Mobile robot and control method thereof

Abstract

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

Description

Technology Field

[0001] The embodiments of this specification relate to a mobile robot and a control method thereof. More specifically, the embodiments of this specification relate to a control method in which a robot moving within a work area defined by a boundary line formed along a wire carrying current detects the wire installation status and, in response, performs communication to change the direction of current of the wire or adjusts the method of operation of the robot, and a mobile robot using the same. Background Technology

[0002] As robot technology has advanced, robots have begun to be used in various fields. With the diversification of these application areas, the use of robots by general users in their homes has increased, in addition to existing industrial production robots, aerospace robots, and medical robots. This increase in robot usage is driven by advancements in sensor technology, which have enabled robots to independently assess situations and execute user-set commands more effectively and precisely. Furthermore, advancements in AI technology have made it possible for robots to adaptively analyze information acquired through sensors, perform corresponding actions, and then modify future motion patterns through additional learning based on the results, thereby providing robot operations that offer higher user satisfaction.

[0003] Representative robots used in homes include indoor vacuum cleaners and outdoor lawnmowers. Indoor vacuum cleaners can recognize indoor walls to identify the cleaning area and perform cleaning in that area. In the case of lawnmowers, since there are no geographical features such as walls to mark the work area, they may be equipped with additional devices to mark the work area and identify the work area based on such devices, or they may identify the work area by utilizing sensors that recognize visual information and proximity sensors to mow the lawn in that area.

[0004] Regarding such lawn mowing robots, the following prior art exists.

[0005] Prior Art 1: Korean Published Patent Application No. 10-2016-0128124

[0006] Prior Art 2: Korean Published Patent Application No. 10-2015-0125508

[0007] Prior art 1 discloses a lawn mowing robot, wherein the robot detects a signal emitted through a wire in a work area set through a wire, and thereby the robot identifies the work area and performs lawn mowing.

[0008] Prior art 2 discloses a technical feature of establishing a work area based on burying a wire in a grass-planted area to set the area where the robot will move, and has a technical feature of detecting voltage values ​​within the same area through a sensing unit that detects a magnetic field.

[0009] Both prior art documents 1 and 2 disclose only technical features that detect a pre-set signal emitted from a wire and perform operations based on it, but they do not disclose features that detect when the wire is incorrectly installed or change the method of operation to enable operation in response to the detection of incorrect installation.

[0010] Accordingly, a control method capable of detecting whether a wire defining a work area is installed in accordance with specific conditions, and performing work on the work area through a corresponding action in the event of misinstallation, and a mobile robot utilizing the same are required. The problem to be solved

[0011] The embodiments of this specification are proposed to solve the aforementioned problems and aim to provide a mobile robot and a control method thereof that detect whether the installation of a wire defining a work area has been properly performed and perform an operation in response.

[0012] Another embodiment of the present specification aims to provide a mobile robot and a control method thereof that detects whether a wire is incorrectly installed based on information about the work area and the robot's movement pattern, and, if the wire is incorrectly installed, changes at least one of the direction of the current flowing through the wire and the driving direction of the robot's work area through communication with a docking device to perform the work.

[0013] The embodiments of the present specification aim to provide a control method and a mobile robot utilizing the same, which can continue operations by detecting information when at least one of the orientation of a docking device and the connection of a wire is installed differently from the set, and by changing the direction of the current flowing through the wire or changing the driving direction of the mobile robot through communication with the docking device in response to the type of mis-installation, thereby reducing the number of repeated movements of the mobile robot around the docking device. means of solving the problem

[0014] To achieve the above-mentioned objectives, a mobile robot according to an embodiment of the present specification comprises: a body forming an exterior; at least one wheel for moving the mobile robot; at least one motor for driving the wheel; at least one sensor for detecting a signal formed in a wire defining a work area; and a control unit for transmitting a signal requesting a change in the direction of the current flowing in the wire when the signal formed in the wire in the work area does not correspond to a predetermined condition.

[0015] A control method for a mobile robot according to another embodiment of the present specification includes the steps of: detecting a signal formed in a wire defining a work area; and transmitting a signal requesting a change in the direction of the current flowing in the wire when the signal formed in the wire in the work area does not correspond to a predetermined condition. Effects of the invention

[0016] According to the embodiments of the present specification, by detecting the mis-installation of a wire defining a work area and performing a corresponding operation, the mobile robot can prevent malfunctions caused by the mis-installation of the wire, thereby improving usability.

[0017] In addition, according to an embodiment of the present specification, a mobile robot detects a mis-installation of a wire or a docking device, and depending on the type of mis-installation, changes to the settings corresponding to the mis-installation through communication with the docking device or operation control of the mobile robot, thereby allowing the user to perform work within the work area without the need to reinstall the mis-installed device, thus improving usability.

[0018] In addition, according to an embodiment of the present specification, by controlling a mobile robot equipped with a sensor that detects signals emitted from a wire to move according to a specific movement pattern, the misinstallation of the wire can be detected without a separate sensor, thereby ensuring the operational reliability of the mobile robot without increasing costs. Brief explanation of the drawing

[0019] FIG. 1 is a perspective view of a mobile robot according to one embodiment of the present invention. FIG. 2 is an elevation view of a mobile robot in the front direction according to an embodiment. FIG. 3 is an elevation view of a mobile robot according to an embodiment from the right side direction. FIG. 4 is an elevation view of a mobile robot according to an embodiment in the lower side direction. FIG. 5 is a perspective view of a docking device to which a mobile robot docks according to an embodiment. FIG. 6 is an elevation view from the front of a docking device according to an embodiment. FIG. 7 is a block diagram illustrating the function of a mobile robot according to an embodiment. FIG. 8 is a block diagram illustrating the function of a docking device according to an embodiment. FIGS. 9a to 9d are drawings for explaining the driving direction of a mobile robot according to the current direction of a wire connected to a docking device according to an embodiment, and the method of changing the direction of the wire current and the driving direction of the mobile robot according to the operation of the robot and the docking device corresponding thereto. FIGS. 10a to 10c are drawings illustrating a movement pattern and a corresponding operation for a mobile robot to detect when a wire is incorrectly installed according to an embodiment. FIG. 11 is a diagram illustrating the positional relationship between a sensor and a wire according to the movement pattern of a mobile robot according to an embodiment. FIG. 12 is a drawing showing a user interface (UI) provided to a user to input information about a work area. FIG. 13 is a flowchart for explaining the operation of a mobile robot according to an embodiment. FIG. 14 is another flowchart for explaining the operation of a mobile robot according to an embodiment. Specific details for implementing the invention

[0020] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

[0021] In describing the embodiments, technical details that are well known in the technical field to which the present invention belongs and are not directly related to the present invention are omitted. This is intended to convey the essence of the present invention more clearly without obscuring it by omitting unnecessary explanations.

[0022] For the same reason, some components in the attached drawings have been exaggerated, omitted, or schematically depicted. Additionally, the size of each component does not entirely reflect its actual dimensions. Identical or corresponding components in each drawing have been assigned the same reference numbers.

[0023] The advantages and features of the present invention and the methods for achieving them will become clear by referring to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below but can be implemented in various different forms. These embodiments are provided merely to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention, and the present invention is defined only by the scope of the claims. Throughout the specification, the same reference numerals refer to the same components.

[0024] At this time, it will be understood that each block of the process flow diagrams and combinations of the flow diagrams can be executed by computer program instructions. Since these computer program instructions can be loaded into the processor of a general-purpose computer, a special-purpose computer, or other programmable data processing equipment, the instructions executed through the processor of the computer or other programmable data processing equipment create means to perform the functions described in the flow diagram block(s). Since these computer program instructions can also be stored in computer-available or computer-readable memory that can be directed toward the computer or other programmable data processing equipment to implement the function in a specific way, the instructions stored in computer-available or computer-readable memory can also produce a manufactured item containing the means of instruction to perform the function described in the flow diagram block(s). Since computer program instructions can be loaded onto a computer or other programmable data processing equipment, instructions that perform a series of operation steps on the computer or other programmable data processing equipment to create a process executed by the computer can also provide steps for executing the functions described in the flowchart block(s).

[0025] Additionally, each block may represent a module, segment, or part of code containing one or more executable instructions for executing a specified logical function(s). It should also be noted that in some alternative execution examples, the functions mentioned in the blocks may occur out of order. For instance, two blocks described in succession may actually be executed substantially simultaneously, or the blocks may be executed in reverse order according to their corresponding functions.

[0026] In this embodiment, the term "part" refers to a software or hardware component, such as an FPGA or ASIC, and the "part" performs certain roles. However, the meaning of "part" is not limited to software or hardware. The "part" may be configured to reside in an addressable storage medium or configured to operate one or more processors. Accordingly, as an example, the "part" includes components such as software components, object-oriented software components, class components, and task components, as well as processes, functions, attributes, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, and variables. The functions provided within the components and "parts" may be combined into a smaller number of components and "parts" or further separated into additional components and "parts." Furthermore, the components and "parts" may be implemented to operate one or more CPUs within a device or secure multimedia card.

[0027] Expressions referring to directions such as “Front (F) / Rear (R) / Left (Le) / Right (Ri) / Up (U) / Down (D)” mentioned below are defined according to their indications in the drawings; however, this is merely for the purpose of explaining the invention so that it can be clearly understood, and it goes without saying that each direction may be defined differently depending on where the reference is placed.

[0028] The use of terms such as 'first, second,' etc., attached to the components mentioned below is intended solely to avoid confusion regarding the components being referred to, and is unrelated to the order, importance, or master-slave relationship between the components. For example, an invention including only the second component without the first component can be implemented, and the first component and the second component may be components of the same type or components of different types.

[0029] In the drawings, the thickness or size of each component may be exaggerated, omitted, or schematically depicted for convenience and clarity of explanation. Additionally, while the size and area of ​​each component do not entirely reflect their actual size or area, the embodiments of this specification may be understood based thereon.

