TWI804973B - Moving robot, moving robot system that drives in a zone to be cleaned and method of performing collaborative driving thereof - Google Patents

Abstract

The present disclosure relates to an embodiment of a moving robot system, including a first robot that sucks contaminants in a zone to be cleaned, a second robot that wipes the floor in the zone to be cleaned, a first charging stand for charging the first robot, a second charging stand for charging the second robot, and a network connecting the first robot and the second robot with each other, wherein the first robot and the second robot enter a collaborative driving mode using the network, divide the zone to be cleaned into a plurality of unit zones, perform collaborative driving for each unit zone, and continuously perform the collaborative driving by avoiding an obstacle or climbing the obstacle when the first robot and/or the second robot senses the obstacle formed in a height or depth with a preset range while performing the collaborative driving in any one of the plurality of unit zones.

Description

Mobile robot traveling in area to be cleaned, mobile robot system and method for performing cooperative driving thereof

The present invention relates to a mobile robot system, and more particularly, to a mobile robot system in which a plurality of mobile robots perform cooperative driving, and a method for a plurality of mobile robots to perform cooperative driving.

A sweeper is a device that cleans by sucking in or wiping off dust or foreign matter. Generally speaking, the sweeping machine performs the function of sweeping the floor, and the sweeping machine includes rollers for movement. Generally, the rollers are rolled by an external force applied to the sweeper body to move the sweeper body relative to the floor.

However, with the development of such cleaning robots that drive and clean without the user's operation, it is necessary to develop a plurality of cleaning robots for cleaning in cooperation with each other without the user's operation.

The prior technical document WO2017-036532 discloses a method in which a main cleaning robot (hereinafter referred to as the main robot) controls at least one auxiliary cleaning robot (hereinafter referred to as the auxiliary robot). This prior art document discloses a configuration in which a master robot uses an obstacle detection device to detect adjacent obstacles and uses position data obtained from the obstacle detection device to determine its position relative to a slave robot. Furthermore, KR2017-0174493 discloses a general process in which two cleaning robots perform cleaning while communicating with each other.

However, in these two prior art documents no action is disclosed to respond to the various situations that occur during cooperative driving. When two cleaning robots are driving cooperatively, compared with when one is driving, control that responds to various situations is required, for example, when only one individual makes an error or both individuals make an error, the action control that responds to each error is required, and in addition , when a trap or trap occurs, each of the two cleaning robots in the lead/follow relationship needs to respond appropriately.

In addition, in the mode in which the two sweepers cooperate to travel, there is a limitation that it is difficult to achieve appropriate cooperative travel due to the difference in specifications and states of the two sweepers. For example, in order for two sweepers to effectively complete cooperative driving, it is necessary for the state of charge of the batteries of both sweepers to exceed a predetermined reference level, but when the state of charge of one sweeper is lower than the predetermined reference level, it is difficult to complete cooperative driving .

In the system of cooperative driving of a plurality of cleaning robots as described above, various running states, driving conditions, and situational responses are considered, but in the related art, an appropriate method has not been proposed, so the cooperative driving using a plurality of cleaning robots must be limited accuracy/stability/reliability.

In order to improve the limitations of the above-mentioned related technologies, this specification aims to provide an implementation of a mobile robot system that can solve the above-mentioned problems.

In other words, an aspect of the present invention aims to provide an embodiment of a mobile robot system capable of performing cooperative driving while satisfying various conditions of the cooperative driving, and a method of performing the cooperative driving.

In addition, another aspect of the present invention aims to provide an embodiment of a mobile robot system capable of performing cooperative driving, and a method thereof for performing cooperative driving, in which appropriate responses can be made to various situations occurring during cooperative driving.

In particular, yet another aspect of the present invention seeks to provide an embodiment of a mobile robot system capable of responding appropriately to a trap situation occurring during cooperative driving, and a method thereof for performing cooperative driving.

In addition, yet another aspect of the present invention aims to provide an embodiment of a mobile robot system capable of appropriately responding to various error situations occurring during cooperative driving, and a method of performing cooperative driving thereof.

In addition, yet another aspect of the present invention aims to provide an embodiment of a mobile robot system capable of appropriately responding to obstacles sensed during cooperative driving, and a method for performing cooperative driving thereof.

Furthermore, still another aspect of the present invention aims to provide a mobile robot capable of responding appropriately according to changes in battery charge levels and various states of battery charge levels of a plurality of mobile robots while performing cooperative driving. Implementation of the robotic system.

In order to solve the aforementioned problems, a mobile robot system and a method for performing cooperative driving thereof may include: confirming whether the driving states of a plurality of mobile robots meet preset reference conditions, and performing cooperative driving actions according to the confirmation results as a solution.

Specifically, when a control instruction for cooperative driving is received, the driving states of a plurality of mobile robots that meet the conditions for performing cooperative driving can be compared with preset reference conditions, and when the driving states meet the reference conditions, the Execute the movement of cooperative driving to perform cooperative driving accurately and stably.

In other words, the embodiments of the mobile robot system and its method for performing cooperative driving can confirm whether the driving states of a plurality of mobile robots meet the preset reference conditions, and perform cooperative driving actions according to the confirmation results, thereby solving the aforementioned problems.

The implementation of the mobile robot system with the above-mentioned technical characteristics may include as a means to solve the problem: a plurality of mobile robots that clean while driving in the area to be cleaned; and a controller that communicates with a plurality of mobile robots. communicate with the mobile robot to transmit the control command for remote control to a plurality of mobile robots, wherein, after receiving the control command of the cooperative driving mode of cooperatively cleaning the area to be cleaned from the controller, the plurality of mobile robots confirm Whether the driving states of the plurality of mobile robots meet the preset reference conditions, so as to execute the action of the cooperative driving mode according to the confirmation result.

In addition, as a means to solve the problem, an embodiment of a method for performing cooperative driving of a mobile robot system with the above-mentioned technical features is disclosed. As a method for performing cooperative driving between a first robot and a second robot, the method may include: The robot and the second robot receive an instruction to perform cooperative driving; the first robot compares the driving state of the first robot and the second robot with a preset reference condition; and the first robot and the second robot each perform cooperation according to the comparison result The action of driving.

On the other hand, in an embodiment of a mobile robot system capable of responding appropriately to a trap state occurring during cooperative driving, while the first robot and the second robot are performing cooperative driving, when the first robot and/or the second robot When the robot is in a trap state, the first robot and/or the second robot can perform trap escape driving, wherein the trap state refers to the situation that the first robot or the second robot cannot enter the area to be cleaned that has not been driven, and the trap escape travel is Refers to the driving method in which the first robot or the second robot travels along the boundary of the area to be cleaned.

In addition, an embodiment of a method of performing cooperative driving by a mobile robot system capable of appropriately responding to a trap state occurring during cooperative driving may include: performing cooperative driving with each other by a first robot and a second robot; confirming that the first robot and/or Whether the second robot is in a trap state, and when the first robot and/or the second robot is in the trap state, execute the trap to leave the driving, wherein, the trap state means that the first robot and/or the second robot cannot enter the untraveled area to be cleaned The situation of the area to be cleaned, while the trap travel is a driving method in which the first robot or the second robot travels along the boundary of the area to be cleaned.

On the other hand, an embodiment of a mobile robotic system capable of responding appropriately to various error conditions that occur during cooperative driving may include: a first robot that sucks in pollutants in the area to be cleaned; a second robot that wipes the floor of the area to be cleaned; A robot; a first charging base for charging the first robot; a second charging base for charging the second robot; and a network connecting the first robot and the second robot, wherein the first robot and the second robot The two robots enter a cooperative driving mode using the network, perform cooperative driving by recognizing each other's position information, and when an error occurs while at least one of the first robot and the second robot is performing cooperative driving, when the first robot and the second robot When at least one of the robots is trapped or the network is disconnected, it is confirmed whether to cancel the cooperative driving mode.

Furthermore, an embodiment of a method of performing cooperative driving by a mobile robot system capable of responding appropriately to various error situations occurring during cooperative driving is disclosed as a method of performing cooperative driving by a mobile robot system traveling in an area to be cleaned, wherein , the mobile robot system includes: a first robot that sucks pollutants in the area to be cleaned; a second robot that wipes the floor of the area to be cleaned; a first charging stand for charging the first robot; The second charging base for charging by two robots; and the network connecting the first robot and the second robot, and the method for performing cooperative driving includes: the first robot and the second robot use the network to enter the cooperative driving mode; The robot and the second robot recognize each other's positional information to perform cooperative travel; and when an error occurs while at least one of the first robot and the second robot performs cooperative travel, when at least one of the first robot and the second robot occurs Trapped or when the network is disconnected, the first robot or the second robot will confirm whether to release the cooperative driving mode.

In another aspect, an embodiment of a mobile robotic system capable of responding appropriately to obstacles sensed during cooperative travel may include: a first robot that sucks in contaminants in the area to be cleaned; a robot that wipes the floor of the area to be cleaned; A second robot; a first charging stand for charging the first robot; a second charging stand for charging the second robot; and a network connecting the first robot and the second robot, wherein the first robot and the second robot use the network to enter the cooperative driving mode, divide the area to be cleaned into a plurality of unit areas, perform cooperative driving for each unit area, and perform cooperative driving in any one of the plurality of unit areas. When one robot and/or the second robot senses an obstacle formed at a predetermined range of height or depth, it continues to drive cooperatively by avoiding or climbing the obstacle.

Furthermore, an embodiment of a method of performing cooperative driving by a mobile robot system capable of responding appropriately to obstacles sensed during cooperative driving is disclosed as a method of performing cooperative driving by a mobile robot system traveling in an area to be cleaned, Wherein, the mobile robot system includes: a first robot that sucks pollutants in the area to be cleaned; a second robot that wipes the floor of the area to be cleaned; a first charging stand for charging the first robot; The second charging base for charging by the second robot; and the network connecting the first robot and the second robot, and the method for performing cooperative driving includes: the first robot and the second robot use the network to enter a cooperative driving mode; A robot and the second robot divide the area to be cleaned into a plurality of unit areas to perform cooperative driving for each unit area; and when the first robot and/or the second robot perform cooperative driving in any one of the plurality of unit areas At the same time, when an obstacle formed at a height or depth within a preset range is sensed, the cooperative driving is continued by avoiding or climbing the obstacle.

On the other hand, as a mobile robot system in which a plurality of mobile robots cooperate to drive, an embodiment of a mobile robot system is disclosed, which can perform cooperative driving according to changes in battery charging levels and Various states of battery charging levels are used to respond appropriately, wherein the mobile robot system includes: a first robot operating on power charged by a first charging stand to travel in an area to be cleaned; and a second robot , which operates based on the electric power charged by the second charging stand to travel along the path traveled by the first robot, and the first robot and the second robot respectively sense the charging capacity in the battery while performing the cooperative driving mode, The coordinated driving mode is released according to the charging capacity value of the battery, and at least one of the independent driving mode and the charging mode of the battery are respectively executed in response to the charging capacity value.

In addition, as a mobile robot system in which a plurality of mobile robots cooperate to drive, another embodiment of a mobile robot system is disclosed, which can be used according to the change of the battery charging level and the battery charging level of a plurality of mobile robots during cooperative driving. The mobile robot system includes: a first robot operating on the basis of electric power charged by the first charging stand to travel in the area to be cleaned; and a second robot based on The electric power charged by the second charging base operates to travel along the path that the first robot has traveled, and when the charging capacity value of the battery is lower than the preset reference capacity value, the first robot and the second robot are respectively performing cooperation While in the driving mode, the charging capacity of the battery is sensed to move to the respective charging stand to charge the battery.

In addition, as a method for a mobile robot system to perform cooperative driving, an embodiment of a method for a mobile robot system to perform cooperative driving is disclosed, which can be based on changes in battery charging levels and battery charging levels of a plurality of mobile robots during cooperative driving. To respond appropriately to various states of the level, the mobile robot system includes: a first robot operating on the basis of electric power charged by the first charging stand to travel in the area to be cleaned; and a second robot based on The electric power charged by the second charging base operates to travel along the path that the first robot has traveled, wherein the method includes: starting the cooperative driving mode by the first robot and the second robot respectively; Each senses the charging capacity of the battery; each of the first robot and the second robot compares the charging capacity value with a preset reference capacity value; and at least one of the first robot and the second robot performs independent driving according to the comparison result mode or move to the charging stand to charge the battery.

In addition, as a method for a mobile robot system to perform cooperative driving, another embodiment of a method for a mobile robot system to perform cooperative driving is disclosed. To respond appropriately to various states of the charging level, the mobile robot system includes: a first robot operating on the basis of electric power charged by the first charging stand to drive in the area to be cleaned; and a second robot based on the The electric power charged by the second charging base operates to travel along the path that the first robot has traveled, wherein the method includes: starting the cooperative driving mode by the first robot and the second robot respectively; The robots respectively sense the charging capacity of the battery; the first robot and the second robot respectively compare the charging capacity value with a preset reference capacity value; and at least one of the first robot and the second robot moves to the The charging stand charges the battery.

The embodiments of the mobile robot system and its method for performing cooperative driving as described above can be applied and implemented to cleaning robots, control systems for cleaning robots, cleaning robot systems, control methods for controlling cleaning robots, etc., and are particularly effective A cleaning robot that is applied and implemented to a plurality of mobile robots, a mobile robot system including a plurality of mobile robots, a method of controlling a plurality of mobile robots, etc., and also applied and implemented to all the above-mentioned applicable technologies, A cleaning robot system and a method for controlling the cleaning robot.

In other words, the embodiment of the mobile robot system and its method for performing cooperative driving can confirm whether the driving states of a plurality of mobile robots meet the preset reference conditions, so as to perform cooperative driving actions according to the confirmation results, so as to meet various cooperative driving requirements. Execute the role of cooperative driving under certain conditions.

Therefore, inaccurate and unstable cooperative travel of a plurality of mobile robots can be prevented, thereby having an effect of performing cooperative travel in a safe and accurate environment/state.

In addition, cooperative driving can be performed in a state where the conditions for cooperative driving are satisfied, thereby having the effect of appropriately responding to various situations that occur during cooperative driving.

For example, it is possible to respond appropriately to trap states, various error situations, and obstacle sensing situations that occur during cooperative driving, respectively, thereby having the effect of safely and reliably performing cooperative driving.

In addition, each of the plurality of mobile robots can sense the charging capacity of the battery while performing the cooperative driving mode, and each of the plurality of mobile robots can perform a response operation according to the sensing result, thereby having the capability of charging the battery. function to respond appropriately to changes in level.

Therefore, not only can effective cleaning be performed according to various states of the battery charging level while performing cooperative driving, but also it is possible to prevent the cooperative driving from being interrupted due to changes in the battery charging level while performing cooperative driving, thereby ignoring a plurality of mobile robots, Thereby, it has the function of performing the follow-up operation properly and easily after the cooperative driving is interrupted.

The implementation of the mobile robot system will be described in more detail below with reference to the accompanying drawings. It should be noted that the technical terms used below are only used to describe the specific implementation and do not represent the concept of the present invention.

First, the configuration of a mobile robot (hereinafter referred to as “robot”) in the embodiment of the mobile robot system will be explained.

The robot may be a cleaning robot that cleans while driving or advancing.

The robot may be a cleaning robot that performs driving and cleaning automatically or through user manipulation.

For example, a robot may be a sweeper that drives itself and a sweeper that performs self-driving (or self-walking).

The robot may be a cleaning robot that recognizes a location while driving in a predetermined area.

The robot may be a cleaning robot that recognizes a location and creates a map within a predetermined area while driving.

The robot may perform the function of sweeping the floor, where the so-called floor sweeping includes suctioning dust (including foreign objects) on the floor or mopping the floor while traveling by itself in a predetermined area.

A robot can have a plurality of configurations (constituent components) for driving and cleaning.

For example, the robot 100 may have a shape as shown in FIG. 1A or FIG. 1B .

The robot 100 may have a shape as shown in FIG. 1A, or may have a shape as shown in FIG. 1B, or may have a shape modified from the shape shown in FIGS. Shapes shown vary from shape to shape.

As shown in FIGS. 1A and 1B , the robot 100 may include: a main body 110 ; a cleaning unit 120 ; and a sensing unit 130 .

The main body 110 defines the appearance of the robot 100, and may perform driving (or traveling) and cleaning.

In other words, the main body 110 may perform the overall operation of the robot 100 .

The main body 110 may have a shape convenient for driving and cleaning to define the appearance of the robot 100 .

For example, the robot 100 may be defined as a circle, and may also be defined as a rectangle with rounded corners.

The main body 110 may have constituent components for the robot 100 to travel and perform cleaning.

Constituent components for enabling the robot 100 to travel and perform cleaning may be disposed inside or outside the main body 110 .

For example, constituent components related to driving (or traveling) operation, cleaning operation, or sensing may be disposed outside the main body 110 , and constituent components related to control of the robot 100 may be disposed inside the main body 110 .

In addition, the main body 110 may be provided with a roller unit 111 for traveling the robot 100 .

Therefore, the robot 100 can move back and forth, left and right, or rotate through the wheel unit 111 .

In addition, the main body 110 may be installed with a battery (not shown) for powering the robot 100 .

The battery may be configured to be rechargeable and detachable from the bottom of the main body 110 .

The cleaning unit 120 may be provided in a protruding form from one side of the main body 110 in order to suck air containing dust or mop the floor.

Here, the side may be a side where the body 110 travels in the forward direction (F), that is, a front side of the body 110 .

The cleaning unit 120 may be detachably coupled to the main body 110 .

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

Therefore, when the user wants to remove dust on the floor, the user can install the cleaning unit 120 on the main body 110 , and when the user wants to mop the floor, the mop unit can be installed on the main body 110 .

The sensing unit 130 may be disposed on a side of the main body 110 where the cleaning unit 120 is located, ie, a front side of the main body 110 .

The sensing unit 130 may be disposed in a vertical direction of the body 110 to overlap the cleaning unit 120 .

The sensing unit 130 is disposed on the upper portion of the main body 110 to sense obstacles or terrains ahead and prevent the robot 100 from colliding with the obstacles.

The sensing unit 130 may be configured to additionally perform another sensing function other than the sensing function.

For example, the sensing unit 130 may include a camera 131 for capturing surrounding images.

The camera 131 may include a lens and an image sensor.

The camera 131 may convert the surrounding image of the subject 110 into an electrical signal that can be processed by the control unit, for example, transmit the electrical signal corresponding to the upward image to the control unit.

Here, the electrical signal corresponding to the upward image may be used by the control unit to detect the position of the main body 110 .

In addition, the sensing unit 130 may sense obstacles such as walls, furniture, and cliffs on a driving surface or a driving path of the robot 100 .

In addition, the sensing unit 130 may sense the presence of the charging docking device.

In addition, the sensing unit 130 may sense ceiling information in order to map a driving area or a cleaning area of the robot 100 .

Embodiments related to specific components of the robot 100 will be described below with reference to FIG. 2 .

As shown in Figure 2, the robot 100 may include: a communication unit 1100; an input unit 1200; a drive unit 1300; a sensing unit 1400; an output unit 1500; a power supply unit 1600; its combination.

Here, the components shown in FIG. 2 are of course not essential, so self-controlling sweepers with more or fewer components than those shown in FIG. 4 can be realized. Furthermore, as described above, the plurality of mobile robots described therein may include only some of the same components that will be described below. In other words, a plurality of mobile robots may include different components.

Each component is described below.

First, the power supply unit 1600 includes a battery chargeable by an external commercial power supply to supply power to the robot 100 .

The power supply unit 1600 supplies driving power to each component included in the robot 100 to provide operating power required for the robot 100 to travel or perform a specific function.

Here, the control unit 1800 can sense the remaining power of the battery, and when the remaining power is insufficient, control the battery to transfer power to a charging stand connected to an external commercial power source, so charging current can be provided from the charging stand to charge the battery.

The battery may be connected to the battery sensing unit to transmit the remaining power and charging status to the control unit 1800 . At this time, the output unit 1500 can display the remaining amount of the battery through the control unit 1800 .

The control unit 1800 performs information processing tasks based on artificial intelligence technology, and may include at least one circuit module for performing at least one of information learning, information deduction, information perception, and natural language processing.

The control unit 1800 can use machine learning technology to perform at least one of learning, inference and processing of a large amount of information (big data), such as information stored in the robot 100, environmental information around the mobile terminal, stored in a communicable external information in storage, etc. In addition, the control unit 1800 may predict (or infer) at least one operation that the robot 100 can perform based on information learned using machine learning techniques, and control the robot 100 to perform the most feasible operation among the at least one predicted operation.

Machine learning technology is a technology that collects and learns a large amount of information based on at least one algorithm, and determines and predicts information based on the learned information. Information learning is the operation of identifying the characteristics, rules and judgment standards of information, quantifying the relationship between information and using the quantified model to predict new data.

Algorithms used by machine learning techniques can be statistical-based algorithms, such as decision trees that use tree-structured types as predictive models, artificial neural networks that simulate the structure and function of biological neural networks, biological evolutionary algorithms Genetic programming, clustering that distributes observed examples into subsets of clusters, and Monte Carlo methods that compute function values as probabilities using randomly drawn random numbers, among others.

As a field of machine learning technology, deep learning is a technology that uses deep neural network (DNN) algorithms for at least one of learning, validation, and information processing. A deep neural network (DNN) can have a structure that links layers and passes data between layers. This deep learning technique can be applied to learn a large amount of information through a deep neural network (DNN) using a graphics processing unit (GPU) optimized for parallel computing.

The control unit 1800 may use training data stored in an external server or memory 1700, and may include a learning engine for detecting and recognizing features of predetermined objects. Here, the features for identifying the object may include the size, shape and shadow of the object.

Specifically, when the control unit 1800 inputs a part of the image captured by the camera 131 into the learning engine, the learning engine can recognize at least one object or creature included in the input image.

When the learning engine is applied to the driving of the sweeper, the control unit 1800 can identify whether there are obstacles around the robot 100 that hinder the operation of the sweeper, such as chair legs, fans, and balcony gaps of specific shapes. This can improve the efficiency and reliability with which the robot 100 travels.

On the other hand, the learning engine may be installed on the control unit 1800 or on an external server. When the learning engine is installed on an external server, the control unit 1800 can control the communication unit 1100 to transmit at least one image to be analyzed to the external server.

The external server may input images transmitted from the sweeper into the learning engine to identify at least one object or creature included in the images. In addition, an external server can transmit information related to the recognition results back to the sweeper. In this case, the information related to the recognition result may include information related to the number of objects in the image to be analyzed and the name of each object.

The driving unit 1300 may be provided with a motor to drive the roller unit so that the left main wheel and the right main wheel rotate in two directions to rotate or move the main body. At this time, the left and right main wheels can move independently. The driving unit 1300 may move the main body 110 forward, backward, leftward, rightward, curved, or rotated in situ.

The input unit 1200 can receive various control instructions for the robot 100 from the user.

The input unit 1200 may include one or more buttons.

For example, the input unit 1200 may include a confirmation button, a setting button, and the like. The confirmation button (OK button) is a button for receiving instructions from the user for confirming sensing information, obstacle information, location information and map information, and the setting button is for receiving instructions from the user for setting information button for the command.

In addition, the input unit 1200 may include: an input reset button for canceling the user's previous input and re-accepting the user's input; a delete button for deleting the user's preset input; a button for setting or changing the operation mode button; and a button for receiving an instruction to return to the charging stand, etc.

Also, an input unit 1200 such as hard keys, soft keys, a touch pad, etc. may be disposed on the upper portion of the mobile robot. Also, the input unit 1200 may have the form of a touch screen together with the output unit 1500 .

