WO2022080596A1

WO2022080596A1 - Mobile robot and control method therefor

Info

Publication number: WO2022080596A1
Application number: PCT/KR2021/001193
Authority: WO
Inventors: 한진우; 신동인
Original assignee: 엘지전자 주식회사
Priority date: 2020-10-16
Filing date: 2021-01-29
Publication date: 2022-04-21
Also published as: KR20220050667A

Abstract

A mobile robot according to an embodiment of the present specification comprises: a body forming an external appearance; at least one wheel for moving the mobile robot; at least one motor for driving the wheel; at least one sensor for sensing a signal formed by a wire defining a work area; and a control unit for transmitting a signal requesting a direction change of a current flowing through the wire when a signal formed by the wire does not correspond to a predetermined condition with respect to the work area.

Description

[Correction 18.02.2021 according to Rule 26]　Mobile robot and its control method

An embodiment of the present specification relates to a mobile robot and a method for controlling the same. More specifically, an embodiment of the present specification allows a robot moving in a work area defined through a boundary line formed according to a current flowing wire to detect a wire installation state, and perform communication to change the current direction of the wire in response or It relates to a control method for regulating the operation method of a robot and a mobile robot using the same.

As robot technology develops, robots have begun to be used in various fields. As the fields of use of such robots are diversified, the use of robots used at home by general users in addition to the existing industrial production robots, aerospace robots, and medical robots has also increased. This increase in robot use has led to the development of sensor technology, allowing the robot to judge the situation on its own and perform the commands set by the user more effectively and precisely. It has become possible to provide robot motions with higher user satisfaction by judging them negatively, performing corresponding motions, and then performing additional learning based on the results to correct subsequent motion patterns.

Representative robots used at home include vacuum cleaner robots used indoors and lawn mower robots used outdoors. A vacuum cleaner robot used indoors can recognize a wall in the room, identify a cleaning area through it, and perform cleaning in the area. In the case of a lawn mower robot, since there is no topographical feature such as a wall to mark the work area, a device for separately displaying the work area is additionally provided, and the work area is identified by identifying the device and the work area is performed based on this, or the robot itself can display visual information It is possible to mow the lawn in the area by identifying the work area by using a sensor that recognizes it and a proximity sensor.

In relation to such a lawn mower robot, there is the following prior literature.

Prior Document 1: Republic of Korea Patent Publication No. 10-2016-0128124

Prior Document 2: Republic of Korea Patent Publication No. 10-2015-0125508

Prior Document 1 discloses a lawn mower robot, and the robot detects a signal emitted through a wire in a work area set through the wire, and through this, the robot can identify the work area and perform lawn mowing. .

Prior Document 2 discloses a technical feature of laying a wire in a place where grass is planted in order to set an area for the robot to move and setting a work area based on this, and detects a voltage value in the same area through a sensing unit that detects a magnetic field. There are technical features.

Prior Documents

1 and 2 both disclose only technical features that can detect a preset signal emitted from a wire and perform an operation based on it, and detect when a wire is incorrectly installed, or respond to detection of incorrect installation. The feature of changing the operation method so that the operation is possible is not disclosed.

Accordingly, there is a need for a control method capable of detecting whether a wire defining a work area is installed in accordance with a specific condition, and performing a work on the work area through an operation corresponding to the misinstallation, and a mobile robot using the same.

An embodiment of the present specification is proposed to solve the above-described problems, and an object of the present specification is to provide a mobile robot that detects whether a wire defining a work area is normally installed and performs an operation in response thereto, and a control method thereof.

Another embodiment of the present specification detects whether or not a wire is installed incorrectly according to information on the work area and the movement pattern of the robot, and when the wire is incorrectly installed, the direction of the current flowing through the wire through communication with the docking device and the work area of the robot An object of the present invention is to provide a mobile robot capable of performing a task by changing at least one of the traveling directions of the mobile robot and a control method thereof.

An embodiment of the present specification detects information on this when at least one of the direction of the docking device and the connection of the wire is installed differently from the setting, and the direction of the current flowing through the wire through communication with the docking device in response to the type of misinstallation An object of the present invention is to provide a control method capable of continuing work by changing or changing the traveling direction of the mobile robot, and reducing the number of repeated movements of the mobile robot around a docking device, and a mobile robot using the same.

In order to achieve the above object, a mobile robot according to an embodiment of the present specification includes a body forming an appearance; at least one wheel for moving the mobile robot; at least one motor for driving the wheel; at least one sensor for sensing a signal formed in a wire defining a work area; and a control unit that transmits a signal requesting a change in direction of a current flowing through the wire to the work area when the signal formed from the wire does not correspond to a predetermined condition.

A method of controlling a mobile robot according to another embodiment of the present specification includes detecting a signal formed in a wire defining a work area; and when the signal formed from the wire does not correspond to a predetermined condition to the work area, transmitting a signal requesting to change the direction of the current flowing through the wire.

According to an embodiment of the present specification, there is an effect that the usability can be improved by preventing the mobile robot from malfunctioning due to the incorrect installation of the wire by detecting the erroneous installation of the wire defining the work area and performing an operation corresponding thereto.

In addition, according to the embodiment of the present specification, the mobile robot detects a wire or a wrong installation of a docking device, and according to the type of misinstallation, the user can Usability can be improved by performing work within the work area without the need to reinstall the mis-installed device.

In addition, according to the embodiment of the present specification, by controlling the mobile robot installed with a sensor for detecting a signal emitted from the wire to move according to a specific movement pattern, it is possible to detect the mis-installation of the wire without a separate sensor, so that it can move without an increase in cost. The operation reliability of the robot can be secured.

1 is a perspective view of a mobile robot according to an embodiment of the present invention.

2 is an elevation view in a front direction of a mobile robot according to an embodiment.

3 is an elevation view in the direction of the right side of the mobile robot according to the embodiment.

4 is an elevation view of the mobile robot according to the embodiment in the direction of the lower side.

