Mobile robot and mobile robot control method

Abstract

In the present invention, a travel unit is controlled such that time-customizable cleaning for completing cleaning in accordance with a selected cleaning zone and a cleaning completion time is performed, a virtual inner boundary spaced a boundary distance apart from the boundary of the cleaning zone to the inside of the cleaning zone is calculated, and a main body is moved inside the inner boundary.

Description

Mobile robot and method for controlling mobile robot

[0001] The present invention relates to a mobile robot, and more particularly, to a mobile robot that completes cleaning within a limited time.

[0002] Robots were developed for industrial use and have played a role in factory automation. Recently, the scope of robotics applications has expanded, with developments in medical and aerospace robots, as well as domestic robots for general use. Among these robots, those capable of autonomous navigation are called mobile robots. A representative example of a mobile robot used in the home is a robot vacuum cleaner.

[0003] Several technologies are known for detecting the environment and user surrounding a robot vacuum cleaner through various sensors installed in the robot vacuum cleaner. Furthermore, technologies are known for allowing a robot vacuum cleaner to learn and map its driving area and determine its current location on the map. Robot vacuum cleaners are known for cleaning the area by driving in a preset manner.

[0004] Conventional robot vacuum cleaners have used optical sensors that are easy to use for distance judgment, terrain recognition, and image recognition of obstacles and walls in the vacuum cleaner's surrounding environment to identify and map them.

[0005] In addition, a prior art (Korean Patent Publication No. 10-2014-0138555) discloses a method of irradiating a predetermined pattern of light, acquiring an image of an area irradiated with different light, detecting the pattern, identifying the presence of an obstacle around a cleaner, and performing a cleaning operation in a predetermined pattern in a predetermined area.

[0006] In addition, another prior art (Korean Patent Publication No. 1014849400000) discloses performing cleaning by changing the driving pattern depending on the cleaning start position. Specifically, when starting from a charging station, automatic cleaning is performed in a conventional cleaning manner, and when starting from a non-charging station, partial cleaning is performed first and then automatic cleaning is performed in a conventional manner.

[0007] In conventional technology, to thoroughly and thoroughly clean a fixed cleaning area, the entire cleaning area is cleaned evenly from the wall to the center. While this approach offers the advantage of ensuring the vacuum cleaner can clean the entire area thoroughly, it cannot clean the designated area at a specific time. This can lead to inconveniences for users, such as when the user must leave after the vacuum cleaner has finished cleaning, or when a specific area must be cleaned at a specific time due to furniture movement, resulting in only a portion of the area being cleaned or the vacuum cleaning taking a long time.

[0008]

[0009] [Prior Art Literature]

[0010] [Patent Document]

[0011] Korean Patent Publication No. 10-2014-0138555

[0012] Korean Patent Publication No. 1014849400000

[0013] The problem that the present invention seeks to solve is to provide a mobile robot that completes cleaning of a set area at a time desired by the user.

[0014] Another problem that the present invention seeks to solve is to provide a mobile robot that notifies the user when cleaning is performed according to a cleaning completion time desired by the user, when cleaning is longer than normal cleaning, or when the cleaning completion time is very short compared to a designated area.

[0015] Another problem to be solved by the present invention is to provide a mobile robot that forms a virtual internal boundary spaced a certain distance from the boundary of a cleaning area and drives within the internal boundary to reduce the time of collision with a wall, in order to complete cleaning of a set area at a time desired by a user.

[0016] Another problem that the present invention seeks to solve is to provide a mobile robot that provides both a time-limited cleaning mode in which cleaning of a set area is completed at a time desired by the user, and a thorough cleaning mode in which cleaning of a set area is thoroughly performed.

[0017] In order to solve the above problems, the present invention is characterized in that the driving unit is controlled to perform time-aligned cleaning that completes cleaning in accordance with a selected cleaning area and cleaning completion time.

[0018] The present invention is characterized in that it calculates a virtual internal boundary spaced apart from the boundary of the cleaning area to the inside of the cleaning area by a boundary distance, and moves the main body inside the internal boundary.

[0019] Specifically, the present invention includes a main body, a driving unit that moves the main body, a sensing unit that detects the surrounding environment of a cleaning area, a memory that stores map information for the cleaning area and a cleaning completion time, and a control unit that controls the driving unit through the surrounding environment information input from the sensing unit, and the control unit is characterized in that it controls the driving unit to perform time-aligned cleaning that completes cleaning of the cleaning area in accordance with the cleaning completion time.

[0020] In addition, the present invention may further include an input unit for receiving the cleaning completion time.

[0021] The above input unit can receive information about the cleaning area.

[0022] The control unit can calculate a virtual internal boundary spaced apart from the boundary of the cleaning area to the inside of the cleaning area by a boundary distance during the time-aligned cleaning, and control the driving unit so that the main body moves within the inside of the internal boundary.

[0023] The control unit can calculate a time-aligned driving path along which the main body can drive the internal boundary area with equal density in accordance with the cleaning completion time, and control the driving unit to drive the main body along the time-aligned driving path.

[0024] The control unit, during the timed cleaning, calculates a virtual internal boundary spaced apart from the boundary of the cleaning area to the inside of the cleaning area by a boundary distance, a driving line of a timed driving path running inside the internal boundary, and an interval between the driving lines, and adjusts the number of driving lines and the interval between the driving lines to calculate an expected completion time.

[0025] The control unit, during the timed cleaning, calculates a virtual internal boundary spaced apart from the boundary of the cleaning area to the inside of the cleaning area by a boundary distance, a driving line of a timed driving path running inside the internal boundary, and an interval between driving lines, and can calculate an expected completion time by adjusting the boundary distance, the number of driving lines, and the interval between the driving lines.

[0026] The number of the above driving lines can be an integer between 3 and 10.

[0027] The above boundary distance may be greater than 30 cm.

[0028] The spacing between the above driving lines may be greater than 15 cm.

[0029] The above control unit can control the main body to be driven according to the interval of the confirmed driving lines and the number of confirmed driving lines set so that the expected completion time is the same as the cleaning completion time within an error range.

[0030] In addition, the present invention may further include an output unit that outputs information about the mobile robot.

[0031] The above control unit can control to output an abnormality of the time-aligned path to the output unit when the number of the confirmed driving lines is less than the first line value.

[0032] The above control unit can control the output unit to output information that the cleaning completion time is longer than the general cleaning time for the cleaning area when the number of the confirmed driving lines is greater than the second line value.

[0033] The above control unit can set a boundary spaced a certain distance outside the boundary of the obstacle from the boundary of the detected obstacle as a virtual outer boundary of the obstacle, and control the main body to drive outside the outer boundary of the obstacle.

[0034] In addition, the present invention includes a step of receiving information about a cleaning area; a step of receiving a cleaning completion time for the cleaning area; and a time-aligned cleaning step of completing cleaning of the cleaning area according to the cleaning completion time.

[0035] The above-mentioned time-aligned cleaning step may include an expected completion time step of calculating a virtual inner boundary spaced apart from the boundary of the cleaning area to the inside of the cleaning area by a boundary distance, a driving line of a time-aligned driving path running along the inner boundary, and an interval between the driving lines, and calculating an expected completion time by adjusting the number of driving lines and the interval between the driving lines.

[0036] The above-mentioned time-aligned cleaning step may include an expected completion time calculation step of calculating a virtual internal boundary spaced apart from the boundary of the cleaning area to the inside of the cleaning area by a boundary distance, the number of driving lines of a time-aligned driving path running inside the internal boundary, and the interval between the driving lines, and calculating an expected completion time by adjusting the boundary distance, the number of driving lines, and the interval between the driving lines.

[0037] The above-mentioned time-aligned cleaning step may include a cleaning driving step in which the main body drives along the confirmed driving line, and an interval of the confirmed driving line is set so that the expected completion time is the same as the cleaning completion time within a margin of error.

[0038] In addition, the present invention may further include a step of outputting an abnormality of a time-aligned path to the output unit when the number of the confirmed driving lines is smaller than the first line value.

[0039] In addition, the present invention may further include a step of outputting information to an output unit that the cleaning completion time is longer than the general cleaning time for the cleaning area when the number of the confirmed driving lines is greater than the second line value.

