[go: up one dir, main page]

WO2020197135A1 - Robot mobile et son procédé de commande - Google Patents

Robot mobile et son procédé de commande Download PDF

Info

Publication number
WO2020197135A1
WO2020197135A1 PCT/KR2020/003467 KR2020003467W WO2020197135A1 WO 2020197135 A1 WO2020197135 A1 WO 2020197135A1 KR 2020003467 W KR2020003467 W KR 2020003467W WO 2020197135 A1 WO2020197135 A1 WO 2020197135A1
Authority
WO
WIPO (PCT)
Prior art keywords
moving robot
entry angle
obstacle
driving motor
controller
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2020/003467
Other languages
English (en)
Inventor
Juno CHOI
Janghun CHEONG
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
LG Electronics Inc
Original Assignee
LG Electronics Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by LG Electronics Inc filed Critical LG Electronics Inc
Publication of WO2020197135A1 publication Critical patent/WO2020197135A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45098—Vacuum cleaning robot

Definitions

  • the present disclosure relates to a moving robot, and more particularly, to a moving robot that can climb perpendicularly to a boundary line of an obstacle.
  • Robots have been developed for industrial use and have been a part of factory automation. In recent years, the application of robots has been further expanded, medical robots, aerospace robots, and the like have been developed, and home robots that can be used in general homes have also been manufactured. Among these robots, a robot capable of traveling by itself is called a moving robot. A representative example of a moving robot used in home is a robot cleaner.
  • Conventional robot cleaners have been identified through an optical sensor that is easy to determine distance, to determine terrain, and to identify image of obstacle, so as to determine the distance between obstacle and wall and perform mapping in the surrounding environment of the robot cleaner.
  • the present disclosure has been made in view of the above problems, and an object of the present disclosure is to provide a moving robot that identifies a climbable obstacle, and climbs the climbable obstacle while a body of the moving robot is not restrained or tilted greatly.
  • Another object of the present disclosure is to provide a moving robot that can enter perpendicularly to a boundary line of an obstacle.
  • Another object of the present disclosure is to provide a moving robot that can climb an obstacle by using a small force.
  • the present invention allows a moving robot to adjust the entry angle for an obstacle by analyzing the image around the main body or using two distance sensors.
  • the present invention includes an entry angle detection step of detecting an entry angle of the moving robot with respect to an obstacle; and a determining step of determining whether to climb the obstacle according to the entry angle of the moving robot.
  • the moving robot may climb the obstacle.
  • the moving robot may correct the posture.
  • the moving robot may execute the entry angle detection step and the determination step again, in the corrected posture.
  • the entry angle detection step may include an image acquisition step of acquiring an image of a surrounding of the moving robot and an image of an obstacle; and an entry angle calculation step of calculating an entry angle of the moving robot from the image of the obstacle.
  • the boundary line between the obstacle and the floor may be extracted from the image of the obstacle, and the angle between the boundary line and the moving direction of the moving robot may be determined as the entry angle of the moving robot.
  • the entry angle detecting step may include extracting a first distance between the obstacle and the first distance sensor and a second distance between the obstacle and the second distance sensor, and determining the entry angle of the moving robot based on a difference value between the first distance and the second distance.
  • the method may further include an avoidance determining step of determining whether to avoid the obstacle based on the height of the obstacle before the entry angle detecting step.
  • the present disclosure includes a first driving motor configured to drive a left wheel; a second driving motor configured to drive a right wheel; an image acquisition unit configured to acquire an image of surroundings and an image of an obstacle; and a controller configured to control the first driving motor and the second driving motor by analyzing the image acquired by the image acquisition unit, wherein the controller analyzes the image acquired by the image acquisition unit, detects an entry angle of the moving robot with respect to the obstacle, and controls to climb the obstacle according to the entry angle of the moving robot.
  • the entry angle of the moving robot is a normal entry angle
  • the controller controls the first driving motor and the second driving motor so that the moving robot climbs the obstacle.
  • the controller controls the first driving motor and the second driving motor so that the entry angle of the moving robot becomes a normal entry angle.
  • the controller drives the first driving motor and the second driving motor at a lower speed than a normal speed, when detecting the entry angle.
  • the controller stops the first driving motor and the second driving motor, when detecting the entry angle.
  • the present disclosure includes a first driving motor configured to drive a left wheel; a second driving motor configured to drive a right wheel; a first distance sensor configured to measure a first distance to an obstacle; a second distance sensor configured to measure a second distance to the obstacle; and a controller configured to control the first driving motor and the second driving motor, wherein the controller detects an entry angle of the moving robot with respect to the obstacle by comparing the first distance and the second distance, and controls to climb the obstacle according to the entry angle of the moving robot.
  • the first distance sensor and the second distance sensor are spaced apart from each other on a line parallel to a line connecting the left wheel and the right wheel.
  • the present disclosure includes detecting an entry angle of the moving robot with respect to an obstacle; and determining whether to climb the obstacle according to the detected entry angle of the moving robot.
  • the determining whether to climb the obstacle comprises: determining that the moving robot is able to climb the obstacle, if the entry angle of the moving robot is a normal entry angle; and changing the entry angle of the moving robot by modifying a posture of the moving robot, if the entry angle of the moving robot is an abnormal entry angle.
  • the present disclosure since the moving robot enters perpendicularly to the obstacle, the present disclosure has an advantage of preventing the restraint of the main body caused by obliquely climbing the obstacle, and preventing the wheel from being restrained by the rail when climbing the chassis.
  • the present disclosure since the moving robot enters perpendicularly to the obstacle, the present disclosure has an advantage of easily climbing the obstacle with a small force, and reducing the manufacturing cost by using a small motor.
  • the present disclosure determines the entry angle through a camera or a distance sensor originally installed in the robot cleaner, there is an advantage that the entry angle of the obstacle can be determined without the addition of the sensor.
  • FIG. 1 is a perspective view showing an example of a robot cleaner according to the present disclosure.
  • FIG. 2 is a plan view of the robot cleaner shown in FIG. 1.
  • FIG. 3 is a side view of the robot cleaner shown in FIG. 1.
  • FIG. 4 is a block diagram illustrating an exemplary component of a robot cleaner according to an embodiment of the present disclosure.
  • FIG. 5 is a diagram illustrating that a robot cleaner calculates an entry angle and changes the entry angle into a normal entry angle according to a first embodiment of the present disclosure.
  • FIG. 6 is a diagram illustrating that a robot cleaner calculates an entry angle and changes the entry angle into a normal entry angle according to a second embodiment of the present disclosure.
  • FIG. 7 is a flowchart illustrating a control method of a robot cleaner according to an embodiment of the present disclosure.
  • FIG. 8 is a flowchart illustrating an avoidance determination method of a robot cleaner according to an embodiment of the present disclosure.
  • spatially relative can be used to easily describe the correlation of elements with other elements.
  • Spatially relative terms should be understood in terms of the directions shown in the drawings, including the different directions of components at the time of use or operation. For example, when inverting an element shown in the drawings, an element described as “below” or “beneath” of another element may be placed “above” of another element. Thus, the exemplary term “below” may include both downward and upward directions.
  • the elements may also be oriented in a different direction, so that spatially relative terms can be interpreted according to orientation.
  • a moving robot 100 of the present disclosure means a robot that can move by itself by using a wheel or the like, and may be a home helper robot, a robot cleaner, or the like.
  • FIG. 1 is a perspective view showing an example of a moving robot 100 according to the present disclosure
  • FIG. 2 is a plan view of the moving robot 100 shown in FIG. 1
  • FIG. 3 is a side view of the moving robot 100 shown in FIG. 1.
  • a moving robot, and a cleaner performing autonomous traveling may be used in the same meaning.
  • the plurality of cleaners may include at least some of the components shown in FIGS. 1 to 3.
  • the robot cleaner 100 serves to clean a floor while traveling a certain area by itself.
  • the cleaning of the floor includes suctioning dust (including foreign matter) from the floor or wiping the floor.
  • the robot cleaner 100 may include a cleaner main body 110, a cleaning unit 120, a sensing unit 130, and a dust container 140.