5 is a perspective view of a docking device to which a mobile robot docks according to an embodiment.

6 is an elevation view in a front direction of a docking device according to an embodiment.

7 is a block diagram illustrating a function of a mobile robot according to an embodiment.

8 is a block diagram illustrating a function of a docking device according to an embodiment.

9A to 9D are a method of changing a moving direction of a mobile robot according to a current direction of a wire connected to a docking device and a direction of a wire current according to the operation of the robot and the docking device corresponding thereto and the moving direction of the mobile robot according to the embodiment; It is a drawing for explaining.

10A to 10C are diagrams for explaining a movement pattern for a mobile robot to detect when a wire is incorrectly installed, and an operation corresponding to the detection, according to an embodiment.

11 is a view for explaining a positional relationship between a sensor and a wire according to a movement pattern of a mobile robot according to an embodiment.

12 is a diagram illustrating a user interface (UI) provided to a user to input information on a work area.

13 is a flowchart illustrating an operation of a mobile robot according to an embodiment.

14 is another flowchart for explaining the operation of the mobile robot according to the embodiment.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

In describing the embodiments, descriptions of technical contents that are well known in the technical field to which the present invention pertains and are not directly related to the present invention will be omitted. This is to more clearly convey the gist of the present invention without obscuring the gist of the present invention by omitting unnecessary description.

For the same reason, some components are exaggerated, omitted, or schematically illustrated in the accompanying drawings. In addition, the size of each component does not fully reflect the actual size. In each figure, the same or corresponding elements are assigned the same reference numerals.

Advantages and features of the present invention, and a method for achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only these embodiments allow the disclosure of the present invention to be complete, and common knowledge in the technical field to which the present invention belongs It is provided to fully inform the possessor of the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout.

At this time, it will be understood that each block of the flowchart diagrams and combinations of the flowchart diagrams may be performed by computer program instructions. These computer program instructions may be embodied in a processor of a general purpose computer, special purpose computer, or other programmable data processing equipment, such that the instructions performed by the processor of the computer or other programmable data processing equipment are not described in the flowchart block(s). It creates a means to perform functions. These computer program instructions may also be stored in a computer-usable or computer-readable memory that may direct a computer or other programmable data processing equipment to implement a function in a particular manner, and thus the computer-usable or computer-readable memory. It is also possible that the instructions stored in the flow chart block(s) produce an article of manufacture containing instruction means for performing the function described in the flowchart block(s). The computer program instructions may also be mounted on a computer or other programmable data processing equipment, such that a series of operational steps are performed on the computer or other programmable data processing equipment to create a computer-executed process to create a computer or other programmable data processing equipment. It is also possible that instructions for performing the processing equipment provide steps for performing the functions described in the flowchart block(s).

Additionally, each block may represent a module, segment, or portion of code that includes one or more executable instructions for executing specified logical function(s). It should also be noted that in some alternative implementations it is also possible for the functions recited in blocks to occur out of order. For example, two blocks shown one after another may be performed substantially simultaneously, or the blocks may sometimes be performed in the reverse order according to a corresponding function.

At this time, the term '~ unit' used in this embodiment means software or hardware components such as FPGA or ASIC, and '~ unit' performs certain roles. However, '-part' is not limited to software or hardware. '~' may be configured to reside on an addressable storage medium or may be configured to refresh one or more processors. Accordingly, as an example, '~' indicates components such as software components, object-oriented software components, class components, and task components, and processes, functions, properties, and procedures. , subroutines, segments of program code, drivers, firmware, microcode, circuitry, data, databases, data structures, tables, arrays, and variables. The functions provided in the components and '~ units' may be combined into a smaller number of components and '~ units' or further separated into additional components and '~ units'. In addition, components and '~ units' may be implemented to play one or more CPUs in a device or secure multimedia card.

Expressions referring to directions such as “before (F) / after (R) / left (Le) / right (Ri) / up (U) / down (D)” mentioned below are defined as shown in the drawings, but , This is for the purpose of explaining the present invention to the extent that it can be clearly understood, and it goes without saying that each direction may be defined differently depending on where the reference is placed.

The use of terms such as 'first, second', etc. added before the components mentioned below is only to avoid confusion of the components referred to, and is irrelevant to the order, importance, or master-slave relationship between the components. . For example, an invention including only the second component without the first component may be implemented, and the first component and the second component may be the same type of component or different types of components.

In the drawings, the thickness or size of each component may be exaggerated, omitted, or schematically illustrated for convenience and clarity of description. In addition, although 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.

In addition, angles and directions mentioned in the process of explaining the structure of the present invention are based on those described in the drawings. In the description of the structure in the specification, if the reference point for the angle and the positional relationship are not clearly mentioned, reference is made to the related drawings.

Hereinafter, 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.

1 to 4 , 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. By using the shape of the front surface 111af, when the mobile robot 100 moves forward, the side blocking part 111a can easily ride over a lower obstacle below a predetermined standard.

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. By using the shape of the front surface of the protruding rib 111ba, when the mobile robot 100 moves forward, the protruding rib 111ba can easily ride over a lower obstacle below a predetermined standard.

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. In the front portion of the bumper (112b), 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.

The openable angle of the second opening/closing unit 118 is set to be smaller than the opening possible angle of the first opening/closing unit 117 . Through this, the user can easily open the first opening and closing part 117 even in the open state of the second opening and closing part 118 and the user can easily operate the height adjusting part 156 . In addition, it enables the user to visually check the contents of the height display unit 157 even in the open state of the second opening and closing unit 118 .

For example, 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. For example, 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, and the second opening/closing unit 118 operates by lifting the rear end toward the upper side around the front end. Through this, the user can open and close the first opening and closing part 117 and the second opening and closing part 118 from the rear of the lawn mower robot 100 , which is a safe area even when the lawn mower robot 100 moves forward. Also, through this, 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 , and 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, and 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. For example, when the first wheel 121 (L) and the second wheel 121 (R) rotate at the same rotation speed, the body 110 may move forward with respect to the ground. For example, 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. For example, 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). can be 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.