[0040] In addition, the present invention includes a step of calculating a virtual internal boundary spaced apart from a boundary distance from a boundary of a cleaning area to the inside of the cleaning area, a driving line of a time-aligned driving path that runs along the internal boundary, and an interval between driving lines, an expected completion time calculation step of calculating an expected completion time by adjusting the boundary distance, the number of driving lines, and the interval of the driving lines, and a cleaning driving step of setting the interval of a confirmed driving line so that the expected completion time is the same as the cleaning completion time within an error range, and a main body driving along the confirmed driving line.

[0041]

[0042] According to the mobile robot of the present invention, one or more of the following effects are provided.

[0043] First, since the present invention completes cleaning of a set area at a time desired by the user, the user can predict the cleaning completion time in advance, and thus can perform various activities according to the cleaning completion time, and has the advantage of allowing the user to confirm the completion of cleaning.

[0044] Second, the present invention notifies the user when cleaning of a designated area is completed at a time desired by the user, when cleaning of the designated area is very poor, and notifies the user when the cleaning time for the designated area is longer than that for general cleaning, and the vacuum cleaner can clean the designated area using a general cleaning method, so the user has the advantage of being able to determine whether cleaning of the designated area is appropriate within the time desired by the user.

[0045] Third, the present invention has the advantage of enabling rapid cleaning without significantly increasing the spacing between cleaning lines by forming a virtual inner boundary a certain distance from the boundary of the cleaning area and driving within the inner boundary to complete cleaning of a designated area when the time desired by the user is shorter than the general cleaning time, thereby reducing the time of collision with the wall.

[0046] Fourth, the present invention provides both a time-limited cleaning mode in which cleaning of a set area is completed at a time desired by the user, and a thorough cleaning mode in which cleaning of a set area is thoroughly performed, and allows the user to recognize the cleaning completion time, thereby enhancing user convenience.

[0047] The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

[0048] Fig. 1 is a perspective view showing an example of a robot vacuum cleaner according to the present invention.

[0049] Figure 2 is a plan view of the robot vacuum cleaner illustrated in Figure 1.

[0050] Figure 3 is a side view of the robot vacuum cleaner illustrated in Figure 1.

[0051] FIG. 4 is a block diagram showing exemplary components of a robot vacuum cleaner according to one embodiment of the present invention.

[0052] FIG. 5 is a drawing illustrating a cleaning area and a time-aligned driving path according to one embodiment of the present invention.

[0053] FIG. 6 is a drawing illustrating a cleaning area and a time-aligned driving path according to another embodiment of the present invention.

[0054] Figure 7 is a flowchart for explaining a control method of a robot vacuum cleaner according to one embodiment of the present invention.

[0055] FIG. 8 is a drawing illustrating a screen of a terminal according to one embodiment of the present invention.

[0056] FIG. 9 is a drawing illustrating a screen of a terminal according to one embodiment of the present invention.

[0057] FIG. 10 is a drawing illustrating a cleaning area and a time-aligned driving path according to another embodiment of the present invention.

[0058]

[0059] The advantages and features of the present invention, and the methods for achieving them, will become clearer with reference to the embodiments described in detail below together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various different forms. These embodiments are provided only 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. Like reference numerals designate like elements throughout the specification.

[0060] Spatially relative terms such as "below," "beneath," "lower," "above," and "upper" can be used to easily describe the relationship between one component and another, as illustrated in the drawings. Spatially relative terms should be understood to include different orientations of the components during use or operation in addition to the orientations depicted in the drawings. For example, if a component depicted in the drawings were flipped over, a component described as "below" or "beneath" another component could end up "above" the other component. Thus, the exemplary term "below" can include both the above and below orientations. Components can also be oriented in other directions, and thus spatially relative terms can be interpreted based on their orientation.

[0061] The terminology used herein is for the purpose of describing embodiments only and is not intended to limit the present invention. In this specification, the singular also includes the plural unless specifically stated otherwise. As used herein, the terms "comprises" and / or "comprising" do not exclude the presence or addition of one or more other components, steps, and / or operations.

[0062] Unless otherwise defined, all terms (including technical and scientific terms) used herein may be used in their common sense to those of ordinary skill in the art to which the present invention pertains. Furthermore, terms defined in commonly used dictionaries are not to be interpreted ideally or excessively unless explicitly and specifically defined otherwise.

[0063] The mobile robot (100) of the present invention refers to a robot that can move on its own using wheels, etc., and can be a home helper robot, a robot vacuum cleaner, etc.

[0064] Hereinafter, a robot vacuum cleaner related to the present invention will be described in more detail with reference to the drawings.

[0065] Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the attached drawings. However, it should be noted that the technical terms used in this specification are used only to describe specific embodiments and are not intended to limit the spirit of the technology disclosed in this specification.

[0066] This is a perspective view showing an example of a mobile robot (100) according to the present invention, FIG. 2 is a plan view of the mobile robot (100) shown in FIG. 1, and FIG. 3 is a side view of the mobile robot (100) shown in FIG. 1.

[0067] In this specification, the terms "mobile robot," "mobile robot," and "autonomous vacuum cleaner" may be used interchangeably. Furthermore, multiple vacuum cleaners in this specification may comprise at least some of the components illustrated in FIGS. 1 through 3.

[0068] Referring to FIGS. 1 to 3, a mobile robot (100) performs a function of cleaning the floor while autonomously moving around a certain area. Cleaning the floor as referred to herein includes sucking up dust (including foreign substances) from the floor or mopping the floor.

[0069] The mobile robot (100) may include a vacuum cleaner body (110), a cleaning unit (120), a sensing unit (130), and a dust bin (140). Various components, including a control unit (1800) for controlling the mobile robot (100), are built into or mounted in the vacuum cleaner body (110). In addition, the vacuum cleaner body (110) is provided with a wheel unit (111) for driving the mobile robot (100). The mobile robot (100) can be moved forward, backward, left, and right, or rotated by the wheel unit (111).

[0070] Referring to FIG. 3, the wheel unit (111) includes a main wheel (111a) and a sub wheel (111b).

[0071] The main wheels (111a) are provided on both sides of the vacuum cleaner body (110) and are configured to rotate in one direction or the other according to a control signal from the control unit. Each main wheel (111a) may be configured to be driven independently of each other. For example, each main wheel (111a) may be driven by a different motor. Alternatively, each main wheel (111a) may be driven by a plurality of different axes provided on a single motor.

[0072] The sub wheel (111b) supports the vacuum cleaner body (110) together with the main wheel (111a) and assists the movement of the mobile robot (100) by the main wheel (111a). This sub wheel (111b) may also be provided in the cleaning unit (120) described below.

[0073] The control unit controls the operation of the wheel unit (111), thereby enabling the mobile robot (100) to autonomously drive on the floor.

[0074] Meanwhile, a battery (not shown) that supplies power to the mobile robot (100) is mounted on the vacuum cleaner body (110). The battery is configured to be rechargeable and can be detachably mounted on the bottom of the vacuum cleaner body (110).

[0075] In Fig. 1, the cleaning unit (120) is positioned in a protruding form from one side of the cleaner body (110) so as to suck in air containing dust or perform mopping. The one side may be the side on which the cleaner body (110) moves in the forward direction (F), i.e., the front of the cleaner body (110).

[0076] In this drawing, the cleaning unit (120) is shown to have a shape that protrudes forward and to both left and right sides from one side of the cleaner body (110). Specifically, the front end of the cleaning unit (120) is positioned at a position spaced forward from one side of the cleaner body (110), and the left and right ends of the cleaning unit (120) are positioned at positions spaced left and right from one side of the cleaner body (110), respectively.

[0077] As the cleaner body (110) is formed in a circular shape and the rear ends of the cleaning unit (120) are formed to protrude from the cleaner body (110) to the left and right sides, an empty space, i.e., a gap, can be formed between the cleaner body (110) and the cleaning unit (120). The empty space is a space between the left and right ends of the cleaner body (110) and the left and right ends of the cleaning unit (120), and has a recessed shape toward the inside of the mobile robot (100).

[0078] If an obstacle is caught in the above-described empty space, the mobile robot (100) may become stuck on the obstacle and become unable to move. To prevent this, a cover member (129) may be positioned to cover at least a portion of the empty space.

[0079] The cover member (129) may be provided on the cleaner body (110) or the cleaning unit (120). In the present embodiment, the cover members (129) are formed protrudingly on both sides of the rear end of the cleaning unit (120) and are arranged to cover the outer surface of the cleaner body (110).

