of the docking support 220 and are arranged in rows in the front-back direction, the plurality of first vertical parts 271a ) and the second vertical portion 271b, the charging terminal 211 and the docking connection portion 210 may be disposed. When the charging terminal 211 and the docking connector 210 are disposed between the plurality of first vertical portions 271a and the second vertical portion 271b, without changing the configuration of the charging terminal 211 and the docking connector 210 , there is an advantage in being able to place the reference wire 270.

The plurality of first vertical portions 271a and second vertical portions 271b may be electrically connected to each other or may be supplied with electricity from a separate power source. The docking device 200 may serve to send a predetermined current to the reference wire 270. The docking device 200 may include a wire terminal 250 connected to the reference wire 270. Both ends of the reference wire 270 may be connected to the first wire terminal 250a and the second wire terminal 250b, respectively. By connecting the reference wire 270 and the wire terminal 250, the power source of the docking device 200 may supply current to the reference wire 270.

Specifically, both ends of the plurality of first vertical portions 271a are respectively connected to the first wire terminal 250a and the second wire terminal 250b, and both ends of the plurality of second vertical portions 271b are respectively connected to the first wire terminal 250a and the second wire terminal 250b. It may be connected to the wire terminal 250a and the second wire terminal 250b.

Of course, the reference wire 270 according to another example may further include a horizontal portion (not shown). At this time, the reference wire 270 may have a structure in which the first vertical part 271a and the second vertical part 271b are connected to each other and receive power from a single power source.

FIG. 8 is a block diagram showing the control relationship of the mobile robot 100 of FIG. 1.

Referring to FIG. 8, the mobile robot 100 may include an input unit 164 through which various user instructions can be input. The input unit 164 may include buttons, dials, touch-type displays, etc. The input unit 164 may include a microphone (not shown) for voice recognition. In this embodiment, a number of buttons are disposed on the upper part of case 112.

The mobile robot 100 may include an output unit 165 that outputs various information to the user. The output unit 165 may include a display module that outputs visual information. The output unit 165 may include a speaker (not shown) that outputs auditory information.

In this embodiment, the display module 165 outputs an image in the upward direction. The display module 165 is disposed on the upper part of the case 112. As an example, the display module 165 may include a thin film transistor liquid-crystal display (LCD) panel. Additionally, the display module 165 may be implemented using various display panels, such as a plasma display panel or an organic light emitting diode display panel.

The mobile robot 100 includes a storage unit 166 that stores various types of information. The storage unit 166 records various information necessary for controlling the mobile robot 100 and may include a volatile or non-volatile recording medium. The storage unit 166 may store information input from the input unit 164 or received from the communication unit 167. The storage unit 166 can store a program for controlling the mobile robot 100.

The mobile robot 100 may include a communication unit 167 for communicating with external devices (terminals, etc.), servers, routers, etc. For example, the communication unit 167 may be implemented to communicate wirelessly using wireless communication technologies such as IEEE 802.11 WLAN, IEEE 802.15 WPAN, UWB, Wi-Fi, Zigbee, Z-wave, Blue-Tooth, etc. The communication unit may vary depending on the communication method of the other device or server with which it wishes to communicate.

The mobile robot 100 includes a sensing unit 170 that senses information related to the state of the mobile robot 100 or the environment outside the mobile robot 100. The sensing unit 170 includes a remote signal detection unit 171, an obstacle detection unit 172, a rain detection unit 173, a case flow sensor 174, a bumper sensor 175, an azimuth sensor 176, and a boundary signal. It may include at least one of a detection unit 177, a GPS detection unit 178, and a cliff detection unit 179.

The remote signal detection unit 171 receives an external remote signal. When a remote signal is transmitted by an external remote controller, the remote signal detection unit 171 can receive the remote signal. For example, the remote signal may be an infrared signal. The signal received by the remote signal detection unit 171 may be processed by the control unit 190.

A plurality of remote signal detection units 171 may be provided. The plurality of remote signal detection units 171 include a first remote signal detection unit 171a disposed at the front of the body 110, and a second remote signal detection unit 171b disposed at the rear of the body 110. ) may include. The first remote signal detection unit 171a receives a remote signal transmitted from the front. The second remote signal detection unit 171b receives a remote signal transmitted from the rear.