[0030] In addition, angles and directions mentioned in the process of describing the structure of the present invention are based on those described in the drawings. In the description of the structure in the specification, if the reference point and positional relationship for an angle are not clearly mentioned, the relevant drawings should be referenced.

[0031] Referring to FIGS. 1 to 6 below, a lawn mowing robot (100) is described as an example, but it is not necessarily limited thereto.

[0032] Referring to FIGS. 1 to 4, the mobile robot (100) includes a body (110) that forms an exterior. The body (110) forms an internal space. The mobile robot (100) includes a driving unit (120) that moves the body (110) with respect to a driving surface. The mobile robot (100) includes a working unit that performs a predetermined task.

[0033] The body (110) includes a frame (111) to which a drive motor module (123), to be described later, is fixed. A blade motor (132), to be described later, is fixed to the frame (111). The frame (111) supports a battery, to be described later. The frame (111) also provides a skeletal structure that supports various other parts. The frame (111) is supported by an auxiliary wheel (125) and a drive wheel (121).

[0034] The body (110) includes lateral blocking portions (111a) to block the user's fingers from entering the blade (131) from both sides of the blade (131). The lateral blocking portions (111a) are fixed to the frame (111). The lateral blocking portions (111a) are positioned to protrude downward relative to the lower side of other parts of the frame (111). The lateral blocking portions (111a) are positioned to cover the upper part of the space between the drive wheel (121) and the auxiliary wheel (125).

[0035] A pair of lateral blocking members (111a-1, 111a-2) are arranged left and right with the blade (131) in between. The lateral blocking member (111a) is arranged at a predetermined distance from the blade (131).

[0036] The front surface (111af) of the lateral blocking part (111a) is formed in a rounded shape. The front surface (111af) forms a surface that bends upward in a rounded shape as it moves forward from the lower side of the lateral blocking part (111a). By utilizing the shape of this front surface (111af), when the mobile robot (100) moves forward, the lateral blocking part (111a) can easily climb over lower obstacles below a predetermined standard.

[0037] The body (110) includes a front blocking portion (111b) to block the user's finger from entering the blade (131) from the front of the blade (131). The front blocking portion (111b) is fixed to the frame (111). The front blocking portion (111b) is positioned to cover a portion of the upper part of the space between a pair of auxiliary wheels (125(L), 125(R)).

[0038] The front blocking portion (111b) includes a protruding rib (111ba) that protrudes downward relative to the lower surface of another part of the frame (111). The protruding rib (111ba) extends in the front-rear direction. The upper end of the protruding rib (111ba) is fixed to the frame (111), and the lower end of the protruding rib (111ba) forms a free end.

[0039] Multiple protruding ribs (111ba) may be spaced apart in the left and right directions. Multiple protruding ribs (111ba) may be arranged parallel to each other. A gap is formed between two adjacent protruding ribs (111ba).

[0040] The front surface of the protruding rib (111ba) is formed in a rounded shape. The front surface of the protruding rib (111ba) forms a surface that bends upward in a rounded shape as it moves forward from the lower surface of the protruding rib (111ba). By utilizing the shape of the front surface of the protruding rib (111ba), when the mobile robot (100) moves forward, the protruding rib (111ba) can easily climb over lower obstacles below a predetermined standard.

[0041] The front blocking section (111b) includes an auxiliary rib (111bb) that assists in rigidity. An auxiliary rib (111bb) is positioned between the upper portions of two adjacent protruding ribs (111ba) to reinforce the rigidity of the front blocking section (111b). The auxiliary rib (111bb) may be formed by protruding downward and extending in a grid pattern.

[0042] A caster (not shown) that rotatably supports an auxiliary wheel (125) is disposed on the frame (111). The caster is rotatably disposed relative to the frame (111). The caster is provided to be rotatable about a vertical axis. The caster is disposed on the lower side of the frame (111). A pair of casters corresponding to a pair of auxiliary wheels (125) is provided.

[0043] The body (110) includes a case (112) that covers the frame (111) from the top. The case (112) forms the upper side and the front / rear / left / right sides of the mobile robot (100).

[0044] The body (110) may include a case connecting part (not shown) that fixes the case (112) to the frame (111). The case (112) may be fixed to the upper part of the case connecting part. The case connecting part may be movably positioned on the frame (111). The case connecting part may be movably positioned only in the up and down direction relative to the frame (111). The case connecting part may be provided to be movable only within a predetermined range. The case connecting part moves integrally with the case (112). Accordingly, the case (112) is movable relative to the frame (111).

[0045] The body (110) includes a bumper (112b) positioned at the front. The bumper (112b) performs the function of absorbing impact when in contact with external obstacles. On the front of the bumper (112b), a bumper groove may be formed that is recessed towards the rear and extends in the left-right direction. Multiple bumper grooves may be spaced apart in the vertical direction. The lower end of the protruding rib (111ba) is positioned lower than the lower end of the auxiliary rib (111bb).

[0046] The bumper (112b) is formed by connecting the front surface and the left and right sides to each other. The front surface and the sides of the bumper (112b) are connected in a rounded manner.

[0047] The body (110) may include a bumper auxiliary part (112c) positioned to wrap around the outer surface of the bumper (112b). The bumper auxiliary part (112c) is coupled to the bumper (112b). The bumper auxiliary part (112c) wraps around the lower part of the front surface and the lower part of the left and right sides of the bumper (112b). The bumper auxiliary part (112c) may cover the lower half of the front surface and the left and right sides of the bumper (112b).

[0048] The front surface of the bumper auxiliary part (112c) is positioned further forward than the front surface of the bumper (112b). The bumper auxiliary part (112c) forms a surface protruding from the surface of the bumper (112b).

[0049] The bumper auxiliary part (112c) can be formed of a material advantageous for shock absorption, such as rubber. The bumper auxiliary part (112c) can be formed of a flexible material.

[0050] The frame (111) may be provided with a movable fixing part (not shown) to which the bumper (112b) is fixed. The movable fixing part may be positioned to protrude upward from the frame (111). The bumper (112b) may be fixed to the upper part of the movable fixing part.

[0051] The bumper (112b) can be positioned to be movable within a predetermined range relative to the frame (111). The bumper (112b) is fixed to a movable fixed part and can move integrally with the movable fixed part.

[0052] The movable fixed part may be movably positioned on the frame (111). The movable fixed part may be rotatably provided within a predetermined range with respect to the frame (111) around a virtual axis of rotation. Accordingly, the bumper (112b) may be rotatably provided integrally with respect to the frame (111) with respect to the movable fixed part.

[0053] The body (110) includes a handle (113). The handle (113) may be positioned on the rear side of the case (112).

[0054] The body (110) includes a battery input section (114) for taking out and taking out a battery. The battery input section (114) may be positioned on the lower side of the frame (111). The battery input section (114) may be positioned on the rear side of the frame (111).

[0055] The body (110) includes a power switch (115) for turning the power of the mobile robot (100) on / off. The power switch (115) may be positioned on the lower side of the frame (111).

[0056] The body (110) includes a blade protection portion (116) that covers the lower side of the central portion of the blade (131). The blade protection portion (116) is provided such that the edge of the centrifugal portion of the blade (131) is exposed, while the central portion of the blade (131) is covered.

[0057] The body (110) includes a first opening / closing part (117) that opens and closes the portion where the height adjustment part (156) and the height display part (157) are arranged. The first opening / closing part (117) is hinged to the case (112) to enable opening and closing operations. The first opening / closing part (117) is arranged on the upper side of the case (112).

[0058] The first opening / closing part (117) is formed in a plate shape and covers the upper side of the height adjustment part (156) and the height display part (157) when closed.

[0059] The body (110) includes a second opening / closing part (118) that opens and closes the portion where the display module (165) and the input part (164) are located. The second opening / closing part (118) is hinge-coupled to the case (112) and is configured to enable opening and closing operations. The second opening / closing part (118) is positioned on the upper side of the case (112). The second opening / closing part (118) is positioned behind the first opening / closing part (117).

[0060] The second opening / closing part (118) is formed in a plate shape and covers the display module (165) and the input part (164) when closed.

[0061] The opening angle of the second opening / closing part (118) is set to be smaller than the opening angle of the first opening / closing part (117). This allows the user to easily open the first opening / closing part (117) even when the second opening / closing part (118) is in an open state, and allows the user to easily operate the height adjustment part (156). In addition, it allows the user to visually check the contents of the height display part (157) even when the second opening / closing part (118) is in an open state.

[0062] For example, the opening angle of the first opening / closing part (117) may be configured to be approximately 80 to 90 degrees based on the closed state. For example, the opening angle of the second opening / closing part (118) may be configured to be approximately 45 to 60 degrees based on the closed state.

[0063] The first opening / closing part (117) opens by lifting the rear end upward with the front end as the center, and the second opening / closing part (118) opens by lifting the rear end upward with the front end as the center. Through this, the user can open and close the first opening / closing part (117) and the second opening / closing part (118) from the rear of the lawn mowing robot (100), which is a safe area, even when the lawn mowing robot (100) moves forward. In addition, through this, the opening operation of the first opening / closing part (117) and the opening operation of the second opening / closing part (118) can be prevented from interfering with each other.

[0064] The first opening / closing part (117) may be provided to be rotatable with respect to the case (112) around a rotation axis extending in the left / right direction from the front end of the first opening / closing part (117). The second opening / closing part (118) may be provided to be rotatable with respect to the case (112) around a rotation axis extending in the left / right direction from the front end of the second opening / closing part (118).

