Moving robot and controlling method thereof

Abstract

The invention relates to a mobile robot and a control method thereof, and more specifically, to a technology for a lawn mowing robot to automatically generate a map of a lawn work area. A mobile robot according to one embodiment includes a tag that receives a signal from a beacon, a vision sensor that distinguishes and recognizes a first area and a second area on the driving path of the mobile robot and acquires boundary line position information of the first area and the second area, and a control unit that determines the position coordinates of the mobile robot based on pre-stored position information of the beacon, determines the position coordinates of the boundary line based on the determined position coordinates of the mobile robot and the acquired boundary line position information, and controls the mobile robot to drive along the determined position coordinates of the boundary line and generate a map of the first area.

Description

Technology Field

[0001] The invention relates to a mobile robot and a control method thereof, and more specifically, to a technology in which a lawn mower robot automatically generates a map of a lawn work area. Background Technology

[0002] Robots were developed for industrial use and have played a part in factory automation. Recently, the fields of robot application have expanded further, with the development of medical robots and aerospace robots, as well as household robots for general use. Among these robots, those capable of driving under their own power are called mobile robots. A representative example of a mobile robot used in an outdoor home environment is the lawnmower robot.

[0003] A lawn mower is a device used to trim grass planted in yards or sports fields. These lawn mowers are sometimes classified into household models used at home and tractor models used on large sports fields or farms.

[0004] Generally, lawn mowing devices include riding type devices in which a user rides and moves according to the user's driving to mow the lawn, walk-behind or hand-type devices in which a user manually pulls or pushes to mow the lawn, and the aforementioned autonomous lawn mowing robot.

[0005] In particular, in the case of manual lawn mowers operated by the user, there is the inconvenience of having to operate the mower directly. Since it is difficult for users to operate the mower themselves to mow the lawn in their yard amidst the busy modern lifestyle, most people hire outsiders to mow the lawn, which results in employment costs.

[0006] Therefore, lawn mowing devices that perform autonomous driving—namely, lawn mowing robots—are being developed to prevent the occurrence of such additional costs and reduce the burden on users. Various studies are being conducted to control the movement performance of these lawn mowing robots.

[0007] In the case of a mobile robot that autonomously navigates indoors, the range of movement is limited by walls or furniture, but in the case of the aforementioned lawn mower robot that autonomously navigates outdoors, there is a need to pre-set the range of movement. Additionally, there is a need to limit the range of movement so that the lawn mower robot navigates an area where grass is planted. Such a lawn mower robot is equipped with sensors to sense results of autonomous driving. For example, the path of the lawn mower robot's autonomous driving can be detected using a gyro sensor and an accelerometer.

[0008] In the case of previous lawn mower robot technology, a wire was embedded to define the area where the lawn mower would move, and an induced current was generated in the coil of the lawn mower, allowing the lawn mower to detect information related to the outline of the operating area and move within the area defined by the wire. Additionally, a beacon could be installed in the work area, and the user could directly drive the lawn mower using a joystick to set the generated trajectory as the work area. The problem to be solved

[0009] The purpose is for the lawn mowing robot to automatically generate a map of the lawn work area using signals received from a beacon and location information of the lawn boundary obtained through a vision sensor. means of solving the problem

[0010] A mobile robot according to one embodiment for achieving the above-mentioned purpose is,

[0011] A tag that receives a signal from a beacon; a vision sensor that distinguishes and recognizes a first area and a second area on the driving path of a mobile robot and acquires boundary line position information of the first area and the second area; and a control unit that determines the position coordinates of the mobile robot based on pre-stored position information of the beacon, determines the position coordinates of the boundary line based on the determined position coordinates of the mobile robot and the acquired boundary line position information, and controls the mobile robot to drive along the determined boundary line position coordinates and generate a map of the first area.

[0012] In addition, the tag receives signals from at least three beacons, and the control unit can determine the position coordinates of the mobile robot based on the distance between each of the at least three beacons and the tag.

[0013] Additionally, the mobile robot includes at least three tags; each of the at least three tags receives a signal from the beacon, and the control unit can determine the position coordinates of the mobile robot based on the distance between each of the at least three tags and the beacon.

[0014] In addition, the control unit can determine the position coordinates of the boundary line based on the distance and angle to the boundary line relative to the position coordinates of the determined mobile robot.

[0015] In addition, the control unit can determine the position coordinates of the boundary line between the first area and the second area acquired by the vision sensor based on the position coordinates of the mobile robot that change as the mobile robot moves, and generate a map of the first area by updating the determined position coordinates of the boundary line.

[0016] In addition, the first area is a grass area, and the second area is a non-grass area, and the vision sensor detects the grass to distinguish between the first area and the second area, and can obtain boundary line location information between the grass area and the non-grass area.

[0017] In addition, the mobile robot can drive between two pre-installed beacons, and when it is located within a predetermined distance of the beacons, it can rotate at a predetermined angle to distinguish and recognize the first area and the second area, and drive along the boundary line between the first area and the second area to obtain location information of the boundary line.

[0018] In addition, the signal received by the tag from the beacon may be an Ultra Wideband (UWB) signal.

[0019] Additionally, the system further includes a notification unit that emits a warning sound regarding a situation where the mobile robot cannot drive; the notification unit may emit the warning sound when an obstacle is located on the driving path of the mobile robot or when the first area and the second area cannot be distinguished and recognized on the driving path of the mobile robot.

[0020] Additionally, it further includes a display module that displays a warning message regarding a situation where the mobile robot cannot drive; the display module may display the warning message when an obstacle is located on the driving path of the mobile robot or when the first area and the second area cannot be distinguished and recognized on the driving path of the mobile robot.

[0021] Additionally, the device further includes a communication unit that transmits at least one of a warning sound or a warning message to a user terminal regarding a situation where the mobile robot cannot drive; wherein the communication unit can transmit at least one of the warning sound or the warning message to the user terminal when an obstacle is located on the driving path of the mobile robot or when the first area and the second area cannot be distinguished and recognized on the driving path of the mobile robot.

