WO2021221236A1

WO2021221236A1 - Mobile robot implemented with iot-based spatial intelligence function, and mobile robot control method

Info

Publication number: WO2021221236A1
Application number: PCT/KR2020/011144
Authority: WO
Inventors: 최동완; 진경록; 박성욱
Original assignee: 주식회사 제타뱅크; 최동완; 진경록; 박성욱
Priority date: 2020-04-27
Filing date: 2020-08-20
Publication date: 2021-11-04
Also published as: KR20210132759A; KR102366329B1

Abstract

The present invention relates to a mobile robot comprising: a driving unit for providing moving power of the robot; a communication unit for exchanging data with at least one external electronic device; and a control unit for receiving, through the communication unit, sensing data sensed by a sensor device, and controlling the driving unit on the basis of the sensing data.

Description

A mobile robot implementing IOT-based spatial intelligence function and a control method of the mobile robot

The present invention relates to a mobile robot implementing an IoT-based spatial intelligence function and a method for controlling the mobile robot.

Recently, as well as industrial robots used in industries, robots are being put to practical use as housework or office assistants in buildings such as general homes, offices, and government offices. Representative examples corresponding to this include a cleaning robot, a guide robot, and a crime prevention robot. Basically, robots that perform their own functions while moving within a given space can be named mobile robots.

Various sensors are provided inside the mobile robot, and the mobile robot may perform various functions in a target space based on data generated by the sensors. However, the sensor has a limiting area (or distance) that can be sensed, and the mobile robot needs to move in order to sense an area that is far away from the mobile robot in the target space. In this case, the function performance of the mobile robot is affected. Research and development on a method for efficiently performing a function of a mobile robot within a target space is required.

An object of the present invention is to provide a mobile robot that receives data through communication with a sensor device installed in a target space and is controlled based on the received data in order to solve the above problems.

Another object of the present invention is to provide a method for controlling a mobile robot that receives data through communication with a sensor device installed in a target space and is controlled based on the received data.

The problems of the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

In order to achieve the above object, a mobile robot according to an embodiment of the present invention includes a driving unit for providing movement power of the robot; a communication unit for exchanging data with at least one external electronic device; and a controller for receiving the sensing data generated by the sensor device through the communication unit and controlling the driving unit based on the sensing data.

The details of other embodiments are included in the detailed description and drawings.

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

First, during the sterilization operation of the mobile robot in the target space, the chemical solution is sprayed so that the concentration above the reference value is maintained in all areas, thereby enabling efficient operation.

Second, there is an effect that a mobile robot function can be implemented based on accurate data for the entire space based on data generated by a plurality of sensor devices installed in the target space.

Effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

1A is a diagram referenced to explain an IoT system of a mobile robot according to an embodiment of the present invention.

1B is a view showing an external appearance of a mobile robot according to an embodiment of the present invention.

2 is a control block diagram of a mobile robot according to an embodiment of the present invention.

3A is a diagram illustrating an external appearance of a mobile robot according to an embodiment of the present invention.

3B is a view showing a lower portion of a mobile robot according to an embodiment of the present invention.

4 is a control block diagram of a mobile robot according to an embodiment of the present invention.

5 is a view showing an external appearance of a mobile robot according to an embodiment of the present invention.

6 is a control block diagram of a mobile robot according to an embodiment of the present invention.

7A is a diagram referenced for explaining a sensor device according to an embodiment of the present invention.

7B is a control block diagram of a sensor device according to an embodiment of the present invention.

8 is a signal processing diagram of an IoT system of a mobile robot according to an embodiment of the present invention.

9 is a signal processing diagram of an IoT system of a mobile robot according to an embodiment of the present invention.

10A to 10B are diagrams referenced to describe a communication network of an IoT system according to an embodiment of the present invention.

11 to 14 are diagrams referenced for explaining the operation of the mobile robot according to an embodiment of the present invention.

15 to 16 are diagrams referenced for explaining the operation of the mobile robot according to an embodiment of the present invention.

Hereinafter, the embodiments disclosed in the present specification will be described in detail with reference to the accompanying drawings, but the same or similar components are assigned the same reference numerals regardless of reference numerals, and overlapping descriptions thereof will be omitted. The suffixes "module" and "part" for the components used in the following description are given or mixed in consideration of only the ease of writing the specification, and do not have a meaning or role distinct from each other by themselves. In addition, in describing the embodiments disclosed in the present specification, if it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed in the present specification, the detailed description thereof will be omitted. In addition, the accompanying drawings are only for easy understanding of the embodiments disclosed in the present specification, and the technical spirit disclosed herein is not limited by the accompanying drawings, and all changes included in the spirit and scope of the present invention , should be understood to include equivalents or substitutes.

Terms including an ordinal number, such as first, second, etc., may be used to describe various elements, but the elements are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

When a component is referred to as being “connected” or “connected” to another component, it is understood that the other component may be directly connected or connected to the other component, but other components may exist in between. it should be On the other hand, when it is said that a certain element is "directly connected" or "directly connected" to another element, it should be understood that no other element is present in the middle.

The singular expression includes the plural expression unless the context clearly dictates otherwise.

In the present application, terms such as "comprises" or "have" are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Referring to FIG. 1A , an IoT system 1 of a mobile robot may include a mobile robot 100 and a sensing device 400 . IoT is an abbreviation of Internet of Things, meaning the Internet of Things.

The mobile robot 100 may be a concept including a robot 100a performing an air cleaning operation, a robot 100b performing a sterilization operation, and a robot 100c performing a sterilization operation. The mobile robot 100 may perform various operations to be described later in addition to the air cleaning operation, the sterilization operation, the sterilization operation, and the quarantine operation.

The mobile robot 100 may perform an operation in a target space. The target space may be defined as a space in which the mobile robot 100 performs a function while driving. The target space may be a space physically separated from other spaces by a structure such as a wall or a door. The target space may be a space divided according to criteria set for performing a function of the mobile robot 100 .

The target space may be a space in which a sterilization operation is required. For example, the target space may be a work space inside a medical institution such as a hospital or a public health center.

The target space may be a space in which an air cleaning operation is required.

The target space may be a space in which a quarantine operation is required.

The mobile robot 100 may communicate with the sensor device 400 . For example, the mobile robot 100 may directly communicate with the sensor device 400 . For example, the mobile robot 100 may communicate with the sensor device 400 via a communication element (eg, a router, a network, etc.).

The mobile robot 100 may receive sensing data generated by the sensor device 400 . The mobile robot 100 may be controlled based on sensing data.

According to an embodiment, the IoT system 1 of the mobile robot may further include a server. In this case, the sensing data generated by the sensor device 400 may be stored in the server. The mobile robot 100 may receive sensing data from a server. The mobile robot 100 may be controlled based on sensing data received from the server.