[0065] The body (110) may include a first motor housing (119a) that accommodates a first drive motor (123(L)) inside, and a second motor housing (119b) that accommodates a second drive motor (123(R)) inside. The first motor housing (119a) may be fixed to the left side of the frame (111), and the second motor housing (119b) may be fixed to the right side of the frame. The right end of the first motor housing (119a) is fixed to the frame (111). The left end of the second motor housing (119b) is fixed to the frame (111).

[0066] The first motor housing (119a) is formed as a cylindrical shape with height extending from left to right. The second motor housing (119b) is formed as a cylindrical shape with height extending from left to right.

[0067] The driving unit (120) includes a driving wheel (121) that rotates by the driving force of a driving motor module (123). The driving unit (120) may include at least one pair of driving wheels (121) that rotate by the driving force of a driving motor module (123). The driving wheels (121) include a first wheel (121(L)) and a second wheel (121(R)) that are each provided on the left and right sides so as to rotate independently. The first wheel (121(L)) is positioned on the left side, and the second wheel (121(R)) is positioned on the right side. The first wheel (121(L)) and the second wheel (121(R)) are spaced apart from each other on the left and right sides. The first wheel (121(L)) and the second wheel (121(R)) are positioned on the lower rear side of the body (110).

[0068] The first wheel (121(L)) and the second wheel (121(R)) are each provided to rotate independently so that the body (110) can rotate and advance relative to the ground. For example, when the first wheel (121(L)) and the second wheel (121(R)) rotate at the same rotational speed, the body (110) can advance relative to the ground. For example, when the rotational speed of the first wheel (121(L)) is faster than the rotational speed of the second wheel (121(R)), or when the rotational direction of the first wheel (121(L)) and the rotational direction of the second wheel (121(R)) are different from each other, the body (110) can rotate relative to the ground.

[0069] The first wheel (121(L)) and the second wheel (121(R)) may be formed larger than the auxiliary wheel (125). The shaft of the first drive motor (123(L)) may be fixed to the center of the first wheel (121(L)), and the shaft of the second drive motor (123(R)) may be fixed to the center of the second wheel (121(R)).

[0070] The drive wheel (121) includes a wheel outer portion (121b) that contacts the ground. For example, the wheel outer portion (121b) may be a tire. A plurality of protrusions may be formed on the wheel outer portion (121b) to increase friction with the ground.

[0071] The drive wheel (121) may include a wheel frame (not shown) that fixes the outer periphery of the wheel (121b) and receives power from the motor (123). The shaft of the motor (123) is fixed to the center of the wheel frame so that rotational force can be received. The outer periphery of the wheel (121b) is arranged to wrap around the circumference of the wheel frame.

[0072] The drive wheel (121) includes a wheel cover (121a) that covers the outer surface of the wheel frame. The wheel cover (121a) is positioned in the opposite direction to the direction in which the motor (123) is positioned relative to the wheel frame. The wheel cover (121a) is positioned in the center of the outer periphery (121b) of the wheel.

[0073] The driving unit (120) includes a driving motor module (123) that generates driving force. It includes a driving motor module (123) that provides driving force to a driving wheel (121). The driving motor module (123) includes a first driving motor (123(L)) that provides driving force to a first wheel (121(L)) and a second driving motor (123(R)) that provides driving force to a second wheel (121(R)). The first driving motor (123(L)) and the second driving motor (123(R)) may be spaced apart to the left and right. The first driving motor (123(L)) may be positioned to the left of the second driving motor (123(R)).

[0074] The first drive motor (123(L)) and the second drive motor (123(R)) may be positioned on the lower side of the body (110). The first drive motor (123(L)) and the second drive motor (123(R)) may be positioned on the rear side of the body (110).

[0075] The first drive motor (123(L)) may be positioned to the right of the first wheel (121(L)), and the second drive motor (123(R)) may be positioned to the left of the second wheel (121(R)). The first drive motor (123(L)) and the second drive motor (123(R)) are fixed to the body (110).

[0076] The first drive motor (123(L)) may be positioned inside the first motor housing (119a) and configured so that the motor shaft protrudes to the left. The second drive motor (123(R)) may be positioned inside the second motor housing (119b) and configured so that the motor shaft protrudes to the right.

[0077] In this embodiment, the first wheel (121(L)) and the second wheel (121(R)) are each directly connected to the rotation axis of the first drive motor (123(L)) and the rotation axis of the second drive motor (123(R)), respectively, but parts such as shafts may be connected to the first wheel (121(L)) and the second wheel (121(R)), and the rotational force of the motor (123(L), ​​123(R)) may be transmitted to the wheels (121a, 120b) by means of gears or chains.

[0078] The driving unit (120) may include an auxiliary wheel (125) that supports the body (110) together with a driving wheel (121). The auxiliary wheel (125) may be positioned in front of the blade (131). The auxiliary wheel (125) is a wheel that does not receive driving force from a motor and serves to support the body (110) in an auxiliary manner against the ground. A caster supporting the rotation axis of the auxiliary wheel (125) is coupled to the frame (111) so as to be rotatable about a vertical axis. A first auxiliary wheel (125(L)) positioned on the left and a second auxiliary wheel (125(R)) positioned on the right may be provided.

[0079] The work unit is configured to perform a predetermined task. The work unit is positioned in the body (110).

[0080] For example, the work unit may be equipped to perform tasks such as cleaning or mowing the lawn. As another example, the work unit may be equipped to perform tasks such as transporting or finding objects. As yet another example, the work unit may perform security functions such as detecting external intruders or dangerous situations in the surroundings.

[0081] In this embodiment, the work unit is described as performing lawn mowing, but there may be various examples of the types of work performed by the work unit, and it is not necessary to be limited to the examples described herein.

[0082] The working part may include a blade (131) rotatably equipped to cut grass. The working part may include a blade motor (132) that provides rotational force to the blade (131).

[0083] The blade (131) is positioned between the drive wheel (121) and the auxiliary wheel (125). The blade (131) is positioned on the lower side of the body (110). The blade (131) is provided to be exposed on the lower side of the body (110). The blade (131) rotates around a rotation axis extending in the vertical direction to cut grass. In the embodiment, the means for cutting grass is described as a blade (131), but is not limited thereto, and a circular blade type, a reel type, a line or strand type where the cutter is formed as a string, or other well-known cutter means for cutting grass may be included in the cutting device.

[0084] The blade motor (132) may be positioned in front of the first wheel (121(L)) and the second wheel (121(R)). The blade motor (132) is positioned on the lower side of the central portion within the internal space of the body (110).

[0085] The blade motor (132) may be positioned at the rear of the auxiliary wheel (125). The blade motor (132) may be positioned at the lower part of the body (110). The rotational force of the motor shaft is transmitted to the blade (131) using a structure such as a gear.

[0086] The mobile robot (100) includes a battery that supplies power to a drive motor module (123). The battery provides power to a first drive motor (123(L)). The battery provides power to a second drive motor (123(R)). The battery may supply power to a blade motor (132). The battery may provide power to a mobile robot control unit (190), an azimuth sensor (176), and an output unit (165). The battery may be placed on the lower side of the rear portion within the internal space of the body (110).

[0087] The mobile robot (100) is equipped with a blade (131) that can change the height relative to the ground, thereby allowing the grass cutting height to be changed. The mobile robot (100) includes a height adjustment unit (156) for a user to change the height of the blade (131). The height adjustment unit (156) includes a rotatable dial, so that the height of the blade (131) can be changed by rotating the dial.

[0088] The mobile robot (100) includes a height display unit (157) that displays the height level of the blade (131). When the height of the blade (131) is changed according to the operation of the height adjustment unit (156), the height level displayed by the height display unit (157) is also changed. For example, the height display unit (157) may display the expected height of the grass after the mobile robot (100) performs lawn mowing with the current blade (131) height state.

[0089] When the mobile robot (100) is docked to the docking device (200), it includes a docking insert (158) that is connected to the docking device (200). The docking insert (158) is provided to be recessed so that the docking connection (210) of the docking device (200) can be inserted. The docking insert (158) is positioned on the front of the body (110). By connecting the docking insert (158) and the docking connection (210), the mobile robot (100) can be guided to an accurate position when charging.

[0090] The mobile robot (100) may include a charging corresponding terminal (159) positioned in a location where it can contact a charging terminal (211) to be described later, while the docking insertion part (158) is inserted into the docking connection part (210). The charging corresponding terminal (159) may include a pair of charging corresponding terminals (159a, 159b) positioned in a location corresponding to a pair of charging terminals (211) (211a, 211b). The pair of charging corresponding terminals (159a, 159b) may be positioned left and right with the docking insertion part (158) in between.

[0091] A terminal cover (not shown) that can open and close the docking insertion part (158) and a pair of charging terminals (211) (211a, 211b) may be provided. When the mobile robot (100) is in motion, the terminal cover may cover the docking insertion part (158) and a pair of charging terminals (211) (211a, 211b). When the mobile robot (100) is connected to the docking device (200), the terminal cover may be opened to expose the docking insertion part (158) and a pair of charging terminals (211) (211a, 211b).

[0092] Meanwhile, referring to FIGS. 5 and 6, the docking device (200) includes a docking base (230) placed on the floor and a docking support (220) protruding upward from the front part of the docking base (230).

[0093] The docking base (230) defines a plane parallel to the horizontal direction. The docking base (230) is plate-shaped so that the mobile robot (100) can be placed on it. The docking support (220) extends from the docking base (230) in a direction intersecting the horizontal direction. Additionally, at least a portion of the mobile robot (100) may be positioned on the docking base (230) when docked.

[0094] When charging the mobile robot (100), it includes a docking connection part (210) that is inserted into the docking insertion part (158). The docking connection part (210) may protrude rearward from the docking support part (220).

[0095] The docking connection part (210) may be formed such that its vertical thickness is smaller than its horizontal width. The horizontal width of the docking connection part (210) may be formed to become narrower towards the rear. When viewed from the top, the docking connection part (210) is generally trapezoidal. The docking connection part (210) is formed with a left-right symmetrical shape. The rear portion of the docking connection part (210) forms a free end, and the front portion of the docking connection part (210) is fixed to the docking support part (220). The rear portion of the docking connection part (210) may be formed with a rounded shape.