  • the cleaner main body 110 includes a controller 1800 for controlling the robot cleaner 100 and includes various components that are embedded or installed.
  • the cleaner main body 110 is provided with a wheel unit 111 for traveling the robot cleaner 100.
  • the robot cleaner 100 may be moved in every direction or rotated by the wheel unit 111.
  • the robot cleaner 100 may include a first driving motor 1310, a second driving motor 1320, an image acquisition unit, and a controller 1800 for controlling the first driving motor 1310, and the second driving motor 1320.
  • the robot cleaner 100 may include a first driving motor 1310, a second driving motor 1320, a first distance sensor 1410a, a second distance F2 sensor 1410b, and a controller 1800 for controlling the first driving motor 1310, and the second driving motor 1320.
  • the wheel unit 111 includes a main wheel 111a, 111b and a sub wheel 111c. Obviously, the wheel unit 111 may be provided with only the main wheel 111a, 111b while omitting the sub wheel 111c.
  • the main wheel 111a, 111b may include a left wheel 111a and a right wheel 111b provided in both sides of the cleaner main body 110, respectively.
  • the main wheel 111a, 111b are configured to be rotatable in one direction or the other direction according to a control signal of the controller 1800.
  • Each of the left wheel 111a and the right wheel 111b may be configured to be driven independently of each other.
  • the left wheel 111a and the right wheel 111b may be driven by different motors.
  • the left wheel 111a and the right wheel 111b may be driven by a plurality of different shafts provided in a single motor.
  • the left wheel 111a may be driven by the first driving motor 1310
  • the right wheel 111b may be driven by the second driving motor 1320.
  • the left wheel 111a and the right wheel 111b are rotated about the rotational axis A1, and the rotation axis of the left wheel 111a and the rotation axis of the right wheel 111b may coincide with each other.
  • the sub wheel 111c supports the cleaner main body 110 together with the main wheel 111a, 111b and is configured to assist the traveling of the robot cleaner 100 by the main wheel 111a, 111b.
  • the sub wheel 111c may also be provided in the cleaning unit 120 described later.
  • the controller 1800 controls the driving of the wheel unit 111, so that the robot cleaner 100 can travel autonomously on the floor.
  • the cleaner main body 110 is equipped with a battery (not shown) for supplying power to the robot cleaner 100.
  • the battery may be configured to be chargeable, and may be configured to be detachably coupled to the bottom portion of the cleaner main body 110.
  • the cleaning unit 120 may be disposed to protrude from one side of the cleaner main body 110, and may suck air containing dust or wipe.
  • One side may be a side where the cleaner main body 110 travels in the forward direction F, i.e., the front side of the cleaner main body 110.
  • the cleaning unit 120 has a form of protruding in the front side and in both left and right sides from one side of the cleaner main body 110. Specifically, the front end portion of the cleaning unit 120 is disposed in a position spaced forward from one side of the cleaner main body 110, and both left and right ends of the cleaning unit 120 are disposed spaced apart from one side of the cleaner main body 110 to both left and right sides, respectively.
  • the first distance sensor 1410a measures a first distance F1 to an obstacle CA
  • the second distance F2 sensor 1410b measures a second distance F2 to the obstacle CA.
  • the first distance sensor 1410a and the second distance F2 sensor 1410b measure a distance to the obstacle CA located in front of the cleaner main body 110. More specifically, one of the first distance sensor 1410a and the second distance F2 sensor 1410b may be disposed forward or rearward than the other. At this time, the position of the first distance sensor 1410a and the second distance F2 sensor 1410b is taken into consideration in calculating the entry angle ⁇ A of the moving robot described later.
  • the first distance sensor 1410a and the second distance F2 sensor 1410b measure the distance of the obstacle CA (one point of the obstacle CA) located in the front F perpendicularly to the axis of rotation A1 of the wheel.
  • the first distance sensor 1410a and the second distance F2 sensor 1410b may be spaced apart from each other in a horizontal direction perpendicularly to the front and rear direction. That is, the first distance sensor 1410a and the second distance F2 sensor 1410b are disposed to be spaced apart from each other on a line A2 parallel to a line A1 connecting the left wheel 111a and the right wheel 111b. More specifically, the first distance sensor 1410a and the second distance F2 sensor 1410b may be disposed in front of the cleaning unit 120. The first distance sensor 1410a may be disposed in the left side relatively to the second distance sensor 1410b.
  • the first distance sensor 1410a and the second distance F2 sensor 1410b may be an infrared sensor, an ultrasonic sensor, an RF sensor, a geomagnetic sensor, and the like, and the moving robot may use one type of sensor as a front sensor, or may use two or more types of sensors together if necessary.
  • the first distance sensor 1410a and the second distance (F2) sensor 1410b may be an infrared sensor, or the first distance sensor 1410a and the second distance (F2) sensor 1410b may be an infrared sensor that emits infrared rays in a direction parallel to the front F and receives the reflected infrared rays.
  • the cleaner main body 110 is formed in a circular shape, and both rear ends of the cleaning unit 120 protrude from the cleaner main body 110 to left and right sides, respectively, so that an empty space, i.e. a gap can be formed between the cleaner main body 110 and the cleaning unit 120.
  • the empty space is a space between both ends of the left and right sides of the cleaner main body 110 and both ends of the left and right sides of the cleaning unit 120, and has a shape recessed inward to the robot cleaner 100.
  • the robot cleaner 100 When the obstacle CA is stuck in the empty space, the robot cleaner 100 may be caught by the obstacle CA and may not move. To prevent this, the cover member 129 may be disposed to cover at least a portion of the empty space.
  • the cover member 129 may be provided in the cleaner main body 110 or the cleaning unit 120.
  • the cover members 129 are protruded respectively from both rear ends of the cleaning unit 120, and cover the outer circumferential surface of the cleaner main body 110.
  • the cover member 129 is disposed to fill at least a part of an empty space, i.e. an empty space between the cleaner main body 110 and the cleaning unit 120. Therefore, the obstacle CA may be prevented from being stuck in the empty space, or a structure which can be easily separated from the obstacle CA even if the obstacle CA is stuck in the empty space may be implemented.
  • the cover member 129 protruded from the cleaning unit 120 may be supported on the outer circumferential surface of the cleaner main body 110. If the cover member 129 protrudes from the cleaner main body 110, the cover member 129 may be supported on the rear surface portion of the cleaning unit 120. According to the structure, when the cleaning unit 120 is shocked by colliding with the obstacle CA, a portion of the shock may be transmitted to the cleaner main body 110, so that the shock can be dispersed.
  • the cleaning unit 120 may be detachably coupled to the cleaner main body 110.
  • a wiping module (not shown) may be detachably coupled to the cleaner main body 110 in place of the separated cleaning unit 120.
  • the cleaning unit 120 may be installed in the cleaner main body 110, and when the user desires to wipe the floor, a wipe module may be installed in the cleaner main body 110.
  • the installing may be guided by the cover member 129 described above. That is, since the cover member 129 is disposed to cover the outer circumferential surface of the cleaner main body 110, the relative position of the cleaning unit 120 with respect to the cleaner main body 110 may be determined.
  • the cleaning unit 120 may be provided with a caster 123.
  • the caster 123 is configured to assist the robot cleaner 100 in traveling and also support the robot cleaner 100.
  • the sensing unit 130 is disposed in the cleaner main body 110. As shown, the sensing unit 130 may be disposed in one side of the cleaner main body 110 in which the cleaning unit 120 is located, i.e. disposed in front of the cleaner main body 110.
  • the sensing unit 130 may be disposed to overlap the cleaning unit 120 in the vertical direction of the cleaner main body 110.
  • the sensing unit 130 is disposed above the cleaning unit 120, and the cleaning unit 120 located in most anterior side of the robot cleaner 100 is configured to detect an obstacle CA or a geographic feature in front of the robot cleaner 100 so as not to collide with the obstacle CA.
  • the sensing unit 130 may be configured to additionally perform other sensing function in addition to such a sensing function.
  • the sensing unit 130 may include a camera (not shown) for acquiring the surrounding image.
  • the camera 131 may include a lens and an image sensor.
  • the camera converts an image around the cleaner main body 110 into an electrical signal that can be processed by the controller 1800 and transmits, for example, an electrical signal corresponding to the upper image to the controller 1800.
  • the electrical signal corresponding to the upper image may be used by the controller 1800 to detect the position of the cleaner main body 110.
  • the sensing unit 130 may include an image acquisition unit.
  • the image acquisition unit may include a 3D depth camera for acquiring the surrounding image and a distance between the main body and the obstacle CA.
  • the 3D depth camera will be described later.
  • the sensing unit 130 may detect an obstacle CA such as a wall, furniture, and a cliff on a traveling surface or a traveling path of the robot cleaner 100.