[0080] The cover member (129) is positioned to fill at least a portion of the empty space, i.e., the empty space between the vacuum cleaner body (110) and the cleaning unit (120). Accordingly, an obstacle can be prevented from being caught in the empty space, or a structure can be implemented that allows for easy removal from the obstacle even if the obstacle is caught in the empty space.

[0081] The cover member (129) protruding from the cleaning unit (120) can be supported on the outer surface of the cleaner body (110). If the cover member (129) is protruding from the cleaner body (110), the cover member (129) can be supported on the rear side of the cleaning unit (120). According to the structure, when the cleaning unit (120) collides with an obstacle and receives an impact, a portion of the impact can be transmitted to the cleaner body (110) so that the impact can be dispersed.

[0082] The cleaning unit (120) can be detachably coupled to the cleaner body (110). When the cleaning unit (120) is separated from the cleaner body (110), a mop module (not shown) can be detachably coupled to the cleaner body (110) to replace the separated cleaning unit (120).

[0083] Accordingly, if the user wants to remove dust from the floor, the user can mount a cleaning unit (120) on the vacuum cleaner body (110), and if the user wants to clean the floor, the user can mount a mop module on the vacuum cleaner body (110).

[0084] When the cleaning unit (120) is mounted on the cleaner body (110), the mounting can be guided by the cover member (129) described above. That is, by positioning the cover member (129) to cover the outer surface of the cleaner body (110), the relative position of the cleaning unit (120) with respect to the cleaner body (110) can be determined.

[0085] The cleaning unit (120) may be equipped with a caster (123). The caster (123) is configured to assist the movement of the mobile robot (100) and also support the mobile robot (100). A sensing unit (130) is arranged in the cleaner body (110). As illustrated, the sensing unit (130) may be arranged on one side of the cleaner body (110) where the cleaning unit (120) is positioned, i.e., in front of the cleaner body (110).

[0086] The sensing unit (130) may be positioned to overlap the cleaning unit (120) in the vertical direction of the cleaner body (110). The sensing unit (130) is positioned above the cleaning unit (120) to detect obstacles or terrain features in front so that the cleaning unit (120), which is located at the frontmost part of the mobile robot (100), does not collide with the obstacle.

[0087] The sensing unit (130) may be configured to additionally perform other sensing functions in addition to the above detection functions. For example, the sensing unit (130) may include a camera (not shown) for acquiring an image of the surroundings. The camera (131) may include a lens and an image sensor. In addition, the camera converts an image of the surroundings of the cleaner body (110) into an electrical signal that can be processed by the control unit (1800), and may transmit, for example, an electrical signal corresponding to an upper image to the control unit (1800). The electrical signal corresponding to the upper image may be used by the control unit (1800) to detect the position of the cleaner body (110).

[0088] Of course, the sensing unit (130) may include an image acquisition unit. The image acquisition unit may include a 3D depth camera that acquires images of the surroundings and the distance between the main body and obstacles. The 3D depth camera will be described later.

[0089] Additionally, the sensing unit (130) can detect obstacles such as walls, furniture, and cliffs on the driving surface or path of the mobile robot (100). Furthermore, the sensing unit (130) can detect the presence of a docking device that performs battery charging. Furthermore, the sensing unit (130) can detect ceiling information to map the driving area or cleaning area of ​​the mobile robot (100).

[0090] Additionally, the sensing unit (130) may include a sensor that measures angular velocity along three axes of the spatial coordinate system. For example, the sensing unit (130) may further include a gyro sensor. The gyro sensor may be installed in the main body (110).

[0091] The gyro sensor can obtain information on the rotational angular velocity of the main body (110) with respect to the horizontal plane. Specifically, the gyro sensor can detect the rotational angular velocity around the X-axis and the Y-axis, which are parallel to the horizontal plane and orthogonal to each other. Through the processing module, the rotational angular velocity (roll) with respect to the X-axis and the rotational angular velocity (pitch) with respect to the Y-axis can be synthesized to calculate the rotational angular velocity with respect to the horizontal plane. The rotational angular velocity can be integrated through the processing module to calculate the slope value.

[0092] The above gyro sensor can detect a set reference direction. The above inclination information acquisition unit can acquire the inclination information based on the reference direction.

[0093] The gyro sensor may be equipped with a gyro sensing function for three axes of a mutually orthogonal spatial coordinate system. The information collected from the gyro sensor may be roll, pitch, and yaw information. The processing module may integrate the roll, pitch, and yaw angular velocities to calculate the direction angle of the vacuum cleaner.

[0094] The gyro sensor may be implemented as a separate sensor or as part of an IMU sensor.

[0095]

[0096] A dust bin (140) that separates and collects dust in the sucked air is detachably connected to the vacuum cleaner body (110). In addition, a dust bin cover (150) that covers the dust bin (140) is provided to the dust bin (140). In one embodiment, the dust bin cover (150) may be hinge-connected to the vacuum cleaner body (110) and configured to be rotatable. The dust bin cover (150) may be fixed to the dust bin (140) or the vacuum cleaner body (110) to maintain a state in which the upper surface of the dust bin (140) is covered. When the dust bin cover (150) is arranged to cover the upper surface of the dust bin (140), the dust bin (140) may be prevented from being separated from the vacuum cleaner body (110) by the dust bin cover (150).

[0097] A part of the dust bin (140) may be accommodated in the dust bin receiving portion (113), but another part of the dust bin (140) may be formed to protrude toward the rear of the vacuum cleaner body (110) (i.e., in the reverse direction (R) opposite to the forward direction (F)).

[0098] The dust bin (140) is formed with an inlet through which air containing dust is drawn in and an outlet through which air with separated dust is discharged. When the dust bin (140) is mounted on the vacuum cleaner body (110), the inlet and outlet are configured to communicate through an opening (155) formed on the inner wall of the vacuum cleaner body (110). As a result, an intake path and an exhaust path can be formed inside the vacuum cleaner body (110).

[0099] According to this connection, air containing dust that is introduced through the cleaning unit (120) passes through the intake passage inside the cleaner body (110) and enters the dust bin (140), and as it passes through the filter or cyclone of the dust bin (140), the air and dust are separated from each other. The dust is collected in the dust bin (140), and the air is discharged from the dust bin (140) and then passes through the exhaust passage inside the cleaner body (110) and is finally discharged to the outside through the exhaust port (112).

[0100] In the following Figure 4, an embodiment related to components of a mobile robot (100) is described.

[0101] A mobile robot (100) according to one embodiment of the present invention may include at least one of a communication unit (1100), an input unit (1200), a driving unit (1300), a sensing unit (1400), an output unit (1500), a power unit (1600), a memory (1700), a control unit (1800), and a cleaning unit (1900), or a combination thereof.

[0102] Specifically, the mobile robot (100) of the first embodiment of the present invention may include a driving unit (1300), an image acquisition unit, and a control unit (1800).

[0103] It should be noted that the components illustrated in FIG. 4 are not essential, and thus, a mobile robot may be implemented with more or fewer components. Furthermore, as described above, the multiple robot vacuum cleaners described in the present invention may include only some of the components described below. In other words, the multiple mobile robots may each be comprised of different components.

[0104] Below, we will examine each component. First, the power supply unit (1600) is equipped with a battery that can be recharged by an external commercial power source and supplies power to the mobile robot. The power supply unit (1600) supplies driving power to each component included in the mobile robot, thereby supplying the operating power required for the mobile robot to move or perform specific functions.

[0105] At this time, the control unit (1800) detects the remaining power of the battery, and if the remaining power is insufficient, controls the battery to move to a charging station connected to an external commercial power source, thereby receiving charging current from the charging station to charge the battery. The battery is connected to the battery detection unit, so that the remaining battery power and charging status can be transmitted to the control unit (1800). The output unit (1500) can display the remaining battery power on the output unit (1500) by the control unit (1800).

[0106] The battery can be located in the lower center of the mobile robot, or on either the left or right side. In the latter case, the mobile robot may be equipped with additional counterweights to compensate for the weight imbalance of the battery.

[0107] The control unit (1800) performs the role of processing information based on artificial intelligence technology and may include one or more modules that perform at least one of information learning, information inference, information perception, and natural language processing.

[0108] The control unit (1800) can perform at least one of learning, inference, and processing of a large amount of information (big data), such as information stored in a vacuum cleaner, environmental information around a mobile terminal, and information stored in a communicable external storage, using machine learning technology.

