Mobile robot and operation method thereof

Abstract

Disclosed are a mobile robot and an operation method thereof. The mobile robot according to the present invention comprises: a projector disposed on one side of the mobile robot and formed to project visual information; and a control unit for controlling the projector to project the visual information to the outside. The control unit identifies a plurality of areas in a travel space of the mobile robot, receives state information and work information about the mobile robot, determines visual information that can be projected in an area matching the current position of the mobile robot among the plurality of areas on the basis of at least one of the received state information or work information, and controls the projector to project the determined visual information onto a different position according to the surrounding situation of the mobile robot.

Description

Mobile robot and its operating method

[0001] The present invention relates to a mobile robot and an operating method thereof, and more specifically, to a mobile robot capable of projecting visual information related to status information or task information and an operating method thereof.

[0002] Recently, as mobile robots are being used for various purposes, projections are being installed in addition to displays to provide more diverse functions.

[0003] Typically, projections mounted on mobile robots have been used only to provide video displays for entertainment purposes.

[0004] Meanwhile, Korean Patent Application No. 10-2019-0171901 (hereinafter referred to as "Prior Document 1") discloses a robot equipped with a projector that selects a projection target based on image information and user information. However, Prior Document 1 does not provide visual information related to the robot's assigned task or status.

[0005] Also, in the case of robots equipped with existing projectors, when finding a good location for projection and projecting, they simply changed the location and did not consider the surrounding environment to provide efficient information.

[0006] Accordingly, according to one embodiment of the present disclosure, a mobile robot and an operating method thereof are provided that can provide information more efficiently by providing a projector on the mobile robot body.

[0007] In addition, according to another embodiment of the present disclosure, a mobile robot capable of detecting a surrounding situation, changing a projection area for efficient information provision, or changing the size or content of a projection image and projecting it, and a method of operating the same are provided.

[0008] In addition, according to another embodiment of the present disclosure, a mobile robot and an operating method thereof are provided that provide information so that the location and status of the mobile robot can be confirmed from a distance in the event of an emergency through a request from an administrator or status detection.

[0009] In addition, according to another embodiment of the present disclosure, a mobile robot capable of projecting different visual information according to a process strategy set within a driving space and an operating method thereof are provided.

[0010] In addition, according to another embodiment of the present disclosure, a mobile robot and an operating method thereof are provided, in which a plurality of mobile robots can collaborate to efficiently divide and display a single advertisement information.

[0011] A mobile robot according to an embodiment of the present invention can display visual images related to status information or work information of the mobile robot to the outside through a projector provided on one side.

[0012] Additionally, visual images related to status information or task information can be projected on an optimal projection area selected based on the current location and surrounding conditions of the mobile robot.

[0013] Specifically, a mobile robot according to an embodiment of the present invention includes a projector arranged on one side of the mobile robot and configured to project visual information; and a control unit that controls the projector to project visual information to the outside. In addition, the control unit may divide a plurality of areas within a driving space of the mobile robot, receive status information and task information of the mobile robot, determine projectable visual information in an area matching a current position of the mobile robot among the plurality of areas based on at least one of the received status information and task information, and control the projector to project the determined visual information at a variable position depending on the surrounding circumstances of the mobile robot.

[0014] In an embodiment, the plurality of areas refers to a plurality of ceiling areas divided according to the purpose of use of the driving space. In addition, the visual information that can be projected in each area may vary depending on at least one of the following: whether the mobile robot is in use, the status of the mobile robot, the assigned task, the progress of the task, the presence of other mobile robots in the vicinity, the status of the ceiling and floor corresponding to each area, and the congestion level of the driving space.

[0015] In an embodiment, the control unit may determine that an external notification is required based on the status information of the mobile robot, and may project visual information indicating the status information of the mobile robot onto the ceiling or floor corresponding to the current location of the mobile robot based on the determination.

[0016] In an embodiment, the visual information indicating the status information of the mobile robot may be visual information indicating either a low battery level of the mobile robot or a location notification while driving.

[0017] In an embodiment, the control unit may project visual information related to the operational status of the task information assigned to the mobile robot onto the ceiling or floor corresponding to the location of the mobile robot while the mobile robot is moving.

[0018] In an embodiment, when the operational state of the work information includes movement to a target, the control unit can project visual information related to the target in a variable manner based on a distance between a first position corresponding to the target and a second position corresponding to the movement of the mobile robot.

[0019] In an embodiment, the control unit may change at least one of the size or content of visual information related to the target according to the distance between the first position and the second position as the mobile robot moves, and project the changed information onto the ceiling or floor.

[0020] In an embodiment, the control unit may project visual information related to the target onto the ceiling while the mobile robot moves toward the target, and may project variable visual information onto the floor based on the mobile robot reaching the target.

[0021] In an embodiment, the device further includes a display unit that displays a screen related to the work information, and the control unit can project a screen output to the display unit onto a ceiling or floor corresponding to the current location of the mobile robot while the mobile robot moves to the target when the operation state of the work information includes movement to a target.

[0022] In an embodiment, the control unit can detect the surroundings of the mobile robot through at least one sensor and control the projector to project the determined visual information on a first display position or, based on the detection result, to project it on a second display position different from the first display position.

[0023] In an embodiment, the first display position may be a ceiling matching the current position of the mobile robot, and the second display position may be a wall or floor matching the current position of the mobile robot. In addition, the control unit may change the display position to the second display position and project the visual information based on at least one of the surrounding obstacles detected by the at least one sensor and the state of the ceiling.

[0024] In an embodiment, the control unit may determine that there is no assigned task based on the task information of the mobile robot, activate a projection function of advertising information according to a set display mode, and project the advertising information as the determined visual information.

[0025] In an embodiment, the mobile robot may further include a sensing unit that visually recognizes visual information projected by the taro robot in an area matching the location of the mobile robot. The control unit may avoid the visual information projected by the taro robot based on the visual recognition and project the determined visual information onto the ceiling or floor.

[0026] In an embodiment, the control unit may recognize the work information of the tarot robot based on the visual recognition, and project visual information related to the next operation onto the ceiling or floor based on the recognition.

[0027] In an embodiment, the control unit may detect that the mobile robot has entered a waiting area, determine advertising information to be projected based on the position of the mobile robot in the waiting area and the length of the waiting area, and project the determined advertising information onto a ceiling or floor matching the waiting area.

[0028] In an embodiment, the image size of the advertisement information may be determined based on the length of the queue. In addition, the control unit may recognize the position of the mobile robot in the queue area, determine a partial image of the advertisement information to be projected by the mobile robot based on the recognized position, and project the determined partial image onto the ceiling or floor matching the queue area.

[0029] In an embodiment, the determined partial image may vary depending on the length of the queue or the movement of the position of the mobile robot within the queue area.

[0030] In an embodiment, the control unit may set different types of visual information to be projected for each of the plurality of divided areas, recognize the type of visual information to be projected based on an area matching the current location of the mobile robot, and determine the visual information to be projected based on the recognized type of visual information and the received task information.

[0031] According to some embodiments of the present invention, a mobile robot and its operating method can detect surrounding conditions and change the projection area or the size or content of the projected image. Accordingly, information can be provided more efficiently.

[0032] Additionally, in case of an emergency through a request from an administrator or status detection, the location and abnormal status of the mobile robot can be checked from a distance.

[0033] In addition, the mobile robot according to embodiments of the present invention can efficiently provide necessary information to necessary targets and maximize the utilization of projection by varying the size or content of displayed information depending on the distance to the target related to the task being performed.

[0034] In addition, by projecting the information output on the display of the mobile robot onto the ceiling, the limitations of the size and location of the display can be overcome, and the same information can be provided to multiple people even when there is a person occupying the mobile robot.

[0035] Additionally, multiple mobile robots can collaborate to share and display a single advertisement information, or project linked advertisement information through mutual recognition.

[0036] Figure 1 is a block diagram showing an example configuration of a mobile robot related to the present invention.

[0037] Figure 2 is a representative flowchart for explaining the operation method of a mobile robot related to the present invention.

[0038] FIG. 3 is an exemplary drawing showing a mobile robot related to the present invention projecting a projectible visual image onto a ceiling area according to the purpose of use.

[0039] Figure 4 is an example drawing of a mobile robot related to the present invention projecting its status information onto a target area.

[0040] Figure 5 is an example drawing of a mobile robot related to the present invention projecting its location information onto a ceiling area.

[0041] FIG. 6 is an exemplary drawing showing a mobile robot according to the present invention projecting a visual image related to assigned task information.

[0042] FIGS. 7 and 8 are drawings showing different examples of changing a projected visual image according to the distance from a target related to assigned task information by a mobile robot related to the present invention.

[0043] FIG. 9a and FIG. 9b are drawings showing examples of a mobile robot related to the present invention reaching a target related to assigned task information and changing the position of the projection area.