  • the sensing unit 130 may detect the existence of a docking device that performs battery charging.
  • the sensing unit 130 may detect the ceiling information to map the traveling zone or the cleaning zone of the robot cleaner 100.
  • the vacuum cleaner main body 110 is detachably coupled to a dust container 140 that separates and collects dust in sucked air.
  • the dust container 140 is provided with a dust container cover 150 covering the dust container 140.
  • the dust container cover 150 may be hinged to the cleaner main body 110 and configured to be rotatable.
  • the dust container cover 150 may be fixed to the dust container 140 or the cleaner main body 110 to maintain a state of covering the upper surface of the dust container 140. In a state where the dust container cover 150 is disposed to cover the upper surface of the dust container 140, the dust container 140 may be prevented from being separated from the cleaner main body 110 due to the dust container cover 150.
  • a part of the dust container 140 may be accommodated in the dust container accommodating part 113, but the other part of the dust container 140 may be formed to protrude toward the rear of the cleaner main body 110 (i.e. the reverse direction R opposite to the forward direction F).
  • the dust container 140 has an inlet through which air containing dust is introduced and an outlet through which air separated from the dust is discharged.
  • the inlet and the outlet of the dust container 140 are configured to communicate through an opening 155 formed in the inner wall of the cleaner main body 110.
  • an intake flow path and an exhaust flow path inside the cleaner main body 110 may be formed.
  • the air containing the dust introduced through the cleaning unit 120 is introduced into the dust container 140 through the intake flow path inside the cleaner main body 110, and the air and the dust are separate from each other while passing through a filter or a cyclone of the dust container 140.
  • the dust is collected in the dust container 140, and the air is discharged from the dust container 140 and finally discharged to the outside through an exhaust port 112 through an exhaust flow path inside the cleaner main body 110.
  • FIG. 4 an embodiment related to a component of the robot cleaner 100 is described.
  • the robot cleaner 100 may include at least one of a communication unit 1100, an input unit 1200, a traveling unit 1300, a sensing unit 1400, an output unit 1500, a power supply unit 1600, a memory 1700, a controller 1800, and a cleaning unit 1900, or a combination thereof.
  • the robot cleaner 100 may include a traveling unit 1300, an image acquisition unit, and a controller 1800.
  • FIG. 4 the components shown in FIG. 4 are not essential, and thus, a moving robot having more or fewer than the above components may be implemented.
  • a moving robot having more or fewer than the above components may be implemented.
  • only some of the components of a plurality of robot cleaners described in the present disclosure are the same as the components described below. That is, a plurality of moving robots may be composed of different components, respectively.
  • the power supply unit 1600 includes a battery that can be charged by an external commercial power supply and supplies power to the moving robot.
  • the power supply unit 1600 may supply traveling power to each of the components included in the moving robot, thereby supplying operation power required for the moving robot to travel or perform a specific function.
  • the controller 1800 may detect the remaining power of the battery and, if the remaining power is insufficient, may control to move to a charging station connected to an external commercial power, so that the battery can be charged by receiving a charging current from the charging station.
  • the battery may be connected to a battery detector so that the battery remaining amount and the charging state may be transmitted to the controller 1800.
  • the output unit 1500 may display the battery remaining amount on the output unit 1500 by the controller 1800.
  • the battery may be located in the lower portion of the center of the moving robot, or may be located in either the left or the right side. In the latter case, the moving robot may further include a balance weight to eliminate the weight bias of the battery.
  • the traveling unit 1300 is provided with a motor, and may rotate the left and right main wheels in both directions to rotate or move the main body by driving the motor. At this time, the left and right main wheels can move independently.
  • the traveling unit 1300 may move the main body of the moving robot in every direction, curve the main body, or rotate in the same place.
  • the input unit 1200 receives various control commands for the moving robot from a user.
  • the input unit 1200 may include one or more buttons.
  • the input unit 1200 may include a confirmation button, a setting button, and the like.
  • the confirmation button is a button for receiving a command for confirming detection information, obstacle (CA) information, location information, map information from a user
  • the setting button is a button for receiving a command for setting information from a user.
  • the input unit 1200 may include an input reset button for cancelling previous user input and receiving a user input again, a delete button for deleting preset user input, a button for setting or changing the operating mode, a button for receiving a command to return to a charging station, and the like.
  • the input unit 1200 may be a hard key, a soft key, a touch pad, or the like and may be installed in the upper portion of the moving robot.
  • the input unit 1200 may have a form of a touch screen together with the output unit 1500.
  • the output unit 1500 may be installed in the upper portion of the moving robot. Obviously, the installation location or installation form may be varied. For example, the output unit 1500 may display a battery state, a traveling type, or the like on a screen.
  • the output unit 1500 may output state information inside the moving robot detected by the sensing unit 1400, for example, the current state of respective components included in the moving robot.
  • the output unit 1500 may display external state information, obstacle CA information, location information, map information, or the like detected by the sensing unit 1400 on the screen.
  • the output unit 1500 may be formed of any one element of a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, an organic light emitting diode (OLED), and the like.
  • LED light emitting diode
  • LCD liquid crystal display
  • OLED organic light emitting diode
  • the output unit 1500 may further include sound output means for audibly outputting an operation process or an operation result of the moving robot performed by the controller 1800.
  • the output unit 1500 may output a warning sound to the outside according to the warning signal generated by the controller 1800.
  • the sound output means may be a means for outputting the sound of a beeper, a speaker, or the like, and the output unit 1500 may output to the outside through a sound output means by using audio data or message data having a certain pattern stored in the memory 1700.
  • the moving robot may output environmental information related to the traveling zone on the screen through the output unit 1500 or output the environmental information as a sound.
  • the moving robot may transmit map information or environmental information to a terminal device through the communication unit 1100 so that the terminal device can output a screen or sound which is to be output through the output unit 1500.
  • the memory 1700 stores a control program for controlling or driving a moving robot and corresponding data.
  • the memory 1700 may store audio information, image information, obstacle CA information, location information, map information, and the like.
  • the memory 1700 may store information related to a traveling pattern.
  • the memory 1700 mainly uses nonvolatile memory.
  • non-volatile memory (NVM, NVRAM) is a storage device that can maintain stored information even when power is not supplied.
  • NVM non-volatile memory
  • it may be ROM, Flash memory, magnetic computer memory device (e.g. hard disk, diskette drive, magnetic tape), optical disk drive, magnetic RAM, PRAM, and the like.
  • the sensing unit 1400 may include at least one of an external signal sensor, a front sensor, a cliff sensor, a 2D camera sensor, and a 3D camera sensor.
  • the external signal sensor may detect an external signal of the moving robot.
  • the external signal sensor may be, for example, an infrared ray sensor, an ultrasonic sensor, an RF sensor, or the like.
  • the moving robot can check the position and direction of the charging station by receiving a guide signal generated by the charging station using an external signal sensor.
  • the charging station may transmit a guide signal indicating the direction and distance so that the moving robot can return. That is, the moving robot may receive a signal transmitted from the charging station to determine the current position and set the movement direction so that the moving robot can return to the charging station.
  • a front sensor may be installed in a certain interval along the front of the moving robot, specifically, along the side outer circumferential surface of the moving robot.
  • the front sensor is located in at least one side of the moving robot to detect an obstacle CA in front, and the front sensor detects an object, in particular, an obstacle CA existing in the moving direction of the moving robot and may transmit to the controller 1800. That is, the front sensor may detect the protrusions, the household appliances, the furniture, the wall, the wall edges, and the like existing on the moving path of the moving robot and transmit the information to the controller 1800.
  • the front sensor may be, for example, an infrared sensor, an ultrasonic sensor, an RF sensor, a geomagnetic sensor, and the like, and the moving robot may use one type of sensor as the front sensor or two or more types of sensors as needed.
