WO2017034056A1 - Robot mobile et procédé de commande associé - Google Patents

Robot mobile et procédé de commande associé Download PDF

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Publication number
WO2017034056A1
WO2017034056A1 PCT/KR2015/008994 KR2015008994W WO2017034056A1 WO 2017034056 A1 WO2017034056 A1 WO 2017034056A1 KR 2015008994 W KR2015008994 W KR 2015008994W WO 2017034056 A1 WO2017034056 A1 WO 2017034056A1
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WO
WIPO (PCT)
Prior art keywords
wheel
mobile robot
information
preset
sensor
Prior art date
Application number
PCT/KR2015/008994
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English (en)
Korean (ko)
Inventor
마용범
이의석
이재걸
정대영
Original Assignee
엘지전자 주식회사
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Application filed by 엘지전자 주식회사 filed Critical 엘지전자 주식회사
Publication of WO2017034056A1 publication Critical patent/WO2017034056A1/fr

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls

Definitions

  • the present invention relates to a mobile robot formed to be movable and a control method thereof.
  • Robots perform various tasks on behalf of humans in various industries. For example, there is a welding operation or a component assembly operation performed at a product production site, and the robot performing such a operation has a robot arm structure.
  • the robot arm having several joints is fixedly installed in one place to perform the indicated work, which makes the working space of the robot arm very limited.
  • a mobile robot is a robot that can move freely because it is not fixedly installed unlike a robot arm.
  • Mobile robots are used to move parts, work tools, etc., necessary for production, to the required position. It is also possible to assemble the moved parts to produce a product. Recently, there are many cases of using mobile robots at home as well as in industrial fields.
  • the home mobile robot mainly travels in a space where people live and handles various functions.
  • An example of a home mobile robot is a cleaning robot that performs a cleaning function.
  • the drive torque is preset based on the rotational speed to be output.
  • the preset drive torque is set without considering the state of the ground and / or wheels. For this reason, there is a problem that the rotation speed to be output and the rotation speed actually output do not match. Accordingly, there is a problem that the mobile robot cannot travel at a traveling speed suitable for this in various situations.
  • the conventional home mobile robot has a problem that the type of wheel is limited, which is not suitable for traveling in various driving environments.
  • An object of the present invention is to provide a mobile robot capable of traveling at a traveling speed suitable for each situation according to the type of wheels and / or the traveling environment to be mounted.
  • Mobile robot the body; A wheel formed detachably from the body; A camera formed in the body and photographing an external environment; A wheel driver for rotating the wheel; And a controller configured to obtain information about the wheel and the ground in contact with each other, and to control the wheel driving unit to rotate the wheel within a range of a preset rotation speed.
  • the information on the ground may be obtained by analyzing an image received from the camera.
  • the wheel driver may include a roller, and at least a portion of the roller may contact the inner surface of the wheel such that the driving force of the wheel driver is transmitted to the wheel.
  • the body is provided with a wireless communication unit, the information on the wheel, if the wheel is mounted on the body, can be detected from the wheel through the wireless communication unit.
  • the information on the wheel may be information on a material of an outer surface of the wheel.
  • the information about the ground may be information about a material of the ground.
  • a ball bearing may be disposed between the body and the wheel such that the wheel is rotatable along one edge of the body.
  • the wheel is provided with a first bearing mount, and a portion facing the first bearing mount of the body is provided with a second bearing mount slidably formed in the body, so that the ball bearing At least a portion may be disposed on the first bearing mount and the remainder may be disposed on the second bearing mount.
  • a balance weight may be formed on one side of the body.
  • At least one electronic component is disposed in the internal space defined by the body and the wheel, and the electronic component may be connected to the counterweight by an auxiliary motor.
  • the body is provided with a microphone for sensing an external voice
  • the controller when the sensed external voice is a preset voice, the wheel to move in a direction closer to the source generating the external voice.
  • the driving unit can be controlled.
  • the body is provided with a distance sensor for measuring a distance to the generation source, the control unit, the distance between the distance sensor and the generation source can control the wheel driving unit to maintain a predetermined distance range.
  • the controller may control the camera to photograph the source for a preset time every preset period.
  • the body is provided with a sensing unit for sensing the surrounding environment information
  • the control unit based on the sensed surrounding environment information, may move to a predetermined position to transmit an infrared signal.
  • the body is provided with a wireless communication unit
  • the control unit based on the state information of the external sensor received through the wireless communication unit, may control the wheel driving unit to move to an area adjacent to the external sensor. have.
  • the controller may control the camera to photograph the external sensor and the surrounding environment of the external sensor.
  • the controller may transmit the image photographed by the camera to a preset mobile terminal through the wireless communication unit.
  • the wheel driving unit is controlled to rotate the wheel at a predetermined range of speed based on information on the wheel and the ground in contact with each other, it is possible to provide a mobile robot capable of traveling in various situations.
  • a balance weight is formed on one side of the body, the mobile robot can maintain the posture of the body even while the wheel is rotated. Furthermore, by connecting an electronic component such as a camera to the body, the camera can take a stable picture while the mobile robot is moving.
