Battery management device and mobile robot including the same

Abstract

The present invention includes a power supply unit that generates an operating power supply voltage from a plurality of batteries, a power supply connection conversion unit that performs connection and disconnection between the power supply unit and each of the batteries, a plurality of voltage detection units that detect output voltages output from each of the batteries, a detection connection conversion unit that performs connection and disconnection between each of the batteries and each of the voltage detection units, and a battery controller that controls the power supply connection conversion unit and the detection connection conversion unit based on information input from the voltage detection units, wherein the battery controller selects one of the plurality of batteries as a main battery and selects the remaining battery as an auxiliary battery based on the output voltage, and periodically repeats connection between the auxiliary battery and the voltage detection unit for a first time and disconnection between the auxiliary battery and the voltage detection unit for a second time, and the first time is shorter than the second time.

Description

[Technical field]

[0001] The present invention relates to a battery management device and a mobile robot including the same. [Background technology]

[0002] A mobile robot is a device that cleans by sucking up foreign matter such as dust from the bottom or by wiping the foreign matter on the bottom. Recently, a mobile robot that can perform wiping has been developed.

[0003] Use dual batteries to increase the cleaning time of the mobile robot and make battery replacement easier. When using dual batteries, periodically check the remaining battery power and use the battery with the most remaining power as the main battery and the remaining battery as the auxiliary battery.

[0004] Prior art document 1 discloses a technique for using dual batteries and selecting a main battery based on information acquired from each battery and the detected output voltage of each battery.

[0005] However, the prior art does not disclose a method for checking the remaining battery level of an unused auxiliary battery, nor does it disclose any method for reducing the power consumption of the auxiliary battery.

[0006] In the case of the conventional technology, if the remaining battery level of the auxiliary battery is repeatedly checked, the power consumption of the auxiliary battery increases, and the life of the auxiliary battery is shortened. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] JP 2016-220824 A Summary of the Invention [Problem to be solved by the invention]

[0008] An object of the present invention is to provide a battery management device for increasing battery usage time when using dual batteries, and a mobile robot including the same.

[0009] Another object of the present invention is to provide a battery management device that continuously checks the remaining charge of an auxiliary battery when using dual batteries, thereby reducing the power consumption of the auxiliary battery, and a mobile robot including the same.

[0010] Another object of the present invention is to provide a battery management device that continuously checks for replacement of an auxiliary battery when using dual batteries, thereby reducing power consumption of the auxiliary battery, and a mobile robot including the same. [Means for solving the problem]

[0011] In order to solve the above problem, the present invention is characterized in that the auxiliary battery and the voltage detection unit are connected for a first time and the connection and disconnection are periodically repeated for a second time, and the first time is shorter than the second time.

[0012] Specifically, the present invention includes a power supply unit that generates an operating power supply voltage from a plurality of batteries, a power supply connection conversion unit that performs connection and disconnection between the power supply unit and each of the batteries, a plurality of voltage detection units that detect output voltages output from each of the batteries, a detection connection conversion unit that performs connection and disconnection between each of the batteries and each of the voltage detection units, and a battery controller that controls the power supply connection conversion unit and the detection connection conversion unit based on information input from the voltage detection units, wherein the battery controller selects one of the plurality of batteries as a main battery and selects the remaining battery as an auxiliary battery based on the output voltage, and periodically repeats connecting the auxiliary battery and the voltage detection unit for a first time and disconnecting the auxiliary battery from the voltage detection unit for a second time.

[0013] The battery controller can detect the output voltage of the auxiliary battery while the auxiliary battery and the voltage detection unit are connected.

[0014] The battery controller includes: A residual voltage value is calculated from the output voltage of the auxiliary battery, and if the residual voltage value is smaller than a first voltage value, it may be determined that the auxiliary battery is in a removed state.

[0015] The battery controller may calculate a remaining voltage value from the output voltage of the auxiliary battery, and may determine that the auxiliary battery is attached if the remaining average voltage value is greater than or equal to a first voltage value.

[0016] The battery controller includes: A remaining voltage value is periodically calculated from the output voltage of the auxiliary battery, and when the remaining voltage value becomes smaller than the first voltage and then becomes larger than the first voltage or equal to the first voltage again, an initial voltage value of the auxiliary battery can be calculated.

[0017] The initial voltage value of the auxiliary battery may be an average value of a plurality of output voltage values ​​of the auxiliary battery measured at a fourth time interval during a third time period.

[0018] The third time period can be less than the second time period and greater than the first time period, the second time period can be greater than a fourth time period, and the first time period can be less than the second time period.

[0019] The battery controller may calculate an initial voltage value of each of the plurality of batteries, select the battery with the largest initial voltage value as the main battery, and select the remaining batteries as the auxiliary batteries.

[0020] The battery controller can connect the main battery to the power supply unit and disconnect the auxiliary battery from the power supply unit.

[0021] The residual voltage value of the auxiliary battery may be an average value of a plurality of output voltage values ​​of the auxiliary battery measured at five time intervals during a first time period.

[0022] In another embodiment of the present invention, a battery controller includes a power supply unit that generates an operating power supply voltage from a plurality of batteries, a power supply connection conversion unit that performs connection and disconnection between the power supply unit and each of the batteries, a plurality of voltage detection units that detect an output voltage output from each of the batteries, a detection connection conversion unit that performs connection and disconnection between each of the batteries and each of the voltage detection units, and a battery controller that controls the power supply connection conversion unit and the detection connection conversion unit based on information input from the voltage detection units, wherein the battery controller calculates an initial voltage value of each of the batteries, selects one of the plurality of batteries as a main battery and selects the remaining batteries as auxiliary batteries based on the initial voltage value of each of the batteries, and calculates a residual voltage value from the output voltage of the auxiliary battery at a sixth time interval, the residual voltage value being an average value of the output voltage of the auxiliary battery during a seventh time interval, and the sixth time interval being greater than the seventh time interval.

[0023] The initial voltage value of each battery may be an average value of a plurality of output voltage values ​​of each battery measured at a fourth time interval during a third time period, and the sixth time period may be greater than the third time period.

[0024] The third time period may be greater than the seventh time period.

[0025] The residual voltage value may be an average value of output voltage values ​​of the auxiliary battery measured at a fifth time interval during a seventh hour, the fifth time interval being greater than the fourth time interval.

[0026] The number of measurements of the output voltage value of the auxiliary battery measured during the fifth time interval may be less than the number of measurements of the output voltage value of each of the batteries measured during the fourth time interval.

[0027] The battery controller can connect the auxiliary battery and the voltage detection unit for a first time period and periodically disconnect the auxiliary battery and the voltage detection unit for a second time period, and detect the output voltage of the auxiliary battery while the auxiliary battery and the voltage detection unit are connected.

[0028] The battery controller may select the battery with the highest initial voltage value as the main battery and select the remaining batteries as the auxiliary batteries.

[0029] The battery controller can connect the main battery to the power supply unit and disconnect the auxiliary battery from the power supply unit.

[0030] The battery controller may determine that the auxiliary battery is in a removed state when the remaining average voltage value is less than a first voltage value.

