WO2022045474A1 - Robot mobile et son procédé de commande - Google Patents

Robot mobile et son procédé de commande Download PDF

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Publication number
WO2022045474A1
WO2022045474A1 PCT/KR2020/017782 KR2020017782W WO2022045474A1 WO 2022045474 A1 WO2022045474 A1 WO 2022045474A1 KR 2020017782 W KR2020017782 W KR 2020017782W WO 2022045474 A1 WO2022045474 A1 WO 2022045474A1
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WO
WIPO (PCT)
Prior art keywords
mobile robot
sensor
theft
alarm
wire
Prior art date
Application number
PCT/KR2020/017782
Other languages
English (en)
Korean (ko)
Inventor
이재훈
최규천
유경만
Original Assignee
엘지전자 주식회사
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 엘지전자 주식회사 filed Critical 엘지전자 주식회사
Publication of WO2022045474A1 publication Critical patent/WO2022045474A1/fr

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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
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • 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
    • 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
    • B25J9/1694—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

Definitions

  • the present specification relates to a mobile robot and a method for controlling the same.
  • Robots have been developed for industrial use and have been a part of factory automation. In recent years, the field of application of robots has been further expanded, and medical robots and aerospace robots have been developed, and household robots that can be used in general households are also being made. Among these robots, those capable of driving by their own power are called mobile robots.
  • a representative example of a mobile robot used in an outdoor environment at home is a lawn mower robot.
  • a movable area In the case of a mobile robot that autonomously travels indoors, the movable area is limited by walls or furniture, but in the case of a mobile robot that autonomously travels outdoors, it is necessary to set the movable area in advance. In addition, there is a need to limit a movable area so that the lawn mower robot travels in an area where grass is planted. Accordingly, in the prior art (Korean Patent Application Laid-Open No. 2015-0125508), a wire defining the work area of the lawn mower robot is embedded, and the lawn mower robot senses a magnetic field formed by a current flowing by the wire to detect the work area. Disclosed is a technology that can move within.
  • Such a lawn mower robot is a very expensive device, and since it performs work outdoors instead of indoors, there is a risk of theft by a third party.
  • Korean Patent Application Laid-Open No. 2020-0075139 discloses that information sensed while the lawn mower robot is running and a preset criterion are compared to determine whether or not the driving area has departed to detect theft of the mobile robot and, accordingly, drive the mobile robot. It discloses a configuration that limits the.
  • the prior art cannot detect theft when the mobile robot is moved by the carrier, which may lead to user dissatisfaction in relation to the prevention of the risk of theft.
  • the prior art determines whether or not the travel area is deviated by setting any one point in the travel area, not the wire, as the reference position, and there is a problem in that a malfunction may occur in relation to whether the travel area departs.
  • the reliability of the theft-related alarm may be lowered due to a malfunction that is determined as theft, which may result in user dissatisfaction. Therefore, there is a problem in that the theft of the lawn mower robot cannot be prevented because the user ignores the theft situation when it occurs.
  • An embodiment of the present specification has been proposed to solve the above-described problems, and an object of the present specification is to provide a mobile robot that detects a situation related to theft during outdoor work, and provides an alarm to the user, and a control method thereof.
  • An embodiment of the present specification provides a mobile robot that provides a theft-related alarm based on whether it has left the work area and whether the robot's movement is detected by using a plurality of sensors in order to lower the theft-related false detection rate, and a control method thereof intended to provide
  • the first sensor is used to determine whether or not the work area has deviated more than a reference distance
  • the second sensor is used to detect a movement over a reference time to be related to theft.
  • An object of the present specification is to provide a mobile robot that can reduce costs and accurately determine a theft situation by determining whether the mobile robot is stolen by using sensors built into the mobile robot without additional additional parts.
  • a main body in order to control a mobile robot to provide a theft-related alarm, a main body; a cutting device mounted on the main body to cut the grass; a first sensor for detecting a signal formed from a wire defining a working area of the mobile robot; a second sensor for detecting the movement of the mobile robot; and a control unit that provides a theft-related alarm based on the information detected by the first sensor and the second sensor.
  • control unit based on the information sensed by the first sensor, confirms that the mobile robot deviated from the work area, and confirms the movement of the robot out of the work area based on the information sensed by the second sensor In this case, it is possible to provide the theft-related alarm.
  • control unit when the mobile robot is more than a reference distance from the boundary of the work area defined by the wire, it is possible to provide the theft-related alarm.
  • control unit is configured such that a first time or more has elapsed in a state in which the mobile robot departs from the boundary of the work area by more than the reference distance, and the movement of the mobile robot outside the work area continues for a second time or more When confirming that, it is possible to provide the theft-related alarm.
  • control unit based on the information measured by the first sensor, the reception intensity of the signal formed from the wire is less than a reference value, and the movement of the mobile robot based on the information measured by the second sensor If confirmed, it is possible to provide the theft-related alarm.
  • the control unit based on the information measured by the first sensor, the reception intensity of the signal formed in the wire is less than a reference value for a first time or longer elapses, and the second sensor If the movement of the robot continues for more than a second time based on the information, it is possible to provide the theft-related alarm.
  • control unit may stop providing the theft-related alarm when a release input is received from the user.
  • the second sensor may include an acceleration sensor and a gyro sensor.
  • At least one wheel is provided on the main body to rotate; and a motor for transmitting power to the wheel, wherein the control unit is capable of providing the theft-related alarm based on detection information of the first sensor and the second sensor in a state in which the motor is not driven .
  • a second embodiment of the present specification to control the mobile robot to provide a theft-related alarm, the method comprising: detecting a signal formed in a wire defining a working area of the mobile robot using a first sensor; detecting the movement of the mobile robot using a second sensor; A method for controlling a mobile robot may be provided, comprising providing an alarm related to theft based on information detected using the first sensor and the second sensor.
  • the providing of the alarm may include providing the theft-related alarm when the mobile robot deviates from the boundary of the work area defined by the wire by more than a reference distance.
  • a first time or more has elapsed in a state in which the mobile robot leaves the work area defined by the wire, and the movement of the mobile robot outside the work area is a second time or longer It is possible to include the step of providing said theft related alarm if it is confirmed that it persists.
  • the reception intensity of the signal formed on the wire based on the information measured by the first sensor is smaller than a reference value, and the movement is based on the information measured by the second sensor.
  • the mobile robot according to the embodiment of the present specification has the advantage of improving the service so that the user can safely use it outdoors by accurately determining the theft-related situation and providing a theft-related alarm.
  • the rate of false detection of the theft-related situation can be lowered, thereby improving the usability.
  • the accuracy of the determination of the stolen state may be improved, thereby improving consumer reliability.
  • the accuracy of the theft determination of the mobile robot can be improved by detecting whether theft is detected by considering not only the determination of whether or not a reference distance or more is deviated based on the strength and direction of the signal received from the wire, but also the case where the signal is not received. there is.
  • FIG. 1 is a perspective view of a mobile robot according to an embodiment of the present specification.
  • FIG. 2 is an elevation view in a front direction of a mobile robot according to an embodiment.
  • FIG 3 is an elevation view in the direction of the right side of the mobile robot according to the embodiment.
  • FIG 4 is an elevation view of the mobile robot according to the embodiment in the direction of the lower side.
  • FIG. 5 is a perspective view of a docking device to which a mobile robot docks according to an embodiment.
  • FIG. 6 is an elevation view in a front direction of a docking device according to an embodiment.
  • FIG. 7 is a block diagram illustrating a function of a mobile robot according to an embodiment.
  • FIG. 8 shows an embodiment related to a control method of a mobile robot.
  • FIG 9 illustrates an embodiment associated with providing an alarm related to theft of a mobile robot.
