WO2020197244A1 - Mobile robot and method of controlling the same - Google Patents

Mobile robot and method of controlling the same Download PDF

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Publication number
WO2020197244A1
WO2020197244A1 PCT/KR2020/004011 KR2020004011W WO2020197244A1 WO 2020197244 A1 WO2020197244 A1 WO 2020197244A1 KR 2020004011 W KR2020004011 W KR 2020004011W WO 2020197244 A1 WO2020197244 A1 WO 2020197244A1
Authority
WO
WIPO (PCT)
Prior art keywords
mobile robot
user
information
characteristic information
controller
Prior art date
Application number
PCT/KR2020/004011
Other languages
English (en)
French (fr)
Inventor
Jiwoong Kim
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 WO2020197244A1 publication Critical patent/WO2020197244A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0094—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B25J19/061—Safety devices with audible signals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G08B13/19602—Image analysis to detect motion of the intruder, e.g. by frame subtraction
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G08B13/19639—Details of the system layout
    • G08B13/19647—Systems specially adapted for intrusion detection in or around a vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G08B13/19602—Image analysis to detect motion of the intruder, e.g. by frame subtraction
    • G08B13/19613—Recognition of a predetermined image pattern or behaviour pattern indicating theft or intrusion
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G08B13/19678—User interface
    • G08B13/19684—Portable terminal, e.g. mobile phone, used for viewing video remotely
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B15/00—Identifying, scaring or incapacitating burglars, thieves or intruders, e.g. by explosives
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
    • G08B25/001—Alarm cancelling procedures or alarm forwarding decisions, e.g. based on absence of alarm confirmation
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
    • G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources

Definitions

  • the mobile robot 100 includes a working unit 180 for performing a predetermined task.
  • the working unit 180 performs a predetermined task while generating noise. For example, noise is generated when a brush is rotated for sweeping, and noise is generated when a suction motor is operated for vacuum suction.
  • the working unit 180 will be described as performing a cleaning task.
  • the working unit 180 may perform various kinds of tasks, and therefore the present disclosure is not limited thereto.
  • the case 111 may have an opening for insertion and removal of the dust container, and a dust container cover 112 for opening and closing the opening may be rotatably provided in the case 111.
  • the battery(not shown) is configured to be charged.
  • a charging terminal 210 and a corresponding terminal (not shown) of the battery may be connected to each other, whereby the battery may be charged.
  • the mobile robot 100 may travel to return to the charging station 200 for charging. While returning, the mobile robot 100 may automatically detect the location of the charging station 200.
  • the mobile robot 100 may directly output information through the output unit 173.
  • the mobile robot 100 may transmit information to the separate terminal 300 through the communication unit 175 such that the terminal 300 outputs the information.
  • the output unit 173 may inform a user of various kinds of information.
  • the output unit 173 outputs a visible or audible alarm.
  • the output unit 173 may include at least one of a speaker, a light source, or a display.
  • the output unit may be installed at a home electronic appliance, a description of which will follow.
  • the communication unit 175 may be connected to a terminal and/or another electronic device located in a specific area using one of wired, wireless, and satellite communication schemes in order to transmit and receive data.
  • Information may be received by the mobile robot 100 through the communication unit 175 over the network, and the mobile robot 100 may be controlled based on the received information.
  • the communication unit 175 may receive various kinds of information from the terminal 300.
  • the communication unit 175 may receive information input from the terminal 300, such as a smartphone or a computer.
  • the mobile robot 300 may communicate with the terminal 300 over a predetermined network.
  • the communication unit 175 communicates with the terminal 300 over the predetermined network.
  • the predetermined network means a communication network that is directly or indirectly connected in a wired and/or wireless fashion. That is, “the communication unit 175 communicates with the terminal 300 over the predetermined network” includes the case in which the communication unit 175 and the terminal 300 indirectly communicate with each other via the wireless access point 400 as well as the case in which the communication unit 175 and the terminal 300 directly communicate with each other.
  • the network may be constructed based on technology such as Wi-Fi, Ethernet, ZigBee, Z-wave, or Bluetooth.
  • the mobile robot 100 may be directly connected to a plurality of electronic devices over the network.
  • the plurality of electronic devices may include at least one of a washing machine 310, an air conditioner 320, a clothes treatment apparatus, a door lock, a refrigerator, a dryer, or a water purifier.
  • Each of the wireless access point 400 and the server 500 may have a communication module capable of accessing the network according to a predetermined protocol.
  • the communication unit 175 of the mobile robot 100 is configured to be capable of accessing the network according to a predetermined protocol.
  • the mobile robot 100 may exchange data with the server 500 over the network.
  • the communication unit 175 may exchange data with the wireless access point 400 in a wired or wireless fashion and thus may exchange data with the server 500.
  • the wireless access point 400 may be wirelessly connected to the mobile robot 100.
  • the wireless access point 400 may be connected to the server 500 through wired or wireless communication.
  • the wireless access point 400 may be wirelessly connected to the mobile terminal 300a.
  • the wireless access point 400 may assign wireless channels based on a predetermined communication scheme to electronic devices in a predetermined area, and may perform wireless data communication through the channels.
  • the predetermined communication scheme may be a Wi-Fi communication scheme.
  • the wireless access point 400 may communicate with the mobile robot 100 located in a predetermined area.
  • the wireless access point 400 may communicate with the mobile terminal 300a located in a predetermined area.
  • the wireless access point 400 may communicate with the server 500.
  • the server 500 may be configured to be accessible over the Internet.
  • the terminal 300b may communicate with the server 500 over the Internet.
  • the terminal 300b may be a mobile terminal, such as a personal computer (PC) or a smartphone.
  • the server 500 may be connected to the wireless access point 400 in a wired or wireless fashion.
  • the server 500 may be directly connected to the mobile terminal 300b in a wireless fashion.
  • the server 500 may directly communicate with the mobile robot 100.
  • the server 500 includes a processor capable of processing a program.
  • the function of the server 500 may be performed by a central computer (cloud), or may be performed by a user’s computer or mobile terminal.
  • the server 500 may store information about the mobile robot 100 and driving operation (course information) thereof, and may register product information of the mobile robot 100.
  • the mobile terminal 300a may be wirelessly connected to the wireless access point 400 through Wi-Fi.
  • the mobile terminal 300a may be directly connected to the mobile robot 100 in a wireless fashion through Bluetooth.
  • the mobile terminal 300b may be directly connected to the server 500 in a wireless fashion through a mobile communication service.
  • the server 500 may store information about the mobile robot 100 and driving operation (course information) thereof, and may register product information of the mobile robot 100.
  • the network 300 may further include a gateway (not shown).
  • the gateway may intervene between the mobile robot 100 and the wireless access point 400 for communication.
  • the gateway may wirelessly communicate with the mobile robot 100.
  • the gateway may communicate with the wireless access point 400.
  • communication between the gateway and the wireless access point 400 may be performed based on Ethernet or Wi-Fi.
  • the communication module 170 may receive information about whether to enable a home guard mode (on/off).
  • the communication module 170 may receive setting information of the home guard mode.
  • the communication module 170 may receive information about setting time of the home guard mode.
  • the communication module 170 may receive information about a specific function of the home guard mode that is to be limited.
  • the communication module 170 may receive information about a mode function capable of enabling the home guard mode.
  • the communication module 170 may receive information about a setting zone of the home guard mode.
  • the communication module 170 may receive information about whether to enable a specific function, a description of which will follow, and various kinds of setting information of the specific function.
  • the mobile robot 100 includes a controller 140 for processing and determining various kinds of information, such as mapping and/or localization.
  • the controller 140 may control overall operation of the mobile robot 100 by controlling respective components constituting the mobile robot 100.
  • the controller 140 may be configured to map a traveling zone through an image and recognize the current location on a map. That is, the controller 140 may perform a simultaneous localization and mapping (SLAM) function.
  • SLAM simultaneous localization and mapping
  • the controller 140 may receive and process information from the communication module 170.
  • the controller 140 may receive and process information from the input unit 171.
  • the controller 140 may receive and process information from the communication unit 175.
  • the controller 140 may receive and process information sensed by the sensing unit 130.
  • the mobile robot 100 includes a storage 150 for storing various kinds of information.
  • the storage 150 stores various kinds of information necessary to control the mobile robot 100, and may include a volatile or non-volatile recording medium.
  • the storage 150 may store a map of a traveling zone.
  • the map may be input by an external terminal capable of exchanging information with the mobile robot 100 through the communication unit 175, or may be created by the mobile robot 100 through self-learning.
  • the terminal 300 may be a remote controller, a PDA, a laptop, a smartphone, or a tablet having an application for map setting installed therein.
  • the user may change on/off of the home guard mode through the input unit 171 or the terminal 300.
  • the controller 140 may determine whether the home guard mode has been enabled (on/off) through the communication module 170.
  • the controller 140 may determine whether the current situation is a dangerous situation through the trespass sensing information. Specifically, the controller 140 may analyze image information to determine a dangerous situation. For example, the controller 140 may extract characteristic information of an unidentified user from the image information, and may determine whether the unidentified user is a trespasser based on the characteristic information.
  • the trespasser means a human being other than a registered user, a description of which will follow.
  • the controller 140 may sense a change in the image information, in the case in which variation of the image information is equal to or greater than a predetermined reference value, may sense whether there is a person through the image information, and, upon determining that there is a person, may extract the characteristic information. Specifically, in the case in which variation of the image information is equal to or greater than the reference value, the controller 140 determines that there is something moving in the house, and senses whether there is a person through the image information.
  • the person may be sensed using various methods. As an example, a method of sensing the face and shoulders of the person may be used.
  • the controller 140 may determine a trespasser based on characteristic information of the person, whereby it is possible to reduce an error in determining the trespasser.
  • the characteristic information of the user may be received through the image sensor 135 of the mobile robot or through a camera of the terminal 300.
  • the controller 140 may operate the image sensor 135 to acquire image information, may extract characteristic information from the acquired image information, and may store the characteristic information of the user in the storage 150.
  • the controller 140 may transmit the characteristic information of the user stored in the storage 150 to the server and the terminal 300.
  • the mobile robot control method includes a mode input step (not shown) for setting a home guard mode.
  • a mode input step for setting a home guard mode.
  • on/off of the home guard mode may be selected.
  • the mobile robot control method may further include a command input step (not show) for allowing a task execution command to be input.
  • a command input step a user may command the mobile robot 100 to perform a first task.
  • a trespass sensing information transmission step the mobile robot determines whether the current situation is a dangerous situation based on the trespass sensing information, and in the case in which the current situation is a dangerous situation, transmits trespass sensing information (a control signal) corresponding to the dangerous situation to the terminal 300.
  • the mobile robot may determine that the unidentified user is a trespasser, and upon determining that the unidentified user is a trespasser, may determine that the current situation is a dangerous situation.
  • the terminal 300 may generate a control screen 310 based on the trespass sensing information.
  • the characteristic information of the unidentified user including facial information thereof and an icon for allowing an alarm generation command to be input may be displayed on the control screen 301 of the terminal.
  • the terminal 300 may receive a user control command (S119).
  • the user control command may be input through various inputs. Preferably, however, the user control command is input through the control screen 301.
  • the terminal 200 may convert the control command into a terminal signal (S121), and may transmit the terminal signal to at least one of the mobile robot or the electric home appliance.
PCT/KR2020/004011 2019-03-25 2020-03-24 Mobile robot and method of controlling the same WO2020197244A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020190033338A KR102508073B1 (ko) 2019-03-25 2019-03-25 이동 로봇 및 이동 로봇의 제어방법
KR10-2019-0033338 2019-03-25

