WO2019164329A1 - Moving robot, docking unit and moving robot system - Google Patents

Moving robot, docking unit and moving robot system Download PDF

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Publication number
WO2019164329A1
WO2019164329A1 PCT/KR2019/002201 KR2019002201W WO2019164329A1 WO 2019164329 A1 WO2019164329 A1 WO 2019164329A1 KR 2019002201 W KR2019002201 W KR 2019002201W WO 2019164329 A1 WO2019164329 A1 WO 2019164329A1
Authority
WO
WIPO (PCT)
Prior art keywords
magnetic field
docking
moving robot
vertical portion
field signal
Prior art date
Application number
PCT/KR2019/002201
Other languages
French (fr)
Inventor
Jaehoon Lee
Hyungsub KIM
Dongkyun Nam
Original Assignee
Lg Electronics Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Lg Electronics Inc. filed Critical Lg Electronics Inc.
Publication of WO2019164329A1 publication Critical patent/WO2019164329A1/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0009Constructional details, e.g. manipulator supports, bases
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30Constructional details of charging stations
    • B60L53/35Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/36Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/008Manipulators for service tasks
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/005Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/007Manipulators mounted on wheels or on carriages mounted on wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1656Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0265Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01DHARVESTING; MOWING
    • A01D34/00Mowers; Mowing apparatus of harvesters
    • A01D34/006Control or measuring arrangements
    • A01D34/008Control or measuring arrangements for automated or remotely controlled operation
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00Type of vehicles
    • B60L2200/40Working vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00Operating Modes
    • B60L2260/20Drive modes; Transition between modes
    • B60L2260/32Auto pilot mode
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/60Electric or hybrid propulsion means for production processes
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/70Energy storage systems for electromobility, e.g. batteries
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10Technologies relating to charging of electric vehicles
    • Y02T90/12Electric charging stations

Definitions

  • the present invention relates to a technology of recognizing a position of a charging station by a moving robot.
  • Robots were developed for industrial use and prompted automation of production operations. Recently, they are being used more widely, for example, in the medical industry and the aerospace industry. There are even domestic robots used for household chores. Among such robots, a type of robot capable of traveling on it own is called a moving robot. A typical example of a moving robot used for a home’s outdoor environment is a lawn mower robot.
  • an movable area For a moving robot travelling in an indoor space, an movable area is restricted by a wall or furniture, and, for a moving robot travelling an outdoor space, it is necessary to set a movable area in advance. In addition, a movable area needs to be limited to allow the lawn mower robot to travel on a grass area.
  • a wire for setting an area to be travelled by a lawn mower robot may be installed in the lawn mower robot, and the lawn mower robot may sense a magnetic field formed by currents flowing by the wire and move in an area set by the wire.
  • a lawn mower robot is not able to accurately recognize a position of a charging station, but simply keeps travelling along a boundary wire to identify the position of the charging station and be then charged.
  • the lawn mower robot according to the existing technology returns back to the charging station along the same route, it makes pits on the ground along the return route and the pits interrupts the lawn mower robot from travelling.
  • An object of the present invention is to provide a moving robot capable of easily and accurately recognizing a position of a charging station.
  • Another object of the present invention is to provide a moving robot which shares a sensor for recognizing a boundary of a travel route, without attachment of an additional sensor.
  • Yet another object of the present invention is to provide a moving robot capable of making less pits on the ground when returning back to a charging station along a boundary.
  • a moving robot, a docking unit, and a moving robot system according to the present invention are capable of recognizing at least a horizontal magnetic field.
  • the present invention is characterized in that a docking unit charges a moving robot and a reference wire for generating a magnetic field in a horizontal direction is arranged in the docking unit.
  • the present invention is characterized in that a boundary of a travel route is recognized using a vertical magnetic field and a position of a docking unit is recognized using a horizontal magnetic field.
  • the present invention includes: a docking base defining a surface parallel to a horizontal direction; a docking support extending in a direction crossing the horizontal direction on the docking base; and a conductive reference wire, wherein the reference wire comprises a vertical portion which extends in a direction crossing at least the horizontal direction.
  • the reference wire may further include a horizontal portion which extends in a direction crossing the vertical portion.
  • the vertical portion may include: a first vertical portion; and a second vertical portion spaced apart from the first vertical portion.
  • the first vertical portion and the second vertical portion may be spaced apart from each other in a front-rear direction.
  • the plurality of first vertical portions may be arranged along a line extending in a left-right direction
  • the plurality of second vertical portions may be arranged along a line extending in a left-right direction.
  • the first vertical portion and the second vertical portion may be spaced apart in a left-downward direction from each other.
  • the plurality of first vertical portions may be arranged along a line extending in a front-rear direction
  • the plurality of second vertical portions may be arranged along a line extending in a front-rear direction.
  • the reference wire may define at least part of a square centered on a reference axis parallel to the horizontal direction.
  • the reference axis may extend in the front-rear direction or the left-right direction.
  • the reference wire may be disposed inside the docking support.
  • the wire terminal may be connected to the reference wire.
  • the reference wire may be disposed to surround the charging terminal.
  • the reference wire may be disposed to surround the docking connection part.
  • a moving robot of the present invention includes: a body defining an exterior; a travelling unit configured to move the body against a travel surface; an operating unit disposed in the body and configured to perform a predetermined task; and a magnetic field signal detector configured to sense a boundary magnetic field signal and a reference magnetic signal, which are generated outside the moving robot, wherein the reference magnetic signal comprises a horizontal magnetic field.
  • the magnetic signal connector may sense a magnetic field on three axes which are spatially orthogonal to each other.
  • the present invention may further include a controller configured to, upon sensing of a reference magnetic field signal by the magnetic field signal detector, set a position at which the reference magnetic field signal is sensed as a reference point.
  • the controller may further include a controller configured to, upon sensing of the boundary magnetic field signal by the magnetic field signal detector, set a position at which the boundary magnetic field signal is sensed as a boundary of a travel area.
  • the magnetic field signal detector may include a first magnetic field signal detector and a second magnetic field signal detector which are spaced apart in a left-right direction from each other at a front of the body.
  • the first magnetic field signal detector may sense a magnetic field signal of a direction orthogonal to the second magnetic field signal detector.
  • the present invention includes a moving robot, and a docking unit to which the moving robot is docked to be charged
  • the moving robot includes: a body defining an exterior; a travelling unit configured to move the body against a travel surface; an operating unit disposed in the body and configured to perform a predetermined task; and a magnetic field signal detector configured to sense a boundary magnetic field signal and a reference magnetic signal, which are generated outside the moving robot
  • the docking unit includes: a docking base defining a surface parallel to a horizontal direction; a docking support extending in a direction crossing the horizontal direction on the docking base; and a conductive reference wire, wherein the reference wire comprises a vertical portion which extends in a direction crossing at least the horizontal direction.
  • the present invention allows a moving robot to easily and accurately recognize a position of a charging station, and a route along which the moving robot returns back to the charging station is not formed uniformly along a boundary, and therefore, it is possible to increase a driving time of the moving robot and prevent pits on the ground which are made due to repeated movement of the moving robot.
  • the position of the charging station and a travel route are recognized by one sensor using a magnetic field signal, and the position of the charging station and the boundary are distinguished based on directions thereof, and therefore, it is possible to cut down manufacturing costs and reduce the burden on a controller.
  • the present invention adds a simple configuration that a conductive wire is arranged inside the docking unit, so it is possible to cut down manufacturing costs, share a boundary wire constitutes the boundary, and drive the reference wire using one power supply.
  • a conductive wire is arranged inside a docking support which extends in a vertical direction, it is not necessary to additionally change configuration of the docking unit in order to arrange the conductive wire.
  • FIG. 1 is a perspective view of a moving robot 100 according to the present disclosure.
  • FIG. 2 is a front view of the moving robot 100 of FIG. 1.
  • FIG. 3 is a right side view of the moving robot 100 shown in FIG. 1.
  • FIG. 4 is a bottom view of the moving robot 100 shown in FIG. 1.
  • FIG. 5 is a perspective view of a docking unit 200 for docking the moving robot 100 shown in FIG. 1.
  • FIG. 6 is a front view of the docking unit 200 shown in FIG. 5.
  • FIG. 7 is a rear view of a reference wire according to a first embodiment of the present invention.
  • FIG. 7B is a side view of the reference wire according to the first embodiment of the present invention.
  • FIG. 8A is a rear view of a reference wire according to a second embodiment of the present invention.
  • FIG. 8B is a side view of the reference wire according to the second embodiment of the present invention.
  • FIG. 9 is a rear view of a reference wire according to a third embodiment of the present invention.
  • FIG. 10A is a side view of a reference wire according to a fourth embodiment of the present invention.
  • FIG. 10B is a rear view of the reference wire according to the fourth embodiment of the present invention.
  • FIG. 11A is a side view of a reference wire according to a fifth embodiment of the present invention.
  • FIG. 11B is a rear view of the reference wire according to the fifth embodiment of the present invention.
  • FIG. 12 is a side view of a reference wire according to a sixth embodiment of the present invention.
  • FIG. 13 is a block diagram illustrating a control relationship of the moving robot 100 shown in FIG. 1.
  • FIG. 14 is a conceptual diagram illustrating that a moving robot according to the present invention recognizes a difference between a magnetic field generated by a reference wire and a magnetic field generated by a boundary wire.
  • first means distinguishing elements, and not related to a sequence, importance levels, or a master-servant relationship of elements. For example, only a second element may be included without a first element.
  • each layer may be exaggerated, omitted, or schematically illustrated for convenience of description and clarity. Also, size or area of each constituent element does not entirely reflect the actual size thereof.
  • a moving robot is described as a lawn mower 100 with reference to FIGS. 1 to 6, but the present disclosure is not necessarily limited thereto.
  • a moving robot 100 includes a body 110 that defines an exterior.
  • the body 110 forms an inner space.
  • the moving robot 100 includes a travelling unit 120 that moves the body 110 against a travel surface.
  • the moving robot 100 includes a task execution unit 130 that performs a predetermined task.
  • the body 110 includes a frame 111 to which a driving motor module 123, which will be described later, is fixed.
  • a blade motor 132 which will be described later, is fixed to the frame 111.
  • the frame 111 supports a battery which will be described later.
  • the frame 111 provides a structure which supports even other components which are not mentioned herein.
  • the frame 111 is supported by an auxiliary wheel 125 and a driving wheel 121.
  • the body 110 includes a side blocking part 111a which prevent a user’s finger from entering a blade 131 from a side of the blade 131.
  • the side blocking part 111a is fixed to the frame 111.
  • the side blocking part 111a is projected downward, compared to a button surface of an other part of the frame 111.
  • the side blocking part 111a is arranged to cover an upper side of a space between the driving wheel 121 and the auxiliary wheel 125.
  • a pair of side blocking parts 111a-1 and 111a-2 is arranged on the left and right sides to the blade 131.
  • the side blocking part 111a is spaced a predetermined distance apart from the blade 131.
  • a front surface 111af of the side blocking part 111a is formed in a round shape.
  • the front surface 111af forms a surface in a round shape that is bent upwardly from a bottom surface of the side blocking part 111a toward the front.
  • the side blocking parts 111a is able to easily go over an obstacle of a predetermined height or lower thereunder when the moving robot 100 moves forward.
  • the body 110 includes a front blocking part 111b which prevents a user’s finger from entering between the blade 131 from a front of the blade 131.
  • the front blocking part 111b is fixed to the frame 111.
  • the front blocking part 111b is arranged to partially cover an upper side of a space between a pair of auxiliary wheels 125(L) and 125(R).
  • the front blocking part 111b includes a projected rib 111ba which is projected downward compared to a bottom surface of another part of the frame 111.
  • the projected rib 111ba extends in a front-rear direction.
  • An upper portion of the projected rib 111ba is fixed to the frame 111, and a lower portion of the projected rib 111ba forms a free end.
  • a plurality of projected ribs 111ba may be spaced apart in a left-right directioni from each other.
  • the plurality of projected ribs 111ba may be arranged in parallel to each other.
  • a gap is formed between two adjacent projected ribs 111ba.
  • a front surface of the projected ribs 111ba is formed in a round shape.
  • the front surface of the projected rib 111ba forms a surface in a round shape that is bent upwardly from a bottom surface of the projected rib 111ba toward the front.
  • the projected rib 111ba is able to easily go over an obstacle of a predetermined height or lower thereunder when the moving robot 100 moves forward.
  • the front blocking part 111b includes an auxiliary rib 111bb which reinforces rigidity.
  • the auxiliary ribs 111bb for reinforcing rigidity of the front blocking part 111b is arranged between upper portions of two adjacent projected ribs 111ba.
  • the auxiliary rib 111bb may be projected downward and may be in a lattice shape which extends.
  • a caster which supports the auxiliary wheel 125 rotatably is arranged.
  • the caster is arranged rotatable with respect to the frame 111.
  • the caster is disposed rotatable about a vertical axis.
  • the caster is disposed in a lower side of the frame 111.
  • the caster is provided as a pair of casters corresponding to the pair of auxiliary wheels 125.
  • the body 110 includes a case 112 which covers the frame 111 from above.
  • the case 112 defines a top surface and front/rear/left/right surfaces of the moving robot 100.
  • the body 110 may include a case connection part (not shown) which fixes the case 112 to the frame 111.
  • An upper portion of the case connection part may be fixed to the case 112.
  • the case connection part may be arranged movable with respect to the frame 111.
  • the case connection part may be arranged movable only upwardly and downwardly with the frame 111.
  • the case connection part may be provided movable in a predetermined range.
  • the case connection part moves integrally with the case 112. Accordingly, the case 112 is movable with respect to the frame 111.
  • the body 110 includes a bumper 112b which is disposed at the front.
  • the bumper 112b absorbs an impact upon collision with an external obstacle.
  • a bumper groove recessed rearward and elongated in a left-right direction may be formed.
  • the bumper groove may be provided as a plurality of bumper grooves spaced apart from each other in an upward-downward direction.
  • a lower end of the projected rib 111ba is positioned lower than a lower end of the auxiliary rib 111bb.
  • the front surface and the left and right surfaces of the bumper 112b are connected.
  • the front surface and the left and right surfaces of the bumper 112b are connected in a round manner.
  • the body 110 may include an auxiliary bumper 112c which is disposed embracing an exterior surface of the bumper 112b.
  • the auxiliary bumper 112c is coupled to the bumper 112b.
  • the auxiliary bumper 112c embraces lower portions of the front, left, and right surfaces of the bumper 112b.
  • the auxiliary bumper 112c may cover the lower half portions of the front, left, and right surfaces of the bumper 112b.
  • the front surface of the auxiliary bumper 112c is disposed ahead of the front surface of the bumper 112b.
  • the auxiliary bumper 112c forms a surface projected from a surface of the bumper 112b.
  • the auxiliary bumper 112c may be formed of a material which is advantageous in absorbing impact, such as rubber.
  • the auxiliary bumper 112c may be formed of a flexible material.
  • the frame 111 may be provided with a movable fixing part (not shown) to which the bumper 112b is fixed.
  • the movable fixing part may be projected upward of the frame 111.