[0109] In addition, the control unit (1800) can use information learned using machine learning technology to predict (or infer) at least one executable operation of the vacuum cleaner, and control the vacuum cleaner so that the operation with the highest feasibility among at least one predicted operation is executed. Machine learning technology is a technology that collects and learns large amounts of information based on at least one algorithm, and judges and predicts information based on the learned information.

[0110] Information learning is the process of identifying the characteristics, rules, and judgment criteria of information, quantifying the relationships between information, and predicting new data using the quantified patterns.

[0111] The algorithms used by machine learning technology can be algorithms based on statistics, for example, decision trees that use a tree-structured form as a prediction model, artificial neural networks that imitate the structure and function of the neural networks of living things, genetic programming based on the evolutionary algorithm of living things, clustering that distributes observed examples into subsets called clusters, and Monte Carlo methods that calculate function values ​​as probabilities using randomly extracted random numbers.

[0112] Deep learning, a branch of machine learning, utilizes artificial neural network (DNN) algorithms to learn, judge, and process information. DNNs can be structured to connect layers and transfer data between them. This deep learning technology utilizes graphics processing units (GPUs), which are optimized for parallel computing, to enable DNNs to learn vast amounts of information.

[0113] The control unit (1800) utilizes training data stored in an external server or memory, and may be equipped with a learning engine that detects features for recognizing a given object. Features for recognizing an object may include the object's size, shape, and shade.

[0114] Specifically, when the control unit (1800) inputs some of the images acquired through the image acquisition unit equipped in the vacuum cleaner into the learning engine, the learning engine can recognize at least one object or living thing included in the input images. More specifically, the control unit (1800) can recognize general obstacles and mat-type obstacles among the objects recognized through various methods.

[0115] Additionally, the control unit (1800) can recognize the texture of the floor based on the angular velocity information measured by the gyro sensor. The control unit (1800) can detect a driving direction with less noise based on the angular velocity information measured by the gyro sensor.

[0116] The memory stores a map of the cleaning area, and the control unit (1800) can store the main direction of movement of the main body (110) in the map of the cleaning area. Accordingly, the mobile robot (100) can immediately drive in a direction with less noise and vibration when driving the cleaning area for the second time. The memory (1700) can store the cleaning completion time for the cleaning area set by the user.

[0117] In this way, when the learning engine is applied to the driving of the vacuum cleaner, the control unit (1800) can recognize whether obstacles such as chair legs, electric fans, and a specific type of balcony gap that interfere with the driving of the vacuum cleaner exist around the vacuum cleaner, thereby increasing the efficiency and reliability of the driving of the vacuum cleaner.

[0118] Meanwhile, the learning engine described above may be installed in the control unit (1800) or in an external server. If the learning engine is installed in an external server, the control unit (1800) may control the communication unit (1100) to transmit at least one image to be analyzed to the external server.

[0119] An external server can recognize at least one object or living thing contained in the image by inputting the image received from the vacuum cleaner into the learning engine. Furthermore, the external server can transmit information related to the recognition results back to the vacuum cleaner. This information may include the number of objects contained in the image being analyzed and information related to the names of each object.

[0120] Meanwhile, the driving unit (1300) is equipped with a motor, and by driving the motor, the left and right main wheels can be rotated in both directions to rotate or move the main body (110). At this time, the left and right main wheels can move independently. The driving unit (1300) can move the main body (110) of the mobile robot (100) forward, backward, left, and right, drive in a curve, or rotate in place.

[0121] Meanwhile, the input unit (1200) receives various control commands for the mobile robot from the user. The input unit (1200) may include one or more buttons, for example, the input unit (1200) may include a confirmation button, a setting button, etc. The confirmation button is a button for receiving a command from the user to confirm detection information, obstacle information, location information, and map information, and the setting button is a button for receiving a command from the user to set information.

[0122] Additionally, the input unit (1200) may include an input reset button for canceling a previous user input and receiving user input again, a delete button for deleting a preset user input, a button for setting or changing an operation mode, a button for receiving a command to return to the charging station, etc.

[0123] Additionally, the input unit (1200) may be installed on the upper part of the mobile robot using a hard key, soft key, touchpad, etc. Additionally, the input unit (1200) may have the form of a touch screen together with the output unit (1500).

[0124] The input unit (1200) can receive input of a cleaning area to be cleaned and a cleaning completion time for the cleaning area.

[0125] Meanwhile, the output unit (1500) may be installed on the upper portion of the mobile robot (100). Of course, the installation location and installation form may vary. For example, the output unit (1500) may display battery status or driving mode on the screen.

[0126] In addition, the output unit (1500) can output status information inside the mobile robot (100) detected by the sensing unit (1400), for example, the current status of each component included in the mobile robot (100). In addition, the output unit (1500) can display external status information, obstacle information, location information, map information, etc. detected by the sensing unit (1400) on the screen.

[0127] The output unit (1500) may be formed of any one of a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, and an organic light emitting diode (OLED).

[0128] The output unit (1500) may further include an audio output means for audibly outputting the operation process or operation result of the mobile robot (100) performed by the control unit (1800). For example, the output unit (1500) may output a warning sound to the outside according to a warning signal generated by the control unit (1800).

[0129] At this time, the sound output means (not shown) may be a means for outputting sound, such as a beeper or speaker, and the output unit (1500) may output audio data or message data having a predetermined pattern stored in the memory (1700) to the outside through the sound output means.

[0130] Accordingly, the mobile robot (100) according to one embodiment of the present invention can output environmental information about the driving area on the screen or as sound through the output unit (1500). According to another embodiment, the mobile robot (100) can transmit map information or environmental information to the terminal through the communication unit (1100) so that the terminal device can output the screen or sound to be output through the output unit (1500).

[0131] The output unit (1500) can output information when cleaning a cleaning area according to a cleaning completion time set by a user is performed incompletely, and can output information when cleaning a cleaning area according to a cleaning completion time set by a user takes longer than a normal cleaning time.

[0132] The memory (1700) stores a control program that controls or drives the mobile robot and data related thereto. The memory (1700) can store audio information, video information, obstacle information, location information, map information, etc. In addition, the memory (1700) can store information related to driving patterns.

[0133] Memory (1700) mainly uses non-volatile memory. Here, non-volatile memory (NVM, NVRAM) is a storage device that can maintain stored information even when power is not supplied, and may be, for example, ROM, flash memory, magnetic computer memory (e.g., hard disk, diskette drive, magnetic tape), optical disk drive, magnetic RAM, PRAM, etc.

[0134] Meanwhile, the sensing unit (1400) may include at least one of an external signal detection sensor, a forward detection sensor, a cliff detection sensor, a two-dimensional camera sensor, and a three-dimensional camera sensor.

[0135] The external signal detection sensor can detect external signals of the mobile robot (100). The external signal detection sensor may be, for example, an infrared ray sensor, an ultrasonic sensor, an RF sensor, or the like.

[0136] The mobile robot (100) can use an external signal detection sensor to receive a guidance signal generated by the charging station and determine the location and direction of the charging station. At this time, the charging station can transmit a guidance signal indicating the direction and distance so that the mobile robot (100) can return. In other words, the mobile robot (100) can receive a signal transmitted from the charging station, determine its current location, set a movement direction, and return to the charging station.

[0137] Meanwhile, the forward detection sensor may be installed at a certain interval along the front of the mobile robot (100), specifically, along the outer lateral surface of the mobile robot (100). The forward detection sensor is located on at least one side of the mobile robot (100) to detect an obstacle in front. The forward detection sensor may detect an object, particularly an obstacle, existing in the moving direction of the mobile robot (100) and transmit the detection information to the control unit (1800). That is, the forward detection sensor may detect a protrusion, a household appliance, furniture, a wall surface, a wall corner, etc. existing on the moving path of the mobile robot (100) and transmit the information to the control unit (1800).

[0138] Forward detection sensors may be, for example, infrared sensors, ultrasonic sensors, RF sensors, geomagnetic sensors, etc., and the mobile robot (100) may use one type of sensor as a forward detection sensor or may use two or more types of sensors together as needed.

[0139] For example, an ultrasonic sensor can be mainly used to detect obstacles at a long distance. The ultrasonic sensor has a transmitter and a receiver, and the control unit (1800) determines the presence of an obstacle by determining whether an ultrasonic wave emitted through the transmitter is reflected by an obstacle or the like and received by the receiver, and can calculate the distance to the obstacle using the ultrasonic wave emission time and ultrasonic wave reception time.

