Mobile robot and operating method thereof

Abstract

The invention provides a mobile robot and an operation method of the mobile robot. The mobile robot includes: a projector disposed on one side of the mobile robot to project visual information; and a control unit configured to control the projector so as to project the visual information to the outside. In a mobile robot, a control unit controls a projector in such a manner that first visual information for marking a safe area is projected onto a ground surface in the vicinity of the mobile robot while the mobile robot travels, a safe area change is determined on the basis of at least one change in a traveling state or a surrounding situation of the mobile robot, the projector is then controlled in such a manner that at least one of a size, a shape, or a color of the first visual information is changed, and the resulting first visual information is projected.

Description

Technical Field

[0001] This disclosure relates to a mobile robot and a method for operating the mobile robot, and more specifically to a mobile robot capable of projecting visual information about a safe area while the mobile robot is moving, and a method for operating the mobile robot. Background Technology

[0002] In recent years, mobile robots have been used for a variety of purposes. Therefore, in addition to displays, projectors are also installed on mobile robots as needed to provide various functions.

[0003] Typically, projectors mounted on mobile robots are limited to providing image displays for entertainment purposes.

[0004] Korean Patent Application Publication No. 10-2019-0171901 (hereinafter referred to as 'Related Document 1') discloses a robot equipped with a projector that selects a projection area based on image information and user information. However, Related Document 1 does not provide extensive visual information related to the robot's safety.

[0005] Furthermore, Korean Patent Application Publication No. 10-2016-0162063 (hereinafter referred to as "Related Document 2") only partially discloses a technology for displaying safety guidance and information. However, this technology only provides safety guidance in a specified form and does not reflect the various states or surrounding conditions of the mobile robot. Therefore, the mobile robot cannot achieve satisfactory functionality in ensuring safe movement. Summary of the Invention

[0006] One object of this disclosure is to provide a mobile robot and a method of operating the mobile robot, the mobile robot including a projector on its body and capable of projecting visual information for marking safe areas in order to prevent safety accidents such as collisions during movement.

[0007] Another object of this disclosure is to provide a mobile robot and a method of operating the mobile robot, which can provide travel safety by using a projector included in the mobile robot to mark a safe area on the outside that is suitable for the current travel state of the mobile robot.

[0008] Another object of this disclosure is to provide a mobile robot and a method of operating the mobile robot, which can externally mark its intended operation even when obstacles or people in the vicinity of the mobile robot move in unpredictable directions, thereby avoiding collisions.

[0009] Another object of this disclosure is to provide a mobile robot and a method of operating the mobile robot, which can mark the position of a mobile robot having a different travel state from that of an external mobile robot, even when communication between multiple mobile robots is difficult or communication with the mobile robot is unstable.

[0010] Another object of this disclosure is to provide a mobile robot and a method of operating the mobile robot, which can mark a safe area externally in such a way that changes in the operating state of the mobile robot can be immediately perceived even from the front of the mobile robot (e.g., using a mobile robot connected to a cart).

[0011] Another object of this disclosure is to provide a mobile robot and a method of operating the mobile robot, which can mark the risk area externally by a projector for safety when the mobile robot encounters a risk area while traveling through a designated travel space.

[0012] Another object of this disclosure is to provide a mobile robot that, while moving, marks a safe area associated with its movement on the outside using a projector located on one side of it.

[0013] Another object of this disclosure is to provide a mobile robot that can sense changes in the robot's movement or surroundings and then project markings of a safe area onto the outside.

[0014] According to one aspect of this disclosure, a mobile robot is provided, comprising: a projector disposed on one side of the mobile robot for projecting visual information; and a control unit configured to control the projector for projecting visual information externally. In the mobile robot, the control unit controls the projector in such a way that first visual information for marking a safety area is projected onto the ground near the mobile robot while the mobile robot is moving, a change in the safety area is determined based on at least one change in the mobile robot's movement state or the surrounding conditions, and the projector is controlled in such a way that the first visual information is changed according to the determination result and the changed first visual information is projected.

[0015] In a mobile robot, the safe zone can be an area outside the restricted entry area determined based on the shape and movement state of the mobile robot. The first visual information can be at least one of the following: an image or text that indicates the restricted entry area in such a way that the boundary between the safe zone and the restricted entry area is visually distinguishable.

[0016] The mobile robot may also include a sensing unit configured to sense the mobile robot’s travel speed, wherein the control unit can perceive the sensed travel speed as a change in the mobile robot’s travel state, determine a change in the safe zone, and control the projector in such a way that at least one of the color or size of the first visual information changes according to the determination result.

[0017] In a mobile robot, a sensing unit can sense the direction of travel of the mobile robot, and a control unit can control a projector in such a way that the shape of the image of the first visual information is elongated toward the sensed direction of travel.

[0018] In a mobile robot, the image size of the first visual information can be increased or decreased in accordance with the sensed travel speed, and the image color of the first visual information can be changed in such a way that the warning level changes in accordance with the sensed travel speed.

[0019] The mobile robot may also include a sensing unit configured to sense obstacles near the mobile robot, wherein the control unit may control the projector based on the sensed obstacle approaching the mobile robot in such a way that the first visual information changes according to the state of the sensed obstacle.

[0020] In a mobile robot, the travel state may include an operational state that varies depending on whether another mobile body is connected. The control unit can sense the mobile body connected to the connecting member of the mobile robot and control the projector based on information about the mobile body in such a way that first visual information is changed and the changed first visual information is projected.

[0021] In a mobile robot, information about the mobile bodies may include information about the number of mobile bodies connected to the mobile robot. Furthermore, in a mobile robot, the control unit may control the projector based on information about the number of connected mobile bodies in such a way that at least one of the size or shape of the first visual information changes.

[0022] In a mobile robot, the control unit can control the projector based on information about the number of connected mobile bodies in such a way that at least one change in the size or shape of the first visual information appears in accordance with the direction of travel of the mobile robot.

[0023] In a mobile robot, information about the mobile body may include information about the amount of load present on the mobile body connected to the mobile robot. Furthermore, in the mobile robot, the control unit may estimate an entry restriction area based on the information about the amount of load present on the mobile body, and control the projector in such a way that it changes at least one of the size or shape of the first visual information according to the estimated entry restriction area.

[0024] The mobile robot may also include a sensing unit configured to sense the surroundings of the mobile robot at its location. Furthermore, in the mobile robot, the control unit can sense crossroads or corners caused by changes in the surroundings of the mobile robot, and control the projector to change at least one of the shape or size of a first visual information based on the mobile robot's approach to the crossroads or corners.

[0025] In a mobile robot, the control unit can adjust the degree of change in at least one of the shape or size of the first visual information in accordance with the degree to which the mobile robot approaches a fork in the road or a corner. Furthermore, in a mobile robot, when it is sensed that the mobile robot has passed a fork in the road or a corner, the mobile robot can control the processor in such a way that the shape or size of the first visual information is restored to its previous state.

[0026] In a mobile robot, before the mobile robot begins to move, the control unit can project first visual information onto the ground, and interrupt the projection of the first visual information based on a predetermined time elapsed after the mobile robot stops moving.

[0027] According to another aspect of this disclosure, a mobile robot is provided, comprising: a projector disposed on one side of the mobile robot to project visual information; and a control unit configured to control the projector to project visual information externally. Furthermore, in the mobile robot, the control unit controls the projector in such a way that first visual information for marking a safety area is projected onto the ground near the mobile robot while the mobile robot is moving; determines the next operation of the mobile robot based on at least one change in the mobile robot's movement state or surrounding conditions; and controls the projector in such a way that, based on the determination, second visual information associated with the scheduled next operation is projected.

[0028] The mobile robot may also include a sensing unit configured to sense obstacles near the mobile robot, wherein the control unit may determine the next action of the mobile robot based on the approach of the obstacle to the mobile robot due to changes in the surrounding conditions, and control the projector in such a way that, before performing the scheduled next action, a second visual information indicating the sensed obstacle is projected based on the determination result.

[0029] In a mobile robot, as a next operation, the control unit can determine to move around an obstacle and control the projector in such a way that, before the mobile robot moves around the obstacle, it projects second visual information indicating the position of the obstacle based on the determination result.

[0030] In a mobile robot, when the robot is unable to move around an obstacle due to its movement state, in order to make the sensed obstacle move around the robot, the control unit can control the projector in such a way that the third visual information indicating the access restriction is projected onto the ground near the mobile robot.

[0031] The mobile robot may also include a sensing unit configured to sense obstacles in the vicinity of the mobile robot. Furthermore, in the mobile robot, as a next operation, the control unit may determine, based on the sensing of multiple obstacles due to changes in the surrounding environment, to provide movement guidance for a first obstacle, and control the projector in such a way that, according to the determination result, it projects second visual information indicating movement guidance based on the positions of the mobile robot and the second obstacle.

[0032] In a mobile robot, the second visual information may include: a first motion guide for marking a safe area based on the position of the mobile robot and a second obstacle; and a second motion guide for marking a danger area based on the position of the mobile robot and the second obstacle, the second motion guide being different from the first motion guide.

[0033] The mobile robot may also include a sensing unit configured to sense the state of the ground while the mobile robot is moving. Furthermore, within the mobile robot, a control unit may detect risk areas based on the sensed ground state and control a projector in such a way that second visual information indicating the detected risk areas is marked before the mobile robot stops as its next operation.

[0034] The mobile robot and its operating method according to embodiments of the present disclosure mark safe areas using a projector while the mobile robot is moving. Furthermore, the safe areas adaptively change based on the mobile robot's movement and surrounding conditions while it is moving. Therefore, movement safety can be ensured more reliably, and movement safety can be quickly identified from the outside.

[0035] Furthermore, visual information can be projected in various forms to ensure safe movement. The projected visual information can be flexibly varied to reflect the changing safety zone based on the mobile robot's movement and surrounding conditions.

[0036] Furthermore, mutual recognition is possible without direct communication between the mobile robot and other nearby robots, allowing them to anticipate each other's next move for safer navigation. Therefore, the mobile robot can effectively maneuver to prevent collisions or similar accidents, and the manager can visually anticipate the mobile robot's next action.

[0037] Depending on the purpose of using the mobile robot, it is used in conjunction with another mobile entity connected to its rear. In this case, the visual image of the safe zone includes information such as the presence of the mobile entity, the number of connected mobile entities, and the load on the mobile entity, which is projected onto the ground in front of the mobile robot. Furthermore, safe distances are shown and marked in the visual image. Therefore, external robots or people can not only bypass the moving mobile robot but also the entire mobile robot, including the various carts connected to its rear.

[0038] In addition, warning and risk zones that the mobile robot senses while moving can be marked externally in such a way that nearby robots or people can perceive these zones, thereby helping to ensure the safety of the robot's movement or the safety of people. Attached Figure Description

[0039] The above and other aspects, features and advantages of this disclosure will become clearer from the following detailed description taken in conjunction with the accompanying drawings, wherein:

[0040] Figure 1 This is a block diagram illustrating an exemplary configuration of a mobile robot according to the present disclosure;

[0041] Figure 2 This is a representative flowchart, which is used to describe the operation method of the mobile robot according to this disclosure;

[0042] Figures 3A to 3C These are views illustrating various examples of a mobile robot according to this disclosure marking out and associating with a safe area for movement;

[0043] Figure 4 (a), (b) and (c) are exemplary views, which are referenced to describe the method of marking a safety area in a manner that varies with the travel speed of a mobile robot according to this disclosure;

[0044] Figure 5 (a) and (b) and Figure 6 (a) and (b) are exemplary views, which are referenced to describe a method for marking a safety area in a manner that varies according to the direction of travel of a mobile robot according to the present disclosure;

[0045] Figure 7 This is an exemplary view, which is referred to to describe how a safety zone is marked differently when an obstacle approaches a mobile robot according to this disclosure;

[0046] Figure 8A and Figure 8B These are exemplary views, which are used to describe the changes in the markings of the safety area that vary with the form of the mobile robot according to this disclosure;

[0047] Figure 8C and 8D These are exemplary views, which are referenced to describe changes in the markings of a safety area based on information about the amount of load present on another mobile body connected to the mobile robot, according to this disclosure;

[0048] Figure 9 This is an exemplary view, which is referred to to describe how safety areas are marked in different ways when a mobile robot according to this disclosure travels along a corner;

[0049] Figure 10 This is a flowchart, which is referred to in order to describe another method of operating the mobile robot according to this disclosure;

[0050] Figure 11A and Figure 11B These are exemplary views, each showing the mobile robot according to this disclosure marking its intention to perform a detour operation in response to an approaching obstacle and a safety zone for itself;

[0051] Figure 12 This is an exemplary view showing a mobile robot responding to an approaching obstacle while marking its inability to detour and its own safety zone;

[0052] Figure 13A , Figure 13B and Figure 13C These are views, with reference to which an example is described of a mobile robot marking a safe area by considering the expected movement of the obstacles when the mobile robot according to this disclosure senses multiple obstacles; and

[0053] Figure 14A , Figure 14B and Figure 14C These are views, which are referenced to mark risk areas sensed while the mobile robot is moving according to this disclosure. Detailed Implementation

[0054] The exemplary embodiments disclosed herein will now be described in detail with reference to the accompanying drawings. For the sake of brevity with reference to the drawings, identical or equivalent components may have the same or similar reference numerals, and therefore will not be described again. Generally, suffixes such as “module” and “unit” may be used to refer to elements or components. These suffixes are used herein solely for ease of description and are not intended to assign any particular meaning or function. In describing this disclosure, detailed explanations of related known technologies or structures are omitted if it is deemed unnecessary to deviate from the spirit of the disclosure, but such explanations will be understood by those skilled in the art. The accompanying drawings are provided to aid in the easy understanding of the technical ideas of this disclosure, and it should be understood that the ideas of this disclosure are not limited to the drawings. The ideas of this disclosure should be interpreted as extending to any changes, equivalents, and substitutions other than those shown in the drawings.