[0031] In addition, a mobile robot according to an embodiment of the present invention includes the above-mentioned battery management device. Effect of the Invention

[0032] Through the above solution, the present invention has the advantage that when using dual batteries, only one battery with a large remaining capacity is used and the remaining battery is not used, thereby increasing the usage time of the entire battery and storing emergency power for moving to a filling station in an emergency.

[0033] In addition, when using dual batteries, the present invention has the advantage that the accuracy is improved by averaging the voltage values ​​of many times when calculating the voltage value of the first battery, and the remaining charge of the auxiliary battery is checked more intermittently than the voltage value of the first battery, thereby reducing the power consumption consumed by checking the remaining charge of the auxiliary battery.

[0034] In addition, when using dual batteries, the present invention intermittently checks the remaining charge of the auxiliary battery to determine whether or not to replace the battery. If it is determined that the battery needs replacing, the voltage value of the initial battery is calculated by averaging the voltage values ​​measured multiple times. This has the advantage that an accurate battery output voltage value can be obtained when replacing the battery, while reducing the power consumption required to check the remaining charge of the auxiliary battery.

[0035] In addition, since the present invention uses dual batteries, there is no need to turn off the mobile robot when replacing one of the batteries, and therefore there is an advantage that information regarding the cleaning area and information regarding the cleaning command can be maintained as is even when the battery is replaced. [Brief description of the drawings]

[0036] [Figure 1] 1 is a perspective view of a mobile robot according to an embodiment of the present invention; [Diagram 2] FIG. 2 is a plan view of the mobile robot shown in FIG. [Diagram 3] FIG. 2 is a front view of the mobile robot shown in FIG. [Figure 4] FIG. 4 is a cross-sectional view of the mobile robot shown in FIG. [Diagram 5] 5 is an enlarged cross-sectional view of the robot cleaner shown in FIG. 4, focusing on a sensing unit. [Figure 6] FIG. 2 is an exploded perspective view of the robot cleaner shown in FIG. [Figure 7] FIG. 2 is a control block diagram of a mobile robot according to an embodiment of the present invention. [Figure 8a] 1 is a diagram illustrating a battery management device according to an embodiment of the present invention. [Figure 8b] FIG. 8b is a diagram showing switching when the main battery and the auxiliary battery are selected in FIG. 8a. [Figure 9] 11 is a diagram comparing the time taken to connect and disconnect the auxiliary battery to the voltage detection unit and the time taken to measure the output voltage of the auxiliary battery. [Figure 10]4 is a flowchart illustrating a method for controlling a battery management device according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0037] The use of terms such as "first, second, third" before components mentioned below is merely for the purpose of avoiding confusion of the components, and has no bearing on the order, importance, or hierarchical relationship between the components. For example, an invention including only the second component without the first component can be embodied.

[0038] As used herein, the singular expression includes the plural expression unless the context clearly indicates otherwise.

[0039] FIG. 1 is a perspective view showing an example of a mobile robot 100 according to the present invention, FIG. 2 is a plan view of the mobile robot 100 shown in FIG. 1, and FIG. 3 is a front view of the mobile robot 100 shown in FIG.

[0040] 1 to 3, a mobile robot 100 autonomously moves within a certain area, recognizes its surrounding environment, and performs cleaning functions appropriate for the environment.

[0041] The cleaning function here includes a function of sucking and removing dust or foreign matter present in the bottom area. The mobile robot 100 can be used in various environments such as a warehouse, a home, and an office.

[0042] The mobile robot 100 includes a cleaner body 110 , a sensing unit 130 and a bumper 115 .

[0043] The cleaner body 110 includes a control unit 10 for controlling the autonomous movement of the mobile robot 100. The cleaner body 110 also includes a wheel unit 117 for the movement of the mobile robot 100. The wheel unit 117 allows the mobile robot 100 to move from the ground G.

[0044] The wheel unit 117 is disposed at the bottom of the cleaner body 110 so as to come into contact with the ground G, and is rotatable about an axis perpendicular to the cleaner body 110 in order to change the moving direction of the mobile robot 100. A plurality of wheel units 117 may be provided on the cleaner body 110, and each wheel unit 117 may be driven independently.

[0045] Meanwhile, a battery 111 for supplying power for driving the mobile robot 100 may be installed in the cleaner body 110. The battery 111 may include a first battery 111a and a second battery 111b. The first and second batteries 111a and 111b may be configured to be detachable from the cleaner body 110 and may be charged separately or may be rechargeable while attached to the cleaner body 110.

[0046] Also, a display unit 112 may be disposed on the top surface of the cleaner body 110 to display various status information related to the operation of the mobile robot 100 and provide it to a user. The status information may include various information such as a power supply state, a cleaning state, a cleaning mode, an operating time, and the presence or absence of a malfunction. The cleaning modes may include a mode in which the robot moves in a certain pattern to clean a space with few obstacles, such as a warehouse or a long corridor, and a mode in which the robot moves autonomously without a certain pattern to clean a space with many obstacles, such as an office.

[0047] In addition, a lamp 113 may be disposed on the top surface of the cleaner body 110 to display the state of the robot cleaner 110 in a different form in addition to the display unit 112 .

[0048] The lamps 113 can be configured to emit light of different hues in different ways.

[0049] For example, the lamps 113 may display different hues, brightness, flickering patterns, etc. As a result, even in a situation where it is difficult for the user to check the status information of the mobile robot 100 through the display unit 112, the user may more intuitively receive the status information of the mobile robot 100 through the light emitted from the lamps 113. Also, although the present invention has been described with reference to an example in which the lamp 113 is composed of one lamp, a plurality of lamps may be arranged adjacent to each other.

[0050] The sensing unit 130 is disposed at an angle to the side and top of the upper corners of the vacuum cleaner body 110, and can capture images of both the side and top of the vacuum cleaner body 110. For example, the sensing unit 130 may be a general camera for photography. The sensing unit 130 is disposed behind the bumper 115, as shown in FIG. 2.

[0051] Also, the sensing unit 130 may be formed to have a gradient ranging from 25° to 35° with respect to the ground. Meanwhile, the sensing unit 130 may be formed at a second height H2 that is equal to the first height H1 at which the bumper 115 is formed from the floor surface of the vacuum cleaner body 110 or does not exceed the first height H1. For example, the sensing unit 130 may be formed at a second height H2 that is lower than the first height H1 at which the bumper 115 is formed and adjacent to the first height H1, as shown in Figures 3 and 4.

[0052] According to this structure, the bumper 115 is formed to surround the front of the vacuum cleaner body 110, thereby expanding the range for protecting the mobile robot 100 from obstacles, while improving the obstacle detection performance by utilizing the detection function of the bumper 115 itself.

[0053] In addition, the sensing unit 130 is disposed at the highest point within the range of the first height H1, thereby improving the reliability of the image sampling operation through the sensing unit 130. In addition, the sensing unit 130 is disposed within the range of the first height H1, thereby making it possible to more safely protect the sensing unit 130 from impacts due to collisions.