[0044] FIG. 10a and FIG. 10b are drawings showing examples of projecting information output on the front display onto the ceiling area while the mobile robot related to the present invention moves.

[0045] FIG. 10a is a drawing illustrating a method for providing advertising information while a mobile robot related to the present invention moves to execute an assigned task.

[0046] FIG. 10b is a drawing showing an example of a mobile robot according to the present invention projecting information output on the front display onto the ceiling while moving to execute an assigned task.

[0047] FIG. 11a, FIG. 11b, FIG. 12a, FIG. 12b, and FIG. 12c are drawings showing various examples of a mobile robot related to the present invention differently determining a projection area of ​​a visual image depending on a detected surrounding situation.

[0048] FIG. 13a and FIG. 13b are drawings for explaining an example in which a mobile robot related to the present invention visually recognizes a projection image of a tarot robot and determines a projection area suitable for itself.

[0049] Fig. 14 is a drawing for explaining an example of a mobile robot related to the present invention projecting advertising information in a waiting area.

[0050] FIG. 15a, FIG. 15b, FIG. 16a, FIG. 16b, and FIG. 16c are exemplary drawings for explaining a method in which multiple mobile robots within a queue area collaborate to project advertising information.

[0051] Figures 17 and 18 are examples for explaining a method for strategically projecting visual images by multiple mobile robots within a driving space according to different projection modes.

[0052] Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the attached drawings. Regardless of the drawing numbers, identical or similar components will be given the same reference numbers, and redundant descriptions thereof will be omitted. The suffixes "module" and "part" used for components in the following description are assigned or used interchangeably only for the convenience of writing the specification, and do not in themselves have distinct meanings or roles. In addition, when describing the embodiments disclosed in this specification, if it is determined that a specific description of a related known technology may obscure the gist of the embodiments disclosed in this specification, a detailed description thereof will be omitted. In addition, the attached drawings are only intended to facilitate easy understanding of the embodiments disclosed in this specification, and the technical ideas disclosed in this specification are not limited by the attached drawings, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and technical scope of the present invention.

[0053] Terms that include ordinal numbers, such as first, second, etc., may be used to describe various components, but the components are not limited by these terms. These terms are used solely to distinguish one component from another.

[0054] When a component is referred to as being "connected" or "connected" to another component, it should be understood that it may be directly connected or connected to that other component, but that there may be other components intervening. Conversely, when a component is referred to as being "directly connected" or "connected" to another component, it should be understood that there are no other components intervening.

[0055] Singular expressions include plural expressions unless the context clearly indicates otherwise.

[0056] In this application, terms such as “include” or “have” are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in the specification, but should be understood not to exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0057] Meanwhile, the "mobile robot" disclosed in this specification refers to a machine capable of autonomous navigation and performing or operating assigned tasks. Depending on their intended use or field of application, mobile robots can be categorized into industrial, home, military, and medical use.

[0058] Tasks assigned to mobile robots can include cleaning, delivery, serving, logistics management, guidance, and content provision. Mobile robots can perform various functions and movements to perform their assigned tasks. Furthermore, mobile robots include drive units, including actuators, motors, and brakes, to perform autonomous driving operations.

[0059] Figure 1 is a block diagram showing an exemplary configuration of a mobile robot (100) related to the present invention.

[0060] Referring to FIG. 1, a mobile robot (100) according to the present invention may include a communication unit (110), an input unit (120), a driving unit (130), a sensing unit (140), an output unit (150), a projector (160), a memory (170), a control unit (180), and a power supply unit (190). The components illustrated in FIG. 1 are not essential for implementing a mobile robot, and thus, the mobile robot described in this specification may have more or fewer components than the components listed above.

[0061] The communication unit (110) may include one or more modules that enable wireless communication between the mobile robot (100) and an external server, such as an artificial intelligence server, or an external terminal. In addition, the communication unit (110) may include one or more modules that connect the mobile robot (100) to one or more networks. In addition, the communication unit (110) may include one or more modules for communicating with other mobile robots.

[0062] The communication unit (110) may communicate with an artificial intelligence server, etc. using wireless Internet communication technologies such as, for example, WLAN (Wireless LAN), Wi-Fi (Wireless-Fidelity), Wi-Fi (Wireless Fidelity) Direct, DLNA (Digital Living Network Alliance), WiBro (Wireless Broadband), WiMAX (World Interoperability for Microwave Access), HSDPA (High Speed ​​Downlink Packet Access), HSUPA (High Speed ​​Uplink Packet Access), LTE (Long Term Evolution), and LTE-A (Long Term Evolution-Advanced). In addition, the communication unit (110) may communicate with an external terminal, etc. using short-range communication technologies such as Bluetooth™, RFID (Radio Frequency Identification), Infrared Data Association (IrDA), UWB (Ultra Wideband), ZigBee, and NFC (Near Field Communication).

[0063] The input unit (120) may include a camera (121) or an image input unit for inputting an image signal, an audio receiver (122) for inputting an audio signal, for example, a microphone, and a user input unit (not shown, for example, a touch key, a mechanical key, etc.) for receiving information from a user. Signal data, voice data, and image data collected by the input unit (120) may be analyzed and processed into control commands.

[0064] The camera (121) may be installed on one side of the mobile robot (100) body or may be installed in multiple locations. In the latter case, one camera may be installed on the front of the body, facing forward, and the other camera may be installed on the side or rear, facing sideways / rearward. Accordingly, a 360-degree field of view can be formed.

[0065] When multiple cameras (121) are provided, the first camera may include, for example, a 3D stereo camera. The 3D stereo camera may perform functions such as obstacle detection, user face recognition, and stereoscopic image acquisition. The mobile robot (100) may use the first camera to detect and avoid obstacles in its moving direction and recognize the user to perform various control operations. In addition, the second camera may include, for example, a SLAM (Simultaneous Localization And Mapping) camera. The SLAM camera performs the function of tracking the current location of the camera through feature point matching and creating a 3D map based on the tracking. The mobile robot (100) may use the second camera to determine its current location. In addition, the camera (121) may recognize objects within its field of view and perform functions such as taking pictures and videos. In this regard, the camera (121) may include at least one of a camera sensor (e.g., CCD, CMOS, etc.), a photo sensor (or image sensor), and a laser sensor. A camera (121) and a laser sensor can be combined with each other to detect the touch of a detection target on a three-dimensional stereoscopic image. The photo sensor can be laminated on a display element, and the photo sensor is configured to scan the movement of a detection target close to the touch screen. More specifically, the photo sensor scans the contents placed on the photo sensor by using an electrical signal that changes according to the amount of light applied to the photo diode by mounting a photo diode and a TR (transistor) in rows / columns. That is, the photo sensor performs coordinate calculation of the detection target according to the amount of change in light, and through this, the location information of the detection target can be acquired.

[0066] The driving unit (130) performs movement and rotation of the main body of the mobile robot (100). To this end, the driving unit (130) may include a plurality of wheels and drive motors. The operation of the driving unit (130) is controlled according to control commands received by the control unit (180), and notifications may be provided through the light output unit (153), such as an LED, before and after operation.

[0067] The sensing unit (140) may include one or more sensors for sensing at least one of information within the mobile robot, information about the surrounding environment surrounding the mobile robot, and user information. For example, the sensing unit (140) may include at least one of a proximity sensor (141), an illumination sensor, a touch sensor, an acceleration sensor, a magnetic sensor, a gravity sensor (G-sensor), a gyroscope sensor, a motion sensor, an RGB sensor, an infrared sensor (IR sensor), a fingerprint recognition sensor, an ultrasonic sensor, an optical sensor (e.g., a camera (see 121)), a microphone, a battery gauge, an environmental sensor (e.g., a barometer, a hygrometer, a thermometer, a radiation detection sensor, a heat detection sensor, a gas detection sensor, etc.), and a chemical sensor (e.g., an electronic nose, a healthcare sensor, a biometric recognition sensor, etc.).

[0068] Meanwhile, the mobile robot disclosed in this specification can utilize information sensed by at least two of these sensors in combination.

[0069] Additionally, the sensing unit (140) may include a driving-related sensor that detects obstacles, ground conditions, etc.

[0070] In addition, the light sensor among the sensing units (140) can be used to determine the image size of visual information projected through the projector (160) below.

[0071] Examples of proximity sensors (141) include a transmission-type photoelectric sensor, a direct reflection-type photoelectric sensor, a mirror reflection-type photoelectric sensor, a high-frequency oscillation-type proximity sensor, a capacitive proximity sensor, a magnetic proximity sensor, and an infrared proximity sensor.

[0072] In addition, the proximity sensor (141) may include at least one of a navigation camera, an ultrasonic sensor, a lidar, and a ToF sensor, through which the approach and location of a detection target (e.g., a user) can be recognized.