The output unit 1500 may be disposed on an upper portion of the robot 100 . Of course, the installation location and the installation type can be different. For example, the output unit 1500 may display battery status, driving mode, etc. on the screen.

In addition, the output unit 1500 may output status information inside the mobile robot detected by the sensing unit 1400, for example, the current status of each configuration included in the mobile robot. In addition, the output unit 1500 can display external state information, obstacle information, location information, and map information detected by the sensing unit 1400 on the screen. The output unit 1500 may be formed of any one of a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, and an organic light emitting diode (OLED).

The output unit 1500 may further include a sound output device to audibly output an operation process or an operation result of the robot 100 performed by the control unit 1800 . For example, the output unit 1500 may output a warning sound to the outside in response to a warning signal generated by the control unit 1800 .

In this case, the audio output module (not shown) can be a device for outputting sound, such as a buzzer, a speaker, etc., and the output unit 1500 can use audio data stored in the memory 1700 with a predetermined pattern Or the message data is output to the outside through the audio output module.

Therefore, the robot 100 according to the embodiment of the present invention may display the environmental information of the driving area on the screen or output the information as sound. According to another embodiment, the robot can transmit map information or environment information to the terminal device through the communication unit 1100 so as to output the screen or sound to be output through the output unit 1500 .

The memory 1700 stores control programs and generated data for controlling or driving the robot 100 . The memory 1700 can store audio information, image information, obstacle information, location information, map information, and the like. In addition, the memory 1700 can store information related to driving modes.

The memory 1700 mainly uses non-volatile memory. Here, non-volatile memory (NVM, NVRAM) is a storage device that can continuously store information even without power supply. For example, non-volatile memory can be ROM, flash memory, magnetic core storage device ( For example, hard disk, disk drive, tape), optical drive, magnetic RAM, PRAM, etc.

In addition, a map of the driving area may be stored in the memory 1700 . The map may be received by an external terminal or server capable of exchanging information with the robot 100 through wired or wireless communication, or may be generated by the robot 100 itself while traveling.

The map may indicate the location of the rooms within the drive zone. In addition, the current position of the robot 100 may be displayed on the map, and the current position of the robot 100 on the map may be updated during the driving process.

The memory 1700 can store cleaning history information. Such cleaning history information may be generated each time cleaning is performed.

The map of the driving area stored in the memory 1700 is data storing predetermined information of the driving area in a predetermined format, for example, a navigation map for driving while cleaning, a simultaneous localization and mapping (SLAM) map for position recognition , a learning map that learns to clean by storing information when the robot collides with an obstacle, a global location map for global location recognition, an obstacle recognition map that records information on recognized obstacles, etc.

A map can represent a map of nodes containing a plurality of nodes. Here, a node represents data at any position on the map, and the position corresponds to a point at any position in the driving area.

Meanwhile, the sensing unit 1400 may include at least one of an external signal detection sensor, a front detection sensor, a cliff detection sensor, a 2D camera sensor, and a 3D camera sensor.

The external signal detection sensor can sense external signals of the robot 100 . The external signal detection sensor may be, for example, an infrared sensor, an ultrasonic sensor, a radio frequency (RF) sensor, and the like.

The robot 100 may receive a guide signal generated by the charging stand using an external signal detection sensor to check the position and orientation of the charging stand. At this point, the charging stand can transmit a guidance signal indicating the direction and distance so that the mobile robot can return to the charging stand. In other words, the robot 100 can determine the current position by receiving the signal transmitted from the charging stand, and set the moving direction, so as to return to the charging stand.

On the other hand, the front detection sensors may be disposed at intervals on the front side of the robot 100 , specifically, along one side of the outer peripheral surface of the robot 100 . Front sensors are located on at least one side of the surface of the robot 100 to detect obstacles in front of the mobile robot. The front sensor can detect objects in the moving direction of the robot 100 , especially obstacles, and transmit the detection information to the control unit 1800 . In other words, the front sensor can detect protrusions, household appliances, furniture, walls and corners, etc. on the moving path of the robot 100 , and transmit the information to the control unit 1800 .

For example, the front sensor may be an infrared (IR) sensor, an ultrasonic sensor, an RF sensor, a geomagnetic sensor, etc., and the robot 100 may use one type of sensor as the front sensor, Or use two or more types of sensors as necessary.

For example, generally speaking, ultrasonic sensors may be mainly used to sense distant obstacles. The ultrasonic sensor may include a transmitter and a receiver, and the control unit 1800 may determine whether there is an obstacle based on whether the ultrasonic radiated through the transmitter is reflected by an obstacle or the like and is received by the receiver, and utilizes the ultrasonic emission time Calculate the distance to the obstacle with the ultrasonic receiving time.

In addition, the control unit 1800 may compare the ultrasonic wave transmitted from the transmitter and the ultrasonic wave received at the receiver to detect information related to the size of the obstacle. For example, the control unit 1800 may determine that the larger the obstacle, the more ultrasonic waves are received at the receiver.

In one embodiment, a plurality of (for example, five) ultrasonic sensors may be disposed on the front side of the robot 100 along the side of the outer peripheral surface. At this time, the ultrasonic sensors may preferably be disposed on the front surface of the robot 100 in such a manner that transmitters and receivers are alternately arranged.

In other words, the transmitters can be placed on the left and right sides, spaced from the front center of the body, or one transmitter or at least two transmitters can be placed between the receivers so as to create a reflection from obstacles etc. The receiving area of the ultrasonic signal. With this arrangement, the receiving area can be enlarged while reducing the number of sensors. The emission angle of the ultrasonic waves can be kept within the range of angles that do not affect different signals to prevent crosstalk. In addition, the receiving sensitivities of the receivers may be set to be different from each other.

In addition, the ultrasonic sensor may be disposed upward at a predetermined angle to output ultrasonic waves emitted from the ultrasonic sensor in an upward direction, and here, the ultrasonic sensor may further include a predetermined blocking member to prevent Ultrasonic waves radiate downward.

On the other hand, as described above, the front sensor can be implemented by using two or more types of sensors together, so the front sensor can use an IR sensor, an ultrasonic sensor, and Any of RF sensors, etc.

For example, the forward detection sensor may include an infrared sensor as a different type of sensor other than the ultrasonic sensor.

An infrared sensor may be provided on an outer peripheral surface of the robot 100 together with an ultrasonic sensor. The infrared sensor can also sense obstacles existing in front or side, so as to transmit obstacle information to the control unit 1800 . In other words, the infrared sensor can sense protrusions, household appliances, furniture, walls and corners, etc. on the moving path of the robot 100 to transmit the information to the control unit 1800 . Accordingly, the main body 110 may move within a certain area without colliding with obstacles.

On the other hand, the cliff detection sensor (or cliff sensor) may mainly use various types of optical sensors to sense obstacles on the floor supporting the main body 110 .

In other words, the cliff detection sensor may be provided on the rear surface of the robot 100 , but obviously may be installed in a different position according to the type of the robot 100 . The cliff detection sensor is a sensor located on the rear surface of the robot 100 to sense obstacles on the floor, and the cliff detection sensor can be an infrared sensor, an ultrasonic sensor, an RF sensor sensors, PSD (Position Sensitive Detector) sensors, etc., wherein the cliff detection sensor is provided with a transmitter and a receiver, such as an obstacle detection sensor.

For example, one of the cliff sensors may be disposed on the front of the robot 100, and the other two cliff sensors may be oppositely mounted on the rear.

For example, the cliff detection sensor can be a PSD sensor, but it can also be configured with a plurality of different types of sensors.

PSD sensors use semiconductor surface resistance to detect short-range and long-range locations of incident light with a p-n junction. PSD sensors include a one-dimensional PSD sensor that detects a light source in only one axial direction, and a two-dimensional PSD sensor that detects the position of a light source on a plane. Both PSD sensors can have a pin photodiode structure. The PSD sensor is an infrared sensor that uses infrared rays to transmit infrared rays, and then measures the angle of the infrared rays reflected from an obstacle and returned to the obstacle, thereby measuring a distance. In other words, the PSD sensor calculates the distance to obstacles by using triangulation.

The PSD sensor includes a phototransmitter that emits infrared rays toward obstacles, and a photoreceiver that receives infrared rays reflected from the obstacles and returns, and is generally configured as a module type. When sensing an obstacle with a PSD sensor, stable measurement values can be obtained regardless of the reflectance and color difference of the obstacle.

The control unit 1800 may measure a transmission signal of infrared rays emitted from the cliff detection sensor to the ground, and an infrared angle between reflection signals reflected and received by obstacles to sense a cliff and analyze its depth.

On the other hand, the control unit 1800 may use the cliff detection sensor to determine whether to pass the cliff according to the sensed ground state of the cliff, and determine whether to pass the cliff according to the confirmation result. For example, the control unit 1800 determines the presence or absence of a cliff and the depth of the cliff through the cliff sensor, and then allows the mobile robot to pass through the cliff only when a reflected signal is detected through the cliff sensor.

For another example, the control unit 1800 may use a cliff detection sensor to determine the lifting phenomenon of the robot 100 .

On the other hand, a two-dimensional camera sensor is disposed on one side of the robot 100 to acquire image information related to the surrounding environment of the subject during movement.

The optical flow sensor converts the downward image input by the image sensor disposed in the sensor to generate image data in a predetermined format. The generated image data can be stored in the memory 1700 .

Additionally, one or more light sources may be positioned adjacent to the optical flow sensor. One or more light sources illuminate a predetermined area of the bottom surface captured by the image sensor. In other words, when the robot 100 moves along the bottom surface in a specific area, when the bottom surface is flat, a predetermined distance is maintained between the image sensor and the bottom surface. Conversely, when the mobile robot moves on a bottom surface having an uneven surface, the interval between the image sensor and the bottom surface exceeds a predetermined distance due to unevenness and obstacles on the ground. At this time, one or more light sources may be controlled by the control unit 1800 to adjust the amount of light to be irradiated. The light source may be a light emitting device capable of controlling the amount of light, such as a light emitting diode (LED).

Using the optical flow sensor, the control unit 1800 can detect the position of the robot 100 regardless of the slippage of the robot 100 . The control unit 1800 can compare and analyze the image data captured by the optical flow sensor over time to calculate the moving distance and moving direction, and calculate the position of the robot 100 based on the moving distance and moving direction. Using the optical flow sensor, using image information on the bottom side of the robot 100, the control unit 1800 can perform anti-slip correction on the position of the robot 100 calculated by another device.

A 3D camera sensor may be attached to a side or part of the subject 110 to generate 3D coordinate information related to the surrounding environment of the subject 110 .

In other words, the three-dimensional camera sensor may be a three-dimensional (3D) depth camera that calculates the near and far distances between the robot 100 and the object to be captured.

Specifically, the 3D camera sensor can capture a 2D image related to the surrounding environment of the subject 110 and generate a plurality of 3D coordinate information corresponding to the captured 2D image.

In one embodiment, the 3D camera sensor may include two or more cameras that acquire conventional 2D images, and may be formed in a stereoscopic manner to combine two or more images obtained from the two or more cameras. an image to generate three-dimensional coordinate information.

Specifically, the three-dimensional camera sensor according to the present embodiment may include: a first pattern irradiation unit for irradiating light having a first pattern in a downward direction toward the front of the subject; a second pattern irradiation unit for The light with the second pattern is irradiated upward toward the front of the subject 110 ; and an image capture unit is configured to acquire an image in front of the subject. Therefore, the image capture unit can capture images of the region where the light of the first pattern and the light of the second pattern are incident.

In another embodiment, the three-dimensional camera sensor may include an infrared pattern emitting unit for irradiating an infrared pattern together with a single camera, and captures the shape of the infrared pattern irradiated from the infrared pattern emitting unit onto the object to be captured, Thereby measuring the distance between the sensor and the object to be captured. Such a three-dimensional camera sensor may be an infrared (IR) type three-dimensional camera sensor.

In yet another embodiment, the 3D camera sensor may include a light emitting unit that emits light together with a single camera, the 3D camera sensor receives a portion of the laser light emitted from the light emitting unit that is reflected from the object to be captured, and The received laser is analyzed to measure the distance between the 3D camera sensor and the object to be captured. The three-dimensional camera sensor may be a time-of-flight (TOF) type three-dimensional camera sensor.

Specifically, the laser of the above-mentioned three-dimensional camera sensor is configured to irradiate a laser beam in a form extending in at least one direction. In one example, the 3D camera sensor may include a first laser and a second laser, wherein the first laser illuminates lines of laser light that intersect each other and the second laser illuminates a single line of laser light . Accordingly, the lowermost laser is used to sense obstacles at the bottom, the uppermost laser is used to sense upper obstacles, and the middle laser between the lowermost and uppermost lasers is used to for sensing obstacles in the middle.

While the robot 100 is running, the sensing unit 1400 acquires images around the robot 100 . Hereinafter, the image acquired by the sensing unit 1400 is defined as "obtained image".

The captured imagery includes features such as lights on ceilings, edges, corners, spheres, and ridges.

The control unit 1800 detects features from each acquired image, and calculates a descriptor based on each feature point. The descriptors represent data in a predetermined format for representing feature points, and represent mathematical data in a format capable of calculating distances or similarities between descriptors. For example, the descriptor can be data in n-dimensional vector (n is a natural number) or matrix format.

The control unit 1800 classifies at least one descriptor of each acquired image into a plurality of groups according to predetermined sub-classification rules based on descriptor information obtained through the acquired images at each location, and classifies at least one descriptor of each acquired image into a plurality of groups according to predetermined sub-representation The rule converts descriptors contained in the same group into subrepresentative descriptors respectively.

For another example, according to predetermined sub-classification rules, classify all descriptors collected from images obtained in a predetermined area (such as a room) into multiple groups, and classify the descriptors contained in the same group according to predetermined sub-representation rules Converted to a subrepresentation descriptor.

The control unit 1800 can obtain the feature distribution of each position through this process. The feature distribution at each location can be represented as a histogram or an n-dimensional vector. For another example, the control unit 1800 may estimate an unknown current location based on the descriptor calculated from each feature point without going through predetermined sub-classification rules and predetermined sub-representation rules.

In addition, when the current position of the robot 100 becomes unknown due to a position jump or the like, the current position may be estimated based on materials such as pre-stored descriptors or sub-representative descriptors.

The robot 100 obtains an image through the sensing unit 1400 at an unknown current location. Use this image to identify features such as lights on ceilings, edges, corners, spheres, and ridges.

The control unit 1800 detects features from acquired images and calculates descriptors.

The control unit 1800 converts the acquired image into position information to be compared (for example, the feature distribution of each position) according to a predetermined sub-conversion rule based on at least one descriptor information obtained through the acquired image of an unknown current position. Comparable information (distribution of sub-identification features).

According to predetermined sub-comparison rules, each location feature distribution may be compared with each recognition feature distribution to calculate each degree of similarity. The similarity (probability) can be calculated for the position corresponding to each position, and the position with the calculated maximum probability can be determined as the current position.

In this way, the control unit 1800 may divide a driving area and generate a map composed of a plurality of areas, or recognize a current location of the robot 100 based on a map stored in advance.

On the other hand, the communication unit 1100 is connected with a terminal device and/or another device (also referred to herein as a "home appliance") through one of wired, wireless and satellite communication methods, so as to transmit and receive signals and data.

The communication unit 1100 can transmit and receive data with another device located in a specific area. Here, another device can be any device that can be connected to the network to transmit and receive data, for example, the device can be an air conditioner, heating device, air purification device, electric light, TV or car, etc. Another device may also be a device that controls doors, windows, water supply valves, gas valves, etc. Another device may be a sensor for sensing temperature, humidity, air pressure, gas, or the like.

In addition, the communication unit 1100 may communicate with another sweeper located in a specific area or within a predetermined range.

When generating a map, the control unit 1800 can transmit the generated map to an external terminal or server through the communication unit 1100 , and can store the map in its own memory 1700 . Also, as described above, the control unit 1800 may store the map in the memory 1700 when receiving the map from an external terminal, server, or the like.

Hereinafter, a mobile robot system (hereinafter referred to as a system) in which a plurality of robots 100 are configured to perform a cooperative mode will be described.

As shown in FIGS. 3 and 4 , in the system 1 , the first robot 100 a and the second robot 100 b can exchange data with each other through the network 50 . In addition, the first robot 100a and/or the second robot 100b may perform cleaning-related operations or corresponding operations through a control command received from the terminal 300 via a network or other communication means.

In other words, although not shown in the figure, the plurality of autonomous mobile robots 100a, 100b can communicate with the terminal 300 through the first network communication, and communicate with each other through the second network communication.

Here, the network 50 may refer to network communication, and may refer to short-distance communication using at least one of wireless communication technologies, such as wireless area network (WLAN), wireless personal area network (WPAN), wireless compatible authentication (Wi-Fi) Wi-Fi direct, Digital Living Network Alliance (DLNA), Wireless Broadband (WiBro), Worldwide Interoperability for Microwave Access (WiMAX), Zigbee, Z-wave, Bluetooth, Radio Frequency Identification (RFID) Infrared Data Association (IrDA), Ultra Wideband (UWB), Wireless Universal Serial Bus (USB), etc.

The network 50 can vary depending on the communication patterns of the robots that are expected to communicate with each other.

In FIG. 3 , the first robot 100 a and/or the second robot 100 b can provide the information sensed by each sensing unit 130 to the terminal 300 through the network 50 . In addition, the terminal 300 can also transmit the control command generated based on the received information to the first robot 100a and/or the second robot 100b through the network 50 .

In FIG. 3, the communication unit 1100 of the first robot 100a and the communication unit 1100 of the second robot 100b can also communicate directly with each other or indirectly communicate with each other through another router (not shown), so as to identify the driving status and location-related information.

In an example, the second robot 100b may perform a driving operation and a cleaning operation according to a control instruction received from the first robot 100a. In this case, it can be said that the first robot 100a operates as a main sweeper, and the second robot 100b operates as a subsidiary sweeper. Alternatively, it can be said that the second sweeping machine 100b follows the first sweeping machine 100a. In some cases, it can also be said that the first robot 100a and the second robot 100b cooperate with each other.

As an example of cooperation between the first robot 100a and the second robot 100b, the first robot 100a is installed with a sweeping unit 120, while the second robot 100b is installed with a mop unit, and the first robot 100a guides the second robot 100b to suck up the floor dust on the floor, and the second robot 100b follows the first robot 100a to wipe the floor.

Fig. 4 shows an example of a system 1 in which the collaborative performance includes a plurality of robots 100a, 100b and a plurality of terminals 300a, 300b.

Referring to FIG. 4 , the system 1 may include: a plurality of robots 100a, 100b; a network 50; a server 500; and a plurality of terminals 300a, 300b.

Wherein, a plurality of robots 100a, 100b, the network 50 and at least one terminal 300a may be set in the building 10, while another terminal 300b and the server 500 may be located outside the building 10.

Each of the plurality of robots 100a, 100b can perform automatic driving and automatic cleaning. Each of the plurality of robots 100 a , 100 b may also include a communication unit 1100 in addition to a driving function and a cleaning function.

A plurality of robots 100a, 100b, a server 500 and a plurality of terminals 300a, 300b can be connected together through the network 50 to exchange data. For this, although not shown in the figure, a wireless router such as an access point (AP) device may be further provided. In this case, the terminal 300a inside the building 10 can access at least one of the plurality of robots 100a, 100b through the AP device, so as to monitor and remotely control the plurality of robots 100a, 100b. In addition, the terminal 300b located outside the building 10 can access at least one of the plurality of robots 100a, 100b through the AP device, so as to monitor and remotely control the plurality of robots 100a, 100b.

The server 500 can be directly connected wirelessly through the mobile terminal 300b. Alternatively, the server 500 may be connected to at least one of the plurality of robots 100a, 100b without passing through the mobile terminal 300b.

The server 500 may include a programmable processor, and may include various algorithms. For example, server 500 may have algorithms associated with the execution of machine learning and/or data mining. For another example, the server 500 may include a speech recognition algorithm. In this case, after receiving the audio data, the received audio data can be converted into text format data and then output.

The server 500 can store firmware information and operation information (schedule information, etc.) related to the plurality of robots 100a, 100b, and can record product information about the plurality of robots 100a, 100b. For example, the server 500 may be a server operated by a robot manufacturer or a server operated by an open application store operator.

In another example, the server 500 may be a home server installed in the internal network of the building 10, and store status information about the home appliances or store content shared by the home appliances. When the server 500 is a home server, it can store information related to foreign objects, such as images of foreign objects.

At the same time, the plurality of robots 100a, 100b can be directly connected to each other via wireless methods such as Zigbee, Z-wave, Bluetooth, UWB and the like. In this case, the plurality of robots 100a, 100b can exchange position information and travel information with each other.

At this time, any one of the plurality of robots 100a, 100b may be the main robot 100a, and the other may be the subsidiary robot 100b.

In this case, the first robot 100a may control driving and cleaning of the second robot 100b. In addition, the second robot 100b may perform traveling and cleaning while following the first robot 100a. Here, the second robot 100b following the first robot 100a means that the second robot 100b and the first robot 100a perform traveling and cleaning by following the first robot 100a while maintaining an appropriate distance from the first robot 100a.

Referring to FIG. 5, a first robot 100a controls a second robot 100b such that the second robot 100b follows the first robot 100a.

For this purpose, the first robot 100a and the second robot 100b should exist in a certain area where they can communicate with each other, and the second robot 100b should recognize at least the relative position of the first robot 100a.

For example, the communication unit 1100 of the first robot 100a and the communication unit 1100 of the second robot 100b exchange IR signals, ultrasonic signals, carrier frequency and pulse signals, etc. with each other, and analyze them through triangulation in order to calculate and the movement displacement of the second robot 100b, thereby identifying the relative positions of the first robot 100a and the second robot 100b. However, the present invention is not limited to this method, and one of the above-mentioned various wireless communication technologies may be used to identify the relative positions of the first robot 100a and the second robot 100b through triangulation and the like.

When the relative position between the first robot 100a and the second robot 100b is recognized, the second robot 100b can be controlled based on the map information stored in the first robot 100a or the map information stored in the server 500, terminal 300, etc. Robot 100b. In addition, the second robot 100b may share obstacle information sensed by the first robot 100a. The second robot 100b may perform an operation based on a control instruction received from the first robot 100a (for example, a control instruction related to a traveling direction, traveling speed, stop, etc.).

Specifically, the second robot 100b cleans while traveling along the travel path of the first robot 100a. However, the traveling directions of the first robot 100a and the second robot 100b do not always coincide with each other. For example, when the first robot 100a moves or rotates up/down/right/left, the second robot 100b may move or rotate up/down/right/left after a predetermined period of time, so its current travel The directions can be different from each other.

In addition, the travel speed Va of the first robot 100a and the travel speed Vb of the second robot 100b may be different from each other.

In consideration of the communicable distance between the first robot 100a and the second robot 100b, the first robot 100a is controlled to change the travel speed Vb of the second robot 100b. For example, when the first robot 100a and the second robot 100b are separated from each other by a predetermined distance or more, the first robot 100a may control the travel speed Vb of the second robot 100b to be faster than before. On the other hand, when the first robot 100a and the second robot 100b approach each other at a predetermined distance or closer, the first robot 100a may control the travel speed Vb of the second robot 100b to be slower than before, or control the second robot 100b at a predetermined distance. Time period stops. Accordingly, the second robot 100b can perform cleaning while continuously following the first robot 100a.

In the system 1, the first robot 100a and the second robot 100b can perform traveling and cleaning while following each other or cooperating with each other without user intervention.

For this, it is necessary for the first robot 100a to recognize the position of the second robot 100b or for the second robot 100b to recognize the position of the first robot 100a. This may mean that the relative positions of the first robot 100a and the second robot 100b must be identified.