[0096] When the docking connection part (210) is fully inserted into the docking insertion part (158), charging can be performed by the docking device (200) of the mobile robot (100).

[0097] The docking device (200) includes a charging terminal (211) for charging the mobile robot (100). The charging terminal (211) and the charging corresponding terminal (159) of the mobile robot (100) come into contact, so that power for charging can be supplied from the docking device (200) to the mobile robot (100).

[0098] The charging terminal (211) includes a contact surface facing the rear, and the charging corresponding terminal (159) includes a contact corresponding surface facing the front. By the contact surface of the charging terminal (211) and the contact corresponding surface of the charging corresponding terminal (159) coming into contact, the power of the docking device (200) is connected to the mobile robot (100).

[0099] The charging terminal (211) may include a pair of charging terminals (211) (211a, 211b) forming a positive pole and a negative pole. The first charging terminal (211) (211a) is provided to be in contact with the first charging corresponding terminal (159a), and the second charging terminal (211) (211b) is provided to be in contact with the second charging corresponding terminal (159b).

[0100] A pair of charging terminals (211) (211a, 211b) may be positioned with the docking connection (210) in between. A pair of charging terminals (211) (211a, 211b) may be positioned on the left and right sides of the docking connection (210).

[0101] The docking base (230) includes a wheel guard (232) on which the drive wheel (121) and auxiliary wheel (125) of the mobile robot (100) stand. The wheel guard (232) includes a first wheel guard (232a) that guides the movement of the first auxiliary wheel (125) and a second wheel guard (232b) that guides the movement of the second auxiliary wheel (125). A central base (231) that is convex upward is disposed between the first wheel guard (232a) and the second wheel guard (232b). The docking base (230) includes a slip prevention part (234) to prevent the first wheel (121(L)) and the second wheel (121(R)) from slipping. The slip prevention part (234) may include a plurality of protrusions that protrude upward.

[0102] Meanwhile, a boundary wire may be implemented to set the boundary of the driving area where the mobile robot (100) travels or the work area for mowing the lawn. Meanwhile, in the embodiment, the boundary wire may be referred to as a wire. The boundary wire may generate a signal that the mobile robot (100) can detect, and the mobile robot (100) may detect such a signal to identify at least one of the driving area and the work area, and may perform driving and work based on the identified result. In the embodiment, the driving area and the work area may be the same area. Additionally, the mobile robot (100) may detect the distance to the boundary wire through a boundary signal transmitted from the boundary wire. More specifically, the distance to the boundary wire may be identified by identifying the direction and strength of the magnetic field generated according to the current flow of the boundary wire, and a driving path may be determined based on this. More specifically, when adjacent to the boundary wire, the magnetic field strength of the vertical component of the ground is strong, and as it moves further away from the wire, the magnetic field strength of the vertical component decreases. In the case of the horizontal magnetic field component, it is strongest near the wire, and its strength may decrease as it moves further away from the wire. The mobile robot (100) can detect the magnetic fields in the vertical and horizontal directions and determine the distance from the wire based on this. The mobile robot (100) of the embodiment can detect a signal generated from the wire through at least one sensor, and the specific arrangement of the sensor will be described later.

[0103] For example, a magnetic field can be generated around the boundary wire by allowing a predetermined current to flow along the boundary wire. Here, the generated magnetic field may be a constant of the boundary signal. By allowing an alternating current with a predetermined change pattern to flow through the boundary wire, the magnetic field generated around the boundary wire may change with a predetermined change pattern. The mobile robot (100) can detect the distance to the boundary wire by using a boundary signal detection unit (177) that detects the magnetic field, and thereby can drive and perform work within the boundary set by the boundary wire.

[0104] The boundary wire can receive current through a connection with a docking device (200). The docking device (200) may include a wire terminal (250) connected to the boundary wire. Both ends of the boundary wire may be connected to a first wire terminal (250a) and a second wire terminal (250b), respectively. Through the connection between the boundary wire and the wire terminal (250), the power of the docking device (200) can supply current to the boundary wire.

[0105] The wire terminal (250) may be positioned at the front (F) of the docking device (200). That is, the wire terminal (250) may be positioned on the side opposite to the direction in which the docking connection part (210) protrudes. The wire terminal (250) may be positioned on the docking support part (220). The first wire terminal (250a) and the second wire terminal (250b) may be positioned spaced apart to the left and right.

[0106] The docking device (200) may include a wire terminal opening / closing part (240) that covers the wire terminal (250) so as to be openable and closable. The wire terminal opening / closing part (240) may be positioned at the front (F) of the docking support part (220). The wire terminal opening / closing part (240) may be hinge-coupled to the docking support part (220) and configured to open / close through rotational movement.

[0107] Meanwhile, a reference wire may be implemented in the docking device (200) to allow the mobile robot (100) to recognize the position of the docking device (200). The reference wire may generate a predetermined docking position signal. The mobile robot (100) detects the docking position signal, recognizes the position of the docking device (200) by the reference wire, and can return to the recognized position of the docking device (200) when a return command or charging is required. Such a position of the docking device (200) may serve as a reference point for the mobile robot (100)'s driving.

[0108] For example, a magnetic field can be generated around the reference wire (270) by allowing a predetermined current to flow along the reference wire. Here, the generated magnetic field is a docking position signal. By allowing an alternating current with a predetermined change pattern to flow through the reference wire, the magnetic field generated around the reference wire can change with a predetermined change pattern. The mobile robot (100) can recognize that it has approached the reference wire (270) within a predetermined distance by using a boundary signal detection unit (177) that detects the magnetic field, and thereby can return to the position of the docking device (200) set by the reference wire. When returning to the docking device (200), it can travel along the boundary wire, and the driving direction upon return can be determined as a direction that allows docking to the docking device based on the positional relationship between the work area and the docking device.

[0109] The reference wire can generate a magnetic field in a direction distinct from the boundary wire. For example, the reference wire can be extended in a direction intersecting the horizontal direction. Preferably, the reference wire can be extended in an up-and-down direction orthogonal to the horizontal direction.

[0110] The reference wire can be installed in the docking device (200), and the reference wire can be placed at various locations in the docking device (200).

[0111] FIG. 7 is a block diagram illustrating the function of a mobile robot according to an embodiment.

[0112] Referring to FIG. 7, the mobile robot (100) may include an input unit (164) capable of inputting various instructions from a user. The input unit (164) may include a button, a dial, a touch-type display, etc. The input unit (164) may include a microphone (not shown) for voice recognition. In this embodiment, a plurality of buttons are arranged on the upper part of the case (112).

[0113] The mobile robot (100) may include an output unit (165) that outputs various information to a user. The output unit (165) may include a display module that outputs visual information. The output unit (165) may include a speaker (not shown) that outputs auditory information.

[0114] In this embodiment, the display module (165) outputs an image in an upward direction. The display module (165) is positioned on the upper side of the case (112). As an example, the display module (165) may include a liquid crystal display (LCD) panel. In addition, the display module (165) may be implemented using various display panels, such as a plasma display panel or an organic light emitting diode display panel.

[0115] The mobile robot (100) includes a storage unit (166) for storing various information. The storage unit (166) records various information necessary for controlling the mobile robot (100) and may include a volatile or non-volatile recording medium. The storage unit (166) may store information input from the input unit (164) or received from the communication unit (167). The storage unit (166) may store a program for controlling the mobile robot (100).

[0116] The mobile robot (100) may include a communication unit (167) for communicating with external devices (terminals, etc.), servers, routers, etc. For example, the communication unit (167) may be implemented to communicate wirelessly using wireless communication technologies such as IEEE 802.11 WLAN, IEEE 802.15 WPAN, UWB, Wi-Fi, Zigbee, Z-wave, Blue-Tooth, etc. The communication unit may vary depending on the communication method of the other device or server to be communicated.

[0117] In addition, in the embodiment, the communication unit (167) can communicate with the docking device (200). More specifically, the communication unit (167) can change the direction of the current supplied from the wire terminal (250) through communication with the docking device (200). For example, if the direction of the wire current detected according to the information on the work area acquired by the mobile robot control unit (190) is not suitable for the work, the mobile robot control unit (190) may request the docking device (200) to change the direction of the wire current through communication via the communication unit (167), and the docking device (200) may change the direction of the wire current in accordance with such a request. In this way, when the mobile robot (100) detects that the direction of the wire current is not suitable for the work due to a situation such as a mis-installation of the wire, it communicates with the docking device (200) through the communication unit (167) to change the direction of the wire current. This allows the mobile robot (100) to identify the mis-installation environment on its own and take appropriate measures without the user having to perform additional control separately, thereby improving usability. In addition, although communication with the docking device (200) was described as an example in the embodiment, it is not limited thereto, and the direction of the wire current can be changed as needed through communication with a subject capable of changing the direction of the wire current. In addition, the mobile robot (100) can receive a response regarding the current change from the docking device (200) and check once again whether the direction of the current has been changed, and subsequently determine the driving direction within the work area based on the installation direction of the docking device (200) and the direction of the current.

[0118] The mobile robot (100) includes a sensing unit (170) that detects information related to the state of the mobile robot (100) or the environment outside the mobile robot (100). The sensing unit (170) may include at least one of a remote signal detection unit (171), an obstacle detection unit (172), a rain detection unit (173), a case flow sensor (174), a bumper sensor (175), an azimuth sensor (176), a boundary signal detection unit (177), a GPS detection unit (178), and a cliff detection unit (179).

