WO2022045476A1 - Robot mobile et son procédé de commande - Google Patents

Robot mobile et son procédé de commande Download PDF

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Publication number
WO2022045476A1
WO2022045476A1 PCT/KR2020/017787 KR2020017787W WO2022045476A1 WO 2022045476 A1 WO2022045476 A1 WO 2022045476A1 KR 2020017787 W KR2020017787 W KR 2020017787W WO 2022045476 A1 WO2022045476 A1 WO 2022045476A1
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WO
WIPO (PCT)
Prior art keywords
mobile robot
cutting device
wheel
controlling
sensor
Prior art date
Application number
PCT/KR2020/017787
Other languages
English (en)
Korean (ko)
Inventor
원일권
유경만
신승인
주형국
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 WO2022045476A1 publication Critical patent/WO2022045476A1/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
    • 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
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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.
  • a cutting device installed on the bottom can be used to cut grass in a work area defined by a wire. In this case, if the rear is lifted while the mobile robot is cutting, there may be a risk to the safety of the user due to the cutting device.
  • US Patent Application Laid-Open No. 2014-0373497A1 discloses a structural feature for detecting the lifting of a mobile robot.
  • the prior art does not use the information sensed through the internal sensor, but only determines whether or not the sound is heard by a structural design, so accuracy may be lowered, and thus there may be a problem in that the safety of the user cannot be guaranteed.
  • 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 controls the driving of a cutting device based on information sensed by an internal sensor without a separate structural design.
  • An object of the present specification is to provide a mobile robot capable of improving the accuracy of determining whether to hear by judging whether to hear it based on information sensed by a distance sensor and information sensed by a tilt sensor.
  • an embodiment of the present specification aims to provide a mobile robot in which the accuracy of determining whether to lift is more improved by determining whether to lift in consideration of current information flowing through a wheel driving motor.
  • An object of the present specification is to provide a mobile robot that improves user convenience by controlling a cutting device in an off state back to an on state based on current information flowing through a wheel driving motor.
  • a body forming an appearance; a cutting device mounted on the body to cut the grass; at least one distance sensor installed on the body and configured to detect a distance from the surrounding environment; a tilt sensor for detecting the tilt of the body; at least one wheel coupled to the body to move the mobile robot; a wheel drive motor for driving the wheel; and a control unit for controlling the driving of the cutting device based on the information sensed by the distance sensor, the information sensed by the inclination sensor, and the current information flowing through the wheel driving motor.
  • control unit detects the surrounding environment within a reference distance through a predetermined number or more of the distance sensing sensors among the at least one distance sensing sensor, and the pitch of the body for a first time through the inclination sensor When it is detected that the change in angle is greater than or equal to the reference angle, it is possible to control the driving speed of the cutting device to be reduced.
  • control unit may control to decrease the driving speed of the cutting device based on current information flowing through the wheel driving motor for a second time period.
  • the controller may control to decrease the driving speed of the cutting device when the dispersion value of the current flowing through the wheel driving motor for the second time is equal to or less than a reference value.
  • the controller may control the wheel driving motor to be driven in a state in which the cutting device is stopped according to the deceleration of the driving speed of the cutting device.
  • control unit controls the cutting device to increase the driving speed of the cutting device based on current information flowing through the wheel driving motor sensed for a second time of the wheel driving motor. It is possible to control
  • control unit determines the driving speed of the cutting device when a dispersion value of a current flowing through the wheel driving motor for a second time of the wheel driving motor is greater than a reference value after the driving speed of the cutting device is reduced It is possible to control the cutting device to increase.
  • control unit may control the driving speed of the wheel driving motor and the cutting device to be reduced.
  • the cutting device may be exposed and positioned between the at least one wheel and the at least one distance sensor on the bottom surface of the body.
  • the mobile robot may further include a handle installed at the rear of the body, and the handle may be formed to be inclined than the body with respect to the traveling surface.
  • a distance of the mobile robot to a surrounding environment using at least one distance sensor detecting a tilt of the mobile robot using a tilt sensor; and controlling driving of a cutting device mounted on the mobile robot to cut grass based on the sensed information.
  • controlling may include controlling the driving of the cutting device by additionally considering current information flowing through a wheel driving motor that drives at least one wheel that moves the mobile robot.
  • the step of detecting the distance to the object includes detecting the surrounding environment within a reference distance through a predetermined number or more of distance detecting sensors among the at least one distance detecting sensor, Detecting the inclination includes detecting, through the inclination sensor, that the change in the pitch angle of the mobile robot for a first time is equal to or greater than a reference angle, and the controlling is based on the sensed information It is possible to include the step of controlling to reduce the driving speed of the cutting device.