  • the bumper 112b may be fixed to an upper portion of the movable fixing part.
  • the bumper 112b may be disposed movable in a predetermined range with the frame 111.
  • the bumper 112b may be fixed to the movable fixing part and thus movable integrally with the movable fixing part.
  • the movable fixing part may be disposed movable with respect to the frame 111.
  • the movable fixing part may be rotatable about a virtual rotation axis in a predetermined range with the frame 111. Accordingly, the bumper 112b may be movable integrally with the movable fixing part with respect to the frame 111.
  • the body 110 includes a handle 113.
  • the handle 113 may be disposed at the rear of the case 112.
  • the body 110 includes a battery slot 114 into and from which a battery is able to be inserted and separated.
  • the battery slot 114 may be disposed at a bottom surface of the frame 111.
  • the battery slot 114 may be disposed at the rear of the frame 111.
  • the body 110 includes a power switch 115 to turn on/off power of the moving robot 100.
  • the power switch 115 may be disposed at the bottom surface of the frame 111.
  • the body 110 includes a blade protector 116 which hides the lower side of the central portion of the blade 131.
  • the blade protector 116 is provided to expose centrifugal portions of blades of the blade 131 while hiding the central portion of the blade 131.
  • the body 110 includes a first opening and closing door 117 which opens a portion in which a height adjuster 156 and a height indicator 157 are arranged.
  • the first opening and closing door 117 is hinge-coupled to the case 112 to be opened and closed.
  • the first opening and closing door 117 is arranged in a top surface of the case 112.
  • the first opening and closing door 117 is formed in a plate shape, and, when closed, covers the top of the height adjuster 156 and the height indicator.
  • the body 110 includes a second opening and closing door 118 which opens and closes a portion in which a display module 165 and an input unit 164 is arranged.
  • the second opening and closing door 118 is hinge-coupled to the case 112 to be opened and closed.
  • the second opening and closing door 118 is arranged in a top surface of the case 112.
  • the second opening and closing door 118 is disposed behind the first opening and closing door 117.
  • the second opening and closing door 118 is formed in a plate shape, and, when closed, covers the display module 165 and the input unit 164.
  • An available opening angle of the second opening and closing door 118 is predetermined to be smaller than an available opening angle of the first opening and closing door 117. In doing this, even when the second opening and closing door 118 is opened, a user is allowed to easily open the first opening and closing door 117 and easily manipulate the height adjuster 156. In addition, even when the second opening and closing door 118 is opened, the user is allowed to visually check content of the height display 157.
  • the available opening angle of the first opening and closing door 117 may be about 80 to 90 degrees with reference to the closed state of the first opening 117.
  • the available opening angle of the second opening and closing door 118 may be about 45 to 60 degrees with reference to the closed state of the second opening and closing door 118.
  • a rear of the first opening and closing door 117 is lifted upward from a front thereof to thereby open the first opening and closing door 117, and a rear of the second opening and closing door 118 is lifted upward from a front thereof to thereby open the second opening and closing door 118.
  • a user located in an area behind the lawn mower 100 which is a safe area, is able to open and close the first opening and closing door 117 and the second opening and closing door 118.
  • opening of the first opening and closing door 117 and opening of the second opening and closing door 118 may be prevented from intervening each other.
  • the first opening and closing door 117 may be rotatable with respect to the case 112 about a rotation axis which extends from the front of the first opening and closing door 117 in a left-right direction.
  • the second opening and closing door 118 may be rotatable with respect to the case 112 about a rotation axis which extends from the front of the second opening and closing door 118 in the left-right direction.
  • the body 110 may include a first motor housing 119a which accommodates a first driving motor 123(L), and a second motor housing 119b which accommodates a second driving motor 123(R).
  • the first motor housing 119a may be fixed to the left side of the frame 111
  • the second motor housing 119b may be fixed to the right side of the frame 111.
  • a right end of the first motor housing 119a is fixed to the frame 111.
  • a left end of the second motor housing 119b is fixed to the frame 111.
  • the first motor housing 119a is formed in a cylindrical shape that defines a height in the left-right direction.
  • the second motor housing 119b is formed in a cylindrical shape that defines a height in the left-right direction.
  • the travelling unit 120 includes the driving wheel 121 that rotates by a driving force generated by the driving motor module 123.
  • the travelling unit 120 may include at least one pair of driving wheels 121 which rotate by a driving force generated by the driving motor module 123.
  • the driving wheel 121 may include a first wheel 121(L) and a second wheel 121(R), which are provided on the left and right sides and rotatable independently of each other.
  • the first wheel 121(L) is arranged on the left side
  • the second wheel 121(R) is arranged on the right side.
  • the first wheel 121(L) and the second wheel 121(R) are spaced apart in a left-right direction from each other.
  • the first wheel 121(L) and the second wheel 121(R) are arranged in a lower side at the rear of the body 110.
  • the first wheel 121(L) and the second wheel 121(R) are rotatable independently of each other so that the body 110 is rotatable and forward movable relative to a ground surface.
  • the body 110 is forward movable relative to the ground surface.
  • a rotation speed of the first wheel 121(L) is faster than a rotation speed of the second wheel 121(R) or when a rotation direction of the first wheel 121(L) and a rotation direction of the second wheel 121(R) are different from each other, the body 110 is rotatable against the ground surface.
  • the first wheel 121(L) and the second wheel 121(R) may be formed to be greater than the auxiliary wheel 125.
  • a shaft of the first driving motor 123(L) may be fixed to the center of the first wheel 121(L), and a shaft of the second driving motor 123(R) may be fixed to the center of the second wheel 121(R).
  • the driving wheel 121 includes a wheel circumference part 121b which contacts the ground surface.
  • the wheel circumference part 121b may be a tire.
  • a plurality of projections for increasing a frictional force with the ground surface may be formed.
  • the driving wheel 121 may include a wheel fame, which fixes the wheel circumference part 121b and receives a driving force for the motor 123.
  • a shaft of the motor 123 is fixed to the center of the wheel frame to receive a rotation force.
  • the wheel circumference part 121b is arranged to embrace a circumference of the wheel frame.
  • the driving wheel 121 includes a wheel cover 121a which covers an exterior surface of the wheel frame. With reference to the wheel frame, the wheel cover 121a is arranged in a direction opposite to a direction in which the motor 123 is arranged. The wheel cover 121a is arranged at the center of the wheel circumference part 121b.
  • the travelling unit 120 includes the driving motor module 123 which generates a driving force.
  • the travelling unit 120 includes the driving motor module 123 which provides a driving force for the driving wheel 121.
  • the driving motor module 123 includes the first driving motor 123(L) which provides a driving force for the first wheel 121(L), and the second driving motor 123(R) which provides a driving force for the second wheel 121(R).
  • the first driving motor 123(L) and the second driving motor 123(R) may be spaced apart in a left-right direction from each other.
  • the first driving motor 123(L) may be disposed on the left side of the second driving motor 123(R)
  • the first driving motor 123(L) and the second driving motor 123(R) may be arranged at a lower side of the body 110.
  • the first driving motor 123(L) and the second driving motor 123(R) may be arranged at the rear of the body 110.
  • the first driving motor 123(L) may be arranged on the right side of the first wheel 121(L), and the second driving motor 123(R) is arranged on the left side of the second wheel 121(R).
  • the first driving motor 123(L) and the second driving motor 123(R) are fixed to the body 110.
  • the first driving motor 123(L) may be arranged inside the first motor housing 119a, with a motor shaft being projected leftward.
  • the second driving motor 123(R) may be arranged inside the second motor housing 119b, with a motor shaft being projected rightward.
  • first wheel 121(L) and the second wheel 121(R) may be connected to a rotation shaft of the first driving motor 123(L) and a rotation shaft of the second driving motor 123(R), respectively.
  • a component of a shaft or the like may be connected to the first wheel 121(L) and the second wheel 121(R).
  • a rotation force of the motor 123(L) or 123(R) may be transferred to the wheel 121a or 121b by a gear or a chain.
  • the traveling unit 120 may include the auxiliary wheel 135 which supports the body 110 together with the driving wheel 121.
  • the auxiliary wheel 125 may be disposed ahead of the blade 131.
  • the auxiliary wheel 125 is a wheel which does not receives a driving force generated by a motor, and the auxiliary wheel 125 auxiliarily supports the body 110 against the ground surface.
  • the caster supporting a rotation shaft of the auxiliary wheel 125 is coupled to the frame 111 to be rotatable about a vertical axis.
  • the task execution unit 130 is provided to perform a predetermined task.
  • the task execution unit 120 is arranged at the body 110.
  • the task execution unit 130 may be provided to perform a task such as cleaning or lawn mowing. In another example, the task execution unit 130 may be provided to perform a task such as transferring an object or finding an object. In yet another embodiment, the task execution unit 130 may perform a security function such as sensing an intruder or a dangerous situation in the surroundings.
  • the task execution unit 130 is described as mowing lawn, but there may be various types of task performed by the task execution unit 120 and not limited to this embodiment.
  • the task execution unit 130 may include the blade 131 which are rotatably provided to mow lawn.
  • the task execution unit 130 may include a blade motor 132 which provides a rotation force for the blade 131.
  • the blade 131 are arranged between the driving wheel 121 and the auxiliary wheel 125.
  • the blade 131 are arranged on a lower side of the body 110.
  • the blade 131 are exposed from the lower side of the body 110.
  • the blade 131 mows lawn by rotating about a rotation shaft which extends in an upward-downward direction.
  • a blade motor 132 may be arranged ahead of the first wheel 121(L) and the second wheel 121(R).
  • the blade motor 132 is disposed in a lower side of the center in the inner space of the body 110.
  • the blade motor 132 may be disposed at the rear of the auxiliary wheel 125.
  • the blade motor 132 may be arranged in a lower side of the body 110. A rotational force of the motor axis is transferred to the blade 131 using a structure such as a gear.
  • the moving robot 100 includes a battery (not shown) which provides power for the driving motor module 123.
  • the battery provides power to the first driving motor 123(L).
  • the battery provides power for the second driving motor 123(R).
  • the battery may provide power for the blade motor 132.
  • the battery may provide power for a controller 190, an azimuth angle sensor 176, and an output unit 165.
  • the battery may be arranged in a lower side of the rear in the indoor space of the body 110.
  • the moving robot 100 is able to change a height of the blade 131 from the ground, and change a lawn cutting height.
  • the moving robot 100 includes the height adjuster 156 by which a user is able to change a height of the blade 131.
  • the height adjuster 156 may include a rotatable dial and may change the height of the blade 131 by rotating the dial.
  • the moving robot 100 includes the height indicator 157 which displays a degree of the height of the blade 131.
  • the height displayed by the height display 157 is also changed.
  • the height display 157 may display a height value of grass that is expected after the moving robot 100 mows lawn with the current height of the blade 131.
  • the moving robot 100 includes a docking insertion part 158 which is connected to a docking unit 200 when the moving robot 100 is docked to the docking unit 200.
  • the docking insertion part 158 is recessed so that a docking connection part 210 of the docking unit 200 is inserted into the docking insertion part 158.
  • the docking insertion part 158 is arranged in the front surface of the body 110. Due to connection of the docking insertion 158 and the docking connection part 210, the moving robot 100 may be guided to a correct position when charged.
  • the moving robot 100 may include a charging counterpart terminal 159 which is disposed at a position to contact a charging terminal 211, which will be described later, when the docking connection part 210 is inserted into the docking insertion part 158.
  • the charging counterpart terminal 159 includes a pair of charging counterpart terminals which are disposed at positions corresponding to a pair of charging terminals 211 (211a, 211b).
  • the pair of charging counterpart terminals 159a and 159b may be disposed on the left and right sides of the docking insertion part 158.
  • a terminal cover (not shown) for openably/closably covering the pair of charging terminals 211 (211a, 211b) may be provided. While the moving robot 100 travels, the terminal cover may cover the docking insertion part 158 and the pair of charging terminals 211 (211a, 211b). When the moving robot 100 is connected with the docking unit 200, the terminal cover may be opened, and therefore, the docking insertion part 158 and the pair of charging terminals 211 (211a, 211b) may be exposed.
  • the docking unit 200 includes a docking base 230 disposed at a floor, and a docking support 220 projected upwardly from the front of the docking base 230.
  • the docking base 230 defines a surface that is parallel to a horizontal direction.
  • the docking base 230 is in a plate shape on which the moving robot 100 is able to be seated.
  • the docking support 220 extends in a direction which crosses the horizontal direction on the docking base 230.
  • the docking unit 200 includes the docking connection part 210 which is inserted into the docking insertion part 158 to charge the moving robot 100.
  • the docking connection part 210 may be projected rearward from the docking support 220.
  • the docking connection part 210 may be formed to have a vertical thickness smaller than a horizontal thickness. A horizontal width of the docking connection part 210 may be narrowed toward the rear. As viewed from above, the docking connection part 210 is broadly in a trapezoidal shape. The docking connection part 210 is vertically symmetrical. The rear of the docking connection part 210 forms a free end, and the front of the docking connection part 210 is fixed to the docking support 220. The rear of the docking connection part 210 may be formed in a round shape.
  • the docking unit 200 includes the charging terminal 211 to charge the moving robot 100. As the charging terminal 211 and the charging counterpart terminal 159 of the moving robot 100 are brought into contact with each other, charging power may be supplied from the docking unit 200 to the moving robot 100.
  • the charging terminal 211 includes a contact surface facing rearward, and the charging counterpart terminal 159 includes a contact counterpart surface facing forward. As the contact surface of the charging terminal 211 is brought into contact with the contact counterpart surface of the charging counterpart terminal 159, power of the docking unit 200 is connected with the moving robot 100.
  • the charging terminal 211 may include a pair of charging terminals 211 (211a, 211b) which form a positive polarity (+) and a negative polarity (-), respectively.
  • the first charging terminal 211 (211a) is provided to come into contact with the first charging counterpart terminal 159a
  • the second charging terminal 211 (211b) is provided to come into contact with the second charging counterpart terminal 159b.
  • the pair of charging terminals 211 may be arranged with the docking connection part 210 therebetween.
  • the pair of charging terminals 211 may be arranged on the left and right sides of the docking connection part 210.
  • the docking base 230 includes a wheel guard 232 on which the driving wheel 121 and the auxiliary wheel 125 of the moving robot 100 are to be positioned.
  • the wheel guard 232 includes a first wheel guard 232a which guides movement of the first auxiliary wheel 125(L), and a second wheel guard 232b which guides movement of the second auxiliary wheel 125(R). Between the first wheel guard 232a and the second wheel guard 232b, there is a central base 231 which is convex upwardly.
  • the docking base 230 includes a slip prevention part 234 to prevent slipping of the first wheel 121(L) and the second wheel 121(R).
  • the slip prevention part 234 may include a plurality of projections which are projected upwardly.
  • a boundary wire 290 for setting a boundary of a travel area of the moving root 100 may be provided.
  • the boundary wire 290 may generate a predetermined boundary magnetic field signal. By detecting the boundary magnetic field signal, the moving robot 100 is able to recognize the boundary of the travel area set by the boundary wire 290.
  • a magnetic field may be generated around the boundary wire 290.