[0054] Meanwhile, the mobile robot 100 may have a cylindrical exterior, and the structure of an inclined portion 140 formed between the upper surface and side surface of the cleaner body 110 described below can prevent the mobile robot 100 from being pinched by an obstacle located above the mobile robot 100. Here, the bumper 115 is formed to be inclined along the inclined portion 140, thereby preventing the mobile robot 100 from being pinched by an obstacle.

[0055] Such a configuration of the sensing unit 130 can provide a new form factor for the camera configuration of the mobile robot 100 and can further expand the imaging area of ​​the surrounding environment of the vacuum cleaner body 110. Also, image information of the side direction and the upper area of ​​the side part in the traveling direction of the mobile robot 100 can be obtained more effectively, so that sampling of image information can be easily performed even in a cleaning environment with a narrow and long corridor structure such as an office or a high ceiling.

[0056] The bumper 115 is disposed to cover at least a portion of the front half (FH, first half) of the cleaner body 110. The first half FH refers to the front half of the entire cleaner body 110. For example, the bumper 115 may be disposed to cover at least a portion of the side and top of the cleaner body 110 in the first half FH of the cleaner body 110, as shown in FIG.

[0057] The bumper 115 may be made of a material having an elastic deformation on one side so as to absorb the shock generated when the mobile robot 100 collides with an obstacle while moving, or may have a structure that restores to its original state after being compressed upon collision. This allows the mobile robot 100 to absorb the shock caused by the collision with an obstacle while moving, and further improves durability. The bumper 115 may also be configured to detect the shock when the mobile robot 100 collides with an obstacle.

[0058] Here, the sensing unit 130 may be disposed behind the bumper 115. For example, the sensing unit 130 may be disposed at a position adjacent to the bumper 115 in a rear region of the bumper 115 excluding a portion of the cleaner body 110 where the bumper 115 is formed.

[0059] Meanwhile, the mobile robot 100 may further include an ultrasonic sensing unit 160 .

[0060] The ultrasonic sensing unit 160 is disposed on one surface of the front side of the bumper 115, and transmits ultrasonic waves to the front of the vacuum cleaner body 110 and receives reflected ultrasonic waves to detect the distance and direction of an obstacle. Meanwhile, the ultrasonic sensing unit 160 may be disposed below the sensing unit 130 based on the up-down direction of the vacuum cleaner body 110.

[0061] In addition, a front camera 150 may be disposed on the front side of the mobile robot 100 so as to face the front of the mobile robot 100 and capture images of the front side of the mobile robot 100. Meanwhile, the front of the mobile robot 100 means the side on which the cleaner body 110 travels in the forward direction F, i.e., the front side of the cleaner body 110, and the rear of the mobile robot 100 [i.e., the reverse direction R opposite to the forward direction F] means the rear side of the cleaner body 110.

[0062] In addition, a first side brush 181 and a second side brush 182 may be provided on both sides of the floor surface of the cleaner body 110. The first and second side brushes 181, 182 are configured to be rotatable about an axis perpendicular to the mobile robot 100 and function to transfer foreign matter existing on the ground G in the outer area of ​​the mobile robot 100 to a suction device (not shown) of the mobile robot 100. A plurality of first brushes 181a and second brushes 182a are formed on the outer periphery of the first and second side brushes 181, 182, respectively, for separating foreign matter on the ground G from the bottom.

[0063] Meanwhile, the mobile robot 100 may further include an upper sensing unit 120 .

[0064] The upper sensing unit 120 is disposed to protrude a certain height from the upper surface of the vacuum cleaner body 110. The upper sensing unit 120 irradiates a laser around the vacuum cleaner body 110 to detect an obstacle, such as a wall, located around the vacuum cleaner body 110 while the mobile robot 100 is moving or stopped.

[0065] For example, the upper sensing unit 120 may be configured with a LiDAR. A LiDAR is a device that emits a laser pulse, receives the light reflected from surrounding objects, and measures the distance to the objects to precisely depict the surroundings.

[0066] Meanwhile, the mobile robot 100 may further include a tilting portion 140 .

[0067] The inclined portion 140 is formed to incline downward from the upper surface of the upper corner of the vacuum cleaner body 110, and includes a through-hole 141 for capturing an image of the sensing unit 130. Here, the sensing unit 130 is disposed inside the inclined portion 140, and configured to capture an image of the surrounding area of ​​the vacuum cleaner body 110 through the through-hole area of ​​the through-hole 141.

[0068] Hereinafter, the characteristics of the sensing unit 130 and the inclined unit 140 will be described with further reference to FIGS. 4 and 5 in addition to FIGS. 1 to 3. FIG.

[0069] 4 is a cross-sectional view of the mobile robot 100 shown in FIG. 3, and FIG. 5 is an enlarged cross-sectional view of the mobile robot 100 shown in FIG. 4, focusing on the sensing unit 130. As shown in FIG.

[0070] 1 to 5, the sensing unit 130 may include a first camera unit 131 and a second camera unit 132.

[0071] 4, a dust box 170 for accommodating foreign matter collected inside the vacuum cleaner body 110 through the suction device of the mobile robot 100 may be disposed inside the vacuum cleaner body 110. The dust box 170 may include a first receiving section 170a and a second receiving section 170b that are partitioned to collect relatively large particles of foreign matter and relatively small particles of foreign matter, respectively.

[0072] In addition, a dust filter 171 for filtering foreign matter and dust in the air discharged to the outside of the dust box 170 may be attached to the upper part of the dust box 170 .

[0073] The first camera unit 131 and the second camera unit 132 are disposed at an angle from one side and the other side of an upper corner region of the cleaner body 110, respectively, to capture images of both the side direction and the upper direction of the cleaner body 110. The first camera unit 131 and the second camera unit 132 may be disposed at positions symmetrical to the left and right with respect to a front center line CL of the cleaner body 110, as shown in FIG.

[0074] This allows the surrounding environment of the vacuum cleaner body 110 to be captured over a wider area through the first and second camera units 131, 132, and as a result, the amount of information obtained using the images captured through the first and second camera units 131, 132 can be further increased.

[0075] The inclined portion 140 may have a first inclined surface 140a and a second inclined surface 140b formed on one side and the other side of the cleaner body 110, respectively, corresponding to the configuration of the first and second camera units 131 and 132. Also, the through-hole 141 may have a first through-hole 141a and a second through-hole 141b for capturing images of the first and second camera units 131 and 132, respectively, corresponding to the first inclined surface 1401a and the second inclined surface 140b.

[0076] In addition, the control unit 10 may detect the current position of the mobile robot 100 within a travel area by using images captured by the first and second camera units 131 and 132. Such position detection of the mobile robot 100 may be realized by performing a Simultaneous Localization And Map-Building (SLAM) operation using image information acquired through the first and second camera units 131 and 132 and using map information created through the operation.

[0077] Here, the gradient of the sensing unit 130 is formed smaller than the gradient of the inclined portion 140 so that the optical axis of the sensing unit 130 is directed upward from the central axis of the through hole 141. Referring to FIG. 5, the characteristics of the second sensing unit 130 and the inclined portion 140 will be described using the second camera unit 132 and the second inclined surface 140b as an example. The gradient (α) of the second camera unit 132 is formed smaller than the gradient (β) of the second inclined surface 140b so that the optical axis 132a of the second camera unit 132, i.e., the line used as a reference for the direction and position when considering the progression of light in an optical system, is directed upward from the central axis 141b' of the second through hole 141b to the mobile robot 100. For example, when the gradient (β) of the second inclined surface 140b is 45°, the gradient (α) of the second camera unit 132 can be formed to be 30°.