In the present embodiment, 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. Although directly connected to, 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 .

For example, the work unit may be provided to perform work such as cleaning or lawn mowing. As another example, the work unit may be provided to perform a task such as transporting an object or finding an object. As another example, the work unit may perform a security function to detect an external intruder or a dangerous situation in the vicinity.

In the present embodiment, it is described that 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. In the embodiment, the blade 131 is described as a means for mowing the lawn, but the present invention is not limited thereto. Types or other well-known cutter turf mowing means may be included in the cutting device.

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 mobile robot controller 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 . When the height of the blade 131 is changed according to the manipulation of the height adjustment unit 156 , the height level displayed by the height display unit 157 is also changed. For example, 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.

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 . By connecting the docking insertion unit 158 and the docking connection unit 210 , an accurate position of the mobile robot 100 may be guided when charging.

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. When the mobile robot 100 is traveling, the terminal cover may cover the docking insertion unit 158 and the pair of charging

terminals

211 , 211a and 211b. When the mobile robot 100 is connected to the docking device 200 , the terminal cover may be opened to expose the docking insertion unit 158 and the pair of charging

terminals

211 , 211a and 211b.

Meanwhile, referring to FIGS. 5 and 6 , 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 . In addition, at least a portion of the mobile robot 100 may be positioned on the docking base 230 when docking.

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. When viewed from above, 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.

When the docking connection unit 210 is completely inserted into the docking insertion unit 158 , charging by the docking device 200 of the mobile robot 100 may be performed.

The docking device 200 includes a charging terminal 211 for charging the mobile robot 100 . When the charging terminal 211 and the charging corresponding terminal 159 of the mobile robot 100 come into contact with each other, 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. When 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, and 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.

On the other hand, 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. Meanwhile, in an embodiment, 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 can detect at least one of the traveling area and the work area by detecting such a signal, and based on the confirmed result can drive and work. In an embodiment, the driving area and the working area may be the same area. Also, the mobile robot 100 may detect the distance to the boundary wire through the boundary signal transmitted from the boundary wire. More specifically, by identifying the direction and strength of a magnetic field generated according to the current flow of 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 adjacent to the boundary wire, the magnetic field strength of the vertical component of the ground is strong, and the further away from the wire, the lower the magnetic field strength of the vertical component. And in the case of the magnetic field component in the horizontal direction, the strength is strongest near the wire, and the strength may decrease as it goes away from the wire. The mobile robot 100 may detect a magnetic field in a vertical direction and a horizontal direction, and check the distance from the wire based on this. The mobile robot 100 of the embodiment may detect a signal generated from a wire through at least one sensor, and a detailed arrangement of the sensor will be described later.

For example, by allowing a predetermined current to flow along the boundary wire, a magnetic field may be generated around the boundary wire. Here, the generated magnetic field may be a constant of the boundary signal. By allowing an alternating current having a predetermined change pattern to flow through the boundary wire, 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.

Meanwhile, a reference wire may be implemented in the docking device 200 in order 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 .

For example, by allowing a predetermined current to flow along the reference wire, a magnetic field may be generated around the reference wire 270 . Here, the generated magnetic field is a docking position signal. By allowing an alternating current having a predetermined change pattern to flow through the reference wire, 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 When returning to the docking device 200, the vehicle may travel along the boundary wire, and when returning, the traveling direction may be determined as a direction capable of docking with the docking device based on the positional relationship between the work area and the docking device.

The reference wire may generate a magnetic field in a direction distinct from the boundary wire. For example, the reference wire may extend in a direction crossing the horizontal direction. Preferably, 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 .

Referring to FIG. 7 , the mobile robot 100 may include an input unit 164 capable of inputting various user instructions. 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. In this embodiment, 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.

In this embodiment, 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 . For example, the display module 165 may include a thin film transistor liquid-crystal display (LCD) panel. In addition, 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. For example, 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.

Also, in an embodiment, the communication unit 167 may communicate with the docking device 200 . More specifically, the communication unit 167 may change the direction of the current supplied from the wire terminal 250 through communication with the docking device 200 . For example, when the direction of the wire current sensed according to the information on the work area acquired by the mobile robot control unit 190 is not suitable for the work, the direction of the wire current through communication with the docking device 200 through the communication unit 167 may be requested to change, and the docking device 200 may change the direction of the wire current according to such a request. As such, when the mobile robot 100 detects that the direction of the wire current is not suitable for the operation due to a situation such as incorrect installation of the wire, it communicates with the docking device 200 through the communication unit 167 to communicate the direction of the wire current. By switching to , the mobile robot 100 detects an erroneous installation environment on its own without the user performing additional control, and takes measures accordingly, so that usability can be improved. In addition, in the embodiment, the communication with the docking device 200 has been described as an example, but the present invention is not limited thereto, and the direction of the wire current can be switched according to the need of the wire through communication with a subject that can change the direction of the wire current. can In addition, the mobile robot 100 receives a response to the current change from the docking device 200, and can check whether the direction of the current is changed again, and then based on the installation direction and the direction of the current of the docking device 200, It is possible to determine the direction of travel within the working area.

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 remote signal detection unit 171 receives an external remote signal. When a remote signal is transmitted by an external remote controller, the remote signal detecting unit 171 may receive the remote signal. For example, the remote signal may be an infrared signal. The signal received by the remote signal sensing unit 171 may be processed by the mobile robot control unit 190 . The sensing unit 170 may further include various sensors other than the sensors shown in FIG. 7 .

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 geomagnetic sensor, a Position Sensitive Device (PSD) sensor, and the like.