  • the generated magnetic field is the aforementioned boundary magnetic field signal.
  • a magnetic field generated around the boundary wire 290 may change in the predetermined pattern of change.
  • the moving robot 100 may recognize that the moving robot 100 has approached the boundary wire 290 within a predetermined range, and accordingly, the moving robot 100 may travel only in a travel area within a boundary set by the boundary wire 290.
  • the boundary wire 290 may generate a magnetic field in a direction that is distinguishable from a direction of a magnetic field generated by a reference wire 270.
  • the boundary wire 290 may be arranged substantially parallel to a horizontal plane. In this case, being substantially parallel may include an engineering understanding of a parallel state, which includes a certain level of error to a mathematically perfect parallel state.
  • the docking unit 200 may play a role of transferring a predetermined current to the boundary wire 290.
  • the docking unit 200 may include a wire terminal 250 connected to the boundary wire 290. Both ends of the boundary wire 290 may be connected to a first wire terminal 250a and a second wire terminal 250b. Through the connection between the boundary wire 290 and the wire terminal 250, a power supply of the docking unit 200 may supply a current to the boundary wire 290.
  • the wire terminal 250 may be disposed at the front (F) of the docking unit 200. That is, the wire terminal 250 may be disposed at a position opposite to a direction in which the docking connection part 210 is projected.
  • the wire terminal 250 may be disposed in the docking support 220.
  • the first wire terminal 250a and the second wire terminal 250b may be spaced apart in a left-right direction from each other.
  • the docking unit 200 may include a wire terminal opening and closing door 240 which openably/closably covers the wire terminal 250.
  • the wire terminal opening and closing door 240 may be disposed at the front (F) of the docking support 220.
  • the wire terminal opening and closing door 240 may be hinge-coupled to the docking support 220 to be opened and closed by rotation.
  • the reference wire 270 for allowing the moving robot 100 to recognize a position of the docking unit 200 may be provided.
  • the reference wire 270 may generate a predetermined reference magnetic field signal.
  • the moving robot 100 may recognize the position of the docking device 200 using the reference wire 270 by sensing the reference magnetic field signal, and may return back to the recognized position of the docking unit 200 in response to a return command or in response to the need of being charged.
  • Such a position of the docking unit 200 may be a reference point for travelling of the moving robot 100.
  • the reference wire 270 is formed of a conductive material to allow a current to flow.
  • the reference wire 270 may be connected to power of the docking unit 200 which will be described later.
  • a predetermined current may be allowed to flow along the reference wire 270, so that a magnetic field is generated around the reference wire 270.
  • the generated magnetic field is a reference magnetic field signal.
  • a magnetic field generated around the reference wire 270 may change with the predetermined pattern of change.
  • the moving robot 100 may recognize that it has approached the reference wire 270 within a predetermined range, and, in doing so, the moving robot 200 may be able to return back to the position of the docking unit 200 set by the reference wire 270.
  • the reference wire 270 may generate a magnetic field in a direction that is distinguishable from a direction of a magnetic field generated by the boundary wire 290.
  • the reference wire 270 may extend in a direction that crosses a horizontal direction.
  • the reference wire 270 may extend in an upward-downward direction that is orthogonal to the horizontal direction.
  • the reference wire 270 may be installed in the docking unit 200.
  • the reference wire 270 may be disposed at various positions in the docking unit 200.
  • FIG. 7A is a rear view of a reference wire 270 according to a first embodiment of the present invention
  • FIG. 7B is a side view of the reference wire 270 according to the first embodiment of the present invention.
  • the reference wire 270 may be disposed inside the docking support 220.
  • the reference wire 270 needs to generate a magnetic signal in a horizontal direction, and therefore, the reference wire 270 is arranged to extend in a vertical direction. If the reference wire 270 is disposed at the docking base 230, there is a problem that a thickness of the docking base 230 increases.
  • the reference wire 270 may include a vertical portion 271 that extends in a direction which crosses at least a horizontal direction.
  • the vertical portion 271 may be disposed substantially parallel to an upward-downward direction UD.
  • the vertical portion 271 may be formed in a round shape with a curvature while extending in a direction which crosses a horizontal plane.
  • a direction of a current input from the vertical portion 271 of the reference wire 270 may travel in an upward to downward direction or in a downward to upward direction.
  • the vertical portion 271 may be provided as a plurality of vertical portions to generate a magnetic field signal equal to or greater than a reference level from the entire area around the docking unit 200.
  • the vertical portion 271 may include a first vertical portion 271a, and a second vertical portion 271b spaced apart from the first vertical portion 271a.
  • the vertical portion 271 may include just only one of the first vertical portion 271a and the second vertical portion 271b.
  • the first vertical portion 271a and the second vertical portion 271b are spaced apart in a left-right direction from each other.
  • the first vertical portion 271a may be disposed adjacent to the right end of the docking support 220, and the second vertical portion 271b may be disposed adjacent to the left end of the docking support 220. If the first vertical portion 271a and the second vertical portion 271b are disposed adjacent to both ends of the docking support 220, an area in which a magnetic field is generated by the reference wire 270 may expand to maximum size around the docking unit 200.
  • a direction of travel of a current in the first vertical portion 271a and a direction of travel of a current in the second vertical portion 271b may be identical or different.
  • a current may flow from bottom to top in the second vertical portion 271b.
  • first vertical portions 271a and a plurality of second vertical portions 271b may be provided.
  • Each of the first vertical portion 271a and the second vertical portion 271b may be a set of multiple wires, and the first vertical portion 271a and the second vertical portion 271b may be in a uniform arrangement.
  • each of the first vertical portion 271a and the second vertical portion 271b may be a single wire, respectively.
  • first vertical portions 271a may be arranged in columns along a line which extends in a front-rear direction
  • second vertical portions 271b may be arranged in columns along a line which extends in the front-rear direction.
  • a charging terminal 211 and a docking connection part 210 may be arranged between the plurality of first vertical portions 271a and the plurality of second vertical portions 271b. If the charging terminal 211 and the docking connection part 210 are arranged between the plurality of first vertical portions 271a and the plurality of second vertical portions 271b, it is possible to arrange the reference wire 270 without changing configurations of the charging terminal 211 and the docking connection part 210.
  • the plurality of first vertical portions 271a and the plurality of second vertical portions 271b may be electrically connected to each other or may be supplied with electricity from an additional power supply.
  • the docking unit 200 may play a role of transmitting a predetermined current to the reference wire 270.
  • the docking unit 200 may include a wire terminal 250 connected to the reference wire 270. Both ends of the reference wire 270 may be connected to a first wire terminal 250a and a second wire terminal 250b. Through the connection between the reference wire 270 and the wire terminal 250, a power supply of the docking unit 200 may supply a current to the reference wire 270.
  • both ends of the plurality of first vertical portions 271a are respectively connected to the first wire terminal 250a and the second wire terminal 250b, and both ends of the plurality of second vertical portions 271b may be respectively connected to the first wire terminal 250a and the second wire terminal 250b.
  • FIG. 8A is a rear view of a reference wire 270 according to a second embodiment of the present invention
  • FIG. 8B is a side view of the reference wire 270 according to the second embodiment of the present invention.
  • the reference wire 270 according to the second embodiment may further include a horizontal portion 273.
  • the reference wire 270 according to the second embodiment may be in a structure in which the first vertical portion 271a and the second vertical portion 271b are connected to be supplied with power from a single power supply.
  • the following description will mainly address the difference from the first embodiment, and constituents are considered identical to those in the first embodiment, unless otherwise described.
  • the horizontal portion 273 of the reference wire 270 extends in a direction crossing the vertical portion 271, and connects the first vertical portion 271a and the second vertical portion 271b.
  • the horizontal portion 273 may be arranged substantially parallel to a horizontal direction.
  • the horizontal portion 273 may include a first horizontal portion 273a connecting a upper end of the first vertical portion 271a and an upper end of the second vertical portion 271b, and a second horizontal portion 273b connecting a lower end of the first vertical portion 271a.
  • the horizontal portion 273 may include only the first horizontal portion 273a from the first vertical portion 271a and the second vertical portion 271b.
  • a connection point of the horizontal portion 273 and the vertical portion 271 may be bent to curvature.
  • the first horizontal portion 273a is disposed adjacent to an upper end of the docking support 220, and the second horizontal portion 273b is disposed adjacent to a lower end of the docking support 220. Between the first horizontal portion 273a and the second horizontal portion 273b, the charging terminal 211 and/or the docking connection part 210 may be disposed. Thus, even in the case of arranging the first horizontal portion 273a and the second horizontal portion 273b, it is not necessary to change any other configuration.
  • the horizontal portion 273 may electrically connect the first horizontal portion 273a and the second horizontal portion 273b, which are spaced apart from each other, so that a reference magnetic field signal is generated in a plurality of vertical portions 271 using a single power supply.
  • the reference wire 270 includes the first horizontal portion 273a, the first vertical portion 271a, and the second vertical portion 271b
  • the lower end of the first vertical portion 271a may be connected to the first wire terminal 250a and the lower end of the second vertical portion 271b may be connected to the second wire terminal 250b.
  • a left end of the second horizontal portion 273b may be connected to the first wire 250a and a lower end of the second vertical portion 271b may be connected to the second wire terminal 250b.
  • first vertical portion 271a and the second vertical portions 271b may be respectively provided as a plurality of first vertical portions 271a and a plurality of second vertical portions 271b in order to reinforce strength of magnetic fields respectively formed around the first vertical portion 271a and the second vertical portion 271b, even the horizontal portion 273 may be provided as a plurality of horizontal portions.
  • the first vertical portion 271a, the second vertical portion 271b, and the horizontal portion 273 may be a set of multiple wires, and the first vertical portion 271a, the second vertical portion 271b, and the horizontal portion 273 may be in a uniform arrangement.
  • the plurality of first vertical portions 271a may be disposed in columns along a line extending in the front-rear direction
  • the plurality of second vertical portions 271b may be disposed in columns along the line extending in the front-rear direction
  • the plurality of first horizontal portions 273a may connect upper ends of the plurality of first vertical portions 271a and upper ends of the plurality of vertical portions 271b
  • the plurality of second horizontal portions 273b may be connected to the lower ends of the plurality of first vertical portions 271a and extend in a direction toward the second vertical portions 271b.
  • the reference wire 270 may be disposed to surround the charging terminal 211 and the docking connection part 210, as viewed from front.
  • the reference wire 270 may define at least part of a square centered on a reference axis parallel to the horizontal direction, and each corner may be formed in a round shape. A shape of the square may be repeated in a linear form front to rear.
  • the reference axis extends in the front-rear direction. That is, the plurality of horizontal portions 273 and the plurality of vertical portions 271 in the reference wire 270 may be formed in a manner in which one wire is wound about the reference axis to form a single wire column, wherein such a wire column is able to be arranged as a plurality of columns in a direction of the reference axis.
  • the reference wire 270 may define at least part of an ellipse disposed about a reference axis parallel to the horizontal direction. In this case, two focal points defined by the reference wire 270 may be on the reference axis parallel to the horizontal direction.
  • FIG. 9 is a rear view of a reference wire 270-2 according to a third embodiment of the present invention.
  • the reference wire 270-2 according to the third embodiment is different in terms of arrangement of the plurality of horizontal portions 273 and the plurality of vertical portions 271.
  • the following description will mainly address the difference from the second embodiment, and constituents are considered identical to those in the second embodiment, unless otherwise described.
  • the reference wire 270-2 according to the third embodiment may be in a structure in which the first vertical portions 271a and the second vertical portions 271b are connected to each other to be supplied with power from a single power supply.
  • the reference wire 270-2 defines at least part of a square centered on a reference axis parallel to a horizontal direction. That is, the plurality of horizontal portions 273 and the plurality of vertical portions 271 in the reference wire 270-2 may be formed in a manner in which one wire is wound about the reference axis to form a single wire column, wherein such a wire column is able to define a plurality of columns in an outward direction.
  • the plurality of first vertical portions 271a may be disposed to form columns along a line extending in the left-right direction
  • the plurality of second vertical portions 271b may be disposed to form columns along the line extending in the left-right direction
  • the plurality of first horizontal portions 273a may be disposed to form columns along a line extending in the upward-downward direction
  • the plurality of second horizontal portions 273b may be disposed to form columns along the line extending in the upward-downward direction.
  • the first vertical portions 271a, the second vertical portions 271b, the first horizontal portions 273a, and the second horizontal portions 273b may be all formed by one wire.
  • FIG. 10A is a side view of a reference wire 270-3 according to a fourth embodiment of the present invention
  • FIG. 10B is a rear view of the reference wire 270-3 according to the fourth embodiment of the present invention.
  • the reference wire 270-3 according to the fourth embodiment is different in terms of a position of a first vertical portion 271c and a position of a second vertical portion 271d.
  • the following description will mainly address the difference from the first embodiment, and constituents are considered identical to those in the first embodiment, unless otherwise described.
  • first vertical portion 271c and the second vertical portion 271d are spaced apart from each other in the front-rear direction.
  • the first vertical portion 271c may be disposed adjacent to a rear end of the docking support 220
  • the second vertical portion 271d may be disposed adjacent to a front end of the docking support 220. If the first vertical portion 271c and the second vertical portion 271d are disposed adjacent to both the front and rear ends of the docking support 220, an area where a magnetic field is generated by the reference wire 270-3 may expand to maximum size around the docking unit 200.
  • a plurality of first vertical portions 271c may be disposed to form column in a line extending in the left-right direction, and a plurality of second vertical portion 271d may be disposed to form columns along the line extending in the left-right direction.
  • FIG. 11A is a side view of a reference wire 270-4 according to a fifth embodiment of the present invention
  • FIG. 11B is a side view of the reference wire 270-4 according to the fifth embodiment of the present invention.
  • the reference wire 270-4 according to the fifth embodiment is different in terms of positions of first and second vertical portions 271 and positions of first and second horizontal portions 273.
  • the following description will mainly address the difference from the second embodiment, and constituents are considered identical to those in the second embodiment, unless otherwise described.
  • the reference wire 270-4 according to the fifth embodiment may define at least part of a square centered on a reference axis extending in a left-right direction parallel to a horizontal direction.
  • a first horizontal portion 273c is disposed adjacent to an upper end of the docking support 220
  • a second horizontal portion 273d is disposed adjacent to a lower end of the docking support 220
  • a first vertical portion 271c is disposed adjacent to a rear end of the docking support 220
  • a second vertical portion 271d is disposed adjacent to a front end of the docking support 220.
  • a plurality of first vertical portions 271c may be disposed to form columns along a line extending in the left-right direction
  • a plurality of second vertical portions 271d may be disposed to form columns along the line extending in the left-right direction
  • a plurality of first horizontal portions 273c may connect upper ends of the plurality of first vertical portions 271c and upper ends of the plurality of second vertical portions 271d
  • a plurality of second horizontal portions 273d may be connected to lower ends of the plurality of first vertical portions 271c and extend in a direction toward the second vertical portions 271d.
  • the reference wire 270-4 may define a square centered on a reference axis parallel to the horizontal direction, and a shape of the square may be repeated in a linear form in a left-right direction. That is, the plurality of horizontal portions and the plurality of vertical portions in the reference wire 270-4 may be formed in a manner in which one wire is wound about the reference axis to form a single wire column, wherein such a wire column is able to be arranged as a plurality of wire columns in a direction of the reference axis.