  • FIG. 10 illustrates another embodiment associated with providing an alarm related to theft of a mobile robot.
  • FIG. 11 illustrates an embodiment in which a mobile robot provides an alarm related to theft.
  • FIG 12 shows another embodiment in which the mobile robot provides an alarm related to theft.
  • FIG. 13 is a view for explaining a block diagram of a mobile robot according to an embodiment.
  • ⁇ unit and “ ⁇ module” described in the specification mean a unit that processes at least one function or operation, which may be implemented as hardware or software, or a combination of hardware and software.
  • the "terminal” referred to below may be implemented as a computer or a portable terminal capable of accessing a server or other terminal through a network.
  • the computer includes, for example, a laptop, a desktop, and a laptop equipped with a web browser
  • the portable terminal is, for example, a wireless communication device that ensures portability and mobility.
  • IMT International Mobile Telecommunication
  • CDMA Code Division Multiple Access
  • W-CDMA Wide-Code Division Multiple Access
  • LTE Long Term Evolution
  • It may include a handheld-based wireless communication device.
  • each component may be exaggerated, omitted, or schematically illustrated for convenience and clarity of description.
  • the size and area of each component do not fully reflect the actual size or area, the embodiment of the present specification may be understood based on this.
  • the lawn mower robot 100 will be described as an example with reference to FIGS. 1 to 6 , but the present invention is not necessarily limited thereto.
  • the mobile robot 100 includes a body 110 that forms an exterior.
  • the body 110 forms an internal space.
  • the mobile robot 100 includes a traveling unit 120 that moves the body 110 with respect to the traveling surface.
  • the mobile robot 100 includes a work unit that performs a predetermined task.
  • the body 110 includes a frame 111 to which a driving motor module 123, which will be described later, is fixed.
  • a blade motor 132 to be described later is fixed to the frame 111 .
  • the frame 111 supports a battery to be described later.
  • the frame 111 also provides a skeletal structure for supporting various other components.
  • the frame 111 is supported by the auxiliary wheel 125 and the driving wheel 121 .
  • the body 110 includes side blocking portions 111a from both sides of the blade 131 to block the user's fingers from entering the blade 131 .
  • the side blocking portion 111a is fixed to the frame 111 .
  • the side blocking portion 111a is disposed to protrude downward compared to the lower surface of the other portion of the frame 111 .
  • the side blocking portion 111a is disposed to cover the upper portion of the space between the driving wheel 121 and the auxiliary wheel 125 .
  • a pair of side blocking portions 111a-1 and 111a-2 are disposed left and right with the blade 131 interposed therebetween.
  • the side blocking portion 111a is disposed to be spaced apart from the blade 131 by a predetermined distance.
  • the front surface 111af of the side blocking part 111a is formed to be round.
  • the front surface 111af forms a surface that is rounded and bent upward from the lower surface of the side blocking part 111a toward the front.
  • the body 110 includes a front blocking portion 111b for blocking the user's finger from entering the blade 131 from the front of the blade 131 .
  • the front blocking part 111b is fixed to the frame 111 .
  • the front blocking portion 111b is disposed to cover a portion of the upper portion of the space between the pair of auxiliary wheels 125 (L) and 125 (R).
  • the front blocking part 111b includes a protruding rib 111ba that protrudes downward compared to the lower surface of the other part of the frame 111 .
  • the protruding ribs 111ba extend in the front-rear direction.
  • the upper end of the protruding rib 111ba is fixed to the frame 111, and the lower end of the protruding rib 111ba forms a free end.
  • a plurality of protruding ribs 111ba may be disposed to be spaced apart from each other in the left and right directions.
  • a plurality of protruding ribs 111ba may be disposed parallel to each other.
  • a gap is formed between two adjacent protruding ribs 111ba.
  • the front surface of the protruding rib 111ba is formed to be round.
  • the front surface of the protruding rib 111ba forms a surface that is rounded and bent upward from the lower surface of the protruding rib 111ba toward the front.
  • the front blocking portion 111b includes an auxiliary rib 111bb that assists in rigidity.
  • An auxiliary rib 111bb for reinforcing the rigidity of the front blocking part 111b is disposed between the upper ends of the two adjacent protruding ribs 111ba.
  • the auxiliary ribs 111bb may be formed to protrude downward and extend in a grid shape.
  • a caster (not shown) for rotatably supporting the auxiliary wheel 125 is disposed on the frame 111 .
  • the caster is rotatably disposed with respect to the frame 111 .
  • the caster is rotatably provided about a vertical axis.
  • the caster is disposed on the lower side of the frame 111 .
  • a pair of casters corresponding to the pair of auxiliary wheels 125 are provided.
  • the body 110 includes a case 112 that covers the frame 111 from the upper side.
  • the case 112 forms the upper side and the front/rear/left/right side of the mobile robot 100 .
  • the body 110 may include a case connection part (not shown) for fixing the case 112 to the frame 111 . It may be fixed to the case 112 at the upper end of the case connection part.
  • the case connection part may be movably disposed on the frame 111 .
  • the case connection part may be arranged to be movable only in the vertical direction with respect to the frame 111 .
  • the case connection part may be provided to be movable only within a predetermined range.
  • the case connection part flows integrally with the case 112 . Accordingly, the case 112 is movable with respect to the frame 111 .
  • the body 110 includes a bumper 112b disposed on the front part.
  • the bumper 112b performs a function of absorbing an impact when in contact with an external obstacle.
  • a bumper groove that is depressed to the rear and formed long in the left and right direction may be formed.
  • a plurality of bumper grooves may be disposed to be spaced apart from each other in the vertical direction.
  • the lower end of the protruding rib 111ba is disposed at a lower position than the lower end of the auxiliary rib 111bb.
  • the bumper 112b is formed by connecting the front surface and the left and right side surfaces to each other.
  • the front and side surfaces of the bumper 112b are connected in a round manner.
  • the body 110 may include a bumper auxiliary part 112c disposed to surround the outer surface of the bumper 112b.
  • the auxiliary bumper 112c is coupled to the bumper 112b.
  • the auxiliary bumper 112c surrounds the lower portion of the front surface and the lower portion of the left and right sides of the bumper 112b.
  • the auxiliary bumper 112c may cover the front surface and lower halves of the left and right sides of the bumper 112b.
  • the front end surface of the auxiliary bumper 112c is disposed in front of the front end surface of the bumper 112b.
  • the bumper auxiliary portion 112c forms a surface protruding from the surface of the bumper 112b.
  • the auxiliary bumper 112c may be formed of a material advantageous to shock absorption, such as rubber.
  • the auxiliary bumper 112c may be formed of a flexible material.
  • the frame 111 may include a floating fixing unit (not shown) to which the bumper 112b is fixed.
  • the flow fixing part may be disposed to protrude upward of the frame 111 .
  • a bumper 112b may be fixed to the upper end of the flow fixing unit.
  • the bumper 112b may be disposed to be movable within a predetermined range with respect to the frame 111 .
  • the bumper 112b may be fixed to the flow fixing unit and may flow integrally with the flow fixing unit.
  • the flow fixing unit may be movably disposed on the frame 111 .
  • the flow fixing unit may be rotatably provided in a predetermined range with respect to the frame 111 with respect to the virtual rotation axis. Accordingly, the bumper 112b may be provided rotatably integrally with the flow fixing unit with respect to the frame 111 .
  • the body 110 includes a handle 113 .
  • the handle 113 may be disposed on the rear side of the case 112 .
  • the body 110 includes a battery input unit 114 for taking out the battery.
  • the battery input unit 114 may be disposed on the lower side of the frame 111 .
  • the battery input unit 114 may be disposed on the rear side of the frame 111 .