[0140] Additionally, the control unit (1800) can detect information related to the size of an obstacle by comparing the ultrasonic waves emitted from the transmitter with the ultrasonic waves received by the receiver. For example, the control unit (1800) can determine that the size of the obstacle is larger as more ultrasonic waves are received by the receiver.

[0141] In one embodiment, a plurality of ultrasonic sensors (for example, five) may be installed along the outer circumference of the front side of the mobile robot (100). In this case, preferably, the ultrasonic sensors may have transmitters and receivers installed alternately on the front of the mobile robot (100).

[0142] That is, the transmitter can be arranged to be spaced apart from the center of the front of the main body (110) to the left and right, and one or more transmitters can be arranged between the receivers to form a reception area for ultrasonic signals reflected from obstacles, etc. With this arrangement, the reception area can be expanded while reducing the number of sensors. The transmission angle of the ultrasonic waves can be maintained within a range that does not affect other signals to prevent the crosstalk phenomenon. In addition, the reception sensitivity of the receivers can be set differently.

[0143] In addition, the ultrasonic sensor may be installed upward at a certain angle so that the ultrasonic waves transmitted from the ultrasonic sensor are output upward, and at this time, a predetermined blocking member may be further included to prevent the ultrasonic waves from being radiated downward.

[0144] Meanwhile, the forward detection sensor, as described above, can use two or more types of sensors together, and accordingly, the forward detection sensor can use any one type of sensor such as an infrared sensor, an ultrasonic sensor, or an RF sensor.

[0145] For example, the forward detection sensor may include an infrared sensor as a type of sensor other than the ultrasonic sensor. The infrared sensor may be installed on the outer surface of the mobile robot (100) together with the ultrasonic sensor. The infrared sensor may also detect obstacles present in front or on the side and transmit obstacle information to the control unit (1800). That is, the infrared sensor detects protrusions, household items, furniture, walls, wall corners, etc. present on the movement path of the mobile robot (100) and transmits the information to the control unit (1800). Therefore, the mobile robot (100) can move within a specific area without the main body (110) colliding with obstacles.

[0146] Meanwhile, a cliff detection sensor (or cliff sensor) can detect an obstacle on the floor supporting the main body (110) of the mobile robot (100) by mainly using various types of optical sensors. That is, the cliff detection sensor is installed on the back of the mobile robot (100) on the floor, but of course, it can be installed in a different location depending on the type of mobile robot (100).

[0147] The cliff detection sensor is located on the back of the mobile robot (100) to detect obstacles on the ground. The cliff detection sensor may be an infrared sensor, an ultrasonic sensor, an RF sensor, a PSD (Position Sensitive Detector) sensor, etc., which has a light emitting part and a light receiving part like the obstacle detection sensor.

[0148] For example, one of the cliff detection sensors may be installed at the front of the mobile robot (100), and the other two cliff detection sensors may be installed relatively further back. For example, the cliff detection sensor may be a PSD sensor, but may also be composed of multiple different types of sensors.

[0149] PSD sensors use semiconductor surface resistance to detect the short- and long-range position of incident light with a single pn junction. PSD sensors include one-dimensional PSD sensors that detect light in only one direction, and two-dimensional PSD sensors that can detect light positions on a plane, and both can have a pin photodiode structure. PSD sensors are a type of infrared sensor that uses infrared to transmit infrared light and then measure the angle of the infrared light reflected from an obstacle to measure distance. In other words, PSD sensors calculate the distance to an obstacle using a triangulation method.

[0150] PSD sensors typically consist of a module, each equipped with an emitter that emits infrared light at an obstacle and a receiver that receives the infrared light reflected from the obstacle. When detecting an obstacle using a PSD sensor, stable measurements can be obtained regardless of the obstacle's reflectivity or color.

[0151] The cleaner (1900) cleans a designated cleaning area according to a control command transmitted from the control unit (1800). The cleaner (1900) disperses surrounding dust through a brush (not shown) that disperses dust in the designated cleaning area, and then drives a suction fan and a suction motor to suck up the dispersed dust. In addition, the cleaner (1900) may perform mopping in the designated cleaning area according to a change in configuration.

[0152] In addition, the control unit (1800) can detect a cliff and analyze its depth by measuring the infrared angle between the infrared emission signal emitted toward the ground by the cliff detection sensor and the reflected signal received after being reflected by an obstacle.

[0153] Meanwhile, the control unit (1800) can determine whether to pass over a cliff based on the ground condition of the cliff detected using the cliff detection sensor, and can decide whether to pass over the cliff based on the determination result. For example, the control unit (1800) determines whether a cliff exists and the depth of the cliff using the cliff detection sensor, and then allows passage over the cliff only when a reflected signal is detected through the cliff detection sensor. As another example, the control unit (1800) can also determine whether the mobile robot (100) is lifted using the cliff detection sensor.

[0154] Meanwhile, a two-dimensional camera sensor is provided on one side of the mobile robot (100) to acquire image information related to the surroundings of the main body (110) while moving. An optical flow sensor converts a downward image input from an image sensor provided within the sensor to generate image data in a predetermined format. The generated image data can be stored in a memory (1700).

[0155] Additionally, one or more light sources may be installed adjacent to the optical flow sensor. The one or more light sources illuminate a predetermined area of ​​the floor surface captured by the image sensor. That is, when the mobile robot (100) moves along a predetermined area of ​​the floor surface, a constant distance is maintained between the image sensor and the floor surface if the floor surface is flat.

[0156] On the other hand, when the mobile robot (100) moves on an uneven floor surface, it moves away from the robot by a certain distance due to the unevenness and obstacles of the floor surface. At this time, one or more light sources can be controlled by the control unit (1800) to adjust the amount of light emitted. The light source can be a light-emitting element capable of adjusting the amount of light, such as an LED (Light Emitting Diode).

[0157] By using an optical flow sensor, the control unit (1800) can detect the position of the mobile robot (100) regardless of slippage of the mobile robot (100). The control unit (1800) can compare and analyze image data captured by the optical flow sensor over time to calculate the movement distance and movement direction, and can calculate the position of the mobile robot (100) based on this. By using image information regarding the lower side of the mobile robot (100) using the optical flow sensor, the control unit (1800) can perform a slip-resistant correction for the position of the mobile robot (100) calculated by other means.

[0158] A 3D camera sensor can be attached to one side or part of the main body (110) of a mobile robot (100) and generate 3D coordinate information related to the surroundings of the main body (110). That is, the 3D camera sensor can be a 3D depth camera that calculates the distance between the mobile robot (100) and the subject to be photographed.

[0159] Specifically, the 3D camera sensor can capture a 2D image related to the surroundings of the main body (110) and generate a plurality of 3D coordinate information corresponding to the captured 2D image.

[0160] In one embodiment, a 3D camera sensor may be formed in a stereo vision manner by having two or more cameras that acquire conventional 2D images, and combining two or more images acquired from the two or more cameras to generate 3D coordinate information.

[0161] Specifically, the 3D camera sensor according to the embodiment may include a first pattern irradiation unit that irradiates light of a first pattern downward toward the front of the main body (110), a second pattern irradiation unit that irradiates light of a second pattern upward toward the front of the main body (110), and an image acquisition unit that acquires an image of the front of the main body (110). Accordingly, the image acquisition unit can acquire an image of an area where light of the first pattern and light of the second pattern are incident.

[0162] In another embodiment, a 3D camera sensor includes an infrared pattern emitter that projects an infrared pattern together with a single camera, and captures the shape of the infrared pattern projected onto the subject to be photographed by the infrared pattern emitter, thereby measuring the distance between the 3D camera sensor and the subject to be photographed. This 3D camera sensor may be an IR (Infra Red) type 3D camera sensor.

[0163] In another embodiment, a 3D camera sensor includes a light-emitting unit that emits light together with a single camera, receives a portion of the laser emitted from the light-emitting unit that is reflected from an object to be photographed, and analyzes the received laser to measure the distance between the 3D camera sensor and the object to be photographed. This 3D camera sensor may be a Time of Flight (TOF) 3D camera sensor.