[0078] FIG. 6 is an exploded perspective view of the mobile robot 100 shown in FIG.

[0079] Referring to FIG. 6, the cleaner body 110 may be composed of an upper case 110a and a lower case 110b, and the upper case 110a and the lower case 110b may be combined to form an internal space for accommodating various parts for driving the mobile robot 100.

[0080] The battery 111 supplies power to the sensing unit 130 , the input unit 16 , the output unit 17 , the control unit 10 , the first side brush 181 and the second side brush 182 .

[0081] Referring to FIG. 7, the mobile robot 100 includes a sensing unit 130 that detects various information related to the operation or state of the mobile robot 100 or an external situation.

[0082] The sensing unit 130 may include an obstacle detection sensor 21 that detects an external obstacle distant from the mobile robot 100. A plurality of obstacle detection sensors 21 may be provided. The obstacle detection sensor 21 may be disposed in the body 30. The obstacle detection sensor 21 may include an infrared sensor, an ultrasonic sensor, an RF sensor, a geomagnetic sensor, a PSD (Position Sensitive Device) sensor, etc.

[0083] The sensing unit 130 may include a position signal sensor 22 that receives an identification signal from an external source to determine a position. For example, the position signal sensor 22 may be an Ultra Wide Band (UWB) sensor that uses a UWB signal. The control unit 10 may determine the position of the mobile robot 100 based on the signal received from the position signal sensor 22.

[0084] The external identification signal is a signal transmitted from a signal generator such as a beacon arranged externally, and a plurality of signal generators may be provided at a plurality of locations separated from each other. The position signal sensor 22 is capable of receiving the identification signal transmitted from the signal generators arranged at different locations.

[0085] The sensing unit 130 may include a first floor detection sensor 23a that detects the presence or absence of a cliff on the floor. The first floor detection sensor 23a may detect the presence or absence of a cliff in front of and / or behind the mobile robot 100. The first floor detection sensor 23a detects the distance to the bottom, and the control unit may determine that there is a cliff if the distance to the floor is greater than a preset distance, and may control the mobile robot 100 to perform a corresponding operation.

[0086] As an example, the first floor detection sensor 23a may include an optical sensor, which may include a laser sensor or an infrared sensor. The first floor detection sensor 23a may include a light emitting unit (not shown) that emits light toward the floor surface and a light receiving unit (not shown) that receives light reflected from the floor surface. The first floor detection sensor 23a may measure the distance based on the time difference between the light returning to the light receiving unit.

[0087] The first floor detection sensor 23a can detect the amount of light reflected from the floor. Specifically, the light receiving unit measures the amount of light, illuminance, etc. of the returning light, and can obtain the reflectance relative to the light irradiated from the light emitting unit. The first floor detection sensor 23a detects the amount of light reflected from the floor, and provides the control unit with a means for detecting the material of the floor.

[0088] The sensing unit 130 may include a second floor detection sensor 23b that detects the amount of movement of the mobile robot based on an image of the floor. The second floor detection sensor 23b may detect the amount of light reflected from the floor. Alternatively, the second floor detection sensor 23b may detect the reflectivity (roughness) of the bottom from image quality information.

[0089] For example, the second floor detection sensor 23b may include an optical flow sensor. The optical flow sensor converts a downward image input from an image sensor provided in the sensor to generate image data in a predetermined format. The generated image data may be transmitted to the control unit.

[0090] Also, one or more light sources may be installed adjacent to the optical flow sensor. The one or more light sources irradiate light onto a predetermined area of ​​the floor surface that is imaged by the image sensor. That is, when the mobile robot moves in a specific area along the floor surface, if the floor surface is flat, a certain distance is maintained between the image sensor and the floor surface.

[0091] In contrast, when the mobile robot moves on a floor surface having an uneven surface, the mobile robot moves away from the unevenness of the floor surface and obstacles by a certain distance or more. In this case, the one or more light sources may be controlled by the control unit to adjust the amount of light emitted. The light source may be a light emitting element capable of adjusting the amount of light, such as a light emitting diode (LED).

[0092] By using the optical flow sensor, the control unit can detect the position of the mobile robot regardless of the slippage of the mobile robot. The control unit can compare and analyze the image data captured by the optical flow sensor according to time to calculate the moving distance and moving direction, and calculate the position of the mobile robot based on the calculated distance and direction. By using the optical flow sensor to use image information of the downward direction of the mobile robot, the control unit can make a correction to the position of the mobile robot calculated by other means that is robust against slippage.

[0093] The second floor surface detection sensor 23b detects the amount of light reflected from the floor surface and analyzes the image of the floor surface, thereby providing the control unit with a means for detecting the material of the floor surface.

[0094] In addition, there is an advantage that the first floor detection sensor 23a and the second floor detection sensor 23b can detect the cliff and the movement amount of the mobile robot while simultaneously determining the material of the floor.

[0095] The sensing unit 130 may include a camera 24 that detects an external image. The camera 24 may be disposed on the body 30. The camera 24 may detect an image of the upper side of the body 30.

[0096] The sensing unit 130 may include a 3D sensor 25 that detects three-dimensional position information of the external environment.

[0097] For example, the 3D sensor 135 may include a light emitting unit (not shown) that emits infrared rays, and a 3D depth camera (not shown) that detects the infrared rays reflected by an external object. The light emitting unit may emit infrared rays having a predetermined pattern. The 3D camera may be an IR camera or an RGB-Depth camera. The 3D sensor 135 may be implemented using a Time of Flight (TOF) method.

[0098] As another example, the 3D sensor 135 may be implemented using a stereo vision method that includes two or more cameras and generates three-dimensional coordinate information by combining two or more images acquired from the two or more cameras.

[0099] The sensing unit 130 may include a gradient information acquisition unit (not shown) that acquires gradient information of the main body 110 with respect to the floor surface (H). For example, the gradient information acquisition unit may include a gyro sensor 26. The gradient information acquisition unit may include a processing module (not shown) that converts a detection signal of the gyro sensor 26 into gradient information. The processing module is a part of the control unit 10 and may be embodied by an algorithm or a program. As another example, the gradient information acquisition unit may include a magnetic field sensor 27 and acquire gradient information based on detection information with respect to the earth's magnetic field.

[0100] Here, the floor surface refers to a horizontal plane, which is a plane perpendicular to the direction of gravity. The gyro sensor 26 can obtain information on the rotational angular velocity of the main body 110 with respect to the horizontal plane. Specifically, the gyro sensor 26 can detect the rotational angular velocity around the X-axis and the Y-axis, which are parallel to the horizontal plane and perpendicular to each other. The rotational angular velocity (roll) with respect to the X-axis and the rotational angular velocity (pitch) with respect to the Y-axis can be combined via the processing module to calculate the rotational angular velocity with respect to the horizontal plane. The rotational angular velocity can be integrated via the processing module to calculate the gradient value.