[0073] The output unit (150) is for generating output related to visual, auditory, or tactile sensations, and may include at least one of a touch screen (151), an audio output unit (152), and an optical output unit (153). The touch screen (151) may be formed as a layer structure with a touch sensor or formed as an integral part, thereby implementing a touch screen. This touch screen may function as a user input unit that provides an input interface between the mobile robot (100) and the user, and may also provide an output interface.

[0074] The audio output unit (152) performs the function of providing information to the user in the form of a voice, and may be, for example, in the form of a speaker. Specifically, a response or search result corresponding to the user's voice received through the microphone (122) and voice recognition unit (not shown) provided in the mobile robot (100) is output as a voice through the audio output unit (152).

[0075] In addition, the above-described audio output unit (152) can output audio information related to a screen (e.g., a menu screen, an advertisement screen, etc.) displayed on the touch screen (151). To this end, the microphone (122) can perform a function of receiving a user's voice, etc. In addition, the microphone (122) processes an external audio signal into electrical audio data, and various noise removal algorithms can be implemented to remove noise generated in the process of receiving an external audio signal.

[0076] In addition, the above-mentioned sound output unit (152) can output a sound signal matching the visual information projected through the projector (160).

[0077] The light output unit (153) outputs a signal to notify the occurrence of an event in the mobile robot (100) using light from a light source. For example, when a movement command is transmitted to the driving unit (130) of the mobile robot (100), a signal to notify the movement is output through the light output unit (153).

[0078] The projector (160) may be provided on one side of the body of the mobile robot (100) or may be provided at multiple locations. Specifically, when the projector (160) is located on the upper side of the mobile robot (100), it may be located above the driving unit (130). In addition, when the projector (160) is located on the lower side of the mobile robot (100), it may be located on one side of the head of the mobile robot (100). In addition, the projector (160) may be provided at multiple locations on the body of the mobile robot (100).

[0079] The projector (160) may be implemented to rotate, move, or tilt along with the rotation / movement / tilting of the body of the mobile robot (100). As another example, the projector (160) may be formed to be rotatable and / or tiltable itself so that the projection angle can be adjusted. As another example, the projector (160) may be a mobile projector formed to project onto various projection areas.

[0080] The projector (160) projects visual information around the mobile robot (100). In one embodiment, the projector (160) may project visual information on a designated projection area. For example, the projector (160) may project visual information on at least one of the floor, ceiling, and / or wall while the mobile robot (100) is stationary or moving.

[0081] In an embodiment of the present invention, the projector (160) can receive status information and operation information while the mobile robot (100) is moving and project visual information related thereto. In addition, the projector (160) can detect the surroundings of the mobile robot (100) and project visual information at a variable projection position.

[0082] In this way, when the projection position of visual information is changed, at least part of the visual information can be changed and projected in a form that can efficiently provide information at the changed projection position.

[0083] The control unit (180) controls the overall operation of the mobile robot (100) and performs calculations and data processing. Furthermore, the control unit (180) may be used with the same meaning as a processor or may be understood as a module including the processor. The processor may include one or more of a central processing unit and an application / communication processor.

[0084] In addition, the control unit (180) can determine the visual information projected through the projector (160) and control the overall operation of the projector (160), including rotation, movement, and tilting, including the projection angle.

[0085] In addition, the control unit (180) may control the driving unit (130) for movement and rotation of the mobile robot (100). In addition, the control unit (180) may include a running data unit (not shown) to perform operations related to artificial intelligence technology of the mobile robot. The running data unit may be configured to receive, classify, store, and output information to be used for data mining, data analysis, intelligent decision-making, and machine learning algorithms and technologies. The running data unit may include one or more memory units configured to store information received, detected, sensed, generated, predefined, or outputted through the mobile robot, or information outputted in another manner through the mobile robot, or data received, detected, sensed, generated, predefined, or outputted by other configurations, devices, and terminals.

[0086] In one embodiment, the running data unit may be integrated into the mobile robot or may include a memory. In one embodiment, the running data unit may be implemented through a memory (170). However, the present invention is not limited thereto, and the running data unit may be implemented in an external memory associated with the mobile robot (100) or through a memory included in a server capable of communicating with the mobile robot (100). In another embodiment, the running data unit may be implemented through a memory maintained in a cloud computing environment or another remote memory accessible by the mobile robot via a communication method such as a network.

[0087] The learning data unit is typically configured to store data in one or more databases for use in supervised or unsupervised learning, data mining, predictive analytics, or other machine learning techniques, to identify, index, classify, manipulate, store, retrieve, and output the data. The information stored in the learning data unit can be utilized by a control unit (180) or multiple control units (processors) included in the mobile robot, which utilize at least one of different types of data analysis, machine learning algorithms, and machine learning techniques.

[0088] The control unit (180) can determine or predict the executable actions of the mobile robot based on information determined or generated using data analysis, machine learning algorithms, and machine learning techniques. To this end, the control unit (180) can request, search, receive, or utilize data from the learning data unit. The control unit (180) can perform various functions, such as implementing a knowledge-based system, an inference system, and a knowledge acquisition system, and can perform various functions, including a system for uncertain inference (e.g., a fuzzy logic system), an adaptive system, a machine learning system, and an artificial neural network.

[0089] Additionally, the control unit (180) may include sub-modules that enable speech and natural language processing, such as an I / O processing module, an environmental condition module, a speech-to-text (STT) processing module, a natural language processing module, a task flow processing module, and a service processing module. Each of the sub-modules may have access to one or more systems or data and models, or a subset or superset thereof, in the mobile robot. Here, the objects to which each of the sub-modules has access may include scheduling, a vocabulary index, user data, a task flow model, a service model, and an automatic speech recognition (ASR) system.

[0090] In some embodiments, the control unit (180) may be configured to detect and sense what the user requests based on contextual conditions expressed as user input or natural language input or the user's intention based on data from the learning data unit. Based on data analysis, machine learning algorithms, and machine learning techniques performed by the learning data unit, when the operation of the mobile robot is determined, the control unit (180) can control components of the mobile robot to execute the determined operation. The control unit (180) can execute the determined operation by controlling the mobile robot based on the control command.

[0091] The memory (170) stores data supporting various functions of the mobile robot (100). The memory (170) can store a number of application programs (or applications) running on the mobile robot (100), as well as data and commands for the operation of the mobile robot (100). In addition, the memory (170) can store a variable call word for performing a voice conversation function with a user.

[0092] The memory (170) may include, for example, at least one type of storage medium among a flash memory type, a hard disk type, an SSD (Solid State Disk type), an SDD (Silicon Disk Drive type), a multimedia card micro type, a card type memory (e.g., SD or XD memory, etc.), a random access memory (RAM), a static random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, and an optical disk.

[0093] Additionally, data related to visual information to be projected through the projector (160) can be stored in the memory (170).

[0094] In addition to the operations related to the above-mentioned application program, the control unit (180) typically controls the overall operation of the mobile robot (100). The control unit (180) processes signals, data, information, etc. input or output through the components discussed above, operates an application program stored in the memory (170), or controls the driving unit (130) to provide or process appropriate information or functions to the user.

[0095] The power supply unit (190) receives external power and internal power under the control of the control unit (180) and supplies power to each component included in the mobile robot (100). The power supply unit (190) may include a battery, and the battery may be a built-in battery or a replaceable battery.

[0096] At least some of the above components may cooperate with each other to implement the operation, control, or control method of the mobile robot according to the various embodiments described below. In addition, the operation, control, or control method of the mobile robot may be implemented on the mobile robot by operating at least one application program stored in the memory (170).

[0097] Additionally, the various embodiments disclosed below may be implemented in a recording medium readable by a computer or similar device, for example, using software, hardware, or a combination thereof.

[0098] Hereinafter, with reference to the attached drawings, various embodiments related to a method for efficiently projecting visual images displaying status information, work information, advertising information, etc. of a mobile robot (100) according to an embodiment of the present invention using a projector (160) will be described.

[0099] Figure 2 is a representative flowchart for explaining the operation method of a mobile robot related to the present invention.

[0100] The operating method illustrated in Fig. 2 may be performed by the control unit (180) (or processor) of the mobile robot (100) unless otherwise described. In addition, each step of the flowchart in Fig. 2 may be implemented as a program command executed by at least one processor.

[0101] Referring to FIG. 2, when the mobile robot (100) according to an embodiment of the present invention starts operating, it can recognize and distinguish multiple areas within a designated driving space (10).

[0102] Specifically, the mobile robot (100) can recognize a designated driving area by dividing it into 1) a projection area where visual information can be projected, 2) a projection prohibited area where projection of visual information is prohibited, and 3) a restricted projection area where projection of visual information is permitted with restrictions.

[0103] Accordingly, the mobile robot (100) according to the present invention can project visual information not in all areas within the driving space, but at least in an area excluding the projection prohibited area.

[0104] Additionally, the above multiple areas may not coincide with the driving area of ​​the mobile robot.