  • FIG. 12 is a side view of a reference wire 270-5 according to a sixth embodiment of the present invention.
  • the reference wire 270-5 according to the sixth embodiment is different in terms of positions of first and second vertical portions 271d and positions of first and second horizontal portions 273d.
  • the following description will mainly address the difference from the third embodiment, and constituents are considered identical to those in the third embodiment, unless otherwise described.
  • the reference wire 270-5 according to the sixth embodiment may be in a structure in which a first vertical portion 271c and a second vertical portion 271d are connected to each other to be supplied with power from a single power supply.
  • the reference wire 270-5 defines at least part of a square centered on a reference axis parallel to a left-right direction. That is, a plurality of horizontal portions 273 and a plurality of vertical portions 271 in the reference wire 270-5 may be formed in a manner in which one wire is wound about the reference axis to form a single wire column, wherein such a wire column is able to define a plurality of columns in an outward directions.
  • a plurality of first vertical portions 271c may be disposed to form columns in a line extending in a front-rear direction
  • a plurality of second vertical portions 271d may be disposed to form columns along the line extending in the front-rear direction
  • a plurality of first horizontal portions 273c may be disposed to form columns along a line extending in an upward-downward direction
  • a plurality of second horizontal portions 273d may be disposed to form columns along the line extending in the upward-downward direction.
  • the first vertical portions 271c, the second vertical portions 271d, the first horizontal portions 273c, and the second horizontal portions 273d may be all formed by one wire.
  • FIG. 13 is a block diagram illustrating a control relationship in the moving robot 100 shown in FIG. 1.
  • the moving robot 100 may include the input unit 164 through which various instructions from a user is allowed to be input.
  • the input unit 164 may include a button, a dial, a touch-type display, etc.
  • the input unit 164 may include a microphone to recognize a voice.
  • a plurality of buttons is arranged in an upper side of the case 112.
  • the moving robot 100 may include the output unit 165 to output various types of information to a user.
  • the output unit 165 may include a display module which displays visual information.
  • the output unit 165 may include a speaker (not shown) which outputs audible information.
  • the display module 165 outputs an image in an upward direction.
  • the display module 165 is arranged in the upper side of the case 112.
  • the display module 165 may include a thin film transistor Liquid-Crystal Display (LCD).
  • the display module 165 may be implemented using various display panels such as a plasma display panel, an organic light emitting diode display panel, etc.
  • the moving robot 100 includes a storage 166 which stores various types of information.
  • the storage 166 stores various types of information necessary to control the moving robot 100, and the storage 166 may include a volatile or non-volatile recording medium.
  • the storage 166 may store information input through the input unit 164 or information received through a communication unit 167.
  • the storage 166 may store a program required to control the moving robot 100.
  • the moving robot 100 may include the communication unit 167 to communicate with an external device (a terminal and the like), a server, a router, etc.
  • the communication unit 167 may be capable of performing wireless communication with a wireless communication technology such as IEEE 802.11 WLAN, IEEE 802.15 WPAN, UWB, Wi-Fi, Zigbee, Z-wave, Blue-Tooth, etc.
  • the communication unit 167 may differ depending on a target device to communication or a communication method of a server.
  • the moving robot 100 includes a sensing unit 170 which senses a state of the moving robot 100 or information relating to an environment external to the moving robot 100.
  • the sensing unit 170 may include at least one of a remote signal detector 171, an obstacle detector 172, a rain detector 173, a case movement sensor 174, a bumper sensor 175, an azimuth angle sensor 176, a magnetic field signal detector 177, a Global Positioning System (GPS) detector 178, or a cliff detector 179.
  • GPS Global Positioning System
  • the remote signal detector 171 receives an external remote signal. Once a remote signal from an external remote controller is transmitted, the remote signal detector 171 may receive the remote signal.
  • the remote signal may be an infrared signal.
  • the signal received by the remote signal detector 171 may be processed by a controller 190.
  • a plurality of remote signal detectors 171 may be provided.
  • the plurality of remote signal detectors 171 may include a first remote signal detector 171a disposed at the front of the body 110, and a second remote signal detector 171b disposed at the rear of the body 110.
  • the first remote signal detector 171a receives a remote signal transmitted from the front.
  • the second remote signal detector 171b receives a remote signal transmitted from the rear.
  • the obstacle detector 172 senses an obstacle around the moving robot 100.
  • the obstacle detector 172 may sense an obstacle in the front.
  • a plurality of obstacle detectors 172a, 172b, and 172c may be provided.
  • the obstacle detector 172 is disposed at a front surface of the body 110.
  • the obstacle detector 172 is disposed higher than the frame 111.
  • the obstacle detector 172 may include an infrared sensor, an ultrasonic sensor, a Radio Frequency (RF) sensor, a geomagnetic sensor, a Position Sensitive Device (PSD) sensor, etc.
  • RF Radio Frequency
  • PSD Position Sensitive Device
  • the rain detector 173 senses rain when it rains in an environment where the moving robot 100 is placed.
  • the rain detector 173 may be disposed in the case 112.
  • the case movement sensor 174 senses movement of the case connection part. If the case 112 is lifted upward from the frame 111, the case connection part moves upward and accordingly the case movement sensor 174 senses the lifted state of the case 112. If the case movement sensor 174 senses the lifted state of the case 112, the controller 190 may perform a control action to stop operation of the blade 131. For example, if a user lifts the case 112 or if a large-size obstacle underneath lifts the case 112, the case movement sensor 174 may sense the lifting.
  • the bumper sensor 175 may sense rotation of the movable fixing part.
  • a magnet may be disposed in one side of the bottom of the movable fixing part, and a sensor for sensing a change in a magnetic field of the magnet may be disposed in the frame.
  • the bumper sensor 175 senses a change in the magnetic field of the magnet.
  • the bumper sensor 175 capable of sensing rotation of the movable fixing part may be implemented.
  • the bumper 112b collides with an external obstacle
  • the movable fixing part rotates integrally with the bumper 112b.
  • the bumper sensor 175 senses the rotation of the movable fixing part, the bumper sensor 175 may sense the collision of the bumper 112b.
  • the sensing unit 170 includes a tilt information acquisition unit 180 which acquires tilt information on a tilt of a traveling surface (S). By sensing a tilt of the body 110, the tilt information acquisition unit 180 may acquire the tilt information on inclination of the traveling surface (S) on which the body 110 is placed.
  • the tilt information acquisition unit 180 may include a gyro sensing module 176a.
  • the tilt information acquisition unit 180 may include a processing module (not shown) which converts a sensing signal from the gyro sensing module 176a into the tilt information.
  • the processing module may be implemented as an algorithm or a program which is part of the controller 190.
  • the tilt information acquisition unit 180 may include a magnetic field sensing module 176c, and acquire the tilt information based on sensing information about the magnetic field of the Earth.
  • the gyro sensing module 176a may acquire information on a rotational angular speed of the body 110 relative to the horizontal plane. Specifically, the gyro sensing module 176a may sense a rotational angular speed which is parallel to the horizontal plane about the X and Y axes orthogonal to each other. By merging a rotational angular speed (roll) about the X axis and a rotational angular speed (pitch) about the Y axis with the processing module, it is possible to calculate a rotational angular speed relative to the horizontal plane. By integrating the rotational angular speed relative to the horizontal plane, it is possible calculate a tilt value.
  • the gyro sensing module 176a may sense a predetermined reference direction.
  • the tilt information acquisition unit 180 may acquire the tilt information based on the reference direction.
  • the azimuth angle sensor (AHRS) 176 may have a gyro sensing function.
  • the azimuth angle sensor 176 may further include an acceleration sensing function.
  • the azimuth angle sensor 176 may further include a magnetic field sensing function.
  • the azimuth angle sensor 176 may include a gyro sensing module 176a which performs gyro sensing.
  • the gyro sensing module 176a may sense a horizontal rotational speed of the body 110.
  • the gyro sensing module 176a may sense a tilting speed of the body 110 relative to a horizontal plane.
  • the gyro sensing module 176a may include a gyro sensing function regarding three axes orthogonal to each other in a spatial coordinate system.
  • Information collected by the gyro sensing module 176a may be roll, pitch, and yaw information.
  • the processing module may calculate a direction angle of a cleaner 1 or 1’ by integrating the roll, pitch, and yaw angular speeds.
  • the azimuth angle sensor 176 may include an acceleration sensing module 176b which senses acceleration.
  • the acceleration sensing module 176b has an acceleration sensing function regarding three axes orthogonal to each other in a spatial coordinate system.
  • a predetermined processing module calculates a speed by integrating the acceleration, and may calculate a movement distance by integrating the speed.
  • the azimuth angle sensor 176 may include a magnetic field sensing module 176c which performs magnetic field sensing.
  • the magnetic sensing module 176c may have a magnetic field sensing function regarding three axes orthogonal to each other in a spatial coordinate system.
  • the magnetic field sensing module 176c may sense the magnetic field of the Earth.
  • the magnetic field signal detector 177 detects the magnetic field signal of the boundary wire 290 and/or a reference magnetic field signal of a reference wire 270.
  • the magnetic field signal detector 177 may be disposed at the front of the body 110. In doing so, while the moving robot 100 moves in a forward direction which is the primary travel direction, it is possible to detect the boundary of the travel area in advance.
  • the magnetic field signal detector 177 may be disposed in an inner space of the bumper 112b.
  • the magnetic field signal detector 177 may include a first magnetic field signal detector 177 (177a) and a second magnetic field signal detector 177 (177b) which are arranged in a left-right direction from each other.
  • the first magnetic field signal detector 177 (177a) and the second magnetic field signal detector 177 (177b) may be disposed at the front of the body 110.
  • the magnetic field signal detector 177 includes a magnetic field sensor.
  • the magnetic field signal detector 177 may be implemented using a coil to detect a change in a magnetic field.
  • the magnetic field signal detector 177 may detect at least a horizontal magnetic field.
  • the magnetic field signal detector 177 may sense a magnetic field in three axes which are spatially orthogonal to each other.
  • the first magnetic field signal detector 177 (177a) may detect a magnetic field signal in a direction orthogonal to the second magnetic field signal detector 177 (177b).
  • the first magnetic field signal detector 177 (177a) and the second magnetic field signal detector 177 (177b) may detect magnetic field signals respectively orthogonal to each other, and detect a magnetic field on three axes which are spatially orthogonal to each other by combining the respectively detected magnetic field signal values.
  • the GPS detector 178 may be provided to detect a GPS signal.
  • the GPS detector 178 may be implemented using a Printed Circuit Board (PCB).
  • PCB Printed Circuit Board
  • the cliff detector 179 detect presence of a cliff in a travel surface.
  • the cliff detector 179 may be disposed at the front of the body 110 to detect presence of a cliff located in the front of the moving robot 100.
  • the sensing unit 170 may include an opening/closing detector (not shown) which detects opening/closing of at least one of the first opening and closing door 117 or the second opening and closing door 118.
  • the opening/closing detector may be disposed at the case 112.
  • the moving robot 100 includes the controller 190 which controls autonomous traveling.
  • the controller 190 may process a signal from the sensing unit 170.
  • the controller 190 may process a signal from the input unit 164.
  • the controller 190 may control the first driving motor 123(L) and the second driving motor 123(R).
  • the controller 190 may control driving of the blade motor 132.
  • the controller 190 may control outputting of the output unit 165.
  • the controller 190 includes a main board (not shown) which is disposed in the inner space of the body 110.
  • the main board means a PCB.
  • the controller 190 may control autonomous traveling of the moving robot 100.
  • the controller 190 may control driving of the traveling unit 120 based on a signal received from the input unit 164.
  • the controller 190 may control driving of the traveling unit 120 based on a signal received from the sensing unit 170.
  • the controller 190 may process a signal from the magnetic field signal detector 177. Specifically, when the magnetic field signal detector 177 detects a reference magnetic field signal, the controller 190 may set a position at which the reference magnetic field signal is detected as a reference point. Upon receiving a return command for returning back to the reference point which is determined based on the reference magnetic field signal, the controller 190 may control the moving robot 100 to travel to the reference point.
  • the controller 190 may set a position at which the boundary magnetic field signal is detected as a boundary of a travel area.
  • the controller 190 may control the moving robot 100 to travel within the boundary of the travel area.
  • FIG. 14 is a conceptual diagram illustrating that the moving robot 100 of the present invention recognizes difference a magnetic field generated by the reference wire 270 and a magnetic field generated by the boundary wire 290.
  • magnetic fields BA1 and BA2 are generated along circular trajectories, which are respectively centered around the first vertical portion 271a and the second vertical portion 271b, according to the right-hand rule.
  • the magnetic fields generated in the first vertical portion 271a and the second vertical portion 271b are in a horizontal direction.
  • a magnetic field BG is generated along a circular trajectory centered around the boundary wire 290 according to the right-hand rule.
  • the magnetic field generated in the boundary wire 290 is in a vertical direction distinguishable from the direction of the magnetic field generated in the reference wire 270.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Power Engineering (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Disclosed are a docking device including a reference wire, which includes a vertical portion extending in a direction crossing at least the horizontal direction, and a moving robot including a magnetic field signal detector configured to sense a reference magnetic field signal generated in the vertical portion.

Description

MOVING ROBOT, DOCKING UNIT AND MOVING ROBOT SYSTEM
The present invention relates to a technology of recognizing a position of a charging station by a moving robot.
Robots were developed for industrial use and prompted automation of production operations. Recently, they are being used more widely, for example, in the medical industry and the aerospace industry. There are even domestic robots used for household chores. Among such robots, a type of robot capable of traveling on it own is called a moving robot. A typical example of a moving robot used for a home’s outdoor environment is a lawn mower robot.
For a moving robot travelling in an indoor space, an movable area is restricted by a wall or furniture, and, for a moving robot travelling an outdoor space, it is necessary to set a movable area in advance. In addition, a movable area needs to be limited to allow the lawn mower robot to travel on a grass area.
In an existing technology (Korean Patent Application Publication No. 2015-0125508), a wire for setting an area to be travelled by a lawn mower robot may be installed in the lawn mower robot, and the lawn mower robot may sense a magnetic field formed by currents flowing by the wire and move in an area set by the wire.
In addition, according to an existing technology, a lawn mower robot is not able to accurately recognize a position of a charging station, but simply keeps travelling along a boundary wire to identify the position of the charging station and be then charged.
If the lawn mower robot travels along the boundary wire to identify the position of the charging station according to the existing technology, a travelling distances of the lawn mower robot increases and a battery life thereof is reduced.
In addition, because the lawn mower robot according to the existing technology returns back to the charging station along the same route, it makes pits on the ground along the return route and the pits interrupts the lawn mower robot from travelling.
In addition, installation of an additional sensor in the lawn mower robot to recognize the position of the charging station adds more costs.
[Related Document]
[Patent Document]
Korean Patent Application Publication No. 2015-0125508 (Publication Date: November 9, 2015)
An object of the present invention is to provide a moving robot capable of easily and accurately recognizing a position of a charging station.