  • the body 110 includes a power switch 115 for turning on/off the power of the mobile robot 100 .
  • the power switch 115 may be disposed on the lower side of the frame 111 .
  • the body 110 includes a blade protection unit 116 that covers the lower side of the central portion of the blade 131 .
  • the blade protection part 116 is provided so that the blade of the centrifugal direction part of the blade 131 is exposed and the central part of the blade 131 is covered.
  • the body 110 includes a first opening/closing unit 117 for opening and closing a portion where the height adjustment unit 156 and the height display unit 157 are disposed.
  • the first opening and closing part 117 is hinge-coupled to the case 112, so that an opening operation and a closing operation are possible.
  • the first opening/closing part 117 is disposed on the upper surface of the case 112 .
  • the first opening and closing part 117 is formed in a plate shape, and covers upper sides of the height adjustment part 156 and the height display part 157 in the closed state.
  • the body 110 includes a second opening/closing unit 118 for opening and closing a portion where the display module 165 and the input unit 164 are disposed.
  • the second opening/closing part 118 is hinged to the case 112 so that an opening operation and a closing operation are possible.
  • the second opening and closing part 118 is disposed on the upper surface of the case 112 .
  • the second opening/closing part 118 is disposed behind the first opening/closing part 117 .
  • the second opening/closing unit 118 is formed in a plate shape, and covers the display module 165 and the input unit 164 in a closed state.
  • An openable angle of the second opening/closing unit 118 is set to be smaller than an openable angle of the first opening/closing unit 117 .
  • the openable angle of the first opening and closing part 117 may be provided to be about 80 to 90 degrees based on the closed state.
  • the openable angle of the second opening and closing part 118 may be provided to be about 45 to 60 degrees based on the closed state.
  • the first opening/closing unit 117 operates by lifting the rear end upwardly with the front end as the center
  • the second opening/closing unit 118 operates by lifting the rear end toward the upper side around the front end.
  • the user can open and close the first opening/closing unit 117 and the second opening/closing unit 118 from the rear of the lawn mower robot 100 , which is a safe area even when the lawn mower robot 100 moves forward.
  • the opening operation of the first opening/closing unit 117 and the opening operation of the second opening/closing unit 118 may not interfere with each other.
  • the first opening/closing unit 117 may be rotatably provided with respect to the case 112 about a rotation axis extending in the left and right directions from the front end of the first opening/closing unit 117 .
  • the second opening/closing unit 118 may be rotatably provided with respect to the case 112 around a rotation axis extending in the left and right directions from the front end of the second opening/closing unit 118 .
  • the body 110 includes a first motor housing 119a accommodating the first driving motor 123(L) therein, and a second motor housing 119a accommodating the second driving motor 123(R) therein. 119b).
  • the first motor housing 119a may be fixed to the left side of the frame 111
  • the second motor housing 119b may be fixed to the right side of the frame.
  • the right end of the first motor housing 119a is fixed to the frame 111 .
  • the left end of the second motor housing 119b is fixed to the frame 111 .
  • the first motor housing 119a is generally formed in a cylindrical shape forming a height left and right.
  • the second motor housing 119b is generally formed in a cylindrical shape forming a height left and right.
  • the driving unit 120 includes a driving wheel 121 that is rotated by a driving force of the driving motor module 123 .
  • the driving unit 120 may include at least one pair of driving wheels 121 that are rotated by the driving force of the driving motor module 123 .
  • the driving wheel 121 includes a first wheel 121 (L) and a second wheel 121 (R) which are respectively independently rotatably provided on the left and right.
  • the first wheel 121(L) is disposed on the left side
  • the second wheel 121(R) is disposed on the right side.
  • the first wheel 121 (L) and the second wheel 121 (R) are spaced apart from one another to the left and right.
  • the first wheel 121 (L) and the second wheel 121 (R) are disposed on the lower rear portion of the body 110 .
  • the first wheel 121 (L) and the second wheel 121 (R) are each independently rotatably provided so that the body 110 can rotate and move forward with respect to the ground.
  • the body 110 may move forward with respect to the ground.
  • the rotation speed of the first wheel 121 (L) is faster than the rotation speed of the second wheel 121 (R), or the rotation direction of the first wheel 121 (L) and the second wheel 121 ( When the rotation directions of R)) are different from each other, the body 110 may rotate with respect to the ground.
  • the first wheel 121 (L) and the second wheel 121 (R) may be formed to be larger than the auxiliary wheel 125 .
  • the shaft of the first driving motor 123(L) may be fixed to the center of the first wheel 121(L), and the second driving motor 123(R) may be fixed to the center of the second wheel 121(R). )) can be fixed.
  • the driving wheel 121 includes a wheel outer periphery 121b in contact with the ground.
  • the wheel outer peripheral portion 121b may be a tire.
  • a plurality of protrusions for increasing friction with the ground may be formed on the outer periphery of the wheel 121b.
  • the driving wheel 121 may include a wheel frame (not shown) that fixes the wheel outer periphery 121b and receives power from the motor 123 .
  • the shaft of the motor 123 is fixed to the center of the wheel frame, so that rotational force may be transmitted.
  • the wheel outer peripheral portion 121b is disposed to surround the circumference of the wheel frame.
  • the driving wheel 121 includes a wheel cover 121a that covers the outer surface of the wheel frame.
  • the wheel cover 121a is disposed in a direction opposite to the direction in which the motor 123 is disposed based on the wheel frame.
  • the wheel cover 121a is disposed at the center of the wheel outer periphery 121b.
  • the driving unit 120 includes a driving motor module 123 that generates a driving force, and includes a driving motor module 123 that provides a driving force to the driving wheel 121.
  • the driving motor module 123 includes a first wheel and a first driving motor 123(L) providing a driving force of 121(L) and a second driving motor 123(R) providing a driving force of the second wheel 121(R).
  • the first driving motor 123(L) and the second driving motor 123(R) may be disposed to be left and right apart from each other.
  • the first driving motor 123(L) is the second driving motor 123( R)) may be disposed on the left.
  • the first driving motor 123(L) and the second driving motor 123(R) may be disposed on a lower portion of the body 110 .
  • the first driving motor 123(L) and the second driving motor 123(R) may be disposed on the rear portion of the body 110 .
  • the first driving motor 123(L) is disposed on the right side of the first wheel 121(L), and the second driving motor 123(R) is disposed on the left side of the second wheel 121(R).
  • the first driving motor 123(L) and the second driving motor 123(R) are fixed to the body 110 .
  • the first driving motor 123(L) may be disposed inside the first motor housing 119a so that the motor shaft protrudes to the left.
  • the second driving motor 123(R) may be disposed inside the second motor housing 119b so that the motor shaft protrudes to the right.
  • the first wheel 121 (L) and the second wheel 121 (R) are the rotation shafts of the first driving motor 123 (L) and the rotation shafts of the second driving motor 123 (R), respectively.
  • parts such as shafts may be connected to the first wheel 121(L) and the second wheel 121(R), and the motors 123(L), 123(R) by gears or chains ) may be implemented so that the rotational force is transmitted to the wheels (121a, 120b).
  • the driving unit 120 may include an auxiliary wheel 125 supporting the body 110 together with the driving wheel 121 .
  • the auxiliary wheel 125 may be disposed in front of the blade 131 .
  • the auxiliary wheel 125 is a wheel that does not receive driving force by the motor, and serves to support the body 110 with respect to the ground.
  • the caster supporting the rotation axis of the auxiliary wheel 125 is rotatably coupled to the frame 111 with respect to a vertical axis.
  • a first auxiliary wheel 125(L) disposed on the left side and a second auxiliary wheel 125(R) disposed on the right side may be provided.