[0164] Specifically, the laser of the above-described 3D camera sensor is configured to irradiate a laser that extends in at least one direction. In one example, the 3D camera sensor may include first and second lasers, wherein the first laser irradiates a laser in the form of intersecting straight lines, and the second laser irradiates a laser in the form of a single straight line. Accordingly, the lowermost laser is used to detect an obstacle at the bottom, the uppermost laser is used to detect an obstacle at the top, and the intermediate laser between the lowermost and uppermost lasers is used to detect an obstacle at the middle.

[0165] The sensing unit (1400) collects information on artificial marks in the cleaning area (B). Specifically, a two-dimensional or three-dimensional camera sensor can collect an image containing information on artificial marks in the cleaning area (B).

[0166] Meanwhile, the communication unit (1100) is connected to a terminal device and / or a device located within a specific area (in this specification, the term “home appliance” is used interchangeably) using one of wired, wireless, and satellite communication methods to transmit and receive signals and data.

[0167] The communication unit (1100) can transmit and receive data with other devices located within a specific area. The other devices may be any devices that can connect to a network and transmit and receive data. Examples of such devices include air conditioners, heating devices, air purifiers, lights, TVs, and automobiles. Furthermore, the other devices may be devices that control doors, windows, water valves, gas valves, and the like. Furthermore, the other devices may be sensors that detect temperature, humidity, air pressure, gas, and the like.

[0168] Additionally, the communication unit (1100) can communicate with other mobile robots (100) located within a specific area or a certain range.

[0169] Although not shown, multiple mobile robots can communicate with a terminal (not shown) and with each other through network communication.

[0170] Here, network communication may mean short-range communication using at least one of wireless communication technologies such as WLAN (Wireless LAN), WPAN (Wireless Personal Area Network), Wi-Fi (Wireless-Fidelity), Wi-Fi (Wireless Fidelity) Direct, DLNA (Digital Living Network Alliance), WiBro (Wireless Broadband), WiMAX (World Interoperability for Microwave Access), Zigbee, Z-wave, Blue-Tooth, RFID (Radio Frequency Identification), Infrared Data Association (IrDA), UWB (Ultrawide-Band), Wireless USB (Wireless Universal Serial Bus), etc.

[0171]

[0172] FIG. 5 is a drawing illustrating a cleaning area and a time-aligned driving path according to one embodiment of the present invention.

[0173] The control unit (1800) controls the driving unit to perform time-scheduled cleaning, completing cleaning of a cleaning area according to a cleaning completion time. The present invention completes cleaning of a designated area according to a user's desired time, thereby allowing the user to confirm the completion of cleaning.

[0174] For example, during timed cleaning, the control unit (1800) can calculate a virtual internal boundary (B2) separated from the cleaning area boundary (B1) by a boundary distance (K) into the interior of the cleaning area, and control the driving unit so that the main body (110) moves within the internal boundary (B2).

[0175] Referring to Figure 5, the cleaning area and the inner boundary (B2) separated inwardly from the cleaning area boundary (B1) by a boundary distance (K) are depicted. The inner boundary (B2) is an area smaller than the cleaning area boundary (B1) and is an area separated by a safe distance that prevents collision with a wall when the mobile robot drives within the inner boundary (B2).

[0176] When a user specifies a cleaning time, the cleaning time is typically shortened compared to the standard cleaning time, and the user confirms cleaning completion. Therefore, in timed cleaning, the mobile robot can drive within the inner boundary (B2) of the cleaning area, away from the wall, thereby reducing the time associated with collisions with walls.

[0177] The inner boundary (B2) has the same shape as the cleaning zone boundary (B1), and the inner boundary (B2) has a smaller area than the cleaning zone boundary (B1).

[0178] The control unit (1800) can calculate a time-aligned driving path that allows the main body (110) to drive the inner boundary (B2) area at a uniform density in accordance with the cleaning completion time, and control the driving unit to drive the main body (110) along the time-aligned driving path.

[0179] Here, the density may be the spacing between cleaning lines of the mobile robot, or the travel area of ​​the mobile robot per unit area of ​​the inner boundary (B2) region.

[0180] The control unit (1800) calculates a time-aligned driving path that allows the main body (110) to travel at an even density within the inner boundary (B2) area according to the cleaning completion time. Specifically, since the control unit (1800) can know the moving speed of the mobile robot in advance, it can calculate the cleaning completion time by multiplying the total length of the time-aligned driving path by the moving speed of the mobile robot. In particular, since there is no time for the mobile robot to collide with a wall and then avoid it again, the calculation of the cleaning completion time is accurate and easy.

[0181] The timed cleaning path can be determined by various driving patterns. For example, the timed cleaning path can include either a zig-zag driving pattern or a cochlear driving pattern.

[0182] Zig-zag pattern driving may mean driving in a straight line along a driving line (L), changing the driving direction at one end of the driving line (L) to intersect the driving line (L), driving in a straight line along a connecting line (S) set shorter than the driving line (L), changing the driving direction at one end of the connecting line (S) to intersect the connecting line (S) at an approximate 90 degree angle, and driving for the set driving line (L), repeating the process.

[0183] Here, the angle formed by the driving line (L) and the connecting line (S) is preferably 88° to 92°. It is preferable that multiple driving lines (L) be parallel to each other, and multiple connecting lines (S) be parallel to each other. Of course, the driving line (L) and the connecting line (S) do not mean straight lines in the mathematical sense, but rather concepts including curves close to straight lines.

[0184] The distance between adjacent driving lines (L) can be defined as the driving line spacing (P).

[0185] Additionally, if a mobile robot moves by friction between the floor and the mop, the path may be curved. In such cases, the driving line (L) can be calculated by creating an interpolation curve using the midpoints of the start and end points of the straight line.

[0186] For example, in the case of zig-zag pattern driving, the control unit (1800) may calculate a virtual inner boundary (B2) spaced apart from the cleaning area boundary (B1) to the inside of the cleaning area by a boundary distance (K), a driving line (L) of a timed driving path driving inside the inner boundary (B2), and an interval (P) between the driving lines, and may calculate an expected completion time by adjusting the number (N) of driving lines (L) and the interval (P) between the driving lines during timed cleaning.

[0187] That is, since it is difficult to calculate the expected completion time of cleaning in the case of a complex path, the control unit (1800) calculates the expected completion time by adjusting the interval (P) of the driving lines and the number (N) of the driving lines (L) in the case of zigzag pattern driving, and using a fixed constant for the boundary distance (K), thereby reducing the calculation time.

[0188] For another example, in the case of zig-zag pattern driving, the control unit (1800) may calculate, during timed cleaning, a virtual inner boundary (B2) spaced apart from the cleaning area boundary (B1) by a boundary distance (K) into the interior of the cleaning area, a driving line (L) of a timed driving path driving inside the inner boundary (B2), and an interval (P) between the driving lines, and may adjust the number (N) of driving lines (L), the interval (P) between the driving lines, and the boundary distance (K) to calculate the expected completion time. In this case, there is an advantage in that the times of various paths can be predicted.

[0189] This calculation of the expected completion time is done by substitution, and to simplify the calculation and prevent excessive cleaning, limits can be set for each variable value.

[0190] For example, the number (N) of driving lines (L) may be an integer between 3 and 10. Preferably, the number (N) of driving lines (L) may be an integer between 4 and 9.

[0191] For example, the boundary distance (K) may be greater than 30 cm. Preferably, the boundary distance (K) may be greater than 30 cm and less than 50 cm.

[0192] For example, the spacing (P) of the driving lines may be greater than 15 cm. Preferably, the spacing (P) of the driving lines may be greater than 15 cm and less than 90 cm.

[0193] The control unit (1800) can control the main body (110) to travel along the interval (P) of the confirmed driving lines and the number of confirmed driving lines (L) set so that the expected completion time is the same as the cleaning completion time within the error range.

[0194] Specifically, the control unit (1800) calculates the expected completion time by the substitution method within a given range, and if the expected completion time is equal to the cleaning completion time within an error range or has a smaller value than the cleaning completion time within a certain range, the control unit sets the interval (P) of the driving lines and the number (N) of the driving lines (L) that are the basis for the calculation of the expected completion time as the interval (P) of the confirmed driving lines and the number (L) of the confirmed driving lines, and controls the main body (110) to be driven along the interval (P) of the confirmed driving lines and the number (L) of the confirmed driving lines.