  • the ultrasonic sensor may generally be mainly used to detect a remote obstacle CA.
  • the ultrasonic sensor includes a transmitter and a receiver, and the controller 1800 determines whether there is an obstacle CA based on whether the ultrasonic wave radiated through the transmitter is reflected by the obstacle CA or the like and is received by the receiver, and may calculate the distance to the obstacle CA by using the ultrasonic radiation time and the ultrasonic reception time.
  • the controller 1800 may detect the information related to the size of the obstacle CA by comparing the ultrasound emitted from the transmitter and the ultrasound received from the receiver. For example, the controller 1800 may determine that the size of the obstacle CA is larger, as more ultrasonic waves are received in the receiver.
  • a plurality (e.g. five) ultrasonic sensors may be installed in the front side surface of the moving robot along the outer circumferential surface.
  • the transmitter and the receiver of the ultrasonic sensor may be alternately installed in the front surface of the moving robot.
  • the transmitter may be disposed to be spaced apart to the left and right sides from the front center of the main body, and one or more transmitters may be disposed between the receivers and may form a reception area of the ultrasonic signal reflected from the obstacle CA or the like.
  • This arrangement may allow a reception area to be extended while reducing the number of sensors.
  • the transmission angle of the ultrasonic wave may maintain an angle in a range that does not affect the different signals so as to prevent crosstalk.
  • the reception sensitivity of the receivers may be set differently.
  • the ultrasonic sensor may be installed upward by a certain angle so that the ultrasonic wave transmitted from the ultrasonic sensor is output upward, and may further include a certain blocking member to prevent the ultrasonic wave from being radiated downward.
  • the front sensor may use two or more types of sensors together, and accordingly, the front sensor may use any one type of sensor, among an infrared sensor, an ultrasonic sensor, an RF sensor, or the like.
  • the front sensor may include an infrared sensor as another type of sensor in addition to the ultrasonic sensor.
  • the infrared sensor may be installed in the outer circumferential surface of the moving robot together with the ultrasonic sensor.
  • the infrared sensor may also detect an obstacle CA existing in the front or side and transmit obstacle CA information to the controller 1800. That is, the infrared sensor detects protrusion, household appliance, furniture, wall, wall edge, and the like existing on the moving path of the moving robot and transmits the information to the controller 1800. Accordingly, the main body of the moving robot may move within a specific area without colliding with the obstacle CA.
  • a cliff detection sensor may detect an obstacles CA on the floor that supports the main body of the moving robot by using mainly various types of optical sensors. That is, the cliff sensor is installed on the back surface of the moving robot on the floor, but obviously, can be installed in different positions according to the type of moving robot.
  • the cliff sensor is located on the back surface of the moving robot to detect an obstacle (CA) on the floor.
  • the cliff sensor may be an infrared sensor, an ultrasonic sensor, an RF sensor, a position sensitive detector (PSD) sensor, and the like that have a light emitting unit and a light receiving unit like the obstacle (CA) sensor.
  • one of the cliff sensors may be installed in a front side of the moving robot, and the other two cliff sensors may be installed in a relatively rear side.
  • the cliff sensor may be a PSD sensor, but may be configured of different types of multiple sensors.
  • the PSD sensor uses a semiconductor surface resistance to detect a short and long distance position of incident light by a single p-n junction.
  • the PSD sensor includes a one-dimensional PSD sensor that detects light in only one axis direction and a 2D PSD sensor that can detect a light position on a plane, and both PSD sensors may have a pin photodiode structure.
  • the PSD sensor is one type of an infrared sensor, and uses infrared rays to measure distance by measuring an angle of infrared rays reflected from an obstacle CA after transmitting infrared rays. That is, the PSD sensor calculates the distance to the obstacle CA by using a triangulation method.
  • the PSD sensor includes a light emitting unit for emitting infrared rays to the obstacle CA and a light receiving unit for receiving infrared rays reflected from an obstacle CA, and is generally configured in a module form.
  • a stable measurement value may be acquired regardless of a difference in reflectivity and color of the obstacle CA.
  • the cleaning unit 1900 cleans the designated cleaning zone according to a control command transmitted from the controller 1800.
  • the cleaning unit 1900 scatters the surrounding dust through a brush (not shown) that scatters the dust of the designated cleaning zone, and then drives a suction fan and a suction motor to suck the scattered dust.
  • the cleaning unit 1900 may wipe the designated cleaning zone according to the replacement of a component.
  • the controller 1800 may detect a cliff and analyze the depth of the cliff by measuring an infrared angle between a light emitting signal of the infrared rays which a cliff sensor emitted toward the ground and a reflection signal received after being reflected by obstacle CA.
  • the controller 1800 may determine whether to pass the cliff according to the ground condition of the cliff detected by using the cliff sensor, and may decide whether to pass the cliff according to the determination result. For example, the controller 1800 determines whether the cliff exists and determines the depth of the cliff through the cliff sensor, and then allows to pass the cliff only when a reflection signal is detected by the cliff sensor. As another example, the controller 1800 may determine the lifting phenomenon of the moving robot by using the cliff sensor.
  • the 2D camera sensor is provided in one surface of the moving robot, and acquires image information related to the surroundings of the main body during movement.
  • An optical flow sensor converts a downward image inputted from an image sensor provided in the sensor to generate image data of a certain format.
  • the generated image data may be stored in the memory 1700.
  • one or more light sources may be installed adjacent to the optical flow sensor.
  • the one or more light sources irradiate light to a certain area of the bottom surface photographed by the image sensor. That is, when the moving robot moves a specific area along the bottom surface, if the bottom surface is flat, a constant distance is maintained between the image sensor and the bottom surface.
  • one or more light sources may be controlled by the controller 1800 to adjust the amount of light to be irradiated.
  • the light source may be a light emitting device capable of adjusting light quantity, for example, a light emitting diode (LED) or the like.
  • the controller 1800 may detect the position of the moving robot regardless of the sliding of the moving robot.
  • the controller 1800 may calculate the moving distance and the moving direction by comparing and analyzing the image data photographed by the optical flow sensor according to time, and may calculate the position of the moving robot based on the calculation of the moving distance and the moving direction.
  • the controller 1800 may perform a robust correction for the sliding with respect to the position of the moving robot calculated by other means.
  • the 3D camera sensor may be attached to one side or a portion of the main body of the moving robot to generate 3D coordinate information related to the surrounding of the main body. That is, the 3D camera sensor may be a 3D depth camera that calculates a short and long distance between the moving robot and an object to be photographed.
  • the 3D camera sensor may photograph a 2D image related to the surrounding of the main body, and generate a plurality of 3D coordinate information corresponding to the c photographed 2D image.
  • the 3D camera sensor may be formed of a stereo vision type that has two or more conventional cameras for acquiring a 2D image, combines the two or more images acquired from the two or more cameras, and generates 3D coordinate information.
  • the 3D camera sensor may include a first pattern irradiation unit for irradiating a light of a first pattern downward toward the front of the main body, a second pattern irradiation unit for irradiating a light of a second pattern upward toward the front of the main body, and an image acquisition unit for acquiring an image of the front of the main body.
  • the image acquisition unit may acquire an image of an area on which the light of the first pattern and the light of the second pattern are incident.
  • the 3D camera sensor includes an infrared pattern emission unit for irradiating an infrared pattern together with a single camera, and may measure the distance between the 3D camera sensor and the object to be photographed, by capturing a shape which is obtained by projecting the infrared pattern emitted from the infrared pattern emission unit onto an object to be photographed.
  • the 3D camera sensor may be a 3D camera sensor of infrared (IR) type.
  • the 3D camera sensor includes a light emitting unit that emits light together with a single camera, and may measure the distance between the 3D camera sensor and the object to be photographed, by receiving a part of the laser, which is reflected from the object to be photographed, emitted from the light emitting unit, and analyzing the received laser.
  • the 3D camera sensor may be a 3D camera sensor of a time of flight (TOF) type.
  • the laser of the 3D camera sensor as described above is configured to irradiate a laser having a form of being extended in at least one direction.
  • the 3D camera sensor may have a first laser and a second laser, the first laser may irradiate a straight laser crossing each other, and the second laser may irradiate a single straight laser.