  • the first and second ball bearings are disposed between the body and the wheel, thereby reducing the frictional force generated in the wheel and the body while the wheel is rotated.
  • the first and second ball bearings may be disposed in the first and second bearing mounts, respectively, to implement a detachable structure of the body and the wheel.
  • FIG. 1 is a block diagram illustrating a mobile robot according to the present invention.
  • FIGS. 2A and 2B are front and rear perspective views of a mobile robot according to an embodiment of the present invention.
  • 3A and 3B are a perspective view and a side view excluding both wheels of a mobile robot.
  • 5A and 5B are conceptual views illustrating a mounting structure of a wheel and a body of a mobile robot.
  • Figure 6a is a flow chart of the control method for adjusting the rotational speed of the wheel related to the present invention.
  • 6B and 6C are conceptual views illustrating the control method of FIG. 6A.
  • FIG. 7A is a flowchart related to a method of controlling a mobile robot to move to an external sound source
  • FIG. 7B is a flowchart illustrating a method of controlling a pet play mode
  • 7C is a conceptual diagram related to the control method of FIGS. 7A and 7B.
  • FIG. 8A is a flowchart illustrating a control method of controlling home appliances, etc., located at a preset location in a home by using measured values of various sensors included in a mobile robot
  • FIG. 8B is a conceptual diagram for describing the control method of FIG. 8A. .
  • FIG. 9A is a flowchart of a control method of controlling a camera and a wireless communication unit of a mobile robot based on state information of an external sensor
  • FIG. 9B is a conceptual diagram for describing the control method of FIG. 9A.
  • the mobile robot used in the present invention is a device that can move itself along the surface of the moving area by using a charged battery as a power source.
  • a charged battery as a power source.
  • FIG. 1 is a block diagram illustrating a mobile robot 200 related to the present invention.
  • the mobile robot 200 may include a wireless communication unit 290, an input unit, a sensing unit, an output unit, an interface unit 222, a wheel driver 270, a battery 250, a controller 261, and the like.
  • the components shown in FIG. 1 are not essential to the implementation of a mobile robot, such that the mobile robot described herein may have more or fewer components than those listed above.
  • the wireless communication unit 290 of the components between the mobile robot 200 and the wireless communication system, between the mobile robot 200 and the mobile terminal 100, or between the mobile robot 200 and an external server. It may include one or more modules to enable wireless communication of. In addition, the wireless communication unit 290 may include one or more modules for connecting the mobile robot 200 to one or more networks.
  • the wireless communication unit 290 may include at least one of a broadcast receiving module 291, a mobile communication module 292, a wireless internet module 293, a short range communication module 294, and a location information module 295. .
  • the input unit may include a camera 211 'or an image input unit for inputting an image signal, a microphone 215' for inputting an audio signal, or an audio input unit, or a user input unit for receiving information from a user (for example, a touch key). (touch key), push key (mechanical key, etc.).
  • a touch key for example, a touch key
  • push key mechanical key, etc.
  • the voice data or image data collected by the input unit may be analyzed and processed by a user's control command.
  • the sensing unit may include one or more sensors for sensing at least one of information in the mobile robot, surrounding environment information surrounding the mobile robot, and user information.
  • the sensing unit may include a distance sensor 213 ', a laser sensor 214', a proximity sensor 216, an illumination sensor, a touch sensor, an acceleration sensor, Magnetic sensor, gravity sensor (G-sensor), gyroscope sensor, motion sensor, RGB sensor, infrared sensor (IR sensor: infrared sensor), fingerprint scan sensor (finger scan sensor) ), Ultrasonic sensors, optical sensors (e.g. cameras), microphones, battery gauges, environmental sensors (e.g.
  • a chemical sensor eg, an electronic nose, a healthcare sensor, a biometric sensor, etc.
  • the mobile terminal disclosed herein may use a combination of information sensed by at least two or more of these sensors.
  • the output unit is used to generate an output related to sight, hearing, or tactile sense, and may include at least one of an illumination unit 221, an infrared ray transmitter 212 ′, a display unit, a sound output unit, and a hap tip module.
  • the interface unit 222 serves as a path to various types of external devices connected to the mobile robot 200.
  • the interface unit 222 may connect a device equipped with a wired / wireless headset port, an external charger port, a wired / wireless data port, a memory card port, and an identification module. It may include at least one of a port, an audio input / output (I / O) port, a video input / output (I / O) port, and an earphone port.
  • I / O audio input / output
  • I / O video input / output
  • earphone port an earphone port
  • the battery 250 supplies power to each component included in the mobile robot.
  • the battery may be a built-in battery or a replaceable battery.
  • the controller 261 typically controls the overall operation of the mobile robot 200.
  • the controller 200 may provide or process information or functions appropriate to a user by processing signals, data, information, etc. input or output through the above-described components, or driving an application program stored in a memory.
  • the wheel driver 270 receives power from the battery 250 and provides a driving force necessary for the mobile robot 200 to move.
  • the structure and driving principle of the mobile robot will be described in more detail with reference to the accompanying drawings.
  • 2A and 2B are front and rear perspective views of the mobile robot 200 according to an embodiment of the present invention.