[0022] In addition, a control method for a mobile robot according to one embodiment for achieving the above-mentioned purpose is,

[0023] A control method for a mobile robot including a tag that receives a signal from a beacon, comprising: receiving a signal from the beacon; determining the position coordinates of the mobile robot based on pre-stored position information of the beacon; distinguishing and recognizing a first area and a second area on the driving path of the mobile robot; obtaining boundary line position information of the first area and the second area; determining the position coordinates of the boundary line based on the determined position coordinates of the mobile robot and the obtained position information of the boundary line; and generating a map of the first area while the mobile robot drives along the determined position coordinates of the boundary line.

[0024] Additionally, receiving location information of the beacons includes receiving signals from at least three beacons, and determining the position coordinates of the mobile robot may include determining the position coordinates of the mobile robot based on the distance between each of the at least three beacons and the tag.

[0025] Additionally, the mobile robot may include at least three tags; receiving location information of the beacon may include each of the at least three tags receiving a signal from the beacon; and determining the location coordinates of the mobile robot may include determining the location coordinates of the mobile robot based on the distance between each of the at least three tags and the beacon.

[0026] In addition, determining the position coordinates of the boundary line may include determining the position coordinates of the boundary line based on the distance and angle to the boundary line relative to the position coordinates of the mobile robot determined above.

[0027] Additionally, generating the map of the first area may include determining the position coordinates of the boundary line between the first area and the second area obtained based on the position coordinates of the mobile robot that change as the mobile robot moves; and generating the map of the first area by updating the determined position coordinates of the boundary line.

[0028] Additionally, the first area is a grass area and the second area is a non-grass area, and obtaining boundary line location information between the first area and the second area may include detecting the grass to distinguish between the first area and the second area, and obtaining boundary line location information between the grass area and the non-grass area.

[0029] In addition, the mobile robot can drive between two pre-installed beacons; when located within a predetermined distance of the beacons, it rotates at a predetermined angle to distinguish and recognize the first area and the second area; and drive along the boundary line between the first area and the second area to obtain location information of the boundary line.

[0030] Additionally, the method further includes transmitting a warning sound regarding a situation where the mobile robot cannot drive and displaying a warning message regarding a situation where the mobile robot cannot drive; transmitting the warning sound may include transmitting the warning sound when an obstacle is located on the driving path of the mobile robot or when the first area and the second area cannot be distinguished and recognized on the driving path of the mobile robot, and displaying the warning message may include displaying the warning message when an obstacle is located on the driving path of the mobile robot or when the first area and the second area cannot be distinguished and recognized on the driving path of the mobile robot.

[0031] Additionally, the method further includes transmitting at least one data among a warning sound or a warning message regarding a situation where the mobile robot cannot drive to a user terminal; and transmitting at least one data among the warning sound or warning message to the user terminal may include transmitting at least one data among the warning sound or warning message to the user terminal when an obstacle is located on the driving path of the mobile robot or when the first area and the second area cannot be distinguished and recognized on the driving path of the mobile robot. Effects of the invention

[0032] By using signals received from beacons and location information of the grass boundary acquired through vision sensors, the lawn mower robot automatically generates a map of the grass work area, thereby increasing the accuracy of grass work area map generation and improving user convenience. In addition, by accurately generating a map of the grass work area, the amount of grass mowing work and the time required can be accurately calculated, and the amount of battery power required for the lawn mower robot to perform the work can be accurately predicted. Brief explanation of the drawing

[0033] FIG. 1 is a perspective view of a mobile robot according to one embodiment. Figure 2 is an elevation view of the mobile robot shown in Figure 1, viewed from the front. Figure 3 is an elevation view of the right side of the mobile robot shown in Figure 1. FIG. 4 is an elevation view of the lower side of the mobile robot shown in FIG. 1. FIG. 5 is a control block diagram of a mobile robot according to one embodiment. FIG. 6 is a flowchart illustrating a control method for a mobile robot according to one embodiment. FIGS. 7 and FIGS. 8 are conceptual diagrams illustrating the determination of position coordinates of a mobile robot according to one embodiment. FIG. 9 illustrates the working area of ​​a mobile robot according to one embodiment. FIG. 10 illustrates determining the position coordinates of the boundary line between a grass area and a non-grass area according to one embodiment. FIG. 11 illustrates updating the position coordinates of the boundary line determined in FIG. 10 according to one embodiment. FIG. 12 illustrates a mobile robot rotating near a beacon according to one embodiment. FIG. 13 illustrates another embodiment for determining the position coordinates of the boundary line between a grass area and a non-grass area according to one embodiment. FIG. 14 illustrates updating the position coordinates of a boundary line on a driving path traveled by a mobile robot according to one embodiment. FIG. 15 illustrates a map of the work area of ​​a mobile robot generated according to one embodiment. FIG. 16 illustrates a warning message regarding a situation where a mobile robot cannot drive, displayed on a user terminal according to one embodiment. Specific details for implementing the invention

[0034] The embodiments described in this specification and the configurations illustrated in the drawings are merely preferred examples of the disclosed invention, and various modifications that may replace the embodiments and drawings of this specification may exist at the time of filing this application.

[0035] Additionally, the same reference numerals or symbols presented in each drawing of this specification represent parts or components that perform substantially the same function.

[0036] Furthermore, the terms used in this specification are for describing embodiments and are not intended to limit or / or restrict the disclosed invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this specification, terms such as "comprising" or "having" are intended to indicate the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and do not preclude the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0037] Additionally, the terms ‘part, module, component, block’ as used herein may be implemented in software or hardware, and depending on the embodiments, a plurality of ‘parts, modules, components, blocks’ may be implemented as a single component, or a single ‘part, module, component, block’ may include a plurality of components. Furthermore, throughout the specification, when a part is described as being “connected” to another part, this includes not only cases where they are directly connected but also cases where they are indirectly connected, and indirect connection includes connection via a wireless communication network.

[0038] Additionally, terms including ordinal numbers, such as "first," "second," etc., used herein may be used to describe various components, but said components are not limited by said terms, and said terms are used solely for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be named the second component, and similarly, the second component may be named the first component. The term "and / or" includes a combination of a plurality of related described items or any one of a plurality of related described items.

[0039] Meanwhile, terms such as "front," "top," "bottom," "left," and "right" used in the following description are defined based on the drawings, and the shape and position of each component are not limited by these terms.

[0040] Expressions designating 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.

[0041] A mobile robot and a control method thereof will be described in detail below according to the embodiments described below, with reference to the attached drawings. In the drawings, the same reference numerals indicate the same components, and redundant descriptions thereof will be omitted.