  • a lowermost laser is used to detect the obstacle CA in the floor portion
  • an uppermost laser is used to detect the obstacle CA in the above
  • an intermediate laser between the lowermost laser and the uppermost laser is used to detect the obstacle CA of an intermediate portion.
  • the image acquisition unit acquires an image of the surrounding of the cleaner main body 110 and/or an image of the obstacle CA and provides the image to the controller 1800.
  • the image acquisition unit may photograph a 2D image related to the surrounding of the main body, and generate a plurality of 3D coordinate information corresponding to the photographed 2D image.
  • the image acquisition unit may include a 3D camera or a depth camera.
  • the communication unit 1100 is connected to a terminal device and/or other device (in the present specification, it will be used interchangeably with the term "home appliance") located in a specific area in one of wired, wireless, satellite communication methods, and transmits and receives a signal and data.
  • a terminal device and/or other device in the present specification, it will be used interchangeably with the term "home appliance” located in a specific area in one of wired, wireless, satellite communication methods, and transmits and receives a signal and data.
  • the communication unit 1100 may transmit and receive data with other device located in a specific area. At this time, any other device will do, if the any device can transmit and receive data by connecting to a network.
  • the other device may be an air conditioner, a heating device, an air purifier, a lamp, a TV, a car, and the like.
  • the other device may be a device for controlling a door, a window, a water valve, a gas valve, or the like.
  • the other device may be a sensor or the like that detects temperature, humidity, barometric pressure, gas, or the like.
  • the communication unit 1100 may communicate with other robot cleaner 100 located in a specific area or within a certain range.
  • a plurality of moving robots may communicate with a terminal (not shown) through network communication, and may communicate with each other.
  • the network communication may mean a short-range communication by using at least one of wireless communication technologies such as wireless LAN (WLAN), wireless personal area network (WPAN), wireless-fidelity (Wi-Fi), wireless fidelity (Wi-Fi), digital living network alliance (DLNA), wireless broadband (WBro), world interoperability for microwave access (WiMAX), Zigbee, Z-wave, Blue-Tooth, radio frequency identification (RFID), infrared data association (IrDA), Ultra-Band (UWB), wireless universal serial bus (Wireless USB), and the like.
  • wireless communication technologies such as wireless LAN (WLAN), wireless personal area network (WPAN), wireless-fidelity (Wi-Fi), wireless fidelity (Wi-Fi), digital living network alliance (DLNA), wireless broadband (WBro), world interoperability for microwave access (WiMAX), Zigbee, Z-wave, Blue-Tooth, radio frequency identification (RFID), infrared data association (IrDA), Ultra-Band (UWB), wireless universal serial bus (
  • the controller 1800 may serve to process information based on artificial intelligence, and may include one or more modules that perform at least one of information learning, information inferring, information perceiving, and natural language processing.
  • the controller 1800 uses a machine learning technology to perform at least one of learning, inferring, and processing of a large amount of information (big data) such as information stored in a cleaner, environment information around a mobile terminal, information stored in an external storage that can communicate, and the like.
  • big data such as information stored in a cleaner, environment information around a mobile terminal, information stored in an external storage that can communicate, and the like.
  • the controller 1800 may predict (or infer) the operation of at least one cleaner that can be executed, by using information learned using a machine learning technology, and may control the cleaner to execute the most feasible operation among at least one or more predicted operations.
  • Machine learning technology is a technology that collects and learns a large amount of information based on at least one algorithm, and determines and predicts information based on the learned information.
  • Learning of information is an operation of determining characteristics, rules, and determination criteria of information, quantifying a relationship between information, and predicting new data using a quantized pattern.
  • the algorithm used by machine learning technology may be an algorithm based on statistics, and, for example, may be a decision tree that uses a tree structure pattern as a predictive model, an artificial neural networks that mimics the structure and function of neural network of living things, a genetic programming based on the evolutionary algorithm of living things, a clustering which distributes observed examples into subsets called cluster, Monte carlo method for calculating a function value by probability through randomly extracted random numbers, and the like.
  • Deep learning technology is a technology that performs at least one of learning, determining, and processing information by using a Deep Neuron Network (DNN) algorithm.
  • the Deep Neuron Network (DNN) may have a structure that connects between layers and transfers data between layers.
  • Such deep learning technology can learn a huge amount of information through an Deep Neuron Network (DNN) by using a graphic processing unit (GPU) optimized for parallel computing.
  • GPU graphic processing unit
  • the controller 1800 may use a training data stored in an external server or memory, and may be equipped with a learning engine that detects a feature for recognizing a certain object.
  • the feature for recognizing an object may include the size, shape and shadow of an object.
  • the controller 1800 when the controller 1800 inputs a part of the image acquired through the image acquisition unit provided in the cleaner to the learning engine, the learning engine can recognize at least one object or life included in the input image. More specifically, the controller 1800 may recognize a general obstacle CA and a mat type obstacle CA among those recognized as an object through various methods.
  • the controller 1800 can recognize whether an obstacle CA, such as a chair leg, a fan, and a balcony crack of a certain shape, which hinders the traveling of the cleaner, exists around the cleaner. Thus, the efficiency and reliability of the traveling of the cleaner can be improved.
  • an obstacle CA such as a chair leg, a fan, and a balcony crack of a certain shape, which hinders the traveling of the cleaner, exists around the cleaner.
  • the learning engine as described above may be installed in the controller 1800, or may be installed in an external server.
  • the controller 1800 may control the communication unit 1100 to transmit at least one image that is an analysis target to the external server.
  • the external server may recognize at least one object or life included in a corresponding image, by inputting the image received from the cleaner to the learning engine.
  • the external server may transmit information related to the recognition result to the cleaner again.
  • the information related to the recognition result may include the number of objects included in the image that is an analysis target, and information related to the name of each object.
  • the controller 1800 may analyze an image and a long and short distance acquired by the image acquisition unit in the cleaning zone to determine whether there is an obstacle CA located around the main body, determine the avoiding of the moving robot in the case of the obstacle CA having a height equal to or greater than a reference height, calculate a planar area of the obstacle CA when the height of the obstacle CA is smaller than the reference height, and determine the climbing or avoiding of the main body based on the planar area of the obstacle CA.
  • the controller 1800 may distinguish the obstacle CA into a general obstacle CA and a mat type obstacle CA according to the above-described information learning or a given criterion. For example, the controller 1800 may recognize an object by big data or machine learning, and control the robot cleaner 100 to avoid or climb according to the characteristic of each object.
  • the controller 1800 may analyze the image and the long and short distance acquired by the image acquisition unit in the cleaning zone, and determine as the mat type obstacle CA when the height of the obstacle CA is less than or equal to a preset height (0.3 cm to 1 cm).
  • the controller 1800 may analyze the image and the long and short distance acquired by the image acquisition unit in the cleaning zone, and determine as the general obstacle CA when the height of the obstacle CA exceeds a preset height (0.3 cm to 1 cm).
  • the controller 1800 controls the robot cleaner 100 to avoid the general obstacle CA in the case of the general obstacle CA.
  • the controller 1800 may determine the mat type obstacle CA based on a similarity between the image of the reference obstacle CA and the image of the obstacle CA in the acquired image.
  • the image of the reference obstacle CA may be learned or pre-stored data.
  • the controller 1800 may compare the image of the reference obstacle CA including the images of various mat type obstacles CA with the image of the obstacle CA in the acquired image, and determine as the mat type obstacle CA when the similarity exceeds a preset value (90%).
  • the controller 1800 determines whether to climb the mat type obstacle CA. In detail, when the planar area of the mat type obstacle CA exceeds a preset planar value, the controller 1800 may control the traveling unit 1300 so that the main body climbs the mat type obstacle CA. In addition, the controller 1800 controls the traveling unit 1300 so that the main body avoids the mat type obstacle CA, when the planar area of the mat type obstacle CA is less than or equal to a preset planar value.