1 to 2 , the mobile robot 100a purifies the air while moving by itself in a specific space. The mobile robot 100a may be referred to as an autonomous driving mobile robot.

The mobile robot 100a may include an air purifier 160 . The air purifier 160 is driven according to the control signal generated by the control unit 170 . The mobile robot 100a may be called a mobile robot that performs an air cleaning function.

The mobile robot 100a can autonomously travel. The mobile robot 100a may generate a driving path based on data generated by the sensing unit 110 and the IMU 115 and autonomously travel along the generated path.

The mobile robot 100a includes a sensing unit 110 , an IMU 115 , a camera 120 , a first communication unit 125 , an input unit 130 , a memory 140 , a driving unit 150 , and an air purifier 160 ). , an output unit 180 , a control unit 170 , and a power supply unit 190 may be included.

The sensing unit 110 may provide information around the mobile robot 100a. The sensing unit 110 may provide data generated by at least one sensor to the control unit 170 . The control unit 170 may detect an object outside the mobile robot 100a based on the data received from the sensing unit 110 . The object may be defined as an object that directly or indirectly affects the movement of the mobile robot 100a, such as objects, people, and structures around the mobile robot 100a.

The sensing unit 110 may include an ultrasonic sensor 111 and a lidar 112 . According to an embodiment, the sensing unit 110 may further include a radar or an infrared sensor.

The ultrasonic sensor 111 may detect an object outside the mobile robot 100a using ultrasonic waves.

The ultrasonic sensor 111 may include an ultrasonic transmitter and a receiver. According to an embodiment, the ultrasonic sensor 111 may further include at least one controller electrically connected to the ultrasonic transmitter and the receiver to process a received signal, and to generate data for an object based on the processed signal. can The control function of the ultrasonic sensor 111 may be implemented in the control unit 170 .

The ultrasound sensor 340 may detect an object based on ultrasound, and detect a position of the detected object, a distance from the detected object, and a relative speed.

The ultrasonic sensor 340 may be disposed at an appropriate position outside the mobile robot 100a to detect an object located in front, rear, or side of the mobile robot 100a.

The lidar 112 may detect an object outside the mobile robot 100a using laser light.

The lidar 112 may include a light transmitter and a light receiver. According to an embodiment, the lidar 112 further includes at least one control unit electrically connected to the light transmitter and the light receiver to process a received signal and generate data for an object based on the processed signal. can do. The control function of the lidar 112 may be implemented in the control unit 170 .

The lidar 112 may be implemented in a time of flight (TOF) method or a phase-shift method.

The lidar 112 may be implemented as a driven or non-driven type.

When implemented as a driving type, the lidar 112 is rotated by a motor and may detect an object around the mobile robot 100a.

When implemented as a non-driven type, the lidar 112 may detect an object located within a predetermined range with respect to the mobile robot 100a by light steering.

The mobile robot 100a may include a plurality of non-driven lidar.

The lidar 112 detects an object based on a time of flight (TOF) method or a phase-shift method with a laser light medium, and determines the position of the detected object, the distance to the detected object, and Relative speed can be detected.

The lidar 112 may be disposed at an appropriate location outside the mobile robot 100a in order to detect an object located in front, rear or side of the mobile robot 100a.

The radar may include an electromagnetic wave transmitter and a receiver. The radar may be implemented in a pulse radar method or a continuous wave radar method in accordance with a radio wave emission principle. The radar may be implemented by a frequency modulated continuous wave (FMCW) method or a frequency shift keying (FSK) method according to a signal waveform among continuous wave radar methods.

Radar detects an object based on a time of flight (TOF) method or a phase-shift method using electromagnetic waves, and detects the position of the detected object, the distance to the detected object, and the relative speed. can

The radar may be disposed at an appropriate location outside of the mobile robot 100a to detect an object located in front, rear, or side of the mobile robot 100a.

The infrared sensor may include an infrared transmitter and a receiver. The infrared sensor may detect an object based on infrared light, and detect a position of the detected object, a distance from the detected object, and a relative speed.

The infrared sensor may be disposed at an appropriate position outside of the mobile robot 100a to detect an object located in front, rear or side of the mobile robot 100a.

The Inertial Measurement Unit (IMU) 115 may measure the inertia of the mobile robot 100a. IMU 115 may be described as an electronic device that uses a combination of an accelerometer and a tachometer, sometimes a magnetometer, to measure a specific force, angular ratio, and sometimes magnetic field surrounding the mobile robot 100a. The controller 170 may generate information on the posture of the mobile robot 100a based on data received from the IMU 115 .

The IMU 115 may include at least one of an acceleration sensor, a gyro sensor, and a magnetic sensor.

The camera 120 may capture an external image of the mobile robot 100a.

The camera 120 may generate information about an object outside the mobile robot 100a by using the image. The camera 120 may include at least one lens, at least one image sensor, and at least one control unit that is electrically connected to the image sensor to process a received signal, and generate data about the object based on the processed signal. can

The camera 120 may be at least one of a mono camera and a stereo camera.

The camera 120 may obtain position information of an object, distance information from an object, or relative speed information with an object by using various image processing algorithms.

For example, the camera 120 may acquire distance information and relative speed information from an object based on a change in the size of the object over time from the acquired image.

For example, the camera 120 may acquire distance information and relative speed information with respect to an object through a pin hole model, road surface profiling, or the like.

For example, the camera 120 may acquire distance information and relative velocity information from an object based on disparity information in a stereo image obtained from the stereo camera.

The camera 120 may be mounted at a position capable of securing a field of view (FOV) in order to photograph the outside of the mobile robot 100a.

The mobile robot 100a may include a plurality of cameras 120 . For example, the mobile robot 100a may include a four-channel camera including a front camera, a rear camera, a left camera, and a right camera.

Meanwhile, although the camera 120 is described as being configured separately from the sensing unit 110 , it may be classified into a sub-configuration of the sensing unit 110 according to an embodiment.

The first communication unit 125 may exchange signals with an electronic device (eg, a user terminal, a server, another mobile robot, a sensor device, etc.) external to the mobile robot 100a.

The first communication unit 125 may exchange data with an external electronic device.

The first communication unit 125 may include at least one of a transmission antenna, a reception antenna, a radio frequency (RF) circuit capable of implementing various communication protocols, and an RF element to perform communication.

The first communication unit 125 may communicate with an electronic device external to the mobile robot 100a using a 5G (eg, new radio, NR) method.

The input unit 130 is for receiving information from a user, and the data collected by the input unit 130 may be analyzed by the control unit 170 and processed as a user's control command.

The input unit 130 may include a voice input unit 131 and a touch input unit 132 . According to an embodiment, it may include a gesture input unit or a mechanical input unit.

The voice input unit 131 may convert the user's voice input into an electrical signal. The converted electrical signal may be provided to the control unit 170 . The voice input unit 131 may include one or more microphones.