[0042] FIG. 1 is a perspective view of a mobile robot according to one embodiment. FIG. 2 is an elevation view of the mobile robot shown in FIG. 1 viewed from the front. FIG. 3 is an elevation view of the mobile robot shown in FIG. 1 viewed from the right side. FIG. 4 is an elevation view of the mobile robot shown in FIG. 1 viewed from the bottom side. FIG. 5 is a control block diagram of a mobile robot according to one embodiment.

[0043] The mobile robot (100) according to the disclosed embodiment may be any robot capable of autonomous driving. However, the mobile robot (100) described in the following embodiment is described using a lawn mower robot as an example.

[0044] Referring to FIGS. 1 to 4, the mobile robot (100) includes a body (110) that forms an external shape. The body (110) forms an internal space.

[0045] The body (110) includes a first opening / closing part (117) that opens and closes the portion where the height adjustment part (166) and the height display part (167) are arranged. The first opening / closing part (117) is hinge-coupled to the case (112) so as to enable opening and closing operations. The first opening / closing part (117) is positioned on the upper side of the case (112).

[0046] The body (110) includes a second opening / closing part (118) that opens and closes the portion where the display module (165a) 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). The second opening / closing part (118) is formed in a plate shape and covers the display module (165a) and the input part (164) when closed.

[0047] The body (110) includes a handle (113). The handle (113) may be positioned on the rear side of the case (112). The body (110) includes a battery input section (114) for taking in and taking out a battery (Bt). 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).

[0048] 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).

[0049] The body (110) includes a blade protection portion (116) that covers the lower side of the central portion of the blade (140). The blade protection portion (116) is provided such that the edge of the centrifugal portion of the blade (140) is exposed, while the central portion of the blade (140) is covered.

[0050] 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 (112h) may be formed, which is recessed towards the rear and extends in the left-right direction. A plurality of bumper grooves (112h) 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).

[0051] 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.

[0052] 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) 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).

[0053] 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). The bumper auxiliary part (112c) may be formed of a material advantageous for shock absorption, such as rubber. The bumper auxiliary part (112c) may be formed of a flexible material.

[0054] The mobile robot (100) includes a drive wheel module (120) that moves the body (110) relative to the ground (driving surface). The drive wheel module (120) includes a first wheel (120a) and a second wheel (120b) that are each independently rotatable and are provided on the left and right sides. The mobile robot (100) includes a drive motor module (130) that provides rotational force to the drive wheel module (120). The drive motor module (130) includes a first motor (130a) that provides rotational force to the first wheel (120a) and a second motor (130b) that provides rotational force to the second wheel (120b). The first motor (130a) is positioned to the left of the second motor (130b). The mobile robot (100) includes a blade (140) that is rotatable and provided for mowing grass. The mobile robot (100) includes a blade motor (150) that provides rotational force to the blade (140). The mobile robot (100) includes a battery (Bt) that supplies power to the drive motor module (130). The battery (Bt) can supply power to the blade motor (150).

[0055] The mobile robot (100) includes a sensor (170) disposed in the internal space of the body (110). The sensor (170) has a gyro sensing function and a magnetic field sensing function. The sensor (170) may further have an acceleration sensing function.

[0056] The mobile robot (100) includes an obstacle detection unit (161) that detects obstacles in front. A plurality of obstacle detection units (161a, 161b, 161c) may be provided. The obstacle detection unit (161) is positioned on the front surface of the body (110). The obstacle detection unit (161) is positioned above the frame (111).

[0057] The mobile robot (100) may include a rain detection unit (not shown) for detecting rain. The rain detection unit may be placed in a case (112). The rain detection unit may be placed above the frame (111).

[0058] The mobile robot (100) includes a remote signal receiving unit (101) that receives an external remote signal. When a remote signal is transmitted by an external remote controller, the remote signal receiving unit (101) can receive the remote signal. For example, the remote signal may be an infrared signal. The signal received by the remote signal receiving unit (101) can be processed by a control unit (163).

[0059] A plurality of remote signal receiving units (101) may be provided. The plurality of remote signal receiving units (101) may include a first remote signal receiving unit (101a) disposed in the front portion of the body (110) and a second remote signal receiving unit (101b) disposed in the rear portion of the body (110). The first remote signal receiving unit (101a) receives a remote signal transmitted from the front. The second remote signal receiving unit (101b) receives a remote signal transmitted from the rear.

[0060] The mobile robot (100) includes an auxiliary wheel (162) positioned in front of the first wheel (120a) and the second wheel (120b). The auxiliary wheel (162) may be positioned in front of the blade (140). The auxiliary wheel (162) 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 (107) supporting the rotation axis of the auxiliary wheel (162) is coupled to the frame (111) so as to be rotatable about a vertical axis. A first auxiliary wheel (162a) positioned on the left and a second auxiliary wheel (162b) positioned on the right may be provided.

[0061] The mobile robot (100) is equipped with a blade (140) 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 (166) for a user to change the height of the blade (140). The height adjustment unit (166) includes a rotatable dial, so that the height of the blade (140) can be changed by rotating the dial.

[0062] The mobile robot (100) includes a height display unit (167) that displays the height level of the blade (140). When the height of the blade (140) is changed according to the operation of the height adjustment unit (166), the height level displayed by the height display unit (167) is also changed. For example, the height display unit (167) may display the expected height of the grass after the mobile robot (100) performs lawn mowing with the current blade (140) height state.

[0063] The mobile robot (100) includes a GPS board (168) equipped to detect a Global Positioning System (GPS) signal. The GPS board (168) may be a PCB.

[0064] When the mobile robot (100) is docked to a docking device (not shown), it includes a docking insert (169) that is connected to the docking device. The docking insert (169) is provided to be recessed so that a docking connection (not shown) of the docking device can be inserted. The docking insert (169) is positioned on the front of the body (110). By connecting the docking insert (169) and the docking connection, the mobile robot (100) can be guided to an accurate position when charging.

[0065] The mobile robot (100) may include a charging corresponding terminal (102) positioned in a location where it can contact a charging terminal (not shown) while the docking insertion part (169) is inserted into the docking connection part. The charging corresponding terminal (102) may include a pair of charging corresponding terminals (102a, 102b) positioned in a location corresponding to a pair of charging terminals. The pair of charging corresponding terminals (102a, 102b) may be positioned left and right with the docking insertion part (169) in between.