[0101] The gyro sensor 26 can detect a fixed reference direction. The gradient information acquisition unit can acquire gradient information based on the reference direction.

[0102] The gyro sensor 26 may have a gyro sensing function for three axes of a spatial coordinate system that are mutually orthogonal. Information collected from the gyro sensor 26 may be roll, pitch, and yaw information. The processing module may calculate the direction angle of the mobile robot 100 by integrating the roll, pitch, and yaw angular velocities.

[0103] The gyro sensor 26 is preferably disposed in the main body 110. As a result, the gyro sensor 26 is disposed in a remaining part Q, which will be described later, to which the main body 110 belongs. Also, the gradient information acquisition unit is disposed in the remaining part Q.

[0104] The gyro sensor 26 may be realized by a separate sensor, or may be realized as a part of an IMU sensor, which will be described later.

[0105] The sensing unit 130 may include a magnetic field sensor 27 that detects a magnetic field. The magnetic field sensor 27 may have a magnetic field sensing function for three axes of a spatial coordinate system that are orthogonal to each other. The magnetic field sensor 27 may measure a direction angle (azimuth angle). The magnetic field sensor 27 may be realized by a separate sensor, or may be realized as a part of a function of an IMU sensor described later.

[0106] The sensing unit 130 may include an acceleration sensor 28 that detects the acceleration of the mobile robot 100. The acceleration sensor 28 may have an acceleration sensing function for three axes of a spatial coordinate system that are mutually orthogonal. The acceleration sensor 28 may be implemented as a separate sensor, or may be implemented as a part of the function of an IMU sensor described later.

[0107] The mobile robot 100 may include an inertial sensor unit (IMU) (not shown). Based on information from the inertial sensor unit, the mobile robot 100 may stabilize its running motion. The inertial sensor unit (IMU) may have the functions of a gyro sensor 26, a magnetic field sensor 27, and an acceleration sensor 28.

[0108] The sensing unit 130 may include an encoder (not shown) that recognizes the actual path traveled by the mobile robot 100 .

[0109] The mobile robot 100 includes an input unit 16 that allows the user to input various instructions. The input unit 16 may include a button, a dial, a touch display, etc. The input unit 16 may include a microphone (not shown) for voice recognition. The input unit 16 may include a power switch 16a for inputting ON / OFF of the power supply.

[0110] The mobile robot 100 includes an output unit 17 that outputs various information to a user. The output unit 17 may include a display unit 112 that outputs visual information. The output unit 17 may include a speaker (not shown) that outputs auditory information.

[0111] The mobile robot 100 includes a storage unit 18 for storing various information. The storage unit 18 may include a volatile or non-volatile recording medium. The storage unit 18 may store algorithms for controlling various error response operations of the mobile robot 100.

[0112] A map of a driving area can be stored in the storage unit 18. The map can be input from an external terminal capable of exchanging information via the communication unit 19, or can be generated by the mobile robot 100 through learning. In the former case, examples of the external terminal include a remote control, a PDA, a laptop, a smartphone, a tablet, etc., equipped with an application for setting the map.

[0113] The mobile robot 100 may include a communication unit 19 that can connect to a predetermined network. According to a communication protocol, the communication unit 19 may be implemented using wireless communication technology such as IEEE 802.11 WLAN, IEEE 802.15 WPAN, UWB, Wi-Fi, Zigbee, Z-wave, Bluetooth, etc.

[0114] The mobile robot 100 includes a control unit 10 that controls autonomous driving. The control unit 10 may be implemented by a main PCB (Co) disposed inside the body 110.

[0115] The control unit 10 can process a signal from the input unit 16 or a signal input via the communication unit 19 .

[0116] The control unit 10 can receive a detection signal from the sensing unit 130 and control the running of the mobile robot.

[0117] The control unit 10 can learn the driving area through the image detected by the sensing unit 130 and control the vehicle so as to recognize the current position. The control unit 10 can be provided to map the driving area through the image. The control unit 10 can be provided to recognize the current position on the mapped map through the image. The image captured by the camera 24 can be used to generate a map of the driving area and detect the current position within the driving area. For example, the control unit 10 can generate a map of the driving area by using the boundary between the ceiling and the side of the image in the upward direction captured by the camera. The control unit 10 can also detect the current position within the driving area based on feature points of the image.

[0118] The control unit 10 can control the mobile robot 100 so that it can return to the refilling platform after traveling.

[0119] For example, the mobile robot 100 may be equipped to detect an infrared (IR) signal or the like sent from the refilling platform and return to the refilling platform. The control unit 10 may control the mobile robot 100 to return to the refilling platform based on the signal sent from the refilling platform and detected. The refilling platform may include a signal sending unit (not shown) that sends a predetermined return signal.

[0120] As another example, the control unit 10 can recognize the current position on a map and control the mobile robot 100 to return to the refilling platform. The control unit 10 can recognize the position corresponding to the refilling platform and the current position on the map, and thereby the mobile robot 100 can return to the refilling platform.

[0121] The control unit 10 can control the mobile robot 100 based on information inputted through a user's terminal (e.g., a smartphone, a computer, etc.). The mobile robot 100 can receive the inputted information through the communication unit 19. The control unit 10 can control the running pattern of the mobile robot 100 (e.g., running in a zigzag manner or running to concentrate on cleaning a certain area) based on the inputted information. The control unit 10 can control whether to activate a specific function of the mobile robot 100 (e.g., a function to search for lost items or a function to exterminate insects, etc.) based on the inputted information. The control unit 10 can set the start time of the cleaning run of the mobile robot 100 to a specific time point based on the inputted information (scheduled cleaning function).

[0122] The control unit 10 can control the battery management unit 500. As another example, the battery management unit 500 may be controlled by the battery controller 560, or may be controlled by the battery controller 560 and the control unit 10.

[0123] The battery management device 500 efficiently supplies power to a mobile robot using a plurality of batteries 111, and reduces the power consumption of the unused batteries 111 by checking the remaining charge of the unused batteries 111.

[0124] Hereinafter, a battery management device 500 according to an embodiment of the present invention will be described in detail.

[0125] Referring to FIG. 8a, a battery management device 500 according to one embodiment of the present invention includes a power supply unit 520 that generates an operating power voltage for a plurality of batteries 111, a power supply connection conversion unit 510 that performs connection and disconnection between the power supply unit 520 and each battery 111, a plurality of voltage detection units 550 that detect output voltages output from each battery 111, a detection connection conversion unit 540 that performs connection and disconnection between each battery 111 and each voltage detection unit 550, and a battery controller 560 that controls the power supply connection conversion unit 510 and the detection connection conversion unit 540 based on information input from the voltage detection unit 550.

[0126] In this embodiment, it is described that two batteries 111 are used, but the present invention is not limited to this.

[0127] The power supply unit 520 generates an operating power supply voltage used by the mobile robot through an output voltage from at least one of the plurality of batteries 111. The power supply unit 520 may be electrically connected to a demand destination 530.