  • the preset planar value may be 1500 to 2300 cm2.
  • a mat type obstacle CA e.g. a foot mat
  • the robot cleaner 100 avoids the mat type obstacle as the mat type obstacle may be caught in the traveling unit 1300 when climbing or block the cleaning unit.
  • a mat type obstacle CA e.g. a carpet
  • the robot cleaner 100 climbs the mat type obstacle as there is no risk of being caught in the traveling unit 1300, and no risk of blocking the cleaning unit.
  • the robot cleaner 100 calculates the planar area of the mat type obstacle CA based on the information acquired through the image and determines whether to avoid or climb based on the calculation of the planar area, thereby reducing the damage of the robot cleaner 100, and quickly and accurately distinguish between a mat and a carpet.
  • the controller 1800 may control the cleaning unit to perform cleaning corresponding to the mat type obstacle CA.
  • the controller 1800 may control the cleaning unit to perform the cleaning of mat type obstacle CA. More specifically, the controller 1800 may adjust the suction pressure of the cleaning unit, adjust the rotation speed of sweeping roller, or adjust the traveling speed of the main body, in consideration of the roughness, shape, reflectivity, or the like of an upper surface of the mat type obstacle CA.
  • the controller 1800 may control a first driving motor 1310 and a second driving motor 1320 to climb the obstacle CA.
  • a left wheel 111a and a right wheel 111b of the robot cleaner do not contact the obstacle CA simultaneously, as described above, it may occur that the robot cleaner is restrained by the obstacle CA or not able to climb the obstacle CA.
  • FIG. 5 is a diagram illustrating that a robot cleaner calculates an entry angle and changes the entry angle into a normal entry angle according to a first embodiment of the present disclosure.
  • the controller 1800 may detect an entry angle ⁇ A of the moving robot with respect to the obstacle CA by analyzing an image acquired by the image acquisition unit, and control to climb the obstacle (CA) according to the entry angle ⁇ A of the moving robot.
  • the entry angle ⁇ A of the moving robot means an angle formed between the moving direction of the moving robot and the boundary line BL of the obstacle CA and the floor.
  • the entry angle ⁇ A of the moving robot may mean an angle formed between a line perpendicularly to the rotation axis A1 of the wheel and the side surface of the obstacle CA.
  • the boundary line BL of the obstacle CA and the floor may mean a boundary line between a surface of the obstacle CA facing the moving direction of the moving robot and the bottom.
  • the boundary line BL of the obstacle CA and the floor may be a straight line connecting both ends of the boundary line BL of the obstacle CA and the floor, or a virtual line connecting two points which are spaced apart from each other.
  • the virtual surface connecting between both ends of the side surface of the obstacle CA entered on the field of view may be determined as the side surface of the obstacle.
  • the side surface of obstacle CA and the boundary line BL between the side surface of obstacle CA and the floor are a straight line.
  • the entry angle ⁇ A may be determined based on a 2D image related to the periphery of the main body and a plurality of 3D coordinate information corresponding to the 2D image.
  • the controller 1800 may calculate an angle at which the side surface of the obstacle CA and the boundary line BL of the obstacle CA and the floor are inclined in the moving direction of the moving robot, based on the plurality of 3D coordinate and the 2D image.
  • the moving robot irradiates light in a direction inclined at a first angle ⁇ B to the left with respect to the forward direction from a reference point P, receives the reflected light, and calculates a first separation distance L1 between a left one point P1 of the side surface of the obstacle CA and the reference point P, and irradiates light in a direction inclined at a second angle ⁇ C equal to the first angle ⁇ B to the right with respect to the forward direction from the reference point P, receives the reflected light, and calculates a second distance L2 between a right one point P2 of the side surface of the obstacle CA and the reference point P.
  • the controller 1800 may calculate the entry angle ⁇ A by comparing the first separation distance L1 and the second separation distance L2. When the first separation distance L1 and the second separation distance L2 are the same, the entry angle ⁇ A is 90°.
  • the controller 1800 may confirm a boundary of an obstacle CA in a map generated based on a plurality of 2D coordinates and a 2D image, and may calculate a portion of the confirmed boundary of obstacle CA and an inclination angle of the moving direction of the moving robot.
  • the controller 1800 may control the moving robot so that the entry angle of the moving robot does not change when detecting the entry angle.
  • the controller 1800 may drive the first driving motor and the second driving motor at a speed lower than a normal speed, and at this time, the first driving motor and the second driving motor may be driven at the same speed.
  • the controller may stop the first driving motor and the second driving motor. If the driving motor stops when the entry angle is detected, a correct entry angle can be detected.
  • the controller 1800 may control the first driving motor 1310 and the second driving motor 1320 so that the entry angle ⁇ A of the moving robot becomes a normal entry angle.
  • the normal entry angle means that the moving robot enters approximately perpendicularly to the boundary of the obstacle CA.
  • the normal entry angle may be an entry angle ⁇ A of 87° to 93°.
  • the normal entry angle may be an entry angle ⁇ A of 88° to 92°. More preferably, the normal entry angle may be set to an entry angle ⁇ A ranging from 89° to 91°.
  • the abnormal entry angle means an entry angle ⁇ A excluding the normal entry angle.
  • the abnormal entry angle means that the moving robot enters not perpendicularly to the boundary of the obstacle CA.
  • the controller 1800 controls the first driving motor 1310 and the second driving motor 1320 to improve or reduce the output of any one of the first driving motor 1310 and the second driving motor 1320 while rotating the moving robot in one direction at a certain angle in place or moving the moving robot forward.
  • Such a control of the controller 1800 may be defined as correcting a posture of the moving robot.
  • the controller 180 may rotate the first driving motor 1310 forward and rotate the second driving motor 1320 reversely, thereby rotating the moving robot.
  • the forward rotation of the motor means that the wheel is rotated to move the moving robot forward
  • the reverse rotation of the motor means that the wheel is rotated to move the moving robot backward.
  • the controller 180 may detect the entry angle while rotating the moving robot until the entry angle of the moving robot becomes the normal entry angle.
  • the controller 1800 rotates the second driving motor 1320 forward to move the right wheel 111b forward so that the moving robot rotates.
  • the controller 1800 may repeat this operation until the first separation distance L1 and the second separation distance L2 become equal within an error range.
  • the controller 1800 may control the first driving motor 1310 and the second traveling so that the moving robot climbs the obstacle CA.
  • the controller 1800 may control the first driving motor 1310 and the second driving motor 1320 so that the moving robot approaches the obstacle CA while maintaining the entry angle ⁇ a.
  • the controller 1800 simultaneously controls the first driving motor 1310 and the second driving motor 1320 at the same speed, so that the moving robot can progress while maintaining the original direction (progress direction).
  • the controller 1800 may increase the outputs of the first driving motor 1310 and the second driving motor 1320 when the wheel contacts the obstacle CA.
  • the controller 1800 When the entry angle ⁇ A of the moving robot is a normal entry angle, the controller 1800 simultaneously controls the first driving motor 1310 and the second driving motor 1320 at the same speed so as to rotate forward, so that the moving robot progresses while maintaining the original direction (progress direction). At this time, the controller 1800 detects the contact of the wheel to the obstacle (CA), and can further adjust a minute entry angle.
  • the controller 1800 detects and determines whether the wheel contacts the obstacle CA through the loads of the first driving motor 1310 and the second driving motor 1320. When the load of any one of the first driving motor 1310 and the second driving motor 1320 reaches a threshold, the controller 1800 may stop the driving motor that having an increased load, and may drive the first driving motor 1310 and the second driving motor 1320 simultaneously after driving the load of the other driving motor to reach a threshold value.
  • the controller 1800 simultaneously increases the output of the first driving motor 1310 and the second driving motor 1320, thereby allowing the moving robot to climb obstacle.
  • FIG. 6 is a diagram illustrating that a robot cleaner calculates an entry angle ⁇ A and changes the entry angle ⁇ A into a normal entry angle according to a second embodiment of the present disclosure.
  • the controller 1800 may compare the first distance F1 and the second distance F2 to detect the entry angle ⁇ A of the moving robot with respect to the obstacle CA, and control to climb the obstacle CA according to the entry angle ⁇ A of the moving robot.
  • the method of calculating the entry angle ⁇ A of the moving robot may use a plurality of distance sensors. Specifically, the first distance sensor 1410a and the second distance F2 sensor 1410b may measure the distance to a part of the obstacle CA located in the forward in the direction parallel to the moving direction, and compares those distance, thereby calculating the entry angle ⁇ A.