[0066] A terminal cover (not shown) that can open and close a docking insert (169) and a pair of charging terminals may be provided. When the mobile robot (100) is in motion, the terminal cover may cover the docking insert (169) and the pair of charging terminals. When the mobile robot (100) is connected to a docking device, the terminal cover may open to expose the docking insert (169) and the pair of charging terminals.

[0067] Referring to FIG. 5, a mobile robot (100) according to one embodiment may include a control unit (163) that oversees control related to the operation of the mobile robot (100), an input unit (164) that receives control commands related to the mobile robot (100) from a user, an output unit (165) that outputs information related to the operation of the mobile robot (100), a tag (175) that receives a signal from a beacon (300) installed externally, a vision sensor (177) that acquires image information on the driving path of the mobile robot (100), a communication unit (180) that communicates with an external device such as a user terminal (200), and a memory (190) that stores information related to the operation of the mobile robot (100).

[0068] The mobile robot (100) may include a control unit (163) that controls autonomous driving. The control unit (163) oversees the control related to the operation of the mobile robot (100). Additionally, the control unit (163) can process signals from an obstacle detection unit (161) and signals from a GPS board (168). The control unit (163) can process signals from an input unit (164).

[0069] The control unit (163) can control the operation of the first motor (130a) and the second motor (130b). The control unit (163) can control the operation of the blade motor (150). The control unit (163) can control the output of the output unit (165).

[0070] The control unit (163) includes a main board (163) disposed in the internal space of the body (110). The main board (163) refers to a PCB.

[0071] The mobile robot (100) may include an input unit (164) capable of inputting various instructions from a user. The input unit (164) may include buttons, 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).

[0072] The mobile robot (100) may include an output unit (165) that outputs various information related to the operation of the mobile robot (100) to a user. The output unit (165) may include a display module (165a) that outputs visual information. The output unit (165) may include a notification unit (165b) that outputs auditory information.

[0073] As described below, the display module (165a) and the notification unit (165b) can display a warning message or emit a warning sound regarding the inability of the mobile robot (100) to drive.

[0074] In one embodiment, the display module (165a) outputs an image in an upward direction. The display module (165a) is positioned on the upper side of the case (112). As an example, the display module (165a) may include a liquid crystal display (LCD) panel. In addition, the display module (165a) may be implemented using various display panels, such as a plasma display panel or an organic light emitting diode display panel.

[0075] The mobile robot (100) may include a tag (175) that receives a signal from a beacon (300) installed externally. The signal from the beacon (300) received by the tag (175) may be an Ultra Wideband (UWB) signal, and the signal transmitted by the beacon (300) to the tag (175) may include location information of the beacon (300).

[0076] There are no limitations on the location and number of tags (175) provided on the mobile robot (100), and the tags (175) may be implemented as at least one of devices capable of receiving or reading signals at a short distance, such as an NFC (Near Field Communication) module or an RFID (Radio Frequency Idendification) reader.

[0077] The mobile robot (100) may include a vision sensor (177) that acquires image information on the driving path of the mobile robot (100). As described below, the vision sensor (177) can distinguish and recognize a grass area and a non-grass area on the driving path of the mobile robot (100), and can acquire boundary line location information between the grass area and the non-grass area.

[0078] The vision sensor (177) can obtain surrounding image information by capturing the area around the mobile robot (100) on the driving path of the mobile robot (100). In addition, the vision sensor (177) can obtain location information of the path or area where the mobile robot (100) is driving.

[0079] The vision sensor (177) may include an RGB camera capable of detecting the shape or color of an object according to one embodiment. Additionally, the vision sensor (177) may be an RGB-D camera capable of detecting the shape, color, and distance of an object according to one embodiment.

[0080] The mobile robot (100) may include a communication unit (180) for communicating with external devices (terminals, etc.), servers, routers, etc. The communication unit may vary depending on the communication method of the other device or server to be communicated.

[0081] This communication unit (180) can be implemented using a communication chip, an antenna, and related components so as to be connected to at least one of a wired communication network and a wireless communication network. That is, the communication unit (180) can be implemented as various types of communication modules capable of short-range or long-range communication with a user terminal (200).

[0082] The memory (190) can store a control program and control data for controlling the mobile robot (100), or store control commands input through the input unit (164), position coordinate information of the mobile robot (100) determined based on the position information of the beacon (300), and boundary line position information of the grass area acquired by the vision sensor (177) during the movement of the mobile robot (100).

[0083] Additionally, the memory (190) can store location information of an externally installed beacon (300). That is, the user can input information regarding the location coordinates of a beacon (300) installed within the movement area of ​​the mobile robot (100) into the mobile robot (100) through the input unit (164), and the input location coordinate data can be stored in the memory (190).

[0084] The location coordinates of the beacon (300) stored in memory (190) can be determined according to an arbitrary reference point, and among multiple beacons, the location coordinates of other beacons can be determined based on the location coordinates of the reference beacon.

[0085] Additionally, the memory (190) may include volatile memory (not shown), such as S-RAM (Static Random Access Memory, S-RAM) and D-RAM (Dynamic Random Access Memory, D-RAM), and non-volatile memory (not shown), such as flash memory, ROM (Read Only Memory), EPROM (Erasable Programmable Read Only Memory), and EEPROM (Electrically Erasable Programmable Read Only Memory: EEPROM).

[0086] The non-volatile memory can operate as an auxiliary storage device for the volatile memory and can store control programs and control data for controlling the operation of the mobile robot (100). Additionally, the non-volatile memory can retain stored data even if the power of the mobile robot (100) is cut off, and the volatile memory can temporarily store control programs and control data by loading them from the non-volatile memory, or temporarily store control commands, etc., that are input through the input unit (164). Unlike the non-volatile memory, the volatile memory may lose stored data if the power of the mobile robot (100) is cut off.