[0128] The power supply unit 520 is electrically connected to the first battery 111a by a first line 561. The power supply unit 520 is electrically connected to the second battery 111b by a second line 562.

[0129] The power supply connection / reception unit 510 performs connection and disconnection between the power supply unit 520 and each battery 111. The power supply connection / reception unit 510 is controlled by a battery controller 560.

[0130] The power supply conversion unit 510 includes a first power supply conversion unit 511 and a second power supply conversion unit 512 .

[0131] The first power supply connection conversion unit 511 performs connection and disconnection between the power supply unit 520 and the first battery 111a. Specifically, the first power supply connection conversion unit 511 may include a switch disposed in the first line 561. In an open state, the first power supply connection conversion unit 511 electrically connects the power supply unit 520 and the first battery 111a via the first line 561, and in a closed state, the first power supply connection conversion unit 511 electrically disconnects the power supply unit 520 and the first battery 111a.

[0132] The second power supply connection conversion unit 512 performs connection and disconnection between the power supply unit 520 and the second battery 111b. Specifically, the second power supply connection conversion unit 512 may include a switch disposed in the second line 562. In an open state, the second power supply connection conversion unit 512 electrically connects the power supply unit 520 and the second battery 111b via the second line 562, and in a closed state, the second power supply connection conversion unit 512 electrically disconnects the power supply unit 520 and the second battery 111b.

[0133] The plurality of voltage detection units 550 detects an output voltage output from each battery 111 and provides the detected output voltage to the battery controller 560 and / or the storage unit 18. The voltage detection unit 550 may use a known technique. For example, the voltage detection unit 550 may include a first voltage detection unit 551 that detects an output voltage of the first battery 111a and a second voltage detection unit 552 that detects an output voltage of the second battery 111b.

[0134] The detection connection conversion unit 540 performs connection and disconnection between each battery 111 and each voltage detection unit 550. The detection connection conversion unit 540 is controlled by the battery controller 560.

[0135] The detection connection conversion unit 540 includes a first detection connection conversion unit 541 and a second detection connection conversion unit 542. The first voltage detection unit 551 is electrically connected to the first battery 111a via a third line 563. The second voltage detection unit 552 is electrically connected to the second battery 111b via a fourth line 564.

[0136] The first detection connection conversion unit 541 performs connection and disconnection between the first voltage detection unit 551 and the first battery 111a. Specifically, the first detection connection conversion unit 541 may include a switch disposed in the third line 563. In an open state, the first detection connection conversion unit 541 electrically connects the first voltage detection unit 551 and the first battery 111a through the third line 563, and in a closed state, the first detection connection conversion unit 541 electrically disconnects the first voltage detection unit 551 and the first battery 111a.

[0137] The second detection connection conversion unit 542 performs connection and disconnection between the second voltage detection unit 552 and the second battery 111b. Specifically, the second detection connection conversion unit 542 may include a switch disposed in the fourth line 564. In an open state, the second detection connection conversion unit 542 electrically connects the second voltage detection unit 552 and the second battery 111b through the fourth line 564, and in a closed state, the second detection connection conversion unit 542 electrically disconnects the second voltage detection unit 552 and the second battery 111b.

[0138] The battery controller 560 can control the power supply connection conversion unit 510 and the detection connection conversion unit 540 based on information input from the voltage detection unit 550. Of course, as described above, in some embodiments, the battery controller 560 can be omitted and the control unit 10 can function as the battery controller 560.

[0139] The battery controller 560 can select one of the multiple batteries 111 as a main battery and the remaining batteries 111 as auxiliary batteries based on the output voltage.

[0140] Specifically, the battery controller 560 may calculate an initial voltage value of each of the plurality of batteries 111, select the battery with the highest initial voltage value as the main battery, and select the remaining batteries 111 as auxiliary batteries.

[0141] The battery controller 560 can connect the main battery to the power supply unit 520 and can disconnect the auxiliary battery from the power supply unit 520 .

[0142] Specifically, referring to FIG. 8b, when the first battery 111a is selected as the main battery and the second battery 111b is selected as the auxiliary battery, the first power supply connection conversion unit 511 is in an open state to electrically connect the power supply unit 520 and the first battery 111a, and the second power supply connection conversion unit 512 is in a closed state to electrically disconnect the power supply unit 520 and the second battery 111b.

[0143] For accurate measurement, the initial voltage value of each battery 111 may be calculated as an average value of the output voltage values ​​measured many times. For example, the initial voltage value of each battery 111 may be calculated as an average value of the output voltage measured many times more than the remaining voltage value of the auxiliary battery.

[0144] Specifically, the initial voltage value of each battery 111 may be an average value of multiple output voltage values ​​of each battery 111 measured at intervals of 4 hours during the third hour. Preferably, the initial voltage value of each battery 111 may be an average value of 30 to 40 output voltage values ​​of each battery 111 measured at intervals of 8 to 10 msec during a period of 300 to 400 msec.

[0145] In the above-mentioned manner, the first voltage detector calculates the initial voltage value of the first battery 111a, and the second voltage detector calculates the initial voltage value of the second battery 111b.

[0146] After selecting the main battery and the auxiliary battery, the battery controller 560 can periodically measure the remaining voltage value of the auxiliary battery and perform control to reduce the power consumption of the auxiliary battery.

[0147] The battery controller 560 can periodically connect and disconnect the auxiliary battery and the voltage detection unit 550 to reduce consumption of the battery 111. That is, the battery controller 560 can alternately execute a connection state in which the auxiliary battery and the voltage detection unit 550 are connected and a disconnection state in which the auxiliary battery and the voltage detection unit 550 are disconnected.

[0148] The battery controller 560 can reduce the number of times that the output voltage value of the auxiliary battery is measured and increase the period between each measurement to reduce power consumption of the battery 111. The battery controller 560 can reduce the number of times that the output voltage value of the auxiliary battery is measured and increase the period between each measurement to periodically disconnect the auxiliary battery and the voltage detection unit 550 to reduce power consumption of the battery 111.

[0149] For example, the battery controller 560 may connect the auxiliary battery and the voltage detection unit 550 for a first time T1 and periodically repeat the disconnection for a second time T2. The battery controller 560 may connect the second battery 111b and the second voltage detection unit 552 for a first time T1 and periodically repeat the disconnection for a second time T2.

[0150] Specifically, the battery controller 560 may maintain the second power connection conversion unit 512 in a closed state for a first time T1, and maintain the second power connection conversion unit 512 in an open state for a second time T2.

[0151] The first time T1 may be shorter than the second time T2. Since the second time T2 during which the second power connection conversion unit 512 is maintained in an open state is longer than the first time T1 during which the second power connection conversion unit 512 is maintained in an open state, it is possible to reduce power consumption caused by an electrical connection between the second battery 111b and the second voltage detection unit 552.

[0152] The second time T2 may be 20 to 30 times longer than the first time T1. Preferably, the first time T1 may be 15 to 25 msec, and the second time T2 may be 450 to 550 msec.

[0153] 9, the battery controller 560 can calculate the remaining voltage value by detecting the output voltage of the auxiliary battery while the auxiliary battery is connected to the voltage detection unit 550. The battery controller 560 can detect the output voltage of the auxiliary battery during a first time T1 when the auxiliary battery and the second power connection conversion unit 512 are in a closed state, and can calculate the remaining voltage value.