The obstacle detection unit 172 detects obstacles around the mobile robot 100. The obstacle detection unit 172 can detect an obstacle in front. A plurality of obstacle detection units 172a, 172b, and 172c may be provided. The obstacle detection unit 172 is disposed on the front surface of the body 110. The obstacle detection unit 172 is disposed above the frame 111. The obstacle detection unit 172 may include an image acquisition sensor, such as a camera, an infrared sensor, an ultrasonic sensor, an RF sensor, a geomagnetic sensor, or a Position Sensitive Device (PSD) sensor.

The rain detection unit 173 detects rain when it rains in the environment where the mobile robot 100 is placed. The rain detection unit 173 may be placed in the case 112.

The case flow sensor 174 detects the flow of the case connection. When the case 112 is lifted upward with respect to the frame 111, the case connection portion moves upward, and the case flow sensor 174 detects the lifting of the case 112. When the case flow sensor 174 detects that the case 112 is lifted, the control unit 190 can control the blade 131 to stop operation. For example, when a user lifts the case 112 or a lower obstacle of a significant size lifts the case 112, the case flow sensor 174 may detect this.

The bumper sensor 175 can detect the rotation of the floating fixture. For example, a magnet may be placed on one side of the lower part of the floating fixture, and a sensor that detects changes in the magnetic field of the magnet may be placed on the frame 111. When the floating fixture rotates, the sensor detects a change in the magnetic field of the magnet, so that a bumper sensor 175 that detects the rotation of the floating fixture can be implemented. When the bumper 112b collides with an external obstacle, the floating fixture rotates integrally with the bumper 112b. The bumper sensor 175 can detect the impact of the bumper 112b by detecting the rotation of the floating fixture.

The azimuth sensor (AHRS) 176 may have a gyro sensing function. The azimuth sensor 176 may further include an acceleration sensing function. The azimuth sensor 176 may further include a magnetic field sensing function.

The azimuth sensor 176 may include a gyro sensing module 176a that performs gyro sensing. The gyro sensing module 176a can detect the horizontal rotation speed of the body 110. The gyro sensing module 176a can detect the tilt speed of the body 110 with respect to the horizontal plane.

The gyro sensing module 176a may be equipped with a gyro sensing function for three axes of a spatial coordinate system orthogonal to each other. Information collected from the gyro sensing module 176a may be roll, pitch, and yaw information. The processing module is capable of calculating the direction angle of the mobile robot 100 by integrating the rolling, pitching, and yaw angular velocities.

The azimuth sensor 176 may include an acceleration sensing module 176b that performs acceleration sensing. The acceleration sensing module 176b may be equipped with an acceleration sensing function for three axes of a spatial coordinate system orthogonal to each other. A predetermined processing module can calculate speed by integrating acceleration, and calculate the moving distance by integrating speed.

The azimuth sensor 176 may include a magnetic field sensing module 176c that performs magnetic field sensing. The magnetic field sensing module 176c may be equipped with a magnetic field sensing function for three axes of a spatial coordinate system orthogonal to each other. The magnetic field sensing module 176c can sense the Earth's magnetic field.

The boundary signal detection unit 177 detects the boundary signal of the boundary wire 290 and/or the docking position signal of the reference wire 270.

The alert signal detection unit 177 may be disposed on the front part of the body 110. Through this, the boundary of the travel area can be detected early while moving forward, which is the main travel direction of the mobile robot 100. The boundary signal detection unit 177 may be disposed in the inner space of the bumper 112b.

The border signal detection unit 177 may include a first border signal detection unit 177a and a second border signal detection unit 177b arranged to be spaced left and right. The first boundary signal detection unit 177a and the second boundary signal detection unit 177b may be disposed in the front portion of the body 110.

For example, the boundary signal detection unit 177 includes a magnetic field sensor. The boundary signal detection unit 177 may be implemented using a coil to detect changes in the magnetic field. The boundary signal detection unit 177 can detect a magnetic field in at least a horizontal direction. The boundary signal detection unit 177 can detect magnetic fields on three axes that are orthogonal to each other in space.