[0055] It should be understood that although this document may use terms such as first, second, etc., to describe various elements, these elements should not be limited by these terms. These terms are generally used only to distinguish elements from one another.

[0056] It should be understood that when referring to one element as "connected" to another, the element can be connected to the other element, or there may be an intermediate element. Conversely, when referring to one element as "directly connected" to another, there is no intermediate element.

[0057] Singular expressions may include plural expressions unless their meaning is clearly different from that in the context.

[0058] This document uses terms such as “comprising” or “having”, and it should be understood that these terms are intended to indicate the presence of several components, functions or steps disclosed in the specification, and it should also be understood that more or fewer components, functions or steps may also be used.

[0059] The 'mobile robot' disclosed in this specification is capable of autonomous movement and refers to a machine that performs assigned tasks. Mobile robots are classified according to their intended use and application into industrial mobile robots, household mobile robots, military mobile robots, and medical mobile robots.

[0060] Tasks assigned to mobile robots can include cleaning, delivery, service, product arrangement, guidance, and content provision. Mobile robots can perform various functions and operations to carry out these assigned tasks. Furthermore, mobile robots also include drive units with actuators, motors, brakes, etc., to perform autonomous movement.

[0061] Figure 1 This is a block diagram illustrating an exemplary configuration of a mobile robot 100 according to the present disclosure.

[0062] refer to Figure 1 The mobile robot 100 according to this disclosure may include a communication unit 110, an input unit 120, a travel unit 130, a sensing unit 140, an output unit 150, a projector 160, a memory 170, a control unit 180, and a power supply unit 190. Figure 1 Not all of the constituent elements shown are essential for realizing the mobile robot 100. In addition to the constituent elements described above, the mobile robot 100 may include one or more constituent elements, or one or more constituent elements may be omitted from the above constituent elements.

[0063] The communication unit 110 may include at least one module for enabling wireless communication between the mobile robot 100 and an external server (e.g., an artificial intelligence server or an external terminal). Furthermore, the communication unit 110 may include one or more modules through which the mobile robot 100 can connect to one or more networks. Additionally, the communication unit 110 may include one or more modules through which the mobile robot 100 can communicate with other robots.

[0064] Communication unit 110 can communicate with artificial intelligence (AI) servers and other similar servers using wireless internet communication technologies such as Wireless Local Area Network (WLAN), Wi-Fi, Wi-Fi Direct, Digital Living Network Alliance (DLNA), WiBro, Global Microwave Access Interoperability (WiMAX), High-Speed ​​Downlink Packet Access (HSDPA), High-Speed ​​Uplink Packet Access (HSUPA), Long Term Evolution (LTE), and LTE-A Advanced. TM It uses short-range communication technologies such as Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), ZigBee, and Near Field Communication (NFC) to communicate with external terminals and other similar terminals.

[0065] The input unit 120 may include: a camera 121 or image input unit for inputting image signals; a sound receiving module 122 (e.g., a microphone) for inputting audio signals; and a user input unit (not shown) (e.g., touch keys, mechanical keys, etc.) for receiving information from the user as input. The signal data, voice data, and image data acquired by the input unit 120 can be analyzed and processed into control commands.

[0066] Camera 121 can be mounted on one side of the main body of the mobile robot 100, or at multiple locations on the main body. In the latter case, one camera can be mounted on the front surface of the main body facing forward, and another camera can be mounted on the side or rear surface of the main body facing sideways / backwards. Thus, a 360-degree field of view can be formed.

[0067] When multiple cameras 121 are configured, the first camera may be, for example, a 3D stereo camera. A 3D stereo camera can perform functions such as obstacle detection, user face recognition, and stereo image acquisition. By using the first camera, the mobile robot 100 can sense and avoid obstacles present in its own direction of movement, and can perform various control operations by recognizing a user. Furthermore, the second camera may be, for example, a Simultaneous Localization and Mapping (SLAM) camera. A SLAM camera performs the function of tracking the current position of the camera through feature point matching and creating a 3D map based on the tracking results. The mobile robot 100 can use the second camera to determine its own current position. Additionally, the camera 121 can identify objects within its field of view and perform the function of capturing still and moving images of the objects. Relatedly, the camera 121 may include at least one of the following sensors: a camera sensor (e.g., a CCD sensor or a CMOS sensor), a light sensor (or an image sensor), or a laser sensor. The camera 121 and the laser sensor can be combined to sense touch on a sensed target on a 3D stereo image. The light sensor may be stacked on the display element and configured to scan the movement of a sensed target approaching the touchscreen. More specifically, the light sensor includes photodiodes and transistors (TRs) arranged in rows / columns, thus using electrical signals that change according to the amount of light applied to the photodiodes to scan objects placed on the light sensor. In other words, the light sensor can calculate the coordinates of the sensed target as the amount of light changes, and can obtain the target's position information based on these coordinates.

[0068] The travel unit 130 performs the movement and rotation of the main body of the mobile robot 100. For this purpose, the travel unit 130 may include multiple wheels and drive motors. The operation of the travel unit 130 can be controlled according to control commands received from the control unit 180, and notifications can be provided before and after the travel unit 130 performs its operations via a light output unit 153, such as an LED.

[0069] The sensing unit 140 may include one or more sensors for sensing at least one of the following: internal information of the mobile robot, the surrounding environment of the mobile robot, or user information. For example, the sensing unit 140 may include at least one of the following sensors: proximity sensor 141, illuminance sensor, touch sensor, accelerometer, magnetic sensor, G-sensor, gyroscope sensor, motion sensor, RGB sensor, infrared (IR) sensor, finger scanning sensor, ultrasonic sensor, optical sensor (e.g., camera 121), microphone, battery level sensor, environmental sensor (e.g., barometer, hygrometer, thermometer, radiation sensor, thermal sensor, gas sensor, etc.), or chemical sensor (e.g., electronic nose, health care sensor, biometric sensor, etc.).

[0070] The mobile robot 100 disclosed in this specification can combine information obtained from at least two of these sensors.

[0071] In addition, the sensing unit 140 may include travel-related sensors that sense obstacles, ground conditions, etc.

[0072] In addition, the illuminance sensor of the sensing unit 140 can be used to determine the image size of the visual information to be projected by the projector 160 described below.

[0073] Examples of proximity sensor 141 may include transmissive photoelectric sensors, direct reflective photoelectric sensors, specular reflective photoelectric sensors, high-frequency oscillation proximity sensors, capacitive proximity sensors, magnetic proximity sensors, and infrared proximity sensors.

[0074] In addition, proximity sensor 141 may include at least one of the following: a navigation camera, an ultrasonic sensor, a lidar, or a ToF sensor, and may be used to identify the proximity and location of a sensing target (e.g., a user).

[0075] The output unit 150 can be used to generate outputs related to visual information, auditory information, tactile information, etc., and may include at least one of the following: a touch screen 151, a sound output unit 152, or a light output unit 153. The touch screen 151 may have a touch sensor as a sandwich layer or be integrally formed with a touch sensor to realize a touch screen. The touch screen can serve as a user input unit to provide an input interface between the mobile robot 100 and the user, and simultaneously provide an output interface between the mobile robot 100 and the user.

[0076] The sound output module 152 can perform the function of notifying the user of information in the form of voice, and can be, for example, in the form of a speaker. Specifically, the response or search result corresponding to the user's voice received by the microphone 122 and the voice recognition unit (not shown) provided on the mobile robot 100 is output in the form of voice through the sound output module 152.

[0077] Furthermore, the sound output module 152 can output voice information related to the screen displayed on the touch screen 151 (e.g., a menu screen or an advertisement screen). For this purpose, the microphone 122 can perform functions such as receiving the user's voice. In addition, the microphone 122 can process external sound signals into electronic voice data and implement various noise cancellation algorithms to eliminate noise generated during the reception of external sound signals.

[0078] In addition, the sound output module 152 can output a sound signal that matches the visual information projected by the projector 160.

[0079] The light output module 153 uses light output from a light source to provide a notification signal indicating that an event has occurred on the mobile robot 100. For example, when a movement command is transmitted to the travel unit 130 of the mobile robot 100, the light output module 153 outputs a signal to provide a notification indicating movement.

[0080] The projector 160 can be disposed on one side of the main body of the mobile robot 100, or at multiple locations on the main body. Specifically, when the projector 160 is located on the upper part of the mobile robot 100, the projector 160 can be positioned above the traveling unit 130. Furthermore, when the projector 160 is located on the lower part of the mobile robot 100, the projector 160 can be positioned on one side of the head of the mobile robot 100. Additionally, the projector 160 can be disposed at multiple locations on the main body of the mobile robot 100.

[0081] The projector 160 can be implemented such that when the main body of the mobile robot 100 rotates, moves, or tilts, the projector 160 rotates, moves, or tilts correspondingly to the main body of the mobile robot 100. As another example, the projector 160 can be formed such that rotation and / or tilting are achieved by independently adjusting the projection angle. As yet another example, the projector 160 can be a mobile projector formed such that it can project onto various projection areas.

[0082] Projector 160 projects visual information onto the ground near mobile robot 100. In a practical example, projector 160 can project visual information onto a designated projection area. For example, while mobile robot 100 is stationary or moving, projector 160 can project visual information onto at least one of the following: the ground, ceiling, or wall surface.

[0083] In embodiments of this disclosure, the projector 160 can project visual information indicating safety guidance while the mobile robot 100 is moving. Furthermore, the projector 160 can sense the movement status of the mobile robot 100 and / or its surroundings, and project safety guidance accordingly.

[0084] The control unit 180 controls the overall operation of the mobile robot 100 and performs calculations and data processing. Furthermore, the term 'control unit 180' can be considered synonymous with 'processor' or understood as a module that includes a processor. The processor may include at least one of the following: a central processing unit or an application / communication processor.

[0085] In addition, the control unit 180 can determine the visual information to be projected through the projector 160 and control the overall operation of the projector 160 (e.g., rotation, movement, and tilt) to adjust the projection angle.

[0086] Furthermore, the control unit 180 can control the movement unit 130 to move or rotate the mobile robot 100. Additionally, the control unit 180 may include a learning data unit (not shown) to perform operations associated with artificial intelligence technologies of the mobile robot 100. The learning data unit may be configured to receive, classify, store, and output information for use in data mining, data analysis, intelligent decision-making, machine learning algorithms, and machine learning techniques. The learning data unit may include at least one storage unit configured to store information received, detected, sensed, generated, or predefined by the mobile robot 100, or information output differently by the mobile robot, or data received, detected, sensed, generated, predefined, or output by another component, device, or terminal.

[0087] In one practical example, the learning data unit may be integrated with the mobile robot 100, or it may have its own memory. In one practical example, the learning data unit may be implemented using memory 170. However, the learning data unit is not limited to this. Alternatively, the learning data unit may be implemented in external memory associated with the mobile robot 100, or it may be implemented using memory included in a server that can communicate with the mobile robot 100. In another practical example, the learning data unit may be implemented using memory maintained in a cloud computing environment, or it may be implemented using a remotely controllable memory different from that memory, which the mobile robot 100 can access via communication methods such as a network.

[0088] The learning data unit is typically configured to store data used for supervised or unsupervised learning, data mining, predictive analytics, or various machine learning techniques in one or more databases for identification, indexing, classification, manipulation, storage, retrieval, and output. The information stored in the learning data unit can be used by the control unit 180, which uses at least one of the following different types: data analysis, machine learning algorithms, or machine learning techniques. Alternatively, the information can be used by multiple control units (processors) included in the mobile robot 100.

[0089] The control unit 180 can determine or predict the executable operations of the mobile robot based on information determined or generated using data analysis, machine learning algorithms, and machine learning techniques. To this end, the control unit 180 can request, search, receive, or utilize data from the learning data unit. The control unit 180 can perform various functions implementing knowledge-based systems, reasoning systems, knowledge acquisition systems, etc., and can also perform various functions for systems used in uncertain reasoning (e.g., fuzzy logic systems), adaptive systems, machine learning systems, artificial neural systems, etc.