The touch input unit 132 may convert a user's touch input into an electrical signal. The converted electrical signal may be provided to the controller 170 .

The touch input unit 132 may include a touch sensor for sensing a user's touch input.

According to an embodiment, the touch input unit 132 may be formed integrally with the display 181 to implement a touch screen. Such a touch screen may provide both an input interface and an output interface between the mobile robot 100a and a user.

The gesture input unit may convert the user's gesture input into an electrical signal. The converted electrical signal may be provided to the controller 170 .

The gesture input unit may include at least one of an infrared sensor and an image sensor for detecting a user's gesture input.

The mechanical input unit may include at least one of a button, a dome switch, a jog wheel, and a jog switch. The electrical signal generated by the mechanical input unit may be provided to the control unit 170 .

The memory 140 is electrically connected to the control unit 170 . The memory 140 may store basic data for the unit, control data for operation control of the unit, and input/output data. The memory 140 may store data processed by the controller 170 . The memory 140 may be configured as at least one of ROM, RAM, EPROM, flash drive, and hard drive in terms of hardware. The memory 140 may store various data for the overall operation of the mobile robot 100a, such as a program for processing or controlling the controller 170 . The memory 140 may be implemented integrally with the controller 170 . According to an embodiment, the memory 140 may be classified into a sub-configuration of the control unit 170 .

The driving unit 150 may provide movement power of the mobile robot 100a. The driving unit 150 may include a power generating unit and a power transmitting unit.

The power generator may convert electrical energy into force energy. To this end, the power generating unit may include at least one motor.

The power transmission unit may transmit the power generated by the power generation unit to the driving wheels. The power transmission unit may include at least one gear or at least one belt.

The air purifier 160 may perform an air cleaning operation. The air purifier 160 may include a fine dust sensor 161 , a fan driving unit 162 , and an air purification unit 163 . According to an embodiment, the fine dust sensor 161 may be classified as a separate component rather than a sub-component of the air purifier 160 .

The fine dust sensor 161 may detect fine dust in the air. The fine dust sensor 161 may measure the amount of fine dust in the air through a particle counter. The fine dust sensor 161 may measure the amount of fine dust in the air by irradiating light to the introduced air and detecting the amount of light scattered by the fine dust through a light receiving element.

The fan driving unit 162 may drive the air conditioning fan. To this end, the fan driving unit 162 may include at least one motor.

The air purifier 163 may perform a function of purifying air. In the following description, the filter type air purification unit 163 will be mainly described.

The filter type is a method in which air is sucked in using a fan and then purified by at least one filter to discharge the purified air. In the case of using the filter type, the air purifier 160 may include at least one of a pre-filter for filtering large particles of dust, a deodorizing filter for removing odor, and a HEPA filter for filtering fine dust.

In addition to the filter type, the air purification unit 163 may use any one of an ion type, an electrostatic precipitation type, or a water filter type.

The output unit 180 is for generating an output related to sight or hearing. The output unit 180 may include a display 181 and a sound output unit 182 .

The display 181 may display graphic objects corresponding to various pieces of information.

The display 181 may include a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), and a flexible display. ), a three-dimensional display (3D display), may include at least one of an e-ink display (e-ink display).

The display 181 may form a layer structure with the touch input unit 131 or be integrally formed to implement a touch screen.

The display 181 may be configured in plurality. For example, the display 181 may include a first display configured as a touch screen to receive a touch input and a second display configured to output information.

The sound output unit 182 converts the electrical signal provided from the control unit 170 into an audio signal and outputs it. To this end, the sound output unit 182 may include one or more speakers.

The controller 170 may control the overall operation of each unit of the mobile robot 100a. The control unit 170 may be referred to as an Electronic Control Unit (ECU). The control unit 170 includes a sensing unit 110 , an IMU 115 , a camera 120 , a first communication unit 125 , an input unit 130 , a memory 140 , a driving unit 150 , an air purifier 160 and It is electrically connected to the output unit 180 .

The control unit 170, ASICs (application specific integrated circuits), DSPs (digital signal processors), DSPDs (digital signal processing devices), PLDs (programmable logic devices), FPGAs (field programmable gate arrays), processors (processors), a controller It may be implemented using at least one of controllers, micro-controllers, microprocessors, and other electrical units for performing functions.

The power supply unit 190 may supply power required for operation of each unit constituting the mobile robot 100a under the control of the control unit 170 . In particular, the power supply unit 190 may receive power from the battery 193 or the like inside the mobile robot 100a.

3A to 4 , the mobile robot 100b may perform a disinfection operation while moving itself in a specific space. The mobile robot 100b may be referred to as an autonomous driving disinfection robot.

The mobile robot 100b may include a disinfection device 260 . The disinfection apparatus 260 may be driven according to a control signal generated by the control unit 170 .

The mobile robot 100b includes a sensing unit 110 , an IMU 115 , a camera 120 , a first communication unit 125 , an input unit 130 , a memory 140 , a driving unit 150 , and a disinfection device 260 . , an output unit 180 , a control unit 170 , and a power supply unit 190 may be included.

Sensing unit 110 , IMU 115 , camera 120 , first communication unit 125 , input unit 130 , memory 140 , driving unit 150 , output unit 180 , control unit 170 and power supply As for the supply unit 190, the contents described with reference to FIGS. 1A to 2 may be applied.

The disinfection device 260 may perform a disinfection operation. The disinfection apparatus 260 may perform at least one of a chemical disinfection operation and a physical disinfection operation.

The disinfection device 260 may include a spraying device 261 and a UV light output unit 263 .

The spraying device 261 may spray the disinfectant solution to the outside. The spraying device 261 may include a tank for accommodating the disinfectant solution, a spray nozzle 261a for spraying the disinfecting solution to the outside, and an injection engine providing spraying force. The injection device 261 may be electronically controlled according to a signal provided from the control unit 170 . The control unit 170 may provide a control signal to the injection device 261 to control whether to inject, an injection amount, an injection intensity, and the like.

The mobile robot 100b may include a pair of driving wheels 410 . The spray nozzle 261a may be disposed between a pair of driving wheels 410 of the mobile robot.

On the other hand, as the disinfectant, ethanol, hydrogen peroxide, etc. are generally used, but the present invention is not limited thereto, and as long as it is an external drug that can kill pathogens, it may be used as the disinfectant.

The UV light output unit 263 may output UV light to the outside. The UV light output unit may include a UV LED. The UV light output unit 263 may be electronically controlled according to a signal provided from the control unit 170 . The control unit 170 may provide a control signal to the UV light output unit 263 to control whether or not to output UV light, the amount of UV light output, and the like.

The UV light output unit 263 may include a plurality of UV LED modules 263a. The mobile robot 100a may include four caster wheels 420 . The plurality of LED modules 263a may be disposed between the four caster wheels 420 .