Another object of the present invention is to provide a moving robot which shares a sensor for recognizing a boundary of a travel route, without attachment of an additional sensor.
Yet another object of the present invention is to provide a moving robot capable of making less pits on the ground when returning back to a charging station along a boundary.
In order to achieve the above object, a moving robot, a docking unit, and a moving robot system according to the present invention are capable of recognizing at least a horizontal magnetic field.
In addition, the present invention is characterized in that a docking unit charges a moving robot and a reference wire for generating a magnetic field in a horizontal direction is arranged in the docking unit.
In addition, the present invention is characterized in that a boundary of a travel route is recognized using a vertical magnetic field and a position of a docking unit is recognized using a horizontal magnetic field.
Specifically, the present invention includes: a docking base defining a surface parallel to a horizontal direction; a docking support extending in a direction crossing the horizontal direction on the docking base; and a conductive reference wire, wherein the reference wire comprises a vertical portion which extends in a direction crossing at least the horizontal direction.
The reference wire may further include a horizontal portion which extends in a direction crossing the vertical portion.
The vertical portion may include: a first vertical portion; and a second vertical portion spaced apart from the first vertical portion.
The first vertical portion and the second vertical portion may be spaced apart from each other in a front-rear direction.
The plurality of first vertical portions may be arranged along a line extending in a left-right direction, and the plurality of second vertical portions may be arranged along a line extending in a left-right direction.
The first vertical portion and the second vertical portion may be spaced apart in a left-downward direction from each other.
The plurality of first vertical portions may be arranged along a line extending in a front-rear direction, and the plurality of second vertical portions may be arranged along a line extending in a front-rear direction.
The reference wire may define at least part of a square centered on a reference axis parallel to the horizontal direction.
The reference axis may extend in the front-rear direction or the left-right direction.
The reference wire may be disposed inside the docking support.
The wire terminal may be connected to the reference wire.
The reference wire may be disposed to surround the charging terminal.
The reference wire may be disposed to surround the docking connection part.
Meanwhile, a moving robot of the present invention includes: a body defining an exterior; a travelling unit configured to move the body against a travel surface; an operating unit disposed in the body and configured to perform a predetermined task; and a magnetic field signal detector configured to sense a boundary magnetic field signal and a reference magnetic signal, which are generated outside the moving robot, wherein the reference magnetic signal comprises a horizontal magnetic field.
The magnetic signal connector may sense a magnetic field on three axes which are spatially orthogonal to each other.
The present invention may further include a controller configured to, upon sensing of a reference magnetic field signal by the magnetic field signal detector, set a position at which the reference magnetic field signal is sensed as a reference point.
The controller may further include a controller configured to, upon sensing of the boundary magnetic field signal by the magnetic field signal detector, set a position at which the boundary magnetic field signal is sensed as a boundary of a travel area.
The magnetic field signal detector may include a first magnetic field signal detector and a second magnetic field signal detector which are spaced apart in a left-right direction from each other at a front of the body.
The first magnetic field signal detector may sense a magnetic field signal of a direction orthogonal to the second magnetic field signal detector.
In addition, the present invention includes a moving robot, and a docking unit to which the moving robot is docked to be charged, wherein the moving robot includes: a body defining an exterior; a travelling unit configured to move the body against a travel surface; an operating unit disposed in the body and configured to perform a predetermined task; and a magnetic field signal detector configured to sense a boundary magnetic field signal and a reference magnetic signal, which are generated outside the moving robot, wherein the docking unit includes: a docking base defining a surface parallel to a horizontal direction; a docking support extending in a direction crossing the horizontal direction on the docking base; and a conductive reference wire, wherein the reference wire comprises a vertical portion which extends in a direction crossing at least the horizontal direction.
According to embodiments, the present invention allows a moving robot to easily and accurately recognize a position of a charging station, and a route along which the moving robot returns back to the charging station is not formed uniformly along a boundary, and therefore, it is possible to increase a driving time of the moving robot and prevent pits on the ground which are made due to repeated movement of the moving robot.
In addition, the position of the charging station and a travel route are recognized by one sensor using a magnetic field signal, and the position of the charging station and the boundary are distinguished based on directions thereof, and therefore, it is possible to cut down manufacturing costs and reduce the burden on a controller.
In addition, the present invention adds a simple configuration that a conductive wire is arranged inside the docking unit, so it is possible to cut down manufacturing costs, share a boundary wire constitutes the boundary, and drive the reference wire using one power supply.
In addition, since a conductive wire is arranged inside a docking support which extends in a vertical direction, it is not necessary to additionally change configuration of the docking unit in order to arrange the conductive wire.
FIG. 1 is a perspective view of a moving robot 100 according to the present disclosure.
FIG. 2 is a front view of the moving robot 100 of FIG. 1.
FIG. 3 is a right side view of the moving robot 100 shown in FIG. 1.
FIG. 4 is a bottom view of the moving robot 100 shown in FIG. 1.
FIG. 5 is a perspective view of a docking unit 200 for docking the moving robot 100 shown in FIG. 1.
FIG. 6 is a front view of the docking unit 200 shown in FIG. 5.
FIG. 7 is a rear view of a reference wire according to a first embodiment of the present invention.
FIG. 7B is a side view of the reference wire according to the first embodiment of the present invention.
FIG. 8A is a rear view of a reference wire according to a second embodiment of the present invention.
FIG. 8B is a side view of the reference wire according to the second embodiment of the present invention.
FIG. 9 is a rear view of a reference wire according to a third embodiment of the present invention.
FIG. 10A is a side view of a reference wire according to a fourth embodiment of the present invention.
FIG. 10B is a rear view of the reference wire according to the fourth embodiment of the present invention.
FIG. 11A is a side view of a reference wire according to a fifth embodiment of the present invention.
FIG. 11B is a rear view of the reference wire according to the fifth embodiment of the present invention.
FIG. 12 is a side view of a reference wire according to a sixth embodiment of the present invention.
FIG. 13 is a block diagram illustrating a control relationship of the moving robot 100 shown in FIG. 1.
FIG. 14 is a conceptual diagram illustrating that a moving robot according to the present invention recognizes a difference between a magnetic field generated by a reference wire and a magnetic field generated by a boundary wire.
The terms “forward (F)/rearward (R)/upward (U)/downward (D)/indoor (I)/outdoor (O)” mentioned in the following description are defined as shown in the drawings. However, the terms are used merely to clearly understand the present invention, and therefore the above-mentioned directions may be differently defined.
The terms “first”, “second” etc. are used to distinguish elements, and not related to a sequence, importance levels, or a master-servant relationship of elements. For example, only a second element may be included without a first element.
In the drawings, thickness or size of each layer may be exaggerated, omitted, or schematically illustrated for convenience of description and clarity. Also, size or area of each constituent element does not entirely reflect the actual size thereof.
In addition, angles and directions mentioned while explaining structures are based on the drawings. Therefore, if the reference points of angles or positional relationships are not clearly mentioned in the following description, refer to the drawings.
Hereinafter, a moving robot is described as a lawn mower 100 with reference to FIGS. 1 to 6, but the present disclosure is not necessarily limited thereto.
With reference to FIGS. 1 to 4, a moving robot 100 includes a body 110 that defines an exterior. The body 110 forms an inner space. The moving robot 100 includes a travelling unit 120 that moves the body 110 against a travel surface. The moving robot 100 includes a task execution unit 130 that performs a predetermined task.
The body 110 includes a frame 111 to which a driving motor module 123, which will be described later, is fixed. A blade motor 132, which will be described later, is fixed to the frame 111. The frame 111 supports a battery which will be described later. The frame 111 provides a structure which supports even other components which are not mentioned herein. The frame 111 is supported by an auxiliary wheel 125 and a driving wheel 121.
The body 110 includes a side blocking part 111a which prevent a user’s finger from entering a blade 131 from a side of the blade 131. The side blocking part 111a is fixed to the frame 111. The side blocking part 111a is projected downward, compared to a button surface of an other part of the frame 111. The side blocking part 111a is arranged to cover an upper side of a space between the driving wheel 121 and the auxiliary wheel 125.
A pair of side blocking parts 111a-1 and 111a-2 is arranged on the left and right sides to the blade 131. The side blocking part 111a is spaced a predetermined distance apart from the blade 131.
A front surface 111af of the side blocking part 111a is formed in a round shape. The front surface 111af forms a surface in a round shape that is bent upwardly from a bottom surface of the side blocking part 111a toward the front. By use of the shape of the front surface 111af, the side blocking parts 111a is able to easily go over an obstacle of a predetermined height or lower thereunder when the moving robot 100 moves forward.
The body 110 includes a front blocking part 111b which prevents a user’s finger from entering between the blade 131 from a front of the blade 131. The front blocking part 111b is fixed to the frame 111. The front blocking part 111b is arranged to partially cover an upper side of a space between a pair of auxiliary wheels 125(L) and 125(R).
The front blocking part 111b includes a projected rib 111ba which is projected downward compared to a bottom surface of another part of the frame 111. The projected rib 111ba extends in a front-rear direction. An upper portion of the projected rib 111ba is fixed to the frame 111, and a lower portion of the projected rib 111ba forms a free end.
A plurality of projected ribs 111ba may be spaced apart in a left-right directioni from each other. The plurality of projected ribs 111ba may be arranged in parallel to each other. A gap is formed between two adjacent projected ribs 111ba.
A front surface of the projected ribs 111ba is formed in a round shape. The front surface of the projected rib 111ba forms a surface in a round shape that is bent upwardly from a bottom surface of the projected rib 111ba toward the front. By use of the shape of the front surface of the projected rib 111ba, the projected rib 111ba is able to easily go over an obstacle of a predetermined height or lower thereunder when the moving robot 100 moves forward.
The front blocking part 111b includes an auxiliary rib 111bb which reinforces rigidity. The auxiliary ribs 111bb for reinforcing rigidity of the front blocking part 111b is arranged between upper portions of two adjacent projected ribs 111ba. The auxiliary rib 111bb may be projected downward and may be in a lattice shape which extends.
In the frame 111, a caster which supports the auxiliary wheel 125 rotatably is arranged. The caster is arranged rotatable with respect to the frame 111. The caster is disposed rotatable about a vertical axis. The caster is disposed in a lower side of the frame 111. The caster is provided as a pair of casters corresponding to the pair of auxiliary wheels 125.
The body 110 includes a case 112 which covers the frame 111 from above. The case 112 defines a top surface and front/rear/left/right surfaces of the moving robot 100.
The body 110 may include a case connection part (not shown) which fixes the case 112 to the frame 111. An upper portion of the case connection part may be fixed to the case 112. The case connection part may be arranged movable with respect to the frame 111. The case connection part may be arranged movable only upwardly and downwardly with the frame 111. The case connection part may be provided movable in a predetermined range. The case connection part moves integrally with the case 112. Accordingly, the case 112 is movable with respect to the frame 111.
The body 110 includes a bumper 112b which is disposed at the front. The bumper 112b absorbs an impact upon collision with an external obstacle. At a front surface of the bumper 112b, a bumper groove recessed rearward and elongated in a left-right direction may be formed. The bumper groove may be provided as a plurality of bumper grooves spaced apart from each other in an upward-downward direction. A lower end of the projected rib 111ba is positioned lower than a lower end of the auxiliary rib 111bb.
The front surface and the left and right surfaces of the bumper 112b are connected. The front surface and the left and right surfaces of the bumper 112b are connected in a round manner.
The body 110 may include an auxiliary bumper 112c which is disposed embracing an exterior surface of the bumper 112b. The auxiliary bumper 112c is coupled to the bumper 112b. The auxiliary bumper 112c embraces lower portions of the front, left, and right surfaces of the bumper 112b. The auxiliary bumper 112c may cover the lower half portions of the front, left, and right surfaces of the bumper 112b.
The front surface of the auxiliary bumper 112c is disposed ahead of the front surface of the bumper 112b. The auxiliary bumper 112c forms a surface projected from a surface of the bumper 112b.
The auxiliary bumper 112c may be formed of a material which is advantageous in absorbing impact, such as rubber. The auxiliary bumper 112c may be formed of a flexible material.
The frame 111 may be provided with a movable fixing part (not shown) to which the bumper 112b is fixed. The movable fixing part may be projected upward of the frame 111. The bumper 112b may be fixed to an upper portion of the movable fixing part.
The bumper 112b may be disposed movable in a predetermined range with the frame 111. The bumper 112b may be fixed to the movable fixing part and thus movable integrally with the movable fixing part.
The movable fixing part may be disposed movable with respect to the frame 111. The movable fixing part may be rotatable about a virtual rotation axis in a predetermined range with the frame 111. Accordingly, the bumper 112b may be movable integrally with the movable fixing part with respect to the frame 111.
The body 110 includes a handle 113. The handle 113 may be disposed at the rear of the case 112.
The body 110 includes a battery slot 114 into and from which a battery is able to be inserted and separated. The battery slot 114 may be disposed at a bottom surface of the frame 111. The battery slot 114 may be disposed at the rear of the frame 111.
The body 110 includes a power switch 115 to turn on/off power of the moving robot 100. The power switch 115 may be disposed at the bottom surface of the frame 111.
The body 110 includes a blade protector 116 which hides the lower side of the central portion of the blade 131. The blade protector 116 is provided to expose centrifugal portions of blades of the blade 131 while hiding the central portion of the blade 131.
The body 110 includes a first opening and closing door 117 which opens a portion in which a height adjuster 156 and a height indicator 157 are arranged. The first opening and closing door 117 is hinge-coupled to the case 112 to be opened and closed. The first opening and closing door 117 is arranged in a top surface of the case 112.
The first opening and closing door 117 is formed in a plate shape, and, when closed, covers the top of the height adjuster 156 and the height indicator.
The body 110 includes a second opening and closing door 118 which opens and closes a portion in which a display module 165 and an input unit 164 is arranged. The second opening and closing door 118 is hinge-coupled to the case 112 to be opened and closed. The second opening and closing door 118 is arranged in a top surface of the case 112. The second opening and closing door 118 is disposed behind the first opening and closing door 117.
The second opening and closing door 118 is formed in a plate shape, and, when closed, covers the display module 165 and the input unit 164.
An available opening angle of the second opening and closing door 118 is predetermined to be smaller than an available opening angle of the first opening and closing door 117. In doing this, even when the second opening and closing door 118 is opened, a user is allowed to easily open the first opening and closing door 117 and easily manipulate the height adjuster 156. In addition, even when the second opening and closing door 118 is opened, the user is allowed to visually check content of the height display 157.
For example, the available opening angle of the first opening and closing door 117 may be about 80 to 90 degrees with reference to the closed state of the first opening 117. For example, the available opening angle of the second opening and closing door 118 may be about 45 to 60 degrees with reference to the closed state of the second opening and closing door 118.
A rear of the first opening and closing door 117 is lifted upward from a front thereof to thereby open the first opening and closing door 117, and a rear of the second opening and closing door 118 is lifted upward from a front thereof to thereby open the second opening and closing door 118. In doing so, even while the lawn mower 100 moves forward, a user located in an area behind the lawn mower 100, which is a safe area, is able to open and close the first opening and closing door 117 and the second opening and closing door 118. In addition, in doing so, opening of the first opening and closing door 117 and opening of the second opening and closing door 118 may be prevented from intervening each other.