[0119] The remote signal detection unit (171) receives an external remote signal. When a remote signal is transmitted by an external remote controller, the remote signal detection unit (171) can receive the remote signal. For example, the remote signal may be an infrared signal. The signal received by the remote signal detection unit (171) can be processed by the mobile robot control unit (190). The sensing unit (170) may include various additional sensors in addition to the sensor shown in FIG. 7.

[0120] A plurality of remote signal detection units (171) may be provided. The plurality of remote signal detection units (171) may include a first remote signal detection unit (171a) disposed in the front portion of the body (110) and a second remote signal detection unit (171b) disposed in the rear portion of the body (110). The first remote signal detection unit (171a) receives a remote signal transmitted from the front. The second remote signal detection unit (171b) receives a remote signal transmitted from the rear.

[0121] The obstacle detection unit (172) detects obstacles around the mobile robot (100). The obstacle detection unit (172) can detect obstacles in front. A plurality of obstacle detection units (172a, 172b, 172c) may be provided. The obstacle detection unit (172) is positioned on the front surface of the body (110). The obstacle detection unit (172) is positioned above the frame (111). The obstacle detection unit (172) may include an infrared sensor, an ultrasonic sensor, an RF sensor, a geomagnetic sensor, a PSD (Position Sensitive Device) sensor, etc.

[0122] The rain detection unit (173) detects rain when it rains in the environment where the mobile robot (100) is deployed. The rain detection unit (173) can be placed in the case (112).

[0123] The case flow sensor (174) detects the flow of the case connection part. When the case (112) is lifted upward relative to the frame (111), the case connection part moves upward, and the case flow sensor (174) detects the lifting of the case (112). When the case flow sensor (174) detects the lifting of the case (112), the mobile robot control unit (190) can control the operation of the blade (131) to stop. For example, when a user lifts the case (112) or when a situation occurs where a significant lower obstacle lifts the case (112), the case flow sensor (174) can detect this.

[0124] The bumper sensor (175) can detect the rotation of the movable fixed part. For example, a magnet may be placed on one side of the lower part of the movable fixed part, and a sensor that detects a change in the magnetic field of the magnet may be placed on the frame (111). When the movable fixed part rotates, the sensor detects a change in the magnetic field of the magnet, thereby enabling the implementation of a bumper sensor (175) that detects the rotation of the movable fixed part. When the bumper (112b) collides with an external obstacle, the movable fixed part rotates in conjunction with the bumper (112b). By detecting the rotation of the movable fixed part, the impact of the bumper (112b) can be detected.

[0125] The sensing unit (20) includes a tilt information acquisition unit that acquires tilt information regarding the inclination of the driving surface (S). The tilt information acquisition unit can acquire tilt information regarding the inclination of the driving surface (S) on which the body (110) is placed by detecting the tilt of the body (110). For example, the tilt information acquisition unit may include a gyro sensing module (176a). The tilt information acquisition unit may include a processing module (not shown) that converts the detection signal of the gyro sensing module (176a) into tilt information. The processing module may be implemented as an algorithm or program as part of the mobile robot control unit (190). As another example, the tilt information acquisition unit may include a magnetic field sensing module (176c) to acquire tilt information based on detection information regarding the Earth's magnetic field. The gyro sensing module (176a) can acquire information regarding the rotational angular velocity with respect to the horizontal plane of the body (30). Specifically, the gyro sensing module (176a) can detect rotational angular velocity centered on the X-axis and Y-axis, which are parallel to the horizontal plane and mutually orthogonal. Through a processing module, the rotational angular velocity with respect to the X-axis (roll) and the rotational angular velocity with respect to the Y-axis (pitch) can be combined to calculate the rotational angular velocity with respect to the horizontal plane. Through the processing module, the rotational angular velocity can be integrated to calculate the inclination value. Additionally, in the embodiment, the gyro sensing module (176a) can detect rotational angular velocity with respect to yaw.

[0126] The gyro sensing module (176a) can detect a predetermined reference direction. The tilt information acquisition unit can acquire tilt information based on the reference direction.

[0127] The azimuth sensor (AHRS) (176) may be equipped with a gyro sensing function. The azimuth sensor (176) may further be equipped with an acceleration sensing function. The azimuth sensor (176) may further be equipped with a magnetic field sensing function.

[0128] The azimuth sensor (176) may include a gyro sensing module (176a) that performs gyro sensing. The gyro sensing module (176a) can detect the horizontal rotational speed of the body (110). The gyro sensing module (176a) can detect the tilt speed of the body (110) relative to the horizontal plane.

[0129] The gyro sensing module (176a) may be equipped with a gyro sensing function for three axes of a mutually orthogonal spatial coordinate system. The information collected by the gyro sensing module (176a) may be roll, pitch, and yaw information. The processing module can calculate the direction angle by integrating the rolling, pitch, and yaw angular velocities.

[0130] The azimuth sensor (176) may include an acceleration sensing module (176b) that performs acceleration sensing. The acceleration sensing module (176b) may have acceleration sensing functions for three axes of a mutually orthogonal spatial coordinate system. A predetermined processing module may calculate velocity by integrating acceleration and calculate distance traveled by integrating velocity.

[0131] The azimuth sensor (176) may include a magnetic field sensing module (176c) that performs magnetic field sensing. The magnetic field sensing module (176c) may be equipped with magnetic field sensing functions for three axes of a mutually orthogonal spatial coordinate system. The magnetic field sensing module (176c) can detect the Earth's magnetic field.

[0132] The boundary signal detection unit (177) detects the boundary signal of the boundary wire (290) and / or the docking position signal of the reference wire (270).

[0133] A boundary signal detection unit (177) may be positioned in the front part of the body (110). This allows the boundary of the driving area to be detected early while moving forward, which is the main driving direction of the mobile robot (100). The boundary signal detection unit (177) may be positioned in the inner space of the bumper (112b).

[0134] The boundary signal detection unit (177) may include a first boundary signal detection unit (177a) and a second boundary signal detection unit (177b) spaced apart from each other. The first boundary signal detection unit (177a) and the second boundary signal detection unit (177b) may be positioned in the front part of the body (110).

[0135] For example, the boundary signal detection unit (177) includes a magnetic field sensor. The boundary signal detection unit (177) may be implemented using a coil to detect changes in the magnetic field. The boundary signal detection unit (177) may detect a magnetic field in at least the horizontal direction. The boundary signal detection unit (177) may detect a magnetic field for three axes that are orthogonal to each other in space.

[0136] Specifically, the first boundary signal detection unit (177a) can detect a magnetic field signal in a direction orthogonal to the second boundary signal detection unit (177b). The first boundary signal detection unit (177a) and the second boundary signal detection unit (177b) detect magnetic field signals in directions orthogonal to each other, and by combining the detected magnetic field signal values, they can detect magnetic fields for three axes that are orthogonal to each other in space.

[0137] When the boundary signal detection unit (177) detects a magnetic field for three mutually orthogonal axes in space, it determines the direction of the magnetic field with the sum vector value for the three axes, and if the direction of the magnetic field is close to the horizontal direction, it recognizes the docking position signal, and if it is close to the vertical direction, it recognizes it as a boundary signal.

[0138] Additionally, the boundary signal detection unit (177) can distinguish between the boundary signal and the docking position signal by the difference in magnetic field direction. Specifically, when the first boundary wire corresponding to the first driving area and the second boundary wire corresponding to the second driving area overlap at least partially or entirely with each other and current is applied in the same direction, a magnetic field having a greater strength than the magnetic field generated at each first boundary wire and second boundary wire is generated, and each signal can be distinguished by the difference in magnetic field strength.

[0139] As another example, the boundary signal detection unit (177) can distinguish between adjacent boundary signals and boundary signals of the first driving area and the second driving area based on differences in magnetic field distribution. Specifically, when a portion of the first boundary wire of the first driving area and the second boundary wire of the second driving area are placed within a certain distance from each other and current is applied in the same direction or in a different direction, the boundary signal detection unit (177) can detect that the magnetic field strength has multiple peaks within a preset distance on the planar coordinates and recognize them as adjacent boundary signals.

[0140] Meanwhile, when the mobile robot (100) is driving, it can perform driving based on the wire, and in this case, the path can be determined based on the information detected by the boundary signal detection unit (177). According to one example, the mobile robot (100) can drive in a center following mode where it drives with the wire in the center, a side following mode where it drives in the space adjacent to the wire, and a both following mode where it drives at a position between multiple wires. In each following mode, the path of the mobile robot (100) corresponding to the wire can be determined based on the information detected by the boundary signal detection unit (177). For example, in the case of center following, the wire is positioned between two boundary signal detection units (177a, 177b), so the magnetic field direction of the vertical component of each boundary signal detection unit (177a, 177b) may be different from each other. In the case of the side following mode, the direction of the vertical magnetic field component of the boundary signal detection unit (177a, 177b) is the same, and the path can be set by detecting a magnetic field strength that satisfies a certain size range and moving alongside the wire. In the case of the boss following mode, the robot can travel between the two wires, and at this time, it can be located at a position where the vertical magnetic fields emitted from the two wires cancel each other out. In this way, the mobile robot (100) can determine a movement method corresponding to the wire based on the magnetic field signal detected by the boundary signal detection unit (177a, 177b), and the mobile robot (100) that performs work based on the wire can prevent damage to the grass by repeatedly moving to the same location by performing movement in different modes. In the embodiment, the area where the mobile robot (100) travels can be determined based on at least one of the distance from the wire and the magnetic field signal transmitted from the wire, and the mobile robot (100) can determine a movement method to minimize the number of times it moves repeatedly to the same location when moving within the work area defined by the wire.In the embodiment, boss following includes establishing a path based on both wires located on both sides relative to the robot's direction of travel, and more specifically, may include establishing a travel path in at least a portion of the space located between the two wires.

[0141] A GPS detection unit (178) may be provided to detect a Global Positioning System (GPS) signal. The GPS detection unit (178) may be implemented on a PCB, but is not limited thereto, and may be implemented by being included in a processor included in the mobile robot (100).