For example, one of the above-mentioned various wireless communication technologies (eg, Zigbee, Z-wave, Bluetooth, and UWB) may be used to identify the relative positions of the first robot 100a and the second robot 100b through triangulation.

Since the triangulation method used to obtain the relative positions of two devices is a common technique, its detailed description will be omitted here. Taking the relative positions of the first robot 100a and the second robot 100b in the recognition system 1 as an example, the first An example in which the robot 100 a and the second robot 100 b confirm (recognize) relative positions using a UWB module.

As mentioned above, the UWB module (or UWB sensor) may be included in the respective communication units 1100 of the first robot 100a and the second robot 100b. Since the UWB module is used to sense the relative positions of the first robot 100a and the second robot 100b, the UWB module may be included in the respective sensing units 1400 of the first robot 100a and the second robot 100b.

The first robot 100a and the second robot 100b may measure periods of signals transmitted and received between UWB modules respectively included in the respective robots to obtain the distance between the first robot 100a and the second robot 100b (separation distance ).

Hereinafter, the principle that the first robot 100a and the second robot 100b perform cooperative driving while recognizing positions through shared map information will be described with reference to FIGS. 6 to 8 .

As shown in FIG. 6, the first robot 100a and the second robot 100b may be placed in one cleaning space. A house is the entire space in which cleaning is usually done, which can be divided into spaces such as living room, bedroom, and kitchen.

The first robot 100a has map information of the entire space when the space has been cleaned at least once. In this case, the map information may be input by the user or based on records obtained by the first robot 100a while performing cleaning. Although the first robot 100a in FIG. 6 is located in the living room or the kitchen, it is possible to have map information of the entire space of the house.

Here, each of the first robot 100a and the second robot 100b may be assigned a charging stand. In other words, the two robots 100a, 100b do not share one charging stand, and the battery can be charged at the charging stand corresponding to each robot. For example, a first robot 100a may be docked to a first charging stand to charge a battery, while a second robot 100b may be docked to a second charging stand to charge a battery. In addition, each of the first robot 100a and the second robot 100b can store the position information of the charging bases between each other. For example, the location information of the second charging stand can be stored in the first robot 100a to identify the location during the docking of the second robot 100b, and the location information of the first charging stand can be stored in the second robot 100b for use in the first robot 100b. The location is identified during docking by the robot 100a.

A process in which the first robot 100a and the second robot 100b perform cooperation in such a space may be shown in FIG. 7 .

The map information of the first robot 100a may be transmitted to the second robot 100b (S1). At this time, map information may be transmitted while the communication units 1100 of the first robot 100a and the second robot 100b directly communicate with each other. In addition, the first robot 100a and the second robot 100b can transmit information through another network such as Wi-Fi or through a server as a medium. In this case, the shared map information may be map information including the location of the first robot 100a. In addition, map information including the location of the second robot 100b can be shared. In essence, since the first robot 100a and the second robot 100b can exist together in an entire space called a house, and they can exist together in a more specific space such as a living room, it is preferable to share the space between the two robots. Map information of the space where 100a and 100b are located.

The first robot 100a and the second robot 100b can move from their respective charging bases to start cleaning, and can also move to a space where the user needs each robot to clean.

When the first robot 100 a and the second robot 100 b are respectively powered on to be driven ( S2 ), the first robot 100 a and the second robot 100 b can move. In particular, the second robot 100b is able to move in a direction to decrease the distance from the first robot 100a.

At this time, it is confirmed whether the distance between the first robot 100 a and the second robot 100 b is smaller than a certain distance ( S3 ). In this case, the specific distance may be less than 50 cm. The specific distance may represent an initial arrangement distance set for cleaning while driving the first robot 100a and the second robot 100b together. In other words, when two robots 100a, 100b are arranged at a certain distance, the two robots can then perform cleaning together according to a predetermined algorithm.

Since the first robot 100a and the second robot 100b are able to communicate directly with each other, it can be seen that while the second robot 100b is moving, the distance from the first robot 100a is also reduced. For reference, for the communication between the first robot 100a and the second robot 100b, the accuracy of the first robot 100a and the second robot 100b with respect to the position and facing direction is not very high, and the technology to improve the accuracy can be added later .

In order to reduce the distance from the first robot 100a, the second robot 100b may move while drawing a circular or spiral trajectory. In other words, since it is not easy for the second robot 100b to accurately measure the position of the first robot 100a and move to the relevant position, it can find a position of reduced distance while moving in various directions, such as in a circular or spiral trajectory.

When the distance between the first robot 100a and the second robot 100b does not decrease within the certain distance, the second robot 100b continues to move until the distance between the first robot 100a and the second robot 100b is within the certain distance. For example, the second robot 100b may move while drawing a circular trajectory, and continue moving in a certain direction, to check whether the distance actually decreases while moving in the relevant direction and decreasing the distance.

When the distance between the first robot 100a and the second robot 100b decreases within a certain distance, the image captured by the first robot 100a is transmitted to the second robot 100b ( S4 ). In this case, like the map information, the first robot 100a and the second robot 100b may communicate directly or through another network or server.

Since the first robot 100a and the second robot 100b are located within a certain distance, images captured by the first robot 100a and the second robot 100b may be similar to each other. Especially, when the cameras installed in the first robot 100a and the second robot 100b are respectively set facing the front and upper side, when the positions and directions of the two robots 100a, 100b are the same, the captured images are the same. Therefore, by comparing the images captured by the two robots 100a, 100b and adjusting the positions and directions of the two robots 100a, 100b, the initial positions and directions of the two robots 100a, 100b to start cleaning can be aligned.

Then, the image transmitted from the first robot 100 a and the image captured by the second robot 100 b are compared with each other ( S5 ). Referring to Fig. 8, the comparison process will be explained.

(a) of FIG. 8 is a view for explaining a state of capturing an image by the first robot 100a; and (b) of FIG. 8 is a view for explaining a state of capturing an image by the second robot 100b.

Cameras are provided in the first robot 100a and the second robot 100b to capture the upper side of the front, and capture is performed in the direction indicated by the arrow in each figure.

As shown in (a) of FIG. 8 , in the image captured by the first robot 100 a , the feature point a2 and the feature point a1 are arranged on the left side and the right side respectively with respect to the direction of the arrow. In other words, feature points may be selected from the image captured by the first robot 100a, but different feature points are selected on the left and right sides with respect to the front captured by the camera. Therefore, the left and right sides of the image captured by the camera can be identified.

As shown in (b) of FIG. 8 , in the second robot 100b, extraction is first performed based on the dotted arrow. In other words, the camera provided in the second robot 100b is set facing forward and upward, the feature points a1 and a4 are arranged on the left, and the feature point a3 is arranged on the right with respect to the dotted arrow. Therefore, when the feature points are compared through the control unit disposed in the second robot 100b, it can be seen that the feature points of the images captured by the two robots 100a, 100b are different.

In this case, when the second robot 100b rotates counterclockwise as shown in (b) of FIG. 8 , images seen by the two robots 100a, 100b can be similarly realized. In other words, since the second robot 100b rotates counterclockwise, the viewing direction of the camera of the second robot 100b can be changed, as shown by the solid arrow. At this time, when looking at the image captured by the camera of the second robot 100b, the feature point a2 is arranged on the left side, and the feature point a1 is arranged on the right side. Therefore, feature points in the image provided by the first robot 100 a as shown in FIG. 8( a ) and the image captured by the second robot 100 b as shown in FIG. 8 ( b ) can be arranged similarly. Through this process, the heading angles of the two robots 100a, 100b can be similarly aligned. In addition, when the feature points are similarly arranged in the images provided by the two robots 100a, 100b, it can be seen that the positions where the two robots 100a, 100b view the feature points in the current state are arranged adjacent to each other within a certain distance, so that Pinpoint each other's locations precisely.

As mentioned above, the same feature points can be selected from the image captured by the second robot 100b and the image captured and transmitted by the first robot 100a, that is, the two images, and confirmed according to the selected feature points. At this time, the feature point may be a large object whose features are easy to identify, or a part of a large object whose features are easy to identify. For example, a feature point may be an object such as an air purifier, a door, a TV, etc., or a part of an object such as a corner of a wardrobe, a bed, etc.

In the control unit 1800 of the second robot 100b, when the feature points are arranged at similar positions in the two images, it can be determined that the second robot 100b is set at an initial position before starting to travel with the first robot 100a. When the image provided by the first robot 100a is different from the image currently captured by the second robot 100b, the image captured by the camera of the second robot 100b can be changed by moving or rotating the second robot 100b. In the case of comparing the image captured by the camera of the first robot 100a with the image provided by the second robot 100b, when the positions of the feature points in the two images change in a similar direction, it can also be determined that the second robot 100b and the second robot 100b A robot 100a is set at an initial position before starting to travel.

On the other hand, in order to facilitate the comparison of two images, it is preferable to select a plurality of feature points and divide and arrange each feature point on the left and right sides of the front center of the first robot 100a or the second robot 100b. The cameras of the second robot 100b and the first robot 100a are set to face forward, respectively, because when different feature points are arranged on the left and right sides with respect to the cameras, the control unit 1800 of the second robot 100b can easily sense the other The location and orientation of the sweeper. The second robot 100b moves or rotates so that the left and right arrangement of the feature points is the same as that transmitted from the first robot 100a, so that the second robot 100b is arranged on a straight line behind the first robot 100a. In particular, the front ends of the second robot 100b and the first robot 100a can be arranged to coincide with each other, so that it is easy to select an initial moving direction when cleaning together later.

Through the above process, the position of the first robot 100a can be confirmed according to the map information shared by the second robot 100b ( S6 ).

In addition, the first robot 100a and the second robot 100b can exchange location information with each other while moving based on the navigation map and/or SLAM map shared with each other.

The second robot 100b can acquire an image through the sensing unit 1400 while moving or after moving a predetermined distance, and can extract area feature information from the acquired image.

The control unit 1800 can extract region feature information based on the obtained image. Here, the extracted region feature information may include a set of probability values of regions and objects identified based on the acquired images.

At the same time, the control unit 1800 can confirm the current location according to the current location node information based on SLAM and the extracted area feature information.

Here, the current position node information based on SLAM may correspond to the node most similar to the feature information extracted from the acquired image among the pre-stored node feature information. In other words, the control unit 1800 may perform location recognition using feature information extracted from each node to select current location node information.

In addition, in order to further improve the accuracy of location estimation, the control unit 1800 can simultaneously use feature information and area feature information for location identification, so as to improve the accuracy of location identification. For example, the control unit 1800 may select a plurality of candidate SLAM nodes by comparing the extracted area characteristic information with pre-stored area characteristic information, and among the selected plurality of candidate SLAM nodes, according to the current position based on SLAM Candidate SLAM node information with the most similar node information to confirm the current position.

Alternatively, the control unit 1800 may confirm the current location node information based on SLAM, and correct the confirmed current location node information according to the extracted area characteristic information, so as to determine the final current location.

In this case, the control unit 1800 may determine the node most similar to the extracted area feature information among the pre-stored area feature information of nodes existing within a predetermined range as the final current position according to the current position node information based on SLAM.

For methods of estimating position using images, global features that describe the overall shape of an object can be used instead of local features, or local feature points such as corner points can be used to extract the changes in the environment such as lighting/illuminance Features robustness. For example, the control unit 1800 can extract and store regional feature information when generating a map (for example, living room: sofa, table, TV; kitchen: dining table, sink; room: bed, desk), and then use various regional features in the indoor environment The information estimates the positions of the first robot 100a and the second robot 100b.

In other words, according to the present invention, features can be stored in units of things, objects and regions when storing the environment, instead of only using specific points in the image, so that the location estimation is robust to changes in lighting/illuminance.

In addition, when at least a part of the first robot 100a and the second robot 100b enters under an object such as a bed or a sofa, the sensing unit 1400 may not be able to sufficiently acquire images including feature points such as corner points because the view is blocked by the object. Or, in environments with high ceilings, the accuracy of extracting feature points using ceiling imagery may decrease at certain locations.

However, according to the present invention, in the case where an object such as a bed or a sofa covers the sensing unit 1400, even when the recognition of the feature point is weak due to a high ceiling, the control unit 1800 can also Confirm the current location using information about characteristics of the area, such as sofas and living rooms.

Then, the first robot 100a and the second robot 100b may perform cleaning while traveling together. In other words, the second robot 100b may perform cleaning while traveling with the first robot 100a.

On the other hand, during cooperative driving, if the map information sharing between the first robot 100a and the second robot 100b fails, the positions can be confirmed through mutual communication. For example, as described above, it is possible to measure the time periods of signals transmitted and received between the UWB modules contained in each of the first robot 100a and the second robot 100b to obtain the distance between the two robots 100a, 100b (separation distance). In this case, the distance (separation distance) between the two robots 100a, 100b can be obtained by using the transformation equation of the position coordinates of the transmitted and received signals between the UWB modules.

Hereinafter, referring to FIG. 9 , the process of calculating the positions of the first robot 100 a and the second robot 100 b through transformation equations will be described in detail. Here, the transformation equation represents an equation for converting the first coordinate of the first robot 100a into a second coordinate; wherein the first coordinate represents the current position of the first robot 100a based on the previous position of the first robot 100a, and the second The coordinates represent the current position of the first robot 100a based on the main body position of the second robot 100b.

In FIG. 9, the previous position of the first robot 100a is indicated by a dotted line, and the current position is indicated by a solid line. In addition, the position of the second robot 100b is indicated by a solid line.

The transformation equations are explained below and represented as a 3x3 matrix in Equation 1 below. ＜Conversion formula＞ M (the current position [second coordinate] of the first robot expressed based on the second robot) = H (transformation formula) × R (the current position [first coordinate] of the first robot expressed based on the previous position of the first robot)

For a more detailed equation, it can be expressed as Equation 1 below. <Formula 1>

Here, Xr and Yr are first coordinates, and Xm and Ym are second coordinates.

The first coordinates may be calculated based on information provided from the driving unit 1300 that moves the first robot 100a. The information provided by the drive unit 1300 of the first robot 100a is derived from the encoders measuring the rotation information of the motor that rotates the roller, calibrated by the gyroscopic sensor that senses the rotation of the first robot 100a.

The driving unit 1300 provides a driving force for moving or rotating the first robot 100a, and may calculate the first coordinates even if the second robot 100b cannot receive a signal provided by the first robot 100a. Therefore, a relatively accurate position can be determined compared to position information calculated by transmitting and receiving signals between the two robots 100a, 100b. In addition, since the driving unit 1300 includes information about the actual motion of the first robot 100a, it is possible to accurately describe the position change of the first robot 100a.

For example, even when the encoder senses that the motor is rotating in the first robot 100a, it is possible to accurately calculate the position of the first robot 100a by determining the position of the first robot 100a as rotating instead of moving using a gyro sensor. position changes. Even when the motor rotating the rollers rotates, since the first robot 100a can only rotate without moving, the rotation of the motor does not unconditionally move the position of another sweeper. Therefore, in the case of using the gyro sensor, it is possible to recognize the case where the position of the first robot 100a is only rotated without any change, the case where both the position and the rotation are changed, or only the position is changed. without rotation. Therefore, using the encoder and the gyro sensor, the first robot 100a can accurately calculate the first coordinate transformed from the previous position to the current position. In addition, this information can be transmitted to the network through the communication unit 1100 of the first robot 100a, and can be transmitted to the second robot 100b through the network.

The second coordinates are measured through signals transmitted and received between the first robot 100a and the second robot 100b (for example, a UWB module may be used to transmit and receive signals). Since the first robot 100a exists in the sensing area of the second robot 100b, the second coordinates can be calculated when the signal is transmitted.

Referring to FIG. 9, it can be seen that the two coordinate values can be represented by the H equal sign.

Meanwhile, in order to obtain H, data when the first robot 100a is placed in the sensing area of the second robot 100b may be continuously accumulated. Such information is shown in Equation 2 below. When the first robot 100a is located in the sensing area, a large amount of data is accumulated. At this time, the data is a plurality of first coordinates and a plurality of second coordinates corresponding to each other. <Formula 2>

Here, to obtain H, the least square method may be used, as shown in Equation 3 below. <Formula 3>

On the other hand, after H is calculated, H may be recalculated to update H when the first coordinate and the second coordinate are successively acquired. As the amount of data for calculating H increases, H has a more reliable value.

Using the transformation equation (H) calculated in this way, even when it is difficult for the second robot 100b and the first robot 100a to directly transmit and receive signals, the second robot 100b can follow the first robot 100a. When the second robot 100b cannot directly receive a signal about the position of the first robot 100a through the sensing unit because the first robot 100a temporarily leaves the sensing area of the second robot 100b, the second robot 100b can use the The transformed expression of the transmitted driving information of the first robot 100a is used to calculate the position of the first robot 100a compared with the position of the second robot 100b.

When the second robot 100b determines the position of the first robot 100a through the transformation equation, the first coordinate corresponding to R must be transmitted through the communication unit 1100 of the second robot 100b. In other words, since R and H are known, M can be calculated. M is the position of the first robot 100a relative to the second robot 100b. Accordingly, the second robot 100b can know the relative position with respect to the first robot 100a, and the second robot 100b can move behind the first robot 100a.

On the other hand, based on the above technology, when any one of the second robot 100b and the first robot 100a first touches the charging stand and then starts charging, the other robot saves the position of the charging stand of the any robot (the one that has started charging) After the second or first coordinates of the robot), move to its own charging stand. Since the position is saved, starting from the next cleaning, two robots can come together for subsequent cleanings even outside the sensing area.

As described above, the position of another robot can be obtained using the results of communication with each other without using map information, so that a mapless position recognition method can be used even while the first robot 100a and the second robot 100b are traveling. to get each other's positions.

As described above, the first robot 100a and the second robot 100b traveling by recognizing their respective positions can perform cooperative traveling as shown in FIG. 10 . At this time, as shown in FIG. 10 , the area to be cleaned where the first robot 100 a and the second robot 100 b travel may be divided into one or more zones Z1 to Z3 , and cleaning is performed in units of divided zones.

When starting to perform cooperative driving, the first robot 100a may start to clean the first zone Z1, while the second robot 100b stands by near the initial position of the first robot 100a. When the first robot 100a finishes cleaning the first zone Z1 above a predetermined reference level, the first robot 100a may transmit the information of the cleanable zone to the second robot 100b. For example, the first robot 100a may transmit the information of the first zone Z1, or the information of the route traveled by the first robot 100a in the first zone Z1 to the second robot 100b, so that the second robot 100b follows the first robot 100b Travel on the travel path of 100a.

The first robot 100a can transmit the information of the cleaning area to the second robot 100b, and then clean the remaining part of the first zone Z1, or move to the second zone Z2 to clean the second zone Z2, and the second robot 100b can be based on The first robot 100a cleans the first zone Z1 based on the received information. In this case, based on the information received from the first robot 100a, the second robot 100b may perform cleaning while traveling along the path that the first robot 100a has traveled.

While the second robot 100b is cleaning the first zone Z1, the first robot 100a is cleaning the second zone Z2, and then moves to the third zone Z3, wherein, when the cleaning of the second zone Z2 is completed, the third zone Z3 is the next Unswept area. At this time, when the first robot 100a transmits the information of the cleanable area of the first zone Z1 to the second robot 100b, it may also transmit the information of the cleanable area of the second zone Z2 to the second robot 100b. Therefore, after finishing the cleaning of the first zone Z1, the second robot 100b may move to the second zone Z2 to perform cleaning of the second zone Z2.

Then, the first robot 100a may clean the third zone Z3, and the second robot 100b may clean the second zone Z2 while the first robot 100a cleans the third zone Z3. When the first robot 100a finishes cleaning the third zone Z3, likewise, the second robot 100b may move to the third zone Z3 to clean the third zone Z3 while traveling along the path that the first robot 100a has traveled.

As described above, the system 1 performing cooperation of the first robot 100a and the second robot 100b may perform cooperative driving according to the driving states of the first robot 100a and the second robot 100b.

For example, when at least one of the first robot 100a and the second robot 100b is in a driving state that does not allow cooperative driving, or when there is concern that at least one of the first robot 100a and the second robot 100b may cause an error during cooperative driving , cooperative driving may not be performed.

As a specific example, due to the fact that at least one of the first robot 100a and the second robot 100b has a battery charging capacity that does not meet a predetermined reference capacity, the cooperative driving cannot be completed, or because at least one of the first robot 100a and the second robot 100b If one is located in an area that does not allow recognition of each other's positions, and the other robot does not perform position recognition and it is difficult to start cooperative driving, then cooperative driving may not be performed.

In other words, when the driving states of the first robot 100a and the second robot 100b satisfy a predetermined reference state, the cooperative driving of the system 1 can be performed.

Hereinafter, an embodiment of the system 1 for performing cooperative driving according to an initial driving state will be explained.

Embodiments of the system 1 may include: a plurality of mobile robots 100a, 100b that clean while driving in an area to be cleaned; and a controller 600 that communicates with the plurality of mobile robots 100a, 100b and will use The control commands for remote control are sent to a plurality of mobile robots 100a, 100b.

The plurality of mobile robots 100a, 100b may include two robots, preferably a first robot 100a and a second robot 100b.

Here, the first robot 100a may be a robot that inhales dust while traveling forward in an area where cooperative travel is performed, and the second robot 100b may be a robot that wipes off dust while traveling behind an area where the first robot 100a travels.

In other words, for cooperative driving, the first robot 100a may inhale dust while driving forward, and the second robot 100b may perform cleaning to wipe the dust on the path that the first robot 100a inhales dust while driving forward.

In the following, the plurality of mobile robots 100a, 100b is used to denote the plurality of mobile robots 100a, 100b including both the first robot 100a and the second robot 100b.

The controller 600 may be at least one of the terminal 300, a control device of the server 500, and remote controllers of the first robot 100a and the second robot 100b.

Therefore, the first robot 100a and the second robot 100b may be driven by receiving control commands from at least one of the terminal 300, the control device of the server 500, and the remote controllers of the first robot 100a and the second robot 100b.

The controller 600 is preferably a mobile terminal.

Therefore, the first robot 100 a and the second robot 100 b can execute the cooperative driving mode through the terminal 300 .

The cooperative running of the system 1 may be performed by transmitting a control command for the cooperative running from the controller 600 to the first robot 100a and the second robot 100b.

After receiving from the controller 600 a control instruction of the cooperative driving mode for cooperatively cleaning the area to be cleaned, the plurality of mobile robots 100a, 100b confirm whether the driving states of the plurality of mobile robots 100a, 100b meet the preset reference condition, and execute the actions of the cooperative driving mode according to the confirmation result.

In other words, when receiving a control command, the plurality of mobile robots 100a, 100b can compare their respective driving states with the reference conditions, so as to perform actions in the cooperative driving mode according to the comparison results.

The cooperative driving mode may indicate an operation mode in which a plurality of mobile robots 100a, 100b perform cooperative driving.

The cooperative driving mode may be a mode in which a plurality of mobile robots 100a, 100b are sequentially driven and perform cleaning.

For example, the cooperative driving mode may be a mode in which the first robot 100a and the second robot 100b perform cleaning within a predetermined area while being sequentially driven.

The cooperative travel mode may be a mode in which any one of the plurality of mobile robots 100a, 100b cleans while traveling behind an area that the other robot has already cleaned while traveling forward.

For example, cleaning may be performed while the first robot 100a is traveling forward and the second robot 100b is traveling behind it.

The flow of executing the cooperative driving mode in the system 1 can be shown in FIG. 12 . In addition, according to the flow shown in FIG. 12 , the conditions for executing the cooperative driving mode in the system 1 may be as shown in FIG. 13 .