  • the work unit is provided to perform a predetermined task.
  • the working part is disposed on the body 110 .
  • the work unit may be provided to perform work such as cleaning or lawn mowing.
  • the work unit may be provided to perform a task such as transporting an object or finding an object.
  • the work unit may perform a security function to detect an external intruder or a dangerous situation in the vicinity.
  • the working unit performs lawn mowing, but there may be various examples of the type of work of the working unit, and it is not necessary to be limited to the example of the present description.
  • the working unit may include a blade 131 that is rotatably provided for mowing the lawn.
  • the working unit may include a blade motor 132 that provides rotational force of the blade 131 .
  • the blade 131 is disposed between the driving wheel 121 and the auxiliary wheel 125 .
  • the blade 131 is disposed on the lower side of the body 110 .
  • the blade 131 is provided to be exposed from the lower side of the body 110 .
  • the blade 131 rotates about a rotating shaft extending in the vertical direction to mow the lawn.
  • the blade 131 is described as a means for mowing the lawn, but the present invention is not limited thereto. type, and other well-known cutter means for mowing lawns may be configured.
  • the blade motor 132 may be disposed in front of the first wheel 121 (L) and the second wheel 121 (R). The blade motor 132 is disposed below the central portion in the inner space of the body 110 .
  • the blade motor 132 may be disposed on the rear side of the auxiliary wheel 125 .
  • the blade motor 132 may be disposed on the lower side of the body 110 .
  • the rotational force of the motor shaft is transmitted to the blade 131 using a structure such as a gear.
  • the mobile robot 100 includes a battery for supplying power to the driving motor module 123 .
  • the battery provides power to the first driving motor 123(L).
  • the battery provides power to the second driving motor 123(R).
  • the battery may supply power to the blade motor 132 .
  • the battery may provide power to the control unit 190 , the azimuth sensor 176 , and the output unit 165 .
  • the battery may be disposed below the rear portion in the inner space of the body 110 .
  • the mobile robot 100 is provided so as to be able to change the height of the blade 131 with respect to the ground, so that it is possible to change the mowing height of the grass.
  • the mobile robot 100 includes a height adjustment unit 156 for a user to change the height of the blade 131 .
  • the height adjustment unit 156 may include a rotatable dial to change the height of the blade 131 by rotating the dial.
  • the mobile robot 100 includes a height display unit 157 that displays the level of the height of the blade 131 .
  • the height display unit 157 may display an expected height value of the grass after the mobile robot 100 mows the lawn with the current blade 131 height.
  • the mobile robot 100 When the mobile robot 100 is docked with the docking device 200 , the mobile robot 100 includes a docking insertion unit 158 connected to the docking device 200 .
  • the docking insertion part 158 is provided to be recessed so that the docking connection part 210 of the docking device 200 is inserted.
  • the docking insert 158 is disposed on the front portion of the body 110 .
  • the mobile robot 100 may include a charging corresponding terminal 159 disposed at a position capable of contacting a charging terminal 211, which will be described later, in a state in which the docking insertion unit 158 is inserted into the docking connection unit 210.
  • the charging-corresponding terminal 159 may include a pair of charging-corresponding terminals 159a and 159b disposed at positions corresponding to the pair of charging terminals 211 , 211a and 211b.
  • the pair of charging corresponding terminals 159a and 159b may be disposed left and right with the docking insert 158 interposed therebetween.
  • a terminal cover (not shown) for opening and closing the docking insertion unit 158 and the pair of charging terminals 211, 211a, 211b may be provided.
  • the terminal cover may cover the docking insertion unit 158 and the pair of charging terminals 211 , 211a and 211b.
  • the terminal cover may be opened to expose the docking insertion unit 158 and the pair of charging terminals 211 , 211a and 211b.
  • the docking device 200 includes a docking base 230 disposed on the floor, and a docking support 220 protruding upward from the front part of the docking base 230 .
  • the docking base 230 defines a plane parallel to the horizontal direction.
  • the docking base 230 has a plate shape on which the mobile robot 100 can be seated.
  • the docking support 220 extends in a direction crossing the horizontal direction from the docking base 230 .
  • at least a portion of the mobile robot 100 may be positioned on the docking base 230 when docking.
  • the mobile robot 100 When the mobile robot 100 is charged, it includes a docking connection unit 210 that is inserted into the docking insertion unit 158 .
  • the docking connection part 210 may protrude rearward from the docking support part 220 .
  • the docking connection part 210 may be formed to have a thickness in an up-down direction smaller than a width in a left-right direction.
  • the width in the left and right directions of the docking connection part 210 may be formed to become narrower toward the rear side.
  • the docking connection 210 is generally trapezoidal.
  • the docking connection part 210 is formed in a left-right symmetrical shape.
  • the rear portion of the docking connector 210 forms a free end, and the front portion of the docking connector 210 is fixed to the docking support 220 .
  • the rear portion of the docking connection part 210 may be formed in a rounded shape.
  • the docking device 200 includes a charging terminal 211 for charging the mobile robot 100 .
  • a charging terminal 211 for charging the mobile robot 100 .
  • power for charging may be supplied from the docking device 200 to the mobile robot 100 .
  • the charging terminal 211 includes a rear-facing contact surface, and the charging-corresponding terminal 159 includes a forward-facing contact surface.
  • the contact surface of the charging terminal 211 and the contact surface of the charging terminal 159 come into contact, the power of the docking device 200 is connected to the mobile robot 100 .
  • the charging terminal 211 may include a pair of charging terminals 211 , 211a and 211b forming a + pole and a - pole.
  • the first charging terminals 211 and 211a are provided in contact with the first charging corresponding terminal 159a
  • the second charging terminals 211 and 211b are provided in contact with the second charging corresponding terminal 159b.
  • the pair of charging terminals 211 , 211a and 211b may be disposed with the docking connection part 210 interposed therebetween.
  • the pair of charging terminals 211 , 211a and 211b may be disposed on the left and right sides of the docking connection unit 210 .
  • the docking base 230 includes a wheel guard 232 on which the driving wheel 121 and the auxiliary wheel 125 of the mobile robot 100 are mounted.
  • the wheel guard 232 includes a first wheel guard 232a for guiding the movement of the first auxiliary wheel 125 and a second wheel guard 232b for guiding the movement of the second auxiliary wheel 125 .
  • An upwardly convex central base 231 is disposed between the first wheel guard 232a and the second wheel guard 232b.
  • the docking base 230 includes a slip prevention part 234 for preventing the first wheel 121 (L) and the second wheel 121 (R) from sliding.
  • the slip prevention part 234 may include a plurality of protrusions protruding upward.
  • a boundary wire for setting a boundary of a driving area in which the mobile robot 100 travels or a work area to mow grass may be implemented.
  • the boundary wire may be referred to as a wire.
  • the boundary wire may generate a signal that the mobile robot 100 can detect, and the mobile robot 100 may detect such a signal and identify at least one of the traveling area and the work area, and based on the confirmed result can drive and work.
  • the driving area and the working area may be the same area.
  • the mobile robot 100 may sense the distance to the boundary wire through the boundary signal transmitted from the boundary wire.
  • the distance to the boundary wire may be checked, and a driving route may be determined based on this. More specifically, when it is adjacent to the boundary wire, the magnetic field strength of the vertical component of the ground is strong, and as it goes away from the wire, the magnetic field strength of the vertical component decreases. The strength may decrease as the distance from the mobile robot 100.
  • the mobile robot 100 senses the vertical and horizontal magnetic fields, and based on this, the distance from the wire can be checked.
  • the mobile robot 100 of the embodiment includes at least one A signal generated from the wire can be sensed through the sensor, and the specific arrangement of the sensor will be described later.