  • 3A and 3B are a perspective view and a side view excluding both wheels of the mobile robot 200.
  • 4 is an exploded perspective view of the mobile robot 200.
  • 5A and 5B are conceptual views illustrating a mounting structure of a wheel and a body of the mobile robot 200.
  • the mobile robot 200 includes a body 210 and a wheel mounted to the body 210.
  • the wheel is a part that is rotated by changing the sliding friction generated between the mobile robot 200 and the ground when the mobile robot 200 moves to the rolling friction.
  • the mobile robot 200 may include at least one wheel.
  • the mobile robot according to the present invention may have both wheels 220a and 220b mounted to the body 210.
  • Both wheels 220a and 220b may form an exterior of the mobile robot 200 together with the body 210. More specifically, at least a part of the wheel may form at least a part of a case in which various components of the mobile robot 200 are embedded.
  • the appearance of the mobile robot 200 may be generally formed in a spherical shape.
  • the body 210 may be made of an annular case, and both wheels 220a and 220b may be made of a hemispherical case. That is, the annular case forms the body 210 as a fixed case, and the hemispherical case forms the wheels 220a and 220b as the case to be rotated.
  • the wheels 220a and 220b are mounted on both sides of the body 210, respectively. Furthermore, both wheels 220a and 220b may be symmetrically mounted with respect to the body 210. As both wheels 220a and 220b are rotated, the mobile robot may move forward.
  • the rotation speed and / or direction of the wheels 220a and 220b may be independently controlled. Accordingly, the mobile robot 200 may travel in various directions and / or speeds.
  • the body 210 is formed so as not to rotate with the wheels 220a and 220b when the mobile robot 200 travels. That is, while the mobile robot 200 is running, the body 210 maintains its posture, and only the two wheels 220a and 220b are rotated with respect to the body 210.
  • various electronic components may be disposed in an internal space of the mobile robot 200 defined by the body 210 and both wheels 220a and 220b.
  • the electronic component may be at least one of a camera 211 ', a microphone 215a', an infrared ray transmitter and sensor 212 ', a distance sensor 213', a laser sensor 214 ', and the like.
  • the electronic components may be connected to the body 210 to maintain its posture while driving the mobile robot 200. In other words, the electronic components are not rotated together with the wheels 220a and 220b while the mobile robot 200 travels.
  • the camera 211 ′ may photograph the outside through the opening 211 formed in the body 210. As described above, since the body 210 and the camera 211 ′ maintain the posture while the mobile robot 200 moves, the camera 211 ′ can stably photograph the surrounding environment.
  • a portion where the opening 211 of the body 210 is formed is referred to as the front of the body 210, and the opposite side of the front is referred to as the rear.
  • the microphone 215a', the infrared transmitter and sensor 212 ', the distance Holes 215a, 212, 213, and 214 for at least one of the sensor 213 ′, the laser sensor 214 ′, and the like may be formed.
  • the sensors may be used alone or in combination to impart various functions to the mobile robot. This will be described in more detail later with reference to FIGS. 7A to 7C, 8A to 8C, and 9A to 9B.
  • the body 210 and the electronic components may be connected to each other through a balance weight 230.
  • a balance weight 230 may be formed at one side of the body 210.
  • the balance weight 230 may be provided on both sides of the body 210, respectively. More specifically, the balance weight 230 may be fixed to one side of the body 210.
  • the counterweight 230 may be formed of a plate-shaped member.
  • a first coupling hole 231 may be formed in the balance weight 230.
  • a second coupling hole (not shown) may be formed in a portion corresponding to the first coupling hole 231 of the body 210.
  • the coupling member 232 penetrates the first and second coupling holes, the body 210 and the balance weight 230 may be coupled to each other.
  • the present invention is not limited to the fastening method, and the balance weight 230 and the body 210 may be coupled to each other by various fastening methods.
  • the balance weight 230 and the body 210 may be integrally formed.
  • the balance weight 230 extends from one side of the body 210 to an internal space defined by the body 210. That is, the balance weight 230 is fixed to one side of the body 210 may extend to an area adjacent to the center of the inner space.
  • the portion fixed to the body 210 of the balance weight 230 is called one side
  • the portion extending to the area adjacent to the center is called the other side.
  • the auxiliary motor 240 may be connected to the other side of the body 210. More specifically, the rotating wheel of the auxiliary motor 240 may be coupled to the other side of the body 210. As a result, the balance weight 230 may receive the rotational force of the auxiliary motor 240. Furthermore, since the counterweight 230 is fixed to the body 210, the counterweight 230 and the body 210 may be rotated together by the rotational force of the auxiliary motor 240. On the other hand, the auxiliary motor 240 may be operated in different modes depending on the situation.
  • the auxiliary motor 240 may be operated in a posture adjustment mode to maintain the posture of the body 210.
  • the position of the balance weight 230 may be sensed by a sensing unit (not shown) at predetermined time intervals.
  • the controller 261 moves the auxiliary motor 240 in a direction in which the position of the balance weight 230 returns to the preset position.
  • the auxiliary motor 240 returns the posture of the body 210 to the preset posture.