Specifically, the first boundary signal detection unit 177a may detect a magnetic field signal in a direction perpendicular to the second boundary signal detection unit 177b. The first boundary signal detection unit 177a and the second boundary signal detection unit 177b detect magnetic field signals in directions orthogonal to each other, combine the detected magnetic field signal values, and calculate the values for three axes orthogonal to each other in space. Magnetic fields can be sensed.

When the boundary signal detection unit 177 detects the magnetic field for three axes orthogonal to each other in space, it determines the direction of the magnetic field using the sum vector value for the three axes, and if the direction of this magnetic field is close to the horizontal direction, The docking position signal can be recognized, and if it is close to the vertical direction, it can be recognized as a boundary signal.

In addition, when there are a plurality of divided driving areas, the border signal detection unit 177 distinguishes between the adjacent border signal and the border signal of the plurality of driving areas based on the difference in magnetic field strength, and detects the adjacent border signal and the docking position signal. They can be distinguished by differences in the direction of the magnetic field.

As another example, when there are a plurality of divided driving areas, the border signal detection unit 177 may distinguish between an adjacent border signal and a border signal of the plurality of driving areas based on a difference in magnetic field distribution. Specifically, the boundary signal detection unit 177 may detect that the intensity of the magnetic field has a plurality of peaks within a preset distance on plane coordinates and recognize it as an adjacent boundary signal.

The GPS detector 178 may be provided to detect a Global Positioning System (GPS) signal. The GPS detection unit 178 can be implemented using a PCB.

Information about the azimuth of the sun and the current azimuth of the robot can be received through the GPS sensor 178.

The cliff detection unit 179 detects the presence of a cliff on the driving surface. The cliff detection unit 179 is disposed in the front part of the body 110 and can detect the presence or absence of a cliff in front of the mobile robot 100.

The sensing unit 170 may include an opening/closing detection unit (not shown) that detects whether at least one of the first opening/closing unit 117 and the second opening/closing unit 118 is open or closed. The open/close sensor may be placed in the case 112.

The mobile robot 100 includes a control unit 190 that controls autonomous driving. The control unit 190 may process signals from the sensing unit 170. The control unit 190 can process signals from the input unit 164.

The control unit 190 may control the driving of the first drive motor 123(L) and the second drive motor 123(R). The control unit 190 may control the driving of the blade motor 132. The control unit 190 can control the output of the output unit 165.

The control unit 190 includes a main board (not shown) disposed in the internal space of the body 110. Main board means PCB.

The control unit 190 can control autonomous driving of the mobile robot 100. The control unit 190 may control the driving of the traveling unit 120 based on the signal received from the input unit 164. The control unit 190 may control the driving of the driving unit 120 based on the signal received from the sensing unit 170.

In particular, the control unit 190 can calculate the current azimuth of the robot by periodically receiving detection signals from the gyro sensing module 176a and the GPS detection unit 178, and periodically receives detection signals from the GPS detection unit 178. Thus, the current azimuth of the sun can be calculated.

The control unit 190 calculates the current driving direction of the robot 100 based on the periodically calculated current azimuth of the robot 100, the current azimuth of the sun, and information about the direction of the camera stored in the storage unit 166. can do.

At this time, the traveling direction of the mobile robot 100 may be calculated as a direction in which the mobile robot 100 does not travel forward with respect to the current azimuth of the sun. That is, the control unit 190 can detect the current azimuth of the sun in real time to prevent the mobile robot 100 from running with the backlight of the sun, calculate the optimal driving direction, and control the traveling unit 120 accordingly. there is.

Additionally, the control unit 190 may process the signal from the boundary signal detection unit 177. Specifically, the control unit 190 can determine the current location by analyzing the warning signal through the warning signal detection unit 177 and control the driving of the driving unit 120 according to the driving pattern.

At this time, the control unit 190 may control the driving unit 120 according to the zigzag mode driving pattern.

Hereinafter, driving in zigzag mode under the control of the control unit 190 will be described with reference to FIG. 9.

FIG. 9A is a diagram illustrating a mobile robot 100 system according to an embodiment of the present invention.

Referring to FIG. 9A, the mobile robot 100 system of the present invention has a boundary wire 290 defining one travel area (Zd), and the mobile robot 100 travels inside the travel area (Zd). may include. Additionally, the mobile robot 100 system of the present invention may further include a docking device 200 to which the mobile robot 100 is docked and charged.