[0090] The control unit 180 may also include submodules that enable speech and natural language processing, such as an I / O processing module, an environmental conditions module, a speech-to-text (STT) processing module, a natural language processing module, a task flow processing module, and a service processing module. Each submodule may have access to one or more systems, data, models, or subsets or supersets thereof in the mobile robot 100. In this case, the objects that each submodule has access to may include scheduling, vocabulary indexing, user data, task flow models, service models, and the automatic speech recognition (ASR) system.

[0091] In one or more practical examples, the control unit 180 may also be configured to detect and sense user intentions based on user input or natural language input, or user requests based on contextual conditions, using data from the learning data unit. When the operation of the mobile robot 100 is determined based on data analysis, machine learning algorithms, and machine learning techniques performed by the learning data unit, the control unit 180 can control the constituent elements of the mobile robot 100 to perform the determined operation. The control unit 180 can execute the determined operation by controlling the mobile robot based on control commands.

[0092] Data supporting the various functions of the mobile robot 100 is stored in the memory 170. For example, multiple applications (or apps) running in the mobile robot 100 and data or commands used to operate the mobile robot 100 can be stored in the memory 170. In addition, variable call words used to perform voice dialogue functions with the user can be stored in the memory 170.

[0093] For example, memory 170 may include at least one of the following types of storage media: flash memory, hard disk storage, solid-state disk (SSD) storage, silicon disk drive (SDD) storage, multimedia card micro-storage, card storage (e.g., SD or DX storage), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic storage, magnetic disk, or optical disk.

[0094] For example, visual information to be projected by projector 160 can be stored in memory 170.

[0095] In addition to controlling operations associated with the application, the control unit 180 is typically used to control the overall operation of the mobile robot 100. The control unit 180 can provide appropriate information or functions to the user, or process such information or functions, by processing signals, data, information, etc., input or output through the aforementioned constituent elements, by executing the application stored in the memory 170, or by controlling the travel unit 130.

[0096] Under the control of the control unit 180, the power supply unit 190 receives external or internal power and supplies it to each of the constituent elements included in the mobile robot 100. The power supply unit 190 may include a battery. The battery may be a built-in battery or a replaceable battery.

[0097] At least some of the constituent elements can cooperate to implement the operation, control, or control method of the mobile robot 100 according to various practical examples described below. Furthermore, the operation, control, or control method of the mobile robot 100 can be implemented on the mobile robot 100 by executing at least one application stored in the memory 170.

[0098] Furthermore, the various practical examples described below can be implemented in a medium readable by a computer or similar device, for example, using software, hardware, or a combination of both.

[0099] The following describes various practical examples associated with the method of marking safe areas using a projector 160 for travel safety of a mobile robot 100 according to embodiments of the present disclosure, with reference to the accompanying drawings.

[0100] Figure 2 This is a representative flowchart, which is used to describe the operation method of the mobile robot 100 according to this disclosure.

[0101] Figure 2 The operating method of the mobile robot 100 shown also applies to situations where the mobile robot 100 remains stationary after stopping during movement. Furthermore, unless otherwise stated, Figure 2 The operation method of the mobile robot 100 shown can be executed by the control unit 180 (or processor) of the mobile robot 100. Furthermore, Figure 2 Each step in the flowchart can be implemented by program commands executed by at least one processor.

[0102] refer to Figure 2 While the mobile robot 100 is moving, the mobile robot 100 can project first visual information for marking the safety area onto the ground near the mobile robot 100 (10).

[0103] At this point, the phrase "while the mobile robot 100 is moving" refers to both the period during which the mobile robot 100 is moving within its travel space and the period during which the mobile robot 100 stops and remains stationary. Therefore, once the mobile robot 100 begins its movement, it can project initial visual information for marking the safety area onto the outside via the projector 160.

[0104] Furthermore, the first visual information serves as visual information for marking the safe area of ​​the mobile robot 100 and may include text and / or images. The text here may include symbols, letters, numbers, markings, etc. The images here may include dots, lines, specific images, and moving images. Additionally, in the practical examples described below, the first visual information may be described as transformed into a first visual image, a visual image for marking the safe area, a visual image for marking entry into restricted areas, and other images.

[0105] Furthermore, projecting onto the ground near the mobile robot 100 can mean projecting a beam of light onto the ground near the current position of the mobile robot 100, or, under predetermined conditions, projecting onto a wall surface or ceiling instead of the ground.

[0106] According to a practical example, the safe zone can refer to an access restriction area near the mobile robot 100, which is determined based on the shape of the mobile robot 100 and its movement state. Here, the access restriction area can refer to a protective area to prevent the mobile robot 100 from colliding with external objects, or it can refer to the area surrounding the mobile robot 100. In this case, the first visual information can be at least one of an image or text that marks the boundary of the access restriction area in a way that visually distinguishes it from the surrounding environment of the mobile robot 100.

[0107] The mobile robot 100 can project first visual information to mark safe areas.

[0108] In this context, the first visual information can be an image in the form of safety guidance that alerts the surrounding environment of the mobile robot that access to the mobile robot 100 is restricted. That is, the first visual information serves as a line image used to mark the restricted access area around the mobile robot 100, and can also be an image used to alert a person or another mobile body (e.g., another robot) that access to the safety guidance is restricted.

[0109] Furthermore, the first visual information can be an image in the form of safety guidance, reflecting the current travel state of the mobile robot 100. For example, the current travel state and current travel direction of the mobile robot 100 can be reflected in the first visual information, and the obtained first visual information can be projected.

[0110] Furthermore, the first visual information can be an image in the form of safety guidance, reflecting the current operating state of the mobile robot 100. For example, if the mobile robot 100 is used to arrange products and is used with a cart attached to the rear of the mobile robot 100, and if the mobile robot 100 is used in a reconfigured state, this reconfiguration state is reflected in the first visual information. Therefore, when only the front of the mobile robot 100 is viewed, it can be intuitively recognized from the outside that the mobile robot 100 is being used in a reconfigured state.

[0111] Furthermore, the first visual information can be an image in the form of safety guidance, reflecting the surrounding environment sensed by the mobile robot 100 through the sensing unit 140. For example, if the mobile robot 100 senses a slippage on the ground through its ground sensor, this sensing result can be reflected in the first visual information, and the obtained first visual information can be projected. Additionally, when the mobile robot 100 senses an approaching moving object through the proximity sensor 141, the mobile robot 100 can reflect the sensed moving object in the first visual information and then project the obtained first visual information. Therefore, the mobile robot 100 can alert its surrounding environment that a moving object has been sensed approaching and mark a safety guide.

[0112] When the mobile robot begins its movement, the mobile robot 100 can activate the projector 160. With the projector 160 activated, the mobile robot 100 can project a visual image indicating the start of the movement. The mobile robot 100 can use one or more projectors 160 mounted on its body to project initial visual information for marking entry into restricted areas onto the ground.

[0113] The control unit 180 of the mobile robot 100 can control the degree of rotation, movement or tilt of the projector 160 to project first visual information.

[0114] Next, after projecting the first visual information, the mobile robot 100 can determine that the safe zone has changed based on at least one change in the mobile robot 100's travel state or the surrounding situation (20).

[0115] At this point, stating 'the safe zone has changed' means that the access restriction zone around the mobile robot 100 has changed. For example, the form of the access restriction zone around the mobile robot 100 may be adaptively expanded, reduced, or changed if at least one of the mobile robot 100's travel speed, travel direction, or travel technique changes, or if one or more objects move toward or away from the mobile robot 100.

[0116] Furthermore, the statement 'safe zone has changed' means that the alarm used to restrict access to the mobile robot 100 has been changed. For example, 'safe zone has changed' could mean that a short distance between a moving obstacle and the mobile robot 100 has been sensed, and it has been determined that the color, thickness, and highlighting of the safety guide (or safe zone) will be changed in the direction of increasing the alarm level to prevent collisions. Alternatively, for example, 'safe zone has changed' could mean that a short distance between a moving obstacle and the mobile robot 100 has been sensed, and it has been determined that the alarm level of the safety guide (or safe zone) will be restored to its original level.

[0117] Furthermore, the statement 'the safety area has changed' means that the projection area of ​​the visual information used to mark the safety area of ​​the mobile robot 100 has changed. In this case, 'the projection area has changed' refers to either the position or the size of the projection area having changed. For example, 'the projection area has changed' could mean that, based on the surrounding conditions sensed by the sensing unit 140, it has been determined that the mobile robot 100 is not suitable for projecting visual images onto the ground near the mobile robot 100.

[0118] Based on the determination that the safe area has changed in this way, the mobile robot 100 can control the projector 160 in such a way that the first visual information changes accordingly (30).

[0119] The mobile robot 100 can control the rotation, movement, or tilt of the projector 160 to change the first visual information according to the change of the safety area.

[0120] Based on a practical example, the first visual information can be modified to reflect the movement status and surrounding conditions of the mobile robot 100 in real time.

[0121] Furthermore, according to a practical example, the mobile robot 100 can modify its visual information in such a way that it visually distinguishes between changes in the safety area corresponding to changes in its movement state and changes in the safety area corresponding to changes in the sensed surrounding conditions. Therefore, it is also possible to externally identify whether the mobile robot 100 has changed its own movement state or sensed a change in the external environment.

[0122] According to a practical example, the mobile robot 100 can determine, based on changes in its travel state and / or surrounding circumstances, to perform the next operation for safety reasons. In this case, the mobile robot 100 can control the operation of the projector 160 in such a way that the next operation determined for safety reasons is marked externally.

[0123] Thus, according to embodiments of this disclosure, the mobile robot 100 marks safe areas via the projector 160 while moving. Furthermore, the safe areas adaptively change based on the mobile robot 100's movement and surrounding conditions while moving. Therefore, movement safety can be ensured more reliably, and movement safety can be quickly identified from the outside.

[0124] The following describes in detail, with reference to the accompanying drawings, various practical examples of how a mobile robot 100 using a projector 160 to ensure safe movement according to embodiments of the present disclosure.

[0125] Figures 3A to 3C These are views showing various examples of a mobile robot 100 traveling in a safety zone associated with external markings, according to this disclosure.

[0126] According to this disclosure, the mobile robot 100, while moving, changes the visual information ('first visual information') used to mark a safe area in a manner that adjusts according to the moving state of the mobile robot 100 and the surrounding conditions it senses, and can project the changed visual information onto the ground near the mobile robot 100.

[0127] According to a practical embodiment, the safe zone can be an access restriction area determined based on the shape and movement state of the mobile robot 100. The access restriction area constitutes the area surrounding the mobile robot 100 and refers to the area or space where safety is ensured while the mobile robot 100 is moving.

[0128] The mobile robot 100 marks an access restriction area on the outside to prevent a moving object (e.g., another robot or person) from accessing or entering the access restriction area. To this end, by controlling the projector 160, the mobile robot 100 can project at least one of an image or text as first visual information, which is used to mark the safe area in a manner that visually distinguishes it from the surrounding environment of the mobile robot 100.

[0129] The size and shape of the restricted area can be changed according to the configuration of the mobile robot 100. Furthermore, the size and shape of the restricted area can be changed according to the mobile robot 100's travel speed and direction. Additionally, the size and shape of the restricted area can be changed according to changes in the surrounding environment sensed by the mobile robot 100.

[0130] The first visual information can be an image used to mark the boundary between the restricted area and the area outside the restricted area.

[0131] Specifically, the first visual information can be an image used to mark only the boundary, or an image in which color is applied to the entire access restriction area. Alternatively, the first visual information can include text accompanying or defining the boundary to be marked. However, these are just examples of first visual information. Any image or text that allows for visual identification from the outside of the boundary representing the access restriction area of ​​the security zone is sufficient to serve as first visual information.

[0132] For example, Figure 3A and Figure 3B This is a view showing an example projection of first visual information used to mark the safety areas of the mobile robot 100 in the form of guide lines indicating the boundaries of the restricted entry areas. In the illustrated guide lines, the area facing the center of the mobile robot 100 is the restricted entry area.

[0133] Figure 3A The projector 160 is shown as constituting the upper part of the mobile robot 100. Figure 3A The projector 160 of the mobile robot 100 shown can move, rotate, or tilt under the control of the control unit 180. Therefore, it can project boundary guide lines 310 for marking a safety area within a 360-degree range near the mobile robot 100.

[0134] As another practical example, a specified color image can be projected onto... Figure 3A The area within the boundary guide line 310 shown. Here, the specified color image can reflect the operating state and travel state of the mobile robot 100.

[0135] For example, before the mobile robot 100 begins to move, the projector 100 can be activated, and a color image indicating that a designated pattern indicating a safe area is markable can be projected onto the area within the guide line 310. For example, a color image matching the moving state of the mobile robot 100 (e.g., moving speed and direction) can be projected onto the area within the guide line 310. For example, a color image matching a state such as the remaining battery power in the mobile robot 100 can be projected onto the area within the guide line 310. In this case, not only can the safe movement of the mobile robot 100 be ensured, but information related to the state of the mobile robot 100 (e.g., operating state and moving state) can also be visually perceived.