The first opening and closing door 117 may be rotatable with respect to the case 112 about a rotation axis which extends from the front of the first opening and closing door 117 in a left-right direction. The second opening and closing door 118 may be rotatable with respect to the case 112 about a rotation axis which extends from the front of the second opening and closing door 118 in the left-right direction.
The body 110 may include a first motor housing 119a which accommodates a first driving motor 123(L), and a second motor housing 119b which accommodates a second driving motor 123(R). The first motor housing 119a may be fixed to the left side of the frame 111, and the second motor housing 119b may be fixed to the right side of the frame 111. A right end of the first motor housing 119a is fixed to the frame 111. A left end of the second motor housing 119b is fixed to the frame 111.
The first motor housing 119a is formed in a cylindrical shape that defines a height in the left-right direction. The second motor housing 119b is formed in a cylindrical shape that defines a height in the left-right direction.
The travelling unit 120 includes the driving wheel 121 that rotates by a driving force generated by the driving motor module 123. The travelling unit 120 may include at least one pair of driving wheels 121 which rotate by a driving force generated by the driving motor module 123. The driving wheel 121 may include a first wheel 121(L) and a second wheel 121(R), which are provided on the left and right sides and rotatable independently of each other. The first wheel 121(L) is arranged on the left side, and the second wheel 121(R) is arranged on the right side. The first wheel 121(L) and the second wheel 121(R) are spaced apart in a left-right direction from each other. The first wheel 121(L) and the second wheel 121(R) are arranged in a lower side at the rear of the body 110.
The first wheel 121(L) and the second wheel 121(R) are rotatable independently of each other so that the body 110 is rotatable and forward movable relative to a ground surface. For example, when the first wheel 121(L) and the second wheel 121(R) rotate at the same speed, the body 110 is forward movable relative to the ground surface. For example, when a rotation speed of the first wheel 121(L) is faster than a rotation speed of the second wheel 121(R) or when a rotation direction of the first wheel 121(L) and a rotation direction of the second wheel 121(R) are different from each other, the body 110 is rotatable against the ground surface.
The first wheel 121(L) and the second wheel 121(R) may be formed to be greater than the auxiliary wheel 125. A shaft of the first driving motor 123(L) may be fixed to the center of the first wheel 121(L), and a shaft of the second driving motor 123(R) may be fixed to the center of the second wheel 121(R).
The driving wheel 121 includes a wheel circumference part 121b which contacts the ground surface. For example, the wheel circumference part 121b may be a tire. In the wheel circumference part 121b, a plurality of projections for increasing a frictional force with the ground surface may be formed.
The driving wheel 121 may include a wheel fame, which fixes the wheel circumference part 121b and receives a driving force for the motor 123. A shaft of the motor 123 is fixed to the center of the wheel frame to receive a rotation force. The wheel circumference part 121b is arranged to embrace a circumference of the wheel frame.
The driving wheel 121 includes a wheel cover 121a which covers an exterior surface of the wheel frame. With reference to the wheel frame, the wheel cover 121a is arranged in a direction opposite to a direction in which the motor 123 is arranged. The wheel cover 121a is arranged at the center of the wheel circumference part 121b.
The travelling unit 120 includes the driving motor module 123 which generates a driving force. The travelling unit 120 includes the driving motor module 123 which provides a driving force for the driving wheel 121. The driving motor module 123 includes the first driving motor 123(L) which provides a driving force for the first wheel 121(L), and the second driving motor 123(R) which provides a driving force for the second wheel 121(R). The first driving motor 123(L) and the second driving motor 123(R) may be spaced apart in a left-right direction from each other. The first driving motor 123(L) may be disposed on the left side of the second driving motor 123(R)
The first driving motor 123(L) and the second driving motor 123(R) may be arranged at a lower side of the body 110. The first driving motor 123(L) and the second driving motor 123(R) may be arranged at the rear of the body 110.
The first driving motor 123(L) may be arranged on the right side of the first wheel 121(L), and the second driving motor 123(R) is arranged on the left side of the second wheel 121(R). The first driving motor 123(L) and the second driving motor 123(R) are fixed to the body 110.
The first driving motor 123(L) may be arranged inside the first motor housing 119a, with a motor shaft being projected leftward. The second driving motor 123(R) may be arranged inside the second motor housing 119b, with a motor shaft being projected rightward.
In this embodiment, the first wheel 121(L) and the second wheel 121(R) may be connected to a rotation shaft of the first driving motor 123(L) and a rotation shaft of the second driving motor 123(R), respectively. Alternatively, a component of a shaft or the like may be connected to the first wheel 121(L) and the second wheel 121(R). Alternatively, a rotation force of the motor 123(L) or 123(R) may be transferred to the wheel 121a or 121b by a gear or a chain.
The traveling unit 120 may include the auxiliary wheel 135 which supports the body 110 together with the driving wheel 121. The auxiliary wheel 125 may be disposed ahead of the blade 131. The auxiliary wheel 125 is a wheel which does not receives a driving force generated by a motor, and the auxiliary wheel 125 auxiliarily supports the body 110 against the ground surface. The caster supporting a rotation shaft of the auxiliary wheel 125 is coupled to the frame 111 to be rotatable about a vertical axis. There may be provided a first auxiliary wheel 125(L) arranged on the left side, and a second auxiliary wheel 125(R) arranged on the right side.
The task execution unit 130 is provided to perform a predetermined task. The task execution unit 120 is arranged at the body 110.
In one example, the task execution unit 130 may be provided to perform a task such as cleaning or lawn mowing. In another example, the task execution unit 130 may be provided to perform a task such as transferring an object or finding an object. In yet another embodiment, the task execution unit 130 may perform a security function such as sensing an intruder or a dangerous situation in the surroundings.
In this embodiment, the task execution unit 130 is described as mowing lawn, but there may be various types of task performed by the task execution unit 120 and not limited to this embodiment.
The task execution unit 130 may include the blade 131 which are rotatably provided to mow lawn. The task execution unit 130 may include a blade motor 132 which provides a rotation force for the blade 131.
The blade 131 are arranged between the driving wheel 121 and the auxiliary wheel 125. The blade 131 are arranged on a lower side of the body 110. The blade 131 are exposed from the lower side of the body 110. The blade 131 mows lawn by rotating about a rotation shaft which extends in an upward-downward direction.
A blade motor 132 may be arranged ahead of the first wheel 121(L) and the second wheel 121(R). The blade motor 132 is disposed in a lower side of the center in the inner space of the body 110.
The blade motor 132 may be disposed at the rear of the auxiliary wheel 125. The blade motor 132 may be arranged in a lower side of the body 110. A rotational force of the motor axis is transferred to the blade 131 using a structure such as a gear.
The moving robot 100 includes a battery (not shown) which provides power for the driving motor module 123. The battery provides power to the first driving motor 123(L). The battery provides power for the second driving motor 123(R). The battery may provide power for the blade motor 132. The battery may provide power for a controller 190, an azimuth angle sensor 176, and an output unit 165. The battery may be arranged in a lower side of the rear in the indoor space of the body 110.
The moving robot 100 is able to change a height of the blade 131 from the ground, and change a lawn cutting height. The moving robot 100 includes the height adjuster 156 by which a user is able to change a height of the blade 131. The height adjuster 156 may include a rotatable dial and may change the height of the blade 131 by rotating the dial.
The moving robot 100 includes the height indicator 157 which displays a degree of the height of the blade 131. When the height of the blade 131 is changed upon manipulation of the height adjuster 156, the height displayed by the height display 157 is also changed. For example, the height display 157 may display a height value of grass that is expected after the moving robot 100 mows lawn with the current height of the blade 131.
The moving robot 100 includes a docking insertion part 158 which is connected to a docking unit 200 when the moving robot 100 is docked to the docking unit 200. The docking insertion part 158 is recessed so that a docking connection part 210 of the docking unit 200 is inserted into the docking insertion part 158. The docking insertion part 158 is arranged in the front surface of the body 110. Due to connection of the docking insertion 158 and the docking connection part 210, the moving robot 100 may be guided to a correct position when charged.
The moving robot 100 may include a charging counterpart terminal 159 which is disposed at a position to contact a charging terminal 211, which will be described later, when the docking connection part 210 is inserted into the docking insertion part 158. The charging counterpart terminal 159 includes a pair of charging counterpart terminals which are disposed at positions corresponding to a pair of charging terminals 211 (211a, 211b). The pair of charging counterpart terminals 159a and 159b may be disposed on the left and right sides of the docking insertion part 158.
A terminal cover (not shown) for openably/closably covering the pair of charging terminals 211 (211a, 211b) may be provided. While the moving robot 100 travels, the terminal cover may cover the docking insertion part 158 and the pair of charging terminals 211 (211a, 211b). When the moving robot 100 is connected with the docking unit 200, the terminal cover may be opened, and therefore, the docking insertion part 158 and the pair of charging terminals 211 (211a, 211b) may be exposed.
Meanwhile, referring to FIGS. 5 to 6, the docking unit 200 includes a docking base 230 disposed at a floor, and a docking support 220 projected upwardly from the front of the docking base 230.
The docking base 230 defines a surface that is parallel to a horizontal direction. The docking base 230 is in a plate shape on which the moving robot 100 is able to be seated. The docking support 220 extends in a direction which crosses the horizontal direction on the docking base 230.
The docking unit 200 includes the docking connection part 210 which is inserted into the docking insertion part 158 to charge the moving robot 100. The docking connection part 210 may be projected rearward from the docking support 220.
The docking connection part 210 may be formed to have a vertical thickness smaller than a horizontal thickness. A horizontal width of the docking connection part 210 may be narrowed toward the rear. As viewed from above, the docking connection part 210 is broadly in a trapezoidal shape. The docking connection part 210 is vertically symmetrical. The rear of the docking connection part 210 forms a free end, and the front of the docking connection part 210 is fixed to the docking support 220. The rear of the docking connection part 210 may be formed in a round shape.
When the docking connection part 210 is fully inserted into the docking insertion part 158, charging of the moving robot 100 by the docking deice 200 may be performed.
The docking unit 200 includes the charging terminal 211 to charge the moving robot 100. As the charging terminal 211 and the charging counterpart terminal 159 of the moving robot 100 are brought into contact with each other, charging power may be supplied from the docking unit 200 to the moving robot 100.
The charging terminal 211 includes a contact surface facing rearward, and the charging counterpart terminal 159 includes a contact counterpart surface facing forward. As the contact surface of the charging terminal 211 is brought into contact with the contact counterpart surface of the charging counterpart terminal 159, power of the docking unit 200 is connected with the moving robot 100.
The charging terminal 211 may include a pair of charging terminals 211 (211a, 211b) which form a positive polarity (+) and a negative polarity (-), respectively. The first charging terminal 211 (211a) is provided to come into contact with the first charging counterpart terminal 159a, and the second charging terminal 211 (211b) is provided to come into contact with the second charging counterpart terminal 159b.
The pair of charging terminals 211 (211a, 211b) may be arranged with the docking connection part 210 therebetween. The pair of charging terminals 211 (211a, 211b) may be arranged on the left and right sides of the docking connection part 210.
The docking base 230 includes a wheel guard 232 on which the driving wheel 121 and the auxiliary wheel 125 of the moving robot 100 are to be positioned. The wheel guard 232 includes a first wheel guard 232a which guides movement of the first auxiliary wheel 125(L), and a second wheel guard 232b which guides movement of the second auxiliary wheel 125(R). Between the first wheel guard 232a and the second wheel guard 232b, there is a central base 231 which is convex upwardly. The docking base 230 includes a slip prevention part 234 to prevent slipping of the first wheel 121(L) and the second wheel 121(R). The slip prevention part 234 may include a plurality of projections which are projected upwardly.
Meanwhile, a boundary wire 290 for setting a boundary of a travel area of the moving root 100 may be provided. The boundary wire 290 may generate a predetermined boundary magnetic field signal. By detecting the boundary magnetic field signal, the moving robot 100 is able to recognize the boundary of the travel area set by the boundary wire 290.
For example, as a predetermined current is allowed to flow along the boundary wire 290, a magnetic field may be generated around the boundary wire 290. The generated magnetic field is the aforementioned boundary magnetic field signal. As an alternating current with a predetermined pattern of change are allowed to flow in the boundary wire 290, a magnetic field generated around the boundary wire 290 may change in the predetermined pattern of change. Using a magnetic field signal detector 177 for detecting a magnetic field, the moving robot 100 may recognize that the moving robot 100 has approached the boundary wire 290 within a predetermined range, and accordingly, the moving robot 100 may travel only in a travel area within a boundary set by the boundary wire 290.
The boundary wire 290 may generate a magnetic field in a direction that is distinguishable from a direction of a magnetic field generated by a reference wire 270. For example, the boundary wire 290 may be arranged substantially parallel to a horizontal plane. In this case, being substantially parallel may include an engineering understanding of a parallel state, which includes a certain level of error to a mathematically perfect parallel state.
The docking unit 200 may play a role of transferring a predetermined current to the boundary wire 290. The docking unit 200 may include a wire terminal 250 connected to the boundary wire 290. Both ends of the boundary wire 290 may be connected to a first wire terminal 250a and a second wire terminal 250b. Through the connection between the boundary wire 290 and the wire terminal 250, a power supply of the docking unit 200 may supply a current to the boundary wire 290.
The wire terminal 250 may be disposed at the front (F) of the docking unit 200. That is, the wire terminal 250 may be disposed at a position opposite to a direction in which the docking connection part 210 is projected. The wire terminal 250 may be disposed in the docking support 220. The first wire terminal 250a and the second wire terminal 250b may be spaced apart in a left-right direction from each other.
The docking unit 200 may include a wire terminal opening and closing door 240 which openably/closably covers the wire terminal 250. The wire terminal opening and closing door 240 may be disposed at the front (F) of the docking support 220. The wire terminal opening and closing door 240 may be hinge-coupled to the docking support 220 to be opened and closed by rotation.
Meanwhile, the reference wire 270 for allowing the moving robot 100 to recognize a position of the docking unit 200 may be provided. The reference wire 270 may generate a predetermined reference magnetic field signal. The moving robot 100 may recognize the position of the docking device 200 using the reference wire 270 by sensing the reference magnetic field signal, and may return back to the recognized position of the docking unit 200 in response to a return command or in response to the need of being charged. Such a position of the docking unit 200 may be a reference point for travelling of the moving robot 100.
The reference wire 270 is formed of a conductive material to allow a current to flow. The reference wire 270 may be connected to power of the docking unit 200 which will be described later.
For example, a predetermined current may be allowed to flow along the reference wire 270, so that a magnetic field is generated around the reference wire 270. The generated magnetic field is a reference magnetic field signal. As an alternating current with a predetermined pattern of change is allowed to flow in the reference wire 270, a magnetic field generated around the reference wire 270 may change with the predetermined pattern of change. Using the magnetic field signal detector 177 which senses the magnetic field, the moving robot 100 may recognize that it has approached the reference wire 270 within a predetermined range, and, in doing so, the moving robot 200 may be able to return back to the position of the docking unit 200 set by the reference wire 270.