The rain detection unit 173 detects rain when it rains in an environment in which the mobile robot 100 is disposed. 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. When the case 112 is lifted upward with respect to the frame 111 , the case connection part flows upward, and the case flow sensor 174 detects that the case 112 is lifted. When the case flow sensor 174 detects that the case 112 is lifted, the mobile robot controller 190 may control to stop the operation of the blade 131 . For example, when a situation occurs in which a user lifts the case 112 or a lower obstacle of a significant size lifts the case 112 , the case flow sensor 174 may detect it.

The bumper sensor 175 may detect rotation of the floating fixture. For example, 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 . When the flow fixture rotates, 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. When the bumper 112b collides with an external obstacle, the flow fixing unit rotates integrally with the bumper 112b. When 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 . For example, 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 mobile robot control unit 190 and may be implemented as an algorithm or a program. As another example, 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 .

For example, 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.

Specifically, 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.

When 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.

Also, 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.

As another example, 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.

Meanwhile, when the mobile robot 100 is driven, it may travel based on the wire, and in this case, the path may be determined based on the information detected by the boundary signal detection unit 177 . According to an example, the mobile robot 100 is a center-following mode in which a wire is driven in the center, a side-following mode in which traveling is performed in an adjacent space of the wire, and a boss (both) following that travels in a position between a plurality of wires. mode can be driven. In each following mode, the path of the mobile robot 100 corresponding to the wire may be determined based on information provided by the boundary signal detecting unit 177 by Kim Ji. For example, in the case of center following, since the wire is positioned between the two boundary

signal detection units

177a and 177b, the magnetic field directions of vertical components of the boundary

signal detection units

177a and 177b may be different from each other. In the side-following mode, the directions of the vertical magnetic field components of the

boundary signal detectors

177a and 177b are the same, and by detecting a magnetic field strength that satisfies a predetermined size range, a path can be set to move next to the wire. In the case of the boss following mode, it is possible to travel between two wires, and at this time, the magnetic fields of vertical components emitted from the two wires may be in a position to cancel each other. As such, the mobile robot 100 can determine a movement method corresponding to the wire based on the magnetic field signal detected by the boundary

signal detection units

177a and 177b, and the In this case, it is possible to prevent damage to the turf by repeatedly moving the same position by performing the movement in different modes. In an embodiment, the area in which the mobile robot 100 travels may be determined based on at least one of a distance to the wire and a magnetic field signal transmitted from the wire, and the mobile robot 100 may move within the work area defined by the wire. In order to minimize the number of times of repeatedly moving to the same position, a moving method may be determined. In an embodiment, the boss following includes setting a route based on both wires located on both sides based on the moving direction of the robot, and more specifically, a driving route in at least part of the space located between the two wires. This may include setting

The GPS detection unit 178 may be provided to detect a Global Positioning System (GPS) signal. 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 sensing unit (not shown) that detects whether at least one of the first opening/closing unit 117 and the second opening/closing unit 118 is open/closed. The opening/closing detection unit may be disposed on the case 112 .

The mobile robot 100 includes a mobile robot controller 190 that controls autonomous driving. The mobile robot control unit 190 may process the signal of the sensing unit 170 . The mobile robot control unit 190 may process the signal of the input unit 164 .

The mobile robot controller 190 may control the driving of the first driving motor 123(L) and the second driving motor 123(R). The mobile robot controller 190 may control the operation of the blade motor 132 . The mobile robot controller 190 may control the output of the output unit 165 .

The mobile robot 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 mobile robot controller 190 may control autonomous driving of the mobile robot 100 . The mobile robot controller 190 may control the driving of the driving unit 120 based on the signal received from the input unit 164 . The mobile robot controller 190 may control the driving of the driving unit 120 based on the signal received from the sensing unit 170 .

Also, the mobile robot 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 mobile robot controller 190 may set the detected position of the docking position signal as a reference point. When a return command is input to the reference point determined by the docking position signal, the mobile robot controller 190 may drive the mobile robot 100 to the reference point.

Also, when the boundary signal is detected by the boundary signal detecting unit 177 , the mobile robot controller 190 may set a position where the boundary signal is detected as the boundary of the driving area. The mobile robot controller 190 may drive the mobile robot 100 within the boundary of the driving area.

Also, when an adjacent boundary signal is detected by the boundary signal detecting unit 177 , the mobile robot controller 190 may set a position where the adjacent boundary signal is detected as the adjacent boundary area 295 . The mobile robot controller 190 may return the mobile robot 100 along the adjacent boundary area 295 .

Referring to FIG. 8 , a configuration included in the docking device 200 according to an embodiment is illustrated.

The docking device 200 may include a power supply unit 810 , a wire current direction switching unit 820 , a charging unit 830 , a communication unit 840 , and a docking device control unit 850 .

The power supply unit 810 may supply power required for the operation of the docking device 200 . The power supply unit 810 may be connected to an external power source to convert power into a form required for the operation of the docking device 200 . The power supply unit 810 may supply current flowing through the wire, and may supply power required for charging the mobile robot when the mobile robot is docked to the docking device 200 .

The wire current direction switching unit 820 may change the current direction of the wire connected to the docking device 200 . For example, when receiving a wire current direction change request from the mobile robot 100 through the communication unit 840 , the wire current direction change unit 820 may change the direction of the current flowing through the wire. In an embodiment, the request for changing the direction of current may include a request for instructing to flow current in a specific direction, and the mobile robot 100 sets the direction of current flowing through the wire according to the sensed situation to be suitable for work in the work area. It may request the docking device 200 . In an embodiment, the wire current direction conversion unit 820 may be implemented as a hardware configuration, but is not limited thereto, and may change the direction of the current flowing through the wire through software control.

The charging unit 830 may charge the mobile robot 100 docked in the docking device 200 . The charging unit 830 may receive power from the power supply unit 810 to charge the mobile robot 100 , and may control the charging process according to the charging amount of the mobile robot 100 .