  • the position of the balance weight 230 can be adjusted.
  • the auxiliary motor 240 may be operated in a rotation mode. In the rotation mode, the mobile robot 200 may stay in place and rotate at least one wheel. In this case, the auxiliary motor 240 applies a rotational force so that the balance weight 230 rotates more than 360 degrees.
  • the auxiliary motor 240 is operated in the posture adjustment mode unless a separate user request.
  • the controller 261 switches the mode so that the auxiliary motor 240 operates in the rotation mode when a user's request is input.
  • the auxiliary motor 240 connects the balance weight 230 and the electronic components disposed in the internal space of the mobile robot 200 to each other.
  • the auxiliary motor 240 may be connected to the battery 250, the circuit board 260 and the like. Referring to FIG. 4, the battery 250 is disposed under the auxiliary motor 240. By placing a heavy battery 250 below the internal space as compared to other electronic components, the center of gravity of the mobile robot 200 can be formed below. Thereby, the mobile robot 200 can run stably.
  • the circuit board 260 may be connected to the battery 250 and disposed on the battery 250.
  • the circuit board 260 may be disposed in a direction in which a main surface of the circuit board 260 intersects with a main surface of the battery 250.
  • the circuit board 260 is disposed behind the internal space.
  • the counterweight 230 is mainly disposed in front of the inner space.
  • the circuit board 260 and the counterweight 230 are mainly disposed above the internal space, and the battery 250 is disposed below. That is, since the battery 250, the circuit board 260, and the balance weight 230 are disposed to balance power with each other in the internal space, the mobile robot 200 may maintain a stable posture.
  • the wheel driver 270 is disposed under the battery 250.
  • the wheel driver 270 includes at least one main motor 271.
  • the main motor 271 is rotated by receiving power from the battery 250 and provides rotational force to both wheels 220a and 220b.
  • the main motor 271 is connected to the roller 272.
  • the roller 272 is formed to contact a point on the inner surface of the wheel (220a, 220b). That is, the main motor 271 may rotate the roller 272, and finally, the wheels 220a and 220b may be rotated.
  • a portion of the roller 272 in contact with the wheels 220a and 220b may be made of a rubber-like material to prevent wear of the rollers 272 and / or the wheels 220a and 220b.
  • the roller 272 may be formed of a metal material.
  • a buffer structure may be additionally provided on the outer surface of the roller 272.
  • the roller 272 may be bonded or coated with a buffer structure formed of rubber or silicon.
  • the wheels 220a and 220b are mounted on side surfaces of the body 210.
  • the connection relationship between the wheels 220a and 220b and the body 210 will be described in more detail.
  • Ball bearings 280a and 280b may be disposed between the body 210 and the wheels 220a and 220b such that the wheels 220a and 220b are rotatable along one edge of the body 210. This will be described in detail.
  • first bearing mounts 281 may be formed on inner surfaces of the wheels 220a and 220b. In other words, a first bearing mount 281 may be formed at a portion of the wheels 220a and 220b that is mounted to the body 210. First ball bearings 280a may be disposed in the first bearing mount 281.
  • a second bearing mount 282 may be formed in the body 210.
  • the second bearing mount 282 may be formed at a portion where the wheels 220a and 220b are mounted on the side surface of the body 210.
  • Second ball bearings 280b may be disposed in the second bearing mount 282.
  • one of the first and second bearing mounts 281 and 282 is fixed to the wheels 220a and 220b or the body 210, and the other is formed to be slidable.
  • the first bearing mount 281 is fixed to the wheels 220a and 220b, and the second bearing mount 282 is slidably formed along one edge of the body 210. It explains on the basis of what becomes.
  • first and second bearing mounts 281 and 282 may be formed with first and second receiving holes 281a and 282a.
  • the first and second receiving holes 281a and 282a may be formed to receive the first and second ball bearings 280a and 280b.
  • the first and second bearing mounts 281 and 282 are not detached to the outside in a state where the first and second ball bearings 280a and 280b are accommodated in the first and second accommodation holes 281a and 282a.
  • the first and second ball bearings 280a and 280b are fixed.
  • first and second bearing mounts 281 and 282 may include the first and second ball bearings 280a and 280b when at least some of the first and second ball bearings 280a and 280b protrude outwards. 280b) can be fixed.
  • protrusions of the first and second ball bearings 280a and 280b are referred to as protrusions of the first and second ball bearings 280a and 280b.
  • first and second receiving holes 281a and 282a are formed on the first and second bearing mounts 281 and 282.
  • the plurality of first and second receiving holes 281a and 282a may alternately accommodate the first and second ball bearings 280a and 280b along the circumferential direction. That is, in the first and second bearing mounts 281 and 282, accommodating holes and empty accommodating holes accommodating the first and second ball bearings 280a and 280b may be alternately disposed along the circumferential direction.
  • the protrusion of the first ball bearing 280a may be caught in an empty accommodation hole of the second accommodation hole 282a.
  • the protrusion of the second ball bearing 280b is caught by the empty accommodation hole of the first accommodation hole 281a. Accordingly, the first and second bearing mounts 281 and 282 and the first and second ball bearings 280a and 280b may all rotate along the rotation directions of the wheels 220a and 220b.