  • the moving robot calculates a first distance F1 between the first distance sensor 1410a and a left one point P1 on the side surface of the obstacle CA, and calculates a second distance F2 between the second distance F2 sensor 1410b and a right one point P2 on the side surface of the obstacle CA.
  • the controller 1800 may control the moving robot so that the entry angle of the moving robot does not change when detecting the entry angle.
  • the controller 1800 may drive the first driving motor and the second driving motor at a speed lower than the normal speed, and at this time, can drive the first driving motor and the second driving motor at the same speed.
  • the controller may stop the first driving motor and the second driving motor, when detecting the entry angle. If the driving motor stops when the entry angle is detected, a correct entry angle can be detected. At this time, the robot cleaner is preferably positioned within a certain distance to the obstacle.
  • the controller 1800 may calculate the entry angle ⁇ A by comparing the first distance F1 and the second distance F2. When the first distance F1 and the second distance F2 are the same, the entry angle ⁇ A becomes 90°.
  • the controller 1800 may control the first driving motor 1310 and the second driving motor 1320 such that the entry angle ⁇ A of the moving robot becomes a normal entry angle.
  • the controller 1800 controls the first driving motor 1310 and the second driving motor 1320 to improve or reduce the output of any one of the first driving motor 1310 and the second driving motor 1320 while rotating the moving robot in one direction at a certain angle in place or moving the moving robot forward.
  • the controller 180 may rotate the first driving motor 1310 forward and reversely rotate the second driving motor 1320 to rotate the moving robot.
  • the controller 180 may determine a short distance among the first distance F1 and the second distance F2, and start the initial rotation of the moving robot in a direction in which the distance sensor measuring the short distance is located.
  • the controller 1800 may rotate the moving robot by moving the right wheel 111b forward through the second driving motor 1320.
  • the controller 1800 may repeat this operation until the first separation distance L1 and the second separation distance L2 become equal within an error range.
  • the controller 1800 may control the first driving motor 1310 and the second driving motor 1320 so that the moving robot climbs the obstacle CA.
  • the controller 1800 may control the first driving motor 1310 and the second driving motor 1320 to be rotated forward at the same speed.
  • FIG. 7 is a flowchart illustrating a control method of a robot cleaner according to an embodiment of the present disclosure
  • FIG. 8 is a flowchart illustrating an avoidance determination method of a robot cleaner according to an embodiment of the present disclosure.
  • the control method may be performed by the controller 1800.
  • the present disclosure may be a control method of the robot cleaner 100, or may be a robot cleaner 100 including a controller 1800 performing the control method.
  • the present disclosure may be a computer program including each step of the control method, or may be a recording medium on which a program for implementing the control method with a computer is recorded. "Recording medium” means a computer-readable recording medium.
  • the present disclosure may be a robot cleaner 100 control system including both hardware and software.
  • Each step of the flowcharts of the control method and combinations of the flowcharts may be performed by computer program instructions.
  • the instructions may be installed in a general purpose computer, a special purpose computer, or the like, such that the instructions create means for performing the functions described in the flowchart step (s).
  • the control method of a moving robot may include an entry angle ⁇ A detecting step (S140) of detecting an entry angle ⁇ A of the moving robot with respect to the obstacle CA, and determination steps (S150, S160, S170) of determining whether to climb the obstacle CA according to the entry angle ⁇ A of the moving robot
  • the control method of the moving robot may further include an image acquisition step (S110) of acquiring an image of the surroundings of the moving robot, a short and long distance between the moving robot and the obstacle CA, and a short and long distance to one point of the obstacle CA, a step (S120) of determining the obstacle CA based on the acquired image and the short and long distance, and a step (S130) of determining whether to avoid the obstacle CA.
  • an image acquisition step (S110) of acquiring an image of the surroundings of the moving robot, a short and long distance between the moving robot and the obstacle CA, and a short and long distance to one point of the obstacle CA a step (S120) of determining the obstacle CA based on the acquired image and the short and long distance
  • a step (S130) of determining whether to avoid the obstacle CA may further include an image acquisition step (S110) of acquiring an image of the surroundings of the moving robot, a short and long distance between the moving robot and the obstacle CA, and a short and long distance to one point of the obstacle CA,
  • the robot cleaner 100 acquires the image of the surroundings of the robot cleaner 100, the short and long distance to the obstacle CA, and the 3D coordinate around the moving robot in real time as it travels.
  • the controller 1800 may acquire an image and 3D coordinate of the surroundings of the robot cleaner 100 at regular intervals while traveling by controlling the image acquisition unit.
  • the image of the surroundings of the robot cleaner 100 may include the front and side surfaces of the robot cleaner 100.
  • the robot cleaner 100 determines whether the obstacle CA exists in the cleaning zone based on the obstacle CA and the surrounding image, and 3D coordinate information.
  • the robot cleaner determines the obstacle CA in the avoidance determination step (S130), it decides whether to avoid the obstacle CA based on the height of the obstacle CA (S1310). Specifically, the controller 1800 calculates the height of the obstacle CA based on the 3D coordinate and the 2D image of the obstacle CA. When the height of the obstacle CA is greater than a reference height, the controller 1800 controls the traveling unit 1300 so that the moving robot avoids the obstacle CA.
  • avoiding the obstacle CA means that the controller 1800 controls the traveling unit 1300 so that the robot cleaner 100 travels or cleans the cleaning zone excluding the obstacle CA.
  • the avoidance determination step (S130) although the avoidance can be determined only by the height of the obstacle CA, when the height of the obstacle CA is low, it is possible to determine whether to avoid the obstacle CA by calculating the planar area of the obstacle CA in order to determine the case of the obstacle CA that cannot climb, such as a towel.
  • the robot cleaner 100 calculates the planar area of the obstacle CA.
  • the planar area of the obstacle CA specifies the overall shape of the obstacle CA and the boundary of the obstacle CA by the image acquisition unit, combines the width, length, and height information of the obstacle CA and displays the shape of mat type obstacle CA in the planar coordinate system, and calculates the planar area of the mat type obstacle CA.
  • the robot cleaner 100 may determine the obstacle CA as a climbable obstacle CA.
  • the robot cleaner detects the entry angle ⁇ A with respect to the obstacle CA of the robot cleaner, when the obstacle CA does not need to be avoided. Detecting the entry angle ⁇ A is the same as described above with reference to FIGS. 5 and 6.
  • the robot cleaner determines whether the entry angle ⁇ A is a normal entry angle (S150). If the entry angle ⁇ A is a normal entry angle, the robot cleaner climbs the obstacle CA (S160). When the entry angle ⁇ A of the robot cleaner is an abnormal entry angle, the robot cleaner changes the entry angle ⁇ A by modifying the posture, (S170). In the modified posture, the robot cleaner may execute the entry angle ⁇ A detecting step (S140) and the determination steps (S150, S160, S170) of determining whether to climb the obstacle CA again.
  • the robot cleaner may modify the angle range of the normal entry angle, and may execute the entry angle ⁇ A detecting step (S140) and the determination steps (S150, S160, S170) of determining whether to climb the obstacle CA again.
  • the robot cleaner may modify the angle range of the normal entry angle by 86° to 94°, and may execute the entry angle ⁇ A detecting step (S140) and the determination steps (S150, S160, S170) of determining whether to climb the obstacle CA again.
  • the entry angle ⁇ A detecting step S140 includes an image acquisition step (S110) of acquiring an image of the surroundings of the moving robot, and an image of the obstacle CA, and an entry angle ⁇ A calculating step of calculating the entry angle ⁇ A of the robot cleaner from the image of the obstacle CA.
  • the boundary line BL of the obstacle CA and the floor is extracted from the image of the obstacle CA, and the angle between the boundary line and the moving direction of the robot cleaner may be determined.
  • An explanation of calculating the entry angle ⁇ A based on the image of the surroundings of the robot cleaner is the same as an explanation described with reference to FIG. 5.
  • the entry angle ⁇ A detecting step S140 may include extracting the first distance F1 between the obstacle CA and the first distance sensor 1410a and the second distance F2 between the obstacle CA and the second distance sensor 1410b, and may determine an entry angle ⁇ A of the robot cleaner based on a difference value between the first distance F1 and the second distance F2.
  • the robot cleaner 100 may store information on whether the obstacle CA can be climbed and a 2D boundary line of the obstacle CA on an obstacle CA map, and transmit the stored map to other robot cleaner 100.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
  • Manipulator (AREA)