The communication unit 840 may communicate with the mobile robot 100 , receive a wire current direction change request from the mobile robot, and transmit a response corresponding thereto. Also, information on the position of the docking device 200 may be provided to the mobile robot 100 . Also, information input by the user into the docking device 200 may be transmitted to the mobile robot 100 through the communication unit 840 .

The docking device control unit 850 may control the operation of the docking device 200 , and control the operation of the docking device 200 through the information obtained through the communication unit 840 , and transmit a response corresponding thereto to the communication unit 840 . ) can be transmitted via Also, in an embodiment, the docking device 200 may transmit the sensed information to the mobile robot 100 or the user's terminal.

9A to 9D, a wire 910 connected to a wire terminal of a docking device including

docking bases

902a, 902b, 902c, 902d and docking supports 904a, 904b, 904c, 904d is shown, A moving direction in which the mobile robot travels in the work area 920 along the wire is shown. The wire 910 may be connected to a wire terminal of the docking device, and current may flow through the wire through such a connection. On the other hand, the mobile robot can detect a magnetic field formed by the current flowing through the wire 910 and confirm the position based on this. To this end, when a wire is installed so that the magnetic field direction can be formed in a preset shape, the mobile robot can sense a position based on this and perform an operation in the work area. In the embodiment, when the mobile robot is docked in the docking device, the mobile robot is positioned on the docking bases (902a, 902b, 902c, 902d), and one side of the mobile robot is located on the protruding docking supports (904a, 904b, 904c, 904d). By this connection, charging of the mobile robot can be performed together with docking. Accordingly, according to the traveling direction of the mobile robot, it may enter the

docking bases

902a, 902b, 902c, and 902d to be connected to the docking supports 904a, 904b, 904c, and 904d. If the moving direction of the mobile robot is opposite, it may not be able to dock with the docking device and may hover around the wire. The mobile robot detects such a situation and changes the direction of the wire current through communication with the docking device, and the installation environment In response, the driving direction can be determined in the work area. Hereinafter, operations of the mobile robot and the docking device according to specific installation conditions will be described.

9A is an example of a case in which the direction and power connection of a docking device are normally performed. According to the connection of the wire 910 and the docking device as in the embodiment, the mobile robot recognizes the wire inner area 920 as the work area, and recognizes the outside of the wire as not the work area. Based on the magnetic field signal formed according to the connection of the wire 910 as described above, the mobile robot may move along the wire 910 in a counterclockwise direction, thereby successfully docking the docking device.

9B is an example of a case in which the docking device is installed in a normal direction, but power is connected in the opposite direction. According to the connection of the wire 910 and the docking device as in the embodiment, the magnetic field direction is opposite, so that the mobile robot recognizes the wire inner area 920 as not the work area, and the signal of the wire 910 without additional information. When judging based on , the mobile robot recognizes the area outside the wire as the work area. Based on the magnetic field signal formed according to the connection of the wire 910 as described above, the mobile robot can move along the wire 910 in a clockwise direction, and it is difficult to dock and perform a normal operation.

In such a situation, when the mobile robot acquires information on the work area, it can be confirmed that the signal of the wire 910 is set in the opposite direction. Accordingly, the mobile robot may change the direction of the current flowing through the wire 910 through communication with the docking device, and may set the strike direction to a counterclockwise direction according to the installation direction of the docking device. In an embodiment, when the mobile robot retracts from the docking device and exits from the docking device and confirms that the work area is on the left, the traveling direction may be set counterclockwise, and then the wire 910 based on the signal of the wire 910 is incorrectly installed. It is confirmed that this has been done, and accordingly, the direction of the current flowing through the wire 910 may be changed through communication with the docking device.

9C is an example of a case in which the direction of the docking device is reversed and power connection is normally performed. According to the connection of the wire 910 and the docking device as in the embodiment, the mobile robot recognizes the wire inner area 920 as the work area and recognizes the wire outer area as not the work area. Based on the magnetic field signal formed according to the connection of the wire 910 as described above, the mobile robot may move along the wire 910 in a counterclockwise direction. However, in this case, the docking support unit 904c is located in the direction of entering the docking device along the wire, so that docking cannot be performed.

In such a situation, when the mobile robot acquires information on the work area, the mobile robot may determine the driving direction to perform docking. More specifically, when the mobile robot gets information that the mobile robot moves backwards from the docking device and the work area is on the right side, the driving direction can be set clockwise based on this information. By operating in this way, the inside of the work area is recognized, but the traveling direction and the installation direction of the docking device do not correspond to each other, so that it is possible to prevent the mobile robot from repeatedly moving around the work area without docking with the docking device.

9D is an example of a case in which both the direction of the docking device and the power connection are reversed. According to the connection of the wire 910 and the docking device as in the embodiment, the magnetic field direction is in the opposite direction, so that the mobile robot recognizes the wire inner area 920 as not the work area, and recognizes the wire outer area as the work area. . Based on the magnetic field signal formed according to the connection of the wire 910 as described above, the mobile robot may move along the wire 910 in a clockwise direction, and may perform a malfunction by determining the outside of the wire as a work area.

In such a situation, when the mobile robot obtains information on the work area, it can be confirmed that the signal of the wire 910 is set in the opposite direction. Accordingly, the mobile robot may change the direction of the current flowing through the wire 910 through communication with the docking device. In addition, when the mobile robot moves backwards from the docking device and exits the docking device and confirms that the working area is located on the right, the driving direction can be set clockwise. By operating in this way, when both the installation direction of the docking device and the power connection are reversed, the mobile robot performs work in the work area 920 by switching the direction of the current flowing through the wire 910 through communication between the mobile robot and the docking device. can be performed smoothly. In an embodiment, the mobile robot may check information on the work area, detect a wire signal based on this, and check whether the wire is incorrectly installed. The driving direction may be determined based on the information on the work area, and when the signal of the wire does not correspond to the work area, communication with the docking device may be performed to change the direction of the current flowing through the wire. Through such an operation, the work area can be checked based only on information on the work area, and the work can be performed in response to wire mis-installation and erroneous installation in the direction of the docking device.