  • controlling may include controlling the driving speed of the cutting device to decrease based on current information flowing through the wheel driving motor for a second time period.
  • controlling may include controlling the driving speed of the cutting device to decrease when a dispersion value of a current flowing through the wheel driving motor for a second time is equal to or less than a reference value.
  • controlling may include controlling the wheel driving motor to be driven in a state in which the cutting device is stopped according to the deceleration of the driving speed of the cutting device.
  • controlling may include, in response to a decrease in the driving speed of the cutting device, when a dispersion value of a current flowing through the wheel driving motor for a second time of the wheel driving motor is greater than a reference value, the driving speed of the cutting device It is possible to include controlling the cutting device to increase
  • controlling may include controlling the driving speed of the wheel driving motor and the cutting device to decrease when the pitch angle of the body sensed through the inclination sensor corresponds to a threshold angle or more.
  • the mobile robot controls the operation of the cutting device based on information sensed by an internal sensor, thereby ensuring user safety even when the mobile robot is lifted without a separate structural design.
  • the wheel driving motor is controlled to be in an on state, thereby improving user convenience.
  • the service provided by cutting the grass in the work area without a separate user action may be improved by controlling the cutting device to be in the on state again based on current information flowing through the wheel driving motor.
  • FIG. 1 is a perspective view of a mobile robot 100 according to an embodiment.
  • FIG. 2 is an elevation view looking at the front of the mobile robot 100 of FIG. 1 .
  • FIG. 3 is an elevation view looking at the right side of the mobile robot 100 of FIG. 1 .
  • FIG. 4 is an elevation view looking at the lower side of the mobile robot 100 of FIG. 1 .
  • FIG. 5 is a perspective view illustrating a docking device 200 for docking the mobile robot 100 of FIG. 1 .
  • FIG. 6 is an elevation view of the docking device 200 of FIG. 5 as viewed from the front.
  • FIG. 7 is a view for explaining a block diagram of a mobile robot according to an embodiment.
  • FIG. 8 shows an embodiment related to a control method of a mobile robot.
  • FIG. 9 shows an embodiment in which the rear of the mobile robot is lifted
  • FIG. 10 shows an embodiment in which a human foot is positioned between the rear of the mobile robot and the ground.
  • 11 shows an embodiment related to a process of controlling a cutting device in an off state.
  • FIG. 13 shows an embodiment related to a process of controlling a cutting device in an on state.
  • FIG. 14 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.
  • 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 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 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 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.
  • 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 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 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.
  • an object positioned in front of the mobile robot may be sensed using at least one distance sensor, and a distance to the object may be sensed. That is, the mobile robot may sense a surrounding environment within a reference distance by using at least one distance sensor, and specifically, may sense a distance from the surrounding environment.
  • the surrounding environment may include an object such as a running surface, a terrain, and an obstacle in an area in which the mobile robot travels.
  • the surrounding environment may include a target that may have an influence in relation to the driving of the mobile robot.
  • At least one distance sensing sensor may be installed on a body forming the exterior of the mobile robot.
  • the distance sensing sensor may include an infrared sensor, an ultrasonic sensor, an RF sensor, a Position Sensitive Device (PSD) sensor, and the like.
  • at least one distance sensor installed on the front of the mobile robot may emit an ultrasonic wave as an ultrasonic sensor and receive a signal reflected from an object to detect a distance from the surrounding environment.
  • the distance sensor on the front of the mobile robot may detect the surrounding environment within a reference distance (ex: 1m).
  • the mobile robot may sense a distance to an object such as an obstacle located in a traveling area using a distance sensor.
  • the mobile robot may sense the topography of a traveling area using a distance sensor.
  • the mobile robot includes a handle installed at the rear of the body, and the handle may be formed to be inclined than the body with respect to the running surface.
  • the distance detection sensor may detect the distance according to the lifted direction by the user. For example, when the user lifts the mobile robot by using the handle, the distance sensor may detect a distance from the running surface or sense the distance from the user.
  • a tilt or posture of the mobile robot may be detected using a tilt sensor.
  • the inclination sensor is a sensor capable of detecting the inclination or posture 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 inclination, posture, or motion state 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. can detect
  • the geomagnetic sensor may have a magnetic field sensing function for three axes of a spatial coordinate system orthogonal to each other.
  • the controller may detect the lifting of the mobile robot based on information detected by the distance sensor and information detected by the inclination sensor. In order to improve the accuracy of detection of a lift, the controller may detect whether a person has lifted in consideration of information sensed by the distance sensor and information sensed by the inclination sensor.