[0105] Specifically, the plurality of areas may be areas other than those in which the mobile robot can move. Furthermore, unless otherwise specified, the plurality of areas may be understood to refer to the ceiling area. Furthermore, in addition to the ceiling area, the plurality of areas may include walls and floors corresponding to the ceiling area. Furthermore, the plurality of areas may be expanded or contracted depending on the intended use of the mobile robot (100), and when contracted, some areas may be designated as projection-prohibited areas.

[0106] When the movement of the mobile robot (100) begins, a projector (160) capable of projecting visual information onto some of the plurality of areas is activated. When the projector (160) is switched from an inactive state to an activated state, visual information indicating the start of movement of the mobile robot (100) and the activation of the projector (160) function can be projected onto the floor around the mobile robot (100).

[0107] Continuing, the mobile robot (100) receives its own status information and work information after starting operation (20).

[0108] Here, the status information of the mobile robot (100) can be recognized based on the sensing value by the sensing unit (140) or the control signal generated by the control unit (180). At this time, the status information of the mobile robot (100) can include all data and information related to the mobile robot (100) itself, such as whether the mobile robot (100) is in an abnormal state, current location, remaining battery level, communication status, driving status such as driving speed and driving direction.

[0109] In addition, here, the task information of the mobile robot (100) can be assigned through the input of the manager or the communication unit (110) depending on the purpose of use of the mobile robot. At this time, the task information of the mobile robot (100) can include all data and information related to executing the assigned task depending on the purpose of use of the mobile robot (100), such as delivery, guidance, serving, cleaning, logistics search, transport, content provision, charging, etc.

[0110] If no task is assigned to the mobile robot (100), the mobile robot (100) can only receive its own status information until a specific task is assigned to it. When a task is assigned to the mobile robot (100), the mobile robot (100) receives task information in addition to the status information and moves to perform the assigned task.

[0111] When status information and task information for the mobile robot are received in this way, the mobile robot (100) can determine projectable visual information in an area matching the current location of the mobile robot (100) among the plurality of recognized areas based on at least one of the received status information and task information (30).

[0112] At this time, the projectable visual information may be a visual image, text, or information including both that indicates the status of the mobile robot. In addition, the projectable visual information may be a visual image, text, or information including both that indicates the degree of task execution of the mobile robot and the target point of the task.

[0113] In an embodiment, if the current position of the mobile robot (100) is within a projectible area among a plurality of recognized areas, it may be decided to project visual information related to either or both of status information and task information. In addition, if the current position of the mobile robot (100) is within a restricted projection area among a plurality of recognized areas, it may be decided to restrictively project visual information related to information within the projection allowable range among the status information and task information. In addition, for example, if the current position of the mobile robot (100) is within a projection prohibited area among a plurality of recognized areas, it may be decided not to project visual information related to status information and task information even if the projector (160) is in an activated state.

[0114] Additionally, in an embodiment, the mobile robot (100) may determine, based on established conditions, which visual information to project, related to the mobile robot's status information or task information. At this time, the conditions may be established or determined by considering the specific priorities of the status information and task information, the task execution level, the urgency of the status, and user requests.

[0115] In another embodiment, the mobile robot (100) may decide to prioritize projecting visual information related to the task being performed over visual information related to the status. For example, while the mobile robot (100) is executing an assigned task, it may decide to prioritize projecting visual information related to the task, and exceptionally, at the user's request or in an emergency, it may decide to project visual information related to the status of the mobile robot.

[0116] In another embodiment, the mobile robot (100) may decide to project process information for only some of the assigned tasks according to the set projection strategy.

[0117] For example, depending on the projection strategy, when operating in minimum display mode, it may be determined to project only process information directly related to the intended use of the mobile robot (100). Also, for example, depending on the projection strategy, when operating in maximum display mode, it may be determined to project advertising information in addition to process information according to the intended use of the mobile robot (100).

[0118] Once the visual information to be projected is determined in this way, the mobile robot (100) can control the projector (160) to project the determined visual information at a variable location depending on the surroundings of the mobile robot (40).

[0119] Here, the surroundings of the mobile robot can be detected through various sensors included in the sensing unit (140) while the mobile robot (100) is moving. For example, the mobile robot can detect an approaching obstacle through the sensing unit (140) or detect in advance the presence of a structure (e.g., light) in the ceiling area where visual information is to be projected. Alternatively, for example, the mobile robot can recognize that the structural characteristics of the driving space detected through the sensing unit (140) are not suitable for projecting visual information (e.g., obscuration, light scattering, etc.).

[0120] In addition, the control unit (180) of the mobile robot (100) can control the projector (160) to project visual information at variable locations based on the detected / collected surroundings of the mobile robot. Here, projecting visual information at variable locations may mean adjusting the projection angle / irradiation angle of the projector (160) in a predetermined projection area (e.g., a ceiling area perpendicular to the head of the mobile robot), or changing to another projection area (a wall / floor area around the mobile robot) by rotating / moving / tilting the projector (160).

[0121] Meanwhile, in the embodiments, projecting visual information at variable locations does not simply mean finding an empty area free of obstacles / structures and projecting the visual information there. In the embodiments of the present invention, the purpose of the mobile robot (100) projecting visual information is to efficiently transmit information. Therefore, if the variable location has a low possibility of transmitting information, even an empty space may be excluded. In such cases, the mobile robot (100) may temporarily stop projecting the visual information.

[0122] In addition, in an embodiment, projecting visual information at a variable location may be a projection location / projection area where information can be conveyed to a greater number of people. For example, when a mobile robot (100) detects multiple objects in the vicinity through the sensing unit (140), the mobile robot (100) may control the projector (160) to project visual information on a ceiling area at a location suitable for remaining within the line of sight of the multiple objects detected through the camera (121).

[0123] Below, FIG. 3 is an example of a mobile robot (100) related to the present invention projecting projectible visual information (i.e., visual images) onto a ceiling area according to its intended use. From here on, visual information will be replaced with visual images, or the two will be used in combination.

[0124] When the mobile robot (100) starts moving, the mobile robot (100) can activate a projector (160) provided on at least one side of the body to project a visual image (301) related to the status information and / or work information of the mobile robot onto the ceiling area as shown in FIG. 3.

[0125] To this end, the projector (160) of the mobile robot (100) may be positioned at the top of the head of the mobile robot body as illustrated in Fig. 3. In this case, when a control signal from the control unit (180) is received, the projector (160) projects a visual image onto a ceiling area corresponding to the vertical direction of the head of the mobile robot.

[0126] Although not illustrated in detail, if the projector (160) of the mobile robot (100) is mounted at a location other than the top of the head of the mobile robot body, the projector (160) can project a visual image onto a ceiling area corresponding to the vertical direction of the head of the mobile robot, as in FIG. 3, through rotation / movement / tilting.

[0127] Meanwhile, the mobile robot (100) can project the visual image (301) to another location where it can provide information more efficiently based on the surroundings detected through the sensing unit (140) and / or the camera (121). At this time, the other location may include, for example, another ceiling area around the mobile robot, as well as a wall or floor area.

[0128] For example, the control unit of the mobile robot (100) can control the driving unit (130) to move the mobile robot (100) in order to project the visual image (301) to another location where information can be provided more efficiently, or the projector (160) can rotate / move / tilt in order to adjust the angle of the projector (160).

[0129] Additionally, depending on the embodiment, when the visual image (301) is projected at a different location, it may be changed to another visual image (302) suitable for the changed projection location. In this case, the other visual image (302) suitable for the changed projection location may include the same content as the visual image (301), but may be a method of efficiently providing information at the changed projection location.

[0130] At this time, in order to efficiently provide information at the changed projection location, the size and shape of the visual image (301) may change, or additional information may be included in the image, or some of the included information may be omitted and projected.

[0131] In order to project the visual image (301) to a different location or to project a different visual image (302) suitable for the changed projection location, the control unit (180) of the mobile robot (100) can control the operation of the projector (160) so that at least one of rotation / movement / tilting of the projector (160) provided in the mobile robot (100) is performed.

[0132] In addition, for rotation / movement / tilting of the projector (160), the projector (160) may have a structure having a hinge. Alternatively, the projector (160) may be equipped to include multiple projections and to project simultaneously / sequentially to multiple external locations.

[0133] In FIG. 3, the visual images (301, 302) may be visual images indicating status information of the mobile robot (100), for example, the location of the mobile robot, abnormal status, low battery, etc.

[0134] In addition, the above visual images (301, 302) may be visual images indicating the work information of the mobile robot (100), for example, the target of the work, the progress of the work, whether in use, the type of work being performed, returning to the queue, etc.

[0135] In addition, the above visual images (301, 302) may be advertising information related to the driving space of the mobile robot (100) or input / stored / transmitted.

[0136] In an embodiment, a mobile robot (100) can recognize and distinguish multiple areas within a driving space, and each of the multiple areas can have a different range of projectible visual information. For example, the multiple areas can be divided into a projectible area, a projection-prohibited area, and a restricted projection area, depending on the projectible range of visual information.