[0142] The cliff detection unit (179) detects whether there is a cliff on the driving surface. The cliff detection unit (179) is positioned at the front of the body (110) so as to detect whether there is a cliff in front of the mobile robot (100).

[0143] The sensing unit (170) may include an opening / closing detection unit (not shown) that detects whether at least one of the first opening / closing unit (117) and the second opening / closing unit (118) is opened or closed. The opening / closing detection unit may be placed in the case (112).

[0144] The mobile robot (100) includes a mobile robot control unit (190) that controls autonomous driving. The mobile robot control unit (190) can process a signal from a sensing unit (170). The mobile robot control unit (190) can process a signal from an input unit (164).

[0145] The mobile robot control unit (190) can control the driving of the first driving motor (123(L)) and the second driving motor (123(R)). The mobile robot control unit (190) can control the driving of the blade motor (132). The mobile robot control unit (190) can control the output of the output unit (165).

[0146] The mobile robot control unit (190) includes a main board (not shown) placed in the internal space of the body (110). The main board can be implemented via a PCB.

[0147] The mobile robot control unit (190) can control the autonomous driving of the mobile robot (100). The mobile robot control unit (190) can control the driving of the driving unit (120) based on a signal received from the input unit (164). The mobile robot control unit (190) can control the driving of the driving unit (120) based on a signal received from the sensing unit (170).

[0148] Additionally, the mobile robot control unit (190) can process the signal from the boundary signal detection unit (177). Specifically, when a docking position signal is detected by the boundary signal detection unit (177), the mobile robot control unit (190) can set the location where the docking position signal was detected as a reference point. When a return command is input to the reference point determined by the docking position signal, the mobile robot control unit (190) can drive the mobile robot (100) to the reference point.

[0149] Additionally, when a boundary signal is detected by the boundary signal detection unit (177), the mobile robot control unit (190) can set the location where the boundary signal is detected as the boundary of the driving area. The mobile robot control unit (190) can drive the mobile robot (100) within the boundary of the driving area.

[0150] Additionally, when an adjacent boundary signal is detected by the boundary signal detection unit (177), the mobile robot control unit (190) can set the location where the adjacent boundary signal was detected as an adjacent boundary area (295). The mobile robot control unit (190) can return the mobile robot (100) along the adjacent boundary area (295).

[0151] FIG. 8 is a block diagram illustrating the function of a docking device according to an embodiment.

[0152] Referring to FIG. 8, a configuration included in a docking device (200) according to an embodiment is shown.

[0153] The docking device (200) may include a power supply unit (810), a wire current direction switching unit (820), a charging unit (830), a communication unit (840), and a docking device control unit (850).

[0154] The power supply unit (810) can supply power necessary for the operation of the docking device (200). The power supply unit (810) can be connected to an external power source and convert the power into a form necessary for the operation of the docking device (200). The power supply unit (810) can supply current flowing through a wire, and can also supply power necessary for charging the mobile robot when the mobile robot is docked to the docking device (200).

[0155] The wire current direction switching unit (820) can switch the current direction of the wire connected to the docking device (200). For example, when a request to switch the wire current direction is received from the mobile robot (100) via the communication unit (840), the wire current direction switching unit (820) can switch the direction of the current flowing through the wire. In the embodiment, the request to switch the current direction may include a request to instruct the current to flow in a specific direction, and the mobile robot (100) may request the docking device (200) to set the direction of the current flowing through the wire to be suitable for work in the work area according to the detected situation. In the embodiment, the wire current direction switching unit (820) may be implemented as a hardware configuration, but is not limited thereto, and may switch the direction of the current flowing through the wire through software control.

[0156] The charging unit (830) can charge the mobile robot (100) docked to the docking device (200). The charging unit (830) can charge the mobile robot (100) by receiving power from the power supply unit (810), and can control the charging process according to the charging amount of the mobile robot (100).

[0157] The communication unit (840) can communicate with the mobile robot (100), receive a request to change the wire current direction from the mobile robot, and transmit a response in response. It can also provide information about the location of the docking device (200) to the mobile robot (100). Additionally, information entered by the user into the docking device (200) can be transmitted to the mobile robot (100) through the communication unit (840).

[0158] The docking device control unit (850) can control the operation of the docking device (200) and can control the operation of the docking device (200) through information obtained through the communication unit (840), and can transmit a corresponding response through the communication unit (840). In addition, in the embodiment, the docking device (200) can transmit the detected information to the mobile robot (100) or the user's terminal.

[0159] FIGS. 9a to 9d are drawings for explaining the driving direction of a mobile robot according to the current direction of a wire connected to a docking device according to an embodiment, and the method of changing the direction of the wire current and the driving direction of the mobile robot according to the operation of the robot and the docking device corresponding thereto.

[0160] Referring to FIGS. 9a through 9d, a wire (910) connected to a wire terminal of a docking device comprising a docking base (902a, 902b, 902c, 902d) and a docking support (904a, 904b, 904c, 904d) is shown, and the direction of movement of a mobile robot traveling along the wire in a work area (920) is shown. The wire (910) can be connected to the wire terminal of the docking device, and current can flow through the wire through such connection. Meanwhile, the mobile robot can detect the magnetic field formed by the flow of current through the wire (910) and determine its position based on this. To this end, if the wire is installed so that the magnetic field direction can be formed in a preset shape, the mobile robot can detect its position based on this and perform work in the work area. In the embodiment, when a mobile robot is docked to a docking device, the mobile robot is positioned on a docking base (902a, 902b, 902c, 902d), and one side of the mobile robot is connected to a protruding docking support (904a, 904b, 904c, 904d), thereby allowing charging of the mobile robot to be performed along with docking. Accordingly, depending on the driving direction of the mobile robot, it can enter the docking base (902a, 902b, 902c, 902d) and be connected to the docking support (904a, 904b, 904c, 904d). If the driving direction of the mobile robot is reversed, it may not be able to dock to the docking device and may circle around the wire; therefore, the mobile robot can detect such a situation, change the direction of the wire current through communication with the docking device, and determine the driving direction in the work area in response to the installation environment. The operation of the mobile robot and docking device according to specific installation situations is explained below.

[0161] FIG. 9a is an example of a case where the orientation and power connection of the docking device are performed normally. In accordance with the connection of the wire (910) and the docking device as in the embodiment, the mobile robot recognizes the area inside the wire (920) as the work area and the area outside the wire as not the work area. Based on the magnetic field signal formed by such connection of the wire (910), the mobile robot can move along the wire (910) in a counterclockwise direction, and thereby successfully dock to the docking device.

[0162] FIG. 9b is an example of a case where the orientation of the docking device is installed normally, but the power connection is in the opposite direction. Due to the connection of the wire (910) and the docking device as in the embodiment, the magnetic field direction becomes opposite, so the mobile robot recognizes the area inside the wire (920) as not being a work area, and when making a judgment based on the signal of the wire (910) without separate information, the mobile robot recognizes the area outside the wire as a work area. Based on the magnetic field signal formed by such a connection of the wire (910), the mobile robot can move along the wire (910) in a clockwise direction, and it is difficult to perform docking or normal work.

[0163] In such a situation, when the mobile robot obtains information about the work area, it can confirm that the signal of the wire (910) is set in the opposite direction. Accordingly, the mobile robot can change the direction of the current flowing through the wire (910) through communication with the docking device, and can set the direction of travel to counterclockwise depending on the installation direction of the docking device. In the embodiment, when the mobile robot confirms that the work area is on the left after moving backward out of the docking device, it can set the driving direction to counterclockwise, and subsequently, based on the signal of the wire (910), it can confirm that the installation of the wire (910) is incorrect and, accordingly, change the direction of the current flowing through the wire (910) through communication with the docking device.

[0164] FIG. 9c is an example of a case where the docking device is installed in the opposite direction and the power connection is performed normally. In accordance with the connection of the wire (910) and the docking device as in the embodiment, the mobile robot recognizes the area inside the wire (920) as the work area and the area outside the wire as not the work area. Based on the magnetic field signal formed by such connection of the wire (910), the mobile robot can move along the wire (910) in a counterclockwise direction. However, in this case, the docking support (904c) is located in the direction of entry into the docking device along the wire, so docking cannot be performed.

[0165] In such situations, if the mobile robot acquires information about the work area, it can determine the driving direction to perform docking. More specifically, if the mobile robot moves backward out of the docking device and acquires information that the work area is to the right, it can set the driving direction to a clockwise direction based on this. By operating in this manner, it is possible to prevent the mobile robot from repeatedly circling the work area without being able to dock to the device, which would occur when the driving direction recognizes the work area but the installation direction of the docking device does not correspond to each other.

[0166] FIG. 9d is an example of a case where both the direction of the docking device and the power connection are reversed. Due to the connection of the wire (910) and the docking device as in the example, the magnetic field direction is reversed, so the mobile robot recognizes the area inside the wire (920) as not being a work area and recognizes the area outside the wire as a work area. Based on the magnetic field signal formed by such connection of the wire (910), the mobile robot can move along the wire (910) in a clockwise direction and can perform a malfunction by determining the area outside the wire as a work area.

[0167] In such a situation, if the mobile robot obtains information about the work area, it can confirm that the signal of the wire (910) is set in the opposite direction. Accordingly, the mobile robot can change the direction of the current flowing through the wire (910) through communication with the docking device. Additionally, if the mobile robot confirms that the work area is located on the right after moving backward out of the docking device, it can set the driving direction to a clockwise direction. By operating in this way, in cases where both the installation direction of the docking device and the power connection are performed in reverse, the direction of the current flowing through the wire (910) is switched through communication between the mobile robot and the docking device, thereby enabling the mobile robot to smoothly perform work in the work area (920). In the embodiment, the mobile robot checks information about the work area and, based on this, detects the wire signal to check whether the wire is installed incorrectly. It can determine the driving direction based on the information about the work area, and if the wire signal does not correspond to the work area, it can communicate with the docking device to change the direction of the current flowing through the wire. Through such operations, the work area can be checked based solely on information about the work area, and work can be performed in response to the incorrect installation of the wire and the incorrect installation of the docking device direction.