  • the first bearing mount 281 and the first ball bearing 280a are rotated together along the rotation directions of the wheels 220a and 220b. Since the protruding portion of the first ball bearing 280a is caught in an empty accommodation hole of the second accommodation hole 282a, the second bearing mount 282 may change the rotation direction of the first ball bearing 280a. Are rotated together. Accordingly, the second ball bearing 280b disposed on the second bearing mount 282 is also rotated together.
  • the first bearing mount 281 is fixed to the wheels 220a and 220b, while the second bearing mount 282 is slidably formed with respect to the body 210. Accordingly, when the second bearing mount 282 rotates, only the second ball bearing 280b rotates together, and the body 210 does not rotate to maintain a posture.
  • the body 210 may be rotated. Friction that may occur between the wheels 220a and 220b is minimized.
  • the body 210 and the wheels 220a and 220b are formed by engaging the first ball bearing 280a and the second accommodation hole with each other, and the second ball bearing 280b and the first accommodation hole with each other.
  • the desorption structure of the liver can be implemented.
  • the wheels 220a and 220b are formed to be mounted to the body 210.
  • the mobile robot 200 according to the present invention may be driven at a traveling speed suitable for each environment in various driving environments based on the information on the mounted wheels 220a and 220b. This will be described in detail with reference to FIG. 6.
  • Figure 6a is a flow chart of the control method for adjusting the rotation speed of the wheel (220a, 220b) related to the present invention.
  • 6B and 6C are conceptual views illustrating the control method of FIG. 6A.
  • the wireless communication unit 290 may be provided in the body 210 of the mobile robot 200.
  • the wireless communication unit 290 may include a short range communication module 294.
  • the wheels 220a and 220b may wirelessly transmit data such as a barcode, a radio frequency identification (RFID) tag, a near field communication (NFC) module, and the like to transmit information about the wheels 220a and 220b.
  • Means may be provided separately. That is, when the wheels 220a and 220b are mounted to the body 210, the wireless communication unit 290 may receive information about the wheels 220a and 220b from the means.
  • RFID radio frequency identification
  • NFC near field communication
  • the information about the wheel may be information about the type and / or material of the outer surfaces of the wheels 220a and 220b.
  • the wheels 220a and 220b may be made of one of acrylic, fabric, urethane, and the like.
  • the control unit 261 combines the information about the wheel and the information about the ground in contact with the wheels 220a and 220b to calculate the information about the friction coefficient. This will be described later in detail.
  • controller 261 analyzes an image received from the camera 211 ′ and obtains information about the ground (S620).
  • the camera 211 ′ images the moving target area in real time while the mobile robot 200 moves.
  • the controller 261 may acquire information about the ground on which the mobile robot 200 is currently located or a ground of an area to be moved soon, based on a preset method, from the image.
  • the preset method may be a method of recognizing an image corresponding to the ground in the image by using at least one of contour information, pattern information, and color information of the image in the image.
  • the controller 261 may compare the recognized image with previously stored images of the ground, and acquire information on the ground where the mobile robot 200 is currently located or the ground of the area to be moved.
  • the information about the ground may be information about the type and / or material of the ground.
  • the ground material may be one of asphalt, fabric, soil, clay, wood, and the like.
  • control unit 261 has been described on the basis of obtaining the information on the wheel and the ground through the wireless communication unit 290 and the camera 211 'of the mobile robot 200, but the present invention is based on this
  • the information is not limited and may be obtained by various methods.
  • the controller 261 may acquire information about the wheel and the ground by a user's input.
  • the controller 261 controls the wheel driver 270 such that the wheels 220a and 220b are rotated within a preset rotational speed based on the information about the wheel and the ground (S630).
  • the controller 261 combines information about the wheel and information about the ground in contact with the wheels 220a and 220b to calculate the information about the friction coefficient. Thereafter, the driving torque of the wheel driving unit 270 is determined based on the calculated information about the friction coefficient and the preset rotation speed.
  • the wheel driver 270 applies a first driving torque corresponding to a preset rotational speed of the wheel. do.
  • the wheel driving unit 270 is a preset of the wheel The second driving torque corresponding to the rotational speed is applied.
  • the first ground 610 is made of carpet
  • the second ground 620 is It may be made of floors.
  • a wheel driving unit 270 When the mobile robot 200 moves from the first ground 610 to the second ground 620 in order to travel at the same speed on the first and second grounds 610 and 620, a wheel driving unit 270. ), The driving torque applied to the wheel increases. Since the friction coefficient between the wheel and the first ground 610 is greater than the friction coefficient between the wheel and the second ground 620, a larger driving torque needs to be applied to the wheel in order to run at the same speed.
  • the control unit 261 controls the driving torque.
  • the wheel driver 270 may be controlled to increase. Accordingly, the mobile robot 200 can stably run in the home within the same speed range, even if the environment of the ground changes.
  • (a) illustrates a case in which the first wheel 630 is mounted to the body 210
  • (b) illustrates a case in which the second wheel 640 is mounted to the body 210.