5 to 6 , the mobile robot 100c may perform a sterilization operation while moving by itself in a specific space. The mobile robot 100c may be referred to as an autonomous driving sterilization robot.

The mobile robot 100c may include a sterilization device 360 . The sterilization device 360 may be driven according to a control signal generated by the control unit 170 .

The mobile robot 100c includes a sensing unit 110 , an IMU 115 , a camera 120 , a first communication unit 125 , an input unit 130 , a memory 140 , a driving unit 150 , and a sterilization device 360 . , an output unit 180 , a control unit 170 , and a power supply unit 190 may be included.

The sterilization device 360 may perform a sterilization operation. The sterilization device 360 may spray a chemical solution into the air. For example, the sterilization device 360 may spray hydrogen peroxide in the air. For example, the sterilization device 360 may spray ethanol into the air.

To this end, the sterilization device 360 may include a spray nozzle for spraying a chemical solution into the air, a tube and an injection engine, and a tank for storing the chemical solution. For example, the sterilization device 360 may spray the chemical in the air using the method described in Publication No. 10-2019-0012543 or the method described in Registration No. 10-1633272.

The sterilization device 360 may be operated according to a control signal received from the control unit 170 .

The sterilization device 360 may include an injection mechanism for spraying a chemical solution (eg, hydrogen peroxide or ethanol) in the air, and a posture adjustment unit for determining the posture of the injection mechanism.

The injection mechanism may include an injection nozzle, a tube, and an injection engine.

The posture adjusting unit may include a driving device (eg, a motor, a solenoid, an actuator, etc.), and may implement posture adjusting movements such as tilting and panning by a force provided from the driving device.

The posture adjusting unit may adjust the injection direction according to a control signal provided from the control unit 170 . The posture adjusting unit may adjust the posture of the spraying mechanism so that the chemical is injected in a specific direction.

Meanwhile, according to an embodiment, the mobile robot 100a may include all of the air purifier 160 , the disinfection device 260 , and the sterilization device 360 , or may include two or more in combination.

Referring to the drawings, at least one sensor device 400 may be installed in the target space. The sensor device 400 may generate sensing data for at least one element in the target space. For example, the sensor device 400 may generate a hydrogen peroxide concentration value. For example, the sensor device 400 may generate an ethanol concentration value. For example, the sensor device 400 may include at least one of fine dust sensing data, ultrafine dust sensing data, formaldehyde sensing data, volatile organic compound sensing data, carbon dioxide sensing data, carbon monoxide sensing data, nitrogen dioxide sensing data, and radon sensing data. You can create either one.

The sensor device 400 may generate sensing data within a senseable range in the target space.

The sensor device 400 may include a second communication unit 425 , a memory 440 , a sensor 480 , a processor 470 , and a power supply unit 490 .

The second communication unit 425 may exchange signals with an electronic device (eg, a user terminal, a server, another mobile robot, a sensor device, etc.) external to the sensor device 400 . For example, the second communication unit 425 may directly exchange signals with the mobile robot 100 . For example, the second communication unit 425 may exchange signals with the mobile robot 100 via another communication element (eg, a router or a network).

The second communication unit 425 may include at least one of a transmission antenna, a reception antenna, a radio frequency (RF) circuit capable of implementing various communication protocols, and an RF element to perform communication.

The second communication unit 425 may communicate with an electronic device external to the mobile robot 100 using a 5G (eg, new radio (NR)) method.

The memory 440 is electrically connected to the processor 470 . The memory 440 may store basic data for the unit, control data for operation control of the unit, and input/output data. The memory 440 may store data processed by the processor 470 . The memory 440 may be configured as at least one of ROM, RAM, EPROM, flash drive, and hard drive in terms of hardware. The memory 440 may store various data for the overall operation of the sensor device 400 , such as a program for processing or controlling the processor 470 . The memory 440 may be implemented integrally with the processor 470 . According to an embodiment, the memory 440 may be classified into a sub-configuration of the processor 470 .

The sensor 480 may include a hydrogen peroxide sensor for measuring the hydrogen peroxide concentration. The hydrogen peroxide sensor may generate data on the concentration of hydrogen peroxide per unit volume in air.

The sensor 480 may include an ethanol sensor for measuring the ethanol concentration. The ethanol sensor may generate data on the concentration of ethanol per unit volume in air.

The sensor 480 includes a fine dust sensor for measuring the concentration of fine dust, an ultrafine dust sensor for sensing the concentration of ultrafine dust, a formaldehyde sensor for measuring the concentration of formaldehyde, and a volatile organic compound for measuring the concentration of volatile organic compounds. It may include at least one of a compound sensor, a carbon dioxide sensor for measuring the carbon dioxide concentration, a carbon monoxide sensor for measuring the carbon monoxide concentration, a nitrogen dioxide sensor for measuring the nitrogen dioxide concentration, and a radon sensor for measuring the radon concentration.

The power supply unit 490 may supply power required for operation of each unit constituting the sensor device 400 under the control of the processor 470 . The power supply unit 490 may receive power from commercial power. Alternatively, the power supply unit 490 may receive power from the battery 491 included in the sensor device 400 .

For example, the power supply unit 490 may supply DC power of a required level to the second communication unit 425 , the sensor 480 , the memory 440 , and the processor 470 , respectively. In this case, the power supply 490 may be classified as a DC-DC converter.

The processor 470 may control the overall operation of each unit of the sensor device 400 . The processor 470 may be referred to as an Electronic Control Unit (ECU). The processor 470 is electrically connected to the second communication unit 425 , the memory 440 , the marker driving unit 480 , the electrical energy supply unit 492 , and the power supply unit 490 .

The processor 470 is, ASICs (application specific integrated circuits), DSPs (digital signal processors), DSPDs (digital signal processing devices), PLDs (programmable logic devices), FPGAs (field programmable gate arrays), processors (processors), controller It may be implemented using at least one of controllers, micro-controllers, microprocessors, and other electrical units for performing functions.

The processor 470 may transmit sensing data to an external device through the second communication unit 425 . The processor 470 may transmit the sensed data to the mobile robot 100 . The processor 470 may transmit sensing data to the server.

According to an embodiment, the processor 470 may be provided in a modularized state with the memory 440 . For example, an Arduino may be used as the processor 470 and the memory 440 .

Operations of the mobile robot 100 and the sensor device 400 will be described with reference to FIGS. 1A to 10B .

The control unit 170 may establish a communication channel with the sensor device 400 through the first communication unit 125 ( S105 ).

The processor 470 may establish a communication channel with the mobile robot 100 through the second communication unit 425 ( S110 ).

The control unit 170 may receive a signal from the at least one sensor device 400 through the first communication unit 125 ( S115 ). A signal received from the sensor device 400 may include information on the location of the sensor device 400 .