[0137] In an embodiment, the plurality of areas may be a plurality of ceiling areas divided according to the purpose of use of the driving space. In addition, the visual information that can be projected in each area of ​​the plurality of areas is:

[0138] It may vary depending on at least one of the following: whether the mobile robot (100) is used, the status of the mobile robot, the assigned task, the progress of the assigned task, the presence of other robots in the vicinity, the status of the ceiling and floor corresponding to each area, and the congestion of the driving space.

[0139] For example, when a mobile robot (100) is being used as a guide robot, the control unit (180) can control the projector (160) to project advertising information on the ceiling area in order to continue providing efficient information since use by others is restricted.

[0140] In addition, the mobile robot (100) can share its current location by communicating with surrounding robots through the communication unit (110), and can recognize the location of projecting a visual image through the projector (160) or notify the outside.

[0141] In addition, the mobile robot (100) can recognize floor information within the driving space, ceiling structures installed in the ceiling area, and the height of the ceiling, and based on this, the mobile robot (100) can determine a 3D projection area (e.g., ceiling / wall / floor) for projection based on the current location of the mobile robot (100).

[0142] In addition, the mobile robot (100) can receive information about content, projection, and advertising strategies assigned to multiple robots within the driving space, and based on this, determine whether to project a visual image and the projection location.

[0143] Below, a method for a mobile robot (100) to project a visual image related to the status information of the mobile robot through a projector (160) will be described in detail.

[0144] In this regard, Fig. 4 is an example of a mobile robot (100) projecting a visual image indicating a low battery level as status information onto a ceiling area. And, Fig. 5 is an example of a mobile robot (100) projecting a visual image indicating a location within a driving space as status information onto a ceiling area.

[0145] The control unit (180) of the mobile robot (100) can receive its own status information and, based on the received status information, determine whether a situation requires external notification. This can be determined by the control unit (180) itself, even without a confirmation request from an administrator.

[0146] Here, the situation in which the status information of the mobile robot requires external notification includes the occurrence of an emergency situation, and information about this can be stored in advance in the memory of the mobile robot (100). For example, situation information such as a situation in which the battery is low, a situation in which the mobile robot cannot drive, or a situation in which the mobile robot is trapped in a specific area can be stored in the memory of the mobile robot (100) as situations in which external notification is required.

[0147] When the control unit (180) of the mobile robot (100) receives status information after starting operation, it can compare the received status information with data / information corresponding to a situation requiring external notification, and determine whether external notification is required.

[0148] Continuing, the control unit (180) may project a visual image representing the status information of the mobile robot (100) onto the ceiling or floor corresponding to the current location of the mobile robot (100) based on a determination that an external notification is necessary.

[0149] For example, if the driving space is large and the ceiling height or structure is deemed sufficient to efficiently provide information, visual images representing status information can be projected onto the ceiling based on the mobile robot's current position. Alternatively, if the ceiling area is deemed insufficient to efficiently provide information, visual images representing status information can be projected onto surrounding walls or floor areas.

[0150] Specifically, referring to FIG. 4, among multiple mobile robots (100A, 100B, 100C) within a driving space, a mobile robot (100B) with a low battery level can project a visual image (401) indicating a low battery level onto a ceiling area.

[0151] The above visual image (401) may be projected to indicate an emphasized notification level if no action is taken for a certain period of time. For example, a blinking effect and color change may be applied to the battery image included in the visual image (401).

[0152] At this time, the state of insufficient battery capacity may mean a state in which it is determined that it is difficult for the mobile robot (100B) to drive to the charging area and perform charging on its own. Alternatively, if a new task is assigned or an attempt to use the mobile robot (100B) is detected while the mobile robot (100B) is moving to charge the battery due to insufficient battery capacity, it may be determined that it is difficult for the mobile robot (100B) to drive to the charging area and perform charging on its own.

[0153] In another embodiment, the mobile robot (100) may determine, based on the received status information, that an emergency situation has occurred that makes it difficult for the mobile robot to move (other than a low battery level). In such a case, the mobile robot (100) projects a visual image indicating the emergency situation onto the ceiling to notify the user, thereby allowing the user to visually confirm the location of the problematic mobile robot from a distance.

[0154] In Fig. 4, when it is recognized that the manager (P) has approached the mobile robot (100B) in which an emergency situation has occurred, the manager (P) determines that it will handle this and may reduce the size of the visual image (401) and project it or stop projection.

[0155] In another embodiment, the mobile robot (100) may project a visual image indicating its current location onto the ceiling area via a projector (160) at the request of an administrator or the like. In this case, since the visual image is an indication of the location of the mobile robot (100), the projection area is not changed and the image is projected onto the ceiling corresponding to the vertical direction of the head of the mobile robot (100).

[0156] Referring to Fig. 5, let us assume that while multiple mobile robots (100A, 100B, 100C) are moving within a driving space, a manager requests display of the positions of the mobile robots. Then, each of the multiple mobile robots (100A, 100B, 100C) projects a circular visual image (501, 502, 503) onto its head.

[0157] Accordingly, even in cases where there are multiple racks within the driving space of multiple mobile robots (100A, 100B, 100C), such as in a logistics warehouse, the location of each covered mobile robot can be checked at a glance from a distance.

[0158] Meanwhile, when the mobile robots (100A, 100B, 100C) project visual images (501, 502, 503) indicating their respective locations in response to a location display request, the mobile robots (100A, 100B) in an abnormal state (e.g., low battery, unable to drive, stuck in a specific area, etc.) may be projected with a designated specific color. Accordingly, the manager can simultaneously check not only the actual locations of the mobile robots (100A, 100B, 100C) but also the locations of the mobile robots in an abnormal state.

[0159] As an example, in the case of a mobile robot that has difficulty in projection even upon a location indication request, the location of the mobile robot that cannot be projected by other robots in the vicinity can be roughly notified through additional projection (e.g., projecting an arrow image in the direction of the robot) through communication between mobile robots (100A, 100B, 100C).

[0160] In the above, embodiments of receiving a request for location display and / or an emergency situation based on the status information of a mobile robot and projecting a matching visual image onto the ceiling have been described.

[0161] Below, various embodiments related to a method for projecting a visual image related to assigned task information when a task is assigned to a mobile robot will be described.

[0162] In this regard, FIG. 6 is an example of a mobile robot (100) projecting a visual image related to assigned task information.

[0163] When a task is assigned to the mobile robot (100) according to an embodiment of the present invention, the mobile robot (100) can receive corresponding task information. While the mobile robot (100) is moving to execute the task, the control unit (180) of the mobile robot (100) can project a visual image related to the received task information through the projector (160).

[0164] In an embodiment, the control unit (180) of the mobile robot (100) can project a visual image related to the operational status of the work information onto the ceiling or floor corresponding to the current location of the mobile robot while the mobile robot (100) is moving for work based on the work information assigned to the mobile robot.

[0165] Here, the mobile robot (100) can move by operating the driving unit (130) to execute the assigned task. For example, the mobile robot (100) can control the operation of the driving unit (130) by considering the stored / received map information and the current location of the mobile robot to move to the destination to complete the assigned task. This operation of the driving unit (130) moves the mobile robot (100) to the destination.

[0166] In addition, here, the visual image related to the operational status of the work information includes useful information to be provided externally according to the purpose of use of the mobile robot included in the work information and the degree of work execution.

[0167] For example, a mobile robot used for "serving" purposes may display "table information" as a visual image while driving to serve food to a table. Furthermore, a mobile robot used for "guidance" purposes may display "destination information" as a visual image while driving to provide guidance to a specific POI. Furthermore, a mobile robot used for "logistics search" purposes may display "item location information" as a visual image while driving to load specific items within a warehouse.

[0168] When the execution status or operational status of the work information changes, the control unit (180) of the mobile robot (100) can control the projector (160) to change and project a visual image according to the changed execution status or operational status.

[0169] For example, when the execution status or operational status of a task changes from the first state to the second state according to the progress of the task, the control unit (180) can perform projection by changing the visual image representing the first state to a visual image representing the second state.

[0170] At this time, the first state is a state in which at least a part of the work has been initiated, and may include a period before the execution level of the work is changed to the second state, which is the next state.

[0171] Additionally, the second state may include a state in which at least a portion of the task is completed or the first state is completed, before starting the next portion of the task or before the mobile robot completes all of the task and returns to the waiting area.

[0172] The mobile robot (100) operates the driving unit (130) based on the received work information to move the body of the mobile robot, and while moving to perform the work, controls the projector (160) to project a visual image related to the work information onto the ceiling.

[0173] At this time, the visual image related to the task information can be determined based on the purpose of use of the mobile robot (100), the type of assigned task, and the progress of the task. That is, the visual image provides information about the type of task currently being performed by the mobile robot (100) and the progress of the task to the outside.