[0136] Figure 3B The projector 160 is shown as constituting the lower portion of the mobile robot 100. Specifically, the projector 160 can project safety guidance 320 for marking entry into restricted areas. Figure 3B The lower part of the mobile robot 100 is located on, for example, the upper part of the traveling unit 130. Figure 3BAs shown, the safety guide 320 may be a plurality of line images, which are projected onto both sides of the travel unit 130 in a manner elongated toward the travel direction of the mobile robot 100.

[0137] As another practical example, the gaps between the multiple line images included in the safety guide 320 can be determined after reflecting the operating and travel states of the mobile robot 100. For example, the gaps between the line images can be reduced or increased based on the current travel speed of the mobile robot 100.

[0138] Furthermore, as another practical example, Figure 3B The gaps between the multiple line images included in the safety guidance 320 shown may vary as they reflect information related to the surrounding environment sensed by the mobile robot 100. For example, if a travel area matching the direction of travel of the mobile robot 100 is sensed as a zone of attention or an object is approaching, travel safety can be further ensured by increasing the gaps between the multiple line images.

[0139] Figure 3C Multiple projectors 160 are shown located at the front and rear of the mobile robot 100. At this time, the positions of the multiple projectors 160 are unrestricted and not... Figure 3C As shown in the diagram. In this case, different projectors 160 can be used to mark the safe area 330 near the mobile robot 100 in a way that indicates different risk levels.

[0140] For example, in the safety area 330 marked by multiple projectors 160, the front area (a) that matches the front surface in the direction of travel of the mobile robot 100 is marked in a manner indicating a high risk level, and the side area (b) that matches the side surface in the direction of travel can be marked in a manner indicating a medium risk level. Furthermore, the rear area (c) that matches the rear surface in the direction of travel of the mobile robot 100 can be marked in a manner indicating a low risk level.

[0141] The reason is that, for example, when the mobile robot 100 moves in a straight line, as the mobile robot 100 moves forward, the front area (a) is the area that the mobile robot 100 passes through, the side area (b) is a partially overlapping area, and the rear area (c) is a non-overlapping area that only becomes farther and farther away from the mobile robot 100. For example, in this way, a safe area suitable for the direction in which an object approaches the mobile robot 100 can be marked by dividing the safe area into sub-regions according to the direction of travel of the mobile robot 100 and marking the sub-regions.

[0142] However, this sub-region division can be changed in a way that matches the change in the direction of travel of the mobile robot 100. For example, when the mobile robot 100 is rotating in place, the projected image can be projected in a way that makes the aforementioned front region (a), side region (b), and rear region (c) all have a high risk level.

[0143] Marking the ground as the mobile robot 100 moves. Figures 3A to 3C The guide line 310, safety guide 320, and safety zone 330 shown (described in more detail below) can vary based on at least one change in the travel state of the mobile robot 100 or the surrounding conditions.

[0144] Furthermore, although not shown, while the mobile robot 100 projects visual information for marking safe areas via the projector 160, or before or after the mobile robot 100 projects the visual information, the mobile robot 100 may control the operation of other components (e.g., display unit 151, sound output module 152, and camera 121) to ensure safe movement.

[0145] For example, while the mobile robot 100 is projecting visual information, or before or after the mobile robot 100 is projecting visual information, the mobile robot 100 can monitor the surrounding situation through the camera 121, and can output sound, text information, etc. through the sound output module 152 and the display unit 151 respectively to ensure safety.

[0146] At this time, the visual information projected by the projector 160 can be changed in various ways to improve, maintain, or reduce the level of safety during travel based on the monitoring results of the camera 121. For example, the mobile robot 100 can control the operation of the projector 160 to project visual information in a manner that varies in size, shape, position, color, flickering effects, etc.

[0147] As described above, the mobile robot 100 according to embodiments of the present disclosure can project visual information in various shapes using a projector 160 to ensure safe movement. Furthermore, the mobile robot 100 can change the visual information to be projected to reflect the changing safety zone based on the movement state of the mobile robot 100 and the surrounding conditions.

[0148] The following describes in detail a practical example of how the visual information used to mark safe areas changes according to the travel speed of the mobile robot 100.

[0149] Figure 4 (a), (b) and (c) are views, with reference to which the method of marking a safety area in a manner that changes with the travel speed of the mobile robot 100 according to the present disclosure is described.

[0150] First, in the embodiments of this disclosure, the statement 'while the mobile robot 100 is moving' means that the mobile robot 100 moves at a low speed or a high speed after starting operation, and that the mobile robot 100 stops after starting operation.

[0151] In the practical example described below, the term 'first visual information' projected onto the ground near the mobile robot 100 to mark entry into the restricted area is used interchangeably with 'safe zone'. Therefore, when restrictions on access to the mobile robot 100 need to be more stringent (or when the risk level is increased), the size of the safe zone projected onto the ground near the mobile robot 100 can be increased. Conversely, when restrictions on access to the mobile robot 100 are more flexible (or when the risk level is reduced), the size of the safe zone projected onto the ground near the mobile robot 100 can be decreased, or kept the same as the size of the safe zone when the mobile robot 100 is stationary.

[0152] When the mobile robot 100 is stationary, only the minimum safe zone needs to be adequately secured. When the mobile robot 100 is moving at low speed, the safe zone needs to be adjusted to be larger than the minimum safe zone. Furthermore, when the mobile robot 100 is moving at high speed, safe movement needs to be ensured by externally marking the maximum safe zone. Ensuring safe movement is conceptually similar to understanding the braking distance required for a moving vehicle.

[0153] For example, the higher the travel speed of the mobile robot 100, the greater the braking distance required to detect nearby objects. This increases the likelihood of a collision with nearby objects. Therefore, when the mobile robot 100 is traveling at high speeds, the size of the safety zone needs to be marked larger to ensure safe travel. Conversely, when the mobile robot 100 is traveling at low speeds, the likelihood of a collision is lower, so the braking distance when an object is detected is correspondingly shorter. Therefore, the size of the safety zone can be small enough.

[0154] The control unit 180 of the mobile robot 100 can control the operation of the projector 160 by changing the safe zone based on the travel speed of the mobile robot 100 sensed by the sensing unit 140.

[0155] The control unit 180 of the mobile robot 100 can calculate the distance to the safe zone based on the sensed travel speed, and control the operation of the projector 160 in a manner that alters the first visual information based on the calculated distance to the safe zone. Specifically, the control unit 180 can control the projector 160 in such a way that at least one of the following changes based on the distance to the safe zone calculated according to the travel speed of the mobile robot 100: the size, position, or shape of the access restriction area corresponding to the first visual information.

[0156] like Figure 4 As shown in (a), (b), and (c), in the stationary state (a) of the mobile robot 100, the first entry restriction area 410, defined corresponding to the travel speed '0', is projected as changing first visual information. Furthermore, in the low-speed state (b), reflecting the travel speed of the mobile robot 100, the second entry restriction area 420, defined corresponding to low-speed travel, is projected as changing first visual information. Moreover, when the mobile robot 100's travel speed is in the high-speed state (c), the third entry restriction area 430, defined corresponding to high-speed travel, is projected as changing first visual information.

[0157] The first to third entry restriction areas 410, 420, and 430 have different sizes. Specifically, the first restriction area 410 has the smallest size, while the third restriction area 430 has the largest size.

[0158] Furthermore, the first to third restricted areas 410, 420, and 430 can be marked with images of different colors. In this case, the color images can be designated with different colors to indicate the magnitude of the mobile robot 100's travel speed. For example, the color of the first entry restricted area 410, which corresponds to a stationary state (a), can be green. Furthermore, for example, the color of the second entry restricted area 420, which corresponds to a low-speed state (b), can be yellow. Furthermore, for example, the color of the third entry restricted area 430, which corresponds to a high-speed state (c), can be red. Thus, by applying matching projected colors that change according to the travel speed of the mobile robot 100, it is possible to visually identify from the outside whether the mobile robot 100 is traveling at high speed.

[0159] As the travel speed of the mobile robot 100 changes, the first visual information is projected after it changes in a manner adapted to any one of the first to third entry restriction areas 410, 420 and 430.

[0160] Furthermore, according to practical examples, when changing visual information to reflect the transition from the second access restriction area 420 to the third access restriction area 430, effects such as flashing can be added to make the change in the safe area recognizable from the outside. For example, in the color application example described above, the color of the second restriction area 420 is first changed to red. Then, after the flashing effect is applied to the second restriction area 420, the transition from the second restriction area 420 to the third access restriction area 430 can occur. Moreover, after the transition to the third access restriction area 430, the red image can maintain the flashing effect for a predetermined time (e.g., 2 to 3 seconds), thereby alerting the mobile robot 100 to the possibility of a collision in its surrounding environment.

[0161] The method for calculating the distance D of the safe zone as the mobile robot 100 changes with its current travel speed is as follows.

[0162] This is a mathematical equation that calculates the safe zone of the mobile robot 100 by reflecting its current travel speed. In the following mathematical equation, V current V represents the current speed of the mobile robot 100. low V represents the travel speed at low speeds. high This indicates the travel speed as defined in high-speed mode.

[0163] Furthermore, in mathematical equations, D low D represents the distance of the safe zone at low speed. high This indicates the distance to the safe zone at high speeds. Specifically, D... low This indicates a protective deceleration zone and a protective stop zone corresponding to travel speeds of 0.5 m / s or less. At travel speeds of 0.25 m / s or less, these zones vary depending on the type of proximity sensor 141 installed. Furthermore, D... high This indicates a protective deceleration zone and a protective stopping zone that correspond to a travel speed of 0.95 m / s or higher.

[0164] When an obstacle is detected by proximity sensor 141, as a pre-planned action, mobile robot 100 may reduce its current speed and then stop. In this case, the section where mobile robot 100 reduces its speed may correspond to a protective deceleration region, and the section where mobile robot 100 comes to a stop may correspond to a protective stop region.

[0165] The protective deceleration zone and protective stop zone of the mobile robot 100 can be changed according to the type of proximity sensor 141 and the current travel speed of the mobile robot 100.

[0166] For example, the traveling speed of a mobile robot 100 can be sensed using a LiDAR as follows. For instance, when using a LiDAR, a low-speed state can be represented as 0.5 m / s or less, and a high-speed state can be represented as 0.95 m / s or more. In this case, at low speed, the protective deceleration zone can be represented as 0.245 m to 0.745 m, and the protective stopping zone can be represented as 0.245 m or less. Furthermore, at high speed, the protective deceleration zone can be represented as 0.4 m to 1.25 m, and the protective stopping zone can be represented as 0.4 m or less.

[0167] When using lidar, the distance D of the safe zone, which varies with the current travel speed, is calculated using the mathematical expression described above. Based on this expression, it can be deduced that the distance D changes proportionally to the square of the travel speed of the mobile robot 100.

[0168] Furthermore, for example, a Time-of-Flight (TOF) sensor is used to sense the travel speed of the mobile robot 100 as follows. In this case, the TOF sensor serves as the front central sensor of the mobile robot 100. For example, it is assumed that the surrounding environment can be sensed within a range of 79 to 111 degrees. For example, when using a TOF sensor, a low-speed state can represent 0.25 m / s or less, and a high-speed state can represent 0.95 m / s or more. In this case, at low speeds, the protective deceleration zone represents 0.25 m to 0.75 m, and the protective stopping zone can represent 0.25 m. Furthermore, at high speeds, the protective deceleration zone represents 0.4 m to 1.25 m, and the protective stopping zone can represent 0.4 m or less.

[0169] When using a TOF sensor, the distance D of the safe zone, which varies with the current travel speed, is also calculated using the mathematical expression described above. Based on this expression, it can also be deduced that the distance D changes proportionally to the square of the travel speed of the mobile robot 100.

[0170] Thus, the first visual information indicating the distance D of the safety zone, which changes with the current travel speed, can be set to be at least equal to or greater than the protective deceleration zone. Furthermore, when the travel speed decreases, the first visual information can be changed to have the same size as the protective stop zone. Therefore, the size of the first visual information decreases.

[0171] According to a practical example, based on the current travel speed sensed by the sensing unit 140 of the mobile robot 100, the control unit 180 can perceive the sensed travel speed as a change in the travel state of the mobile robot 100, thereby determining a change in the safety zone. The control unit 180 can control the projector 160 to change at least one of the color or size of the projected first visual information according to this determination.

[0172] Furthermore, based on the actual image, the image size of the projected first visual image can be increased or decreased correspondingly to the sensed travel speed. The image color of the first visual information can be changed in such a way that the warning level changes accordingly to the sensed travel speed.

[0173] As referenced above Figure 4 As described in (a), (b), and (c), as the mobile robot 100 sequentially changes to a stationary state, a low-speed state, and then a high-speed state, the image size of the first visual information gradually increases. When the order is reversed, the image size of the first visual information gradually decreases.