[0195] In addition, the control unit (1800) can control the main body (110) to drive in accordance with the interval (P) of the confirmed driving lines, the number of confirmed driving lines (L), and the confirmed boundary distance (K) set so that the expected completion time is the same as the cleaning completion time within the error range.

[0196] Specifically, the control unit (1800) calculates the expected completion time by the substitution method within a given range, and if the expected completion time is equal to the cleaning completion time within an error range or has a smaller value than the cleaning completion time within a given range, the control unit (1800) sets the interval (P) of the driving lines, the number (N) of the driving lines (L), and the boundary distance (K) as the basis for the calculation of the expected completion time as the interval (P) of the confirmed driving lines, the number (N) of the confirmed driving lines (L), and the confirmed boundary distance (K), and controls the main body (110) to be driven in accordance with the interval (P) of the confirmed driving lines, the number (N) of the confirmed driving lines (L), and the confirmed boundary distance (K).

[0197] At this time, the control unit (1800) controls to output an abnormality in the time-aligned path to the output unit when the number (N) of confirmed driving lines (L) is smaller than the first line value, and can transmit information about the abnormality in the time-aligned path to the mobile terminal.

[0198] If the number (N) of confirmed driving lines (L) is too small, or if cleaning is not performed at all in the cleaning area, the system notifies the user in advance to reduce suspicion of user malfunction. The first line value is a preset value, preferably a natural number between 2 and 4.

[0199] In addition, the control unit (1800) can control the output unit to output information that the cleaning completion time is longer than the general cleaning time for the cleaning area when the number (N) of confirmed driving lines (L) is greater than the second line value, and can transmit information that the cleaning completion time is longer than the general cleaning time for the cleaning area to the mobile terminal.

[0200] If the number of confirmed driving lines (L) is too large (N), or if cleaning a cleaning area takes longer than normal cleaning, the system notifies the user in advance to reduce suspicion of user malfunction. The second line value is a preset value, preferably a natural number between 10 and 12.

[0201] The control unit (1800) can output through the output unit or transmit to the mobile terminal that if the number (N) of confirmed driving lines (L) is too large, if cleaning of the cleaning area takes longer than normal cleaning, or if cleaning may be completed earlier than the cleaning completion time.

[0202] When the number (N) of confirmed driving lines (L) is greater than the second line value, the control unit (1800) can adjust the number (N) of driving lines (L) to the second line value and control the main body (110) according to the second line value, the interval between confirmed driving lines (L), and the confirmed boundary distance (K).

[0203] In addition, if the number (N) of confirmed driving lines (L) is greater than the second line value, the control unit (1800) can ignore the time-aligned driving path and control the main body (110) to drive according to the general driving path.

[0204]

[0205] FIG. 6 is a drawing illustrating a cleaning area and a time-aligned driving path according to another embodiment of the present invention.

[0206] Referring to FIG. 6, the control unit (1800) may calculate a virtual inner boundary (B2) spaced apart from the cleaning area boundary (B1) to the inside of the cleaning area by a boundary distance (K) during timed cleaning, and may set a boundary spaced apart from the boundary of the detected obstacle (O) by a certain distance outside the boundary of the obstacle as a virtual outer boundary of the obstacle.

[0207] The control unit (1800) can control the main body (110) to move inside the inner boundary (B2) and to drive outside the outer boundary of the obstacle.

[0208] Accordingly, the present invention has the advantage of reducing the overall cleaning time by driving at an inner boundary (B2) spaced a certain distance from the wall of the cleaning area, thereby reducing the collision time with the wall, and by driving at a certain distance from an obstacle, thereby reducing the collision time with the obstacle.

[0209] The method of cleaning the inside of the inner boundary (B2) and the outside of the outer boundary of the obstacle is as described above in Fig. 5.

[0210]

[0211] Hereinafter, the control method of the mobile robot (100) of the present invention will be described in detail with reference to 7. In each flowchart, overlapping contents are indicated with the same drawing reference numerals, and overlapping descriptions are omitted.

[0212] The control method can be performed by a control unit (1800). The present invention can be a control method for a mobile robot (100), and can also be a robot vacuum cleaner including a control unit (1800) that performs the control method. The present invention can be a computer program including each step of the control method, or a recording medium having recorded thereon a program for implementing the control method on a computer. The term "recording medium" refers to a computer-readable recording medium. The present invention can also be a mobile robot (100) control system including both hardware and software.

[0213] Each step of the flowchart drawings of the control method and combinations of the flowchart drawings can be performed by computer program instructions. The instructions can be installed on a general-purpose computer or a special-purpose computer, and the instructions generate a means for performing the functions described in the flowchart step(s).

[0214] Additionally, in some embodiments, the functions described in the steps may occur out of order. For example, two steps depicted in succession may actually be performed substantially simultaneously, or the steps may sometimes be performed in reverse order, depending on the corresponding function.

[0215] A control method of a mobile robot (100) of one embodiment of the present invention includes a step (S10) of receiving information about a cleaning area, a step (S20) of receiving a cleaning completion time for the cleaning area, and a time-aligned cleaning step (S30 to S90) of completing cleaning of the cleaning area according to the cleaning completion time.

[0216] A control method of a mobile robot (100) of another embodiment of the present invention includes a step of calculating a virtual internal boundary (B2) spaced apart from a cleaning area boundary (B1) to the inside of the cleaning area by a boundary distance (K), a driving line (L) of a time-aligned driving path that drives along the internal boundary (B2) and an interval (P) between the driving lines, an expected completion time calculation step (S30) of calculating an expected completion time by adjusting the boundary distance (K), the number (N) of driving lines (L), and the interval (P) between driving lines, and a cleaning driving step (S40, S90) of a confirmed driving line in which the interval (P) is set so that the expected completion time is the same as the cleaning completion time within an error range, and a main body (110) driving along the confirmed driving line (L).

[0217] In step S10 of receiving information about a cleaning area, the control unit (1800) can receive information about the cleaning area when the user selects the cleaning area. Specifically, as shown in FIG. 8, when the user selects the desired cleaning area on the output screen of the mobile terminal or through the input unit of the mobile robot, the control unit (1800) receives information about the cleaning area.

[0218] In the step (S20) of receiving the cleaning completion time for the cleaning area, the control unit (1800) can receive information about the cleaning completion time selected by the user for the cleaning area. Specifically, as shown in FIG. 9, when the user inputs the cleaning completion time for the cleaning area on the output screen of the mobile terminal or inputs the cleaning completion time for the cleaning area through the input unit of the mobile robot, the control unit (1800) receives information about this. The control unit (1800) stores the selected cleaning area and the cleaning completion time in memory.

[0219] Afterwards, the control unit (1800) can receive input for a cleaning method for the cleaning area through a mobile terminal or input unit. If no command for a cleaning method is input, a zigzag pattern driving method can be set as the default.

[0220] In the time-aligned cleaning steps (S30, S40, S90), the control unit (1800) completes cleaning of the cleaning area according to the cleaning completion time. For example, the time-aligned cleaning step includes an expected completion time step of calculating a virtual inner boundary (B2) spaced apart from the cleaning area boundary (B1) to the inside of the cleaning area by a boundary distance (K), a driving line (L) of a time-aligned driving path that runs inside the inner boundary (B2), and an interval (P) between the driving lines, and adjusting the number (N) of the driving lines (L) and the interval (P) between the driving lines to calculate an expected completion time (S30).

[0221] Of course, at the expected completion time stage, the control unit (1800) can also calculate the expected completion time by multiplying the total length of the freely selected driving line (L) by the moving speed of the mobile robot.

[0222] The expected completion time step calculates a virtual inner boundary (B2) separated from the cleaning area boundary (B1) by a boundary distance (K) into the interior of the cleaning area, a driving line (L) of a time-aligned driving path that runs inside the inner boundary (B2), the interval (P) of the driving lines and the boundary distance (K), and adjusts the number (N) of driving lines (L), the boundary distance (K), and the interval (P) of the driving lines to calculate the expected completion time.

[0223] Additionally, the time-aligned cleaning step may include a cleaning driving step (S90). In the cleaning driving step, the control unit (1800) controls the driving unit so that the main body (110) drives in accordance with the interval (P) of the confirmed driving line and the confirmed driving line (L) set so that the expected completion time is the same as the cleaning completion time within the error range.