  • a magnetic field may be generated around the boundary wire.
  • the generated magnetic field may be a constant of the boundary signal.
  • the magnetic field generated around the boundary wire may change with a predetermined change pattern.
  • the mobile robot 100 may sense the distance to the boundary wire by using the boundary signal detection unit 177 that detects a magnetic field, and through this, travel and work within the boundary set by the boundary wire. .
  • the boundary wire may receive current through connection with the docking device 200 .
  • the docking device 200 may include a wire terminal 250 connected to the boundary wire. Both ends of the boundary wire may be connected to the first wire terminal 250a and the second wire terminal 250b, respectively. Through the connection of the boundary wire and the wire terminal 250 , the power of the docking device 200 may supply current to the boundary wire.
  • the wire terminal 250 may be disposed on the front F of the docking device 200 . That is, the wire terminal 250 may be disposed on a side opposite to the direction in which the docking connection part 210 protrudes.
  • the wire terminal 250 may be disposed on the docking support 220 .
  • the first wire terminal 250a and the second wire terminal 250b may be disposed to be spaced apart from each other left and right.
  • the docking device 200 may include a wire terminal opening/closing unit 240 that covers the wire terminal 250 so as to be able to open and close.
  • the wire terminal opening/closing unit 240 may be disposed in the front (F) of the docking support unit 220 .
  • the wire terminal opening/closing unit 240 may be hinge-coupled to the docking support unit 220 and may be preset to open/close through a rotation operation.
  • a reference wire may be implemented in the docking device 200 to make the mobile robot 100 recognize the position of the docking device 200 .
  • the reference wire may generate a predetermined docking position signal.
  • the mobile robot 100 detects the docking position signal, recognizes the position of the docking device 200 by the reference wire, and returns to the recognized position of the docking device 200 when a return command or charging is required. there is.
  • the position of the docking device 200 may be a reference point for the traveling of the mobile robot 100 .
  • a magnetic field may be generated around the reference wire 270 .
  • the generated magnetic field is a docking position signal.
  • a magnetic field generated around the reference wire may change with a predetermined change pattern.
  • the mobile robot 100 may recognize that it has approached the reference wire 270 within a predetermined distance by using the boundary signal detection unit 177 that detects a magnetic field, and through this, the docking device 200 set by the reference wire. can return to the position of
  • the reference wire may generate a magnetic field in a direction distinct from the boundary wire.
  • the reference wire may extend in a direction crossing the horizontal direction.
  • the reference wire may extend in a vertical direction orthogonal to a horizontal direction.
  • the reference wire may be installed in the docking device 200 , and the reference wire may be disposed in various positions in the docking device 200 .
  • FIG. 7 is a block diagram illustrating a function of a mobile robot according to an embodiment.
  • the mobile robot 100 may include an input unit 164 capable of inputting various instructions from a user.
  • the input unit 164 may include a button, a dial, a touch-type display, and the like.
  • the input unit 164 may include a microphone (not shown) for voice recognition.
  • a plurality of buttons are disposed on the upper side of the case 112 .
  • the mobile robot 100 may include an output unit 165 for outputting various types of information to the user.
  • the output unit 165 may include a display module that outputs visual information.
  • the output unit 165 may include a speaker (not shown) for outputting auditory information.
  • the display module 165 outputs an image in an upward direction.
  • the display module 165 is disposed on the upper side of the case 112 .
  • the display module 165 may include a thin film transistor liquid-crystal display (LCD) panel.
  • the display module 165 may be implemented using various display panels such as a plasma display panel or an organic light emitting diode display panel.
  • the mobile robot 100 includes a storage unit 166 for storing various types of information.
  • the storage unit 166 records various types of information required to control the mobile robot 100 , and may include a volatile or nonvolatile recording medium.
  • the storage unit 166 may store information input from the input unit 164 or received by the communication unit 167 .
  • the storage unit 166 may store a program for controlling the mobile robot 100 .
  • the mobile robot 100 may include a communication unit 167 for communicating with an external device (such as a terminal), a server, a router, and the like.
  • the communication unit 167 may be implemented to perform wireless communication using a wireless communication technology such as IEEE 802.11 WLAN, IEEE 802.15 WPAN, UWB, Wi-Fi, Zigbee, Z-wave, Blue-Tooth, and the like.
  • the communication unit may vary according to a communication method of another device or server to communicate with.
  • the mobile robot 100 includes a sensing unit 170 that senses information related to the state of the mobile robot 100 or the environment outside the mobile robot 100 .
  • the sensing unit 170 includes a remote signal detection unit 171 , an obstacle detection unit 172 , a rain detection unit 173 , a case flow sensor 174 , a bumper sensor 175 , an azimuth sensor 176 , It may include at least one of an alert signal detector 177 , a GPS detector 178 , and a cliff detector 179 .
  • the sensing unit 170 may further include various sensors other than the sensors shown in FIG. 7 .
  • the remote signal detection unit 171 receives an external remote signal.
  • the remote signal detecting unit 171 may receive the remote signal.
  • the remote signal may be an infrared signal.
  • the signal received by the remote signal detection unit 171 may be processed by the control unit 190 .
  • a plurality of remote signal sensing units 171 may be provided.
  • the plurality of remote signal detection units 171 include a first remote signal detection unit 171a disposed on the front portion of the body 110 and a second remote signal detection unit 171b disposed on a rear portion of the body 110 . ) may be included.
  • the first remote signal detection unit 171a receives a remote signal transmitted from the front.
  • the second remote signal detection unit 171b receives a remote signal transmitted from the rear.
  • the obstacle detecting unit 172 detects an obstacle in the vicinity of the mobile robot 100 .
  • the obstacle detecting unit 172 may detect an obstacle in front.
  • a plurality of obstacle detection units 172a, 172b, and 172c may be provided.
  • the obstacle detecting unit 172 is disposed on the front surface of the body 110 .
  • the obstacle detecting unit 172 is disposed above the frame 111 .
  • the obstacle detecting unit 172 may include an infrared sensor, an ultrasonic sensor, an RF sensor, a Position Sensitive Device (PSD) sensor, and the like.
  • PSD Position Sensitive Device
  • the rain detection unit 173 detects rain when it rains in an environment in which the mobile robot 100 is placed.
  • the rain detection unit 173 may be disposed on the case 112 .
  • the case flow sensor 174 senses the flow of the case connection part.
  • the case connection part flows upward, and the case flow sensor 174 detects that the case 112 is lifted.
  • the controller 190 may control to stop the operation of the blade 131 .
  • the case flow sensor 174 may detect it.
  • the bumper sensor 175 may detect rotation of the floating fixture.
  • a magnet may be disposed on one side of the lower portion of the flow fixing unit, and a sensor for detecting a change in the magnetic field of the magnet may be disposed on the frame 111 .
  • the sensor detects a change in the magnetic field of the magnet, so that the bumper sensor 175 for detecting the rotation of the floating fixture may be implemented.
  • the bumper 112b collides with an external obstacle
  • the flow fixing unit rotates integrally with the bumper 112b.
  • the bumper sensor 175 detects the rotation of the floating fixing unit, the impact of the bumper 112b may be detected.
  • the sensing unit 20 includes an inclination information obtaining unit that obtains inclination information about the inclination of the driving surface S.
  • the inclination information acquisition unit may acquire inclination information about the inclination of the running surface S on which the body 110 is mounted by detecting the inclination of the body 110 .
  • the tilt information obtaining unit may include a gyro sensing module 176a.
  • the tilt information obtaining unit may include a processing module (not shown) that converts the detection signal of the gyro sensing module 176a into tilt information.
  • the processing module is a part of the control unit 190 and may be implemented as an algorithm or a program.