First, when the plurality of mobile robots 100a, 100b receive a control instruction for performing a cooperative driving mode (S10), the plurality of mobile robots 100a, 100b may stop the operation performed at the current position to confirm the driving state (S20) . Here, when receiving the control instruction, the plurality of mobile robots 100a, 100b may already be executing another operation mode, or may be respectively docked with the charging stand 400a, 400b. The plurality of mobile robots 100a, 100b may receive control instructions to confirm the driving state at the current location regardless of whether another operation mode is already being performed or docked with the charging stand 400a, 400b (S20).

The traveling state may represent a state for performing cooperative traveling of each of the plurality of mobile robots 100a, 100b. In addition, the driving state may include the meaning that the plurality of mobile robots 100a, 100b have at least one state information compared with the reference condition.

As shown in FIG. 13 , the driving state may include the respective map sharing state (driving state 1 ), battery charging state (driving state 2 ) of a plurality of mobile robots 100a, 100b , and the charging seat position information state of another robot (driving state 2 ). At least one of status 3). In other words, when confirming the driving state (S20), the state (driving state 1), the battery charging state (driving state 2), and the location information of the charging stand of the other robot can be shared among multiple mobile robots 100a and 100b. Confirm at least one of the states (driving state 3).

The map sharing status may indicate whether the respective map information of the plurality of mobile robots 100a, 100b is shared with each other. In other words, the map sharing status may be a status of whether the map information of the second robot 100b is shared with the first robot 100a and whether the map information of the first robot 100a is shared with the second robot 100b.

The state of battery charge may represent the state of charge capacity of each of the plurality of mobile robots 100a, 100b. In other words, the battery charging state may be the respective states of the battery charging capacity of the first robot 100a and the battery charging capacity of the second robot 100b.

The state of the position information of the charging base of another robot may indicate whether the position information of the charging base of another robot is stored in each of the plurality of mobile robots 100a, 100b. In other words, the state of the location information of the charging stand can be whether the location information of the charging stand 400b of the second robot 100b is stored in the first robot 100a as the pairing robot, and whether the position information of the charging stand 400a of the first robot 100a is stored in the pairing robot 100a. The state of the robot in the second robot 100b.

The driving status may include all of the following statuses: the respective map sharing status of the plurality of mobile robots 100a, 100b, the charging status of the battery, and the location information status of another robot's charging stand.

After the plurality of mobile robots 100a, 100b respectively confirm the driving state (S20), the plurality of mobile robots 100a, 100b can communicate with each other to share the confirmation result. Therefore, each of the plurality of mobile robots 100a, 100b can recognize the running states of all the plurality of mobile robots 100a, 100b. Then, at least one of the plurality of mobile robots 100a, 100b may compare the traveling state with the reference condition to confirm whether the traveling state complies with the reference condition (S30 to S50).

The reference condition may be a condition of a driving state in which the cooperative driving mode can be executed. In other words, the reference condition may represent an initial state condition under which the cooperative driving mode can be executed. Therefore, the reference condition can be preset as a condition corresponding to the driving state.

The reference conditions may include at least one of the following conditions: the first condition is that the plurality of mobile robots 100a, 100b each share a map; the second condition is that the respective battery charging capacities of the plurality of mobile robots 100a, 100b are higher than the preset reference capacity ; and the third condition is to store the position information of the charging stand of another robot in each of the plurality of mobile robots 100a, 100b.

Preferably, the reference condition may include all the first condition to the third condition. Therefore, the plurality of mobile robots 100a, 100b may compare the driving state with the reference conditions (S30 to S50) to confirm whether the respective map sharing states of the plurality of mobile robots 100a, 100b meet the first condition (S30), and Confirming whether the state of charge of each battery of the plurality of mobile robots 100a, 100b meets the second condition (S40), and confirming whether the state of the charging seat position information of another robot of each of the plurality of mobile robots 100a, 100b meets the second condition Three conditions (S50).

As a result of confirming whether the driving state meets the reference condition (S30 to S50), when the plurality of mobile robots 100a, 100b each share a map, and each of the plurality of mobile robots 100a, 100b has a battery charging capacity higher than a preset reference capacity The plurality of mobile robots 100a, 100b may perform the action of the cooperative driving mode according to the confirmation result of whether the location information of the charging stand of another robot is stored in each of the plurality of mobile robots 100a, 100b (S50).

As a result of confirming whether the respective map sharing states of the plurality of mobile robots 100a, 100b meet the first condition (S30), when the respective map sharing states of the plurality of mobile robots 100a, 100b meet the first condition, the plurality of mobile robots 100a, 100b The robots 100a, 100b can confirm whether the battery charge capacity states of the plurality of mobile robots 100a, 100b satisfy the second condition ( S40 ). Then, as a result of confirming whether the respective map sharing states of the plurality of mobile robots 100a, 100b meet the first condition (S30), when the respective map sharing states of the plurality of mobile robots 100a, 100b do not meet the first condition, the plurality of The mobile robots 100a, 100b may not execute the cooperative driving mode (R2). In other words, when the plurality of mobile robots 100a, 100b each share a map, it can be determined that the plurality of mobile robots 100a, 100b can execute the cooperative driving mode through the shared map, and when the mobile robots 100a, 100b do not share the map, they can It is determined that a plurality of mobile robots 100 a , 100 b cannot execute the cooperative driving mode because they do not share the map information, and the cooperative cleaning in the same area is restricted, so the cooperative driving mode is not executed ( R2 ).

As a result (S40) of confirming whether the respective battery charging capacities of the plurality of mobile robots 100a, 100b meet the second condition, when the respective battery charging capacities of the plurality of mobile robots 100a, 100b meet the second condition, the plurality of mobile robots 100a, 100b The mobile robots 100a, 100b can confirm whether the state of the location information of the charging bases of the plurality of mobile robots 100a, 100b meets the third condition ( S50 ). In addition, as a result of confirming whether the respective battery charging capacity states of the plurality of mobile robots 100a, 100b meet the second condition (S40), when the respective battery charging capacities of the plurality of mobile robots 100a, 100b do not meet the second condition, then The plurality of mobile robots 100a, 100b may not execute the cooperative driving mode (R2). In other words, when the respective battery charge capacity states of the plurality of mobile robots 100a, 100b are higher than the reference capacity, it can be determined that the plurality of mobile robots 100a, 100b can perform the cooperative driving mode with the charge capacity, and when the plurality of mobile robots When the respective battery charging capacity states of 100a, 100b are lower than the reference capacity, it may be determined that the plurality of mobile robots 100a, 100b cannot execute the cooperative driving mode due to insufficient charging capacity, and thus do not execute the cooperative driving mode (R2). In this case, at least one of the first robot 100a and the second robot 100b may output a notification regarding insufficient charging capacity of the battery. For example, a notification that charging is required can be output from a robot whose charging capacity is lower than a reference capacity.

For the plurality of mobile robots 100a, 100b, as a result of confirming whether the position information of the charging stand 400a, 400b of the other robot is stored in each of the plurality of mobile robots 100a, 100b (S50), when the other When the location information of the robot's charging stand 400a, 400b is stored in each of the mobile robots 100a, 100b, the robot that needs to drive ahead can move to a position within a predetermined distance from another robot to perform a cooperative driving mode (R1 ). As a result of confirming whether the position information of the charging stand 400a, 400b of the other robot is stored in each of the plurality of mobile robots 100a, 100b (S50), when the position information of the charging stand 400a, 400b of the other robot is not stored When in each of the plurality of mobile robots 100a, 100b, the plurality of mobile robots 100a, 100b may recognize each other's positions (S60) to perform actions in the cooperative driving mode according to the recognition result.

As a result of confirming whether the position information status of the charging stand 400a, 400b of each of the plurality of mobile robots 100a, 100b meets the third condition (S50), when the charging of each of the plurality of mobile robots 100a, 100b When the position information status of the seats 400a and 400b meets the third condition, the first robot 100a can move to a position within a predetermined distance in front of the second robot 100b to execute the cooperative driving mode ( R1 ). For example, the first robot 100a may move to a point 1m in front of the second robot 100b to perform a cooperative driving mode by guiding the second robot 100b. Then, as a result of confirming whether the position information state of the charging stand 400a, 400b of the other robot of each of the plurality of mobile robots 100a, 100b satisfies the third condition (S50), when the plurality of mobile robots 100a, 100b When the position information status of the charging stand 400a, 400b of the other robot of each of the plurality of mobile robots 100a, 400b does not meet the third condition, each of the plurality of mobile robots 100a, 100b can perform an operation of identifying each other's positions (S60). In other words, when the location information of the charging stand 400a, 400b of another robot is stored in each of the plurality of mobile robots 100a, 100b, it can be determined that the plurality of mobile robots 100a, 100b can perform cooperation with the stored location information driving mode, so that the first robot 100a moves to a position within a predetermined distance in front of the second robot 100b to execute the cooperative driving mode (R1), and when the position information of the charging stand 400a, 400b of the other robot is not stored in the plurality of moving When in each of the two robots 100a, 100b, it may be determined that the initial position and the end position of the opponent robot cannot be recognized because the position of the charging stand 400a, 400b of the other robot cannot be recognized, and thus an operation of recognizing each other's positions is performed (S60).

For a plurality of mobile robots 100a, 100b, as a result of recognizing each other's positions (S60), when each other's positions are recognized (S70), the robot that needs to drive ahead can move to a location within a predetermined distance from another robot. position to execute cooperative driving mode (R1). For the plurality of mobile robots 100a, 100b, as a result of recognizing each other's positions (S60), when any one robot does not recognize the position of the other robot (S80), it can be selected from the plurality of mobile robots 100a, 100b At least one of the output notifications notifies the unrecognized robot to move to the vicinity of another robot, and then the action of the cooperative driving mode can be performed according to the movement result. When an unrecognized robot moves into the vicinity of another robot, the unrecognized robot can use the results of communication with the other robot to perform a position recognition operation for recognizing the position of the other robot, and then can drive according to the preset Refer to Executing Cooperative Driving Mode (R3). For the plurality of mobile robots 100a, 100b, as a result of recognizing each other's position (S60), when all the plurality of mobile robots 100a, 100b fail to recognize the position (S80), the first robot 100a may move to A position within a predetermined distance of the vicinity of the second robot 100 b to perform an action for executing the cooperative driving mode ( R4 ).

For the plurality of mobile robots 100a, 100b, as a result of recognizing each other's positions (S60), when recognizing each other's positions (S70), the first robot 100a can move to within a predetermined distance in front of the second robot 100b. position to execute cooperative driving mode (R1). For example, the first robot 100a may move to a point 1m in front of the second robot 100b to perform a cooperative driving mode by guiding the second robot 100b. In addition, when any one of the plurality of mobile robots 100a, 100b does not recognize the position of another robot (S80), a notification may be output from at least one of the plurality of mobile robots 100a, 100b, notifying the unrecognized The robot moves to the vicinity of another robot, and then, when the unrecognized robot is moved to the vicinity of another robot by the user, the unrecognized robot can use the same method as shown in Figure 9 for position recognition without a map. As a result of the communication of the other robot, the position recognition operation for recognizing the position of the other robot is performed, and then the cooperative driving mode (R3) is executed based on the driving reference. For example, when the first robot 100a does not recognize the position of the second robot 100b, the first robot 100a can move to a position within the radius of 50 cm of the second robot 100b, and then identify the position according to the non-map position recognition method shown in FIG. The position of the second robot 100b is identified. On the contrary, when the second robot 100b does not recognize the position of the first robot 100a, the second robot 100b can move to the position within the radius of 50 cm of the first robot 100a, and then according to the position recognition method without map shown in FIG. 9 The position of the first robot 100a is recognized. Here, the nearby area of the other robot may represent a distance where the view angle overlaps with the camera 131 of the other robot, and may be a radius of 50 cm or about 50 cm of the other robot. Then, the plurality of mobile robots 100a, 100b may execute a cooperative driving mode ( R3 ) based on the driving reference. Here, the driving reference may be a reference to change or restrict settings of the cooperative driving mode. For example, the area set in the cooperative driving mode can be divided into two or more small areas to be driven. Therefore, even during the execution of the cooperative driving mode, the plurality of mobile robots 100a, 100b can try to recognize each other's positions, and can correct the result of the position recognition according to the result of the trial. If all the plurality of mobile robots 100a, 100b fail to recognize the position (S80), the first robot 100a may move to a position within a predetermined distance from the second robot 100b, and then the first robot 100a and the second robot 100b each The position of another robot can be recognized according to the mapless position recognition method shown in FIG. 9, and then an action (R4) for executing the cooperative driving mode is performed.

The system 1 in which the cooperative driving mode is executed according to whether the driving state meets the reference condition can execute the cooperative driving using the method of performing cooperative driving as shown in FIG. 14 .

The method of performing cooperative driving (hereinafter referred to as the implementation method) is a method of performing cooperative driving by the first robot 100a and the second robot 100b. As shown in FIG. 14, the method may include: the first robot 100a and the second robot 100b receiving an instruction to perform cooperative driving (S100); comparing the driving states of the first robot 100a and the second robot 100b with preset reference conditions by the first robot (S200); and by the first robot 100a and the second robot 100b respectively An action of cooperative driving is executed according to the comparison result ( S300 ).

Here, the first robot 100a may inhale dust while traveling forward in an area where cooperative travel is performed, and the second robot 100b may wipe dust while traveling behind an area where the first robot 100a travels. In other words, when cooperative driving is performed according to the execution method, the first robot 100a may inhale dust while guiding the second robot 100b, and the second robot 100b may wipe dust while following the first robot 100a.

Receiving an Instruction to Perform Cooperative Travel ( S100 ) Instructions to perform cooperative travel by each of the first robot 100 a and the second robot 100 b may be received.

Receiving an instruction to perform cooperative travel ( S100 ) may stop operations performed by the first robot 100 a and the second robot 100 b at the current position.

The comparison of the driving state with the preset reference condition (S200) may compare the driving state with the preset reference condition of the first robot 100a.

The comparison (S200) of the driving state with the preset reference condition may include comparing the respective map sharing state and battery charging capacity state of the first robot 100a and the second robot 100b with the first condition and the second condition of the reference conditions ( S210), and according to the comparison result with the first condition and the second condition, compare the stored state of the charging seat position information of the other robot of the first robot 100a and the second robot 100b with the third condition in the reference condition (S220).

The action of performing cooperative driving ( S300 ) may be performed by at least one of the first robot 100 a and the second robot 100 b according to a comparison result of comparing the driving state with a preset reference condition ( S200 ).

The action of performing cooperative driving ( S300 ) may be that the first robot 100 a moves to a position within a predetermined distance from the second robot 100 b when the driving state meets all the first to third conditions.

In this case, the first robot 100a may move to a position within x m in front of the second robot 100b to initiate cooperative driving.

The action of performing cooperative driving (S300) can be recognized by the first robot 100a and the second robot 100b when the driving state meets the first condition and the second condition, so that the first robot 100a and the second robot 100b At least one of the actions of performing cooperative driving according to the recognition result.

The action of performing cooperative driving (S300) may be when any robot does not recognize the position of another robot as a result of recognizing each other's positions, at least one of the first robot 100a and the second robot 100b outputs a notification to notify the unrecognized The robot moves to the vicinity of another robot, and then performs the action of cooperative driving according to the result of the movement.

In this case, the unidentified robot can move within the radius y cm of the other robot to perform the action of cooperative driving.

The action of performing cooperative driving (S300) can be performed by an unrecognized robot to perform a position recognition operation for identifying the location of another robot by using the communication result with another robot when the unrecognized robot moves near another robot. location, and then perform cooperative driving based on preset driving references.

The execution method including receiving an instruction to perform cooperative driving (S100), comparing the driving state with a preset reference condition (S200), and executing an action of cooperative driving (S300) can be implemented on a program recording medium as computer-readable codes. The computer-readable medium includes all types of recording devices in which data readable by a computer system are stored. Examples of computer readable media include hard disk drive (HDD), solid state drive (SSD), silicon disk drive (SDD), ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. , can also be implemented in the form of a carrier wave (for example, transmitted over the Internet). In addition, the computer may include a control unit 1800 .

Hereinafter, Embodiment 1 of the mobile robot system 1 that executes a preset scene in response to a trap state that occurs when performing cooperative travel will be described with reference to FIGS. 16 to 21 .

Referring to FIG. 16, when the first robot 100a and the second robot 100b enter the cooperative driving mode and recognize each other's position information, the first robot 100a can suck pollutants in the area to be cleaned in front of the second robot 100b. In addition, as shown in the figure, the area to be cleaned can be divided into one or more areas Z4 to Z6, and the area to be cleaned can be cleaned in units.

The fourth zone Z4 refers to a cleaning zone in which the second robot 100b is expected to travel after the first robot 100a finishes traveling. The fifth zone Z5 refers to a cleaning zone in which the first robot 100a is expected to travel. The sixth zone Z6 refers to the cleaning zone where the first robot 100a is expected to travel after cleaning in the fifth zone Z5.

At this time, in the drawing, the fourth zone Z4 to the sixth zone Z6 are divided by the outer wall and the entrances D1 and D2 as boundaries. However, the present embodiment is not limited thereto, and the fourth zone Z4 to the sixth zone Z6 may be divided based on a predetermined size, or based on exterior walls, corners, furniture, etc., or may be effectively executed by the mobile robot system as described above. 1 method of collaborative driving to divide.

During the cooperative travel of the mobile robot system 1, the first robot 100a may travel along the first travel path L1, and the second robot 100b may travel along the second travel path L2. In this case, the first path L1 refers to all paths for the first robot 100a to clean the area to be cleaned, such as bypassing obstacles. In addition, the second driving path L2 refers to all paths for the second robot 100b to clean the area to be cleaned, and can be set to be the same as the driving path that the first robot 100a has traveled. However, when an obstacle that does not exist during travel of the first robot 100a appears, the second robot 100b may travel on a modified path, such as a detour.

Hereinafter, a scene according to a trap state and a case where the first robot 100 a is in the trap state will be explained with reference to FIGS. 17 and 18 .

Referring to FIG. 17 , it shows a state where the first robot 100a finishes cleaning the fifth zone Z5, and the second robot 100b finishes cleaning the fourth zone Z4. Also, a state is shown in which the entrance D1 allowing the robot to move from the fifth zone Z5 to the sixth zone Z6 is closed. Therefore, it refers to a case where the first robot 100a is in a trap state.

The trap state refers to the situation that the first robot 100a or the second robot 100b cannot enter the area to be cleaned that has not traveled. In other words, it refers to the situation where the first robot 100a and/or the second robot 100b cannot enter the uncleaned area. Therefore, the trap state of the first robot 100a in FIG. 17 refers to the state in which the first robot 100a finishes cleaning the fifth zone Z5 but cannot enter the sixth zone Z6, which is the expected cleaning zone.

In addition, in order to indicate the division of the cleaning area and whether it is possible to move to the cleaning area, whether to allow movement between the cleaning areas is displayed by opening and closing the first entrance D1 and the second entrance D2, but the embodiment is not limited thereto, and the trap The state includes a situation where the first robot 100a and the second robot 100b cannot enter the area to be cleaned that has not traveled due to various obstacles such as chairs, tables, furniture, etc. other than doors.

When the trap state occurs while the first robot 100a executes the cooperative travel mode of the mobile robot system 1, the first robot 100a executes the trap escape travel. The trap escape travel refers to a travel method in which the first robot 100a travels along the outer circumference or boundary of the cleaning area. In other words, the trap escape travel refers to a travel method in which the first robot 100a or the second robot 100b travels while pushing the outer periphery or boundary of the cleaning area that has traveled. The third path L3 refers to all paths that the first robot 100 a or the second robot 100 b travels while pushing the outer circumference or boundary of the cleaning area when performing trap escape travel.

The escape from the trap state means that the first robot 100a and/or the second robot 100b have entered an uncleaned area that has been unable to enter. Therefore, in the case where the first robot 100a is in the trap state and the second robot 100b is not in the trap state, when the first robot 100a performs the trap escape travel to escape from the trap state, that is, when the first robot 100a and the second robot 100b When neither is in a trap state, the first robot 100a and the second robot 100b perform cooperative driving again.

In addition, when the first robot 100a is in the trap state and the second robot 100b is not in the trap state, the second robot 100b can stand by for a preset first period of time. In addition, the second robot 100b may end the driving of the fourth zone Z4 being cleaned, and then stand by at the end point within a preset first period of time. When the first robot 100a escapes from the trap state while the second robot 100b is on standby, the second robot 100b releases the standby state to perform cooperative travel with the first robot 100a.

In addition, when the first robot 100a is in the trap state and the second robot 100b is not in the trap state, the second robot 100b can stand by for a preset first period of time, and then follow the fourth path in the cleaned fourth zone Z4 L4 is re-swept again. In this case, the re-cleaning period may be set as a preset second period. The fourth path L4 refers to all paths for re-cleaning of the area to be cleaned, for example, returning to the second path L2 that has been driven, or avoiding obstacles while driving for re-cleaning. When the first robot 100a is out of the trap state and the second robot 100b is re-cleaning in the cleaned fourth zone Z4, the second robot 100b and the first robot 100a perform cooperative driving again.

The first time period may be set to 1 minute, and the second time period may be set to 9 minutes, but this embodiment is not limited thereto. Since water may accumulate on the floor when the standby period of the second robot 100b becomes long, the first period may be set to an appropriate period to prevent water accumulation. In addition, the second period may be set as an appropriate period for the second robot 100b to perform re-cleaning and wait for the first robot 100a to escape from the trap state.

While the second robot 100b is re-cleaning within the second time period, the first robot 100a escapes from the trap state, and the second robot 100b stops re-cleaning to perform cooperative driving with the first robot 100a again.

FIG. 18 shows a view passing through a first period during which the second robot 100b stands by and a second period during which the second robot 100b performs re-cleaning in a case where the first robot 100a is in the trap state and the second robot 100b is not in the trap state.

When the first robot 100a fails to get out of the trap state within the first time period and the second time period, the second robot 100b releases the cooperative driving mode to return to the second charging stand 400b. At this time, the fifth path L5 for the second robot 100b to return to the second charging stand 400b refers to all paths returning to the second charging stand 400b after the first period of time when the second robot 100b is on standby and the second period of re-cleaning.

In addition, when the first robot 100a is in a trap state and the second robot 100b is not in a trap state, the second robot 100b can immediately release the cooperative driving mode to return to the second charging stand 400b without waiting for the first period of time, or When the first robot 100a is in the trap state, re-cleaning is performed within the second period of time.

In addition, when only the first robot 100a is in the trap state, the second robot 100b returns to the second charging stand 400b without canceling the cooperative driving mode, and then cleans according to the cooperative driving mode when the first robot 100a is out of the trap state. When the second robot 100b returns to the second charging base 400b, and the first robot 100a fails to get out of the trap state within a preset period of time, the second robot 100b can release the cooperative driving mode to end the cleaning.

In addition, when the first robot 100a is in the trap state and the second robot 100b is not in the trap state, the second robot 100b can clean the first robot 100a but has not yet traveled when the first robot 100a is running out of the trap. Five zone Z5 for cleaning.

Hereinafter, a scenario according to a situation where the second robot 100b is in a trap state will be explained with reference to FIG. 19 .

Referring to FIG. 19 , the first robot 100a is in the state of completing the cleaning of the fifth zone Z5, and the second robot 100b is in the state of completing the cleaning of the fourth zone Z4. In addition, a state is shown in which the entrance D2 allowing the robot to move from the fourth zone Z4 to the fifth zone Z5 is closed. Therefore, it refers to a situation where the second robot 100b is in a trap state.

When the first robot 100a is not in the trap state and the second robot 100b is in the trap state, the second robot 100b performs trap escape travel along the third path L3. As described above, the trap escape traveling along the third route L3 refers to a traveling method in which the second robot 100b travels while pushing the outer periphery or boundary of the cleaning area that has traveled.