  • the first wheel 630 may be made of acrylic material
  • the second wheel 640 may be made of rubber material.
  • the friction coefficient between the second wheel 640 and the ground is increased rather than the friction coefficient between the first wheel 630 and the ground.
  • the predetermined rotation speed of the wheel is the same, the driving torque applied to the second wheel 640 is increased than that of the first wheel 630.
  • the controller 261 controls the wheel driver 270 to increase the driving torque when the friction coefficient between the ground and the wheel is increased.
  • the corresponding driving torque can be calculated.
  • the friction coefficient between the wheel and the ground can be calculated.
  • the frictional force generated between the mobile robot 200 and the ground may be predicted by applying the vertical load of the mobile robot 200 to the calculated friction coefficient.
  • the driving torque to be generated in the wheel driver 270 may be calculated based on the predicted friction force and the preset rotation speed.
  • the mobile robot 200 has been described on the basis of running at the same speed even if the ground environment or the type of the wheel to be mounted, but the present invention is not limited to this. That is, the traveling speed or the rotation speed of the wheel may vary depending on the environment of the ground or the type of the wheel to be mounted.
  • the mobile robot 200 may perform various functions by utilizing various sensors. This will be described in detail below.
  • FIG. 7A is a flowchart related to a method of controlling the mobile robot 200 to move to an external voice source
  • FIG. 7B is a flowchart illustrating a method of controlling a pet play mode
  • 7C is a conceptual diagram related to the control method of FIGS. 7A and 7B.
  • the mobile robot 200 senses an external voice through a microphone (S710).
  • the microphone can sense the external voice through the hole formed in front of the body (210).
  • voice as used herein may be a concept including both “sound by an object or an animal” in addition to “voice or voice of a person” in a dictionary meaning.
  • the microphone 215a ′ may be provided in plural, and may be disposed in a space corresponding to the right side of the wheels, the left side of the wheels, and the front of the body 210, respectively, in the internal space of the mobile robot 200.
  • holes 215a, 215b, and 215c for the camera 211 'disposed in the space corresponding to the right and left sides of the wheel may be formed in both wheels.
  • the same external voice may be sensed by a plurality of microphones disposed in different directions in the internal space of the mobile robot 200.
  • the controller 261 may calculate a position at which the external voice is generated through a time difference between the external voices sensed by the plurality of microphones, respectively.
  • the controller 261 determines whether the sensed external voice is a preset external voice (S720). More specifically, the controller 261 determines whether the sensed external voice is a preset external voice based on a preset method. For example, the controller 261 may determine whether the sensed external voice is a preset external voice by comparing the frequency characteristic of the sensed external voice with a preset frequency characteristic.
  • the mobile robot 200 moves to approach the position based on the calculated position of the external voice as described above. That is, the controller 261 controls the wheel driver 270 to move the mobile robot 200 in a direction approaching the source generating the external voice (S730).
  • the controller 261 may control the lighting unit 221 disposed on the body 210 of the mobile robot 200 to be turned on after the movement of the mobile robot 200 is completed.
  • the lighting unit 221 may be formed of an LED element.
  • the mobile robot 200 may generate the sound. After moving around the generated position (periphery of the pet 710), the pet 710 may be operated in a play mode. This will be described in detail with reference to FIG. 7B.
  • the mobile robot 200 may remain at the current position without being moved. In this case, the mobile robot 200 may deactivate the microphone for a predetermined time to prevent unnecessary power consumption.
  • 7B is a flowchart illustrating a control method of a pet play mode.
  • the controller 261 determines whether the pet 710 is detected within a preset radius around the current position of the mobile robot 200 (S740).
  • the controller 261 may control the wheel driver 270 such that the mobile robot 200 moves around the pet 710 when the sound of the pet is sensed. . Furthermore, the controller 261 may control the wheel driver 270 to allow the mobile robot 200 to approach the pet 710 within a preset distance.
  • the pet 710 may be provided with a separate identification means through a mechanism such as a necklace.
  • the identification means may be a means for wirelessly transmitting data such as a barcode for transmitting information on the pet 710, a radio frequency identification (RFID) tag, a near field communication (NFC) module, and the like.
  • RFID radio frequency identification
  • NFC near field communication
  • the wireless communication unit 290 of the mobile robot 200 may receive a radio signal transmitted from the identification means.
  • the controller 261 may determine whether the pet 710 is located within a preset radius around the position of the mobile robot 200 based on the strength of the wireless signal received by the wireless communication unit 290. have.
  • the mobile robot 200 may determine whether the pet 710 is close by the proximity sensor 216.
  • the controller 261 controls the wheel driver 270 to move while maintaining the preset distance with the pet 710. It may be (S750).
  • the controller 261 may measure a distance between the mobile robot 200 and the pet 710 through a distance sensor provided in the body 210.
  • the controller 261 controls the wheel and / or the wheel driver 270 to move while maintaining a predetermined distance from the pet 710 through the distance sensor.
  • the distance sensor may include an ultrasonic sensor.
  • the ultrasonic sensor may generate ultrasonic waves to the pet 710 at predetermined time intervals. Therefore, the controller 261 may detect the distance between the ultrasonic sensor and the pet 710 in real time.