  • the cutting device may correspond to the aforementioned blade
  • a motor for driving the cutting device may correspond to the aforementioned blade motor.
  • the mobile robot may detect an object within a reference distance positioned in front of the mobile robot through a predetermined number or more of distance sensing sensors among at least one distance sensing sensor, and the moving robot for a first time through the inclination sensor It may be detected that the change in the angle of the pitch is equal to or greater than the reference angle.
  • the driving of the cutting device may be controlled by additionally considering current information flowing through a wheel driving motor that drives at least one wheel that moves the mobile robot.
  • the first wheel driving motor may drive the left wheel
  • the second wheel driving motor may drive the right wheel.
  • a surrounding environment within a reference distance positioned in front of the mobile robot may be sensed through a predetermined number or more of distance detecting sensors among at least one distance detecting sensor.
  • the predetermined number may be a plurality of preset numbers. For example, when an object within a reference distance is detected through two or more distance sensors among three distance sensors installed in the mobile robot, it may be determined that the rear of the mobile robot is lifted. In this case, if only one of the three distance sensors detects an object within the reference distance, it may not be determined that the rear of the mobile robot is heard. More specifically, when a predetermined number or more of the distance sensing sensors detect an object within a reference distance for a predetermined time (ex: 3 seconds) or longer, it may be determined that the rear of the mobile robot has been lifted. For example, when two or more of the three distance sensors detect an object within 10 cm for 4 seconds, it may be determined that the rear of the mobile robot is lifted. In this way, by considering the predetermined number and time, the accuracy of the hearing detection determination may be further improved
  • the mobile robot may detect whether a change in a pitch angle of the mobile robot for a first time (ex: 20 ms) is greater than or equal to a reference angle (ex: 5 degrees) by using the inclination sensor.
  • a reference angle (ex: 5 degrees)
  • the mobile robot may determine that the rear is lifted. For example, when the change in the pitch angle of the mobile robot is 10 degrees for 20 ms, the mobile robot may determine that the rear is lifted.
  • the mobile robot may control to decrease the driving speed of the cutting device based on the current flowing in the wheel driving motor for the second time period. More specifically, the mobile robot may control to decrease the driving speed of the cutting device when the dispersion value of the current flowing through the first wheel driving motor and the second wheel driving motor for the second time is equal to or less than a reference value. This is a case in which the mobile robot determines that the rear is lifted in consideration of the distance sensor, the inclination sensor, and the current information. At this time, the driving speed of the motor of the cutting device is reduced, but the wheel driving motor can rotate regardless of the case where the rear is lifted.
  • the mobile robot may determine the degree to which the rear is lifted based on the sensed information. At this time, the mobile robot may determine the degree of deceleration of the cutting device in consideration of the lifting degree. Specifically, when the mobile robot lifts a relatively high level than when the mobile robot lifts a relatively low level, the degree of deceleration of the cutting device may be different. For example, when the mobile robot is lifted by 20 degrees rather than when it is lifted by 15 degrees, the degree of deceleration of the cutting device may be greater. This is because, in the case of a relatively high-lifting mobile robot, the user's risk is increased, and thus, it is necessary to rapidly reduce the driving speed of the cutting device.
  • the first time and the second time are time units for monitoring the change in the pitch angle of the body and the current flowing in the wheel motor, respectively, and the first time and the second time correspond to the time period for monitoring related information, each The monitoring operation may be performed in a time period in which at least some overlap.
  • FIG. 9 shows an embodiment in which the rear of the mobile robot is lifted
  • FIG. 10 shows an embodiment in which a human foot is positioned between the rear of the mobile robot and the ground.
  • a predetermined number or more of the distance sensing sensors may detect the surrounding environment within a reference distance by emitting ultrasonic waves 930 forward, for example.
  • the mobile robot may detect whether an object such as an obstacle is located within a reference distance using a distance sensor.
  • the predetermined number is a plurality, and when at least two or more distance sensing sensors detect whether an object is located within a reference distance, the mobile robot 910 may determine that the rear has been lifted.
  • the inclination sensor may detect a change ⁇ (920) of a pitch angle of the mobile robot. At this time, when the change ⁇ (920) of the pitch angle is equal to or greater than the reference angle, the mobile robot 910 may determine that the rear has been lifted.
  • the mobile robot can detect whether it is heard by synthesizing the information detected by the distance sensor and the information detected by the inclination sensor. By using the distance sensor and the inclination sensor, the accuracy of determining whether to hear or not may be improved.
  • a human foot may be positioned in a space formed between the rear of the mobile robot and the ground.