[0174] For example, in the case of a mobile robot (100) for serving, a visual image containing information about the table being served (table number, area color, etc.) can be projected onto the ceiling. In this case, it is easy to confirm from a distance that the mobile robot (100) will move to the table indicated in the visual image and perform serving.

[0175] Also, for example, even if it is a mobile robot (100) for serving, when the mobile robot (100) has completed serving and is returning to the waiting area, a visual image including a sign or advertising information indicating that it is returning to the waiting area may be projected onto the ceiling or floor.

[0176] For example, referring to Fig. 6, it is assumed that a serving task is assigned to the first mobile robot (100A) among multiple mobile robots (100A, 100B, 100C) within a driving space.

[0177] At this time, the assigned serving task is, for example, 'serving food to table number 2'. Then, the first mobile robot (100A) can detect 'table number 2' and 'serving food' as task information from the assigned serving task, 'serving food to table number 2'. Now, in order to execute the serving task, the first mobile robot (100A) generates a driving path with the current location of the first mobile robot (100A) as the starting point and the target 'table number 2' location (611) as the destination, and then drives to the 'table number 2' location (611) along the generated driving path. At this time, the first mobile robot (100A) can move by controlling the projector (160) to project a visual image (601) in which "2" indicating 'table number 2', which is the detected task information, is displayed, onto the ceiling area. In this way, through the visual image (601) projected by the first mobile robot (100A), the guest at table number 2 can recognize from a distance that the first mobile robot (100A) is the robot responsible for serving his table. In addition, the manager can confirm at a glance that the first mobile robot (100A) is properly serving food to table number 2.

[0178] Meanwhile, the example described with reference to FIG. 6 can be applied identically or similarly even when the mobile robot (100) is used for other purposes. For example, when the mobile robot (100) is used as a guide robot, it can project a sign indicating the location from which the mobile robot was called, approach the user, and then project a sign indicating the path to the location requested by the user onto the ceiling while providing guidance.

[0179] FIG. 7 and FIG. 8 are drawings showing different examples of gradually changing the visual image projected by the mobile robot (100) according to the distance from the target related to the assigned task information.

[0180] In an embodiment of the present invention, when the operational state of the work information includes movement to a target, the control unit (180) of the mobile robot (100) can project visual information related to the target in a variable manner based on the distance between a first position corresponding to the target and a second position corresponding to the movement of the mobile robot. Specifically, the control unit (180) of the mobile robot (100) can change at least one of the size or content of the visual information related to the target and project it onto the ceiling or floor according to the distance between the first position and the second position.

[0181] At this time, the operational status of the above-mentioned task information may refer to the progress status or progress level of the task assigned to the mobile robot (100). In addition, the target may refer to the destination that the mobile robot must reach to perform the assigned task.

[0182] In addition, the first position corresponding to the target means the location of the destination that the mobile robot must reach, and the second position corresponding to the driving of the mobile robot means the current location of the mobile robot.

[0183] Meanwhile, visual images related to the target must be visually identifiable by the user at the target to be considered effective information providers.

[0184] In the above embodiment, if the distance between the first and second locations is large, the size of the visual information related to the target can be expanded and projected so that a user at the target can view it from a distance. Alternatively, if the distance between the first and second locations is large, the content included in the visual image can be displayed in a simplified manner.

[0185] In addition, in the above embodiment, when the distance between the first position and the second position is short, the visual image can be easily recognized by a user at the target even if it is small, so the size of the visual information related to the target can be reduced and projected. Alternatively, when the distance between the first position and the second position is short, the projection can be stopped, advertising information can be projected instead of the visual information related to the target, or the projection location can be moved to the floor area, thereby providing information more efficiently.

[0186] Referring to Fig. 7, while the mobile robot (100A) is moving toward the table location (711) where serving is to be performed, it can perform driving while projecting a visual image (701) indicating table information '2' onto the ceiling.

[0187] At this time, if the location of the mobile robot (100A) is far from the table location (711), the visual image representing table information '2' may be projected on the ceiling in an expanded state. This is to enable the guests at the table to see the mobile robot (100A) approaching to serve them from a distance when the mobile robot (100A) is far from the table location (711).

[0188] Meanwhile, as the mobile robot (100A) gets closer to the table position (711), the size of the visual image representing the table information '2' can be gradually projected smaller.

[0189] To this end, the control unit (180) of the mobile robot (100A) can adjust the operation of the projector (160) so that the size of the visual image projected on the ceiling is proportionally reduced based on the distance between the current position of the mobile robot and the table position (711) (or, based on the time remaining until the mobile robot reaches the table position (711)). For example, the projector (160) can project a first visual image (701) of an expanded size while the distance between the current position of the mobile robot and the table position (711) is equal to or greater than the first distance, and can sequentially project a second visual image (702) and a third visual image (703) of a gradually reduced size when the distance is gradually reduced to a second distance and a third distance.

[0190] At this time, information about the distance between the current position of the mobile robot and the table position (711) or the remaining time can be calculated based on map information about the driving space, the table position (711), and the current position of the mobile robot.

[0191] In this way, when the mobile robot moves closer to the table position (711), it can be seen that the customer at the table is fully aware that the mobile robot (100A) has approached to serve, so there is no need to continuously display the task information in a large size in terms of efficient information provision. In addition, as the mobile robot (100A) approaches the table position (711), the size of the visual image displaying the table information decreases, so it can be expected that the current execution task of the mobile robot (100A) will soon be completed and can be switched to a different task state.

[0192] Meanwhile, the visual images (701, 702, 703) that vary based on the distance can be replaced with content that varies based on the distance.

[0193] Specifically, when the distance between the mobile robot and the table location is far, only simple information that can be confirmed from a distance (e.g., table area information, serving notification, etc.) such as table information is provided, and when the distance is close, more accurate and detailed (specific) information is provided by changing the content of the visual image and projecting it.

[0194] For example, referring to FIG. 8, if the distance calculated based on the table location (811) to be served by the mobile robot (100A) and its current location is so far that it is difficult to identify even from the table location (811), the mobile robot can drive while projecting advertising information (801) onto the ceiling. Accordingly, advertising information can be efficiently provided to other people within the driving space.

[0195] Thereafter, when the distance between the position of the mobile robot (100A) and the table position (811) reaches a predetermined distance range (L) (e.g., 10 m or less), a visual image (802) including table information '2' is projected. Then, when the distance is narrowed from the predetermined distance range (L) to a minimum distance (e.g., less than 1 m), the mobile robot (100A) can project a visual image (803) including detailed information on serving or additional information guiding the mobile robot (10) to take the food when it stops. Alternatively, as described in Fig. 7, the size of the table information '2' may be reduced while maintaining the content and continuously projected as a visual image.

[0196] In this way, by changing the content of the projected visual image according to the distance between the mobile robot (100A) and the table position (811), the execution status or degree of the task to be performed by the mobile robot (100A) can be intuitively grasped. Furthermore, by projecting information that can be accurately recognized, the present invention sufficiently satisfies the requirement of efficient information provision.

[0197] In this way, the mobile robot according to embodiments of the present invention can efficiently provide necessary information to necessary targets and maximize the utilization of projection by projecting information on the ceiling with different sizes of information and / or different displayed contents depending on the distance to the target related to the task being performed.

[0198] Meanwhile, if the visual image is obscured by a wall, structure, obstacle, or the like within the driving space while the mobile robot is moving toward the table position, a portion of the image may not be displayed or projection may be stopped for a certain period of time. To this end, the control unit (180) may control the projector (160) to temporarily stop projection.

[0199] Below, FIGS. 9a and 9b are drawings showing examples of changing the position of the projection area when the mobile robot (100) reaches a target related to the assigned task information.

[0200] As in the embodiments of FIGS. 7 and 8 described above, the mobile robot changes the size of the visual image or the displayed content and drives toward the target, then stops driving for the purpose of serving.

[0201] When the mobile robot (100) reaches the target, the control unit (180) of the mobile robot initiates the next operation state (e.g., serving food) for the assigned task. At this time, the control unit (180) can control the projector (160) to rotate / move / tilt, thereby changing the position at which the visual image is projected.

[0202] Specifically, the control unit (180) of the mobile robot (100) can control the projector (160) to project visual information related to the target onto the 'ceiling' while the mobile robot is moving toward the target related to the task, and to project variable visual information onto the 'floor' based on the mobile robot (100) reaching the target. This is because, when the mobile robot projects information onto the 'floor' around the target, it is a more efficient method of providing information when it informs the next operation status of the mobile robot (100) and takes into account the viewing angle of the customer being served.

[0203] For example, referring to FIG. 9A, while the mobile robot (100A) is moving toward the target table position (911), a visual image (901) is projected onto the ceiling, and when the mobile robot (100A) reaches or approaches the target table position (911), the mobile robot (100A) reduces its driving speed and turns off (deactivates) the projector (160). Then, a light provided at the bottom of the mobile robot (100A) can be activated to output a specific visual image (902) onto the floor area for the purpose of moving the gaze of the guest. Meanwhile, in another embodiment, the light provided at the bottom of the mobile robot (100A) can be replaced with a second projector.