At this time, in FIG. 9A, one driving area Zd is shown as an example, but the present invention is not limited thereto, and a plurality of driving areas Zd may be formed.

The control unit 190 may perform a pattern driving mode in which the driver drives in one driving area Zd in a predetermined pattern. A predetermined pattern driving mode for moving the body 110 along a predetermined pattern path (Sr, Sv) is preset. The pattern driving mode includes at least a predetermined algorithm for driving the driving unit 120. The pattern driving mode may include an algorithm that drives the driving unit 120 according to the detection signal from the sensing unit 170.

Specifically, in FIG. 9A, the mobile robot 100 may travel in a zigzag mode within the travel area Zd, using the location where the docking device 200 is placed as a starting point. That is, the mobile robot 100 travels along the long axis (Sr) backwards (R) from the starting point. At this time, when a boundary signal is received from the boundary wire 290 and a corner area is determined, the vehicle rotates to the right in the direction where the remaining area exists (in FIG. 9) and travels along the minor axis Sv.

At this time, the rotation angle θ may be between 120 degrees and 60 degrees, and preferably approximately 90 degrees. Additionally, when rotating to the right, it is possible to rotate to have a predetermined curvature.

Next, when the driving along the minor axis Sv is completed, it turns to the right again according to a signal from the boundary wire 290 and travels along the long axis Sr.

At this time, driving along the long axis (Sr) means moving forward (F). In this way, the lawn is mowed by driving in a zigzag mode within one driving area (Zd) alternately along the long axis (Sr) and short axis (Sv). Perform. Accordingly, a plurality of major axes (Sr) and a plurality of minor axes (Sv) for driving within one driving area (Zd) may be designed as a target pattern, and the plurality of major axes (Sr) may be parallel to each other.

At this time, when the corner area is reached while mowing the driving area Zd in zigzag mode, it is determined that there is no longer an area to drive to the right along the driving direction according to the boundary signal from the boundary wire 290. If determined, the drive proceeds toward the docking device 200 according to the homing mode, and the first drive is completed.

When one travel area (Zd) is formed in this way, the length of the major axis (Sr) and the minor axis (Sv) are set, and the mobile robot 100 travels in zigzag mode along the set major axis (Sr) and minor axis (Sv). The lawn mowing robot moves according to the pattern driving mode while rotating the blade 131, and can evenly mow the grass within the driving area Zd.

By completing driving in this driving area Zd in the pattern driving mode multiple times, the lawn can be mowed to a length of about 1 to 2 mm for each driving. Accordingly, since the lawn is mowed multiple times, the user's discomfort caused by the visible difference between the driving area Zd and the non-driving area Zd can be reduced.

At this time, the control unit 190 may control the driving direction of the driving unit 120 to change the angle of the pattern driving mode at a predetermined period.

At this time, the predetermined period may be defined as the time while driving one driving area once, but the driving direction can be changed a certain number of times even while driving one driving area once for a predetermined period of time, for example, 10 minutes or 20 minutes. can be performed.

Additionally, the predetermined period may be determined according to the number of times the long axis is driven. For example, it can be set to change the driving direction after five long axis runs.

Hereinafter, driving in the corresponding driving direction in each cycle is defined as a first pattern driving mode, a second pattern driving mode,..., an n-th pattern driving mode.

The control unit 190 may set an arbitrary reference line (Ss) in the driving area (Zd) in each cycle and control the driving direction with respect to the reference line (Ss).

In the first pattern driving mode, the control unit 190 starts driving by setting the long axis (Sr) of the driving pattern to a first clockwise angle with respect to the reference line (Ss). For example, as shown in FIG. 9A, in the first pattern driving mode, the major axis (Sr) of the driving pattern is set to 0 degrees with respect to the baseline (Ss) and the vehicle can be driven parallel to the baseline (Ss).

When the traveling direction, that is, the traveling angle, of the major axis Sr is set in this way, the traveling unit 120 travels in the set traveling direction under the control of the control unit 190.