[0087] FIG. 6 is a flowchart illustrating a control method for a mobile robot according to one embodiment. FIG. 7 and FIG. 8 are conceptual diagrams illustrating the determination of position coordinates of a mobile robot according to one embodiment. FIG. 9 illustrates a work area of ​​a mobile robot according to one embodiment. FIG. 10 illustrates the determination of position coordinates of the boundary line between a grass area and a non-grass area according to one embodiment. FIG. 11 illustrates updating the position coordinates of the boundary line determined in FIG. 10 according to one embodiment. FIG. 12 illustrates a mobile robot rotating near a beacon according to one embodiment. FIG. 13 illustrates another embodiment of determining the position coordinates of the boundary line between a grass area and a non-grass area according to one embodiment. FIG. 14 illustrates updating the position coordinates of the boundary line on the driving path traveled by the mobile robot according to one embodiment. FIG. 15 illustrates the generation of a map for the work area of ​​the mobile robot according to one embodiment. FIG. 16 illustrates a warning message regarding a situation where the mobile robot cannot drive being displayed on a user terminal according to one embodiment.

[0088] Referring to FIG. 6, a tag (175) provided on a mobile robot (100) can receive a signal from a beacon (300) installed externally (1000). As described above, the signal received by the tag (175) from the beacon (300) may include location information of the beacon (300), but generally, the tag (175) can receive only an identification signal regarding the location of the beacon (300) from the beacon (300).

[0089] A beacon (300) can be placed at any location in the space where the mobile robot (100) moves, and when a tag (175) receives a signal from three or more beacons (300), the mobile robot (100) can determine its current location through the location information of the beacons (300) that was previously stored in the memory (190).

[0090] In addition, the mobile robot (100) can determine its current location by using the principles of GPS through the location information of the beacons (300) received by the tag (175) from three or more beacons (300).

[0091] In addition, there is a method for the mobile robot (100) to determine its position by installing multiple ultrasonic waves on the charging station of the mobile robot (100) and calculating the arrival time of the ultrasonic wave signal emitted from the charging station based on the RF signal emitted by the mobile robot (100) at regular time intervals, thereby detecting the distance and angle between the charging station and the mobile robot (100), so that the mobile robot determines its current position.

[0092] When the control unit (163) receives a signal from the beacon (300), it can determine the position coordinates of the mobile robot (100) based on the position information of the beacon (300) that is stored in memory (190) (1010).

[0093] That is, as described above, the location coordinates of the beacon (300) are input by the user and stored in the memory (190), and the control unit (163) can use the information stored in the memory (190) to determine the location coordinates of the mobile robot (100).

[0094] Referring to FIG. 7, a first beacon (300a), a second beacon (300b), and a third beacon (300c) may be provided at any location in the space where the mobile robot (100) moves, and the control unit (163) can determine the position coordinates of the mobile robot (100) through triangulation between the first beacon (300a) to the third beacon (300c) and a tag (175) provided on the mobile robot (100).

[0095] In the embodiment of FIG. 7, one tag (175) is provided on the mobile robot (100), and at least three beacons (300) are installed.

[0096] Data regarding the location coordinates of the first beacon (300a) to the third beacon (300c) is stored in the memory (190) of the mobile robot (100), and the tag (175) can receive signals from each of the first beacon (300a) to the third beacon (300c).

[0097] As illustrated in FIG. 7, the position coordinates of the tag (175) provided on the mobile robot (100) are denoted as (x, y), the position coordinates of the first beacon (300a) are denoted as (a, b), the position coordinates of the second beacon (300b) are denoted as (c, d), and the position coordinates of the third beacon (300c) are denoted as (e, f), and the distances between the mobile robot (100) and each of the first beacon (300a) to the third beacon (300c) are denoted as r1 to r3. Then, the position coordinates (x, y) of the tag (175) provided on the mobile robot (100) can be determined according to Equations 1 to 3. The position coordinates of the tag (175) correspond to the position coordinates of the mobile robot (100).

[0098] [Mathematical Formula 1]

[0099]

[0100] [Mathematical Formula 2]

[0101]

[0102] [Mathematical Formula 3]

[0103]

[0104] At this time, the method for determining the distances r1 to r3 between the first beacon (300a) to the third beacon (300c) and the tag (175) is as follows: First, the beacon (300) transmits an Ultra Wide Band (UWB) pulse having a specific intensity (voltage) to the tag (175) side of the mobile robot (100). Then, the tag (175) side receives a signal that is somewhat distorted from the UWB pulse after a certain time (T) has elapsed. At this time, the tag (175) side and the beacon (300) side have synchronized timers, and when the tag (175) side transmits a UWB signal at a set time and the beacon (300) side receives this signal after time T, the control unit (163) can calculate the distance between the tag (175) and the beacon (300) by multiplying T by the speed of the radio wave (300,000 km / s).

[0105] Additionally, the control unit (163) may determine the distances r1 to r3 between the mobile robot (100) and each of the first beacon (300a) to third beacon (300c) based on the strength of the signal received by the tag (175) from each of the first beacon (300a) to third beacon (300c).

[0106] The signal used for determining the position between the beacon (300) and the mobile robot (100) may include signals such as infrared (Infra-red) and RF (Radio Frequency) in addition to UWB signals, but is not limited thereto.

[0107] Referring to FIG. 8, unlike FIG. 7, a beacon (300) is provided at any location where the mobile robot (100) moves, and the control unit (163) can determine the position coordinates of the mobile robot (100) through triangulation between the beacon (300) and the first tag (175a) to the third tag (175c) provided on the mobile robot (100).

[0108] In the embodiment of FIG. 8, at least three tags (175) are provided on the mobile robot (100), and one beacon (300) is installed.

[0109] Data regarding the location coordinates of the beacon (300) is stored in the memory (190) of the mobile robot (100), and each of the first tag (175a) to the third tag (175c) can receive a signal from the beacon (300).

[0110] As illustrated in FIG. 8, the position coordinates of the first tag (175a) provided on the mobile robot (100) are set to (x1, y1), the position coordinates of the second tag (175b) are set to (x2, y2), and the position coordinates of the third tag (175c) are set to (x3, y3), and the position coordinates of the beacon (300) are set to (m, n). If the distance between each of the first tag (175a) to the third tag (175c) and the beacon (300) is set to r1 to r3, then the position coordinates of the first tag (175a) to the third tag (175c) provided on the mobile robot (100) can be determined according to Equations 4 to 6 and the positional relationship of each of the first tag (175a) to the third tag (175c).

[0111] [Mathematical Formula 4]

[0112]

[0113] [Mathematical Formula 5]

[0114]

[0115] [Mathematical Formula 6]

[0116]

[0117] At this time, the method for determining the distances r1 to r3 between each of the first tag (175a) to the third tag (175c) and the beacon (300) is the same as the method described above.