Publications (1)

Publication Number Publication Date
WO2020197244A1 true WO2020197244A1 (en) 2020-10-01

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PCT/KR2020/004011 WO2020197244A1 (en) 2019-03-25 2020-03-24 Mobile robot and method of controlling the same

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KR (1) KR102508073B1 (ko)
WO (1) WO2020197244A1 (ko)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022188497A1 (zh) * 2021-03-12 2022-09-15 灵动科技（北京）有限公司 搬运机器人、搬运系统及提示信息生成方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004038761A (ja) * 2002-07-05 2004-02-05 Yokohama Rubber Co Ltd:The 家庭用ロボットを用いたセキュリティシステム
JP2006048308A (ja) * 2004-08-03 2006-02-16 Funai Electric Co Ltd 自走式掃除機
US20120265370A1 (en) * 2011-04-12 2012-10-18 Yiebin Kim Robot cleaner, and remote monitoring system and method of the same
KR20160105043A (ko) * 2015-02-27 2016-09-06 한화테크윈 주식회사 보안용 이동 로봇의 동작 방법
KR20180087779A (ko) * 2017-01-25 2018-08-02 엘지전자 주식회사 이동 로봇

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KR100543670B1 (ko) * 2003-07-04 2006-01-20 주식회사유진로보틱스 로봇을 이용한 홈 시큐리티 서비스 방법 및 그 로봇
KR20090012542A (ko) * 2007-07-30 2009-02-04 주식회사 마이크로로봇 로봇을 이용한 홈 모니터링 시스템
KR102011827B1 (ko) 2017-08-07 2019-08-19 엘지전자 주식회사 로봇청소기 및 그 제어방법

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004038761A (ja) * 2002-07-05 2004-02-05 Yokohama Rubber Co Ltd:The 家庭用ロボットを用いたセキュリティシステム
JP2006048308A (ja) * 2004-08-03 2006-02-16 Funai Electric Co Ltd 自走式掃除機
US20120265370A1 (en) * 2011-04-12 2012-10-18 Yiebin Kim Robot cleaner, and remote monitoring system and method of the same
KR20160105043A (ko) * 2015-02-27 2016-09-06 한화테크윈 주식회사 보안용 이동 로봇의 동작 방법
KR20180087779A (ko) * 2017-01-25 2018-08-02 엘지전자 주식회사 이동 로봇

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022188497A1 (zh) * 2021-03-12 2022-09-15 灵动科技（北京）有限公司 搬运机器人、搬运系统及提示信息生成方法

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KR20200119374A (ko) 2020-10-20
KR102508073B1 (ko) 2023-03-08

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