The controller 170 may specify the location of the sensor device 400 (S120). The controller 170 may generate a map of the target space through simultaneous localization and mapping (SLAM). The controller 170 may specify the coordinates of the sensor device 400 on the map. For example, the controller 170 may specify the location of the sensor device 400 based on a signal received from the sensor device 400 . According to an embodiment, the controller 170 may specify a location of the sensor device 400 based on information on the sensor device 400 detected through the sensing unit 110 .

The controller 170 may determine the initial position of the mobile robot 100 based on the strength of the signal received from the at least one sensor device 400 (S125). For example, the controller 170 may calculate a distance value between the mobile robot 100 and the sensor device 400 based on the strength of a signal received from the sensor device 400 . The controller 170 may determine an initial position of the mobile robot 100 based on the distance value.

Meanwhile, the initial position may be described as a position at which the mobile robot 100 is a starting point for performing various operations. For example, the initial location may be described as a starting point for performing a sterilization operation. For example, the initial location may be described as a starting point of performing an air cleaning operation.

The controller 170 may control the mobile robot 100 to perform an operation at an initial position (S130).

For example, the controller 170 may control the sterilization apparatus 360 to perform a sterilization operation at an initial position.

For example, the controller 170 may control the air purifier 160 to perform an air cleaning operation at an initial position.

The processor 470 may generate sensing data (S135).

For example, the processor 470 may generate a hydrogen peroxide concentration value.

For example, the processor 470 may include at least one of fine dust sensing data, ultrafine dust sensing data, formaldehyde sensing data, volatile organic compound sensing data, carbon dioxide sensing data, carbon monoxide sensing data, nitrogen dioxide sensing data, and radon sensing data. You can create one.

The control unit 170 may receive the sensing data generated by the sensor device 400 through the first communication unit 125 ( S140 ). As illustrated in FIG. 10A , the controller 170 may directly receive sensing data from the sensor device 400 . As illustrated in FIG. 10B , the controller 170 may receive sensing data via a server.

For example, the control unit 170 may receive the hydrogen peroxide sensing data through the first communication unit 125 .

For example, the control unit 170, through the first communication unit 125, fine dust sensing data, ultrafine dust sensing data, formaldehyde sensing data, volatile organic compound sensing data, carbon dioxide sensing data, carbon monoxide sensing data, nitrogen dioxide At least one of sensing data and radon sensing data may be received.

The controller 170 may control the driving unit 150 based on the sensed data. The controller 170 may control the driving unit 150 further based on data on the position of the sensor device 400 . The controller 170 may control the sterilization device 360 based on the sensed data.

The controller 170 may determine whether a preset condition is satisfied based on the sensed data (S145).

For example, when the hydrogen peroxide concentration value is smaller than the reference value, the controller 170 may determine that the condition is satisfied.

For example, when the concentration value of fine dust or ultrafine dust is greater than a reference value, the controller 170 may determine that the condition is satisfied.

When it is determined that the condition is satisfied, the controller 170 may determine a movement path of the mobile robot 100 ( S150 ). The movement path may be a concept including a movement target point, a movement direction, and a movement distance.

For example, the controller 170 may determine a movement path based on the sensing data and data on the position of the sensor device 400 . The controller 170 may determine a movement target point based on the sensing data and data on the position of the sensor device 400 . The controller 170 may determine a moving direction and a moving distance according to the moving target point.

The controller 170 may control the driving unit 150 to move the mobile robot 100 along a movement path (S155).

The controller 170 may control the operation to be performed during the movement or after the movement is completed ( S155 ).

For example, the controller 170 may control the sterilization device 360 to perform a sterilization operation.

For example, the controller 170 may control the sterilization device 360 to spray hydrogen peroxide into the air while moving along the movement path.

For example, the controller 170 may control the sterilization device 360 to spray hydrogen peroxide into the air after the movement is completed.

On the other hand, when controlling the sterilization device 360, the control unit 170, based on the data on the position of the hydrogen peroxide sensing data and the sensor device 400, to control the posture adjustment unit so that the injection direction toward the sensor device (400) can

For example, the controller 170 may control the air purifier 160 to perform an air cleaning operation.

For example, the controller 170 may control the fan driving unit 162 to perform air cleaning while moving along a movement path.

For example, the control unit 170 may control the fan driving unit 162 to perform air cleaning after the movement is completed.

The controller 170 may output information about the sensed data through the display 181 .

For example, the controller 170 may output information on the concentration of hydrogen peroxide in the air through the display 181 .

For example, the controller 170 may output information on the concentration of ethanol in the air through the display 181 .

For example, the control unit 170, through the display 181, at least one of fine dust information, ultrafine dust information, formaldehyde information, volatile organic compound information, carbon dioxide information, carbon monoxide information, nitrogen dioxide information, and radon information can be printed out.

Referring to FIG. 9 , the sensor device 400 may include a first sensor device 400a and a second sensor device 400b. According to an embodiment, the sensor device 400 may include three or more sensor devices.

The control unit 170 may establish a communication channel with the first sensor device 400a and the second sensor device 400b, respectively, through the first communication unit 125 ( S205 ).

The first sensor device 400a may establish a communication channel with the mobile robot 100 ( S207 ), and the second sensor device 400b may establish a communication channel with the mobile robot 100 ( S210 ).

The control unit 170 may receive a signal from the at least one

sensor device

400a or 400b through the first communication unit 125 ( S215 and S217 ).

The controller 170 may receive a first signal from the first sensor device 400a (S215). The first signal may include information on the position of the first sensor device 400a.

The controller 170 may receive a second signal from the second sensor device 400b (S217). The second signal may include information on the position of the second sensor device 400b.

The controller 170 may specify the positions of the plurality of

sensor devices

400a and 400b ( S220 ). The controller 170 may generate a map of the target space through SLAM. The controller 170 may specify the coordinates of the plurality of

sensor devices

400a and 400b on the map. For example, the controller 170 may specify the positions of the plurality of

sensor devices

400a and 400b based on the first signal and the second signal. According to an embodiment, the controller 170 may specify the positions of the plurality of

sensor devices

400a and 400b based on the information of the plurality of

sensor devices

400a and 400b detected through the sensing unit 110 . have.

The controller 170 may determine the initial position of the mobile robot 100 based on the strength of signals received from the plurality of

sensor devices

400a and 400b ( S225 ). For example, the controller 170 may determine a point having the same intensity of signals received from the plurality of

sensor devices

400a and 400b as the initial position of the mobile robot 100 .

The controller 170 may control the mobile robot 100 to perform an operation at the initial position (S230).

The first sensor device 400a may generate first sensing data (S235).

For example, the first sensor device 400a may generate a first hydrogen peroxide concentration value.