When driving to a predetermined area of the driving area Zd in the first pattern driving mode is completed, the control unit 190 receives a detection signal from each sensing unit 170 in the next cycle, and accordingly adjusts the backlight for the current sun. By calculating the optimal driving direction that can deviate from , the second pattern driving mode can be continuously performed in that driving direction. At this time, the control unit 190 may change the angle θ of the major axis Sr in the first pattern driving mode according to the newly calculated driving direction as shown in FIG. 9B and set the second pattern driving mode with the changed driving angle. The driving unit 120 travels in the second pattern driving mode at the newly set driving angle θ.

In this way, the control unit 190 can always drive in a direction that escapes the backlight of the sun by changing the angle of the long axis (Sr) of the driving pattern with respect to the reference line (Ss) in the pattern driving mode of each cycle.

The driving direction control of the controller 190 will be described in detail.

FIG. 10 is a flow chart illustrating a method of controlling a traveling angle of a mobile robot 100.

First, the mobile robot 100 receives a travel command from an external user terminal, a server, or a set schedule, and starts cleaning or mowing the lawn accordingly (S10).

The control unit 190 of the mobile robot 100 receives the current detection signal from the gyro sensing module 176a and the GPS detection unit 178 and calculates the current orientation of the mobile robot 100 and the current orientation of the sun.

Specifically, the current azimuth of the mobile robot is detected from the gyro sensing module 176a and the corresponding detection signal is transmitted to the control unit 190.

The control unit 190 receives the current azimuth of the mobile robot 100 from the gyro sensing module 176a and reads the direction angle of the camera from the storage unit 166. The sum of the azimuth angle of the current mobile robot 100 and the direction angle of the camera is defined as the current orientation of the robot 100.

The control unit 190 also calculates the current solar direction from the GPS detection unit 178.

The direction of the sun can be calculated using Equation 1 below.

At this time, the hour angle is defined as the angle of the sun at the current time, and the declination is defined as the angle of the sun at the current date. Additionally, the altitude of the sun is defined as the sum of declination and latitude.

The solar angle and latitude of the current date for Equation 1 above can all be received in real time from the GPS detection unit 178.

In addition, the time angle is the angle of the sun at the current time in the current area, and the local time at the current location can be received through the external Internet. In contrast, the initial time value of the mobile robot 100 that is not discharged and GPS detection It can also be directly calculated using the current longitude value received from unit 178.

Additionally, the declination can be calculated through the time angle, and the altitude of the sun can also be calculated through the latitude and time angle received from the GPS sensor 178. Therefore, the current location, current time, and direction of the sun in the current direction can be obtained through Equation 1. As an example, the time angle for local time calculated in winter in Korea, which has a declination of -23.021 degrees and a latitude of 35.6 degrees, is listed in Table 1, and the solar direction can also be calculated according to Table 1.

date date
(N) Declination (season) local time time angle sun altitude solar direction January 1st One -23.0210242 0 -180 -77.4210242 1.40701E-15 January 11th 11 -21.92502473 One -165 -71.89662896 4.244837856 January 21st 21 -20.18092621 2 -150 -61.13235681 12.83650071 January 31st 31 -17.84028382 3 -135 -49.18387293 25.17476449 February 11th 41 -14.97228645 4 -120 -37.00060515 39.53522225 February 21st 51 -11.66171149 5 -105 -24.91899627 53.73005984 March 3 61 -8.006418829 6 -90 -13.15876705 116.3376004 March 13th 71 -4.114458135 7 -75 -1.946358449 117.3161443 March 23 81 -0.100874938 8 -60 8.425489055 127.9587369 April 2 91 3.915690102 9 -45 17.5483654 141.646784 April 12 101 7.816508178 10 -30 24.86217794 155.3211321 April 22nd 111 11.48627194 11 -15 29.68274834 168.0563442 May 2nd 121 14.81650396 12 0 31.3789758 180 May 12th 131 17.70876328 13 15 29.68274834 191.9436558 May 22nd 141 20.07755534 14 30 24.86217794 204.6788679 May 31st 151 21.85285916 15 45 17.5483654 218.353216 June 11th 161 22.98219712 16 60 8.425489055 232.0412631 June 21st 171 23.43218624 17 75 -1.946358449 242.6838557 July 1st 181 23.18952494 18 90 -13.15876705 296.3376004 July 11th 191 22.26138624 19 105 -24.91899627 306.2699402 July 21st 201 20.6752057 20 120 -37.00060515 320.4647778 July 31st 211 18.47787051 21 135 -49.18387293 334.8252355 August 1st 221 15.73433341 22 150 -61.13235681 347.1634993 August 11th 231 12.52569277 23 165 -71.89662896 355.7551621 August 21st 241 8.946795323 24 180 -77.4210242 360 August 31st 251 5.10343252 261 1.109213342 271 -2.917793946 281 -6.858551867 291 -10.59657246 301 -14.02136063 311 -17.03168038 321 -19.53854729 331 -21.46785892 341 -22.76258522 351 -23.38445436 361 -23.31508402