Abstract

Un robot mobile selon la présente invention ajuste un angle d'entrée pour un obstacle par analyse d'une image autour d'un corps principal ou à l'aide de deux capteurs de distance, empêchant ainsi une roue d'être retenue par l'obstacle.
PCT/KR2020/003467 2019-03-25 2020-03-12 Robot mobile et son procédé de commande Ceased WO2020197135A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020190033339A KR102424536B1 (ko) 2019-03-25 2019-03-25 이동 로봇 및 이동 로봇의 제어방법
KR10-2019-0033339 2019-03-25

Publications (1)

Publication Number Publication Date
WO2020197135A1 true WO2020197135A1 (fr) 2020-10-01

Family

ID=72610213

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2020/003467 Ceased WO2020197135A1 (fr) 2019-03-25 2020-03-12 Robot mobile et son procédé de commande

Country Status (2)

Country Link
KR (1) KR102424536B1 (fr)
WO (1) WO2020197135A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113189992A (zh) * 2021-04-26 2021-07-30 四川大学 一种基于局部定向的群体智能避障方法
CN114227711A (zh) * 2021-12-24 2022-03-25 杭州申昊科技股份有限公司 一种地下电网巡检机器人
CN115639820A (zh) * 2022-10-18 2023-01-24 未岚大陆(北京)科技有限公司 虚拟墙的设置方法、自主移动设备和计算机可读存储介质
CN117139288A (zh) * 2023-06-12 2023-12-01 南京航空航天大学 一种基于无人机巡检的爬壁清洗装置
CN120066059A (zh) * 2025-04-27 2025-05-30 广东电网有限责任公司佛山供电局 配电网机器人的爬升方法、装置、计算机设备及存储介质

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20220102058A (ko) 2021-01-12 2022-07-19 삼성전자주식회사 로봇 및 그 제어 방법
CN115437388B (zh) * 2022-11-09 2023-01-24 成都朴为科技有限公司 一种全向移动机器人脱困方法和装置

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5804942A (en) * 1995-08-08 1998-09-08 Samsung Electronics Co., Ltd. Position determining apparatus and control method of robot
JP2006178664A (ja) * 2004-12-21 2006-07-06 Funai Electric Co Ltd 自走掃除ロボット
KR100635828B1 (ko) * 2005-04-25 2006-10-19 엘지전자 주식회사 청소용 로봇의 청소 주행방법
KR20090061296A (ko) * 2007-12-11 2009-06-16 삼성전자주식회사 이동 로봇의 자세 보정 방법 및 장치
KR101165969B1 (ko) * 2011-04-27 2012-07-18 목포대학교산학협력단 거리 및 각도측정 기능을 갖는 위치측정장치

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101495849B1 (ko) 2014-10-24 2015-03-03 김태윤 에코 마그네슘 합금 제조방법과 제조장치

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5804942A (en) * 1995-08-08 1998-09-08 Samsung Electronics Co., Ltd. Position determining apparatus and control method of robot
JP2006178664A (ja) * 2004-12-21 2006-07-06 Funai Electric Co Ltd 自走掃除ロボット
KR100635828B1 (ko) * 2005-04-25 2006-10-19 엘지전자 주식회사 청소용 로봇의 청소 주행방법
KR20090061296A (ko) * 2007-12-11 2009-06-16 삼성전자주식회사 이동 로봇의 자세 보정 방법 및 장치
KR101165969B1 (ko) * 2011-04-27 2012-07-18 목포대학교산학협력단 거리 및 각도측정 기능을 갖는 위치측정장치

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113189992A (zh) * 2021-04-26 2021-07-30 四川大学 一种基于局部定向的群体智能避障方法
CN114227711A (zh) * 2021-12-24 2022-03-25 杭州申昊科技股份有限公司 一种地下电网巡检机器人
CN114227711B (zh) * 2021-12-24 2024-06-07 杭州申昊科技股份有限公司 一种地下电网巡检机器人
CN115639820A (zh) * 2022-10-18 2023-01-24 未岚大陆(北京)科技有限公司 虚拟墙的设置方法、自主移动设备和计算机可读存储介质
CN117139288A (zh) * 2023-06-12 2023-12-01 南京航空航天大学 一种基于无人机巡检的爬壁清洗装置
CN120066059A (zh) * 2025-04-27 2025-05-30 广东电网有限责任公司佛山供电局 配电网机器人的爬升方法、装置、计算机设备及存储介质
CN120066059B (zh) * 2025-04-27 2025-09-05 广东电网有限责任公司佛山供电局 配电网机器人的爬升方法、装置、计算机设备及存储介质

Also Published As

Publication number Publication date
KR102424536B1 (ko) 2022-07-22
KR20200119375A (ko) 2020-10-20

Similar Documents

Publication Publication Date Title
WO2020197135A1 (fr) Robot mobile et son procédé de commande
WO2020004834A1 (fr) Pluralité d'appareils de nettoyage autonomes et procédé de commande de tels appareils de nettoyage autonomes
WO2020180107A1 (fr) Robot mobile et procédé pour commander le robot mobile
WO2020149696A1 (fr) Robot mobile et procédé de commande d'une pluralité de robots mobiles
WO2020149697A1 (fr) Robot mobile et procédé de commande de robot mobile
WO2018164326A1 (fr) Aspirateur et procédé de commande associé
WO2020004824A1 (fr) Pluralité de dispositifs de nettoyage autonomes et procédé de commande associé
WO2018026124A1 (fr) Robot mobile et son procédé de commande
WO2019221524A1 (fr) Aspirateur et son procédé de commande
WO2019132419A1 (fr) Appareil mobile de nettoyage et procédé de commande associé
AU2019334724A1 (en) Plurality of autonomous mobile robots and controlling method for the same
WO2019017521A1 (fr) Dispositif de nettoyage et procédé de commande associé
WO2018079985A1 (fr) Aspirateur et son procédé de commande
WO2019212239A1 (fr) Pluralité de robots nettoyeurs et leur procédé de commande
WO2020139029A1 (fr) Robot mobile
WO2021006590A1 (fr) Dispositif d'accueil et système de robot mobile
WO2021071049A1 (fr) Robot de nettoyage et procédé de commande de celui-ci
WO2020226426A2 (fr) Robot mobile et procédé de commande de robots mobiles
WO2016200098A1 (fr) Robot mobile et son procédé de commande
WO2019212173A1 (fr) Aspirateur et son procédé de commande
WO2020017942A1 (fr) Robot nettoyeur et son procédé de commande
WO2018131856A1 (fr) Dispositif de nettoyage et procédé de commande dudit dispositif de nettoyage
WO2017146419A1 (fr) Robot mobile et son procédé de commande
WO2019221523A1 (fr) Dispositif de nettoyage et procédé de commande dudit dispositif de nettoyage
WO2019212174A1 (fr) Aspirateur à intelligence artificielle et procédé de commande associé

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20778379

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20778379

Country of ref document: EP

Kind code of ref document: A1