[0174] In addition, Figure 4 In (a), (b), and (c), when the mobile robot 100 sequentially changes to a stationary state, a low-speed state, and then a high-speed state, the color image of the first visual information can change in the direction of increasing the warning level (e.g., green -> yellow -> red). When the order is reversed, the color image of the first visual information can change in the direction of maintaining or decreasing the warning level.

[0175] Figure 5 (a) and (b) and Figure 6 (a) and (b) are exemplary views, with reference to these exemplary views to describe a method by which a mobile robot 100 according to the present disclosure marks a safe area in a manner that changes according to the direction of travel.

[0176] exist Figure 4 In the actual examples in (a), (b), and (c), the size and / or color of the first visual information used to mark the safety area, which changes according to the travel speed of the mobile robot 100, changes. Therefore, the mobile robot 100 operates in a manner that allows changes in its travel state to be externally recognized. In this case, the distance D of the safety area is shown in the same way at any point from the center of the mobile robot 100.

[0177] The likelihood or risk level of a collision within the safe zone actually varies depending on the current direction of travel and / or the travel technique of the mobile robot 100. For example, when the mobile robot 100 is moving forward, the risk level is higher in front of the mobile robot 100 and lower to the side or rear of the mobile robot 100 within the safe zone marked by the first visual information. Furthermore, for example, when the mobile robot 100 is moving in a circle, the risk level is higher from the direction of rotation inwards and lower from the direction of rotation outwards.

[0178] Therefore, refer to Figure 5 (a) and (b) and Figure 6(a) and (b) describe practical examples of projecting a safety area in a shape-changing manner by applying risk levels that change with the direction of travel and travel technique of the mobile robot 100.

[0179] Specifically, Figure 5 (a) shows the projection of first visual information after the shape of the safety area is changed in the case of the mobile robot 100 rotating counterclockwise (a). Figure 5 (b) shows the projection of first visual information after the shape of the safety area is changed in the case of the mobile robot 100 rotating clockwise.

[0180] In the case where the mobile robot 100 rotates counterclockwise (a), the risk level increases in the area on the left side of the mobile robot 100 located inside in the counterclockwise direction. This is because the mobile robot 100 moves while changing its own leftward direction to a forward direction. Conversely, when the mobile robot 100 rotates counterclockwise, the risk level in the area on the left side of the mobile robot 100 is lower and approximately the same as the risk level behind the mobile robot 100. Therefore, the first visual information 510 projects that the left side of the safe area is reconfigured to be wider and longer relative to the front of the mobile robot 100.

[0181] In the case (b) where the mobile robot 100 rotates clockwise, the risk level increases in the area to the right of the mobile robot 100 located inside in the clockwise direction. This is because the mobile robot 100 moves while changing its own rightward direction to a forward direction. Conversely, when the mobile robot 100 rotates counterclockwise, the risk level in the area to the left of the mobile robot 100 is lower and approximately the same as the risk level behind the mobile robot 100. Therefore, the first visual information 520 projects that the right side of the safe area is reconfigured to be wider and longer relative to the front of the mobile robot 100.

[0182] Based on a practical example, before the mobile robot 100 travels in a circle, such as Figure 5 As shown in (a) and (b), the control unit 180 of the mobile robot 100 can project a visual image indicating the direction of rotation (e.g., an arrow image indicating the direction of rotation) via a projector 160. Thus, the rotation direction of the arrangement can be perceived in advance from the outside.

[0183] Figure 6 (a) and (b) respectively show examples of projecting first visual information after the form of the safety area changes according to the direction of travel while the mobile robot 100 is moving forward.

[0184] As in Figure 6In (a), when the mobile robot 100 is moving forward relative to the front of the mobile robot 100, the risk level is increased in the area in front of the mobile robot 100 located in the direction of travel. Conversely, as in Figure 6 In (b), the mobile robot 100 moves backward relative to the forward direction of the mobile robot 100, and the risk level is increased in the area behind the mobile robot 100 located in the forward direction.

[0185] In this configuration, the control unit 180 of the mobile robot 100 can project first visual information, wherein the portion of the safe area that matches the direction of travel of the mobile robot 100 is reconfigured to be wide and elongated.

[0186] For example, such as Figure 6 In (a), as the mobile robot 100 moves forward, an image 610, in which the area in front of the mobile robot 100 is reconfigured into a wide and elongated safety zone, is projected onto the ground near the mobile robot 100. Furthermore, for example, as... Figure 6 (b) As the mobile robot 100 moves backward, an image 620, in which the area behind the mobile robot 100 is reconfigured into a wide and elongated safety zone, is projected onto the ground near the mobile robot 100.

[0187] In a practical example, the mobile robot 100 can sense its current direction of travel or sense its surroundings to determine a change in direction of travel via the sensing unit 140. The control unit 180 of the mobile robot 100 can control the projector 160 so that, as the mobile robot 100 moves, the shape of the image used to mark the safety area is extended toward the sensed direction of travel.

[0188] The image of the safety area, which changes with the movement technology and direction of the mobile robot 100, is applied and changes in real time based on the sensed current direction of movement. For example, as Figure 5 (a) and (b) and Figure 6 As shown in (a) and (b), images 610 and 620 of the safety area, which change with the movement technique and direction of the mobile robot 100, can be projected in a seamless manner as the mobile robot 100 moves. The safety area can be visually marked, as if a shadow has been formed near the mobile robot 100.

[0189] In a practical example, the length of the safety area extending in the direction of travel of the mobile robot 100, as reflected in the travel speed of the mobile robot 100, can be determined.

[0190] For example, when the mobile robot 100 is traveling at a high speed (c), a portion of the safety area positioned in the direction of travel can be reconfigured to be further extended, and the resulting safety area can be marked. Furthermore, for example, when the mobile robot 100 is traveling at a low speed (b), a portion of the safety area positioned in the direction of travel can be reconfigured to have a shorter length than in the high-speed state (c), and the resulting safety area can be marked. Therefore, by observing the image of the safety area projected by the projector 160, the speed of the mobile robot 100 in the direction of travel can be visually perceived.

[0191] The purpose of projecting the image of the safe area by the projector 160 of the mobile robot 100 is to ensure safe movement. Therefore, while the mobile robot 100 is moving, the markings of the safe area used to ensure safe movement can be changed according to the sensed surrounding conditions (e.g., the state of sensed obstacles), and the resulting safe area can be marked.

[0192] In this context, Figure 7 This is a view that describes how safe zones are marked differently when an obstacle approaches the mobile robot 100.

[0193] At this point, obstacles include all objects that may collide with the mobile robot 100 as it moves within its travel space. However, in this specification, the description assumes movable objects such as people, animals, or other moving bodies.

[0194] While moving, the mobile robot 100 can sense nearby obstacles via the sensing unit 140 (e.g., proximity sensor 141 or camera 121) and monitor the state of the sensed nearby obstacles. Here, 'monitoring the state of sensed nearby obstacles' means monitoring the direction in which the sensed nearby obstacles move toward or away from the mobile robot 100, information about the relative positions of the nearby obstacles, and, in the case of a human, the area of ​​gaze. Furthermore, in a practical example, the mobile robot 100 can also sense the relative position of another nearby robot by communicating with it via the communication unit 110.

[0195] Thus, when the presence or state of an obstacle is sensed for the mobile robot 100, the control unit 180 can control the projector 160 based on the sensed obstacle approaching the mobile robot 100, so that the projected first visual information changes according to the sensed state of the obstacle.

[0196] Specifically, when an obstacle approaches the mobile robot 100, the mobile robot 100 can reconfigure the first visual information in a manner corresponding to the state of the sensed obstacle and then project the first visual information.

[0197] For example, when an obstacle approaches the mobile robot 100, the mobile robot 100 checks the area of ​​the obstacle's gaze using camera 121. Then, the mobile robot 100 can change the position of the projection area or the color of the visual information in such a way that the visual information is not directly projected into the field of vision including the obstacle, and the obtained visual information can be projected.

[0198] Furthermore, for example, when an obstacle approaches the mobile robot 100, the mobile robot 100 can change the color or size of the visual information in such a way that the marker for entering the restricted area is visually emphasized according to the movement state of the obstacle, and the obtained visual information can be projected.

[0199] Furthermore, for example, depending on the type of obstacle approaching the mobile robot 100, the mobile robot 100 may change the color or size of visual information in a manner that guides specific operations of the obstacle.

[0200] At this point, obstacles include other robots that cannot communicate with mobile robot 100, as well as robots that were initially able to communicate but are currently unable to communicate due to communication failures or similar problems. If another robot is able to communicate with mobile robot 100, they can avoid collisions by communicating with each other.

[0201] When a nearby obstacle is detected, the mobile robot 100 can reduce its speed or walk around the obstacle to avoid it. However, if it is unable to walk around the nearby obstacle or if the braking distance increases even though the speed is reduced, it can actively mark the risk on the outside to ensure safe travel and guide the operation to avoid the risk.

[0202] For example, such as Figure 7 As shown, suppose mobile robot 100 senses another robot 200 approaching it, while mobile robot 100 projects a first visual image 710 for marking a safe area during its movement. Then, as one of its operations, mobile robot 100 can reduce its speed by monitoring the state (direction of movement) of robot 200 and then move around the obstacle.

[0203] Furthermore, as another operation, the mobile robot 100 can project a second visual image 720 that extends the safety zone toward the direction in which the robot 200 approaches the mobile robot 100. Therefore, the robot 200 can visually perceive the second visual image 720 and be guided to avoid collisions. In this case, the second visual image 720 can be a predetermined color image or color pattern perceptible through the robot 200's camera.

[0204] In this configuration, when the projector 160 is also mounted on the robot 200, the robot 200 can project responsive visual information indicating the perception of a second visual image 720 projected by the mobile robot 100. Since the robot 200 travels around the mobile robot 100, the mobile robot 100 can continue traveling without fear of collision and without having to reduce its speed.

[0205] In this manner, the mobile robot 100 according to embodiments of the present disclosure can ensure a safe zone through visual images projected by the projector 160 while the mobile robot 100 is moving. Furthermore, the mobile robot 100 and nearby robots 200 can recognize each other without communication between them. Moreover, the mobile robot 100 and robots 200 can perceive each other's next actions for safe movement without communication between them.

[0206] Specifically, when the mobile robot 100 senses the nearby robot 200 via the sensing unit 140 or camera 121 while moving, the mobile robot 100 changes the visual image projected by the projector 160 for safety purposes to a specified color or pattern that the robot 200 can recognize. At this time, if the robot 200 also includes a projector and marks its safety area, the mobile robot 100 can visually recognize the image projected by the robot 200 via the camera 121 and easily perceive the robot 200's movement status (direction and speed). The mobile robot 100 can determine its next action based on the perceived movement status of the robot 200 and reflect the determined next action in the visual image projected by the projector 160. The determined next action can be one of the following: guiding the robot 200 around the mobile robot 100, or allowing the mobile robot 100 to move around the robot 200. Robot 200 can perceive the next operation determined by mobile robot 100 through visual recognition and perform its own operation accordingly (moving around mobile robot 100 or moving as planned without slowing down).

[0207] In this way, by using visual images to mark safe areas, mobile robots 100 and 200 can perceive each other even when they cannot communicate with each other or even in areas where communication is impossible. Furthermore, mobile robot 100 can alert its surroundings to schedule its next action. Therefore, mobile robot 100 can effectively respond to robot 200 to prevent collisions or similar accidents, and the manager can visually anticipate the next action of mobile robot 100.

[0208] Furthermore, according to a practical example, when the mobile robot 100 projects a visual image for marking safe areas, it can reflect its own status information related to travel safety (e.g., abnormal status, low battery power, communication unavailable, or similar conditions) in the projected visual image. For example, when an abnormal status of the mobile robot 100 is detected, text or symbols indicating the abnormal status can be added to the projected visual image. Therefore, by checking the status of the mobile robot 100, the manager or similar operator of the mobile robot 100 can intuitively determine whether the mobile robot 100 is in a normal or abnormal state.

[0209] The form of the mobile robot 100 according to the embodiments of the present disclosure can be changed and used according to the intended purpose of the mobile robot 100.

[0210] For example, the shapes of service robots designed to serve customers and guide robots designed to guide guests are predetermined. However, product arrangement robots designed to store, search, and move products can be used with another mobile body (e.g., a cart attached to the rear of the robot). In this case, the safety area of ​​the mobile robot 100, whose shape has been altered, may also need to be changed.

[0211] In this context, Figure 8A and Figure 8B These are exemplary views, which are used to describe the changes in the markings of the safety area as the form of the mobile robot 100 according to this disclosure changes.

[0212] As described above, when a mobile robot 100, such as a product arrangement robot, is used in conjunction with a cart attached to its rear, the cart may collide with the robot 200 or a person when the mobile robot 100 is moving in a circle or changing its direction of travel. This is because it is impossible to check whether the cart is attached to the rear of the mobile robot 100 when viewed from the front.

[0213] Therefore, when a signal indicating that the trolley is connected to the rear of the mobile robot 100 is received by the sensing unit 140 or the input unit 120 ('connection signal'), the control unit 180 of the mobile robot 100 can control the projector 160 based on the received connection signal in order to change the visual image used to mark the safety area.