When the second robot 100b is running out of the trap, the first robot 100a may stand by within the first period of time. In addition, the first robot 100a may end the driving of the fifth zone Z5 being cleaned, and then stand by at the end point for the first period of time. When the second robot 100b escapes from the trap state while the first robot 100a is on standby, the first robot 100a releases the standby state to perform cooperative travel with the second robot 100b.

In addition, when the first robot 100a is not in the trap state and the second robot 100b is in the trap state, the first robot 100a can stand by for a preset first period of time, and then follow the fourth path in the cleaned fifth zone Z5 L4 is re-swept again. At this time, the re-cleaning period can be set as the preset second period, and the fourth path L4 refers to all paths for re-cleaning the cleaning area, such as returning to the first path L1 that has been driven, or avoiding obstructions for re-cleaning. When the second robot 100b is out of the trap state and the first robot 100a is re-cleaning in the cleaned fifth zone Z5, the first robot 100a and the second robot 100b perform cooperative driving again.

Hereinafter, a scenario according to a situation where the second robot 100b is in a trap state will be explained with reference to FIG. 20 .

FIG. 20 shows views from a situation where the second robot 100b is in the trap state and the first robot 100a is not in the trap state, passing through the first period of the first robot 100a standby and the second period of the first robot 100a re-cleaning.

When the first robot 100a is in the trap state as described above, during the first period during which the second robot 100b stands by and the second period during which the second robot 100b cleans again, the first robot 100a fails to escape from the trap state. In this case, the first robot 100a releases the cooperative driving mode to perform independent driving, instead of letting the second robot 100b release the cooperative driving mode to return to the second robot 100b after the first period and the second period when the second robot 100b is in the trap state. Charging stand 400b.

In other words, when the first robot 100a is not in the trap state but the second robot 100b is in the trap state, when the first period during which the first robot 100a stands by and the second period during which the first robot 100a performs re-cleaning elapses, the first The robot 100a releases the cooperative travel mode, and enters the independent travel mode to perform independent travel. Therefore, the first robot 100a travels in the sixth zone Z6 which is the expected cleaning zone. In this case, the first path L1 traveled by the first robot 100a in the sixth zone Z6 refers to all paths for cleaning the cleaning zone.

In addition, when the first robot 100a is not in a trap state and the second robot 100b is in a trap state, the first robot 100a can immediately release the cooperative driving mode when the second robot 100b is in a trap state, and enter the independent driving mode to Travel in the sixth zone Z6 which is the expected sweeping zone.

In addition, when the first robot 100a is in a trap state and the second robot 100b is not in a trap state, the second robot 100b can immediately release the cooperative driving mode to return to the second charging stand 400b without waiting for the first period of time, or Re-cleaning is carried out during the second period. In other words, when the first robot 100a is not in the trap state, the first robot 100a can immediately release the cooperative driving mode to return to the first charging stand 400a when the second robot 100b is in the trap state.

In addition, when only the second robot 100b is in the trap state, the first robot 100a can return to the first charging stand 400a without canceling the cooperative driving mode, and then execute the cooperative driving mode again when the second robot 100b is out of the trap state, to perform coordinated driving. When the first robot 100a returns to the first charging base 400a and the second robot 100b fails to get out of the trap state within a preset period of time, the first robot 100a can release the cooperative driving mode to end cleaning.

Hereinafter, a scene according to a case where the first robot 100a and the second robot 100b are in a trap state will be explained with reference to FIG. 21 .

Referring to FIG. 21 , there is shown a state where both the first entrance D1 and the second entrance D2 are closed, and both the first robot 100 a and the second robot 100 b are in a trap state. However, this is divided for convenience of description, and the present embodiment is not limited thereto, but refers to all situations where the first robot 100a and the second robot 100b are in a trap state, including the first robot 100a and the second robot 100b cleaning in the same A trap state occurs while driving in the zone.

When both the first robot 100a and the second robot 100b are in a trap state, the first robot 100a and the second robot 100b respectively perform trap escape travel. In addition, when only the first robot 100a escapes from the trap state according to the trap escape travel, it operates according to the aforementioned scenario where the first robot 100a is not in the trap state and the second robot 100b is in the trap state. In addition, when only the second robot 100b escapes from the trap state according to the trap escape travel, it operates according to the aforementioned scene where the first robot 100a is in the trap state and the second robot 100b is not in the trap state.

Hereinafter, a method of performing cooperative travel of the mobile robot system 1 when a trap state occurs will be explained with reference to FIG. 22 .

FIG. 22 is a flowchart of a method of performing cooperative travel of the mobile robot system 1 when a trap state occurs.

Referring to FIG. 22 , step S1100 refers to a process in which the first robot 100a and the second robot 100b enter the cooperative driving mode by identifying each other's position information and execute the cooperative driving. At this time, the area to be cleaned can be divided into one or more areas Z4 to Z6, and the area is divided into units for cleaning.

In step S1200, it is determined whether the first robot 100a and the second robot 100b are in a trap state. At this time, according to the state of the trap, it is divided into three cases to execute the scenario. First, case A represents a case where the first robot 100a is in the trap state and the second robot 100b is not in the trap state. Case B represents a case where the first robot 100a is not in the trap state and the second robot 100b is in the trap state. Case C represents a case where both the first robot 100a and the second robot 100b are in a trap state.

In step S1300, the trap scenario according to case A is executed. 17 and 18, the trap scene according to situation A refers to the driving situation of the first robot 100a and the second robot 100b when the first robot 100a is in the trap state and the second robot 100b is not in the trap state.

Therefore, according to the trap scene of case A, when only the first robot 100a is in the trap state, the first robot 100a performs trap escape travel. When the first robot 100a is running out of the trap, the second robot 100b may stand by within a preset first period of time. In addition, the second robot 100b may end traveling of the cleaning area being cleaned, and then stand by at the point where the cleaning ends for the first period of time. When the first robot 100a is out of the trap state and the second robot 100b is in the standby state, the second robot 100b releases the standby state to perform cooperative driving with the first robot 100a again.

In addition, while the first robot 100a is running out of traps, the second robot 100b may stand by for a first period of time, and then re-clean in the cleaned area. In this case, the re-cleaning period may be set as a preset second period. When the second robot 100b performs re-cleaning within the second period while the first robot 100a escapes from the trap state, the second robot 100b stops the re-cleaning to perform cooperative driving with the first robot 100a again.

In addition, when the first robot 100a fails to get out of the trap state within the first time period when the second robot 100b is on standby and the second time period when the second robot 100b is re-cleaning, the second robot 100b releases the cooperative driving mode to return to the second charging Seat 400b.

In addition, when only the first robot 100a is in the trap state, the second robot 100b can immediately release the cooperative driving mode to return to the second charging stand 400b without waiting for the first period of time, or when the first robot 100a is in the trap state Re-cleaning is performed during the second period.

In addition, although only a representative scene is shown in the flowchart of FIG. 22, when only the first robot 100a is in a trap state, the second robot 100b can return to the second charging stand 400b without canceling the cooperative driving mode, and then When the first robot 100a is out of the trap state, the cooperative driving mode is executed again for cleaning. When the second robot 100b returns to the second charging base 400b, and the first robot 100a fails to get out of the trap state within a preset period of time, the second robot 100b can release the cooperative driving mode to end the cleaning.

In addition, when only the first robot 100a is in the trap state, the second robot 100b can clean the cleaning area that the first robot 100a has cleaned but the second robot 100b has not traveled.

In step S1310, it is confirmed whether or not the first robot 100a has escaped from the trap state as a result of the first robot 100a executing trap escape travel. When the first robot 100a is out of the trap state, neither the first robot 100a nor the second robot 100b is in the trap state. Therefore, cooperative travel is performed ( S1100 ). However, when the first robot 100a fails to escape from the trap state, the second robot 100b returns to the second charging stand 400b (S1600).

In step S1400, the trap scenario according to case B is executed. 19 and 20, the trap scene according to the situation B refers to the driving situation of the first robot 100a and the second robot 100b when the second robot 100b is in the trap state and the first robot 100a is not in the trap state.

Therefore, according to the trap scene of case B, when only the second robot 100b is in the trap state, the second robot 100b performs trap escape travel. When the second robot 100b is running out of the trap, the first robot 100a may stand by within a preset first period of time. In addition, the first robot 100a may finish traveling of the cleaning area being cleaned, and then stand by at the point where the cleaning is finished for the first period of time. When the second robot 100b is out of the trap state and the first robot 100a is in the standby state, the first robot 100a releases the standby state to perform cooperative driving with the second robot 100b again.

In addition, while the second robot 100b is running out of traps, the first robot 100a may stand by for a first period of time, and then re-clean in the cleaned area. In this case, the re-cleaning period may be set as a preset second period. When the first robot 100a performs re-cleaning within the second period while the second robot 100b escapes from the trap state, the first robot 100a stops the re-cleaning to perform cooperative driving with the second robot 100b again.

In addition, when the second robot 100b fails to get out of the trap state within the first time period when the second robot 100b is on standby and the second time period when the second robot 100b is re-cleaning, the first robot 100a can release the cooperative driving and enter independent driving mode to perform independent driving. In other words, while the second robot 100b is performing trap escape travel, the first robot 100a may stand by for a first time period, perform re-cleaning during a second time period, and then perform independent travel according to the independent travel mode.

In addition, although only a representative scene is shown in the flowchart of FIG. 22 , when only the second robot 100b is in the trap state, the first robot 100a can immediately release the cooperative driving mode to return to the first charging stand 400a, without When the second robot 100b is in the trap state, it will stand by in the first time period or re-clean in the second time period.

In addition, when only the second robot 100b is in the trap state, the first robot 100a can return to the first charging stand 400a without canceling the cooperative driving mode, and then perform cooperative driving again when the second robot 100b is out of the trap state. When the first robot 100a returns to the first charging base 400a and the second robot 100b fails to get out of the trap state within a preset period of time, the first robot 100a can release the cooperative driving mode to end cleaning.

In step S1410, it is confirmed whether the second robot 100b has escaped from the trap state as a result of the second robot 100b executing the trap escape travel. When the second robot 100b is out of the trap state, neither the first robot 100a nor the second robot 100b is in the trap state. Therefore, cooperative travel is performed ( S1100 ). However, when the second robot 100b fails to get out of the trap state, the first robot 100a performs independent traveling according to the independent traveling mode (S1700).

In step S1500, for the situation C that both the first robot 100a and the second robot 100b are in the trap state, the first robot 100a and the second robot 100b respectively perform trap escape travel. Then, in step S1510, it is confirmed whether the first robot 100a and the second robot 100b escape from the trap state respectively. When only the second robot 100b is out of the trap state, since it corresponds to the situation A, the trap scene of the situation A is executed ( S1300 ). When only the first robot 100 a is out of the trap state, since it corresponds to the situation B, the trap scene of the situation B is executed ( S1400 ). Also, when both the first robot 100a and the second robot 100b are out of the trap state, cooperative travel may be performed ( S1100 ).

Hereinafter, Embodiment 2 of the mobile robot system 1 that executes a preset scene in response to an error occurring when performing cooperative travel will be described with reference to FIGS. 23 to 29 .

The first robot 100a and the second robot 100b may enter a cooperative driving mode using the network 50 . Referring to FIG. 23, when the first robot 100a and the second robot 100b enter the cooperative driving mode and recognize each other's position information, the first robot 100a can travel before the second robot 100b to inhale the pollution in the zone Z4 to be cleaned thing. Here, pollutants may include all inhalable substances present in the zone to be cleaned Z4, such as dust, foreign objects and debris. In addition, the second robot 100b may travel along the path L1 traveled by the first robot 100a to wipe the floor in the zone Z4 to be cleaned. Here, wiping the floor by the second robot 100b may mean wiping substances that the first robot 100a cannot inhale, such as liquid, by mopping the floor. However, there may be a case where at least one of the first robot 100a and the second robot 100b makes an error to stop the cooperative travel while performing the cooperative travel. In this case, the first robot 100a and the second robot 100b may execute a preset scene in response to an error occurring while performing cooperative driving.

Table 1 shows a table of first to seventh embodiments in which preset scenarios are executed by the first robot 100a and the second robot 100b in response to an error occurring while executing cooperative driving. In Table 1, "Error" indicates a state in which the first robot 100a or the second robot 100b cannot continuously perform cooperative driving, such as being stuck by an obstacle, falling off the rollers, or malfunctioning of a motor that rotates the rollers. In addition, "OK" indicates a state in which the first robot 100a or the second robot 100b can continuously perform cooperative travel without error.

In Table 1, for convenience of explanation, different reference numerals are assigned to errors in the first embodiment to the seventh embodiment, respectively. In addition, it should be understood that each embodiment described below is independent. Meanwhile, the first robot 100a and the second robot 100b may include a button for receiving a recovery instruction from a user. The first robot 100a and the second robot 100b may perform cooperative driving again upon receiving a recovery command, and recognize each other's position information after solving an error. The restoration command relates to the second embodiment, the third embodiment, the sixth embodiment, and the seventh embodiment which will be described later. Hereinafter, the first to seventh embodiments will be described in detail with reference to Table 1. FIG.

[Table 1] Implementation State of the first robot 100a State of the second robot 100b 1 error (a) OK 2 error (b) OK 3 error (c) OK 4 error (a) error (a) 5 OK error (b) 6 OK error (c) 7 OK error (a)

The first embodiment represents a scenario in a case where an error (a) occurs to the first robot 100 a and a preset standby time period has elapsed while performing cooperative travel. In this case, the first robot 100a may turn off the power after a preset standby time period. Here, the preset standby time period may be 10 minutes. On the other hand, referring to FIG. 24A , in the first embodiment, the second robot 100b may release the cooperative driving mode and travel to the point P1 (L2) where the first robot 100a has traveled, and then return to the charging stand 400b (L3). Here, the point P1 where the first robot 100a has traveled is the position of the first robot 100a when the error (a) occurred. In other words, the second robot 100b may travel to the point P1 (L2) where the first robot 100a has ingested the pollutant, wipe the floor, and then return to the second charging stand 400b (L3). On the other hand, as another implementation of the first embodiment, it may be considered that the second robot 100b releases the cooperative driving mode, and then performs independent driving without returning to the second charging stand 400b. The second embodiment shows that while performing cooperative driving, the first robot 100a has an error (b), but the error (b) is resolved, and the first robot 100a receives a recovery instruction, and the first robot 100a and the second robot 100b are in A scene where the location information of each other is recognized within a preset standby period. In this case, the first robot 100a and the second robot 100b can perform cooperative travel again. Here, the preset standby period may be 10 minutes. On the other hand, referring to FIG. 24B , in the second embodiment, the second robot 100b can drive again in the area to be cleaned that it has already driven (L4) during the time from when the error occurs (b) to when the cooperative driving is performed again. . In other words, when the second robot 100b stays in place during the standby period, since the floor of the standby point may be wet with water, the second robot 100b may wipe again the floor of the area to be cleaned that has been wiped. On the other hand, as another implementation of the second embodiment, it may be considered that the first robot 100a and the second robot 100b release the cooperative driving mode without performing cooperative driving, and then perform independent driving respectively. The third embodiment shows that an error (c) occurs to the first robot 100a while performing cooperative driving, and the error (c) is resolved, the first robot 100a receives a recovery instruction, but the first robot 100a and the second robot 100b are in A scene where the location information of each other is not recognized within the preset standby period. Here, the preset standby period may be 10 minutes. Referring to FIG. 24C , the first robot 100 a may release the cooperative driving mode, and then perform independent driving ( L5 ). Also, the second robot 100b may release the cooperative driving mode and travel to the point P2 ( L6 ) where the first robot 100a has traveled, and then return to the second charging stand 400b ( L7 ). Here, the point P2 where the first robot 100a has traveled is the position of the first robot 100a when the error (c) occurred. In other words, the second robot 100b may travel to the point P2 (L6) where the first robot 100a has inhaled the pollutant, wipe the floor, and then return to the second charging stand 400b (L7). On the other hand, as another implementation of the third embodiment, it may be considered that the second robot 100b releases the cooperative driving mode, and then performs independent driving without returning to the second charging stand 400b. In addition, as another implementation of the third embodiment, it may be considered that the first robot 100a and the second robot 100b release the cooperative driving mode, and then return to the charging stand 400a, 400b respectively. In addition, as another implementation of the third embodiment, after the first robot 100a and the second robot 100b release the cooperative driving mode, it can be considered that the first robot 100a returns to the first charging stand 400a, and the second robot 100b performs independent driving .

The fourth embodiment represents a scenario where an error occurs in both the first robot 100a and the second robot 100b, and a preset standby period has elapsed while performing cooperative driving. In other words, in the fourth embodiment, the first robot 100 a makes an error (d), and the second robot 100 a makes an error (e). Referring to FIG. 25, the first robot 100a and the second robot 100b may respectively turn off their power sources after a preset standby period. Here, the preset standby period may be 10 minutes.

The fifth embodiment represents a scene in a case where an error (f) occurs to the second robot 100 b and a preset standby time period has elapsed while performing cooperative travel. In this case, the second robot 100b may turn off the power after a preset standby period. Here, the preset standby period may be 10 minutes. Meanwhile, referring to FIG. 26A , in the fifth embodiment, the first robot 100 a may release the cooperative driving mode, and then perform independent driving ( L8 ). On the other hand, as another implementation of the fifth embodiment, it may be considered that the first robot 100a releases the cooperative travel mode, and then returns to the charging stand 400a without performing independent travel.

The sixth embodiment shows that an error (g) occurs to the second robot 100b while performing cooperative driving, but the error (g) is resolved, and the second robot 100b receives a recovery instruction, and the first robot 100a and the second robot 100b are in the A scene where the location information of each other is recognized within a preset standby period. In this case, the first robot 100a and the second robot 100b can perform cooperative travel again. Here, the preset standby period may be 10 minutes. On the other hand, referring to FIG. 26B , in the sixth embodiment, the first robot 100a can drive again in the area to be cleaned that it has already driven (L9) during the period from when an error occurs (g) to when cooperative driving is performed again. . On the other hand, as another embodiment of the sixth embodiment, it may be considered that the first robot 100a and the second robot 100b cancel the cooperative driving mode without performing cooperative driving, and then perform independent driving respectively.

The seventh embodiment shows that an error (h) occurs to the second robot 100b while performing cooperative driving, and the error (h) is resolved, the second robot 100b receives a recovery instruction, but the first robot 100a and the second robot 100b are in the A scene where the location information of each other is not recognized within the preset standby period. Here, the preset standby period may be 10 minutes. Referring to FIG. 26C , the first robot 100 a may release the cooperative driving mode, and then perform independent driving ( L10 ). In addition, the second robot 100b may release the cooperative driving mode and travel to the point P3 where the first robot 100a has traveled, and then return to the second charging stand 400b. Here, the point P3 where the first robot 100a has traveled is the position of the first robot 100a when the error (h) occurred. In other words, the second robot 100b may travel to the point P3 ( L11 ) where the first robot 100a has inhaled the pollutant, wipe the floor, and then return to the second charging stand 400b ( L12 ). On the other hand, as another implementation of the seventh embodiment, it may be considered that the first robot 100a releases the cooperative driving mode, and then returns to the first charging stand 400a without independent driving. In addition, as another implementation of the seventh embodiment, it can be considered that the second robot 100b releases the cooperative driving mode, and then performs independent driving without returning to the second charging stand 400b, and the first robot 100a releases the cooperative driving mode, and then performs independent driving. Travel or return to charging stand 400a.

Hereinafter, the mobile robot system 1 that executes a preset scene in response to getting stuck while executing cooperative driving will be explained with reference to FIGS. 27A to 28C .

The first robot 100a and the second robot 100b may enter a cooperative driving mode using the network 50 . Referring back to FIG. 23 , when the first robot 100a and the second robot 100b enter the cooperative driving mode and recognize each other's position information, the first robot 100a can travel before the second robot 100b to suck in the to-be-cleaned area Z4. pollutants. Here, pollutants may include all inhalable substances present in the zone to be cleaned Z4, such as dust, foreign objects and debris. In addition, the second robot 100b may travel along the path L1 traveled by the first robot 100a to wipe the floor in the zone Z4 to be cleaned. Here, wiping the floor by the second robot 100b may mean wiping substances that the first robot 100a cannot inhale, such as liquid, by mopping the floor. However, there may be a case where at least one of the first robot 100a and the second robot 100b gets stuck to stop the cooperative traveling while performing the cooperative traveling. In this case, the first robot 100a and the second robot 100b may execute a preset scene in response to getting stuck while performing cooperative driving.

Table 2 shows a table of the first to seventh embodiments in which preset scenarios are executed by the first robot 100 a and the second robot 100 b in response to getting stuck while performing cooperative driving. In Table 2, "trapped" means that the user picks up the moving first robot 100a or the second robot 100b and places them in different locations. In addition, "OK" indicates a state in which the first robot 100a or the second robot 100b can continuously perform cooperative driving without being trapped.

In Table 2, for convenience of description, different reference numerals are assigned to traps in the first embodiment to the seventh embodiment, respectively. In addition, it should be understood that each embodiment described below is independent. Meanwhile, the first robot 100a and the second robot 100b may include a button for receiving a recovery instruction from a user. The first robot 100a and the second robot 100b may perform cooperative driving again and recognize each other's position information when receiving the recovery instruction. The restoration command relates to the second embodiment, the third embodiment, the fourth embodiment, the sixth embodiment, and the seventh embodiment which will be described later. Hereinafter, the first to seventh embodiments will be described in detail with reference to Table 2. FIG.

[Table 2] Implementation State of the first robot 100a State of the second robot 100b 1 trapped (i) OK 2 trapped (j) OK 3 Trapped (k) OK 4 Trapped (l) Trapped (m) 5 OK Trapped (n) 6 OK trapped (o) 7 OK Trapped (p)

The first embodiment represents a scenario in which the first robot 100 a is trapped (i) and a preset standby period has elapsed while performing cooperative travel. In this case, the first robot 100a may turn off the power after a preset standby period. Here, the preset standby period may be 10 minutes. On the other hand, referring to FIG. 27A , in the first embodiment, the second robot 100b may release the cooperative driving mode and travel to the point Q1 (L13) where the first robot 100a has traveled, and then return to the charging stand 400b (L14). Here, the point Q1 where the first robot 100a has traveled is the position of the first robot 100a when the trap (i) occurred. In other words, the second robot 100b may travel to the point Q1 (L13) where the first robot 100a has inhaled the pollutant, wipe the floor, and then return to the second charging stand 400b (L14). On the other hand, as another implementation of the first embodiment, it may also be considered that the second robot 100b releases the cooperative driving mode, and then performs independent driving without returning to the second charging stand 400b. The second embodiment shows that while performing cooperative driving, the first robot 100a is trapped (i), and the first robot 100a receives a recovery instruction, and the first robot 100a and the second robot 100b recognize each other within a preset standby period The scene without the location information of the . In this case, the first robot 100a and the second robot 100b can perform cooperative travel again. Here, the preset standby period may be 10 minutes. On the other hand, referring to FIG. 27B , in the second embodiment, the second robot 100b can travel again in the area to be cleaned that it has traveled (L15 ). In other words, when the second robot 100b stays in place during the standby period, since the floor of the standby point may be wet with water, the second robot 100b may wipe again the floor of the area to be cleaned that has been wiped. On the other hand, as another implementation of the second embodiment, it may be considered that the first robot 100a and the second robot 100b release the cooperative driving mode without performing cooperative driving, and then perform independent driving respectively. The third embodiment shows that while performing cooperative driving, the first robot 100a is trapped (k), and the first robot 100a receives a recovery command, but the first robot 100a and the second robot 100b are not recognized within the preset standby period The scene in the case of each other's location information. Here, the preset standby period may be 10 minutes. Referring to FIG. 27C , the first robot 100 a may release the cooperative driving mode, and then perform independent driving ( L16 ). In addition, the second robot 100b may release the cooperative driving mode and travel to the point Q2 where the first robot 100a has traveled ( L17 ), and then return to the second charging stand 400b ( L18 ). Here, the point Q2 through which the first robot 100a has traveled is the position of the first robot 100a when the trap (i) occurred. In other words, the second robot 100b may travel to the point Q2 (L17) where the first robot 100a has inhaled the pollutant, wipe the floor, and then return to the second charging stand 400b (L18). On the other hand, as another implementation of the third embodiment, it may be considered that the second robot 100b releases the cooperative driving mode, and then performs independent driving without returning to the second charging stand 400b. In addition, as another implementation of the third embodiment, it may be considered that the first robot 100a and the second robot 100b release the cooperative driving mode, and then return to the charging stand 400a, 400b respectively. In addition, as another implementation of the third embodiment, after the first robot 100a and the second robot 100b release the cooperative driving mode, it can be considered that the first robot 100a returns to the first charging stand 400a, and the second robot 100b performs independent driving .