[0204] Also, as another example, referring to FIG. 9b, when the mobile robot (100A) reaches or approaches the target table location (911), the mobile robot (100A) reduces its driving speed and rotates / moves / tilts the projector (160) so that the projection direction of the projector (160) faces the floor area. Thereafter, when the mobile robot (100A) stops, a visual image (903) related to the serving task is projected on the floor around the mobile robot (100A) to guide the guest at the target table location (911) to take out food. At this time, the visual image (903) projected on the floor may include guide information to guide the guest to take out the served food.

[0205] In this way, when the mobile robot according to an embodiment of the present invention reaches a target related to an assigned task, the projection position of the mobile robot (100) can be changed from the ceiling to the floor for safe and efficient information provision.

[0206] Meanwhile, the mobile robot (100) according to an embodiment of the present invention can provide useful information through the projector (160) even while executing an assigned task. Accordingly, the utilization of the projection can be maximized.

[0207] In this regard, FIG. 10a is a drawing illustrating a method for providing advertising information to those who do not use a mobile robot while the mobile robot (100) moves to execute an assigned task.

[0208] In addition, FIG. 10b is a drawing showing an example of projecting information output on the front display onto the ceiling area while the mobile robot (100) moves to execute an assigned task.

[0209] A mobile robot (100) according to an embodiment of the present invention may include a display unit (151, FIG. 1) that displays a screen or advertising information related to received work information.

[0210] For example, when a mobile robot (100) is operated for serving purposes, it can drive while displaying target table information or information about the contents (e.g., food) to be served through the display unit (151). In addition, for example, after the mobile robot (100) has completed its assigned task, or when there is no assigned task, or when there is no special information to be displayed even while performing a task, it can drive while displaying advertising information to utilize the display unit (151).

[0211] In an embodiment, when the operating status (or actual status) of the received work information includes movement to a target, the control unit (180) of the mobile robot (100) can project a screen output to the display unit (151) while the mobile robot (100) moves to the target onto the ceiling or floor corresponding to the current location of the mobile robot (100).

[0212] This means that the display unit (151) of the mobile robot (100) is placed on the front and / or rear of the body depending on the shape of the mobile robot, and the information displayed on the display unit (151) can be checked only when approaching the mobile robot (100).

[0213] In addition, if the display unit (151) is positioned only at the front of the mobile robot (100), a person positioned at the rear of the mobile robot (100) cannot check the information displayed on the display unit (151) even if he or she is close to the mobile robot (100). This also applies when the display unit (151) is positioned only at the rear of the mobile robot (100) and a person is positioned at the front of the mobile robot (100). Alternatively, a person who is close to the mobile robot (100) but is positioned diagonally may also have difficulty recognizing the information output on the display unit (151).

[0214] Accordingly, referring to FIG. 10a, when a mobile robot (100) is being used as a guide robot and provides route guidance to people (G), a visual image (1001) containing the same advertising information as that being output to the display unit (151) for people around the mobile robot (100) can be projected onto the ceiling via a projector (160). For example, signage for people who do not occupy the mobile robot (100) can be projected onto the ceiling.

[0215] Through this, people (G) using the mobile robot (100) can follow the mobile robot (100) and receive guidance, and people around them who do not use the mobile robot (100) can also receive information through visual images (1001) including projected advertising information. Accordingly, the utilization of the projector (160) is further maximized.

[0216] Meanwhile, while the mobile robot (100) is driving to provide route guidance, even if the mobile robot (100) displays map information on the front / rear display unit (151), it is not visible to a person at a distance. In addition, while the mobile robot (100) is moving to provide route guidance, it is difficult for a person to check the display unit (151) of the mobile robot (100) ahead even if the person is nearby. In such a case, the user becomes curious about how much is left to the destination.

[0217] Accordingly, referring to FIG. 10b, while the mobile robot (100) is driving for route guidance, a visual image (1002) including map information can be projected onto the ceiling via a projector (160) so that people (G) using the mobile robot can easily check the map information displayed on the display unit.

[0218] Alternatively, although not shown, while the mobile robot (100) moves to provide guidance, information output to the display unit (151) and information included in the image projected through the projector (160) may be provided differently.

[0219] For example, in FIG. 10b, while the mobile robot (100) is driving for route guidance, map information can be projected onto the ceiling through a projector (160) instead of the display unit, and advertising information can be output through the display unit.

[0220] In this way, the mobile robot (100) according to an embodiment of the present invention can overcome the limitations of the size and location of existing displays by projecting information output on the display unit onto the ceiling through a projector (160), and can provide the same information to multiple people even when there is a person occupying the display unit (151).

[0221] Meanwhile, the mobile robot (100) according to an embodiment of the present invention can change the projection position by considering the surrounding conditions detected by the mobile robot (100) to provide efficient information. In this case, the control unit (180) of the mobile robot (100) can adaptively change the size and / or content of the projected visual image to suit the changed projection area.

[0222] Figures 11a, 11b, 12a, 12b, and 12c are drawings showing various examples of determining the projection area of ​​a visual image differently depending on the surrounding situation detected by the mobile robot (100).

[0223] In an embodiment, the mobile robot (100) can detect the surroundings of the mobile robot (100) through at least one sensor included in the sensing unit (140). Here, the surroundings detected through at least one sensor may include surrounding obstacles (e.g., people, other robots, structures, etc.), obstacles in the projection area, and the contents of the projected image.

[0224] In an embodiment, the control unit (180) of the mobile robot (100) can control the projector (160) to project a visual image determined based on received status information or work information onto a first display position or to project the image onto a second display position different from the first display position based on detected surrounding conditions.

[0225] As an example, the first display location may be a ceiling matching the current location of the mobile robot (100). In addition, the second display location may be a wall or floor matching the current location of the mobile robot (100), or another area of ​​the ceiling (or an area projected at a different angle onto the ceiling).

[0226] In addition, in an embodiment, the control unit (180) of the mobile robot (100) can temporarily stop the operation of the projector (160) so as not to perform projection within a certain angle range when controlling the rotation / movement / tilting of the projector (160).

[0227] For example, referring to FIG. 11A, when the projector (160) performs a rotation / movement / tilting operation by the control unit (180) of the mobile robot (100), projection is performed normally in the first range (1101) for projecting a visual image on the floor and in the third range (1103) for projecting a visual image on the ceiling. However, projection may not be performed during the second range (1102) in which a visual image can be projected between the first range (1101) and the third range (1103). This means that by not performing projection during the second range (1102), the vision of a person in the vicinity who has a field of view in the corresponding range can be protected and glare can be avoided. Meanwhile, when the projector (160) continues to rotate / move / tilt and enters the first range (1101) or the third range (1103), the projector (160) performs projection again.

[0228] Meanwhile, even when the mobile robot (100) performs projection through the projector (160) in the first range (1101) and the third range (1103), the projection can be stopped based on the surrounding situation detected by the sensing unit (140).

[0229] For example, referring to FIG. 11b, while the mobile robot (100) is projecting toward the ceiling in the third range (1103), the projection can be stopped based on the detection of the approach of a person (P1) (a). Similarly, while the mobile robot (100) is projecting toward the floor in the first range (1101), if the approach of a person (P2) is detected and the line of sight of the person (P2) is within the first range (1101) through the camera (121), the projector (160) can be controlled to stop the projection (b). That is, the projection is stopped when an obstacle (P1, P2) is detected at the projection location. At this time, the detection of the obstacles (P1, P2) can be performed through other sensors of the sensing unit (140), such as a radar, a ToF camera, etc., in addition to the camera (121) of the mobile robot (100).

[0230] In addition, in an embodiment, the control unit (180) of the mobile robot (100) can change the position of the image projected by the projector (160) from a first display position (e.g., ceiling) to a second display position (e.g., floor or wall) based on at least one of the surrounding obstacles detected by at least one sensor and the state of the ceiling. That is, in order to efficiently convey information, the position of the projection can be changed or the projection can be temporarily stopped.

[0231] Referring to Fig. 12a, let's say that when a mobile robot (100) projects a visual image (1201) toward the ceiling, it discovers a structure (e.g., a light) on the ceiling (a). Then, if it is determined that the visual image (1201) is difficult to clearly recognize due to the structure, the projection area where the visual image (1201) is projected can be changed by performing rotation / translation / tilting of the projector (160).

[0232] For example, the mobile robot (100) may project a visual image (1202a) onto a different area of ​​the ceiling by changing the angle rather than performing projection in the vertical direction of the head (b). Alternatively, as another example, the angle of the projector (160) of the mobile robot (100) may be significantly adjusted to project a visual image (1202b) onto a floor area (c).