[0214] At this point, changing the visual image to be projected based on the received connection signal means either enlarging the size of the area on which the visual image is projected or changing the shape of the visual image to be projected. Therefore, by observing only the visual image projected onto the ground in front of the mobile robot 100, it is easy to determine whether a moving object approaching from the front of the mobile robot 100 is using a trolley connected to the rear of the mobile robot 100.

[0215] Furthermore, the connection signal indicating that the trolley is connected to the rear of the mobile robot 100 can be generated by sensing values ​​from sensors installed on the mobile robot 100 when the trolley is connected to the mobile robot 100, or based on input from a manager or similar operator.

[0216] When the cart is disconnected from the mobile robot 100, the control unit 180 of the mobile robot 100 can receive a signal ('disconnection signal') indicating that the cart is disconnected from the mobile robot 100 via the sensing unit 140 or the input unit 120. Based on the received disconnection signal, the control unit 180 can control the projector 160 to restore the visual image used to mark the safety area to its original state.

[0217] At this point, restoring the visual image to its original state based on the received disconnect signal means restoring the size of the area on which the visual image is projected to its original size, or restoring the shape of the visual image to its previous shape.

[0218] Furthermore, the disconnection signal indicating that the trolley is disconnected from the mobile robot 100 can be generated by sensing values ​​from sensors installed on the mobile robot 100, or based on input from a manager or similar operator.

[0219] In this way, when the form of use or operation of the mobile robot 100 according to an embodiment of the present disclosure is changed by attaching a cart or the like to the mobile robot 100, the mobile robot 100 can recognize the change based on received signals. Then, the mobile robot 100 can accordingly reflect the change in visual information projected after the change in visual information used for marking safety.

[0220] According to a practical example, the control unit 180 of the mobile robot 100 can sense another moving body connected to the connecting member of the mobile robot 100 based on the received signal, and control the projector 160 based on the information about the moving body, so that the first visual information is projected after the change.

[0221] At this time, the connecting member of the mobile robot 100 can be located on one side of the body of the mobile robot 100 (e.g., at the rear of the mobile robot 100) and coupled to the connecting member provided on the moving body (e.g., a cart). At this time, a sensor can be installed on the connecting member of the mobile robot 100 and generate a signal for sensing whether the moving body is connected or disconnected.

[0222] Furthermore, as another practical example, the control unit 180 of the mobile robot 100 can sense the number of connected mobile bodies as information about the mobile bodies connected to the mobile robot 100. The number of connected mobile bodies can be sensed through input from a manager or similar operator, or by receiving signals corresponding to the presence of another mobile body connected to each mobile body, such as sensors installed on each mobile body. However, the control unit 180 of the mobile robot 100 can obtain information about the number of connected mobile bodies through other methods not disclosed in this disclosure.

[0223] When checking information about the number of connected mobile bodies in this manner, the control unit 180 of the mobile robot 100 can change at least one of the following: the size or shape of the visual image. The control unit 180 can then project the obtained visual image.

[0224] For example, when the number of mobile bodies connected to the mobile robot 100 is large, the size of each image can be increased. Furthermore, for example, when the number of mobile bodies connected to the mobile robot 100 is large, the visual image can be changed or text can be added to indicate the number of connected mobile bodies. This is because, when mobile bodies are connected to the rear of the mobile robot 100, unlike when the mobile robot 100 is used alone, the side and rear areas of the mobile robot 100 become risk areas requiring attention.

[0225] Furthermore, in a practical example, the control unit 180 of the mobile robot 100 can control the projection of the projector 160 based on information about the number of connected mobile bodies, so that the current speed and direction of travel of the mobile robot 100 are reflected in the visual image to be changed.

[0226] Figure 8A and Figure 8BDifferent examples are shown of how the visual images used to mark safety areas are projected onto the ground in front of the mobile robot 100 after modification when the mobile robot 100 is operating with three carts attached to its rear.

[0227] Specifically, Figure 8A An example is shown where guide lines 810 indicating entry restrictions are projected onto the ground in front of the mobile robot 100, as many as the mobile body 850 connected to the rear of the mobile robot 100. Figure 8A In the process, the number of projected guide lines 810 allows the mobile robot 100 to reliably sense the corresponding number of connected mobile bodies (three connected mobile bodies) from the front.

[0228] As another example, Figure 8B An example is shown where a visual image 820, as numerous as the mobile body 850 connected to the rear of the mobile robot 100, is projected onto the ground in front of the mobile robot 100, wherein the visual image 820 is enlarged by increasing the size of the area entering the restricted region. Figure 8B In this context, although the number of mobile bodies 850 connected to the rear of the mobile robot 100 cannot be immediately identified from the front of the mobile robot 100, nearby objects can be viewed with greater caution based on the size of the expanded safety zone.

[0229] In this way, the mobile robot 100 can not only reflect the changing safety zone based on its own movement status in the projected visual image, but also the caution that must be exercised due to the connected mobile body 850. Therefore, the moving robot 200 or the manager can pass through the movement space without worrying about colliding with the mobile body 850.

[0230] When the mobile robot 100 is operating with the mobile body 850 connected to it, the visual image used to mark the safety area can be changed based on whether there is a load on the connected mobile body 850 and / or based on an estimate of the load.

[0231] At this time, the load present on the connected mobile body 850 and the estimated load amount can be sensed by the sensors (e.g., load sensors) included in each mobile body, and transmitted to the mobile robot 100.

[0232] According to a practical example, the control unit 180 of the mobile robot 100 may expand the size of the visual image indicating entry into a restricted area or additionally change its shape based on the load or load amount present on the mobile body 850 connected to the mobile robot 100.

[0233] The reason is that when the mobile robot 100 is moving with a load on the mobile body 850 connected to it, the load on the mobile body 850 may fall off due to the movement of the mobile robot 100, so it is necessary to mark the safety area on the outside in a further expanded manner.

[0234] In this context, Figure 8C and 8D These are exemplary views, which are referenced to describe changes to the markings of the safety area based on information about the amount of load present on the mobile body 850 connected to the mobile robot 100, according to this disclosure.

[0235] According to a practical example, the control unit 180 of the mobile robot 100 can receive information about the amount of load present on each mobile body 850 (e.g., a cart), as information about the connected mobile body 580. At this time, the information about the load amount can be sensed by load sensors disposed on each mobile body 850. Subsequently, the control unit 180 of the mobile robot 100 can estimate (or calculate) the access restriction area around the entire modified mobile robot 100 based on the received information about the load amount, and change at least one of the following: the size or shape of the visual image to be projected, in order to mark the estimated access restriction area.

[0236] At this point, with multiple load sensors installed on each moving body 850, the location of the load can be determined.

[0237] For example, the load is present in a manner tilted to the left, and load sensors are respectively disposed on two side surfaces of the moving body 850. In this case, the difference between the measurements from the load sensors on the two side surfaces can determine that the load on the moving body 850 is indeed present in a manner tilted 'to the left'.

[0238] In this case, while the mobile robot 100 is moving, for safety reasons, the visual image can be projected after the size of the safety area is enlarged. Alternatively, the visual image can be projected after changing its shape by further enlarging the portion corresponding to the left side surface of the mobile robot 100 in the visual image.

[0239] For example, such as Figure 8C As shown, when various carts 860 of different shapes are connected to the rear of the mobile robot 100, at least two of the following can be used to sense the load present on the connected cart 860: the sensing unit 140 and communication unit 110 of the mobile robot 100, sensors installed on the connected cart 860, or input from the manager. Therefore, an expanded safety area 830 can be projected.

[0240] In addition, for example, such as Figure 8D As shown, when the mobile robot 100 travels on a trolley 870 with the same shape and connected to the rear of the mobile robot 100 with different loads, the mobile robot 100 can additionally change the shape of the expanded safety area 830 based on the load amount and the relative position of the loads, and mark the resulting safety area 830.

[0241] Depending on the purpose of using the mobile robot 100, it is used in conjunction with a mobile body 850 connected to its rear. In this case, information such as the presence of the mobile body 850, the number of connected mobile bodies 850, and the load on the mobile body are included in a visual image for a safe area, which is projected onto the ground in front of the mobile robot 100. Furthermore, a safe distance is included in the visual image and is marked. Therefore, the robot 200 or a person can not only bypass the moving mobile robot 100, but also bypass the entire mobile robot 100, including the various carts connected to its rear.

[0242] The above describes a practical example of marking a safety zone that changes based on the travel and operation states of the mobile robot 100. The following describes a practical example in detail, where travel safety is ensured by marking a safety zone that changes based on the spatial environment in which the mobile robot 100 travels.

[0243] At this time, the description of 'the spatial environment based on the movement of the mobile robot 100' means 'various types of environmental information perceived and / or collected based on the sensing values ​​from the sensing unit 140 of the mobile robot 100 and / or the information received through its communication unit 110'.

[0244] At this point, for example, various types of environmental information may include various types of information, such as the ground conditions in the space in which the mobile robot 100 travels, the travel space in one direction, congested sections, points where it intersects with another travel path, intersections, travel warning sections including corners or similar features, travel risk sections, and other relevant details.

[0245] In this context, Figure 9 This is an exemplary view, which is used to describe how the safety area is marked in different ways as the mobile robot 100 travels along a corner.

[0246] While moving within a designated travel space, the mobile robot 100 can identify its own position and the state of the walls in that space via the sensing unit 140. However, when the mobile robot 100 approaches a corner, it can sense this approach, but a person or robot 200 approaching from the opposite direction of the corner cannot sense its presence. In this situation, the mobile robot 100 and the person or robot 200 will sense each other when they reach the corner, raising concerns about the risk of collision and accidents.

[0247] Therefore, the mobile robot 100 according to embodiments of this disclosure can reconfigure the visual image for travel safety in an extended manner before reaching a corner, and can project the obtained visual image. Thus, the mobile robot 100 can control the projector 160 so that the projected visual image reaches the corner much earlier than the mobile robot 100.

[0248] Specifically, the mobile robot 100 can sense the surrounding environment at its current position via the sensing unit 140. The control unit 180 of the mobile robot 100 can detect intersections or corners by sensing changes in the surrounding environment. Subsequently, the control unit 180 controls the projector 160 based on the mobile robot 100's current position approaching the intersection or corner, so as to change at least one of the shape or size of the first visual information.

[0249] At this point, the statement 'the current position of mobile robot 100 is close to a fork in the road or a corner' can mean that the current position of mobile robot 100 is located at a predetermined distance or further (e.g., 3 meters or more) from the point corresponding to the fork in the road or a corner, and mobile robot 100 is arranged to move toward that point from the predetermined distance.

[0250] Furthermore, in a practical example, the control unit 180 of the mobile robot 100 can control the projector 160 in accordance with the degree to which the mobile robot 100 approaches the intersection or corner, so as to adjust the degree of at least one change in the shape or size of the first visual image used to mark the safety area. Subsequently, when it is sensed that the mobile robot 100 has passed the intersection or corner, the control unit 180 can control the projector 160 so that the shape or size of the first visual image is restored to its previous state.

[0251] The corner-around movement described above includes movement to enter a fork in the road. When the mobile robot 100 is moving in a straight line near the fork in the road, the mobile robot 100 itself will not move around the corner; however, another robot may. Therefore, when the mobile robot 100 moves to enter a fork in the road, the mobile robot 100 can perform the operations required for corner-around movement.

[0252] refer to Figure 9 While moving, the mobile robot 100 projects a first visual image 910 for marking safe areas. Simultaneously, the mobile robot 100 can perceive the predetermined distance it needs to travel to reach a corner based on map data about the travel space or the shape of the travel space sensed by the sensing unit 140. The mobile robot 100 can project a second visual image 920 at or beyond the predetermined distance before reaching the corner. The second visual image 920 is generated by altering the first visual image in such a way that it extends towards the corner in the direction of the mobile robot 100's movement. The closer the mobile robot 100 gets to the corner (or the faster the mobile robot 100 moves), the more the second visual image 920 extends towards the corner.

[0253] Therefore, a person P or robot 200 approaching a corner can take preventative measures remotely by visually inspecting the luminous portion (light) of the second visual image 920.

[0254] In a practical example, when projecting the second visual image 920, the closer the mobile robot 100 is to a corner, the higher the alarm level it raises. For example, as the mobile robot 100 approaches a corner, it can change the color of the second visual image 920 (e.g., change the color indicating travel speed to red) and / or output a warning sound via the sound output module 152, depending on the increased alarm level. Alternatively, the mobile robot 100 can project the second visual image 920 with a flashing effect.

[0255] In this way, each mobile robot 100 senses corners and projects a visual image of the corner change before reaching it. Therefore, the likelihood of collisions can be reduced more reliably compared to installing sensors on the walls at each corner. Furthermore, optimal movement safety is ensured even in environments with frequently changing layouts, such as warehouses.