  • the cutting device for cutting the grass in the working area may be located on the bottom of the body or exposed between at least one wheel and at least one distance sensor. Therefore, when a person's foot is positioned in the space formed between the rear of the mobile robot and the ground, there may be a safety risk due to the cutting device. Due to this, the mobile robot can determine whether the rear is lifted based on the relevant information, and when the rear is lifted, it is possible to control the driving speed of the cutting device to be reduced, unlike the wheel driving motor.
  • 11 shows an embodiment related to a process of controlling a cutting device in an off state.
  • a predetermined number or more of distance sensing sensors may detect an object in front.
  • a predetermined number or more of the distance sensing sensors may detect an object in front located within the reference distance.
  • a predetermined number or more of distance sensing sensors may detect an object in front located within a reference distance for a predetermined time or longer. For example, two or more distance sensors among the four distance sensors may detect that an object is located within 3 seconds or more and within 10 cm.
  • the mobile robot can detect whether it is heard by synthesizing the information detected by the distance sensor and the information detected by the inclination sensor. By using the distance sensor and the inclination sensor, the accuracy of determining whether to hear or not may be improved.
  • step S1130 the mobile robot may detect whether a dispersion value of a current flowing through the wheel driving motor is less than or equal to a reference value.
  • the mobile robot may determine whether the rear has been heard based on the information sensed through steps S1110 and S1120, but may further consider step S1130 to further improve the accuracy of the determination.
  • a load may not be applied to the wheels of the mobile robot due to the rear of the mobile robot being lifted.
  • the dispersion value of the current flowing through the first wheel driving motor and the second wheel driving motor may be less than or equal to the reference value.
  • the reference value is a preset value and may be a statistical value determined through an experiment.
  • step S1140 the mobile robot may control the cutting device to be in an off state. Specifically, when step S1130 is satisfied in a state where steps S1110 and S1120 are satisfied, the mobile robot may control to reduce the driving speed of the cutting device. In this case, the mobile robot may control the wheel driving motor to maintain the driving speed. For example, the mobile robot may control the cutting device to be turned off while controlling the wheel driving motor to continuously rotate.
  • the mobile robot may detect whether the change in the pitch angle is equal to or greater than the reference angle.
  • the mobile robot may detect whether the change in the pitch angle is equal to or greater than the reference angle.
  • the mobile robot may detect whether the change in the pitch angle is equal to or less than a limit angle.
  • the mobile robot may control the wheel driving motor and the driving speed of the cutting device to be reduced.
  • the limit angle (ex: 30 degrees) is the maximum value that the pitch angle can be changed, and may be a value determined in advance through an experiment.
  • the mobile robot may output an error state as in step S1230, and in this case, the mobile robot may control the first wheel driving motor, the second wheel driving motor, and the cutting device in an off state. there is.
  • the mobile robot controls the driving speed of the cutting device based on the dispersion value of current flowing through the first wheel driving motor and the second wheel driving motor according to step S1130 can do.
  • the mobile robot may output an error state according to step S1230, and may control the speed of the first wheel driving motor, the second wheel driving motor, and the cutting device to be reduced.
  • FIG. 13 shows an embodiment related to a process of controlling a cutting device in an on state.
  • a cutting device mounted on the mobile robot to cut grass may be in an off state.
  • the mobile robot may control the cutting device in an off state, unlike the wheel driving motor, for user safety.
  • the cutting device may be in an off state, and the first wheel driving motor and the second wheel driving motor may be in a rotating state.
  • the mobile robot may determine whether the dispersion value of the current flowing through the wheel driving motor is equal to or greater than a reference value. In addition, in step S1330, the mobile robot may determine whether the dispersion value of the current for a reference time or longer is maintained at a reference value or more. When the dispersion value of currents flowing through the first wheel driving motor and the second wheel driving motor for more than the reference time is equal to or greater than the reference value, the mobile robot may determine that the rear is not heard. Accordingly, in step S1340, the mobile robot may control the cutting device in an on state. That is, the mobile robot determines that there is no safety risk to the user in a state in which the rear is not heard, and thus can control the cutting device to be turned on again.
  • FIG. 14 is a view for explaining a block diagram of a mobile robot according to an embodiment.
  • the block diagram of FIG. 14 may have some configurations overlapping those of 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. 14 and a configuration corresponding to FIG. 7 . It is obvious that the embodiments of the present specification can be implemented as
  • the mobile robot 1400 includes an input unit 1410 , an output unit 1420 , a control unit 1430 , a storage unit 1440 , a communication unit 1450 , a distance detection sensor 1460 , and a tilt sensor 1470 . ), the first motor 1480, the second motor 1490, and may include at least one of a handle (not shown).