[0118] When the position coordinates of the mobile robot (100) are determined, the control unit (163) can determine whether the mobile robot (100) can drive from its current position (1020). That is, the mobile robot (100) can drive based on a beacon (300) provided in the work area, as shown in FIG. 9.

[0119] If a first beacon (300a) to a third beacon (300c) is provided in the work area, the mobile robot (100) can set the boundary of the work area by driving along a first driving path (W1) from the first beacon (300a) to the second beacon (300b). Additionally, the mobile robot (100) can set the boundary of the work area by driving along a second driving path (W2) from the second beacon (300b) to the third beacon (300c). Likewise, the mobile robot (100) can set the boundary of the work area by driving along a third driving path (W3) from the third beacon (300c) to the first beacon (300a).

[0120] In the disclosed embodiment, the work area of ​​the mobile robot (100) is described on the premise that it is a grass area. That is, as shown in FIG. 9, the grass area for the mobile robot (100) to perform work can be defined as the first area (S1), and the area excluding the grass area can be defined as the first area (S2).

[0121] According to a mobile robot (100) and a control method thereof according to a disclosed embodiment, the mobile robot (100) can generate a map of the first area (S1), i.e., a grass area, while driving along the boundary between the first area (S1) and the second area (S2).

[0122] The vision sensor (177) can distinguish and recognize the first area (S1) and the second area (S2) on the driving path of the mobile robot (100) (1030), and obtain boundary line position information of the first area (S1) and the second area (S2) (1040).

[0123] As illustrated in FIG. 10, the vision sensor (177) can obtain surrounding image information by photographing the area around the mobile robot (100) on the driving path of the mobile robot (100). The vision sensor (177) can distinguish and recognize a grass area and a non-grass area, and can obtain boundary line location information between the grass area and the non-grass area.

[0124] The vision sensor (177) can distinguish between a first area (S1), which is a grass area, and a second area (S2), which is not a grass area, by detecting the shape or color of the grass based on data stored in the memory (190).

[0125] The control unit (163) can determine the position coordinates of the boundary line based on the position coordinates of the mobile robot (100) and the position information of the boundary line obtained by the vision sensor (177) (1050).

[0126] Referring to FIG. 10, when the position coordinates of the mobile robot (100) determined according to the methods of Equations 1 to 3 at the current position of the mobile robot (100) in motion are (x1, y1), the control unit (163) can determine the position coordinates (xa, ya) of the boundary line based on the distance and angle to the boundary line of the first area (S1) and the second area (S2) acquired by the vision sensor (177).

[0127] That is, based on the position coordinates (x1, y1) of the mobile robot (100), the distance to the boundary line of the first region (S1) and the second region (S2) is r1, and the angle to the boundary line is Then, the position coordinates (xa, ya) of the boundary line can be determined according to mathematical formulas 7 and 8.

[0128] [Mathematical Formula 7]

[0129]

[0130] [Mathematical Formula 8]

[0131]

[0132] As illustrated in FIG. 11, the control unit (163) can generate a map of the first area (S1) up to the position coordinates of the boundary line of the first area (S1) and the second area (S2) by determining and mapping the position coordinates of the boundary line on the driving path of the mobile robot (100).

[0133] In addition, when the mobile robot (100) moves, the position coordinates of the mobile robot (100) are changed, and the position coordinates of the boundary line between the first area (S1) and the second area (S2) acquired by the vision sensor (177) are also changed to (xb, yb) and (xc, yc).

[0134] That is, the control unit (163) can determine the position coordinates of the boundary line between the first area (S1) and the second area (S2) that are acquired in real time by the vision sensor (177) based on the position coordinates of the mobile robot (100) that change in real time as the mobile robot (100) moves, and can create a map of the first area (S1) by updating the determined position coordinates of the boundary line (1060) (1070).

[0135] Referring to FIG. 12, as described above, the mobile robot (100) can travel between two pre-installed beacons (300), and when it is located within a predetermined distance from the beacons (300), it can rotate at a predetermined angle to distinguish and recognize the first area (S1) and the second area (S2), and travel along the boundary line of the first area (S1) and the second area (S2) to obtain location information of the boundary line.

[0136] That is, when the mobile robot (100) travels along the first driving path (W1) from the first beacon (300a) to reach the second beacon (300b), since there is no longer a straight driving path passing through the second beacon (300b), the mobile robot (100) must set a driving path toward the third beacon (300c). That is, when the mobile robot (100) approaches within a certain distance of the second beacon (300b), it can explore the surroundings while rotating near the second beacon (300b).

[0137] At this time, the mobile robot (100) searches for a driving path to drive while rotating at a predetermined angle near the second beacon (300b) as shown in FIG. 12, and can also distinguish and recognize the first area (S1) and the second area (S2) through image information acquired by the vision sensor (177).

[0138] Referring to FIG. 13, the mobile robot (100) can distinguish and recognize a grass area and a non-grass area by the vision sensor (177) while driving from the second beacon (300b) to the third beacon (300c) along the second driving path (W2), and obtain boundary line location information for the grass area and the non-grass area.

[0139] The control unit (163) can determine the position coordinates of the boundary line based on the position coordinates of the mobile robot (100) and the position information of the boundary line of the first area (S1) and the second area (S2) obtained by the vision sensor (177) (1050).

[0140] Referring to FIG. 13, when the position coordinates of the mobile robot (100) at the current position of the mobile robot (100) traveling along the second driving path (W2) are (x2, y2), the control unit (163) can determine the position coordinates (xd, yd) of the boundary line based on the distance and angle to the boundary line of the first area (S1) and the second area (S2) acquired by the vision sensor (177).

[0141] That is, based on the position coordinates (x2, y2) of the mobile robot (100), the distance to the boundary line of the first region (S1) and the second region (S2) is r2, and the angle to the boundary line is Then, the position coordinates (xd, yd) of the boundary line can be determined according to mathematical formulas 9 and 10.

[0142] [Mathematical Formula 9]

[0143]

[0144] [Mathematical Formula 10]

[0145]

[0146] Additionally, as illustrated in FIG. 13, when an obstacle (ob) is located on the driving path of the mobile robot (100), the vision sensor (177) can distinguish and recognize the grass area and the obstacle (ob) area, and obtain boundary line location information between the grass area and the obstacle (ob) area.