  • the inclination information obtaining unit may include the magnetic field sensing module 176c to obtain the inclination information based on sensing information about the magnetic field of the earth.
  • the gyro sensing module 176a may acquire information on the rotational angular velocity of the body 30 with respect to the horizontal plane. Specifically, the gyro sensing module 176a may sense the rotational angular velocity about the X and Y axes parallel to the horizontal plane and perpendicular to each other. Through the processing module, the angular velocity of rotation about the X-axis (roll, roll)) and the angular velocity of rotation about the Y-axis (pitch) are synthesized to calculate the angular velocity of rotation with respect to the horizontal plane. The inclination value may be calculated by integrating the rotational angular velocity through the processing module. Also, in an embodiment, the gyro sensing module 176a may detect a rotation angular velocity with respect to a yaw.
  • the gyro sensing module 176a may detect a predetermined reference direction.
  • the tilt information obtaining unit may obtain tilt information based on the reference direction.
  • the azimuth sensor (AHRS) 176 may have a gyro sensing function.
  • the azimuth sensor 176 may further include an acceleration sensing function.
  • the azimuth sensor 176 may further include a magnetic field sensing function.
  • the azimuth sensor 176 may include a gyro sensing module 176a that performs gyro sensing.
  • the gyro sensing module 176a may sense the horizontal rotation speed of the body 110 .
  • the gyro sensing module 176a may detect an inclination speed of the body 110 with respect to the horizontal plane.
  • the gyro sensing module 176a may have a gyro sensing function for three axes of a spatial coordinate system orthogonal to each other.
  • the information collected by the gyro sensing module 176a may be roll, pitch, and yaw information.
  • the processing module may calculate the direction angle by integrating the rolling, pitching, and yaw angular velocities.
  • the azimuth sensor 176 may include an acceleration sensing module 176b that performs acceleration sensing.
  • the acceleration sensing module 176b may have an acceleration sensing function for three axes of a spatial coordinate system orthogonal to each other.
  • a predetermined processing module may calculate the velocity by integrating the acceleration, and may calculate the moving distance by integrating the velocity.
  • the azimuth sensor 176 may include a magnetic field sensing module 176c that performs magnetic field sensing.
  • the magnetic field sensing module 176c may have a magnetic field sensing function for three axes of a spatial coordinate system orthogonal to each other.
  • the magnetic field sensing module 176c may sense the Earth's magnetic field.
  • the boundary signal detecting unit 177 detects a boundary signal of the boundary wire 290 and/or a docking position signal of the reference wire 270 .
  • the boundary signal detector 177 may be disposed on the front portion of the body 110 . Through this, the boundary of the driving area can be detected early while moving forward, which is the main driving direction of the mobile robot 100 .
  • the boundary signal detector 177 may be disposed in an inner space of the bumper 112b.
  • the boundary signal detection unit 177 may include a first boundary signal detection unit 177a and a second boundary signal detection unit 177b that are disposed to be left and right spaced apart.
  • the first boundary signal detection unit 177a and the second boundary signal detection unit 177b may be disposed on the front portion of the body 110 .
  • the boundary signal detection unit 177 includes a magnetic field sensor.
  • the boundary signal detection unit 177 may be implemented using a coil to detect a change in a magnetic field.
  • the boundary signal detector 177 may sense at least a horizontal magnetic field.
  • the boundary signal detector 177 may detect magnetic fields with respect to three axes orthogonal to each other in space.
  • the first boundary signal detection unit 177a may detect a magnetic field signal in a direction perpendicular to the second boundary signal detection unit 177b.
  • the first boundary signal detection unit 177a and the second boundary signal detection unit 177b detect magnetic field signals in directions orthogonal to each other, and combine the detected magnetic field signal values for three axes orthogonal to each other in space. magnetic field can be detected.
  • the boundary signal detection unit 177 senses the magnetic field with respect to three axes orthogonal to each other in space, the direction of the magnetic field is determined by the sum vector value for the three axes, and when the direction of the magnetic field is close to the horizontal direction, The docking position signal may be recognized, and if it is close to the vertical direction, it may be recognized as a boundary signal.
  • the boundary signal detecting unit 177 may distinguish the boundary signal and the docking position signal by a difference in magnetic field direction. Specifically, at least some or all of the first boundary wire corresponding to the first traveling area and the second boundary wire corresponding to the second traveling area overlap each other, and when current is applied in the same direction, each first boundary wire And a magnetic field having a greater strength than the magnetic field generated from the second boundary wire is generated, and each signal can be distinguished by a difference in the strength of the magnetic field.
  • the boundary signal detector 177 may distinguish the boundary signal between the adjacent boundary signal and the boundary signal of the first driving region and the second driving region by a difference in magnetic field distribution. Specifically, when a portion of the first boundary wire of the first traveling area and a part of the second boundary wire of the second traveling area are disposed within a predetermined distance from each other, when current is applied in the same direction or in a different direction, the boundary signal detecting unit 177 is It is possible to detect that the strength of the magnetic field has a plurality of peaks within a predetermined distance on the plane coordinates and recognize it as an adjacent boundary signal.
  • the GPS detection unit 178 may be provided to detect a Global Positioning System (GPS) signal.
  • GPS Global Positioning System
  • the GPS sensing unit 178 may be implemented on a PCB, but is not limited thereto, and may be implemented by being included in one processor included in the mobile robot 100 .
  • the cliff detection unit 179 detects whether a cliff is present on the driving surface.
  • the cliff sensing unit 179 may be disposed on the front portion of the body 110 to detect the presence of a cliff in front of the mobile robot 100 .
  • the sensing unit 170 may include an opening/closing detection unit (not shown) that detects whether at least one of the first opening/closing unit 117 and the second opening/closing unit 118 is opened or closed.
  • the opening/closing detection unit may be disposed on the case 112 .
  • the mobile robot 100 includes a controller 190 that controls autonomous driving.
  • the control unit 190 may process the signal of the sensing unit 170 .
  • the control unit 190 may process the signal of the input unit 164 .
  • the controller 190 may control driving of the first driving motor 123(L) and the second driving motor 123(R).
  • the controller 190 may control the operation of the blade motor 132 .
  • the controller 190 may control the output of the output unit 165 .
  • the control unit 190 includes a main board (not shown) disposed in the inner space of the body 110 .
  • the main board may be implemented through a PCB.
  • the controller 190 may control autonomous driving of the mobile robot 100 .
  • the controller 190 may control the driving of the driving unit 120 based on the signal received from the input unit 164 .
  • the controller 190 may control the driving of the driving unit 120 based on the signal received from the sensing unit 170 .
  • control unit 190 may process the signal of the boundary signal detection unit 177 . Specifically, when the docking position signal is detected by the boundary signal detecting unit 177 , the controller 190 may set a position at which the docking position signal is sensed as a reference point. When a return command is input to the reference point determined by the docking position signal, the controller 190 may cause the mobile robot 100 to travel to the reference point.
  • the controller 190 may set a position where the boundary signal is detected as the boundary of the driving area.
  • the controller 190 may drive the mobile robot 100 within the boundary of the driving area.
  • the controller 190 may set a position where the adjacent boundary signal is sensed as the adjacent boundary area 295 .
  • the controller 190 may return the mobile robot 100 along the adjacent boundary area 295 .
  • FIG. 8 shows an embodiment related to a control method of a mobile robot.
  • the mobile robot may detect a signal formed from a wire defining a work area of the mobile robot using a first sensor.
  • the work area is defined by a wire, and the wire may generate a signal detectable by the mobile robot, and the mobile robot may sense the signal using the first sensor and perform an operation on the work area.
  • the mobile robot may sense the distance to the wire through a signal sensed using the first sensor.