Next, when the direction of the sun is determined, the control unit 190 determines the current traveling direction of the mobile robot 100 by calculating it with the direction of the mobile robot 100.

The traveling direction of the mobile robot 100 is to avoid traveling against the sun, and is intended to minimize data loss by pointing the camera of the mobile robot 100 toward the sun.

For this purpose, the traveling direction of the mobile robot 100 is calculated as shown in Equation 2.

As described above, the current orientation of the mobile robot 100 is equal to the sum of the current azimuth of the robot 100 and the direction angle of the camera.

When the current traveling direction of the mobile robot 100 is determined as shown in Equation 2 (S30), the control unit 190 sets the angle θ of the long axis Sr of the traveling pattern as the traveling angle in the traveling direction and sets the first Start pattern driving mode (S40).

According to the settings of the control unit 190, the driving unit 120 moves to the long axis Sr inclined at the corresponding driving angle θ with respect to the reference line Ss and proceeds in the first pattern driving mode (S50).

At this time, the angle of the minor axis (Sv) may be maintained at a fixed angle with respect to the reference line (Ss) regardless of the set major axis (Sr). However, in contrast, the direction of the minor axis (Sv) is relative to the set major axis (Sr). It can be changed depending on the driving angle.

In this way, when the pattern driving is completed to the end point (nt) according to the driving angle θ1 set in the first pattern driving mode (S60), the control unit 190 ends the pattern driving and docking device ( 200).

In this way, while driving in the driving area, a task, for example, lawn mowing, can be performed while driving in the corresponding driving area Zd by detecting once initially and setting the driving direction accordingly.

In this way, by avoiding backlight from the sun while driving, it is possible to drive without data loss.

Meanwhile, according to an embodiment of the present invention, the driving direction can be reset by periodically receiving a detection signal even while driving one driving area Zd once.

This will be explained with reference to FIGS. 11 and 12.

Figure 11 is a flowchart showing a driving direction control method according to another embodiment of the present invention, and Figures 12a to 12c are state diagrams showing a driving direction change different from Figure 11.

The mobile robot 100 proceeds in the first pattern driving mode as shown in FIG. 10 in the driving area. At this time, as shown in FIG. 12A, a detection signal is periodically received from the sensing unit 170 while proceeding to the first pattern driving mode (S100).

The control unit 190 receives the detection signal of the sensing unit 170 received in the second cycle, and recalculates the driving direction according to Equation 1 and Equation 2 accordingly (S110).

At this time, if the calculated driving direction is different from the driving direction of the previous first pattern driving mode, for example, if the angle difference between the driving direction of the previous pattern driving mode and the current driving direction is greater than a threshold, the control unit 190 sets the driving mode to Decide to change (S120).

Accordingly, the control unit 190 enters the second pattern driving mode while changing the angle θ2 of the major axis according to the current driving direction as shown in FIG. 12B (S130).

Accordingly, such a change in the pattern driving mode may occur at a period different from the detection signal reception period. For example, reception of a detection signal may be performed according to a predetermined time or a predetermined number of long-axis travels, but changing the pattern driving mode may be performed in a different number.

However, the pattern driving mode change is performed in integer multiples of the reception period of the detection signal.

Next, the mobile robot 100 enters the second pattern driving mode and travels the driving area in the shifted driving direction. While continuously changing the pattern driving mode, the driving direction θ3 of the mobile robot 100 can be changed in real time according to changes in the time angle of the sun, as shown in FIG. 12C.

Therefore, when the mobile robot 100 drives while changing its travel direction in real time and travel in one travel area Zd is completed (S140), the travel result is stored, and the mobile robot 100 travels along the boundary wire to the docking device 200. Return (S150).