[0168] FIGS. 10a to 10c are drawings illustrating a movement pattern and a corresponding operation for a mobile robot to detect when a wire is incorrectly installed according to an embodiment.

[0169] Referring to FIGS. 10a to 10c, a wire (1010) connected to a wire terminal of a docking device including a docking base (1002) and a docking support (1004) is shown, and a method of operation of a mobile robot that starts from the docking device and performs a task is shown.

[0170] In FIG. 10a, the mobile robot can move away from the docking device and perform a rotation in a specific direction. More specifically, the mobile robot can move backward from the docking device to move away from the docking base (1002) and perform a rotation to the left relative to the front of the mobile robot, thereby positioning the boundary signal detection part of the mobile robot inside the wire. In addition, in the embodiment, the mobile robot (1030a, 1030b, 1030c) can rotate in a direction corresponding to the work area relative to the front. In one embodiment, the mobile robot (1030a, 1030b, 1030c) can obtain information regarding the location of the work area at the current position based on user input, and can perform a rotation in a direction corresponding to the work area based on the obtained information. In addition, after performing a rotation in a direction corresponding to the work area, it can perform a rotation in the opposite direction to ensure additional detection accuracy.

[0171] The installation status of the wire can be verified based on the signal detected by the boundary signal detection unit during such movement. More specifically, the mobile robot may move backward and turn left, and the boundary signal detection unit may be positioned within the wire's internal area (1020). At this time, it can be determined whether the wire's internal area (1020) corresponds to a work area based on the magnetic field information identified by the boundary signal detection unit. The mobile robot can determine that the area corresponds to a work area if a detection result corresponding to the magnetic field pattern formed within the wire's internal area when the wire is installed normally is obtained by the boundary signal detection unit.

[0172] In FIG. 10b, the robot can be rotated to the left by the boundary signal detection unit, and this can be determined based on information obtained through user input that the work area is located on the left in the embodiment, and depending on the embodiment, the mobile robot may be set to rotate to the left according to the robot's preset settings.

[0173] When a mobile robot detects that the area (1020) corresponds to a wire signal outside the work area, it can monitor the signal emitted from the wire while performing a rotation in the opposite direction, and can obtain the signal emitted from the wire more accurately based on the additional monitoring results. For example, when rotating to the left based on the posture of moving backward and exiting, a magnetic field pattern corresponding to outside the work area is detected as in FIG. 10a, and when rotating to the right, if the area has a magnetic field pattern corresponding to the work area, it can be confirmed that the wire is installed incorrectly.

[0174] In FIG. 10c, the mobile robot that has confirmed that the wire is incorrectly installed can change the direction of the current flowing through the wire (1010) through communication with the docking device, and accordingly, a predetermined magnetic field pattern can be formed in the work area (1020). The mobile robot that has changed the wire signal through communication in this way can perform work in the work area (1020), and when driving in the work area, it can perform work while driving in a counterclockwise direction corresponding to the installation direction of the docking device.

[0176] FIG. 11 is a diagram illustrating the positional relationship between a sensor and a wire according to the movement pattern of a mobile robot according to an embodiment.

[0177] Referring to FIG. 11, a movement pattern is illustrated for detecting wire signals as a mobile robot (1130a, 1130) moves along a wire (1110a, 1110b) connected to a docking device (1105a, 1105b). In the embodiment, the mobile robot (1030a, 1030b) may be equipped with boundary detection sensors (1135la, 1135ra, 1135lb, 1135rb) and may include additional boundary detection sensors not illustrated.

[0178] In the embodiment, the mobile robot (1130a) can move away from the docking device (1105a) in response to the start of operation. More specifically, the mobile robot (1130a) can move backward from the docking device (1105a), and at this time, the wire (1110a) can be positioned between the boundary detection sensors (1135la, 1135ra). In the embodiment, based on the magnetic field signal formed by the wire (1110a), the left side can correspond to the outside of the work area and the right side to the inside of the work area.

[0179] In this way, the mobile robot can perform backward movement while maintaining the wire (1110a) positioned between the boundary detection sensors (1135la, 1135ra) for a certain distance. At this time, in the embodiment, it can be identified that the boundary detection sensor on the left (1135la) and the boundary detection sensor on the right (1135lb) are located in different areas. Based on this, the mobile robot (1130a) may detect a magnetic field signal formed in the wire.

[0180] In the embodiment, after performing backward movement, the mobile robot (1130b) may perform rotation in a specific direction. According to the embodiment, the specific direction may include rotating to the left, and in another embodiment, the mobile robot (1130b) may perform rotation in a direction corresponding to the work area acquired. Although the embodiment is described based on the case where the work area is to the left, the embodiment of this specification may be similarly applied even when the work area is to the right.

[0181] More specifically, the mobile robot (1130b) can rotate to the left or counterclockwise relative to the forward direction. Additionally, the mobile robot (1130b) can rotate so that the boundary detection sensors (1135rb, 1135rb) are all located in one area relative to the wire (1110b), and in the embodiment, it can rotate so that the boundary detection sensors (1135rb, 1135rb) are located on the left side relative to the wire (1110b). Through such rotation, the mobile robot (1130b) can check for changes in the magnetic field detected by the boundary detection sensors (1135rb, 1135rb), and if it is confirmed that the magnetic field corresponding to the area where the boundary detection sensors (1135rb, 1135rb) are located corresponds to the outside of the work area based on the change in the magnetic field, it can determine that the wire installation is incorrect. In this way, the mobile robot (1130b) can detect that the wire is incorrectly installed by moving the boundary detection sensor (1135rb, 1135rb) to a different area relative to the wire (1110b) and detecting the pattern of change in the magnetic field. In the embodiment, if the mobile robot (1130b) confirms that the wire is incorrectly installed, it can perform a rotation in the opposite direction, thereby rotating the boundary detection sensor (1135rb, 1135rb) to the right of the wire (1110b), and in this case, it can also confirm that the wire is incorrectly installed based on the detected magnetic field pattern.

[0182] In this way, wire misinstallation can be detected based on the results of detecting signals emitted from the wire while moving in a pre-set movement pattern, using only a boundary detection sensor capable of detecting magnetic field signals without the need for additional sensors. If wire misinstallation is detected, the mobile robot can change the direction of the current flowing through the wire based on communication with the docking device. Meanwhile, if the direction of the current flowing through the wire is changed, the mobile robot can provide information about the current change to the user. Through this, the user can confirm whether the wire is misinstalled and that the mobile robot has changed the direction of the wire current in response to the misinstallation.

[0183] FIG. 12 is a drawing showing a user interface (UI) provided to a user to input information about a work area.

[0184] Referring to Fig. 12, a UI for setting a work area in a mobile robot is shown.

[0185] In the embodiment, the UI may be provided on a user terminal or a mobile robot and may be configured to allow input of information about the work area based on user input.

[0186] In one embodiment, the UI may be provided in a manner that inquires about the location of the work area based on the frontal direction of the mobile robot. Additionally, in another embodiment, the UI may provide map information related to a previously configured work area, and the work area may be verified through a user selection.

[0187] Meanwhile, in the embodiment, such a UI can be provided to the user in response to map building at the beginning of the mobile robot's operation, thereby allowing the mobile robot's driving direction to be determined within the work area based on the orientation of the docking device. More specifically, map building can be performed when the docking device and the wire are installed and the mobile robot is driven. At this time, a UI that inquires about the location of the work area based on the docking device can be provided to the user to verify the driving direction and the work area, and the mobile robot can acquire information about the work area based on the user's input. Based on the acquired information and the location of the docking device, the mobile robot can determine the driving direction within the work area and subsequently detect the wire signal to verify whether the wire current flows in a direction corresponding to the work area. If the magnetic field signal formed by the current flowing through the wire does not correspond to the work area, the mobile robot can switch the direction of the wire current through communication with the docking device.

[0188] By acquiring information about the work area from the user in this manner, the mobile robot can determine the location of the work area and the direction of travel within it. Furthermore, based on this, it checks whether the signal formed in the wire flows in correspondence with the work area; if not, it can switch the direction of the wire current through communication with the docking device. By operating in this way, even if the installation of the wire or charger differs from the initial settings, the mobile robot can detect this and perform adaptive actions, thereby improving usability.

[0189] FIG. 13 is a flowchart for explaining the operation of a mobile robot according to an embodiment.

[0190] Referring to FIG. 13, a robot control method according to an embodiment is illustrated.

[0191] In step 1305, the mobile robot can start a movement. The mobile robot can be positioned at a docking device and can start a movement according to user input or a pre-set control method. Meanwhile, the mobile robot can perform an initial movement by operating only the drive wheels without operating the cutting device.

[0192] In step 1310, the mobile robot can move in a direction away from the docking device. More specifically, the mobile robot can move backward to move away from the docking device. At this time, a wire may be positioned between the two drive wheels of the mobile robot. Additionally, when the mobile robot moves backward, a wire may be positioned between two sensors included in the boundary signal detection unit.

[0193] In step 1315, the mobile robot can perform rotation in a specific direction. For example, the robot can perform rotation so that two sensors included in the boundary signal detection unit are positioned on the area in the direction of rotation relative to the wire. Additionally, in an embodiment, the wire is positioned between two drive wheels, and the robot can perform rotation so that the two sensors are positioned on the area in the direction of rotation relative to the wire. In an embodiment, the direction of rotation may be determined based on the position of the work area acquired by the mobile robot, determined according to setting information, or determined through communication with a docking device. According to one example, the mobile robot that has moved backward from the docking device can rotate toward the work area so that the boundary signal detection unit is positioned in the work area, and according to another embodiment, the mobile robot can rotate counterclockwise so that the boundary signal detection unit is positioned in the work area. By performing rotation in this manner, the two sensors included in the boundary signal detection unit are positioned on the area rotated relative to the wire.