  • a handle not shown
  • the mobile robot 1400 shown in FIG. 14 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. 14 .
  • the mobile robot 1400 may include the above-described content related to the mobile robot, and a description of overlapping content will be omitted.
  • the first motor 1480 may correspond to a wheel driving motor that drives the wheel of the mobile robot.
  • the first motor 1480 may include a first wheel driving motor corresponding to the left wheel and a second wheel driving motor corresponding to the right wheel.
  • the second motor 1490 may correspond to a motor driving the cutting device.
  • the distance sensor 1460 may include an infrared sensor, an ultrasonic sensor, an RF sensor, a position sensitive device (PSD) sensor, and the like.
  • the inclination sensor 1470 may be a sensor capable of detecting the inclination of the mobile robot 1400 .
  • the mobile robot 1400 may further include a sensor (not shown) capable of detecting a current flowing through the first motor 1480 .
  • a handle (not shown) is installed at the rear of the body, and a user can lift the mobile robot using the handle.
  • the inclination of the mobile robot may be changed, the distance sensor may detect a distance from the driving surface, and the inclination sensor may detect information related to the posture of the mobile robot.
  • the controller 1430 may detect whether the mobile robot is heard based on the related information.
  • a handle (not shown) may be formed to be more inclined than the body with respect to the running surface of the mobile robot. For example, when the body has an inclination of 10 degrees with respect to the running surface of the mobile robot, the handle may be formed to have an inclination greater than 10 degrees. Accordingly, the user's convenience of operation through the handle may be improved.
  • the controller 1430 may control the overall operation of the mobile robot 1400 and process data and signals.
  • the controller 1430 may be configured of at least one hardware unit. Also, the controller 1430 may operate by one or more software modules generated by executing program codes stored in a memory.
  • the controller 1430 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 1400 and process data and signals.
  • the controller 1430 controls the second motor 1490 to be turned on or off based on information detected by the distance sensor 1460, information detected by the inclination sensor 1470, and current information flowing through the wheel driving motor. can do. For this reason, the controller 1430 can protect the user from danger even when the rear of the mobile robot is lifted.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Harvester Elements (AREA)

Abstract

Sont divulgués un robot mobile et un procédé pour commander le robot mobile. Spécifiquement, le robot mobile peut comprendre : un corps formant l'extérieur de celui-ci ; un dispositif de coupe monté sur le corps de façon à couper de l'herbe ; au moins un capteur de détection de distance installé dans le corps de façon à détecter la distance à partir d'un environnement ambiant ; un capteur d'inclinaison pour détecter l'inclinaison du corps ; au moins une roue couplée au corps de façon à déplacer le robot mobile ; un moteur d'entraînement de roue pour entraîner la roue ; et une unité de commande pour commander l'entraînement du dispositif de coupe sur la base d'informations détectées par le capteur de détection de distance, des informations détectées par le capteur d'inclinaison et des informations concernant un courant circulant dans le moteur d'entraînement de roue.
PCT/KR2020/017787 2020-08-24 2020-12-07 Robot mobile et son procédé de commande WO2022045476A1 (fr)

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KR10-2020-0106600 2020-08-24
KR1020200106600A KR20220025605A (ko) 2020-08-24 2020-08-24 이동 로봇 및 이의 제어 방법

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0515232A (ja) * 1991-07-08 1993-01-26 Kawasaki Heavy Ind Ltd 電動芝刈機
KR20160107663A (ko) * 2015-03-05 2016-09-19 삼성전자주식회사 청소 로봇 및 그 제어 방법
KR20180058586A (ko) * 2016-11-24 2018-06-01 조선대학교산학협력단 잔디깎이
KR20180079799A (ko) * 2017-01-02 2018-07-11 엘지전자 주식회사 잔디깎기 로봇
WO2020148168A1 (fr) * 2019-01-15 2020-07-23 Husqvarna Ab Détection de levage améliorée pour un outil de travail robotique

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0515232A (ja) * 1991-07-08 1993-01-26 Kawasaki Heavy Ind Ltd 電動芝刈機
KR20160107663A (ko) * 2015-03-05 2016-09-19 삼성전자주식회사 청소 로봇 및 그 제어 방법
KR20180058586A (ko) * 2016-11-24 2018-06-01 조선대학교산학협력단 잔디깎이
KR20180079799A (ko) * 2017-01-02 2018-07-11 엘지전자 주식회사 잔디깎기 로봇
WO2020148168A1 (fr) * 2019-01-15 2020-07-23 Husqvarna Ab Détection de levage améliorée pour un outil de travail robotique

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