The reference wire 270 may generate a magnetic field in a direction that is distinguishable from a direction of a magnetic field generated by the boundary wire 290. For example, the reference wire 270 may extend in a direction that crosses a horizontal direction. Preferably, the reference wire 270 may extend in an upward-downward direction that is orthogonal to the horizontal direction.
The reference wire 270 may be installed in the docking unit 200. The reference wire 270 may be disposed at various positions in the docking unit 200.
FIG. 7A is a rear view of a reference wire 270 according to a first embodiment of the present invention, and FIG. 7B is a side view of the reference wire 270 according to the first embodiment of the present invention.
Referring to FIGS, 6, 7A, and 7B, the reference wire 270 according the first embodiment may be disposed inside the docking support 220. The reference wire 270 needs to generate a magnetic signal in a horizontal direction, and therefore, the reference wire 270 is arranged to extend in a vertical direction. If the reference wire 270 is disposed at the docking base 230, there is a problem that a thickness of the docking base 230 increases.
The reference wire 270 may include a vertical portion 271 that extends in a direction which crosses at least a horizontal direction. The vertical portion 271 may be disposed substantially parallel to an upward-downward direction UD. The vertical portion 271 may be formed in a round shape with a curvature while extending in a direction which crosses a horizontal plane.
A direction of a current input from the vertical portion 271 of the reference wire 270 may travel in an upward to downward direction or in a downward to upward direction.
The vertical portion 271 may be provided as a plurality of vertical portions to generate a magnetic field signal equal to or greater than a reference level from the entire area around the docking unit 200. For example, the vertical portion 271 may include a first vertical portion 271a, and a second vertical portion 271b spaced apart from the first vertical portion 271a. Of course, the vertical portion 271 may include just only one of the first vertical portion 271a and the second vertical portion 271b.
The first vertical portion 271a and the second vertical portion 271b are spaced apart in a left-right direction from each other. The first vertical portion 271a may be disposed adjacent to the right end of the docking support 220, and the second vertical portion 271b may be disposed adjacent to the left end of the docking support 220. If the first vertical portion 271a and the second vertical portion 271b are disposed adjacent to both ends of the docking support 220, an area in which a magnetic field is generated by the reference wire 270 may expand to maximum size around the docking unit 200.
A direction of travel of a current in the first vertical portion 271a and a direction of travel of a current in the second vertical portion 271b may be identical or different. Preferably, if a current flows from top to bottom in the first vertical portion 271a, a current may flow from bottom to top in the second vertical portion 271b.
In order to reinforce strength of magnetic fields generated by the first vertical portion 271a and the second vertical portion 271b, a plurality of first vertical portions 271a and a plurality of second vertical portions 271b may be provided. Each of the first vertical portion 271a and the second vertical portion 271b may be a set of multiple wires, and the first vertical portion 271a and the second vertical portion 271b may be in a uniform arrangement. Of course, each of the first vertical portion 271a and the second vertical portion 271b may be a single wire, respectively.
For example, a plurality of first vertical portions 271a may be arranged in columns along a line which extends in a front-rear direction, and a plurality of second vertical portions 271b may be arranged in columns along a line which extends in the front-rear direction.
If the plurality of first vertical portions 271a and the plurality of second vertical portions 271b are respectively arranged at the left ends and the right ends of the docking support 220 while being arranged to form columns in the front-rear direction, a charging terminal 211 and a docking connection part 210 may be arranged between the plurality of first vertical portions 271a and the plurality of second vertical portions 271b. If the charging terminal 211 and the docking connection part 210 are arranged between the plurality of first vertical portions 271a and the plurality of second vertical portions 271b, it is possible to arrange the reference wire 270 without changing configurations of the charging terminal 211 and the docking connection part 210.
The plurality of first vertical portions 271a and the plurality of second vertical portions 271b may be electrically connected to each other or may be supplied with electricity from an additional power supply. The docking unit 200 may play a role of transmitting a predetermined current to the reference wire 270. The docking unit 200 may include a wire terminal 250 connected to the reference wire 270. Both ends of the reference wire 270 may be connected to a first wire terminal 250a and a second wire terminal 250b. Through the connection between the reference wire 270 and the wire terminal 250, a power supply of the docking unit 200 may supply a current to the reference wire 270.
Specifically, both ends of the plurality of first vertical portions 271a are respectively connected to the first wire terminal 250a and the second wire terminal 250b, and both ends of the plurality of second vertical portions 271b may be respectively connected to the first wire terminal 250a and the second wire terminal 250b.
FIG. 8A is a rear view of a reference wire 270 according to a second embodiment of the present invention, and FIG. 8B is a side view of the reference wire 270 according to the second embodiment of the present invention.
Compared to the first embodiment, the reference wire 270 according to the second embodiment may further include a horizontal portion 273. The reference wire 270 according to the second embodiment may be in a structure in which the first vertical portion 271a and the second vertical portion 271b are connected to be supplied with power from a single power supply. The following description will mainly address the difference from the first embodiment, and constituents are considered identical to those in the first embodiment, unless otherwise described.
Referring to FIGS. 8A and 8B, the horizontal portion 273 of the reference wire 270 extends in a direction crossing the vertical portion 271, and connects the first vertical portion 271a and the second vertical portion 271b. The horizontal portion 273 may be arranged substantially parallel to a horizontal direction.
The horizontal portion 273 may include a first horizontal portion 273a connecting a upper end of the first vertical portion 271a and an upper end of the second vertical portion 271b, and a second horizontal portion 273b connecting a lower end of the first vertical portion 271a. Of course, the horizontal portion 273 may include only the first horizontal portion 273a from the first vertical portion 271a and the second vertical portion 271b. A connection point of the horizontal portion 273 and the vertical portion 271 may be bent to curvature.
The first horizontal portion 273a is disposed adjacent to an upper end of the docking support 220, and the second horizontal portion 273b is disposed adjacent to a lower end of the docking support 220. Between the first horizontal portion 273a and the second horizontal portion 273b, the charging terminal 211 and/or the docking connection part 210 may be disposed. Thus, even in the case of arranging the first horizontal portion 273a and the second horizontal portion 273b, it is not necessary to change any other configuration.
The horizontal portion 273 may electrically connect the first horizontal portion 273a and the second horizontal portion 273b, which are spaced apart from each other, so that a reference magnetic field signal is generated in a plurality of vertical portions 271 using a single power supply. Specifically, in the case where the reference wire 270 includes the first horizontal portion 273a, the first vertical portion 271a, and the second vertical portion 271b, the lower end of the first vertical portion 271a may be connected to the first wire terminal 250a and the lower end of the second vertical portion 271b may be connected to the second wire terminal 250b.
In another example, in the case where the reference wire 270 includes the first horizontal portion 273a, the second horizontal portion 273b, the first vertical portion 271a, and the second vertical portion 271b, a left end of the second horizontal portion 273b may be connected to the first wire 250a and a lower end of the second vertical portion 271b may be connected to the second wire terminal 250b.
In the case where the first vertical portion 271a and the second vertical portions 271b may be respectively provided as a plurality of first vertical portions 271a and a plurality of second vertical portions 271b in order to reinforce strength of magnetic fields respectively formed around the first vertical portion 271a and the second vertical portion 271b, even the horizontal portion 273 may be provided as a plurality of horizontal portions.
The first vertical portion 271a, the second vertical portion 271b, and the horizontal portion 273 may be a set of multiple wires, and the first vertical portion 271a, the second vertical portion 271b, and the horizontal portion 273 may be in a uniform arrangement.
In one example, as illustrated in FIG. 8B, the plurality of first vertical portions 271a may be disposed in columns along a line extending in the front-rear direction, the plurality of second vertical portions 271b may be disposed in columns along the line extending in the front-rear direction, the plurality of first horizontal portions 273a may connect upper ends of the plurality of first vertical portions 271a and upper ends of the plurality of vertical portions 271b, and the plurality of second horizontal portions 273b may be connected to the lower ends of the plurality of first vertical portions 271a and extend in a direction toward the second vertical portions 271b. Thus, the reference wire 270 may be disposed to surround the charging terminal 211 and the docking connection part 210, as viewed from front.
In another example, the reference wire 270 may define at least part of a square centered on a reference axis parallel to the horizontal direction, and each corner may be formed in a round shape. A shape of the square may be repeated in a linear form front to rear. The reference axis extends in the front-rear direction. That is, the plurality of horizontal portions 273 and the plurality of vertical portions 271 in the reference wire 270 may be formed in a manner in which one wire is wound about the reference axis to form a single wire column, wherein such a wire column is able to be arranged as a plurality of columns in a direction of the reference axis.
In another example, the reference wire 270 may define at least part of an ellipse disposed about a reference axis parallel to the horizontal direction. In this case, two focal points defined by the reference wire 270 may be on the reference axis parallel to the horizontal direction.
FIG. 9 is a rear view of a reference wire 270-2 according to a third embodiment of the present invention.
Compared to the second embodiment, the reference wire 270-2 according to the third embodiment is different in terms of arrangement of the plurality of horizontal portions 273 and the plurality of vertical portions 271. The following description will mainly address the difference from the second embodiment, and constituents are considered identical to those in the second embodiment, unless otherwise described.
The reference wire 270-2 according to the third embodiment may be in a structure in which the first vertical portions 271a and the second vertical portions 271b are connected to each other to be supplied with power from a single power supply.
Referring to FIG. 9, the reference wire 270-2 according to the third embodiment defines at least part of a square centered on a reference axis parallel to a horizontal direction. That is, the plurality of horizontal portions 273 and the plurality of vertical portions 271 in the reference wire 270-2 may be formed in a manner in which one wire is wound about the reference axis to form a single wire column, wherein such a wire column is able to define a plurality of columns in an outward direction.
Specifically, the plurality of first vertical portions 271a may be disposed to form columns along a line extending in the left-right direction, the plurality of second vertical portions 271b may be disposed to form columns along the line extending in the left-right direction, the plurality of first horizontal portions 273a may be disposed to form columns along a line extending in the upward-downward direction, and the plurality of second horizontal portions 273b may be disposed to form columns along the line extending in the upward-downward direction. The first vertical portions 271a, the second vertical portions 271b, the first horizontal portions 273a, and the second horizontal portions 273b may be all formed by one wire.
FIG. 10A is a side view of a reference wire 270-3 according to a fourth embodiment of the present invention, and FIG. 10B is a rear view of the reference wire 270-3 according to the fourth embodiment of the present invention.
Compared to the first embodiment, the reference wire 270-3 according to the fourth embodiment is different in terms of a position of a first vertical portion 271c and a position of a second vertical portion 271d. The following description will mainly address the difference from the first embodiment, and constituents are considered identical to those in the first embodiment, unless otherwise described.
In this embodiment, the first vertical portion 271c and the second vertical portion 271d are spaced apart from each other in the front-rear direction. The first vertical portion 271c may be disposed adjacent to a rear end of the docking support 220, and the second vertical portion 271d may be disposed adjacent to a front end of the docking support 220. If the first vertical portion 271c and the second vertical portion 271d are disposed adjacent to both the front and rear ends of the docking support 220, an area where a magnetic field is generated by the reference wire 270-3 may expand to maximum size around the docking unit 200.
A plurality of first vertical portions 271c may be disposed to form column in a line extending in the left-right direction, and a plurality of second vertical portion 271d may be disposed to form columns along the line extending in the left-right direction.
FIG. 11A is a side view of a reference wire 270-4 according to a fifth embodiment of the present invention, and FIG. 11B is a side view of the reference wire 270-4 according to the fifth embodiment of the present invention.
Compared to the second embodiment, the reference wire 270-4 according to the fifth embodiment is different in terms of positions of first and second vertical portions 271 and positions of first and second horizontal portions 273. The following description will mainly address the difference from the second embodiment, and constituents are considered identical to those in the second embodiment, unless otherwise described.
The reference wire 270-4 according to the fifth embodiment may define at least part of a square centered on a reference axis extending in a left-right direction parallel to a horizontal direction.
Referring to FIGS. 11A and 11B, a first horizontal portion 273c is disposed adjacent to an upper end of the docking support 220, a second horizontal portion 273d is disposed adjacent to a lower end of the docking support 220, a first vertical portion 271c is disposed adjacent to a rear end of the docking support 220, and a second vertical portion 271d is disposed adjacent to a front end of the docking support 220.
A plurality of first vertical portions 271c may be disposed to form columns along a line extending in the left-right direction, a plurality of second vertical portions 271d may be disposed to form columns along the line extending in the left-right direction, a plurality of first horizontal portions 273c may connect upper ends of the plurality of first vertical portions 271c and upper ends of the plurality of second vertical portions 271d, and a plurality of second horizontal portions 273d may be connected to lower ends of the plurality of first vertical portions 271c and extend in a direction toward the second vertical portions 271d.
In another example, the reference wire 270-4 may define a square centered on a reference axis parallel to the horizontal direction, and a shape of the square may be repeated in a linear form in a left-right direction. That is, the plurality of horizontal portions and the plurality of vertical portions in the reference wire 270-4 may be formed in a manner in which one wire is wound about the reference axis to form a single wire column, wherein such a wire column is able to be arranged as a plurality of wire columns in a direction of the reference axis.
FIG. 12 is a side view of a reference wire 270-5 according to a sixth embodiment of the present invention.
Compared to the third embodiment, the reference wire 270-5 according to the sixth embodiment is different in terms of positions of first and second vertical portions 271d and positions of first and second horizontal portions 273d. The following description will mainly address the difference from the third embodiment, and constituents are considered identical to those in the third embodiment, unless otherwise described.
The reference wire 270-5 according to the sixth embodiment may be in a structure in which a first vertical portion 271c and a second vertical portion 271d are connected to each other to be supplied with power from a single power supply.
Referring to FIG. 12, the reference wire 270-5 according to the sixth embodiment defines at least part of a square centered on a reference axis parallel to a left-right direction. That is, a plurality of horizontal portions 273 and a plurality of vertical portions 271 in the reference wire 270-5 may be formed in a manner in which one wire is wound about the reference axis to form a single wire column, wherein such a wire column is able to define a plurality of columns in an outward directions.
Specifically, a plurality of first vertical portions 271c may be disposed to form columns in a line extending in a front-rear direction, a plurality of second vertical portions 271d may be disposed to form columns along the line extending in the front-rear direction, a plurality of first horizontal portions 273c may be disposed to form columns along a line extending in an upward-downward direction, and a plurality of second horizontal portions 273d may be disposed to form columns along the line extending in the upward-downward direction. The first vertical portions 271c, the second vertical portions 271d, the first horizontal portions 273c, and the second horizontal portions 273d may be all formed by one wire.
FIG. 13 is a block diagram illustrating a control relationship in the moving robot 100 shown in FIG. 1.
Meanwhile, referring to FIG. 13, the moving robot 100 may include the input unit 164 through which various instructions from a user is allowed to be input. The input unit 164 may include a button, a dial, a touch-type display, etc. The input unit 164 may include a microphone to recognize a voice. In this embodiment, a plurality of buttons is arranged in an upper side of the case 112.