  • the mobile robot 200 when the pet 710 approaches the mobile robot 200 such that the distance between the pet 710 and the mobile robot 200 is less than or equal to a predetermined distance, the mobile robot 200 is approaching the pet 710 By moving in the opposite direction, the distance between the pet 710 and the mobile robot 200 can be maintained to be a predetermined distance.
  • the mobile robot 200 according to the present invention can naturally induce communication with pets in the home.
  • the mobile robot 200 detects the pet 710. By moving in the direction, the distance between the pet 710 and the mobile robot 200 can be maintained to be a predetermined distance.
  • the controller 261 detects the pet 710 within a preset radius around the mobile robot 200 but moves the pet 710 for a preset time or more. If not detected, the mobile robot 200 may activate the camera 211 ′ to photograph the pet 710.
  • the controller 261 may control the camera 211 ′ so as to photograph the pet 710 for a preset time for each preset period at the request of a user.
  • the pet 710 play mode is operated by using a preset sound of the pet 710 as a trigger, but the present invention is not limited thereto.
  • the pet play mode is detected even when the pet 710 is detected within a preset radius of the mobile robot 200 or a separate user request is received. Can be operated.
  • the present invention by utilizing the sensing unit provided in the mobile robot 200, performs various functions.
  • FIG. 8A is a flowchart illustrating a control method of controlling home appliances, etc., located at a preset location in the home, using measured values of various sensors included in the mobile robot 200.
  • FIG. 8B is a flowchart illustrating the control method of FIG. 8A. This is a conceptual diagram.
  • the controller 261 senses surrounding environment information through the sensing unit (S810). More specifically, the sensing unit may include at least one of a temperature sensor 217, a dust sensor 218, a humidity sensor 219, and the like.
  • the controller 261 controls the wheel driver 270 and / or the infrared transmitter 212 ′ to move to a preset position based on the sensed surrounding environment information and transmit an infrared signal (S820).
  • the controller 261 moves the mobile robot 200 to a peripheral position of the air conditioner 810. Let's do it. Thereafter, the controller 261 controls the infrared ray transmitter 212 ′ to generate infrared rays toward the infrared sensor of the air conditioner 810 in order to turn on the air conditioner 810.
  • control unit 261 moves the wheel 200 and the infrared transmitter so that the mobile robot 200 moves to the peripheral position of the heater and then turns the heater ON.
  • Control 212 ' when the measured temperature is less than or equal to the preset value, the control unit 261 moves the wheel 200 and the infrared transmitter so that the mobile robot 200 moves to the peripheral position of the heater and then turns the heater ON. Control 212 '.
  • the controller 261 may move the mobile robot 200 to the robot cleaner 820 and / or. Or move it to a location near the air cleaner. Thereafter, the controller 261 is configured to generate infrared rays in a direction toward the infrared sensor of the robot cleaner 820 and / or the air cleaner in order to turn on the robot cleaner 820 and / or the air cleaner.
  • the infrared transmitter 212 ′ is controlled.
  • the controller 261 moves the mobile robot 200 to a peripheral position of the dehumidifier, and then turns on the dehumidifier.
  • the wheel driver 270 and the infrared ray transmitter 212 ′ may be controlled.
  • the mobile robot 200 according to the present invention after sensing the state information of the external sensor, based on the sensed information, may perform a variety of functions.
  • the mobile robot 200 according to the present invention may be controlled by the mobile terminal 100, and may be linked with the mobile terminal 100 to perform various functions.
  • data may be transmitted and received between the mobile robot and the mobile terminal through a wireless communication unit provided in the mobile robot 200 and the mobile terminal 100, respectively.
  • a wireless communication unit provided in the mobile robot 200 and the mobile terminal 100
  • an image captured by a camera provided in the mobile robot 200 may be output to the display unit 151 of the mobile terminal 100.
  • a control command of the mobile robot input through the mobile terminal may be transmitted to the mobile robot.
  • FIG. 9A is a flowchart of a control method of controlling the camera 211 ′ and the wireless communication unit 290 of the mobile robot 200 based on state information of an external sensor
  • FIG. 9B is a view for explaining the control method of FIG. 9A.
  • the controller 261 senses state information of an external sensor by using a microphone and / or a camera 211 ′ (S910).
  • the external sensor may be at least one of a gas sensor and a fire alarm sensor.
  • the status information may be status information regarding whether an alarm sound is generated.
  • the controller 261 controls the wheel driver 270 to move to an area adjacent to the external sensor based on the sensed state information (S920).
  • An area adjacent to the external sensor may mean an area within a preset radius of the external sensor.
  • the controller 261 controls the camera 211 ′ to photograph the external sensor and the surrounding environment of the external sensor (S930).
  • the controller 261 transmits the captured image to a preset terminal through the wireless communication unit 290 of the mobile robot 200 (S940).
  • the captured image may be an image stored in a memory or a streaming image input in real time to the camera 211 ′.
  • the preset terminal may be a terminal of the user.
  • the controller 261 determines that the mobile robot 200 causes the gas sensor to be based on the location where the alarm is generated.