The fourth embodiment shows a scenario where both the first robot 100a and the second robot 100b are trapped, and a preset standby period has elapsed while performing cooperative driving. In other words, in the fourth embodiment, the first robot 100 a is trapped (l), and the second robot is trapped (m). In this case, when a recovery instruction is received at the first robot 100a and the second robot 100b, and the first robot 100a and the second robot 100b recognize each other's positions within a preset standby period, the first robot 100a and the second robot 100b The second robot 100b can perform cooperative driving again. Here, the preset standby period may be 10 minutes. On the other hand, as another implementation of the fourth embodiment, when only one of the first robot 100a and the second robot 100b receives the recovery instruction, the first robot 100a and the second robot 100b can follow the above-mentioned Any one of the first to third embodiments and the fifth to seventh embodiments to be described later.

The fifth embodiment represents a scenario in which the second robot 100 b is trapped (n) and a preset standby period has elapsed while performing cooperative travel. In this case, the second robot 100b may turn off the power after a preset standby period. Here, the preset standby period may be 10 minutes. Meanwhile, referring to FIG. 28A , in the fifth embodiment, the first robot 100 a may release the cooperative driving mode, and then perform independent driving ( L19 ). On the other hand, as another implementation of the fifth embodiment, it may be considered that the first robot 100a releases the cooperative travel mode, and then returns to the charging stand 400a without performing independent travel.

The sixth embodiment shows that while performing cooperative driving, the second robot 100b is trapped (o), and a recovery instruction is received at the second robot 100b, and the first robot 100a and the second robot 100b are within a preset standby period A scene where the location information of each other is recognized. In this case, the first robot 100a and the second robot 100b can perform cooperative travel again. Here, the preset standby period may be 10 minutes. On the other hand, referring to FIG. 28B , in the sixth embodiment, the first robot 100a can travel again in the area to be cleaned that it has traveled (L20 ). On the other hand, as another embodiment of the sixth embodiment, it may be considered that the first robot 100a and the second robot 100b cancel the cooperative driving mode without performing cooperative driving, and then perform independent driving respectively.

The seventh embodiment shows that while performing cooperative driving, the first robot 100a is trapped (p), and a recovery command is received at the first robot 100a, but the first robot 100a and the second robot 100b are within the preset standby period A scenario where the location information of each other is not recognized. Here, the preset standby period may be 10 minutes. Referring to FIG. 28C , the first robot 100 a may release the cooperative driving mode, and then perform independent driving ( L21 ). In addition, the second robot 100b may release the cooperative driving mode and travel to the point Q3 where the first robot 100a has traveled, and then return to the second charging stand 400b. Here, the point Q3 through which the first robot 100a has traveled is the position of the first robot 100a when the trap (p) occurred. In other words, the second robot 100b may travel to the point Q3 ( L22 ) where the first robot 100a has inhaled the pollutant, wipe the floor, and then return to the second charging stand 400b ( L23 ). On the other hand, as another implementation of the seventh embodiment, it may be considered that the first robot 100a releases the cooperative driving mode, and then returns to the first charging stand 400a without independent driving. In addition, as another implementation of the seventh embodiment, it can be considered that the second robot 100b releases the cooperative driving mode, and then performs independent driving without returning to the second charging stand 400b, and the first robot 100a releases the cooperative driving mode, and then performs independent driving. Travel or return to charging stand 400a.

Hereinafter, the mobile robot system 1 that executes a preset scene in response to a communication failure that occurs while performing cooperative travel will be explained.

The first robot 100a and the second robot 100b may enter a cooperative driving mode using the network 50 . Referring back to FIG. 23 , when the first robot 100a and the second robot 100b enter the cooperative driving mode and recognize each other's position information, the first robot 100a can travel before the second robot 100b to suck in the to-be-cleaned area Z4. pollutants. Here, pollutants may include all inhalable substances present in the zone to be cleaned Z4, such as dust, foreign objects and debris. In addition, the second robot 100b may travel along the path L1 traveled by the first robot 100a to wipe the floor in the zone Z4 to be cleaned. Here, wiping the floor by the second robot 100b may mean wiping substances that the first robot 100a cannot inhale, such as liquid, by mopping the floor. However, at least one of the first robot 100a and the second robot 100b may have a communication failure while performing cooperative travel. Here, the communication failure refers to any type of failure in which the first robot 100a or the second robot 100b cannot transmit or receive data with other mobile robots using the network. In this case, the first robot 100a and the second robot 100b may execute a preset scene in response to a communication failure occurring while performing cooperative driving.

The network 50 connecting the first robot 100a and the second robot 100b to each other may include a first network and a second network. The first network may be a network in which the first robot 100a and the second robot 100b share the map information of the sweeping area Z4 to be cleaned. Here, the first network may be Wi-Fi. In addition, the second network may be a network for the first robot 100a and the second robot 100b to determine the separation distance between the first robot 100a and the second robot 100b. Here, the second network may be UWB. The method of using Wi-Fi to share map information between the first robot 100a and the second robot 100b, and the method of using UWB to determine the separation distance between the first robot 100a and the second robot 100b have been described above, and will Descriptions thereof are omitted. Hereinafter, a first embodiment and a second embodiment of a preset scenario performed by the first robot 100a and the second robot 100b in response to a communication failure occurring while performing cooperative driving will be described in detail.

The first embodiment shows a scene in which the first network or the second network between the first robot 100a and the second robot 100b is disconnected when performing cooperative driving. In this case, the first robot 100a and the second robot 100b may continuously perform cooperative travel. In other words, the first network or the second network is disconnected between the first robot 100a and the second robot 100b, which means that any one of the first network and the second network is connected between the first robot 100a and the second robot 100a. Connection between robots 100b.

The second embodiment shows a scenario in which both the first network or the second network between the first robot 100a and the second robot 100b are disconnected when performing cooperative driving. In this case, the first robot 100a may release the cooperative driving mode, and then perform independent driving. In addition, the second robot 100b may release the cooperative driving mode, and then return to the second charging stand 400b.

Hereinafter, a method in which the mobile robot system 1 executes a preset scene in response to an error, entrapment, or communication failure occurring while performing cooperative driving will be described with reference to FIG. 29 .

Referring to FIG. 29 , in step S2100 , the first robot 100 a and the second robot 100 b may enter a cooperative driving mode using the network 50 . The process for the first robot 100a and the second robot 100b to enter the cooperative driving mode is as described above, and thus a detailed description thereof will be omitted.

In step S2200, the first robot 100a and the second robot 100b may perform cooperative driving by recognizing each other's positions. Referring back to FIG. 23 , the first robot 100 a may travel before the travel of the second robot 100 b to inhale pollutants in the zone to be cleaned Z4 . Here, pollutants may include all inhalable substances present in the zone to be cleaned Z4, such as dust, foreign objects and debris. In addition, the second robot 100b may travel along the path L1 traveled by the first robot 100a to wipe the floor in the zone Z4 to be cleaned. Here, wiping the floor by the second robot 100b may mean wiping substances that the first robot 100a cannot inhale, such as liquid, by mopping the floor.

In step S2300, the first robot 100a and the second robot 100b may confirm whether to release the cooperative driving mode in response to an error, a jam, or a communication failure occurring while performing the cooperative driving. In other words, at least one of the first robot 100a and the second robot 100b may make an error, get stuck, or have a communication failure while performing cooperative driving. In this case, the first robot 100a and the second robot 100b may execute a preset scene in response to an error, entrapment, or communication failure occurring while performing cooperative driving. The preset scenarios for responding to errors, jams, or communication failures that occur while performing cooperative driving have been described above, so detailed descriptions thereof will be omitted.

Meanwhile, the mobile robot system 1 may include a first robot 100a and a second robot 100b. Each of the first robot 100a and the second robot 100b may include a main body 110 and a communication unit 1100 disposed inside the main body 110 using the network 50 to exchange data with another mobile robot. In addition, the first robot 100a may include a cleaning unit 120 installed on one side of the main body 110 to suck pollutants in an area to be cleaned. In addition, the second robot 100b may include a mop unit (not shown) installed on one side of the main body 110 to wipe the floor in the area to be cleaned. On the other hand, the network 50 connecting the first robot 100a and the second robot 100b to each other may include the first network and the second network. The first network may be a network in which the first robot 100a and the second robot 100b share map information of the area to be cleaned. Here, the first network may be Wi-Fi. In addition, the second network may be a network for the first robot 100a and the second robot 100b to determine the separation distance between the first robot 100a and the second robot 100b. Here, the second network may be UWB. Through such a configuration, the first robot 100a and the second robot 100b can perform independent travel or cooperative travel. In addition, according to the configuration, the first robot 100a and the second robot 100b may execute a preset scene in response to an error, entrapment, or communication failure occurring while performing cooperative driving. The preset scenarios corresponding to errors, traps, or communication failures that occur during the cooperative driving of the first robot 100a and the second robot 100b have been described above, so detailed description thereof will be omitted.

Hereinafter, Embodiment 3 of the mobile robot system 1 that executes a preset scene in response to an obstacle sensed during cooperative driving will be explained with reference to FIGS. 30 to 34 .

The first robot 100a and the second robot 100b may enter a cooperative driving mode using the network 50 . Referring to Fig. 30, when the first robot 100a and the second robot 100b enter the cooperative driving mode, the first robot 100a and the second robot 100b can divide the area X1 to be cleaned into a plurality of unit areas (for example, divide the area X1 to be cleaned for the first unit area A1 and the second unit area A2) to perform cooperative driving in each unit area. When the first robot 100a and the second robot 100b perform cooperative travel, the first robot 100a may travel before the travel of the second robot 100b to suck in any one of the plurality of unit areas (for example, the first unit area A1). pollutants. Here, pollutants may include all inhalable substances such as dust, foreign matter, and debris present in each unit area. In addition, the second robot 100b may travel along the path L1 that the first robot 100a has traveled to wipe any one of the plurality of unit areas (the first unit area A1, the unit area where pollutants are inhaled by the first robot 100a). floor. Here, wiping the floor by the second robot 100b may mean wiping substances that the first robot 100a cannot inhale, such as liquid, by mopping the floor. The method in which the first robot 100 a and the second robot 100 b perform cooperative driving for each divided unit area has been explained above, and thus a detailed description thereof will be omitted.

At least one of the first robot 100a and the second robot 100b may sense an obstacle in any one of the plurality of cell areas during cooperative travel. Specifically, at least one of the first robot 100a and the second robot 100b may sense a presence between divided areas (eg, between the first unit area A1 and the second unit area A2) or inside the divided area (eg, the interior of the first unit area A1) for obstructions. Here, obstacles existing between the divided areas are defined as first obstacles OB1, and obstacles existing within the divided areas are defined as second obstacles OB2. The first obstacle OB1 or the second obstacle OB2 may be a threshold, a carpet or a cliff. Specifically, the first obstacle OB1 or the second obstacle OB2, as obstacles that the first robot 100a and the second robot 100b can climb, may be obstacles with a height or depth set within a preset range. For example, the first robot 100a may recognize an obstacle set at a height of 5 mm or higher as a climbable obstacle. In addition, the second robot 100b may recognize an obstacle set at a height of 4 mm or higher as a climbable obstacle. In addition, in the case of traveling independently, the first robot 100a can recognize an obstacle set at a depth of 30 mm or more as a climbable obstacle. In addition, in the case of cooperative driving, the first robot 100a can recognize an obstacle set at a height of 10 mm or more as a climbable obstacle. In addition, the second robot 100b may recognize an obstacle having a depth of 10 mm or more as a climbable obstacle. Here, the first robot 100a and the second robot 100b climbing an obstacle refer to crossing a threshold, crossing a carpet, passing through a gap on a cliff, or going down from a slope of a cliff and then going up again.

Hereinafter, the first to fourth embodiments of preset scenarios executed by at least one of the first robot 100a and the second robot 100b when sensing the first obstacle OB1 or the second obstacle OB2 will be described in detail. . Referring to FIGS. 31 to 34 , symbols M1 to M17 represent travel paths of the first robot 100 a, and symbols N1 to N13 represent travel paths of the second robot 100 b.

Referring to FIG. 31 , the first embodiment shows a scene where the first robot 100 a and the second robot 100 b sense a first obstacle OB1 during cooperative driving ( M1 , N1 ) in the first cell area A1 . In this case, the first robot 100a can complete cooperative driving (M3) in the first unit area A1 by avoiding the first obstacle OB1 (M2), and then enter the second unit area A2 (M4) to perform independent driving (M5). In the first embodiment, the second robot 100b can complete cooperative driving (M3) in the first unit area A1 by avoiding the first obstacle OB1 (M2), and then return to the second charging stand 400b (N4). Meanwhile, as another implementation of the first embodiment, it can be considered that the first robot 100a enters the second unit area A2 without avoiding the first obstacle OB1, and the second robot 100b completes the first unit area A1. Wipe the floor, and wait until the first robot 100a completes the inhalation of pollutants in the second unit area A2.

Referring to FIG. 32 , the second embodiment shows that when the first robot 100a and the second robot 100b perform cooperative driving (M6, N5) in the first unit area A1, the first robot 100a does not sense the first obstacle OB1. In this case, enter the second unit area A2 (M7), and the second robot 100b avoids the first obstacle OB1 by sensing the first obstacle OB1 (N6). In this case, the second robot 100b may transmit a notification to the first robot 100a that the second robot 100b cannot enter the second cell area A2 after finishing wiping the floor of the first cell area A1 (N7). In addition, the first robot 100a may complete the inhalation of pollutants of the second unit area A2 (M8), and then move to the position P1 where the second robot 100b has transmitted the notification (M9). In the second embodiment, even when the first robot 100a enters the second unit area A2 without completing the suction of the pollutants of the first unit area A1, the second robot 100b can complete the wiping of the floor of the first unit area A1 . In addition, in the second embodiment, the second robot 100b may not wipe the floor in the second unit area A2 where the first robot 100a has completed pollutant suction. The running of the first robot 100a and the second robot 100b in the above-mentioned second embodiment should be understood as running in a cooperative driving mode other than independent driving. Meanwhile, in the second embodiment, the second robot 100b may sense the first obstacle OB1 to transmit the information of the first obstacle OB1 to the first robot 100a. In addition, the first robot 100a may receive the information of the first obstacle OB1 from the second robot 100b to incorporate the first obstacle OB1 into the map stored in the memory 1700 . In other words, the second robot 100b can share the information of the first obstacle OB1 with the first robot 100a.

Referring to FIG. 33 , the third embodiment shows a scene where the first robot 100a and the second robot 100b enter the second unit area A2 without sensing the first obstacle OB1 while driving cooperatively in the first unit area A1 ( M10, N8). In this case, the first robot 100a and the second robot 100b may perform cooperative travel in the second cell area A2 (M12, N10).

34, the fourth embodiment shows that when the first robot 100a and the second robot 100b perform cooperative driving (M13, N11) in the first unit area A1, the first robot 100a avoids the obstacle by sensing the second obstacle OB2. Open the second obstacle (M14), then move to the second unit area A2 (M15), and the second robot 100b cannot avoid the second obstacle OB2 (N12) without sensing the second obstacle OB2 . In this case, the second robot 100b may transmit a notification to the first robot 100a that the second robot 100b cannot enter the second cell area A2 after finishing wiping (N13) the floor of the first cell area A1. In addition, the first robot 100a may complete the inhalation of pollutants of the second unit area A2 (M16), and then move to a location where the second robot 100b has transmitted the notification (M17). In the fourth embodiment, even when the first robot 100a moves to the second unit area A2 without completing the suction of the pollutants of the first unit area A1, the second robot 100b can complete the suction of the floor of the first unit area A1. wipe. In addition, the second robot 100b may not wipe the floor in the second unit area A2 where the first robot 100a has completed pollutant suction. The running of the first robot 100a and the second robot 100b in the above-mentioned fourth embodiment should be understood as running in a cooperative driving mode other than independent driving. Meanwhile, in the fourth embodiment, the first robot 100a can sense the second obstacle OB2 to transmit the information of the second obstacle OB2 to the second robot 100b. In addition, the second robot 100b may receive the information of the second obstacle OB2 from the first robot 100a to incorporate the second obstacle OB2 into the map stored in the memory 1700 . In other words, the first robot 100a can share the information of the second obstacle OB2 with the second robot 100b.

Hereinafter, a method in which the mobile robot system 1 executes a preset scene in response to an obstacle sensed during cooperative driving will be explained with reference to FIG. 35 .

Referring to FIG. 35 , in step S3100 , the first robot 100 a and the second robot 100 b may enter a cooperative driving mode using the network 50 . The process for the first robot 100a and the second robot 100b to enter the cooperative driving mode is as described above, and thus a detailed description thereof will be omitted.

In step S3200, referring back to FIG. 30, the first robot 100a and the second robot 100b can divide the area X1 to be cleaned into a plurality of unit areas (for example, divide the area X1 to be cleaned into a first unit area A1 and a second unit area Area A2) to perform cooperative driving in each unit area. When the first robot 100a and the second robot 100b perform cooperative travel, the first robot 100a may travel before the travel of the second robot 100b to suck in any one of the plurality of unit areas (for example, the first unit area A1). pollutants. Here, pollutants may include all inhalable substances such as dust, foreign matter, and debris present in each unit area. In addition, the second robot 100b may travel along the path L1 that the first robot 100a has traveled to wipe any one of the plurality of unit areas (the first unit area A1, the unit area where pollutants are inhaled by the first robot 100a). floor. Here, wiping the floor by the second robot 100b may mean wiping substances that the first robot 100a cannot inhale, such as liquid, by mopping the floor. The method in which the first robot 100 a and the second robot 100 b perform cooperative driving for each divided unit area has been explained above, and thus a detailed description thereof will be omitted.

In step S3300, at least one of the first robot 100a and the second robot 100b may sense an obstacle in any one of the plurality of cell areas during cooperative driving. Specifically, at least one of the first robot 100a and the second robot 100b may sense a presence between divided areas (eg, between the first unit area A1 and the second unit area A2) or inside the divided area (eg, the interior of the first unit area A1) for obstructions. Here, obstacles existing between the divided areas are defined as first obstacles OB1, and obstacles existing within the divided areas are defined as second obstacles OB2. The first obstacle OB1 or the second obstacle OB2 may be a threshold, a carpet or a cliff. Specifically, the first obstacle OB1 or the second obstacle OB2, as obstacles that the first robot 100a and the second robot 100b can climb, may be obstacles with a height or depth set within a preset range. For example, the first robot 100a may recognize an obstacle set at a height of 5 mm or higher as a climbable obstacle. In addition, the second robot 100b may recognize an obstacle set at a height of 4 mm or more as a climbable obstacle. In addition, in the case of traveling independently, the first robot 100a can recognize an obstacle set at a depth of 30 mm or more as a climbable obstacle. In addition, in the case of cooperative driving, the first robot 100a can recognize an obstacle set at a height of 10 mm or more as a climbable obstacle. In addition, the second robot 100b may recognize an obstacle having a depth of 10 mm or more as a climbable obstacle. Here, the first robot 100a and the second robot 100b climbing an obstacle refer to crossing a threshold, crossing a carpet, passing through a gap on a cliff, or going down from a slope of a cliff and then going up again. Hereinafter, for the first robot 100a and the second robot 100b, in step S3300, it will be explained in detail when at least one of the first robot 100a and the second robot 100b senses the first obstacle OB1 or the second obstacle OB2 The first to fourth implementations of the preset scenarios executed at any time.

Referring to FIG. 31 , the first embodiment shows a scene where the first robot 100 a and the second robot 100 b sense a first obstacle OB1 during cooperative driving ( M1 , N1 ) in the first cell area A1 . In this case, the first robot 100a can complete cooperative driving (M3) in the first unit area A1 by avoiding the first obstacle OB1 (M2), and then enter the second unit area A2 (M4) to perform independent driving (M5). In the first embodiment, the second robot 100b can complete cooperative driving (M3) in the first unit area A1 by avoiding the first obstacle OB1 (M2), and then return to the second charging stand 100b (N4). Meanwhile, as another implementation of the first embodiment, it can be considered that the first robot 100a enters the second unit area A2 without avoiding the first obstacle OB1, and the second robot 100b completes the first unit area A1. Wipe the floor, and wait until the first robot 100a completes the inhalation of pollutants in the second unit area A2.

Referring to FIG. 32 , the second embodiment shows that when the first robot 100a and the second robot 100b perform cooperative driving (M6, N5) in the first unit area A1, the first robot 100a does not sense the first obstacle OB1. In this case, enter the second unit area A2 (M7), and the second robot 100b avoids the first obstacle OB1 by sensing the first obstacle OB1 (N6). In this case, the second robot 100b may transmit a notification to the first robot 100a that the second robot 100b cannot enter the second cell area A2 after finishing wiping the floor of the first cell area A1 (N7). In addition, the first robot 100a may complete the inhalation of pollutants of the second unit area A2 (M8), and then move to the position P1 where the second robot 100b has transmitted the notification (M9). In the second embodiment, even when the first robot 100a enters the second unit area A2 without completing the suction of the pollutants of the first unit area A1, the second robot 100b can complete the wiping of the floor of the first unit area A1 . In addition, in the second embodiment, the second robot 100b may not wipe the floor in the second unit area A2 where the first robot 100a has completed pollutant suction. The running of the first robot 100a and the second robot 100b in the above-mentioned second embodiment should be understood as running in a cooperative driving mode other than independent driving. Meanwhile, in the second embodiment, the second robot 100b may sense the first obstacle OB1 to transmit the information of the first obstacle OB1 to the first robot 100a. In addition, the first robot 100a may receive the information of the first obstacle OB1 from the second robot 100b to incorporate the first obstacle OB1 into the map stored in the memory 1700 . In other words, the second robot 100b can share the information of the first obstacle OB1 with the first robot 100a.

Referring to FIG. 33 , the third embodiment shows a scene where the first robot 100a and the second robot 100b enter the second unit area A2 without sensing the first obstacle OB1 while driving cooperatively in the first unit area A1 ( M10, N8). In this case, the first robot 100 a and the second robot 100 b may perform cooperative travel in the second cell area A2 ( M12 , N10 ).