[0154] Preferably, the battery controller 560 detects the output voltage of the auxiliary battery twice during the first time T1 during which the auxiliary battery and the second power connection conversion unit 512 are in a closed state, and calculates the remaining voltage value by averaging the two detected output voltages of the auxiliary battery.

[0155] As another example, the battery controller 560 calculates a remaining voltage value from the output voltage of the auxiliary battery at a sixth time interval T6, and the remaining voltage value may be an average value of multiple output voltage values ​​of the auxiliary battery measured at fifth time intervals during a seventh time T7.

[0156] The battery controller 560 may match the sixth time interval T6 with the second time interval and match the first time T1 with the seventh time T7 to detect the output voltage of the auxiliary battery while the auxiliary battery is connected to the voltage detection unit 550 and calculate the remaining voltage value. Preferably, the first time T1 may be equal to the seventh time T7, and the second time T2 may be equal to the sixth time T6.

[0157] Here, the sixth time T6 may be greater than the seventh time T7. The sixth time T6 may be greater than the third time. The third time may be greater than the seventh time T7. The fifth time interval may be greater than the fourth time interval. Therefore, the remaining voltage value of the auxiliary battery can be measured by measuring the output voltage value of each battery 111 more intermittently than the initial voltage value of each battery 111, thereby reducing power consumption of the auxiliary battery.

[0158] The residual voltage value of the auxiliary battery may be an average value of a plurality of output voltage values ​​of the auxiliary battery measured at a fifth time interval during the first time T1. The number of measurements of the output voltage value of the auxiliary battery measured at a fifth time interval when calculating the residual voltage value may be less than the number of measurements of the output voltage value of each battery 111 measured at a fourth time interval when calculating the initial voltage value. Therefore, by increasing the number of measurements of the output voltage value when calculating the initial voltage value and decreasing the number of measurements of the output voltage value when calculating the residual voltage value, it is possible to improve the accuracy of the initial voltage value and reduce power consumption while slightly sacrificing the accuracy of the residual voltage value.

[0159] The battery controller 560 may determine that the auxiliary battery is removed if the remaining voltage value is smaller than the first voltage value, and may determine that the auxiliary battery is attached if the remaining average voltage value is greater than or equal to the first voltage value.

[0160] When the battery controller 560 determines that the auxiliary battery has been reattached, it outputs battery 111 replacement information via the output unit 17 and can calculate the initial voltage value of the replaced auxiliary battery.

[0161] The battery controller 560 periodically calculates the remaining voltage value from the output voltage of the auxiliary battery, and when the remaining average voltage value becomes smaller than the first voltage and then becomes larger than or equal to the first voltage again, calculates the initial voltage value of the auxiliary battery. The first voltage may be 2V to 4V.

[0162] The calculation of the initial voltage value of the auxiliary battery after the replacement of the auxiliary battery can be performed in the same manner as the calculation of the initial voltage value of the auxiliary battery during the calculation of the initial voltage value of each battery 111.

[0163] The initial voltage value of the auxiliary battery may be an average value of multiple output voltage values ​​of each battery 111 measured at a fourth time interval during the third time. Preferably, the initial voltage value of each battery 111 may be an average value of 30 to 40 output voltage values ​​of each battery 111 measured at 8 to 10 msec intervals during a period of 300 to 400 msec.

[0164] The third time can be less than the second time and greater than the second time, which can be greater than the fourth time.

[0165] When the auxiliary battery is replaced, the battery controller 560 stores the initial voltage value of the replaced auxiliary battery in the storage unit 18. When the voltage value of the main battery becomes equal to or lower than a certain value, the battery controller 560 can disconnect the main battery from the power supply unit 520 and connect the auxiliary battery to the power supply unit 520.

[0166] Hereinafter, a control method of the battery management device 500 according to an embodiment of the present invention will be described. In each flowchart, the same reference numerals are used to denote the same contents, and the duplicated description will be omitted.

[0167] The control method may be performed by the control unit 10 and / or the battery controller 560. The present invention may be a control method for the battery management device 500, or a mobile robot 100 including a control unit 10 that performs the control method. The present invention may be a computer program including each step of the control method, or a recording medium having a program for implementing the control method by a computer recorded thereon. The term "recording medium" refers to a computer-readable recording medium. The present invention may be a mobile robot control system including both hardware and software.

[0168] Each step of the control method flowchart and combinations of the flowcharts can be implemented by computer program instructions, which can be loaded into a general-purpose computer or a special-purpose computer, and the instructions can generate means for performing the functions described in the step(s) of the flowchart.

[0169] Also, in some embodiments, the functions noted in the steps may occur out of order. For example, two steps shown one after the other may in fact be performed substantially simultaneously, or the steps may sometimes be performed in reverse order depending on the functionality involved.

[0170] 9, the control method according to an embodiment of the present invention calculates (S10) an initial voltage value of each battery 111. Specifically, the battery controller 560 calculates an initial voltage value of each of the plurality of batteries 111 and stores each initial voltage value in the storage unit 18.

[0171] Thereafter, the battery controller 560 selects a main battery and an auxiliary battery (S20) from among the plurality of batteries 111. Specifically, the battery controller 560 may first select the battery 111 having the highest voltage value as the main battery, and the remaining batteries 111 as auxiliary batteries.

[0172] Thereafter, the battery controller 560 connects the main battery to the power supply unit 520 (S30) and disconnects the auxiliary battery from the power supply unit 520 (S40). Specifically, referring to Fig. 8b, when the first battery 111a is selected as the main battery and the second battery 111b is selected as the auxiliary battery, the first power supply connection conversion unit 511 is in an open state to electrically connect the power supply unit 520 to the first battery 111a, and the second power supply connection conversion unit 512 is in a closed state to electrically disconnect the power supply unit 520 from the second battery 111b.

[0173] Thereafter, the battery controller 560 periodically measures the remaining voltage value of the auxiliary battery (S50). Specifically, the battery controller 560 may periodically repeat a connection between the auxiliary battery and the voltage detection unit 550 for a first time T1 and a disconnection for a second time T2. The battery controller 560 may periodically repeat a connection between the second battery 111b and the second voltage detection unit 552 for a first time T1 and a disconnection for a second time T2. The battery controller 560 may detect the output voltage of the auxiliary battery while the auxiliary battery is connected to the voltage detection unit 550 and calculate the remaining voltage value. The battery controller 560 may detect the output voltage of the auxiliary battery during the first time T1 when the auxiliary battery and the second power supply connection conversion unit 512 are in a closed state and calculate the remaining voltage value.

[0174] Thereafter, the battery controller 560 determines whether the auxiliary battery has been replaced (S60). Specifically, the battery controller 560 may determine that the auxiliary battery has been replaced if the remaining average voltage value becomes smaller than the first voltage and then becomes larger than or equal to the first voltage again.