10A to 10C , the wire 1010 connected to the wire terminal of the docking device including the docking base 1002 and the docking support 1004 is shown, and the operation of the mobile robot starting from the docking device and performing the operation The method is shown.

In FIG. 10A , the mobile robot may move out of the docking device and rotate in a specific direction. More specifically, the mobile robot moves backward from the docking device, leaves the docking base 1002, and rotates in the left direction with respect to the front of the mobile robot, so that the boundary signal sensing unit of the mobile robot is positioned inside the wire. Also, in an embodiment, the

mobile robots

1030a, 1030b, and 1030c may rotate in a direction corresponding to the work area with respect to the front. In an embodiment, the

mobile robots

1030a, 1030b, and 1030c may acquire information on the location of the work area at the current location based on a user input, and perform rotation in a direction corresponding to the work area based on the obtained information. can do. In addition, after performing rotation in a direction corresponding to the work area, rotation may be performed in the opposite direction to secure additional detection accuracy.

It is possible to check the installation status of the wire based on the signal detected by the boundary signal detecting unit during the movement. More specifically, the mobile robot may move backward and rotate to the left, and the boundary signal detection unit may be located in the wire inner region 1020 . At this time, based on the magnetic field information identified by the boundary signal detection unit, it may be determined whether the wire inner region 1020 corresponds to the working region. The mobile robot may determine that the corresponding area corresponds to the work area when the detection result corresponding to the magnetic field pattern formed in the inner area of the wire is obtained by the boundary signal detecting unit when the wire is normally installed.

It can be rotated to the left by the boundary signal detection unit in FIG. 10B , and in an embodiment, it can be determined based on information obtained through a user input that the work area is located on the left side, and according to an embodiment, It may be set in the mobile robot to rotate in the left direction according to a preset setting.

As a result of the detection, the mobile robot, which has confirmed that the wire signal corresponds to the outside of the work area, can monitor the signal emitted from the wire while rotating in the opposite direction, and is emitted from the wire according to the additional monitoring result. signal can be obtained more accurately. As an example, when a magnetic field pattern corresponding to the outside of the work area is detected as shown in FIG. 10A when rotating to the left based on the posture from which it has moved backward, and when rotated to the right, when the corresponding area has a magnetic field pattern corresponding to the work area, You can check if the wire is installed incorrectly.

The mobile robot confirming that the wire is incorrectly installed in FIG. 10C may change the direction of the current flowing through the wire 1010 through communication with the docking device, and accordingly, a predetermined magnetic field pattern may be formed in the work area 1020 . As described above, the mobile robot that has changed the wire signal through communication can perform work in the work area 1020, and when traveling in the work area, perform the work while traveling in a counterclockwise direction corresponding to the installation direction of the docking device. can be done

Referring to FIG. 11 , a movement pattern for detecting a wire signal is shown while the mobile robots 1130a and 1130 move based on the

wires

1110a and 1110b connected to the

docking devices

1105a and 1105b. In an embodiment, the

mobile robots

1030a and 1030b may include boundary detection sensors 1135la, 1135ra, 1135lb, and 1135rb, and may include additional boundary detection sensors not shown.

In an embodiment, the mobile robot 1130a may move away from the docking device 1105a in response to an operation start. More specifically, the mobile robot 1130a may move backward from the docking device 1105a, and in this case, the wire 1110a may be positioned between the boundary detection sensors 1135la and 1135ra. In an embodiment, based on the magnetic field signal formed in the wire 1110a, the left side may correspond to the outside of the work area, and the right side may correspond to the inside of the work area.

The moving robot moving backward in this way may perform backward movement while maintaining the wire 1110a positioned between the boundary detection sensors 1135la and 1135ra for a predetermined distance. In this case, it can be identified that the boundary detection sensor 1135la on the left side and the boundary detection sensor 1135lb on the right side are located in different areas in the embodiment. Based on this, the mobile robot 1130a may detect a magnetic field signal formed from the wire.

In an embodiment, after performing backward, the mobile robot 1130b may rotate in a specific direction. According to an embodiment, the specific direction may include rotation in the left direction, and in another embodiment, the mobile robot 1130b may perform rotation in a direction corresponding to the acquired work area. In the embodiment, the description is based on the case where the work area is on the left side, but the embodiment of the present specification may be similarly applied even when the work area is on the right side.

More specifically, the mobile robot 1130b may rotate to the left or counterclockwise with respect to the forward direction. Also, the mobile robot 1130b may rotate so that the boundary detection sensors 1135rb and 1135rb are located in one area with respect to the wire 1110b, and in the embodiment, the boundary detection sensors 1135rb based on the wire 1110b , 1135rb) can be rotated to be located on the left. Through such rotation, the mobile robot 1130b can check the change in the magnetic field sensed by the boundary detection sensors 1135rb and 1135rb, and corresponds to the area where the boundary detection sensors 1135rb and 1135rb are located based on the change in the magnetic field. If it is confirmed that the magnetic field to do so corresponds to the outside of the work area, it can be determined that the wire installation is wrong. As described above, the mobile robot 1130b detects a change pattern of the magnetic field while moving the boundary detection sensors 1135rb and 1135rb to another area based on the wire 1110b, thereby confirming that the wire is incorrectly installed. In the embodiment, when it is confirmed that the wire installation is incorrect, the mobile robot 1130b may rotate in the opposite direction, thereby rotating the boundary detection sensors 1135rb and 1135rb to be located on the right side of the wire 1110b. In this case, it can be confirmed that the wire installation is incorrect based on the detected magnetic field pattern.

As such, it is possible to detect misinstallation of a wire based on a result of detecting a signal emitted from a wire while moving in a preset movement pattern only with a boundary detection sensor capable of detecting a magnetic field signal without an additional sensor. When a wire misinstallation is detected, the mobile robot can change the direction of the current flowing through the wire based on communication with the docking device. Meanwhile, when the direction of the current flowing through the wire is changed, the mobile robot may provide information about the change in the current to the user. Through this, the user can check whether the wire is incorrectly installed and that the mobile robot has changed the wire current direction in response to the wire incorrect installation.