[0194] In step 1320, it can be checked whether the measurement information of the two sensors included in the boundary signal detection unit corresponds to a pre-set condition. For example, based on the signal generated from the wire, it can be checked whether the sensor measurement information of the boundary signal detection unit has detected a magnetic field pattern corresponding to the work area. In the embodiment, when wire installation is performed according to the setting, the magnetic field pattern inside the work area and the magnetic field pattern outside the work area may differ depending on the signal generated by the wire, and the mobile robot can check whether the magnetic field pattern measured by the two sensors included in the boundary signal detection unit corresponds to the pattern inside the work area.

[0195] If the magnetic field information detected by the sensor corresponds to a pattern, the mobile robot can perform a subsequent operation in step 1325. For example, the mobile robot can move to a destination within the work area and perform a mowing operation. In the embodiment, when performing the mowing operation, the driving direction within the work area can be determined based on the location information of the work area.

[0196] If the magnetic field information detected by the sensor does not correspond to the pattern, the mobile robot in step 1330 may request to switch the wire current direction through communication with the docking device. The mobile robot may perform work within the work area in response to the request to switch the current direction, or when the direction of the magnetic field changes to correspond to the work area as a result of detection by the boundary signal detection unit. In the embodiment, the mobile robot may determine the driving direction within the work area based on the positional relationship information between the docking device and the work area. For example, if information is received that the work area is located to the left of the docking device, the mobile robot may drive in a counterclockwise direction within the work area and, accordingly, return to the docking device after completing the work.

[0197] In step 1335, the mobile robot can perform subsequent actions within the work area, which can be performed in correspondence with the actions in step 1325.

[0198] FIG. 14 is another flowchart for explaining the operation of a mobile robot according to an embodiment.

[0199] Referring to FIG. 14, a robot control method according to an embodiment is illustrated.

[0200] In step 1405, the mobile robot can start a movement. The mobile robot can be positioned at a docking device and can start a movement according to user input or a pre-set control method. Meanwhile, the mobile robot can perform an initial movement by operating only the drive wheels without operating the cutting device.

[0201] In step 1410, the mobile robot can obtain location-related information regarding the work area. For example, the mobile robot can obtain information regarding where the work area is located relative to the docking device, and more specifically, information regarding whether the work area is located to the left or right relative to the docking device. Such information can be obtained through user input. In the embodiment, the orientation information of the work area can be provided relative to the mobile robot, and information regarding whether the work area is located to the left or right relative to the front of the mobile robot can be obtained.

[0202] In step 1415, the mobile robot can determine the driving direction when performing work in the work area based on the acquired information. According to one example, when the mobile robot moves backward relative to the docking device and exits, if the work area is located on the left, the mobile robot can drive counterclockwise in the work area, and if the work area is located on the right, the mobile robot can drive clockwise in the work area.

[0203] In step 1420, the mobile robot performs a rotation on the wire in a direction corresponding to the work area and can determine the direction in which the wire current is connected based on the measurement value of the boundary detection sensor.

[0204] In step 1425, the mobile robot can check whether the identified wire current direction corresponds to the setting information. If the wire current corresponds to the setting information, the magnetic field pattern formed in the work area due to the wire current may correspond to the magnetic field pattern within the pre-set work area.

[0205] If the wire current direction corresponds to the setting information, the operation can be performed in step 1435.

[0206] If the wire current direction does not correspond to the set information, in step 1430, the mobile robot can switch the wire current direction through communication with the docking device. Through such switching, the magnetic field pattern formed in the work area due to the wire current can correspond to a pre-set magnetic field pattern within the work area. Subsequently, in step 1435, the mobile robot can perform work in the work area.

[0207] Meanwhile, in the embodiment, the procedure in step 1415 may be performed prior to the operation in the embodiment of FIG. 14, and it is not necessary to follow the order described in the embodiment.

[0208] Although the description throughout the specification is based on a lawn mowing robot, this can be commonly applied to robots that work while moving over areas that may be damaged by repetitive movement, such as grass. More specifically, in the case of a robot that works in an area that may be damaged by repetitive movement, such as grass, by identifying the location based on a device that sets the work area, damage to the work area can be minimized by using the method of the embodiment of the specification, which prevents the location of movement from being repeatedly moved according to the task.

[0209] Meanwhile, the present specification and drawings disclose preferred embodiments of the present invention. Although specific terms have been used, they are used merely in a general sense to facilitate the explanation of the technical content of the present invention and to aid in understanding the invention, and are not intended to limit the scope of the present invention. It is obvious to those skilled in the art that, in addition to the embodiments disclosed herein, other variations based on the technical concept of the present invention are possible. Explanation of the symbols

[0210] 100: Mobile robot 110: Body 120: Driving unit 130: Working unit 170: Sensing unit 180: Tilt information acquisition unit 190: Mobile robot control unit 200: Docking device 270: Reference wire 290: Boundary wire

Claims

Claim 1 A mobile robot comprising: a body forming an exterior; at least one wheel for moving the mobile robot; at least one motor for driving the wheel; at least one sensor for detecting a signal formed in a wire defining a work area; and a control unit for transmitting a signal requesting a change in the direction of the current flowing in the wire when the signal formed in the wire in the work area does not correspond to a predetermined condition. Claim 2 A mobile robot according to claim 1, wherein the control unit acquires location information of the work area and determines a driving direction in the work area based on the acquired location information. Claim 3 A mobile robot according to paragraph 2, characterized in that the position information for the work area is obtained based on user input regarding the direction information where the work area is located relative to the mobile robot. Claim 4 A mobile robot according to paragraph 2, characterized in that when the work area is located to the left of the mobile robot, the driving direction corresponds to a counterclockwise direction, and when the work area is located to the right of the mobile robot, the driving direction corresponds to a clockwise direction. Claim 5 A mobile robot according to claim 1, wherein the control unit checks whether the signal formed in the wire is changed in response to the signal transmission, and if the signal formed in the wire is changed, performs map building in the work area. Claim 6 A mobile robot according to paragraph 2, wherein the at least one sensor includes a left boundary detection sensor and a right boundary detection sensor, and the control unit controls the motor so that, after moving backward with a wire positioned in an area defined between the left boundary detection sensor and the right boundary detection sensor, the left boundary detection sensor and the right boundary detection sensor are positioned in a direction corresponding to the position information of the work area relative to the wire. Claim 7 A mobile robot according to claim 1, characterized in that the control unit provides relevant information to the user in response to a change in the direction of the current flowing through the wire. Claim 8 A mobile robot according to claim 1, wherein the control unit determines whether a signal formed in the wire corresponds to a predetermined condition based on measurement information regarding a vertical direction component of a plane corresponding to the work area among the signal components formed in the wire. Claim 9 A mobile robot according to claim 1, wherein the control unit, when it is confirmed that a signal formed on the wire in the work area does not correspond to a predetermined condition according to rotation in a counterclockwise or clockwise direction, performs rotation in the opposite direction of the rotation to check whether the signal formed on the wire does not correspond to the predetermined condition. Claim 10 A mobile robot according to paragraph 2, characterized in that the control unit moves to a docking device along the wire in the determined driving direction when the work is completed in the work area. Claim 11 A method for controlling a mobile robot, comprising: a step of detecting a signal formed in a wire defining a work area; and a step of transmitting a signal requesting a change in the direction of the current flowing in the wire when the signal formed in the wire in the work area does not correspond to a predetermined condition. Claim 12 A control method for a mobile robot according to claim 11, further comprising: a step of acquiring location information of the work area; and a step of determining a driving direction in the work area based on the acquired location information. Claim 13 A control method for a mobile robot according to claim 12, characterized in that the position information for the work area is obtained based on user input regarding the direction information where the work area is located relative to the mobile robot. Claim 14 A control method for a mobile robot according to claim 12, characterized in that when the work area is located to the left of the mobile robot, the driving direction corresponds to a counterclockwise direction, and when the work area is located to the right of the mobile robot, the driving direction corresponds to a clockwise direction. Claim 15 A control method for a mobile robot according to claim 11, further comprising: a step of checking whether a signal formed in the wire is changed in response to the signal transmission; and a step of performing map building in the work area if the signal formed in the wire is changed. Claim 16 In claim 12, the mobile robot comprises a left boundary detection sensor and a right boundary detection sensor, and the control method of the mobile robot further comprises the step of moving backward while a wire is positioned in an area defined between the left boundary detection sensor and the right boundary detection sensor, and then moving so that the left boundary detection sensor and the right boundary detection sensor are positioned in a direction corresponding to the position information of the work area relative to the wire. Claim 17 A control method for a mobile robot according to claim 11, further comprising the step of providing relevant information to a user in response to a change in the direction of the current flowing through the wire. Claim 18 A control method for a mobile robot according to claim 11, further comprising the step of determining whether a signal formed in the wire corresponds to a predetermined condition based on measurement information regarding a component in the vertical direction of a plane corresponding to the work area among the signal components formed in the wire. Claim 19 A control method for a mobile robot according to claim 11, further comprising the step of, when it is confirmed that a signal formed on the wire in the work area does not correspond to a predetermined condition according to rotation in a counterclockwise or clockwise direction, performing a rotation in the opposite direction of the rotation to check whether the signal formed on the wire does not correspond to the predetermined condition. Claim 20 A control method for a mobile robot according to claim 12, further comprising the step of moving to a docking device along the wire in the determined driving direction when work is completed in the above-mentioned work area.

Images