[0147] In the same manner as described above, the control unit (163) can determine the position coordinates of the boundary line based on the position coordinates of the mobile robot (100) and the position information of the boundary line between the grass area and the obstacle (ob) area acquired by the vision sensor (177) (1050).

[0148] As illustrated in FIG. 14, the control unit (163) can generate a map of the first area (S1) up to the position coordinates of each boundary line by determining and mapping the position coordinates of the boundary lines of the first area (S1), the second area (S2), and the obstacle area (ob) on the second driving path (W2) of the mobile robot (100).

[0149] Additionally, the control unit (163) can determine the position coordinates of the boundary lines of the first area (S1), second area (S2), and obstacle area (ob) that are acquired in real time by the vision sensor (177) based on the position coordinates of the mobile robot (100) that change in real time as the mobile robot (100) moves, and can create a map of the first area (S1), which is a grass area, by updating the determined position coordinates of the boundary lines (1060) (1070).

[0150] FIG. 15 illustrates that a map of the work area of ​​a mobile robot (100) is generated according to one embodiment. That is, while the mobile robot (100) travels along the position coordinates of the boundary line from the first beacon (300a) through the second beacon (300b) and the third beacon (300c) and returns to the first beacon (300a), the boundary line information between the grass area and the non-grass area can be updated and a map of the grass area can be generated based on the mobile robot (100) control method of FIG. 6 to FIG. 14.

[0151] Meanwhile, referring to FIGS. 6 and FIGS. 16, if the mobile robot (100) is unable to drive as a result of the judgment of the control unit (163), the mobile robot (100) may emit a warning sound about the inability to drive through the notification unit (165b) or display a warning message about the inability to drive through the display module (165a) (1080).

[0152] That is, the control unit (163) can control the notification unit (165b) to emit a warning sound when there is an obstacle on the driving path of the mobile robot (100) so that further driving is impossible, or when the mobile robot (100) cannot distinguish between a grass area and a non-grass area due to external factors on the driving path of the mobile robot (100).

[0153] The notification unit (165b) can be implemented in the form of a speaker that outputs a voice signal or an acoustic signal, and can output a warning message regarding the inability of the mobile robot (100) to drive as a predetermined acoustic signal such as a voice or a warning sound.

[0154] Likewise, the control unit (163) can control the display module (165a) to display a warning message when there is an obstacle on the driving path of the mobile robot (100) so that further driving is impossible, or when the mobile robot (100) cannot distinguish between a grass area and a non-grass area due to external factors on the driving path of the mobile robot (100).

[0155] The user can confirm through the message displayed on the display module (165a) of the mobile robot (100) that the mobile robot (100) is currently unable to drive or cannot recognize the work area.

[0156] Additionally, the control unit (163) can control the communication unit (180) to transmit at least one data of a warning sound or a warning message to the user terminal (200) in the case where the mobile robot (100) can no longer drive because an obstacle is located on the driving path of the mobile robot (100), or in the case where the grass area and the non-grass area cannot be distinguished and recognized due to external factors on the driving path of the mobile robot (100) (1090).

[0157] The communication unit (180) can communicate with a user terminal (200) capable of communicating with the mobile robot (100). There is no limitation on the type of such user terminal (200), as long as it is a device capable of communicating with the mobile robot (100), such as a smartphone, tablet, PC, or a device dedicated to the mobile robot (100) provided for the purpose of controlling the mobile robot (100) or checking the status of the mobile robot (100).

[0158] This communication unit (180) can be implemented using a communication chip, an antenna, and related components so as to be connected to at least one of a wired communication network and a wireless communication network. That is, the communication unit (300) can be implemented as various types of communication modules capable of short-range or long-range communication with a user terminal (600).

[0159] The user terminal (200) can output a predetermined sound signal, such as a voice or a warning sound, based on data received from the mobile robot (100) through the communication unit (180), regarding a problem such as a situation where the mobile robot (100) cannot drive.

[0160] Additionally, as illustrated in FIG. 16, the user terminal (200) may display a warning message when driving is no longer possible because an obstacle is located on the driving path of the mobile robot (100), or when the grass area and the non-grass area cannot be distinguished and recognized due to external factors on the driving path of the mobile robot (100).

[0161] The user can confirm through a message displayed on the user terminal (200) that the mobile robot (100) is currently unable to drive or cannot recognize the work area.

[0162] Thus, according to the mobile robot and the control method thereof according to one embodiment of the disclosed invention, the lawn mowing robot automatically generates a map of the lawn work area using a signal received from a beacon (300) and grass boundary line position information obtained through a vision sensor (177), thereby increasing the accuracy of generating the lawn work area map and improving user convenience. In addition, by accurately generating the map of the lawn work area, the amount of lawn mowing work and the time required can be accurately calculated, and the amount of battery required for the lawn mowing robot to perform the work can be accurately predicted.

[0163] Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium that stores instructions executable by a computer. The instructions may be stored in the form of program code and, when executed by a processor, may generate a program module to perform the operation of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

[0164] Computer-readable recording media include all types of recording media that store instructions that can be decoded by a computer. Examples include ROM (Read Only Memory), RAM (Random Access Memory), magnetic tape, magnetic disk, flash memory, optical data storage devices, etc.

[0165] As described above, the disclosed embodiments have been explained with reference to the attached drawings. Those skilled in the art will understand that the present invention may be practiced in forms different from the disclosed embodiments without changing the technical spirit or essential features of the invention. The disclosed embodiments are illustrative and should not be interpreted restrictively. Explanation of the symbols

[0166] 100 : Mobile robot 161: Obstacle detection unit 163 : Control unit 164 : Input section 165 : Output section 165a: Display module 165b : Notification section 175 : Tag 177 : Vision Sensor 180 : Communications Department 190 : Memory 200 : User terminal 300 : Beacon