Referring to FIG. 12 , a UI for setting a work area in the mobile robot is illustrated.

In an embodiment, the UI may be provided by a user terminal or a mobile robot, and may be configured to input information on a work area based on a user input.

In an embodiment, the UI may be provided in a way of inquiring about the location of the work area based on the front direction of the mobile robot. Also, according to another embodiment, the UI may provide map information related to a previously configured work area, and may check the work area through a user's selection.

Meanwhile, in an embodiment, such a UI may be provided to the user in response to performing map building at the initial stage of the operation of the mobile robot, and accordingly, the driving direction of the mobile robot may be determined in the work area based on the direction of the docking device. More specifically, if the docking device and wire are installed and the mobile robot is driven, map building can be performed. It may be provided to the user, and according to the user's input, the mobile robot may acquire information about the work area. Based on the obtained information and the location of the docking device, the mobile robot can determine the traveling direction within the work area, and then detect the wire signal to check whether the current direction of the wire flows corresponding to the work area. When the magnetic field signal formed according to the current flowing through the wire does not correspond to the work area, the mobile robot may change the direction of the wire current through communication with the docking device.

In this way, by obtaining information about the work area from the user, the mobile robot can confirm the location of the work area and the traveling direction within the work area. In addition, based on this, it is checked whether the signal formed in the wire flows corresponding to the work area, and if not, the direction of the wire current can be changed through communication with the docking device. By operating in this way, even when the installation of the wire or the charger is different from the initial setting, the mobile robot can detect it and adaptively perform the operation, thereby improving usability.

Referring to FIG. 13 , a robot control method according to an embodiment is illustrated.

In step 1305, the mobile robot may start motion. The mobile robot may be located in the docking device, and may start an operation according to a user input or a preset control method. Meanwhile, the mobile robot can perform initial movement by operating only the driving wheel without starting the cutting device.

In operation 1310, the mobile robot may move in a direction away from the docking device. More specifically, the mobile robot may move backward to get out of the docking device. At this time, a wire may be positioned between both driving wheels of the mobile robot. In addition, a wire may be positioned between the two sensors included in the boundary signal detection unit when the mobile robot moves backward.

In operation 1315, the mobile robot may perform rotation in a specific direction. For example, the rotation may be performed so that the two sensors included in the boundary signal detection unit are positioned on the area in the direction of rotation with respect to the wire. In addition, in an embodiment, a wire is positioned between the two driving wheels, and the two sensors may rotate to be positioned on an area in a rotational direction with respect to the wire. In an embodiment, the direction in which the rotation is performed may be determined based on the position of the work area obtained by the mobile robot, determined according to setting information, or determined through communication with a docking device. According to an example, the mobile robot that has performed backward in the docking device may rotate in the direction of the work area so that the boundary signal detection unit is located in the work area, and according to another exemplary embodiment, the mobile robot rotates in the counterclockwise direction. Thus, the boundary signal detection unit may be rotated to be located in the work area. By performing the rotation in this way, the two sensors included in the boundary signal detection unit are positioned on the area rotated with respect to the wire.

In operation 1320, it may be checked whether the measurement information of the two sensors included in the boundary signal detection unit corresponds to a preset condition. For example, based on a signal generated from a wire, it may be confirmed whether the sensor measurement information of the boundary signal detector detects a magnetic field pattern corresponding to the work area. In the embodiment, when the wire installation according to the setting is made, the magnetic field pattern inside the work area and the magnetic field pattern outside the work area may be different depending on the signal generated by the wire, and the mobile robot uses two It can be checked whether the magnetic field pattern measured by the sensor corresponds to the pattern inside the work area.

When the magnetic field information sensed by the sensor corresponds to the pattern, in step 1325 , the mobile robot may perform an operation thereafter. For example, the mobile robot may move to a destination within the work area and perform a mowing operation. In an embodiment, when performing a mowing operation, a driving direction may be determined in the work area based on location information of the work area.

If the magnetic field information sensed by the sensor does not correspond to the pattern, in step 1330 , the mobile robot may request to change the direction of the wire current through communication with the docking device. When a response signal of the docking device to a request to change the direction of current is received, or when the direction of the magnetic field is changed to correspond to the work area as a result of detection by the boundary signal detecting unit, the mobile robot may perform work within the work area. In an embodiment, the mobile robot may determine a driving direction within the work area based on positional relationship information between the docking device and the work area. For example, if information on the position of the work area to the left of the docking device is received, the vehicle may travel in a counterclockwise direction in the work area, and accordingly, after completing the work, the user may return to the docking device.

In operation 1335 , the mobile robot may perform a subsequent operation within the work area, which may be performed corresponding to the operation in operation 1325 .

Referring to FIG. 14 , a robot control method according to an embodiment is illustrated.

In step 1405, the mobile robot may start motion. The mobile robot may be located in the docking device, and may start an operation according to a user input or a preset control method. Meanwhile, the mobile robot can perform initial movement by operating only the driving wheel without starting the cutting device.

In operation 1410, the mobile robot may acquire location-related information of the work area. For example, the mobile robot may obtain information on where the work area is located based on the docking device, and more specifically, may obtain information on whether the work area is located on the left or right side with respect to the docking device. . Such information may be obtained through a user input. In an embodiment, direction information of the work area may be provided based on the mobile robot, and information on whether the work area is located on the left side or the right side with respect to the front surface of the mobile robot may be obtained.

In operation 1415 , the mobile robot may determine a traveling direction when performing a task in the work area based on the acquired information. According to an example, when the mobile robot exits from the docking device by moving backward, if the work area is located on the left, the mobile robot can run counterclockwise in the work area, and moves when the work area is located on the right The robot can travel clockwise in the work area.