The moving robot 100 may include the output unit 165 to output various types of information to a user. The output unit 165 may include a display module which displays visual information. The output unit 165 may include a speaker (not shown) which outputs audible information.
In this embodiment, the display module 165 outputs an image in an upward direction. The display module 165 is arranged in the upper side of the case 112. In one example, the display module 165 may include a thin film transistor Liquid-Crystal Display (LCD). In addition, the display module 165 may be implemented using various display panels such as a plasma display panel, an organic light emitting diode display panel, etc.
The moving robot 100 includes a storage 166 which stores various types of information. The storage 166 stores various types of information necessary to control the moving robot 100, and the storage 166 may include a volatile or non-volatile recording medium. The storage 166 may store information input through the input unit 164 or information received through a communication unit 167. The storage 166 may store a program required to control the moving robot 100.
The moving robot 100 may include the communication unit 167 to communicate with an external device (a terminal and the like), a server, a router, etc. For example, the communication unit 167 may be capable of performing wireless communication with a wireless communication technology such as IEEE 802.11 WLAN, IEEE 802.15 WPAN, UWB, Wi-Fi, Zigbee, Z-wave, Blue-Tooth, etc. The communication unit 167 may differ depending on a target device to communication or a communication method of a server.
The moving robot 100 includes a sensing unit 170 which senses a state of the moving robot 100 or information relating to an environment external to the moving robot 100. The sensing unit 170 may include at least one of a remote signal detector 171, an obstacle detector 172, a rain detector 173, a case movement sensor 174, a bumper sensor 175, an azimuth angle sensor 176, a magnetic field signal detector 177, a Global Positioning System (GPS) detector 178, or a cliff detector 179.
The remote signal detector 171 receives an external remote signal. Once a remote signal from an external remote controller is transmitted, the remote signal detector 171 may receive the remote signal. For example, the remote signal may be an infrared signal. The signal received by the remote signal detector 171 may be processed by a controller 190.
A plurality of remote signal detectors 171 may be provided. The plurality of remote signal detectors 171 may include a first remote signal detector 171a disposed at the front of the body 110, and a second remote signal detector 171b disposed at the rear of the body 110. The first remote signal detector 171a receives a remote signal transmitted from the front. The second remote signal detector 171b receives a remote signal transmitted from the rear.
The obstacle detector 172 senses an obstacle around the moving robot 100. The obstacle detector 172 may sense an obstacle in the front. A plurality of obstacle detectors 172a, 172b, and 172c may be provided. The obstacle detector 172 is disposed at a front surface of the body 110. The obstacle detector 172 is disposed higher than the frame 111. The obstacle detector 172 may include an infrared sensor, an ultrasonic sensor, a Radio Frequency (RF) sensor, a geomagnetic sensor, a Position Sensitive Device (PSD) sensor, etc.
The rain detector 173 senses rain when it rains in an environment where the moving robot 100 is placed. The rain detector 173 may be disposed in the case 112.
The case movement sensor 174 senses movement of the case connection part. If the case 112 is lifted upward from the frame 111, the case connection part moves upward and accordingly the case movement sensor 174 senses the lifted state of the case 112. If the case movement sensor 174 senses the lifted state of the case 112, the controller 190 may perform a control action to stop operation of the blade 131. For example, if a user lifts the case 112 or if a large-size obstacle underneath lifts the case 112, the case movement sensor 174 may sense the lifting.
The bumper sensor 175 may sense rotation of the movable fixing part. For example, a magnet may be disposed in one side of the bottom of the movable fixing part, and a sensor for sensing a change in a magnetic field of the magnet may be disposed in the frame. When the movable fixing part rotates, the bumper sensor 175 senses a change in the magnetic field of the magnet. Thus, the bumper sensor 175 capable of sensing rotation of the movable fixing part may be implemented. When the bumper 112b collides with an external obstacle, the movable fixing part rotates integrally with the bumper 112b. As the bumper sensor 175 senses the rotation of the movable fixing part, the bumper sensor 175 may sense the collision of the bumper 112b.
The sensing unit 170 includes a tilt information acquisition unit 180 which acquires tilt information on a tilt of a traveling surface (S). By sensing a tilt of the body 110, the tilt information acquisition unit 180 may acquire the tilt information on inclination of the traveling surface (S) on which the body 110 is placed. In one example, the tilt information acquisition unit 180 may include a gyro sensing module 176a. The tilt information acquisition unit 180 may include a processing module (not shown) which converts a sensing signal from the gyro sensing module 176a into the tilt information. The processing module may be implemented as an algorithm or a program which is part of the controller 190. In another example, the tilt information acquisition unit 180 may include a magnetic field sensing module 176c, and acquire the tilt information based on sensing information about the magnetic field of the Earth.
The gyro sensing module 176a may acquire information on a rotational angular speed of the body 110 relative to the horizontal plane. Specifically, the gyro sensing module 176a may sense a rotational angular speed which is parallel to the horizontal plane about the X and Y axes orthogonal to each other. By merging a rotational angular speed (roll) about the X axis and a rotational angular speed (pitch) about the Y axis with the processing module, it is possible to calculate a rotational angular speed relative to the horizontal plane. By integrating the rotational angular speed relative to the horizontal plane, it is possible calculate a tilt value.
The gyro sensing module 176a may sense a predetermined reference direction. The tilt information acquisition unit 180 may acquire the tilt information based on the reference direction.
The azimuth angle sensor (AHRS) 176 may have a gyro sensing function. The azimuth angle sensor 176 may further include an acceleration sensing function. The azimuth angle sensor 176 may further include a magnetic field sensing function.
The azimuth angle sensor 176 may include a gyro sensing module 176a which performs gyro sensing. The gyro sensing module 176a may sense a horizontal rotational speed of the body 110. The gyro sensing module 176a may sense a tilting speed of the body 110 relative to a horizontal plane.
The gyro sensing module 176a may include a gyro sensing function regarding three axes orthogonal to each other in a spatial coordinate system. Information collected by the gyro sensing module 176a may be roll, pitch, and yaw information. The processing module may calculate a direction angle of a cleaner 1 or 1’ by integrating the roll, pitch, and yaw angular speeds.
The azimuth angle sensor 176 may include an acceleration sensing module 176b which senses acceleration. The acceleration sensing module 176b has an acceleration sensing function regarding three axes orthogonal to each other in a spatial coordinate system. A predetermined processing module calculates a speed by integrating the acceleration, and may calculate a movement distance by integrating the speed.
The azimuth angle sensor 176 may include a magnetic field sensing module 176c which performs magnetic field sensing. The magnetic sensing module 176c may have a magnetic field sensing function regarding three axes orthogonal to each other in a spatial coordinate system. The magnetic field sensing module 176c may sense the magnetic field of the Earth.
The magnetic field signal detector 177 detects the magnetic field signal of the boundary wire 290 and/or a reference magnetic field signal of a reference wire 270. The magnetic field signal detector 177 may be disposed at the front of the body 110. In doing so, while the moving robot 100 moves in a forward direction which is the primary travel direction, it is possible to detect the boundary of the travel area in advance. The magnetic field signal detector 177 may be disposed in an inner space of the bumper 112b.
The magnetic field signal detector 177 may include a first magnetic field signal detector 177 (177a) and a second magnetic field signal detector 177 (177b) which are arranged in a left-right direction from each other. The first magnetic field signal detector 177 (177a) and the second magnetic field signal detector 177 (177b) may be disposed at the front of the body 110.
For example, the magnetic field signal detector 177 includes a magnetic field sensor. The magnetic field signal detector 177 may be implemented using a coil to detect a change in a magnetic field. The magnetic field signal detector 177 may detect at least a horizontal magnetic field. The magnetic field signal detector 177 may sense a magnetic field in three axes which are spatially orthogonal to each other.
Specifically, the first magnetic field signal detector 177 (177a) may detect a magnetic field signal in a direction orthogonal to the second magnetic field signal detector 177 (177b). The first magnetic field signal detector 177 (177a) and the second magnetic field signal detector 177 (177b) may detect magnetic field signals respectively orthogonal to each other, and detect a magnetic field on three axes which are spatially orthogonal to each other by combining the respectively detected magnetic field signal values.
The GPS detector 178 may be provided to detect a GPS signal. The GPS detector 178 may be implemented using a Printed Circuit Board (PCB).
The cliff detector 179 detect presence of a cliff in a travel surface. The cliff detector 179 may be disposed at the front of the body 110 to detect presence of a cliff located in the front of the moving robot 100.
The sensing unit 170 may include an opening/closing detector (not shown) which detects opening/closing of at least one of the first opening and closing door 117 or the second opening and closing door 118. The opening/closing detector may be disposed at the case 112.
The moving robot 100 includes the controller 190 which controls autonomous traveling. The controller 190 may process a signal from the sensing unit 170. The controller 190 may process a signal from the input unit 164.
The controller 190 may control the first driving motor 123(L) and the second driving motor 123(R). The controller 190 may control driving of the blade motor 132. The controller 190 may control outputting of the output unit 165.
The controller 190 includes a main board (not shown) which is disposed in the inner space of the body 110. The main board means a PCB.
The controller 190 may control autonomous traveling of the moving robot 100. The controller 190 may control driving of the traveling unit 120 based on a signal received from the input unit 164. The controller 190 may control driving of the traveling unit 120 based on a signal received from the sensing unit 170.
In addition, the controller 190 may process a signal from the magnetic field signal detector 177. Specifically, when the magnetic field signal detector 177 detects a reference magnetic field signal, the controller 190 may set a position at which the reference magnetic field signal is detected as a reference point. Upon receiving a return command for returning back to the reference point which is determined based on the reference magnetic field signal, the controller 190 may control the moving robot 100 to travel to the reference point.
In addition, when the magnetic field signal detector 177 detects a boundary magnetic field signal, the controller 190 may set a position at which the boundary magnetic field signal is detected as a boundary of a travel area. The controller 190 may control the moving robot 100 to travel within the boundary of the travel area.
FIG. 14 is a conceptual diagram illustrating that the moving robot 100 of the present invention recognizes difference a magnetic field generated by the reference wire 270 and a magnetic field generated by the boundary wire 290.
Once electricity is applied to a first vertical portion 271a and a second vertical portion 271b of the reference wire 270, magnetic fields BA1 and BA2 are generated along circular trajectories, which are respectively centered around the first vertical portion 271a and the second vertical portion 271b, according to the right-hand rule. The magnetic fields generated in the first vertical portion 271a and the second vertical portion 271b are in a horizontal direction.
Once electricity is applied to the boundary wire 290, a magnetic field BG is generated along a circular trajectory centered around the boundary wire 290 according to the right-hand rule. The magnetic field generated in the boundary wire 290 is in a vertical direction distinguishable from the direction of the magnetic field generated in the reference wire 270.

Claims (20)

  1. A docking unit comprising:
    a docking base;
    a docking support extending in a direction crossing a horizontal direction on the docking base; and
    a conductive reference wire,
    wherein the reference wire comprises a vertical portion which extends in a direction crossing at least the horizontal direction.
  2. The docking unit of claim 1, wherein the reference wire further comprises a horizontal portion which extends in a direction crossing the vertical portion.
  3. The docking unit of claim 1, wherein the vertical portion comprises:
    a first vertical portion; and
    a second vertical portion spaced apart from the first vertical portion.
  4. The docking unit of claim 3, wherein the first vertical portion and the second vertical portion are spaced apart from each other in a front-rear direction.
  5. The docking unit of claim 4,
    wherein the first vertical portion comprises a plurality of first vertical portions, and the second vertical portion comprises a plurality of second vertical portions,
    wherein the plurality of first vertical portions is arranged along a line extending in a left-right direction, and
    wherein the plurality of second vertical portions is arranged along a line extending in a left-right direction.
  6. The docking unit of claim 3, wherein the first vertical portion and the second vertical portion are spaced apart in a left-downward direction from each other.
  7. The docking unit of claim 5,
    wherein the first vertical portion comprises a plurality of first vertical portions, and the second vertical portion comprises a plurality of second vertical portions,
    wherein the plurality of first vertical portions is arranged along a line extending in a front-rear direction, and
    wherein the plurality of second vertical portions is arranged along a line extending in a front-rear direction.
  8. The docking unit of claim 1, wherein the reference wire defines at least part of a square centered on a reference axis parallel to the horizontal direction.
  9. The docking unit of claim 8, wherein the reference axis extends in the front-rear direction.
  10. The docking unit of claim 8, wherein the reference axis extends in a left-right direction.
  11. The docking unit of claim 1, wherein the reference wire is disposed inside the docking support.
  12. the docking unit of claim 1, further comprising a charging terminal disposed in the docking support and configured to supply power to a moving robot,
    wherein the reference wire is disposed to surround the charging terminal.
  13. The docking unit of claim 1, further comprising a docking connection part inserted into a moving robot and projected rearward from the docking support,
    wherein the reference wire is disposed to surround the docking connection part.
  14. A moving robot comprising:
    a body defining an exterior;
    a travelling unit configured to move the body against a travel surface;
    an operating unit disposed in the body and configured to perform a predetermined task; and
    a magnetic field signal detector configured to sense a boundary magnetic field signal and a reference magnetic signal, which are generated outside the moving robot,
    wherein the reference magnetic signal comprises a horizontal magnetic field.
  15. The moving robot of claim 14, wherein the magnetic signal connector senses a magnetic field on three axes which are spatially orthogonal to each other.
  16. The moving robot of claim 14, further comprising a controller configured to, upon sensing of a reference magnetic field signal by the magnetic field signal detector, set a position at which the reference magnetic field signal is sensed as a reference point.
  17. The moving robot of claim 14,
    wherein the boundary magnetic field signal comprises a vertical magnetic field, and
    wherein the controller is further configured to, upon sensing of the boundary magnetic field signal by the magnetic field signal detector, set a position at which the boundary magnetic field signal is sensed as a boundary of a travel area.
  18. The moving robot of claim 14, wherein the magnetic field signal detector comprises a first magnetic field signal detector and a second magnetic field signal detector which are spaced apart in a left-right direction from each other at a front of the body.
  19. The moving robot of claim 18, wherein the first magnetic field signal detector senses a magnetic field signal of a direction orthogonal to the second magnetic field signal detector.
  20. A moving robot system comprising a moving robot, and a docking unit to which the moving robot is docked to be charged,
    wherein the moving robot comprises:
    a body defining an exterior;
    a travelling unit configured to move the body against a travel surface;
    an operating unit disposed in the body and configured to perform a predetermined task; and
    a magnetic field signal detector configured to sense a boundary magnetic field signal and a reference magnetic signal, which are generated outside the moving robot,
    wherein the docking unit comprises:
    a docking base defining a surface parallel to a horizontal direction;
    a docking support extending in a direction crossing the horizontal direction on the docking base; and
    a conductive reference wire,
    wherein the reference wire comprises a vertical portion which extends in a direction crossing at least the horizontal direction.
PCT/KR2019/002201 2018-02-23 2019-02-22 Moving robot, docking unit and moving robot system WO2019164329A1 (en)

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KR1020180022111A KR20190109609A (en) 2018-02-23 2018-02-23 Moving robot, Docking unitand Moving robot system
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