[0175] Thereafter, if the battery controller 560 determines that the auxiliary battery has been re-attached, it outputs battery 111 replacement information via the output unit 17 and calculates the initial voltage value of the replaced auxiliary battery (S70). If the battery controller 560 determines that the auxiliary battery has been re-attached, it can store the initial voltage value of the replaced auxiliary battery in the storage unit 18.

[0176] Thereafter, the battery controller 560 can compare the output voltage of the main battery with the initial voltage value of the replaced auxiliary battery to determine whether to select the auxiliary battery or the main battery.

Claims

1. a power supply unit that generates an operating power supply voltage from a plurality of batteries; a power supply connection conversion unit that performs connection and disconnection between the power supply unit and each of the batteries; A plurality of voltage detection units for detecting output voltages output from the respective batteries; a detection connection conversion unit for performing connection and disconnection between each of the batteries and each of the voltage detection units; a battery controller that controls the power supply connection conversion unit and the detection connection conversion unit based on information input from the voltage detection unit; The battery controller includes: selecting one of the plurality of batteries as a main battery and selecting the remaining batteries as auxiliary batteries based on the output voltage; A battery management device that connects the auxiliary battery and the voltage detection unit for a first period of time and periodically repeats disconnection between the auxiliary battery and the voltage detection unit for a second period of time.

2. The battery controller includes: The battery management device according to claim 1 , further comprising: a voltage detector configured to detect an output voltage of the auxiliary battery while the auxiliary battery and the voltage detector are connected to each other.

3. The battery controller includes: a residual voltage value is calculated from the output voltage of the auxiliary battery, and if the residual voltage value is smaller than a first voltage value, The battery management device according to claim 2 , further comprising: a detection unit for detecting a state where the auxiliary battery is removed;

4. The battery controller includes: Calculating a remaining voltage value from the output voltage of the auxiliary battery, and if the remaining average voltage value is greater than or equal to a first voltage value, The battery management device according to claim 1 , wherein the auxiliary battery is determined to be in an attached state.

5. The battery controller includes: a remaining voltage value is periodically calculated from the output voltage of the auxiliary battery, and when the remaining voltage value becomes smaller than the first voltage and then becomes larger than the first voltage or equal to the first voltage again, The battery management device according to claim 1 , further comprising: a first voltage value of the auxiliary battery being calculated.

6. 6. The battery management device of claim 5, wherein the initial voltage value of the auxiliary battery is an average value of a plurality of output voltage values ​​of the auxiliary battery measured at fourth time intervals during a third time period.

7. the third time period is less than the second time period and greater than the first time period; the second time period is greater than the fourth time period; The battery management device of claim 6 , wherein the first time is less than the second time.

8. The battery controller includes:

2. The battery management device of claim 1, further comprising: calculating an initial voltage value of each of the plurality of batteries; selecting a battery having the largest initial voltage value as the main battery; and selecting the remaining batteries as the auxiliary batteries.

9. The battery controller includes:

2. The battery management device according to claim 1, wherein the battery management device connects the main battery to the power supply unit and disconnects the auxiliary battery from the power supply unit.

10. 4. The battery management device according to claim 3, wherein the residual voltage value of the auxiliary battery is an average value of a plurality of output voltage values ​​of the auxiliary battery measured at five time intervals during the first time period.

11. a power supply unit that generates an operating power supply voltage from a plurality of batteries; a power supply connection conversion unit that performs connection and disconnection between the power supply unit and each of the batteries; A plurality of voltage detection units for detecting output voltages output from the respective batteries; a detection connection conversion unit for performing connection and disconnection between each of the batteries and each of the voltage detection units; a battery controller that controls the power supply connection conversion unit and the detection connection conversion unit based on information input from the voltage detection unit, The battery controller includes: calculating an initial voltage value of each of the batteries; and selecting one of the batteries as a main battery and the remaining batteries as auxiliary batteries based on the initial voltage value of each of the batteries; calculating a residual voltage value from the output voltage of the auxiliary battery at a sixth time interval; the residual voltage value being an average value of the output voltage of the auxiliary battery during a seventh time period; The sixth time period is greater than the seventh time period.

12. the initial voltage value of each battery is an average value of a plurality of output voltage values ​​of each battery measured at fourth time intervals during a third time period; The battery management device of claim 11 , wherein the sixth time period is greater than the third time period.

13. The battery management device of claim 12 , wherein the third time period is greater than the seventh time period.

14. The residual voltage value is an average value of a plurality of output voltage values ​​of the auxiliary battery measured at five time intervals during a seventh hour, The battery management device of claim 12 , wherein the fifth time interval is greater than the fourth time interval.

15. The battery management device of claim 14 , wherein the number of measurements of the output voltage value of the auxiliary battery measured at the fifth time interval is less than the number of measurements of the output voltage value of each of the batteries measured at the fourth time interval.

16. the battery controller connects the auxiliary battery and the voltage detection unit for a first time period and periodically repeats disconnection between the auxiliary battery and the voltage detection unit for a second time period; The battery management device according to claim 11 , further comprising: a voltage detector configured to detect an output voltage of the auxiliary battery while the auxiliary battery and the voltage detector are connected to each other.

17. The battery controller includes: The battery management device of claim 11, wherein the battery having the highest initial voltage value is selected as the main battery, and the remaining batteries are selected as the auxiliary batteries.

18. The battery controller includes: The battery management device according to claim 11, wherein the battery management device connects the main battery to the power supply unit and disconnects the auxiliary battery from the power supply unit.

19. The battery controller includes: The battery management device of claim 11 , wherein the auxiliary battery is determined to be removed when the remaining average voltage value is less than a first voltage value.

20. a power supply unit that generates an operating power supply voltage from a plurality of batteries; a power supply connection conversion unit that performs connection and disconnection between the power supply unit and each of the batteries; A plurality of voltage detection units for detecting output voltages output from the respective batteries; a detection connection conversion unit for performing connection and disconnection between each of the batteries and each of the voltage detection units; a battery controller that controls the power supply connection conversion unit and the detection connection conversion unit based on information input from the voltage detection unit, The battery controller includes: selecting one of the plurality of batteries as a main battery and selecting the remaining batteries as auxiliary batteries based on the output voltage; A battery management device that alternately executes a connection state in which the auxiliary battery and the voltage detection unit are connected and a disconnection state in which the auxiliary battery and the voltage detection unit are disconnected.

21. The main body, A wheel unit is provided on the main body to move the main body; A plurality of batteries for supplying power for driving the main body; a battery management device for managing the plurality of batteries; The battery management device includes: a power supply unit that generates an operating power supply voltage from a plurality of batteries; a power supply connection conversion unit that performs connection and disconnection between the power supply unit and each of the batteries; A plurality of voltage detection units for detecting output voltages output from the respective batteries; a detection connection conversion unit for performing connection and disconnection between each of the batteries and each of the voltage detection units; a battery controller that controls the power supply connection conversion unit and the detection connection conversion unit based on information input from the voltage detection unit, The battery controller includes: selecting one of the plurality of batteries as a main battery and selecting the remaining batteries as auxiliary batteries based on the output voltage; The mobile robot connects the auxiliary battery and the voltage detection unit for a first period of time, and periodically repeats disconnection between the auxiliary battery and the voltage detection unit for a second period of time.

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