Referring to FIG. 34, the fourth embodiment shows that when the first robot 100a and the second robot 100b perform cooperative driving (M13, N11) in the first unit area A1, the first robot 100a avoids the obstacle by sensing the second obstacle OB2. Open the second obstacle (M14), then move to the second unit area A2 (M15), and the second robot 100b cannot avoid the second obstacle OB2 without sensing the second obstacle OB2 (N12) . In this case, the second robot 100b may transmit a notification to the first robot 100a that the second robot 100b cannot enter the second cell area A2 after finishing wiping the floor of the first cell area A1 (N13). In addition, the first robot 100a may complete the inhalation of pollutants of the second unit area A2 (M16), and then move to the location where the second robot 100b has transmitted the notification (M17). In the fourth embodiment, even when the first robot 100a moves to the second unit area A2 without completing the suction of the pollutants of the first unit area A1, the second robot 100b can complete the suction of the floor of the first unit area A1. wipe. In addition, the second robot 100b may not wipe the floor in the second unit area A2 where the first robot 100a has completed pollutant suction. The running of the first robot 100a and the second robot 100b in the above-mentioned fourth embodiment should be understood as running in a cooperative driving mode other than independent driving. Meanwhile, in the fourth embodiment, the first robot 100a can sense the second obstacle OB2 to transmit the information of the second obstacle OB2 to the second robot 100b. In addition, the second robot 100b may receive the information of the second obstacle OB2 from the first robot 100a to incorporate the second obstacle OB2 into the map stored in the memory 1700 . In other words, the first robot 100a can share the information of the second obstacle OB2 with the second robot 100b.

Meanwhile, the mobile robot system 1 may include a first robot 100a and a second robot 100b. Each of the first robot 100a and the second robot 100b may include a main body 110 and a communication unit 1100 disposed inside the main body 110 using the network 50 to exchange data with another mobile robot. In addition, the first robot 100a may include a cleaning unit 120 installed on one side of the main body 110 to suck pollutants in an area to be cleaned. In addition, the second robot 100b may include a mop unit (not shown) installed on one side of the main body 110 to wipe the floor in the area to be cleaned. The first robot 100a and the second robot 100b may perform independent travel in an independent travel mode, or may enter a cooperative travel mode using the network 50 to perform cooperative travel. When the first robot 100a and the second robot 100b enter the cooperative driving mode, the first robot 100a and the second robot 100b may divide the area to be cleaned into a plurality of unit areas, so as to perform cooperative driving in each unit area. On the other hand, at least one of the first robot 100a and the second robot 100b may sense an obstacle in any one of the plurality of cell areas during cooperative travel. Specifically, at least one of the first robot 100a and the second robot 100b may sense a presence between divided areas (eg, between the first unit area A1 and the second unit area A2) or inside the divided area (eg, the interior of the first unit area A1) for obstructions. Here, obstacles existing between the divided areas are defined as first obstacles OB1, and obstacles existing within the divided areas are defined as second obstacles OB2. The first obstacle OB1 or the second obstacle OB2 may be a threshold, a carpet or a cliff. Specifically, the first obstacle OB1 or the second obstacle OB2, as obstacles that the first robot 100a and the second robot 100b can climb, may be obstacles with a height or depth set within a preset range. Here, the first robot 100a and the second robot 100b climbing an obstacle refer to crossing a threshold, crossing a carpet, passing through a gap on a cliff, or going down from a slope of a cliff and then going up again. The first robot 100a and the second robot 100b may execute a preset scene in response to the first obstacle OB1 or the second obstacle OB2 sensed during cooperative driving. The preset scene corresponding to the first obstacle OB1 or the second obstacle OB2 sensed by the first robot 100a and the second robot 100b during performing cooperative driving has been explained above, and thus a detailed description thereof will be omitted.

On the other hand, when cooperative travel is performed in the system 1 as described above, when the charging capacity in each battery of the first robot 100a and the second robot 100b is lower than a predetermined value, the first robot 100a and the second robot 100b may Insufficient capacity to perform cooperative driving.

For example, when the charging capacity of any one of the first robot 100a and the second robot 100b is insufficient, since it is difficult to travel forward or backward, it is necessary to stop performing cooperative travel. When the cooperative travel stops without a specific action, there is a concern of causing a problem of backward travel of the first robot 100a and the second robot 100b, or causing inconvenience to the user.

Therefore, the present specification provides Embodiment 4 of the mobile robot system 1 in which appropriate responses can be made according to changes in the charging capacity of the battery during such cooperative travel.

As shown in FIG. 11 , in the embodiment of the system 1, a plurality of mobile robots 100a and 100b travel cooperatively, including: a first robot 100a, which operates based on the electric power charged by the first charging stand 400a, to traveling in the cleaning area; and the second robot 100b operating based on the electric power charged by the second charging stand 400b to travel along the path that the first robot has traveled.

In other words, in the system 1, the first robot 100a and the second robot 100b charge the battery at the first charging stand 400a and the second charging stand 400b respectively.

The first robot 100a may be a robot that inhales dust while traveling forward in an area where cooperative travel is performed, and the second robot 100b may be a robot that wipes off dust while traveling behind an area where the first robot 100a has traveled.

In other words, for cooperative driving, the first robot 100a may inhale dust while driving forward, and the second robot 100b may sweep to wipe the dust on the path inhaled by the first robot 100a while driving forward.

In system 1, the first robot 100a and the second robot 100b release the cooperative driving mode according to the charging capacity value of the battery by sensing the charging capacity of each battery when performing the cooperative driving mode, and each responds to the charging capacity value Instead, at least one of the independent travel mode and the battery charging mode is executed.

Specifically, when the charging capacity value of the battery is lower than the reference capacity value, the first robot 100a and the second robot 100b each cancel the cooperative driving mode, and move to each charging stand 400a, 400b to charge the battery or perform independent driving model.

In other words, when the charging capacity value of the first robot 100a is lower than the reference capacity value, the first robot 100a can move to the first charging stand 400a to charge the battery, and when the charging capacity value of the second robot 100b is lower than the reference capacity value When the value is set, the second robot 100b may move to the second charging stand 400b to charge the battery, or perform an independent driving mode.

For example, the first robot 100a and the second robot 100b can release the cooperative driving mode being executed, and at least one of the first robot 100a and the second robot 100b can move to the relevant charging stand 400a and/or 400b to charge the battery. charging, or at least one of the first robot 100a and the second robot 100b may perform an independent driving mode.

Here, the independent driving mode may be executed immediately after releasing the cooperative driving mode, or may be executed after moving to the relevant charging stand 400a and/or 400b to charge the battery.

Each of the first robot 100a and the second robot 100b may sense the charging capacity of the battery while traveling.

For example, each of the first robot 100a and the second robot 100b may sense the charge capacity of the battery while performing the cooperative driving mode.

In addition, each of the first robot 100a and the second robot 100b may sense the charging capacity of the battery while performing another mode than the cooperative driving mode.

Each of the first robot 100a and the second robot 100b may sense the charging capacity of the battery in real time while traveling.

In other words, the first robot 100a can sense the charging capacity of the battery built in the first robot 100a in real time while running, and the second robot 100b can sense the charging capacity of the battery built in the second robot 100b in real time while running. .

Each of the first robot 100a and the second robot 100b may sense the charging capacity of the battery while traveling, and quantize the sensing result into a charging capacity value. Accordingly, the sensing result of the charging capacity of the battery may be compared with a reference capacity value.

When the respective charging capacity values are lower than the reference capacity value, each of the first robot 100a and the second robot 100b can release the cooperative driving mode, and then move to the charging stand 400a, 400b to charge the battery.

Here, the release of the cooperative travel mode may mean stopping the cooperative travel mode being executed.

In other words, as a result of sensing the charging capacity of the battery when the first robot 100a performs the cooperative driving mode, when the charging capacity value of the first robot 100a is lower than the reference capacity value, the first robot 100a may stop performing the cooperative driving mode, and then Move to the first charging stand 400a to charge the battery, and as a result of sensing the charging capacity of the battery when the second robot 100b executes the cooperative driving mode, when the charging capacity value of the second robot 100b is lower than the reference capacity value, The second robot 100b may stop performing the cooperative driving mode, and then move to the second charging stand 400b to charge the battery.

In this case, each of the first robot 100a and the second robot 100b may share information on releasing the cooperative driving mode with the other robot.

In other words, when the cooperative driving mode is released, each of the first robot 100a and the second robot 100b may transmit the release information of the cooperative driving mode to the other robot to notify the other robot of the release of the cooperative driving mode.

For example, the first robot 100a may transmit the release information of the cooperative driving mode to the second robot 100b because the charging capacity value is lower than the reference capacity value, so as to allow the second robot 100b to recognize the cooperative driving mode when the first robot 100a releases the cooperative driving mode. The release of the driving mode, and the second robot 100b can send the release information of the cooperative driving mode to the first robot 100a because the charging capacity value is lower than the reference capacity value, so as to allow the first robot 100a to release the cooperative driving mode when the second robot Deactivation of cooperative driving mode is detected.

Therefore, when the charging capacity value of at least one of the first robot 100a and the second robot 100b is lower than the reference capacity value, both the first robot 100a and the second robot 100b may stop the execution of the cooperative driving mode.

The first robot 100a and the second robot 100b can respectively move to the charging stand 400a, 400b, and then charge the battery until the charging capacity of the battery is above a predetermined reference capacity.

In other words, when the first robot 100a and the second robot 100b respectively move to the charging stand 400a, 400b because the charging capacity value is lower than the reference capacity, the battery can be charged until the charging capacity of the battery is charged above the predetermined reference capacity.

Here, the predetermined reference capacity may represent a level of charging capacity of the battery. The predetermined reference capacity may be set as a ratio [%] to the total capacity of the battery, or may be set as a capacity unit [Ah] of the battery.

Each of the first robot 100a and the second robot 100b preferably can move to the charging stand 400a, 400b, and then charge the battery until the charging of the battery is completed.

Since the first robot 100a and the second robot 100b have their respective charging capacity values lower than the reference capacity value, each can identify the current position to store the position information value before moving to the charging stand 400a, 400b, and the charging station 400a, 400b will After the charging capacity of the battery is charged to be higher than the predetermined reference capacity, the location information value is used to start driving.

In other words, each of the first robot 100a and the second robot 100b can store the position information value corresponding to the position before moving to the charging stand 400a, 400b, and when resuming driving after charging the battery at the charging stand 400a, 400b, use This location information value starts driving.

For example, after the charging bases 400a and 400b finish charging the batteries, the first robot 100a and the second robot 100b can each move to a position according to the value of the position information to start driving or output a signal for moving to a position based on the position information when starting to drive. Notification of the position of the value.

In the system 1, traveling corresponding to the respective charging capacities of the first robot 100a and the second robot 100b can be performed as shown in FIG. 36A. {response 1(a)}

When the charging capacity value of the first robot 100a is lower than the reference capacity value, and the charging capacity value of the second robot 100b is higher than the reference capacity value, the first robot 100a can release the cooperative driving mode, and then move to the first charging stand 400a to The battery is charged, and when the charging capacity of the battery exceeds a predetermined (capacity) reference level, then moves to a position before moving to the first charging stand 400a to perform an independent driving mode. In this case, the second robot 100b may release the cooperative driving mode, and then move to the second charging stand 400b to charge the battery according to whether there is a remaining cleaning area. If the area of the remaining cleaning area corresponds to the predetermined (area) reference value, the second robot 100b may complete driving of the remaining cleaning area, and then move to the second charging stand 400b. Also, if the area of the remaining cleaning area does not correspond to the predetermined reference area, the second robot 100b may move to the second charging stand 400b.

In other words, when only the charging capacity value of the first robot 100a is lower than the reference capacity value, as shown in FIG. The charging stand 400a (P11 or P12), but when the area of the remaining cleaning area corresponds to the predetermined reference value, the second robot 100b can complete the driving of the remaining cleaning area (P11), and then move to the second charging stand 400b (P12), And when the area of the remaining cleaning area does not correspond to the predetermined reference area, immediately move to the second charging stand 400b (P12), and the first robot 100a can charge the charging capacity of the battery to the predetermined reference value at the first charging stand 400a above, and then move to the position XX1 before moving to the first charging stand 400a to execute the independent driving mode of the first robot 100a (P13). {Response 2(b)}

In addition, when the charging capacity value of the first robot 100a is lower than the reference capacity value and the charging capacity value of the second robot 100b is higher than the reference capacity value, each of the first robot 100a and the second robot 100b may release the cooperative driving mode, and then move Go to the respective charging stand 400a, 400b to charge the battery, and when the charging capacity of the battery is charged above the reference capacity level, move to the position before moving to the respective charging stand 400a, 400b to execute the independent driving mode .

In other words, when only the charging capacity value of the first robot 100a is lower than the reference capacity value, as shown in FIG. 38 , each of the first robot 100a and the second robot 100b may release the cooperative driving mode while performing cooperative driving (P20), Then the first robot 100a can move to the first charging stand 400a and the second robot 100b can move to the second charging stand 400b (P21), and then the first robot 100a and the second robot 100b can each be on the respective first charging stand 400a and the second charging stand 400b to charge the charging capacity of the battery to more than a predetermined reference capacity, and then the first robot 100a can move to the position XX1 before moving to the first charging stand 400a, to execute the independent driving mode of the first robot 100a, and The second robot 100b may move to a position XX2 before moving to the second charging stand 400b to perform an independent driving mode of the second robot 100b ( P22 ). {Response 3(c)}

When the charging capacity value of the first robot 100a is higher than the reference capacity value and the charging capacity value of the second robot 100b is lower than the reference capacity value, each of the first robot 100a and the second robot 100b can release the cooperative driving mode, and then move to their respective charging base 400a, 400b to charge the battery, and when the charging capacity of the battery is charged above a predetermined reference capacity, the first robot 100a can move to a position before moving to the first charging base 400a to perform an independent driving mode .

In other words, when the charging capacity values of the first robot 100a and the second robot 100b are both lower than the reference capacity value, as shown in FIG. mode (P10), then the first robot 100a can move to the first charging stand 400a and the second robot 100b can move to the second charging stand 400b (P12), but the first robot 100a can place the battery on the first charging stand 400a The charging capacity is charged above the predetermined reference capacity, and then moves to the position XX1 before moving to the first charging stand 400a to execute the independent driving mode of the first robot 100a (P13). {Response 4(d)}

In addition, when the charging capacity value of the first robot 100a is higher than the reference capacity value and the charging capacity value of the second robot 100b is lower than the reference capacity value, each of the first robot 100a and the second robot 100b may release the cooperative driving mode, and then move Go to the respective charging stand 400a, 400b to charge the battery, and when the charging capacity of the battery is charged above the reference capacity level, move to the position before moving to the respective charging stand 400a, 400b to execute the independent driving mode .

In other words, when only the charging capacity value of the first robot 100a is lower than the reference capacity value, as shown in FIG. 38 , each of the first robot 100a and the second robot 100b may release the cooperative driving mode while performing cooperative driving (P20), Then the first robot 100a can move to the first charging stand 400a and the second robot 100b can move to the second charging stand 400b (P21), and then the first robot 100a and the second robot 100b can each be on the respective first charging stand 400a and the second charging stand 400b to charge the charging capacity of the battery to more than a predetermined reference capacity, and then the first robot 100a can move to the position XX1 before moving to the first charging stand 400a, to execute the independent driving mode of the first robot 100a, and The second robot 100b may move to a position XX2 before moving to the second charging stand 400b to perform an independent driving mode of the second robot 100b ( P22 ). {Response 5(e)}

When the charging capacity value of the first robot 100a and the charging capacity value of the second robot 100b are lower than the reference capacity value, the first robot and the second robot can respectively release the cooperative driving mode, and then move to their respective charging bases 400a, 400b charges the battery, and when the charging capacity of the battery is charged above a predetermined reference capacity, the first robot may move to a position before moving to the first charging stand 400a to perform an independent driving mode.

In other words, when the charging capacity values of the first robot 100a and the second robot 100b are both lower than the reference capacity value, as shown in FIG. mode (P10), then the first robot 100a can move to the first charging stand 400a and the second robot 100b can move to the second charging stand 400b (P12), but the first robot 100a can place the battery on the first charging stand 400a The charging capacity is charged above the predetermined reference capacity, and then moves to the position XX1 before moving to the first charging stand 400a to execute the independent driving mode of the first robot 100a (P13). {Response 6(f)}

In addition, when both the charging capacity value of the first robot 100a and the charging capacity value of the second robot 100b are lower than the reference capacity value, each of the first robot 100a and the second robot 100b may release the cooperative driving mode, and then move to their respective charging capacity values. to charge the battery, and when the charging capacity of the battery is charged above the reference capacity level, move to the position before moving to the respective charging stand 400a, 400b to execute the independent driving mode.

In other words, when only the charging capacity value of the first robot 100a is lower than the reference capacity value, as shown in FIG. 38 , each of the first robot 100a and the second robot 100b may release the cooperative driving mode while performing cooperative driving (P20), Then the first robot 100a can move to the first charging stand 400a and the second robot 100b can move to the second charging stand 400b (P21), and then the first robot 100a and the second robot 100b can each be on the respective first charging stand 400a and the second charging stand 400b to charge the charging capacity of the battery to more than a predetermined reference capacity, and then the first robot 100a can move to the position XX1 before moving to the first charging stand 400a, to execute the independent driving mode of the first robot 100a, and The second robot 100b may move to a position XX2 before moving to the second charging stand 400b to perform an independent driving mode of the second robot 100b ( P22 ).

In addition, in the system 1, traveling corresponding to the respective charging capacities of the first robot 100a and the second robot 100b can also be performed as shown in FIG. 36B. {response 7(g)}

When the charging capacity value of the first robot 100a is lower than the reference capacity value, and the charging capacity value of the second robot 100b is higher than the reference capacity value, the first robot 100a can release the cooperative driving mode and switch to the independent driving mode, and then execute While traveling in the independent driving mode, the second robot 100b can release the cooperative driving mode, and then move to the charging stand 400b to charge the battery according to whether there is a remaining cleaning area. When the area of the remaining cleaning area corresponds to the predetermined (area) reference value, the second robot 100b can complete driving in the remaining cleaning area, and then move to the second charging stand 400b. Also, if the area of the remaining cleaning area does not correspond to the predetermined reference area, the second robot 100b may move to the second charging stand 400b.

In other words, while performing the cooperative driving mode, when only the charging capacity value of the first robot 100a is lower than the reference capacity value, the first robot 100a may release the cooperative driving mode, and then switch to the independent driving mode to perform the independent driving mode, but when When the area of the remaining cleaning area corresponds to the predetermined reference area, the second robot 100b can complete the driving of the remaining cleaning area and then move to the second charging stand 400b, but when the area of the remaining cleaning area does not correspond to the predetermined reference area, the second robot 100b The robot 100b immediately moves to the second charging stand 400b, and the first robot 100a can charge the charging capacity of the battery to more than the predetermined capacity at the first charging stand 400a, and then move to the position XX1 before moving to the first charging stand 400a, to The independent travel mode of the first robot 100a is executed. {response 8(h)}

In addition, when the charging capacity value of the first robot 100a is lower than the reference capacity value, and the charging capacity value of the second robot 100b is higher than the reference capacity value, the first robot 100a can release the cooperative driving mode and switch to the independent driving mode, and then While driving in the independent driving mode, the second robot 100b can release the cooperative driving mode, and then move to the charging stand 400b to charge the battery, and when the charging capacity of the battery is charged above a predetermined (capacity) reference level, Move to the position before moving to the second charging stand 400b to execute the independent driving mode.

In other words, while executing the cooperative driving mode, when only the charging capacity value of the first robot 100a is lower than the reference capacity value, the first robot 100a and the second robot 100b can each release the cooperative execution mode, and then the first robot 100a can switch to the independent driving mode to execute the independent driving mode, but the second robot 100b can move to the second charging stand 400b, and charge the charging capacity of the battery above the predetermined reference capacity at the second charging stand 400b, and then move to the second charging stand 400b. The position XX2 before the charging base 400b is used to implement the independent driving mode of the second robot 100b. {Response 9(i)}

When the charging capacity value of the first robot 100a is higher than the reference capacity value, and the charging capacity value of the second robot 100b is lower than the reference capacity value, the first robot 100a can cancel the cooperative driving mode and switch to the independent driving mode, and then execute While driving in the independent driving mode, the second robot 100b may release the cooperative driving mode, and then move to the charging stand 400b to charge the battery.

In other words, as shown in FIG. 39 , while the cooperative driving mode (P30) is being executed, when only the charging capacity value of the second robot 100b is lower than the reference capacity value, the second robot 100b may release the cooperative driving mode, and then move to the second robot 100b. The second charging stand 400b (P31), but the first robot 100a can release the cooperative driving mode, and then switch to the independent driving mode to execute the independent driving mode (P32). {Response 10(j)}

In addition, when the charging capacity value of the first robot 100a is higher than the reference capacity value and the charging capacity value of the second robot 100b is lower than the reference capacity value, the first robot 100a may release the cooperative driving mode and switch to the independent driving mode, and then Traveling while executing the independent driving mode, and the second robot 100b can release the cooperative driving mode, and then move to the charging stand 400b to charge the battery, and when the charging capacity of the battery is charged above a predetermined (capacity) reference level , to move to a position before moving to the second charging stand 400b to execute the independent driving mode.

In other words, while executing the cooperative driving mode, when only the charging capacity value of the second robot 100b is lower than the reference capacity value, each of the first robot 100a and the second robot 100b can release the cooperative driving mode, and then the first robot 100a can switch to the independent driving mode to execute the independent driving mode, but the second robot 100b can move to the second charging stand 400b to charge the charging capacity of the battery above the predetermined reference capacity at the second charging stand 400b, and then move to the second charging stand 400b. The position XX2 before the charging base 400b is used to implement the independent driving mode of the second robot 100b. {response to 11(k)}

When both the charging capacity value of the first robot 100a and the charging capacity value of the second robot 100b are lower than the reference capacity value, the first robot 100a can release the cooperative driving mode and switch to the independent driving mode, and then execute the independent driving mode while driving, and the second robot 100b may release the cooperative driving mode, and then move to the charging stand 400b to charge the battery.

In other words, as shown in FIG. 39 , while the cooperative driving mode (P30) is being executed, when only the charging capacity value of the second robot 100b is lower than the reference capacity value, the second robot 100b may release the cooperative driving mode, and then move to the second robot 100b. The second charging stand 400b (P31), but the first robot 100a can release the cooperative driving mode, and then switch to the independent driving mode to execute the independent driving mode (P32). {Response 12(l)}

In addition, when both the charging capacity value of the first robot 100a and the charging capacity value of the second robot 100b are lower than the reference capacity value, the first robot 100a can release the cooperative driving mode and switch to the independent driving mode, and then execute the independent driving mode and the second robot 100b can release the cooperative driving mode, and then move to the charging stand 400b to charge the battery, and when the charging capacity of the battery is charged above a predetermined (capacity) reference level, move to the The position in front of the second charging stand 400b to implement the independent driving mode.

In other words, while executing the cooperative driving mode, when only the charging capacity value of the second robot 100b is lower than the reference capacity value, each of the first robot 100a and the second robot 100b can release the cooperative driving mode, and then the first robot 100a can Switch to the independent driving mode to execute the independent driving mode, but the second robot 100b can move to the second charging stand 400b to charge the charging capacity of the battery above the predetermined reference capacity at the second charging stand 400b, and then move to the second charging stand 400b. The position XX2 before the second charging base 400b is used to implement the independent driving mode of the second robot 100b.

On the other hand, in the system 1 that responds to the state of the charging capacity of the battery as described above, cooperative travel can be performed by a method of performing cooperative travel as shown in FIG. 40 .

A method of performing cooperative driving (hereinafter referred to as an implementing method) is a method of performing cooperative driving in a system 1 including: a first robot 100a that operates based on electric power charged by a first charging stand 400a to wait for and the second robot 100b, which operates based on the electric power charged by the second charging stand 400b, so as to travel along the path that the first robot 100a has traveled, the method may include the first robot 100a and the second robot 100a The robots 100b each start the execution of the cooperative driving mode (S4100); the first robot 100a and the second robot 100b respectively sense the charging capacity of the battery (S4200); Comparing with the preset reference capacity value (S4300), and according to the comparison result, at least one of the first robot 100a and the second robot 100b executes an independent driving mode or moves to the charging stand 400a, 400b to charge the battery (S4400 ).