For example, the first sensor device 400a may include first fine dust sensing data, first ultrafine dust sensing data, first formaldehyde sensing data, first volatile organic compound sensing data, first carbon dioxide sensing data, first At least one of carbon monoxide sensing data, first nitrogen dioxide sensing data, and first radon sensing data may be generated.

The control unit 170 may receive the sensing data generated by the first sensor device 400a through the first communication unit 125 ( S240 ).

For example, the control unit 170 may receive the first hydrogen peroxide sensing data through the first communication unit 125 .

For example, the control unit 170, through the first communication unit 125, the first fine dust sensing data, the first ultrafine dust sensing data, the first formaldehyde sensing data, the first volatile organic compound sensing data, At least one of 1 carbon dioxide sensing data, first carbon monoxide sensing data, first nitrogen dioxide sensing data, and first radon sensing data may be received.

The second sensor device 400b may generate second sensing data (S237).

For example, the second sensor device 400b may generate a second hydrogen peroxide concentration value.

For example, the second sensor device 400b may include the second fine dust sensing data, the second ultrafine dust sensing data, the second formaldehyde sensing data, the second volatile organic compound sensing data, the second carbon dioxide sensing data, the second 2 At least one of carbon monoxide sensing data, second nitrogen dioxide sensing data, and second radon sensing data may be generated.

The control unit 170 may receive the sensing data generated by the second sensor device 400b through the first communication unit 125 ( S243 ).

For example, the control unit 170 may receive the second hydrogen peroxide sensing data through the first communication unit 125 .

For example, the control unit 170, through the second communication unit 125, the second fine dust sensing data, the second ultrafine dust sensing data, the second formaldehyde sensing data, the second volatile organic compound sensing data, At least one of the second carbon dioxide sensing data, the second carbon monoxide sensing data, the second nitrogen dioxide sensing data, and the second radon sensing data may be received.

The controller 170 may determine whether a preset condition is satisfied based on the first sensing data and the second sensing data (S245).

For example, when the first hydrogen peroxide concentration value is smaller than the reference value, and the second hydrogen peroxide concentration value is smaller than the reference value, the controller 170 may determine that the condition is satisfied.

For example, when the first fine dust concentration value is greater than the reference value and the second fine dust concentration value is greater than the reference value, the controller 170 may determine that the condition is satisfied.

For example, when the first ultrafine dust concentration value is greater than the reference value and the second ultrafine dust concentration value is greater than the reference value, the controller 170 may determine that the condition is satisfied.

When it is determined that the condition is satisfied, the controller 170 may determine a movement path of the mobile robot 100 ( S250 ). The movement path may be a concept including a movement target point, a movement direction, and a movement distance.

For example, the controller 170 may include the first sensing data, the second sensing data, the first position data for the position of the first sensor device 400a, and the second position for the position of the second sensor device 400b. Based on the data, a movement path may be determined.

The controller 170 may control the driving unit 150 to move the mobile robot 100 along a movement path (S255).

The controller 170 may control the operation to be performed during the movement or after the movement is completed (S255).

According to an embodiment, the control unit 170 through the display 181, at least one of fine dust information, ultrafine dust information, formaldehyde information, volatile organic compound information, carbon dioxide information, carbon monoxide information, nitrogen dioxide information, and radon information You can print one.

11 to 14 are diagrams referenced for explaining the operation of the mobile robot according to an embodiment of the present invention. 11 to 14 schematically show a mobile robot and a sensor device positioned in a target space in a top view.

1A to 11 , the mobile robot 100 may perform a sterilization operation by spraying hydrogen peroxide into the air in a target space 1110 such as a hospital, factory, laboratory, or public health center.

For space sterilization, hydrogen peroxide having a concentration greater than or equal to the reference value should be sprayed throughout the target space.

If the mobile robot 100 is positioned at a specific point and injects hydrogen peroxide, it has a hydrogen peroxide concentration value greater than or equal to the reference value at a point close to the mobile robot 100, whereas it is smaller than the reference value at a point farther from the mobile robot 100 It has a hydrogen peroxide concentration value. In order to prevent such a situation, a larger amount of hydrogen peroxide should be sprayed. In this case, there is a risk of distributing a degree of hydrogen peroxide harmful to the human body at a point in the target space.

According to an embodiment of the present invention, the

sensor devices

400a, 400b, 400c, 400d including the hydrogen peroxide sensor are disposed in various places in the target space 1110, and the mobile robot 100 is the

sensor device

400a, 400b, 400c, Since the sterilization operation is performed while moving based on the sensing data generated in 400d), efficient sterilization is possible by spraying only an appropriate amount of hydrogen peroxide to have a concentration above the reference value throughout the target space.

The IoT system 1 of the mobile robot may include the mobile robot 100 and at least one

sensor device

400a, 400b, 400c, and 400d. In FIG. 11 , the system 1 is illustrated as including four sensor devices, but the number of sensor devices is not limited.

The controller 170 may generate a map for the target space 1110 through SLAM.

The controller 170 may set the coordinates of the at least one

sensor device

400a, 400b, 400c, and 400d on the map. For example, the control unit 170, based on the location information received from the at least one sensor device (400a, 400b, 400c, 400d), the coordinates of the plurality of sensor devices (400a, 400b, 400c, 400d) on the map can be set. For example, the controller 170 may display the at least one

sensor device

400a or 400b on the map based on data on the at least one

sensor device

400a , 400b , 400c , 400d detected by the sensing unit 110 . , 400c, 400d) can be set.

The controller 170 communicates with at least one

sensor device

400a, 400b, 400c, or 400d.

The controller 170 may receive a signal from at least one

sensor device

400a, 400b, 400c, or 400d.

The controller 170 may determine the initial position 101 of the mobile robot 100 based on the strength of the received signal.

For example, the controller 170 may determine a point having the same intensity of signals from at least one

sensor device

400a , 400b , 400c , and 400d as the initial position 101 of the mobile robot 100 .

The controller 170 may receive sensing data generated by at least one

sensor device

400a , 400b , 400c , 400d through the communication unit 125 . For example, the control unit 170 may receive the hydrogen peroxide sensing data through the communication unit 125 .

The controller 170 may control the driving unit 150 based on the sensed data. The controller 170 may control the driving unit 150 further based on data on the position of the sensor device. For example, the controller 170 determines a movement path based on the hydrogen peroxide sensing data and data on the positions of the

sensor devices

400a, 400b, 400c, and 400d, and the moving robot 100 along the movement path The driving unit 150 may be controlled to move.

The controller 170 may control the sterilization device 360 based on the sensed data. The controller 170 may control the sterilization device 360 based on the data on the position of the sensor device.

11 to 12 , the controller 170 may specify the first point 401 in the target space 1110 as the location of the first sensor device 400a.

The controller 170 may receive a first hydrogen peroxide concentration value from the first sensor device 400a.