Claims

Claim 1 A first tag, a second tag, and a third tag provided on the body of a mobile robot to receive a signal from a single beacon; a vision sensor that distinguishes and recognizes the first area and the second area based on at least one of a difference in shape and a difference in color between the first area and the second area on the driving path of the mobile robot, and acquires boundary line position information of the first area and the second area; and a control unit that determines the position coordinates of the mobile robot based on pre-stored position information of the beacon, determines the position coordinates of the boundary line based on the determined position coordinates of the mobile robot and the acquired position information of the boundary line, and controls the mobile robot to drive along the determined position coordinates of the boundary line and generate a map of the first area; wherein, when the position coordinates of the first to third tags are defined as (x1, y1), (x2, y2), and (x3, y3) respectively, the position coordinates of the beacon are defined as (m, n), and the distances between each of the first to third tags and the beacon are defined as r1, r2, and r3 respectively, the control unit comprises the position coordinates of the beacon (m, n), the position coordinates of the first to third tags provided on the robot body (x1, y1), (x2, y2), and (x3, y3), and each of the first to third tags and A mobile robot that determines the position coordinates of the mobile robot by performing triangulation between the beacon and the first to third tags based on the distances r1, r2, and r3 between the beacons. Claim 2 delete Claim 3 delete Claim 4 In claim 1, the control unit determines the position coordinates of the boundary line based on the distance and angle to the boundary line relative to the position coordinates of the determined mobile robot. Claim 5 A mobile robot according to claim 1, wherein the control unit determines the position coordinates of the boundary line between the first area and the second area acquired by the vision sensor based on the position coordinates of the mobile robot that change as the mobile robot moves, and generates a map of the first area by updating the determined position coordinates of the boundary line. Claim 6 A mobile robot according to claim 1, wherein the first area is a grass area and the second area is a non-grass area, and the vision sensor detects the grass to distinguish between the first area and the second area and obtains boundary line position information between the grass area and the non-grass area. Claim 7 In claim 1, the mobile robot travels between two pre-installed beacons, and when located within a predetermined distance from either of the two beacons, rotates at a predetermined angle to distinguish and recognize the first area and the second area, and travels along the boundary line between the first area and the second area to acquire position information of the boundary line. Claim 8 In claim 1, the signal received by the first to third tags from the beacon is a UWB (Ultra Wideband) signal for a mobile robot. Claim 9 The mobile robot according to claim 1 further comprises an alert unit that emits a warning sound regarding a situation where the mobile robot cannot drive; wherein the alert unit emits the warning sound when an obstacle is located on the driving path of the mobile robot or when the first area and the second area cannot be distinguished and recognized on the driving path of the mobile robot. Claim 10 The mobile robot according to claim 1 further comprises a display module that displays a warning message regarding a situation where the mobile robot cannot drive; wherein the display module displays the warning message when an obstacle is located on the driving path of the mobile robot or when the first area and the second area cannot be distinguished and recognized on the driving path of the mobile robot. Claim 11 The mobile robot according to claim 1 further comprises a communication unit that transmits at least one data among a warning sound or a warning message regarding a situation where the mobile robot cannot drive to a user terminal; wherein the communication unit transmits at least one data among the warning sound or the warning message to the user terminal when an obstacle is located on the driving path of the mobile robot or when the first area and the second area cannot be distinguished and recognized on the driving path of the mobile robot. Claim 12 A control method for a mobile robot comprising a first tag, a second tag, and a third tag provided on the body of the mobile robot to include a tag that receives a signal from a single beacon, the method comprising: receiving a signal from the single beacon; determining the position coordinates of the mobile robot based on pre-stored position information of the single beacon; distinguishing and recognizing the first area and the second area based on at least one of a difference in shape and a difference in color between the first area and the second area on the driving path of the mobile robot; obtaining position information of the boundary line between the first area and the second area; determining the position coordinates of the boundary line based on the determined position coordinates of the mobile robot and the obtained position information of the boundary line; and generating a map of the first area while the mobile robot drives along the determined position coordinates of the boundary line, wherein the position coordinates of the first to third tags are defined as (x1, y1), (x2, y2), and (x3, y3), respectively, and the position coordinates of the beacon are defined as (m, n), and A control method for a mobile robot, wherein when the distance between each of the first to third tags and the beacon is defined as r1, r2, and r3, the control unit determines the position coordinates of the mobile robot by performing triangulation between the beacon and the first to third tags based on the position coordinates (m, n) of the beacon, the position coordinates (x1, y1), (x2, y2), (x3, y3) of the first to third tags provided on the robot body, and the distances r1, r2, and r3 between each of the first to third tags and the beacon. Claim 13 ◈Claim 13 was waived upon payment of the establishment registration fee.◈ In Paragraph 12, Claim 14 delete Claim 15 In claim 12, the method of determining the position coordinates of the boundary line is a control method for a mobile robot that determines the position coordinates of the boundary line based on the distance and angle to the boundary line relative to the position coordinates of the mobile robot determined above. Claim 16 A control method for a mobile robot according to claim 12, wherein generating a map of the first area comprises determining the position coordinates of the boundary line between the first area and the second area obtained based on the position coordinates of the mobile robot that change as the mobile robot moves; and generating a map of the first area by updating the position coordinates of the determined boundary line. Claim 17 In claim 12, the first area is a grass area and the second area is a non-grass area, and obtaining boundary line position information between the first area and the second area is a control method for a mobile robot that detects the grass to distinguish between the first area and the second area and obtains boundary line position information between the grass area and the non-grass area. Claim 18 A control method for a mobile robot according to claim 12, wherein the mobile robot travels between two pre-installed beacons; when located within a predetermined distance from at least one of the two beacons, it rotates at a predetermined angle and distinguishes and recognizes the first area and the second area; and travels along the boundary line between the first area and the second area and obtains position information of the boundary line. Claim 19 A control method for a mobile robot according to claim 12, further comprising: transmitting a warning sound regarding a situation where the mobile robot cannot drive, and displaying a warning message regarding a situation where the mobile robot cannot drive; wherein transmitting the warning sound is transmitted when an obstacle is located on the driving path of the mobile robot or when the first area and the second area cannot be distinguished and recognized on the driving path of the mobile robot, and displaying the warning message is displayed when an obstacle is located on the driving path of the mobile robot or when the first area and the second area cannot be distinguished and recognized on the driving path of the mobile robot. Claim 20 A control method for a mobile robot according to claim 12, further comprising: transmitting at least one data among a warning sound or a warning message regarding a situation in which the mobile robot cannot drive to a user terminal; wherein transmitting at least one data among the warning sound or the warning message to the user terminal is such that when an obstacle is located on the driving path of the mobile robot or when the first area and the second area cannot be distinguished and recognized on the driving path of the mobile robot, at least one data among the warning sound or the warning message is transmitted to the user terminal.

Images