At this time, when a non-traveling area occurs due to a change in the driving direction within one driving area (Zd), the control unit 190 calculates the corresponding non-driving area, drives in the reverse direction along the minor axis, and then operates at an angle of the major axis. By shifting to the newly calculated driving direction, it is possible to drive so that the non-driving area does not occur.

Such driving direction control according to the direction of the sun in the driving area Zd is not limited to the lawn mowing robot shown in FIGS. 1 to 8, but can also be applied to outdoor or large-area cleaning robots.

Figure 13 is a diagram showing an example of a mobile robot according to another embodiment of the present invention.

The mobile robot 100B shown in FIG. 13 is a mobile cleaning robot applicable to large-area spaces and can be used for cleaning in open outdoor areas or large-area spaces with glass ceilings.

The mobile cleaning robot 100B of FIG. 13 includes various working parts 330 at the bottom for cleaning the floor, and controls the long axis angle of the zigzag movement so that the camera does not travel in a backlight with respect to the direction of the sun, while controlling the long axis angle of the camera in FIG. 9. It is possible to drive as shown in Figures 12 through 12.

The mobile robot 100 according to the present invention is not limited to the configuration and method of the embodiments described above, but all or part of each embodiment is optional so that various modifications can be made. It may be composed of a combination of .

Likewise, although operations are depicted in the drawings in a particular order, this should not be construed to mean that those operations must be performed in the specific order or sequential order shown or that all of the depicted operations must be performed to obtain desirable results. . In certain cases, multitasking and parallel processing may be advantageous.

Meanwhile, the control method of the mobile robot 100 according to an embodiment of the present invention can be implemented as processor-readable code on a processor-readable recording medium. Processor-readable recording media includes all types of recording devices that store data that can be read by a processor. It also includes those implemented in the form of carrier waves, such as transmission through the Internet. Additionally, the processor-readable recording medium is distributed in a computer system connected to 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 shown and described above, the present invention is not limited to the specific embodiments described above, and the technical field to which the invention pertains without departing from the gist of the present invention as claimed in the claims. Of course, various modifications can be made by those skilled in the art, and these modifications should not be understood individually from the technical idea or perspective of the present invention.

Mobile robot: 100
Body: 110
Storage: 166
Docking device: 200
Control section: 190
Sensing part: 170

Claims (10)

a traveling unit that moves the main body within the traveling area;
A sensing unit that obtains information about situations outside the main body; and
A control unit that controls driving to exclude backlight from the current sun while performing pattern driving within the driving area.
Mobile robot including.
According to claim 1,
The control unit calculates the current orientation of the sun and the current orientation of the mobile robot, determines a traveling direction that excludes backlight to the sun, and controls the traveling unit according to the traveling direction.
According to claim 2,
The sensing unit includes a gyro sensor, a GPS detection unit, and a camera,
A mobile robot, wherein the control unit periodically receives detection signals from the gyro sensor and the GPS detection unit to calculate the current direction of the sun and the current direction of the mobile robot.
According to claim 3,
The mobile robot is characterized in that the control unit determines the traveling direction as an angle obtained by adding a predetermined value to the difference between the current direction of the sun and the current direction of the mobile robot.
According to claim 4,
A mobile robot, wherein the current orientation of the mobile robot is calculated as the sum of the azimuth of the mobile robot from the gyro sensor and the direction angle of the camera.
According to claim 5,
A mobile robot, characterized in that the predetermined value is ±90 degrees.
According to claim 5,
The control unit performs a zigzag pattern of traveling along the major axis in a first direction with respect to the traveling area, traveling along the minor axis of a predetermined length, and then traveling along the major axis in the reverse direction of the first direction. A mobile robot characterized in that it obtains the detection signal at the start of traveling in an area, generates the traveling direction, and travels by setting the angle of the long axis according to the traveling direction.
In clause 7,
When driving in one of the driving areas once, the control unit periodically receives the detection signal, calculates the driving direction, and, if the difference between the previous driving direction and the current driving direction is greater than a predetermined size, changes the current driving direction to the current driving direction. A mobile robot characterized by changing direction.
According to claim 8,
The mobile robot further includes a work unit that performs the task of cutting grass within the travel area.
According to claim 8,
The mobile robot further includes a work unit that performs cleaning while traveling in the large outdoor driving area.

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