[0256] After the mobile robot 100 passes a corner, it changes the second visual image 920 to the first visual image 910 as the original state and projects the obtained first visual image 910. At this time, according to the above practical example, the traveling state and operating state of the mobile robot 100 can be reflected in the first visual image 910.

[0257] Furthermore, the same operation performed by the mobile robot 100 when it is traveling in a direction close to a point where it intersects with another travel path, a fork in the road, another warning section, a travel risk section, or a similar area can be applied even when the mobile robot 100 is traveling in a direction close to a point where it intersects with another travel path, a fork in the road, another warning section, a travel risk section, or a similar area.

[0258] While the mobile robot 100 is moving within a one-way travel space, if the robot 200 attempts to enter the travel space from the opposite direction, the mobile robot 100 can sense this attempt and additionally project a visual image indicating the direction of entry into the travel space as well as a safe area, thereby ensuring travel safety.

[0259] For example, when mobile robot 100 is about to enter a congested area, mobile robot 100 can first emphasize the visual image to be projected to mark the safe area, so that robot 200 or a person in the congested area perceives the intention of mobile robot 100 to enter the congested area. Subsequently, mobile robot 100 can reflect the travel status information (indicating a decrease in travel speed) in the visual image and project the obtained visual image.

[0260] For example, if the mobile robot 100 senses that the ground condition in its travel space is poor, the mobile robot 100 can project a warning image along with a visual image used to mark a safe area, so that the robot 200 or a person near the mobile robot 100 remains alert in the affected area.

[0261] Thus, according to embodiments of the present disclosure, the mobile robot 100 pre-senses the environment of the space in which it travels, reconfigures the visual image to ensure safe travel, and projects the obtained visual image. This process facilitates remote sensing of the presence of the mobile robot 100 even in environments where it would otherwise be difficult for the mobile robot 100 to perceive it. Furthermore, warning and risk zones sensed by the mobile robot 100 during its travel can be externally marked, enabling nearby robots 200 or people to perceive these zones, thereby helping to ensure the safe travel of the robot 200 or the safety of the person.

[0262] The mobile robot 100 according to embodiments of the present disclosure can not only project its current travel or operation state and information about the current surrounding situation into a visual image, but also pre-display the planned next operation externally to ensure travel safety.

[0263] In this context, Figure 10 This is a flowchart; refer to this flowchart to describe another way of operating the mobile robot 100.

[0264] Unless otherwise stated, Figure 10 The operating method shown can be executed by the control unit 180 (or processor) of the mobile robot 100. Furthermore, Figure 10 Each step in the flowchart can be implemented using program commands executed by at least one processor.

[0265] refer to Figure 10 While moving, the mobile robot 100 can project first visual information (1010) for marking the safe area through the projector 160.

[0266] At this time, the phrase 'while the mobile robot 100 is moving' includes: the mobile robot 100 moving within a predetermined space; and the mobile robot 100 starting operation but not yet moving, or remaining stationary after completing its task. This is because, even when the mobile robot 100 remains stationary, it is desirable to temporarily mark a safe area externally to ensure safe movement. This consideration takes into account the possibility that the mobile robot 100 waits to move via the actual driving unit 130 after starting operation, or the possibility that the mobile robot 100 moves within a predetermined time after completing its task.

[0267] Therefore, the control unit 180 of the mobile robot 100 can project first visual information for marking a safety area onto the ground before the mobile robot 100 starts moving, and can control the projector 160 based on a predetermined time elapsed after the mobile robot 100 stops moving, so as to interrupt the projection of the first visual information.

[0268] Next, the mobile robot 100 can determine its next operation (1020) based on at least one change in its travel state or surrounding conditions.

[0269] At this time, the travel state of the mobile robot 100 may include at least one of the following: the travel direction of the mobile robot 100, its travel speed, or its operating state (e.g., using a trolley connected to it). Furthermore, at this time, the surrounding environment of the mobile robot 100 may include environmental information of the travel space (e.g., ground conditions, corner entry, warning zones, risk zones, etc.) sensed and / or collected by the sensing unit 140 and / or communication unit 110 of the mobile robot 100, as well as the position or state of the moving object.

[0270] The control unit 180 of the mobile robot 100 can change one or more of the following based on at least one change in its travel state or surrounding conditions: the size, shape, or color of the visual image used to mark the safety area, or determine whether to apply a highlighting effect, as in the practical example described above. For this purpose, the above references can be applied. Figures 2 to 9 Various practical examples are described.

[0271] Furthermore, the control unit 180 of the mobile robot 100 can determine the next action that the mobile robot 100 intends to perform based on at least one change in its travel state or surrounding conditions to ensure travel safety. Examples of the next action may include both active actions (e.g., the mobile robot 100's detour) and passive actions (e.g., changes in travel speed, alarms for warning sections, and alarms for risky sections).

[0272] Subsequently, the mobile robot 100 can project second visual information (1030) associated with the scheduled next operation via the projector 160, based on the determination of the next operation.

[0273] At this time, the second visual information does not refer to a visual image representing the change in the safe zone of the mobile robot 100 itself as the mobile robot 100 changes in its travel state, operating state and surrounding environment as described above.

[0274] The second visual information refers to the projected image associated with the next operation of the mobile robot 100. In addition to changing the safety area, the mobile robot 100 also determines that it needs to perform the next operation to ensure safe movement. At this time, before the mobile robot 100 performs the next operation, the projector 160 pre-projects the projected image associated with the next operation as a visual image that allows for intuitive identification of what the determined next operation is.

[0275] In this way, in addition to the mobile robot 100's own safe zone, the mobile robot 100 also alerts its surrounding environment in advance before taking action. Therefore, the mobile robot 100 and the robot 200 or the human can perceive each other in areas or states where communication is impossible and / or in situations where communication between them is impossible.

[0276] Figure 11A and Figure 11B These are exemplary views, each illustrating a mobile robot 100 marking its intention to perform a detour operation and a safety zone for itself in response to an approaching obstacle while it is moving.

[0277] Figure 12 This is an exemplary view showing a mobile robot 100 marking its inability to circumvent an approaching obstacle and a safety zone for itself as it moves along.

[0278] Normally, when a nearby obstacle is detected by sensors, the mobile robot 100 can reduce its speed and then proceed around the obstacle or stop to avoid a collision. However, according to this disclosure, the mobile robot 100 can pre-warn its surroundings about its next action and guide nearby obstacles around itself. As mentioned above, this operation can be performed even when the mobile robot 100 cannot communicate with the robot 200.

[0279] In a practical example, when a nearby obstacle (e.g., robot 200) approaches the mobile robot 100, the next action of the mobile robot 100 may vary depending on whether the mobile robot 100 is able to bypass the nearby obstacle.

[0280] At this point, the statement "a nearby obstacle (e.g., robot 200) is approaching mobile robot 100" can refer to a situation where robot 200 has entered or is attempting to enter a safe area marked by mobile robot 100. This situation can be distinguished from the usual situation where mobile robot 100 senses the presence of a nearby obstacle through sensing unit 140.

[0281] Furthermore, at this point, the feasibility of the detour operation can be determined by considering two scenarios: one is that the detour operation cannot be performed due to the state of the mobile robot 100 or the characteristics of the travel space; the other is that the detour operation is not performed due to the priority of the task assigned to the mobile robot 100 or to ensure travel safety.

[0282] In either case, the mobile robot 100 can mitigate collision concerns and reliably ensure safe travel by alerting its surroundings to its next action (which will be performed in response to an approaching obstacle). Furthermore, the planned arrangement of alerting the mobile robot 100 to its surroundings eliminates the need for both the mobile robot 100 and the robot 200 to simultaneously perform obstacle avoidance maneuvers, thereby enhancing travel efficiency and ensuring travel safety.

[0283] According to a practical example, before performing the next operation of the arrangement, the control unit 180 of the mobile robot 100 can control the projector 160 to project second visual information indicating the sensing of nearby obstacles.

[0284] At this time, robot 200 visually perceives the second visual information through a camera or similar device, and the manager observes mobile robot 100 with their own eyes. Therefore, both mobile robot 100 and robot 200 can perceive the presence of mobile robot 100 itself. Furthermore, robot 200 can also output a signal indicating its intention to perform a detour operation in response to the second visual information. Additionally, if robot 200 includes a projector, in response to the second visual information, robot 200 can also operate to project a visual image indicating its intention to perform a detour operation onto the ground, and mobile robot 100 visually perceives this intention through camera 121.

[0285] Furthermore, according to a practical example, the control unit 180 of the mobile robot 100 may control the projector 160 to project second visual information indicating the location of the nearby obstacle before performing the detour operation, based on the determination that the mobile robot 100 needs to travel around a nearby obstacle as the next operation of the mobile robot 100.

[0286] For example, the control unit 180 of the mobile robot 100 can project a visual image, similar to the visual image used to mark the safe area of ​​the mobile robot 100 itself, onto the area near the perceived obstacle. In this case, the obstacle can sense that the mobile robot 100 intends to bypass the obstacle and continue moving. Therefore, the inefficiency that occurs when the mobile robot 100 and the obstacle simultaneously bypass each other is prevented, and travel safety is more reliably ensured through mutual perception.

[0287] Furthermore, when projecting second visual information indicating the location of nearby obstacles, the control unit 180 of the mobile robot 100 can reduce the travel speed of the mobile robot 100 and reflect the reduced travel speed in the marked safety area before performing a detour operation as the next scheduled operation. At this time, the control unit 180 can indicate the reduction in travel speed by changing the color image while keeping the size of the safety area to be marked unchanged.

[0288] refer to Figure 11A Based on the sensing of the proximity of the robot 200 to the mobile robot 100, the mobile robot 100 changes the visual image 1110 to mark the safety area in an emphasized manner and projects the resulting visual image 1110.

[0289] Furthermore, the mobile robot 100 can project a guidance image 1150 indicating the position of the robot 200 onto an area near the robot 200 to indicate that the robot 200 has been detected. In this case, the projection of the guidance image 1150 can be interpreted as instructing the mobile robot 100 to determine whether to perform a detour operation.

[0290] Robot 200 can perceive the mobile robot 100 by visually perceiving the emphasized visual image 1110. In addition, robot 200 can perceive that it does not need to perform a detour operation by visually perceiving the guide image 1150 near robot 200.

[0291] refer to Figure 11B The mobile robot 100 reduces its travel speed to perform a detour operation and reflects the reduced travel speed on the marked safe area by changing the color image of the visual image 1110. For example, the visual image can be changed from a red visual image 1110 available before the travel speed is reduced to a yellow visual image 1120 available after the travel speed is reduced.

[0292] exist Figure 11B In this context, when the mobile robot 100 changes its direction of travel after reducing its travel speed to perform a detour operation, a guide image 1150 indicating the position of the robot 200 can be continuously projected. Furthermore, when the mobile robot 100 changes its direction of travel to perform a detour operation, the shape of the yellow visual image 1120 can change after reflecting the changed direction of travel.

[0293] Even if mobile robot 100 senses an obstacle (e.g., robot 200) that has entered or is attempting to enter a safe area, and determines that it will not perform a detour, the markings of the safe area need to be changed so that the determination is perceptible from the outside.

[0294] Therefore, in the event that a detour operation cannot be performed due to the movement state of the mobile robot 100 (meaning that it is determined that no detour operation will be performed), in order to allow the sensed nearby obstacles to move around the mobile robot 100, the control unit 180 of the mobile robot 100 can control the projector 160 to project third visual information indicating entry restrictions onto the ground near the mobile robot 100.

[0295] At this point, the third visual information can be projected in a manner that overlaps with the first visual information used to mark the safe area of ​​the mobile robot 100. Alternatively, the third visual information, including markings used to guide the detour operation, can be projected onto the ground near the sensed obstacle.

[0296] For example, refer to Figure 12 The mobile robot 100 can project a visual image 1210 in a manner that overlaps with an existing safe area, the visual image 1210 indicating that the mobile robot 100 intends to maintain its current position and movement. Alternatively, the mobile robot 100 can project a visual image 1250 including orientation information, causing the sensed robot 200 to perform a detour.

[0297] in this case, Figure 12 The robot 200 can visually recognize the visual images 1210 and / or 1250 projected by the mobile robot 100 and perform movement operations to avoid collisions. Furthermore, the mobile robot 100 can continue moving without colliding with the robot 200, instead of reducing its speed or stopping.

[0298] Thus, regardless of the markings of the safety zone used to ensure safe movement, when robot 200 or a person approaches mobile robot 100, according to embodiments of the present disclosure, mobile robot 100 can determine whether to perform a detour operation and project the next operation or movement plan arranged externally via projector 160. Therefore, not only can the possibility of collisions be prevented, but efficient movement operations can also be achieved through mutual sensing.

[0299] The following describes a practical example in detail, in which a mobile robot 100 senses multiple nearby obstacles and ensures a safe zone for at least one of the multiple obstacles.