Here, the first robot 100a may inhale dust while traveling forward in the area where the cooperative travel is performed, and the second robot 100b may wipe the dust while traveling behind the area where the first robot 100a travels.

The starting step (S4100) may be a step in which the first robot 100a and the second robot 100b start traveling according to the cooperative traveling mode.

The sensing step ( S4200 ) may be a step of each of the first robot 100 a and the second robot 100 b sensing a capacity charged in a battery in real time while driving according to a cooperative driving mode.

In the sensing step (S4200), the first robot 100a can sense the charging capacity of the battery built in the first robot 100a to quantify the sensing result as a charging capacity value, and the second robot 100b can sense the charging capacity of the battery built in the first robot 100a. The charging capacity of the battery in the second robot 100b to quantify the sensing result into a charging capacity value.

The comparing step (S4300) may be a step in which the first robot 100a and the second robot 100b each compare the charging capacity value obtained by quantifying the sensing result in the sensing step (S4200) with a reference capacity value.

In the comparing step (S4300), the first robot 100a may compare the charging capacity value of the first robot 100a with a reference capacity value, and the second robot 100b may compare the charging capacity value of the second robot 100b with the reference capacity value .

In the comparing step (S4300), each of the first robot 100a and the second robot 100b may transmit and share a comparison result of the charging capacity value and the reference capacity value.

The charging step (S4400) may be a step in which a robot having a charging capacity value lower than a reference capacity value between the first robot 100a and the second robot 100b moves to the charging stand 400a, 400b to charge the battery.

In the charging step (S4400), when the charging capacity value of the first robot 100a is lower than the reference capacity value and the charging capacity value of the second robot 100b is higher than the reference capacity value, as shown in (a) of FIG. A robot 100a can release the cooperative driving mode, then move to the first charging stand 400a to charge the battery, and when the charging capacity of the battery is charged above the predetermined reference capacity, move to the position before moving to the first charging stand 400a To execute the independent driving mode, and the second robot 100b can release the cooperative driving mode, and then move to the second charging stand 400b to charge the battery according to whether there is a remaining cleaning area.

Therefore, when only the charging capacity value of the first robot 100a is lower than the reference capacity value, in the charging step (S4400), as shown in FIG. 37, the first robot 100a may release the cooperative driving mode while executing the cooperative driving mode ( P10), and then move to the first charging stand 400a (P11 or P12), but the second robot 100b can complete the driving of the remaining cleaning area when the area of the remaining cleaning area corresponds to the predetermined reference area (P11), and then move to the second The second charging stand 400b (P12), and when the area of the remaining cleaning area does not correspond to the predetermined reference area, the second robot 100b immediately moves to the second charging stand 400b (P12), and the first robot 100a can move to the second charging stand 400b (P12), and the first robot 100a can 400a charges the charging capacity of the battery above a predetermined reference value, and then moves to the position XX1 before moving to the first charging stand 400a to perform independent driving movement of the first robot 100a (P13).

In the charging step (S4400), when the charging capacity value of the first robot 100a is lower than the reference capacity value and the charging capacity value of the second robot 100b is higher than the reference capacity value, as shown in (b) of FIG. A robot 100a and a second robot 100b can each release the cooperative driving mode, and then move to the respective charging bases 400a, 400b to charge the battery, and when the charging capacity of the battery is charged above a predetermined reference capacity, move to the The positions in front of the respective charging bases 400a, 400b to implement the independent driving mode.

Therefore, when only the charging capacity value of the first robot 100a is lower than the reference capacity value, in the charging step (S4400), as shown in FIG. The two robots 100b can each release the cooperative driving mode, then the first robot 100a can move to the first charging stand 400a and the second robot 100b can move to the second charging stand 400b (P21), and then the first robot 100a and the second robot 100b Each can charge the charging capacity of the battery above the predetermined reference capacity at the respective first charging stand 400a and the second charging stand 400b, and the first robot 100a can move to the position XX1 before moving to the first charging stand 400a to perform The independent driving mode of the first robot 100a, and the second robot 100b may move to the position XX2 before moving to the second charging stand 400b to perform the independent driving mode of the second robot 100b (P22).

In the charging step (S4400), when the charging capacity value of the first robot 100a is higher than the reference capacity value and the charging capacity value of the second robot 100b is lower than the reference capacity value, as shown in (c) of FIG. One robot 100a may release the cooperative driving mode and switch to the independent driving mode, and then travel while performing the independent driving mode, and the second robot 100b may release the cooperative driving mode, and then move to the charging stand 400b to charge the battery.

Therefore, when only the charging capacity value of the second robot 100b is lower than the reference capacity value, in the charging step (S4400), as shown in FIG. driving mode, and then move to the second charging stand 400b (P31), but the first robot 100a may release the cooperative driving mode, and then switch to the independent driving mode to execute the independent driving mode (P32).

In the charging step (S4400), as shown in (e) of FIG. 36A, when both the charging capacity value of the first robot 100a and the charging capacity value of the second robot 100b are lower than the reference capacity value, the first robot 100a and the second robot 100a The two robots 100b can release the cooperative driving mode respectively, and then move to their respective charging stations 400a, 400b to charge the batteries, and when the charging capacity of the batteries is charged above a predetermined reference level, the first robot can move to the second charging station. A position in front of the charging stand 400a to perform independent driving mode.

Therefore, when both the charging capacity values of the first robot 100a and the second robot 100b are lower than the reference capacity value, in the charging step (S4400), as shown in FIG. 37, each of the first robot 100a and the second robot 100b can be The cooperative driving mode is released while performing cooperative driving (P10), and then the first robot 100a can move to the first charging stand 400a and the second robot 100b can move to the second charging stand 400b (P12), but the first robot 100a can be The first charging stand 400a charges the charging capacity of the battery above a predetermined reference capacity, and then moves to a position XX1 before moving to the first charging stand 400a to execute the independent driving mode of the first robot 100a (P13).

In the charging step (S4400), when both the charging capacity value of the first robot 100a and the charging capacity value of the second robot 100b are lower than the reference capacity value, as shown in (f) of FIG. 36A, the first robot 100a and the second robot 100a The two robots 100b can release the cooperative driving mode respectively, and then move to the respective charging bases 400a, 400b to charge the batteries, and when the charging capacity of the batteries is charged above the predetermined reference capacity, move to the respective charging bases 400a , the position before 400b to execute independent driving mode.

Therefore, when both the charging capacity values of the first robot 100a and the second robot 100b are lower than the reference capacity value, in the charging step (S4400), as shown in FIG. The robot 100a and the second robot 100b can each release the collaborative execution mode, then the first robot 100a can move to the first charging stand 400a and the second robot 100b can move to the second charging stand 400b (P21), then the first robot 100a and The second robot 100b can each charge the charging capacity of the battery to a predetermined reference capacity at the respective first charging stand 400a and the second charging stand 400b, and then the first robot 100a can move to the position before moving to the first charging stand 400a XX1 to perform the independent driving mode of the first robot 100a, and the second robot 100b may move to a position XX2 before moving to the second charging stand 400b to perform the independent driving mode of the second robot 100b (P22).

The execution method including the starting step (S4100), the sensing step (S4200), the comparing step (S4300), and the charging step (S4400) may be implemented on a program recording medium as computer readable codes. The computer-readable medium includes all types of recording devices in which data readable by a computer system are stored. Examples of computer readable media include hard disk drive (HDD), solid state drive (SSD), silicon disk drive (SDD), ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. , can also be implemented in the form of a carrier wave (for example, transmitted over the Internet). In addition, the computer may include a control unit 1800 .

Although the specific embodiment according to the present invention has been described so far, various modifications can be made thereto without departing from the scope of the present invention. Therefore, the scope of the present invention should not be limited to the above-mentioned embodiments, but should be defined by the claims and their equivalents which will be described later.

Although the present invention has been described through specific embodiments and drawings, the present invention is not limited to those embodiments, and various changes and modifications will be apparent to those skilled in the art from the description disclosed herein. Therefore, the concept of the present invention should be interpreted according to the appended claims, and all the same and equivalent changes shall fall within the scope of the present invention.

1: Mobile robot system, system 10: Buildings 100: Robot 100a: First Robot, Robot 100b: second robot, robot 110: subject 111:Roller unit 120: cleaning unit 130: sensing unit 131: camera 300, 300a, 300b: terminals 400a: charging stand, first charging stand 400b: charging stand, second charging stand 50: Network 500: server 600: controller 1100: communication unit 1200: input unit 1300: drive unit 1400: sensing unit 1500: output unit 1600: Power supply unit 1700: memory 1800: control unit 1900: Sweeping unit a1, a2, a3, a4: feature points D1: entrance, first entrance D2: entrance, second entrance F: forward direction Va, Vb: driving speed L1: The first driving path L2: Second driving path L3~L23: Driving path M1~M17: The driving path of the first robot N1~N13: The driving path of the second robot OB1: First Obstacle OB2: Second Obstacle P1, P2, P3: driving point P10~P13: driving mode P20~P22: driving mode P30~P32: driving mode Q1, Q2, Q3: driving point X1: area to be cleaned A1: The first unit area A2: The second unit area XX1, XX2: position Z1: Zone 1 Z2: the second zone Z3: the third zone Z4: the fourth area, the area to be cleaned Z5: Zone 5 Z6: District Six S1~S6: steps S10~S80: steps R1~R4: steps S100~S300: Steps S200~S220: steps S1100~S1700: Steps S2100~S2300: Steps S3100~S3300: Steps S4100~S4400: Steps

Figure 1A and Figure 1B are configuration diagrams (a) and (b) of the mobile robot. Figure 2 is a detailed structural diagram of the mobile robot. Figure 3 is an example diagram of a mobile robot system. FIG. 4 is a conceptual diagram illustrating network communication among a plurality of mobile robots in the mobile robot system. FIG. 5 is a conceptual diagram of the travel of a plurality of mobile robots in the mobile robot system. FIG. 6 is a detailed exemplary diagram of travel of a plurality of mobile robots according to the conceptual diagram shown in FIG. 5 . FIG. 7 is a flowchart showing a sequence in which a plurality of mobile robots perform cooperative driving. FIG. 8 is an exemplary diagram for explaining the concept of position recognition through image comparison among a plurality of mobile robots. FIG. 9 is an exemplary diagram for explaining the concept of position recognition among a plurality of mobile robots. Fig. 10 is an example diagram of a plurality of mobile robots performing cooperative driving. FIG. 11 is a configuration diagram of a mobile robot system according to an embodiment. FIG. 12 is a flow chart showing a process of implementing a cooperative driving mode in a mobile robot system according to an embodiment. FIG. 13 is a diagram showing an example of performing a cooperative driving mode in a mobile robot system according to an embodiment. FIG. 14 is a flowchart of a method for performing cooperative driving in a mobile robot system according to an embodiment. FIG. 15 is a flow chart according to an embodiment of the method for performing cooperative driving shown in FIG. 14 . FIG. 16 is a view showing cooperative travel of the mobile robot system according to Embodiment 1. FIG. FIG. 17 is a view illustrating a mobile robot system executing a preset scene when the first robot according to Embodiment 1 is in a trap state. FIG. 18 is a view illustrating a mobile robot system executing a preset scene when the first robot according to Embodiment 1 is in a trap state. FIG. 19 is a view illustrating a mobile robot system executing a preset scene when a second robot according to Embodiment 1 is in a trap state. FIG. 20 is a view illustrating a mobile robot system executing a preset scene when the first robot according to Embodiment 1 is in a trap state. FIG. 21 is a view illustrating a mobile robot system executing a preset scene when the first robot and the second robot are in a trap state according to Embodiment 1. Referring to FIG. 22 is a flowchart of a method for a mobile robot system to perform cooperative travel when a trap state according to Embodiment 1 occurs. FIG. 23 is a view showing cooperative travel of the mobile robot system according to Embodiment 2. FIG. FIG. 24A is a view (a) showing a mobile robot system executing a preset scene in response to an error occurring in a first robot according to Embodiment 2. Referring to FIG. FIG. 24B is a view (b) showing a mobile robot system executing a preset scene in response to an error occurring in a first robot according to Embodiment 2. Referring to FIG. FIG. 24C is a view (c) showing the mobile robot system executing a preset scene in response to an error occurring in the first robot according to Embodiment 2. Referring to FIG. FIG. 25 is a view showing a mobile robot system executing a preset scene in response to an error occurring in a first robot and a second robot according to Embodiment 2. Referring to FIG. FIG. 26A is a view (a) showing a mobile robot system executing a preset scene in response to an error occurring in a second robot according to Embodiment 2. Referring to FIG. FIG. 26B is a view (b) showing a mobile robot system executing a preset scene in response to an error occurring in a second robot according to Embodiment 2. Referring to FIG. FIG. 26C is a view (c) showing a mobile robot system executing a preset scene in response to an error occurring in a second robot according to Embodiment 2. Referring to FIG. FIG. 27A is a view (a) showing a mobile robot system executing a preset scene in response to a trap occurring in a first robot according to Embodiment 2. FIG. FIG. 27B is a view (b) showing the mobile robot system executing a preset scene in response to a trap occurring in the first robot according to Embodiment 2. FIG. FIG. 27C is a diagram (c) showing a mobile robot system executing a preset scenario in response to a trap occurring in the first robot according to Embodiment 2. FIG. FIG. 28A is a view (a) of a mobile robot system executing a preset scenario in response to a trap occurring in a second robot according to Embodiment 2. FIG. FIG. 28B is a view (b) showing the mobile robot system executing a preset scene in response to a trap occurring in the second robot according to Embodiment 2. FIG. FIG. 28C is a view (c) showing the mobile robot system executing a preset scene in response to a trap occurring in the second robot according to Embodiment 2. FIG. FIG. 29 is a flowchart showing a method of executing a preset scenario in response to an error, entrapment, or communication failure occurring while performing cooperative driving in the mobile robot system according to Embodiment 2. Referring to FIG. 30 is a view illustrating a method in which the mobile robot system according to Embodiment 3 divides an area to be cleaned into a plurality of unit areas, and cooperatively travels for each unit area. FIG. 31 is a view illustrating a preset scene executed when a first robot and a second robot sense a first obstacle according to Embodiment 3. Referring to FIG. FIG. 32 is a view illustrating a preset scene executed when the first robot does not sense the first obstacle and the second robot senses the first obstacle according to Embodiment 3. Referring to FIG. FIG. 33 is a view illustrating a preset scene executed when the first robot and the second robot do not sense the first obstacle according to Embodiment 3. Referring to FIG. FIG. 34 is a view illustrating a preset scene executed when a first robot senses a second obstacle and a second robot does not sense the second obstacle according to Embodiment 3. Referring to FIG. 35 is a flowchart illustrating a method of executing a preset scene in response to an obstacle sensed during cooperative driving by the mobile robot system according to Embodiment 3. Referring to FIG. 36A is a graph (a) showing an example of a response according to a state of charge capacity of a battery while executing a cooperative travel mode in the mobile robot system according to Embodiment 4. FIG. 36B is a graph (b) showing an example of a response according to a state of charge capacity of a battery while executing a cooperative travel mode in the mobile robot system according to Embodiment 4. FIG. FIG. 37 is an example diagram ( 1 ) showing responses of a plurality of mobile robots in a mobile robot system according to Embodiment 4. FIG. FIG. 38 is an example diagram (2) showing responses of a plurality of mobile robots in a mobile robot system according to Embodiment 4. FIG. FIG. 39 is an example diagram (3) showing responses of a plurality of mobile robots in the mobile robot system according to Embodiment 4. FIG. FIG. 40 is a flowchart of a method of performing cooperative driving of a mobile robot system according to Embodiment 4. FIG.

1: Mobile robot system, system

100a: First Robot, Robot

100b: second robot, robot

400a: charging stand, first charging stand

400b: charging stand, second charging stand

600: controller

Claims (18)

A mobile robot system traveling in an area to be cleaned, the mobile robot system includes: a first robot, which is used to inhale pollutants in the area to be cleaned; a second robot, which is used to wipe the dirt in the area to be cleaned floor; a first charging stand, which charges the first robot; a second charging stand, which charges the second robot; and a network, which connects the first robot and the second robot to each other , wherein, when the driving state of the first robot and the second robot corresponds to a predetermined reference state, the first robot and the second robot use the network to enter a cooperative driving mode, and divide the area to be cleaned into plural unit areas, to drive cooperatively for each unit area, and while the first robot and/or the second robot is performing cooperative driving in any one of the plurality of unit areas, when it is sensed that it is in a predetermined When there is an obstacle formed by the height or depth of the set range, the cooperative driving is continued by avoiding or climbing the obstacle. The mobile robot system of claim 1, wherein, for the cooperative travel, the first robot travels ahead of the travel of the second robot to inhale pollutants in any one of the plurality of cells, and The second robot travels along the path traveled by the first robot to wipe the floor in any one of the plurality of cell areas. The mobile robot system as described in claim 2, wherein the plurality of unit areas include: a first unit area; and a second unit area, and the obstacle includes: a first obstacle existing in the first unit area between a unit area and the second unit area; and a second obstacle existing inside the first unit area. The mobile robot system according to claim 3, wherein when the first robot and the second robot sense the first obstacle in the first unit area during the cooperative driving, the first robot uses By avoiding the first obstacle to complete the cooperative travel in the first unit area, and then entering the second unit area to perform independent travel, and the second robot is in the first unit area by avoiding the first obstacle Complete the cooperative driving in the unit area, and then return to the second charging stand. The mobile robot system as described in claim 3, wherein, while the first robot and the second robot are performing the cooperative driving in the first unit area, when the first robot is not sensing the first When entering the second unit area without obstacles, and the second robot avoids the first obstacle by sensing the first obstacle, the second robot completes the cleaning of the floor in the first unit area Wipe, then the notification that the second robot cannot enter the second unit area is sent to the first robot, and the first robot completes the inhalation of pollutants in the second unit area, and then moves to the second robot The location where this notification was delivered. The mobile robot system according to claim 3, wherein when the first robot and the second robot enter the second unit area without sensing the first obstacle during the cooperative driving in the first unit area When in the unit area, the first robot and the second robot perform the cooperative driving in the second unit area. The mobile robot system according to claim 3, wherein while the first robot and the second robot are performing the cooperative driving in the first unit area, when the first robot senses the second obstacle object to avoid the second obstacle, and then move to the second unit area, and the second robot cannot avoid the second obstacle without sensing the second obstacle, the second The robot completes the wiping of the floor in the first unit area, and then sends a notification that the second robot cannot enter the second unit area to the first robot, and the first robot completes the cleaning in the second unit area. The inhalation of the pollutant then moves to the location where the second robot has transmitted the notification. The mobile robot system according to claim 1, wherein the obstacle is a threshold, a carpet, or a cliff. A method for cooperative driving of a mobile robot system traveling in an area to be cleaned, wherein the mobile robot system includes: a first robot for inhaling pollutants in the area to be cleaned; a second robot, It is used to wipe the floor of the area to be cleaned; a first charging stand, which charges the first robot; a second charging stand, which charges the second robot; and a network, which charges the first robot a robot and the second robot are connected to each other, and Wherein, the method for performing cooperative driving includes: wherein, when the driving states of the first robot and the second robot correspond to a predetermined reference state, the first robot and the second robot use the network to enter a cooperative driving mode; The area to be cleaned is divided into a plurality of unit areas by the first robot and the second robot, so as to drive cooperatively for each unit area; and when the first robot and/or the second robot is in the plurality of units While performing the cooperative travel in any one of the zones, when an obstacle formed at a height or depth within a predetermined range is sensed, the cooperative travel is continued by avoiding or climbing the obstacle. The method as claimed in claim 9, wherein, in performing the cooperative driving for each unit area, the first robot travels before the second robot to inhale pollution in any one of the plurality of unit areas object, and the second robot travels along the path that the first robot has traveled to wipe the floor in any one of the plurality of cell areas. The method according to claim 10, wherein the plurality of unit areas include: a first unit area; and a second unit area, and the obstacle includes: a first obstacle existing in the first unit area and the second unit area; and a second obstacle exists inside the first unit area. The method as claimed in claim 11, wherein, during the continuous execution of the cooperative driving, when the first robot and the second robot sense the first obstacle in the first unit area during the cooperative driving, The first robot completes the cooperative driving in the first unit area by avoiding the first obstacle, and then enters the second unit area to perform independent driving, and the second robot avoids the first obstacle Vehicles complete cooperative driving in the first unit area, and then return to the second charging stand. The method according to claim 11, wherein, during the continuous execution of the cooperative driving, while the first robot and the second robot are performing the cooperative driving in the first unit area, when the first robot is not sensing When the first obstacle is detected and enters the second unit area, and the second robot avoids the first obstacle by sensing the first obstacle, The second robot completes the wiping of the floor in the first unit area, and then sends a notification that the second robot cannot enter the second unit area to the first robot, and the first robot completes the cleaning in the second unit area. The inhalation of pollutants in the zone then moves to the location where the second robot has transmitted the notification. The method according to claim 11, wherein, during the continuous execution of the cooperative driving, when the first robot and the second robot do not sense the first obstacle during the cooperative driving in the first unit area When entering the second unit area, the first robot and the second robot perform the cooperative driving in the second unit area. The method according to claim 11, wherein during the continuous execution of the cooperative driving, while the first robot and the second robot are performing the cooperative driving in the first unit area, when the first robot senses detect the second obstacle to avoid the second obstacle, and then move to the second unit area, and the second robot cannot avoid the second obstacle without sensing the second obstacle , the second robot finishes wiping the floor in the first unit area, and then sends a notification that the second robot cannot enter the second unit area to the first robot, and the first robot completes the second The inhalation of pollutants in the cell area then moves to the location where the second robot has transmitted the notification. The method as claimed in claim 9, wherein the obstacle is a threshold, a carpet, or a cliff. A mobile robot running in an area to be cleaned, the mobile robot includes: a main body defining the appearance of the mobile robot; a cleaning unit installed on one side of the main body to suck pollutants in the area to be cleaned and a communication unit disposed inside the main body to exchange data with another mobile robot using a network; wherein, when the driving states of the mobile robot and the other mobile robot correspond to a predetermined reference state, the The mobile robot uses the network to enter a collaborative driving mode, and the area to be cleaned Divided into a plurality of unit areas to perform cooperative driving with the other mobile robot for each unit area, and when the mobile robot and/or the other mobile robot performs in any one of the plurality of unit areas While the cooperative driving is in progress, the mobile robot and/or the other mobile robot continue by avoiding or climbing the obstacle when an obstacle formed at a height or depth within a predetermined range is sensed. Execute this cooperative travel. A mobile robot running in an area to be cleaned, the mobile robot includes: a main body defining the appearance of the mobile robot; a mop unit installed on one side of the main body to wipe the floor of the area to be cleaned; and a communication unit arranged inside the main body to exchange data with another mobile robot using a network; wherein, when the driving states of the mobile robot and the other mobile robot correspond to a predetermined reference state, the mobile The mobile robot uses the network to enter a cooperative driving mode, divides the area to be cleaned into a plurality of unit areas, and performs cooperative driving with the other mobile robot for each unit area, and in the mobile robot and/or While the other mobile robot is performing the cooperative driving in any one of the plurality of cell areas, when an obstacle formed at a height or depth within a predetermined range is sensed, the mobile robot and/or the mobile robot The other mobile robot continues the collaborative driving by avoiding or climbing the obstacle.

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