In operation 1420, the mobile robot may rotate on the wire in a direction corresponding to the work area, and check the direction in which the wire current is connected based on the measurement value of the boundary detection sensor.

In step 1425, the mobile robot may check whether the checked wire current direction corresponds to the setting information. When the wire current corresponds to the setting information, the magnetic field pattern formed in the work area due to the wire current may correspond to the magnetic field pattern in the preset work area.

If the wire current direction corresponds to the setting information, an operation may be performed in step 1435 .

If the wire current direction does not correspond to the setting information, in step 1430, the mobile robot may change the wire current direction through communication with the docking device. Through such conversion, the magnetic field pattern formed in the work area due to the wire current may correspond to the magnetic field pattern in the preset work area. Thereafter, in operation 1435 , the mobile robot may perform a task in the work area.

Meanwhile, in the embodiment, the procedure in step 1415 may be performed before the operation is performed in the embodiment of FIG. 14 , and the sequence described in the embodiment does not have to be followed.

Although described with reference to a lawn mower robot throughout the specification, this can be commonly applied to robots that work while moving on an area that may be damaged by repetitive driving, such as grass. More specifically, in the case of a robot that identifies a location based on the device that sets the work area and works in an area that can be damaged by repetitive driving, such as grass, the specification of the specification not to repeatedly move the location according to the task. Damage to the work area can be minimized by using the method of the embodiment.

On the other hand, in the present specification and drawings, preferred embodiments of the present invention have been disclosed, and although specific terms are used, these are only used in a general sense to easily explain the technical contents of the present invention and help the understanding of the present invention, It is not intended to limit the scope of the invention. It will be apparent to those of ordinary skill in the art to which the present invention pertains that other modifications based on the technical spirit of the present invention can be implemented in addition to the embodiments disclosed herein.

Claims

In a mobile robot,

a body forming an appearance;

at least one wheel for moving the mobile robot;

at least one motor for driving the wheel;

at least one sensor for sensing a signal formed in a wire defining a work area; and

A mobile robot comprising a; when the signal formed from the wire in the work area does not correspond to a predetermined condition, a control unit that transmits a signal requesting a change in the direction of the current flowing through the wire.
According to claim 1,

the control unit

obtaining location information of the work area;

A mobile robot, characterized in that it determines a traveling direction in the work area based on the obtained location information.
3. The method of claim 2,

The location information on the work area is obtained based on a user input for direction information in which the work area is located with respect to the mobile robot.
3. The method of claim 2,

When the working area is located on the left with respect to the mobile robot, the traveling direction corresponds to a counterclockwise direction, and when the working area is located on the right with respect to the mobile robot, the traveling direction corresponds to a clockwise direction. mobile robot.
According to claim 1,

the control unit

In response to the signal transmission, it is checked whether the signal formed in the wire is changed, and when the signal formed in the wire is changed, map building is performed in the work area.
3. The method of claim 2,

The at least one sensor includes a first sensor and a second sensor,

the control unit

After moving backward in the state where the wire is located in the area defined between the first sensor and the second sensor, the first sensor and the second sensor correspond to the location information of the work area with respect to the wire. control the motor to be positioned in the direction,

When the work is completed in the work area, the mobile robot, characterized in that for controlling the motor to move to the docking device in the determined traveling direction along the wire.
According to claim 1,

the control unit

Provide related information to the user in response to a change in the direction of the current flowing through the wire,

The mobile robot, characterized in that it is checked whether the signal formed from the wire corresponds to a predetermined condition based on measurement information about a component in a vertical direction of a plane corresponding to the work area among the signal components formed from the wire.
According to claim 1,

the control unit

When it is confirmed that the signal formed from the wire in the working area according to the rotation in the first direction does not correspond to the predetermined condition, the signal formed from the wire by performing the rotation in the second direction is the predetermined condition Mobile robot, characterized in that it checks whether it does not correspond to.
A method for controlling a mobile robot, comprising:

detecting a signal formed in a wire defining a work area; and

When the signal formed from the wire does not correspond to a predetermined condition to the work area, transmitting a signal for requesting a change in the direction of the current flowing through the wire.
10. The method of claim 9,

obtaining location information of the work area; and

Further comprising the step of determining a driving direction in the work area based on the obtained location information,

The method for controlling the mobile robot, characterized in that the location information on the work area is obtained based on a user input for direction information in which the work area is located with respect to the mobile robot.
11. The method of claim 10,

When the working area is located on the left with respect to the mobile robot, the traveling direction corresponds to a counterclockwise direction, and when the working area is located on the right with respect to the mobile robot, the traveling direction corresponds to a clockwise direction. A control method for a mobile robot.
10. The method of claim 9,

checking whether a signal formed in the wire is changed in response to the signal transmission; and

When the signal formed in the wire is changed, the control method of the mobile robot further comprising the step of performing map building in the work area.
11. The method of claim 10,

The at least one sensor includes a first sensor and a second sensor, and after moving backward in a state where a wire is positioned in a region defined between the first sensor and the second sensor, the first sensor and the second sensor 2 moving the sensor to be positioned in a direction corresponding to the location information of the work area with respect to the wire; and

When the work is completed in the work area, moving to the docking device along the wire in the determined driving direction; Control method of the mobile robot further comprising a.
10. The method of claim 9,

providing related information to a user in response to a change in the direction of the current flowing through the wire; and

The method further comprising the step of confirming whether the signal formed in the wire corresponds to a predetermined condition based on measurement information about a component in a vertical direction of a plane corresponding to the work area among the signal components formed in the wire A control method for a mobile robot.
10. The method of claim 9,

When it is confirmed that the signal formed from the wire in the work area according to the rotation in the first direction does not correspond to the predetermined condition, the signal formed from the wire by performing the rotation in the second direction is the predetermined condition Control method of a mobile robot, characterized in that it further comprises the step of checking whether it does not correspond to.