[0300] Ideally, each of the plurality of mobile robots traveling within a predetermined travel space includes a projector and externally marks its safety area. However, if this is not the case, the mobile robot 100 according to embodiments of the present disclosure may alternatively alert the sensed robot 200 to the risk of collision with nearby people or other obstacles caused by movement.

[0301] This alarm helps ensure safety throughout the travel space, especially when robot 200 encounters mobile robot 100 but does not sense other obstacles, or when robot 200 is traveling in an abnormal state.

[0302] In this context, Figure 13A , Figure 13B and Figure 13C These are views, which are used to describe an example of how a mobile robot 100 marks a safe area by taking into account the expected movement of multiple nearby obstacles when it senses them.

[0303] According to a practical example, the mobile robot 100 can sense multiple obstacles present in the vicinity of the mobile robot 100 through the sensing unit 140. In this case, sensing multiple obstacles present in the vicinity of the mobile robot 100 means that multiple obstacles are located at a predetermined distance from the safe area, but are sensed by the sensing unit 140, rather than multiple obstacles having entered the safe area marked by the mobile robot 100.

[0304] The mobile robot 100 can determine, based on sensing multiple nearby obstacles, that providing safe guidance to one of these obstacles is the next action. This is because the multiple obstacles are located outside the safe area marked by the mobile robot 100, thus eliminating the need for a detour. A detour can be determined as the next action if the relative positions of the multiple obstacles are close to or predicted to be close to the mobile robot 100.

[0305] Specifically, due to changes in the surrounding environment, the control unit 180 of the mobile robot 100 can determine, based on the sensing of multiple nearby obstacles by the sensing unit 140, to provide movement guidance to the first obstacle as the next operation of the mobile robot 100.

[0306] At this point, if the obstacles are both people and robots, the first obstacle can refer to a person. Furthermore, if all obstacles are robots 200, the first obstacle can refer to the robot 200 closest to the current position of the mobile robot 100.

[0307] The control unit 180 of the mobile robot 100 can control the projector 160 to project visual information indicating the movement guidance based on the determination of providing movement guidance for the first obstacle, the movement guidance being based on the positions of the mobile robot 100 and a second obstacle other than the first obstacle.

[0308] At this point, the movement guidance for the first obstacle refers to visual guidance that can be projected to enable the first obstacle to move without colliding with the mobile robot 100 and the second obstacle. Therefore, the movement guidance for the first obstacle can also be referred to as the safe zone for the first obstacle. Furthermore, the movement guidance for the first obstacle can be projected in a form suitable for marking the risk areas of the mobile robot 100 and the second obstacle.

[0309] Specifically, the visual information indicating movement guidance for the first obstacle can be configured to include a first movement guide and a second movement guide. The first movement guide indicates a 'safe zone' based on the positions of the mobile robot 100 and the second obstacle. The second movement guide indicates a 'risk zone' based on the positions of the mobile robot 100 and the second obstacle. The second movement guide differs from the first movement guide.

[0310] The first obstacle can move safely along the safe area included in the first movement guide while avoiding the risk area included in the second movement guide. Therefore, it is possible to ensure the movement safety of the mobile robot 100 and the movement safety of multiple obstacles simultaneously.

[0311] In the case where the second obstacle is robot 200 (robot 200 is also a mobile robot including a projector), mobile robot 100 and robot 200 may mark at least one of the first and second movement guides described above on their respective safe areas.

[0312] Specifically, refer to Figure 13A Assume that mobile robot 100 projects onto its own safety area 1310 via projector 160, and robot 200 also projects onto its own safety area 1320 via projector. In this case, if person P, acting as the first obstacle, moves between mobile robot 100 and robot 200, it can be determined that the projection is used to guide person P to move safely.

[0313] The expected direction of movement for person P can be either the first direction H1 or the second direction H2. (Reference) Figure 13B Mobile robot 100 can project a safety area 1310', which varies in a manner that includes a second movement guide for marking risk areas on the safety area. Additionally, robot 200 can also project a safety area 1320', which varies in a manner that includes a second movement guide for marking risk areas on robot 200 itself. In this case, the position of the second movement guide is determined by considering the travel direction of each of mobile robots 100 and 200. Furthermore, the second movement guide can be marked in a way that emphasizes visually distinguishable color images.

[0314] Then, after visually inspecting the changed safe areas 1310' and 1320', person P is able to move safely along the second direction H2.

[0315] In cases where robot 200 does not include a projector and therefore cannot mark its own safe area, mobile robot 100 can alert the first obstacle to a risk area by alternatively marking the risk area based on the location of robot 200.

[0316] For example, refer to Figure 13C This alarm occurs when there is concern that person P, who is the first obstacle sensed by mobile robot 100, will collide with robot 200, which is the second obstacle and does not include the projector.

[0317] This is a situation where it is difficult for human P to look backward. Therefore, mobile robot 100 can identify and mark the risk area instead of robot 200, and project the risk area 1320 accordingly to correspond to the expected direction of travel of robot 200.

[0318] Based on a practical example, if mobile robot 100 determines through visual recognition that there is no visual image projected by robot 200, mobile robot 100 can identify a risk area for robot 200 to replace the projection of robot 200. Person P can move along a third direction H3 to avoid safe area 1310 and risk area 1320 of robot 200.

[0319] Another practical example is described below, in which the mobile robot 100 externally marks risky sections encountered during its journey to ensure safe travel.

[0320] In this context, Figure 14A , Figure 14B and Figure 14C These are views showing the risk areas sensed as the mobile robot 100 moves.

[0321] The mobile robot 100 can sense the ground conditions at a specific point or in a specific section using a sensing unit 140 (e.g., a ground sensor (not shown)). The control unit 180 can identify the relevant point or section as a risk area based on the sensed ground conditions.

[0322] When a task assigned to the mobile robot 100 has a high priority, the mobile robot 100 can transmit data about the travel map and update the travel map via the communication unit 110. Alternatively, the mobile robot 100 can project visual images for marking risk areas via the projector 160 to alert the surrounding environment of relevant points or sections, thereby ensuring travel safety.

[0323] To this end, the control unit 180 of the mobile robot 100 can detect risk areas based on the sensed ground conditions and control the projector 160 to project second visual information indicating the detected risk areas before the mobile robot 100 stops, as determined by the next operation of the mobile robot 100.

[0324] At this point, the mobile robot 100 can indicate visual information that changes according to the sensed cause of risk.

[0325] For example, such as Figure 14A As shown, the mobile robot 100 can project a symbol 1401 indicating the reason for sliding or a guide image 1410 including a colored pattern onto the ground at the marked location. The guide image 100 can be projected in different forms (e.g., triangles) to distinguish it from the safe area of ​​the mobile robot 100.

[0326] In addition, for example, such as Figure 14BAs shown, the mobile robot 100 can project a symbol 1402 indicating the risk of ground subsidence or a guide image 1420 including a colored pattern onto the ground at the marked location. At this time, other nearby robots 200A and 200B each mark a safe zone for themselves. Therefore, the mobile robot 100 and the nearby robots 200A and 200B can sense each other, and the nearby robots 200A and 200B can navigate around the guide image 1420. This detour is to bypass the risk zone and is different from a detour to prevent collision with the mobile robot 100.

[0327] In addition, for example, such as Figure 14C As shown, the mobile robot 100 can project a symbol 1403 indicating the risk of falling off a cliff, or a guide image 1430 including colored patterns, onto the ground at the identified location. In this case, a nearby robot 200C can remotely identify the relevant points and modify its travel plan to avoid the risk of falling off the cliff through visual recognition.

[0328] Although not shown, managers can identify the respective instructions through visual monitoring. Figures 14A to 14C Visual images 1410, 1420, and 1430 illustrate the causes of the risks shown. Furthermore, if necessary, the mobile robot 100 can also operate to alternately mark risk areas in a continuous manner through mutual recognition with the robot 200, which has a projector function.

[0329] As described above, according to embodiments of this disclosure, the mobile robot 100 marks a safety area via a projector 160 while moving. Furthermore, the safety area adaptively changes based on the mobile robot 100's movement status and surrounding conditions while moving. Therefore, movement safety can be ensured more reliably, and movement safety can be quickly identified from the outside. Moreover, visual information for ensuring movement safety can be projected in various forms. The visual information to be projected can be flexibly varied to reflect the changing safety area based on the mobile robot 100's movement status and surrounding conditions. Furthermore, mutual recognition is possible between the mobile robot 100 and its neighboring robot 200 without direct communication, allowing them to recognize each other's next action for movement safety. Therefore, the mobile robot 100 can effectively respond to the robot 200 to prevent collisions or similar accidents, and the manager can visually anticipate the mobile robot 100's next action. Furthermore, depending on the purpose of using the mobile robot 100, it is used in conjunction with a mobile body 850 connected to the rear of the mobile robot 100. In this configuration, information such as the presence of mobile bodies 850, the number of connected mobile bodies 850, and the load on the mobile bodies 850 are included in a visual image of the safe area, which is projected onto the ground in front of the mobile robot 100. Furthermore, safe distances are included in the visual image and marked. Therefore, the robot 200 or a person can not only bypass the moving mobile robot 100, but also the entire mobile robot 100, including various carts attached to its rear. Additionally, warning and risk zones sensed by the mobile robot 100 during its movement can be externally marked, enabling the robot 200 or a person near the mobile robot 100 to perceive these zones, thereby helping to ensure the safety of the robot 200's movement or the safety of the person.

[0330] The further scope of this disclosure will become apparent from the detailed description. However, it should be understood that the detailed description and specific examples (e.g., preferred embodiments of this disclosure) are given by way of illustration only, as various changes and modifications within the spirit and scope of this disclosure will be apparent to those skilled in the art.

[0331] The features, structures, effects, etc., described in these embodiments are included in at least one embodiment of this disclosure, but are not necessarily limited to one embodiment. Furthermore, the features, structures, effects, etc., shown in each embodiment can be combined or modified by those skilled in the art with respect to other embodiments. Therefore, content related to such combinations or modifications should be understood to be included within the scope of this disclosure.

[0332] Furthermore, the above description has been made with reference to embodiments, but it is illustrative only and not intended to limit the scope of this disclosure. It will be apparent that those skilled in the art to which this disclosure pertains can make other changes and applications without departing from the essential characteristics of the embodiments of this disclosure. For example, modifications and practices can be made to each component specifically shown in the embodiments. And it should be understood that differences associated with these changes and applications are included within the scope of this disclosure as defined in the appended claims.

Claims

1. A mobile robot, comprising: A projector is mounted on one side of the mobile robot to project visual information; as well as The control unit is configured to control the projector to project the visual information externally. The control unit controls the projector to project first visual information for marking a safe area onto the ground near the mobile robot while the mobile robot is moving. The control unit determines that the safe area has changed based on at least one change in the mobile robot's movement state or the surrounding conditions, and the control unit controls the projector to change the first visual information and project the changed first visual information according to the determination.

2. The mobile robot according to claim 1, wherein, The safe zone is the area outside the restricted entry area, determined based on the mobile robot's shape and movement. The first visual information is at least one of the following: an image or text indicating the restricted area in a manner that visually distinguishes it from the surrounding environment of the mobile robot.

3. The mobile robot according to claim 1, further comprising: A sensing unit is configured to sense the travel speed of the mobile robot. The control unit perceives the sensed travel speed as a change in the travel state of the mobile robot, determines the change in the safety zone, and controls the projector to change at least one of the following according to the determination: the color or size of the first visual information.

4. The mobile robot according to claim 3, wherein, The sensing unit senses the direction of travel of the mobile robot, and The control unit controls the projector to elongate the image shape of the first visual information toward the sensed direction of travel.

5. The mobile robot according to claim 3, wherein, The image size of the first visual information increases or decreases in accordance with the sensed travel speed, and the color change of the image of the first visual information causes the warning level to change in accordance with the sensed travel speed.

6. The mobile robot according to claim 1, further comprising: The sensing unit is configured to sense obstacles in the vicinity of the mobile robot. The control unit controls the projector based on the sensing of an obstacle approaching the mobile robot, so that the first visual information changes according to the state of the sensed obstacle.

7. The mobile robot according to claim 1, wherein, The travel state includes an operational state that changes depending on whether it is connected to another moving body. The control unit senses the moving body connected to the connecting member of the mobile robot, and controls the projector based on information about the moving body, so that the first visual information changes and the changed first visual information is projected.

8. The mobile robot according to claim 7, wherein, Information about the mobile bodies includes information about the number of mobile bodies connected to the mobile robot, and The control unit controls the projector based on information about the number of connected mobile bodies, such that at least one of the following changes: the size or shape of the first visual information.

9. The mobile robot according to claim 8, wherein, The control unit controls the projector based on the information about the number of connected mobile bodies, such that at least one change in the size or shape of the first visual information corresponds to the direction of travel of the mobile robot.

10. The mobile robot according to claim 7, wherein, Information about the mobile body includes information about the load present on the mobile body connected to the mobile robot, and The control unit estimates the entry restriction area based on information about the amount of load present on the moving body, and controls the projector to change at least one of the following according to the estimated entry restriction area: the size or shape of the first visual information.

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