[0224] In addition, in the cleaning driving stage, the control unit (1800) controls the driving unit so that the main body (110) drives in accordance with the interval (P) of the confirmed driving line set so that the expected completion time is the same as the cleaning completion time within the error range, and the confirmed driving line (L) and the confirmed boundary distance (K).

[0225] The control unit (1800) controls to output an abnormality in the time-aligned path to the output unit when the number (N) of confirmed driving lines (L) is smaller than the first line value (S50, S60), and can transmit information about the abnormality in the time-aligned path to the mobile terminal.

[0226] The control unit (1800) controls the output unit to output information that the cleaning completion time is longer than the general cleaning time for the cleaning area when the number (N) of confirmed driving lines (L) is greater than the second line value (S70, S80), and can transmit information that the cleaning completion time is longer than the general cleaning time for the cleaning area to the mobile terminal.

[0227] When the number (N) of confirmed driving lines (L) is greater than the second line value, the control unit (1800) can adjust the number (N) of driving lines (L) to the second line value and control the main body (110) according to the second line value, the interval between confirmed driving lines (L), and the confirmed boundary distance (K) (S100).

[0228]

[0229] FIG. 10 is a drawing illustrating a cleaning area and a time-aligned driving path according to another embodiment of the present invention.

[0230] Referring to FIG. 10, the control unit (1800) controls the driving unit to perform time-aligned cleaning that completes cleaning of the cleaning area according to the cleaning completion time.

[0231] For example, during timed cleaning, the control unit (1800) can calculate a virtual internal boundary (B2) separated from the cleaning area boundary (B1) by a boundary distance (K) into the interior of the cleaning area, and control the driving unit so that the main body (110) moves within the internal boundary (B2).

[0232] The control unit (1800) calculates an inner boundary (B2) spaced inward from the cleaning area boundary (B1) by a boundary distance (K), and calculates a time-aligned driving path that allows the main body (110) to drive in the inner boundary (B2) area at a uniform density in accordance with the cleaning completion time.

[0233] The time-aligned driving path may be a cochlear pattern path as illustrated in Fig. 10.

[0234] At this time, the control unit (1800) can calculate the expected completion time of cleaning by multiplying the total length of the driving line (L) of the time-aligned driving path by the moving speed of the mobile robot.

[0235]

[0236] Although the preferred embodiments of the present invention have been illustrated and described above, the present invention is not limited to the specific embodiments described above, and various modifications may be made by a person skilled in the art without departing from the gist of the present invention as claimed in the claims. Furthermore, such modifications should not be understood individually from the technical idea or prospect of the present invention.

Claims

1. Main body; A driving unit that moves the above main body; A sensing unit that detects the surrounding environment of the cleaning area; A memory for storing map information and cleaning completion time for the above cleaning area; and It includes a control unit that controls the driving unit through the surrounding environment information input from the sensing unit, The above control unit, A mobile robot that controls the driving unit to perform time-scheduled cleaning so that cleaning of the above cleaning area is completed according to the above cleaning completion time.

2. In paragraph 1, A mobile robot further comprising an input unit for receiving the cleaning completion time.

3. In paragraph 2, The above input unit is a mobile robot that receives information about the cleaning area.

4. In paragraph 1, The above control unit, A mobile robot that calculates a virtual internal boundary spaced apart from the boundary of the cleaning area to the inside of the cleaning area by a boundary distance during the above-mentioned time-aligned cleaning, and controls the driving unit so that the main body moves within the inside of the internal boundary.

5. In paragraph 4, The above control unit, A mobile robot that calculates a time-aligned driving path that allows the main body to drive the internal boundary area at an even density in accordance with the cleaning completion time, and controls the driving unit to drive the main body along the time-aligned driving path.

6. In paragraph 1, The above control unit, In the above time-aligned cleaning, a virtual inner boundary spaced apart from the boundary of the cleaning area to the inside of the cleaning area by a boundary distance, and a driving line of a time-aligned driving path running inside the inner boundary and an interval between the driving lines are calculated, A mobile robot that calculates the expected completion time by adjusting the number of driving lines and the interval between the driving lines.

7. In paragraph 1, The above control unit, In the above time-aligned cleaning, a virtual inner boundary spaced apart from the boundary of the cleaning area to the inside of the cleaning area by a boundary distance, and a driving line of a time-aligned driving path running inside the inner boundary and an interval between the driving lines are calculated, A mobile robot that calculates an expected completion time by adjusting the above boundary distance, the number of driving lines, and the interval between the driving lines.

8. In paragraph 6 or 7, A mobile robot in which the number of the above driving lines is an integer between 3 and 10.

9. In paragraph 6 or 7, The above boundary distance is a mobile robot greater than 30 cm.

10. In paragraph 6 or 7, A mobile robot with a distance between the above driving lines greater than 15 cm.

11. In paragraph 6, The above control unit, A mobile robot that controls the main body to drive in accordance with the interval of the confirmed driving lines and the number of confirmed driving lines set so that the above-mentioned expected completion time is the same as the above-mentioned cleaning completion time within the error range.

12. In paragraph 11, Further comprising an output section for outputting information about the above mobile robot, The above control unit is a mobile robot that controls to output an abnormality of the time-aligned path to the output unit when the number of the confirmed driving lines is less than the first line value.

13. In paragraph 11, Further comprising an output section for outputting information about the above mobile robot, A mobile robot that controls the control unit to output information to the output unit that the cleaning completion time is longer than the general cleaning time for the cleaning area when the number of the confirmed driving lines is greater than the second line value.

14. In paragraph 4, The above control unit, A mobile robot that sets a boundary spaced a certain distance outside the boundary of a detected obstacle as a virtual obstacle outer boundary, and controls the main body to drive outside the obstacle outer boundary.

15. Step for entering information about the cleaning area; A step for receiving a cleaning completion time for the above cleaning area; and A control method for a mobile robot including a timed cleaning step for completing cleaning of the above cleaning area according to the cleaning completion time.

16. In paragraph 15, The above timed cleaning steps are: Calculate a virtual inner boundary spaced apart from the boundary of the above cleaning area by a boundary distance to the inside of the above cleaning area, and a driving line of a time-aligned driving route running along the inner boundary and an interval between the driving lines, A control method for a mobile robot, comprising an expected completion time step for calculating an expected completion time by adjusting the number of driving lines and the interval between the driving lines.

17. In paragraph 15, The above timed cleaning steps are: A virtual inner boundary spaced apart from the boundary of the above cleaning area by a boundary distance to the inside of the above cleaning area, and the number of driving lines of a time-aligned driving route running inside the inner boundary and the interval between the driving lines are calculated, A control method for a mobile robot, comprising an expected completion time calculation step of calculating an expected completion time by adjusting the above boundary distance, the number of driving lines, and the interval between the driving lines.

18. In paragraph 16, The above timed cleaning steps are: A control method for a mobile robot, comprising a cleaning driving step in which the main body drives along the confirmed driving line, and an interval of a confirmed driving line set so that the above-mentioned expected completion time is equal to the above-mentioned cleaning completion time within an error range.

19. In paragraph 18, A control method for a mobile robot, further comprising a step of outputting an abnormality of a time-aligned path to the output unit when the number of the above-determined driving lines is less than the first line value.

20. In paragraph 18, A control method for a mobile robot further comprising a step of outputting information to an output unit that the cleaning completion time is longer than the general cleaning time for the cleaning area when the number of the above-mentioned confirmed driving lines is greater than the second line value.

21. A step of calculating a virtual inner boundary spaced apart from the boundary of the cleaning area to the interior of the cleaning area by a boundary distance, and a driving line of a time-aligned driving route running along the inner boundary and an interval between the driving lines; An expected completion time calculation step for calculating an expected completion time by adjusting the boundary distance, the number of driving lines, and the interval between the driving lines; and A control method for a mobile robot, comprising a cleaning driving step in which the main body drives along the confirmed driving line, and an interval of a confirmed driving line set so that the above-mentioned expected completion time is equal to the above-mentioned cleaning completion time within an error range.

22. In paragraph 21, A control method for a mobile robot, further comprising a step of outputting information to the output unit so as to output an abnormality of the time-aligned path to the output unit when the number of the above-determined driving lines is less than the first line value.

23. In paragraph 21, A control method for a mobile robot further comprising a step of outputting information to an output unit that the cleaning completion time is longer than the general cleaning time for the cleaning area when the number of the above-mentioned confirmed driving lines is greater than the second line value.

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