  • the wheel driver 270 is controlled to move to the vicinity of the 910.
  • the controller 261 includes a camera (not shown) to photograph the surroundings of the gas sensor 910 and the gas sensor 910. 211 ').
  • the captured image may be transmitted to the preset terminal 100 in real time.
  • the mobile terminal 100 receives the photographed image transmitted from the mobile robot 200 through a wireless communication unit and outputs the captured image to the display unit 151 in real time. For example, when the captured image is received while the display unit 151 is inactivated, the captured image is output while the display unit 151 is activated.
  • controller 261 may control the wheel driver 270 so that the mobile robot 200 moves to the charging station at the preset position when the remaining amount of the battery 250 is less than or equal to the preset amount. Can be.
  • the mobile robot 200 may be wirelessly powered from the charging station through at least one of an inductive coupling method and a resonance coupling method.
  • the mobile robot 200 may be connected to an external power source through the interface unit 222 formed at the rear of the body 210. In this case, the mobile robot 200 may receive power from the external power source.
  • the lighting unit 221 may be disposed in the internal space of the mobile robot 200.
  • the lighting unit 221 may be formed of a plurality of LED elements. Light emitted from the LED device may penetrate the body and / or the wheel.
  • the controller 261 may notify the user of various states of the mobile robot 200 by controlling the color or type of light emitted from the LED element. Furthermore, the light is emitted from the LED device and the mobile robot 200 is rotated in place, thereby realizing various LED lighting effects.
  • the body of the mobile robot 200 may be formed with a switch for controlling the on / off of the mobile robot.
  • the mobile robot 200 may be controlled on / off by a separate application installed in the mobile terminal.
  • the mobile robot 200 may be provided with a Hall IC sensor that can detect the surrounding magnetic field.
  • the control unit 261 of the mobile robot 200 may determine whether the magnet is close through the Hall IC sensor. That is, the controller 261 may control the on / off of the mobile robot based on the proximity of the magnet.
  • the present invention described above can be embodied as computer readable codes on a medium in which a program is recorded.
  • the computer-readable medium includes all kinds of recording devices in which data that can be read by a computer system is stored. Examples of computer-readable media include hard disk drives (HDDs), solid state disks (SSDs), silicon disk drives (SDDs), ROMs, RAMs, CD-ROMs, magnetic tapes, floppy disks, optical data storage devices, and the like. This also includes implementations in the form of carrier waves (eg, transmission over the Internet).
  • the computer may include a control unit of the terminal. Accordingly, the above detailed description should not be construed as limiting in all aspects and should be considered as illustrative. The scope of the invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the invention are included in the scope of the invention.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Multimedia (AREA)

Abstract

L'invention concerne un robot mobile comprenant : un corps; une roue formée de sorte à être amovible par rapport au corps; une caméra formée dans le corps pour photographier un environnement externe; une unité d'entraînement de roue destinée à faire tourner la roue; ainsi qu'une unité de commande destinée à acquérir des informations relatives à la roue et au sol qui sont en contact entre eux, afin de commander l'unité d'entraînement de roue de sorte que la roue soit mise en rotation à une vitesse de rotation préconfigurée. En outre, ce robot mobile se caractérise en ce que les informations relatives au sol sont acquises par analyse d'une image reçue de la caméra.
PCT/KR2015/008994 2015-08-26 2015-08-27 Robot mobile et procédé de commande associé WO2017034056A1 (fr)

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KR1020150120376A KR20170024844A (ko) 2015-08-26 2015-08-26 이동 로봇 및 이의 제어방법

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CN107902003A (zh) * 2017-10-31 2018-04-13 苏州工艺美术职业技术学院 一种无人救援球
CN108170137A (zh) * 2017-12-15 2018-06-15 珊口（上海）智能科技有限公司 移动机器人及其控制方法和控制系统
CN111230904A (zh) * 2020-04-01 2020-06-05 安徽影动文化科技有限公司 一种防倒智慧型安防巡检机器人
WO2020157776A1 (fr) * 2019-02-01 2020-08-06 Ganesh Pandit Suryawanshi Dispositif robotique pour l'identification et l'analyse de conditions à distance
CN114833843A (zh) * 2022-04-26 2022-08-02 西安理工大学 球形轮腿排爆机器人

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CN107499405B (zh) * 2017-08-29 2023-12-22 歌尔科技有限公司 球形机器人
KR101960290B1 (ko) 2018-07-05 2019-03-21 주식회사 하루컴퍼니 워터마크 데이터의 임베딩 및 추출 방법
KR102532033B1 (ko) * 2018-11-21 2023-05-15 삼성전자주식회사 구형 구조체를 포함하는 전자 장치
KR102310139B1 (ko) * 2019-10-07 2021-10-08 경희대학교 산학협력단 이동형 로봇 장치 및 그 제어방법
KR20220102058A (ko) * 2021-01-12 2022-07-19 삼성전자주식회사 로봇 및 그 제어 방법

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CN114833843A (zh) * 2022-04-26 2022-08-02 西安理工大学 球形轮腿排爆机器人

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