  • the mobile robot may sense the direction and strength of a magnetic field generated according to the flow of current flowing through the wire to sense the distance to the wire, and may determine the travel route based on this. More specifically, the magnetic field strength in the vertical direction may be stronger in the case of proximity to the wire than in the case of moving away from the wire, and the magnetic field strength in the horizontal direction may be stronger in the case of proximity to the wire than when moving away from the wire.
  • the mobile robot may sense the magnetic field strength in the vertical direction and the horizontal direction using the first sensor, and thus may detect a distance from the wire.
  • the mobile robot may sense the direction of the magnetic field according to the direction of the current flowing through the wire using the first sensor. For example, by allowing a predetermined current to flow along the wire, a magnetic field may be generated around the wire. By allowing an alternating current having a predetermined change pattern to flow through the wire, the magnetic field generated around the wire may change with a predetermined change pattern.
  • the mobile robot may sense a magnetic field using the first sensor to detect a distance to the wire, and through this, may travel and work within a boundary set by the wire.
  • the mobile robot may sense the movement of the mobile robot using the second sensor.
  • the second sensor is a sensor capable of detecting the movement of the mobile robot, and may include, for example, a 6-axis sensor or a 9-axis sensor.
  • the 6-axis sensor may be a sensor in which a 3-axis acceleration sensor and a 3-axis gyro sensor are combined
  • the 9-axis sensor may be a sensor in which a 6-axis sensor and a 3-axis geomagnetic sensor are combined. Accordingly, information related to the movement of the mobile robot can be detected in detail using the 6-axis sensor.
  • a 9-axis sensor is used, more accurate information can be detected than a 6-axis sensor.
  • the acceleration sensor may have an acceleration sensing function for three axes of a spatial coordinate system orthogonal to each other. Specifically, the acceleration sensor measures the intensity of acceleration or impact applied when the mobile robot moves, and by using the acceleration, it is possible to detect in real time how fast an object moves and what distance an object moves.
  • the gyro sensor may have a gyro sensing function for three axes of a spatial coordinate system orthogonal to each other. The gyro sensor can detect the rotation angle per time, so information related to the roll/pitch/yaw angle can be measured, and the change in the orientation of the mobile robot can be measured using the measured information.
  • the geomagnetic sensor may have a magnetic field sensing function for three axes of a spatial coordinate system orthogonal to each other.
  • the mobile robot may use the second sensor to detect a forward, backward, left, and right movement, or a tilt of the mobile robot, or may detect a rotational movement of the mobile robot.
  • the mobile robot may provide a theft-related alarm based on information detected using the first sensor and the second sensor. Based on the sensed information, the mobile robot may provide an alarm when it is determined to be a theft situation.
  • the steps have been sequentially described in the embodiment, the present invention is not limited thereto, and it is also possible to first detect the movement of the mobile robot and then check whether the mobile robot has deviated from the work area.
  • the mobile robot may detect that the mobile robot deviated from the work area based on information detected by the first sensor, and may detect the movement of the mobile robot deviating from the work area based on the information detected by the second sensor.
  • the mobile robot may detect that more than a first time has elapsed in a state in which the mobile robot is separated from the boundary of the work area by more than a reference distance, and detects that the movement of the mobile robot outside the work area continues for a second time or more can do.
  • the mobile robot may output an alarm by determining that it is a theft situation.
  • the mobile robot may detect whether a reception intensity of a signal formed from a wire is smaller than a reference value based on information detected by the first sensor, and based on the information detected by the second sensor
  • the movement of the mobile robot can be detected when the value is less than or equal to the value.
  • the mobile robot can detect that more than a first time has elapsed in a state in which the reception intensity of a signal formed from a wire is smaller than the reference value, and that the movement of the mobile robot continues for a second time or more in a state that is less than or equal to the reference value can detect
  • the mobile robot may output an alarm by determining that it is a theft situation.
  • the mobile robot may stop the theft-related alarm.
  • the mobile robot may stop the theft-related alarm.
  • the release input may include various other methods.
  • FIG 9 illustrates an embodiment associated with providing an alarm related to theft of a mobile robot.
  • the mobile robot 910 may cut grass using a cutting device while traveling inside a work area 920 formed by a wire.
  • the working area 920 may be formed by a wire, and may be an inner area formed by the wire.
  • the mobile robot 910 may sense the direction and strength of a magnetic field generated by a current flowing through the wire using the first sensor.
  • the direction of the magnetic field may be a first pattern in the work area 920 by the current flowing through the wire
  • the direction of the magnetic field may be a second pattern in the area outside the work area 920
  • the mobile robot 910 may detect the direction of the magnetic field using the first sensor to determine whether it is inside or outside the work area.
  • the mobile robot may sense the strength of the magnetic field. For example, when the direction of the detected magnetic field is the first pattern and the strength of the magnetic field is 10T, the mobile robot can determine that it is relatively closer to the wire than when the direction of the magnetic field is the first pattern and the strength of the magnetic field is 5T. there is.
  • the direction of the detected magnetic field is the second pattern
  • the mobile robot may detect that it has departed from the work area.
  • the mobile robot 910 may be preset to move into the work area 920 .
  • the first pattern and the second pattern are patterns in which the directions of the magnetic fields are opposite to each other. For example, when the first pattern is in the + direction, the second pattern may be in the - direction.
  • the area 930 may be an area spaced apart from the work area 920 by a reference distance.
  • the reference distance may be a preset distance (ex: 1.5m) as a margin distance for preventing an alarm caused by a malfunction.
  • the mobile robot 910 may detect the direction of the magnetic field as a second pattern. In this case, even if the mobile robot 910 moves out of the area 920 , it may not be determined to be a stolen state. When the mobile robot moves out of the area 930 , the mobile robot 910 may determine the stolen state and output an alarm.
  • the mobile robot 910 when the mobile robot 910 moves away from the work area 920 by 1 m, even if a movement is detected in a state in which the direction of the magnetic field is in the second pattern direction, the mobile robot 910 does not output an alarm related to theft. it may not be As another example, when the mobile robot 910 moves away from the work area 920 by 2 m, the mobile robot 910 may determine the stolen state and output an alarm.
  • the reference distance may correspond to a distance that the mobile robot 910 can move while returning to the inside of the work area 920 for the first time. For example, when the first time is set to 5 seconds, the reference distance may correspond to a distance that the mobile robot 910 can move at the speed V for 5 seconds. That is, the reference distance may be a distance set in relation to the first time.
  • the mobile robot 910 may provide a theft-related alarm based on information detected by the first sensor and the second sensor in a state in which the motor that transmits power to the wheel is not driven.
  • the second sensor may detect the movement of the mobile robot in a state in which the motor of the mobile robot is driven, and may also detect the movement of the mobile robot by another object in a state in which the motor of the mobile robot is not driven.
  • the mobile robot may provide a theft-related alarm.
  • FIG. 10 illustrates another embodiment associated with providing an alarm related to theft of a mobile robot.
  • the mobile robot 1010 may perform an operation of cutting grass using a cutting device while traveling inside a work area 1020 formed by a wire.
  • the area 1030 may be an area spaced apart from the work area 1020 by a reference distance.
  • the mobile robot 1010 may sense the direction and strength of the magnetic field generated by the current flowing through the wire using the first sensor.
  • the strength of a signal formed from the wire detected by the first sensor may be relatively weak. For example, when spaced apart by 10 m from the work area 1020 than when spaced apart by 1 m, the strength of the signal sensed by the first sensor may be relatively weak.
  • the mobile robot 1010 may output “no signal”. That is, when the signal strength is less than or equal to the reference value, the mobile robot 1010 may output "no signal” by determining that it cannot detect a signal formed from a nearby wire.