When the first hydrogen peroxide concentration value is less than the reference value, the control unit 170 may determine the moving target point of the robot associated with the first point 401 according to the first difference value between the first hydrogen peroxide concentration value and the reference value.

The controller 170 may determine the movement target point 102 of the robot 100 closer to the first point 401 as the first difference value increases. For example, when the first difference value is a, the control unit 170 moves to be closer to the first point 401 with respect to the initial position 101 than when the first difference value is b smaller than a. A target point 102 may be determined.

11 and 13 , the controller 170 may specify the first point 401 in the target space 1110 as the location of the first sensor device 400a.

The controller 170 may specify the second point 402 in the target space 1110 as the location of the second sensor device 400b.

The control unit 170 may receive a second hydrogen peroxide concentration value from the second sensor device 400b.

The control unit 170, when the first hydrogen peroxide concentration value is less than the reference value, and the second hydrogen peroxide concentration value is less than the reference value, the first difference value between the first hydrogen peroxide concentration value and the reference value and the second hydrogen peroxide concentration value and the reference value According to the second difference value of , the movement path of the robot associated with the first point 401 and the second point 402 may be determined. When the first difference value is greater than the second difference value, the controller 170 is configured to move the target point 102 to be closer to the first point 401 than the second point 402 based on the initial position 101 . and determine a movement path toward the movement target point 102 .

11 and 14 , when the first hydrogen peroxide concentration value is smaller than the reference value and the second hydrogen peroxide concentration value is smaller than the reference value, the control unit 170 is a first difference value between the first hydrogen peroxide concentration value and the reference value And, according to the second difference between the second hydrogen peroxide concentration value and the reference value, the first via point 102a and the second via point 102b are determined, and the movement route via the via

point

102a, 102b is determined. can

If the first difference value is greater than the second difference value, the control unit 170, the distance value between the initial position 101 and the first via point 102a, the initial position 101 and the second via point ( 102b), the waypoint may be determined to have a larger value than the distance value.

The controller 170 may control the mobile robot 100 to move to the first via point 102a and perform sterilization while stopping at the first via point 102a. In this case, the control unit 170 may perform the sterilization operation until the hydrogen peroxide concentration value generated by the first sensor device 400a becomes equal to or greater than the reference value.

Thereafter, the controller 170 may control the mobile robot 100 to move to the second via point 102b and perform sterilization while stopping at the second via point 102b. In this case, the control unit 170 may perform the sterilization operation until the concentration of hydrogen peroxide generated by the second sensor device 400b becomes equal to or greater than the reference value.

Thereafter, the controller 170 may control the mobile robot 100 to move to the initial position 101. FIGS. 15 to 16 are diagrams referenced to explain the operation of the mobile robot according to an embodiment of the present invention. am.

1A to 10 and 15 to 16 , the mobile robot 100 may perform an air cleaning operation in a target space within a building.

The air cleaning operation should be uniformly performed over the entire target space. If air circulation is not smooth due to factors such as a structural shape of a space or an object located inside the space, there may be an area in which air quality deteriorates. In this case, the mobile robot 100 must move to the corresponding space and perform an intensive air cleaning operation.

According to an embodiment of the present invention, a sensor device including at least one of a fine dust sensor, an ultrafine dust sensor, a formaldehyde sensor, a volatile organic compound sensor, a carbon dioxide sensor, a carbon monoxide sensor, a nitrogen dioxide sensor, and a radon sensor throughout the target space is disposed, and the mobile robot 100 performs an air cleaning operation while moving based on the sensing data generated by the sensor device 400 , so that uniform air cleaning is possible for the entire target space.

The IoT system 1 of the mobile robot may include the mobile robot 100 and at least one sensor device 400 .

The controller 170 may generate a map for the target space through SLAM.

The controller 170 may set coordinates of at least one sensor device on the map. For example, the controller 170 may set the coordinates of the plurality of sensor devices 400 on the map based on the location information received from the at least one sensor device 400 . For example, the controller 1670 may set the coordinates of the at least one sensor device on the map based on the data on the at least one sensor device 400 detected by the sensing unit 110 .

The control unit 170 communicates with at least one sensor device.

The controller 170 may receive a signal from at least one sensor device.

The controller 170 may determine the initial position of the mobile robot 100 based on the strength of the received signal.

For example, the controller 170 may determine a point having the same intensity of signals from the at least one sensor device 400 as the initial position of the mobile robot 100 .

The control unit 170 may receive sensing data generated by the at least one sensor device 400 through the communication unit 125 . For example, the control unit 170, through the communication unit 125, fine dust sensing data, ultrafine dust sensing data, formaldehyde sensing data, volatile organic compound sensing data, carbon dioxide sensing data, carbon monoxide sensing data, nitrogen dioxide sensing data and at least one of radon sensing data.

The controller 170 may control the driving unit 150 based on the sensed data. The controller 170 may control the driving unit 150 further based on data on the position of the sensor device 400 . For example, the controller 170 determines a movement path based on the sensing data and data on the position of the sensor device 400 , and operates the driving unit 150 to move the mobile robot 100 along the movement path. can be controlled

The controller 170 may control the air purifier 160 based on the sensed data. The controller 170 may control the air purifier 160 further based on data on the position of the sensor device 400 .

The controller 170 may specify the first point in the target space as the location of the first sensor device.

The controller 170 may receive first sensing data from the first sensor device. Specifically, the control unit 170, from the first sensor device, the first fine dust sensing data, the first ultrafine dust sensing data, the first formaldehyde sensing data, the first volatile organic compound sensing data, the first carbon dioxide sensing data , at least one of first carbon monoxide sensing data, first nitrogen dioxide sensing data, and first radon sensing data may be received.

The controller 170 may compare the first sensing data with a preset reference value, calculate a first difference value, and determine a movement target point of the robot associated with the first point according to the first difference value.

The controller 170 may determine a movement target point of the robot closer to the first point as the first difference value increases. For example, when the difference value is a, the controller 170 may determine the moving target point to be closer to the first point based on the initial position than when the difference value is smaller than b.

The controller 170 may specify the second point in the target space as the location of the second sensor device.

The controller 170 may receive second sensing data from the second sensor device. Specifically, the control unit 170 receives, from the second sensor device, the second fine dust sensing data, the second ultrafine dust sensing data, the second formaldehyde sensing data, the second volatile organic compound sensing data, and the second carbon dioxide sensing data. , at least one of the second carbon monoxide sensing data, the second nitrogen dioxide sensing data, and the second radon sensing data may be received.

The control unit 170 determines a movement path of the robot associated with the first point and the second point according to a first difference value between the first sensing data and the reference value and a second difference value between the second sensing data and the reference value can When the first difference value is greater than the second difference value, the controller 170 determines the moving target point to be closer to the first point than the second point based on the initial position, and determines a moving path toward the moving target point. can decide

According to an embodiment, the controller 170 may determine a first via point and a second via point according to the first difference value and the second difference value, and may determine a moving route through the via point.

When the first difference value is greater than the second difference value, the control unit 170 is configured such that the distance value between the initial position and the first via point has a larger value than the distance value between the initial position and the second via point. It is possible to determine the transit point.

The controller 170 may control the mobile robot 100 to move to the first passing point and perform an air cleaning operation while stopping at the first passing point. In this case, the controller 170 may perform an air cleaning operation so that the sensed data generated by the first sensor device is equal to or less than a reference value.

Thereafter, the controller 170 may control the mobile robot 100 to move to the second via point and perform an air cleaning operation while stopping at the second via point. In this case, the control unit 170 may perform an air cleaning operation so that the second sensing data generated by the second sensor device is equal to or less than a reference value.

Thereafter, the controller 170 may control the mobile robot 100 to move to the initial position.

Meanwhile, the controller 170 may output the sensing data generated by the sensing device 400 through the display 181 . The controller 170 may output at least one of fine dust information, ultrafine dust information, formaldehyde information, volatile organic compound information, carbon dioxide information, carbon monoxide information, nitrogen dioxide information, and radon information through the display 181 . have.

According to an embodiment, the control unit 170, as illustrated in FIG. 15 , at least among fine dust information, ultrafine dust information, formaldehyde information, volatile organic compound information, carbon dioxide information, carbon monoxide information, nitrogen dioxide information, and radon information A user selection input for any one may be received and selected information may be output.

According to an embodiment, the control unit 170, as illustrated in FIG. 16 , in the entire screen, fine dust information, ultrafine dust information, formaldehyde information, volatile organic compound information, carbon dioxide information, carbon monoxide information, nitrogen dioxide information, radon information can be printed.

Meanwhile, the mobile robot 100 may perform a quarantine operation in the target space. The quarantine operation is an operation of the mobile robot 100 for killing infectious agents such as viruses and bacteria, and may be understood as a concept including both the sterilization operation and the disinfection operation described above.

In order to perform the disinfection operation, the mobile robot 100 may include a sterilization device 360 and a disinfection device 260 .

The control unit 170 may perform a quarantine operation by controlling at least one of the sterilization device 360 and the sterilization device 260 while the robot 100 is moving or stopped. Meanwhile, when performing the quarantine operation, the sterilization device 360 may spray ethanol as a chemical solution into the air.

The sensor device 400 may include an ethanol sensor. The ethanol sensor may generate data on the ethanol concentration per unit volume in the target space.

The control unit 170 may generate data on the ethanol concentration from the sensor device 400 through the first communication unit 125 .

The controller 170 may control the sterilization apparatus 360 based on the data on the ethanol concentration.

The controller 170 may determine a movement path of the mobile robot 100 based on the data on the ethanol concentration.

The controller 170 may control the driving unit 150 to move the mobile robot 100 along the determined movement path.

On the other hand, for the quarantine operation of the mobile robot 100, the description of the sterilization operation of the mobile robot described above may be applied, except for the contents described separately.

The present invention described above can be implemented as computer-readable code on a medium in which a program is recorded. The computer-readable medium includes all kinds of recording devices in which data readable by a computer system is stored. Examples of computer-readable media include Hard Disk Drive (HDD), Solid State Disk (SSD), Silicon Disk Drive (SDD), ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. There is also a carrier wave (eg, transmission over the Internet) that is implemented in the form of. In addition, the computer may include a processor or a control unit. Accordingly, the above detailed description should not be construed as restrictive in all respects but as exemplary. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the present invention are included in the scope of the present invention.

Claims

a driving unit that provides movement power of the robot;

a communication unit for exchanging data with at least one external electronic device; and

Receive the sensing data generated by the sensor device through the communication unit,

A mobile robot comprising a; based on the sensed data, the control unit for controlling the driving unit.
The method of claim 1,

A sterilization device for spraying hydrogen peroxide into the air; further comprising,

The control unit is

Based on the sensed data, a mobile robot for controlling the sterilization device.
3. The method of claim 2,

The control unit is

Receiving a signal from at least one sensor device through the communication unit,

A mobile robot that determines an initial position of the robot based on the strength of a signal received from the at least one sensor device.
3. The method of claim 2,

The control unit is

specify the location of the sensor device,

A mobile robot that controls the driving unit further based on data on the position of the sensor device.
5. The method of claim 4,

The sterilization device,

an injection mechanism for spraying hydrogen peroxide into the air; and

Including; a posture adjusting unit for determining the posture of the injection mechanism;

The control unit is

Receive the hydrogen peroxide sensing data through the communication unit,

Based on the hydrogen peroxide sensing data and the data on the position of the sensor device, the mobile robot for controlling the posture adjusting unit so that the injection direction toward the sensor device.
5. The method of claim 4,

The control unit is

Receive the hydrogen peroxide sensing data through the communication unit,

Based on the hydrogen peroxide sensing data and the data on the position of the sensor device, determine a movement path,

A mobile robot that controls the driving unit to move the robot along the movement path.
7. The method of claim 6,

The control unit is

specifying a first point in the target space as a location of the first sensor device;

Receiving a first hydrogen peroxide concentration value from the first sensor device,

When the first hydrogen peroxide concentration value is less than the reference value,

A mobile robot for determining a movement target point of the robot associated with the first point according to a first difference value between the first hydrogen peroxide concentration value and the reference value.
7. The method of claim 6,

The control unit is

specifying a first point in the target space as a location of the first sensor device;

Receiving a first hydrogen peroxide concentration value from the first sensor device,

specifying a second point in the target space as a location of the second sensor device;

receiving a second hydrogen peroxide concentration value from the second sensor device;

When the first hydrogen peroxide concentration value is less than the reference value, and the second hydrogen peroxide concentration value is less than the reference value,

According to the first difference value between the first hydrogen peroxide concentration value and the reference value, and the second difference value between the second hydrogen peroxide concentration value and the reference value, the movement path of the robot associated with the first point and the second point is determined. mobile robot.
The method of claim 1,

Display; further comprising,

The control unit is

Receiving at least one of fine dust sensing data, ultrafine dust sensing data, formaldehyde sensing data, volatile organic compound sensing data, carbon dioxide sensing data, carbon monoxide sensing data, nitrogen dioxide sensing data, and radon sensing data through the communication unit,

A mobile robot that outputs at least one of fine dust information, ultrafine dust information, formaldehyde information, volatile organic compound information, carbon dioxide information, carbon monoxide information, nitrogen dioxide information, and radon information through the display.
specifying the location of the sensor device;

Receiving the hydrogen peroxide sensing data generated by the sensor device through the communication unit;

determining a movement path of the robot based on the hydrogen peroxide sensing data and the data on the position of the sensor device; and

A control method of a mobile robot comprising a; spraying hydrogen peroxide into the air while moving along the movement path.