  • the reference value may be a preset value.
  • the mobile robot 1010 determines the stolen state and outputs an alarm can do.
  • the mobile robot 1010 may provide a theft-related alarm based on information detected by the first sensor and the second sensor in a state in which the motor that transmits power to the wheel is not driven.
  • the second sensor may detect the movement of the mobile robot in a state in which the motor of the mobile robot is driven, and may also detect the movement of the mobile robot by another object in a state in which the motor of the mobile robot is not driven.
  • the mobile robot may provide an alarm related to theft.
  • FIG. 11 illustrates an embodiment in which a mobile robot provides an alarm related to theft.
  • the mobile robot may detect whether it has deviated from the work area.
  • the mobile robot may detect a magnetic field formed in the wire using the first sensor, and may determine whether or not it has deviated from the work area using at least one of a direction and strength of the magnetic field.
  • the mobile robot may detect whether it is deviated by more than a reference distance from the boundary of the work area. When out of the work area but within a reference distance from the boundary of the work area, the mobile robot may not provide an alarm related to theft.
  • the mobile robot may detect whether the first time has elapsed. This is to prevent a malfunction, and the first time (ex: 5 seconds) may be a continuous time. For example, when the mobile robot deviates from the boundary of the work area for more than a reference distance for 3 seconds, the mobile robot may not provide an alarm related to theft.
  • the mobile robot may detect a movement. Specifically, the mobile robot may sense the movement using the second sensor. For example, the mobile robot may sense a movement, such as a forward, backward, left, right, or rotational movement by using the second sensor.
  • a movement such as a forward, backward, left, right, or rotational movement by using the second sensor.
  • the mobile robot may detect whether the moving time has elapsed for the second time.
  • the second time is to prevent a malfunction
  • the second time (ex: 3 seconds) may be a continuous time. For example, if the mobile robot moves only for 2 seconds while deviating from the boundary of the work area by more than a reference distance, the mobile robot may not provide an alarm related to theft.
  • step S1160 when the mobile robot moves for a second time or longer in a state deviating from the boundary of the work area by more than a reference distance for the first time or longer, the mobile robot may provide a theft-related alarm.
  • FIG 12 shows another embodiment in which the mobile robot provides an alarm related to theft.
  • the mobile robot may detect whether the reception intensity of a signal formed from a wire is less than or equal to a reference value.
  • the first sensor of the mobile robot may detect the signal strength and direction, and the mobile robot may estimate the distance from the wire using the signal strength. When the signal strength is less than the reference value, there is no wire around the mobile robot or the wire does not transmit a signal, and the mobile robot may output “no signal”.
  • the mobile robot may detect whether the first time has elapsed. This is to prevent malfunction of the mobile robot, and the first time (ex: 5 seconds) may be a continuous time. For example, if the state in which the mobile robot outputs "no signal" continues for 3 seconds, the mobile robot may not provide an alarm related to theft.
  • the mobile robot may detect a movement.
  • the second sensor of the mobile robot may detect a movement related to the mobile robot.
  • the mobile robot may sense the posture, rotational motion, forward movement, etc. of the mobile robot using the second sensor.
  • the mobile robot may detect whether the second time period has elapsed.
  • the mobile robot may detect whether a second time period for which the movement is continued has elapsed.
  • the second time is to prevent a malfunction, and the second time (ex: 3 seconds) may be a continuous time. For example, when the reception intensity is less than the reference value and the mobile robot moves only for 2 seconds, the mobile robot may not provide an alarm related to theft.
  • step S1250 when the mobile robot moves for a second time or longer while the signal strength is equal to or less than the reference value for the first time or longer, the mobile robot may provide a theft-related alarm.
  • FIG. 13 is a view for explaining a block diagram of a mobile robot according to an embodiment.
  • the block diagram of FIG. 13 may have some configurations overlapping the block diagram of FIG. 7 , but is not limited thereto, and a mobile robot including at least one of a configuration corresponding to the block diagram of FIG. 13 and a configuration corresponding to FIG. 7 . It is obvious that the embodiments of the present specification can be implemented as
  • the mobile robot 1300 includes an input unit 1310 , an output unit 1320 , a control unit 1330 , a storage unit 1340 , a communication unit 1350 , a first sensor 1360 , and a second sensor ( 1370 ) and at least one of the cutting device 1380 .
  • the mobile robot 1300 shown in FIG. 13 only the components related to this embodiment are shown. Therefore, it can be understood by those of ordinary skill in the art related to the present embodiment that other general-purpose components may be further included in addition to the components shown in FIG. 13 .
  • the mobile robot 1300 may include the above-described content related to the mobile robot, and a description of overlapping content will be omitted.
  • the first sensor 1360 may be a sensor capable of detecting the strength and direction of a magnetic field formed in the wire.
  • the first sensor 1360 may correspond to the boundary signal detection unit 177 .
  • the second sensor 1370 is a sensor capable of detecting the movement of the mobile robot, and may be, for example, a 6-axis sensor or a 9-axis sensor.
  • the controller 1330 may control the overall operation of the mobile robot 1300 and process data and signals.
  • the controller 1330 may be configured with at least one hardware unit. Also, the controller 1330 may operate by one or more software modules generated by executing program codes stored in a memory.
  • the controller 1330 may include a processor and a memory, and the processor may execute a program code stored in the memory to control the overall operation of the mobile robot 1300 and process data and signals.
  • the control unit 1330 may provide a theft-related alarm when the work area is moved for a second time or longer while being deviated by a reference distance or more for the first time or longer.
  • the controller 1330 may provide a theft-related alarm when the signal strength is less than the reference value for the first time or longer and moves for a second time or longer. Accordingly, the controller 1330 may prevent theft of the mobile robot 1300 .

Abstract

L'invention divulgue un robot mobile et un procédé de commande d'un robot mobile. Spécifiquement, le robot mobile comprend : un corps principal ; un dispositif de coupe monté sur le corps principal pour couper de l'herbe ; un premier capteur pour détecter un signal généré dans un fil définissant une zone de travail du robot mobile ; un second capteur pour détecter le mouvement du robot mobile ; et une unité de commande pour fournir une alarme antivol sur la base d'informations détectées au moyen du premier capteur et du second capteur.
PCT/KR2020/017782 2020-08-24 2020-12-07 Robot mobile et son procédé de commande WO2022045474A1 (fr)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09330484A (ja) * 1996-06-13 1997-12-22 Shinko Electric Co Ltd 移動ロボットの盗難防止装置
KR101537623B1 (ko) * 2014-01-29 2015-07-17 엘지전자 주식회사 잔디 깎기 로봇 및 그 제어 방법
KR20170101643A (ko) * 2016-02-29 2017-09-06 권장한 물품 도난 방지 시스템 및 방법
WO2018164090A1 (fr) * 2017-03-06 2018-09-13 タカヤ株式会社 Dispositif antivol et système antivol
KR20200075139A (ko) * 2018-12-12 2020-06-26 엘지전자 주식회사 이동 로봇 및 이의 제어방법

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09330484A (ja) * 1996-06-13 1997-12-22 Shinko Electric Co Ltd 移動ロボットの盗難防止装置
KR101537623B1 (ko) * 2014-01-29 2015-07-17 엘지전자 주식회사 잔디 깎기 로봇 및 그 제어 방법
KR20170101643A (ko) * 2016-02-29 2017-09-06 권장한 물품 도난 방지 시스템 및 방법
WO2018164090A1 (fr) * 2017-03-06 2018-09-13 タカヤ株式会社 Dispositif antivol et système antivol
KR20200075139A (ko) * 2018-12-12 2020-06-26 엘지전자 주식회사 이동 로봇 및 이의 제어방법

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