[0233] Meanwhile, the visual images (1202a, 1202b) projected onto different projection areas may have their sizes and / or contents changed to suit the changed projection areas.

[0234] In another embodiment, the mobile robot (100) may operate to project visual images only within a specific set area when performing projection. For example, referring to FIG. 12B, a specific area where projection is possible may be set by avoiding structures on the ceiling (e.g., lights). This may be used in the same sense as the projectible area described above. The mobile robot (100A, 100B) within the driving space may adjust the rotation / movement / tilting of the projector (160) so that visual images (1203, 1204) may be projected only within the specific set area (1210).

[0235] As another example, referring to FIG. 12c, the mobile robot (100) can detect people and locations in the surroundings through the camera (121) and determine a visual location that can be seen by the largest number of people as a new projection area. For example, the mobile robot (100) can detect each location (C1, C2, C3) where a person (P) is standing through the camera (121), and then, considering their viewing angles, project a visual image (1205) to an optimal area, for example, a ceiling area.

[0236] Meanwhile, although not shown, in the embodiment, the projection area of ​​the mobile robot (100) can be projected by applying weights to a plurality of situational information detected through the sensing unit (140) without changing according to a set order, and adaptively changing the position and size of the projection area in consideration of the weight values.

[0237] Continuing, referring to FIGS. 13a and 13b below, it will be explained that the mobile robot (100) visually recognizes the image projected by the tarot robot and projects it by finding a projection area suitable for itself.

[0238] According to an embodiment, the mobile robot (100) can project its own visual image while avoiding the visual image of the other robot.

[0239] To this end, the mobile robot (100) can visually recognize visual information projected by the taro robot in an area matching the location of the mobile robot through a sensing unit (140), for example, a camera (121). Then, the control unit (180) can avoid the visual information projected by the taro robot based on the visual recognition and project its own visual information onto the ceiling or floor.

[0240] Additionally, the mobile robot (100) can recognize information about the task to be performed by the tarobot or the status information of the tarobot through visual recognition. To this end, the mobile robot (100) can visually recognize the relevant area and its surrounding area through a camera (121) before projecting a visual image onto a ceiling area, for example, in the vertical direction of the head.

[0241] For example, referring to FIG. 13A, while the first mobile robot (100A) projects a visual image (1301) onto the ceiling via a projector (160), the surrounding second mobile robot (100B) can perform visual recognition of the vertical direction of its head and its surrounding area via its camera (121) before performing the projection. Accordingly, it can recognize the visual image (1301) projected by the first mobile robot (100A).

[0242] At this time, the second mobile robot (100B) can determine its own new projection area through visual recognition of the visual image (1301) and / or recognize status information or work information of the first mobile robot (100A) included in the visual image (1301).

[0243] For example, the second mobile robot (100B) can rotate / move / tilt the projector (160) to change its projection area to another location, for example, the floor area, as shown in FIG. 13b, and project a cigar image (1302) related to its status information or work information onto the floor area.

[0244] As another example, the second mobile robot (100B) can recognize the task information of another robot, i.e., the first mobile robot (100A), based on visual recognition of the visual image (1301) of the first mobile robot (100A), and then project visual information related to its next action onto the ceiling or floor based on the recognition. This can be considered an efficient method for enabling mutual recognition between multiple mobile robots without using a communication module.

[0245] For example, if the first mobile robot among multiple callable mobile robots displays task information, a second mobile robot that does not communicate directly with it can visually recognize this and project to the outside that it will move to the queue or perform another task.

[0246] Below, various embodiments of a method for a mobile robot (100) according to an embodiment of the present invention to project advertising information rather than information about its own status or operation will be described.

[0247] In an embodiment, the control unit (180) of the mobile robot (100) may determine that there is no assigned task based on the received task information of the mobile robot, and activate the projection function of advertising information according to the set display mode. Next, the control unit (180) may project the corresponding advertising information onto the ceiling or wall / floor via the projector (160).

[0248] Figure 14 is a diagram illustrating an example of a mobile robot (100) projecting advertising information in a queue area. The mobile robot (100) waits within a queue (1400) in the queue area to be assigned a task. At this time, the mobile robot (100) can project advertising information (1401) onto the ceiling according to a set display mode until it is assigned a task.

[0249] At this time, the set display mode may mean a display mode that is permitted to project advertising information according to the projection strategy of the driving space.

[0250] Additionally, advertising information (1401) may be projected onto a wall or floor. If the projection area on which advertising information (1401) is projected changes, advertising information (1401) may be projected with a size and / or content appropriate for the changed projection area.

[0251] Meanwhile, in the set display mode, the mobile robot (100) can project advertising information (1401) on the ceiling even while moving to the queue (1400) after completing the assigned task.

[0252] Below, we will describe a method in which multiple mobile robots collaborate to project advertising information.

[0253] FIG. 15a, FIG. 15b, FIG. 16a, FIG. 16b, and FIG. 16c are exemplary drawings for explaining a method in which multiple mobile robots within a queue area collaborate to project advertising information.

[0254] Multiple mobile robots can communicate with each other within the same driving space. However, even when communication is not possible, multiple mobile robots can collaborate and project a single advertising message through the aforementioned visual recognition.

[0255] For example, multiple mobile robots can display a single advertisement information separately, or can project linked advertisement information through mutual recognition.

[0256] In an embodiment, the control unit (180) of the mobile robot (100) can detect that the mobile robot has entered a queue area and determine advertising information to be projected based on the position of the mobile robot in the queue area and the length of the queue. Next, the mobile robot (100) can project the determined advertising information onto the ceiling or floor matching its position in the queue area.

[0257] That is, multiple mobile robots can determine the visual information to display based on the length of the queue and their respective positions within the queue. Furthermore, the mobile robots can determine the overall advertising information to display and the partial images to project. If there is movement within the queue, the mobile robots can re-determine the partial images to project based on their changed positions within the queue.

[0258] Referring to Fig. 15a, the first mobile robot (100A) and the second mobile robot (100B) within the queue area (1500) can divide and project a single advertisement information (1501). Accordingly, the limitations of the image size that a single mobile robot can project can be overcome, and advertisement information can be projected in a wider variety of forms.

[0259] Additionally, as illustrated in FIG. 15b, when a third mobile robot (100C) is added within the queue area (1500), the visual image (1502) can be projected by changing it to be larger and include more content. At this time, the visual images previously projected by the first mobile robot (100A) and the second mobile robot (100B) are also reconstructed.

[0260] That is, the first to third mobile robots (100A, 100B, 100C) each project a visual image (1502) displaying a single advertisement information. To this end, the first to third mobile robots (100A, 100B, 100C) can project a single advertisement information by communicating with each other or visually recognizing the images projected by each other and then calibrating them.

[0261] Thus, the image size of the advertising information projected by the mobile robot in the queue area may vary depending on the length of the queue and the mobile robot's position within the queue. If the queue length changes or the mobile robot moves within the queue, the projected visual image changes.

[0262] Additionally, in an embodiment, multiple mobile robots within a queue area can project advertising information more three-dimensionally using both the ceiling and the walls.

[0263] Referring to Fig. 16a, when one mobile robot is located within the queue area (1600), the first advertising information (1601) is projected onto the ceiling.

[0264] Referring to FIG. 16b, if another mobile robot is added within the queue area (1600), one of them can continue to project the first advertisement information (1601) onto the ceiling, and the other added mobile robot can project the second advertisement information (1602) onto the wall.

[0265] Referring to FIG. 16c, in a case where the first to fourth mobile robots (100A, 100B, 100C, 100D) are positioned within a queue area (1600), some of them may operate to project integrated advertising information (1603) onto the ceiling, and the rest may operate to project advertising information (1604) onto a wall. For example, the first to third mobile robots (100A, 100B, 100C) may project advertising information onto the ceiling, and the third mobile robot (100D) may project advertising information onto the wall. At this time, each advertising information (1603, 1604) projected onto the ceiling and the wall may form a single integrated three-dimensional advertisement according to a projection strategy.

[0266] Continuing, FIGS. 17 and 18 relate to a method for strategically projecting visual images by multiple mobile robots within a driving space according to different projection modes.

[0267] Excessive information projection within the driving space can create confusion and diminish the importance and value of the information. This is antithetical to efficient information provision.

[0268] The mobile robot (100) can operate to display different types of visual information in each area of ​​the driving space according to the set projection strategy, i.e., the display mode.

[0269] At this time, the display mode can be divided into minimum display mode, optimal display mode, and maximum display mode depending on whether the advertisement projection function is activated. Specifically, in minimum display mode, the mobile robot (100) can only project visual images related to status information or task information. Furthermore, in maximum display mode, the mobile robot (100) can project advertisement information on the ceiling or other surfaces even when there is no assigned task or request.

[0270] Additionally, in the optimal display mode, the mobile robot (100) can determine whether to project visual images in different display modes depending on the area.

[0271] For example, in a serving area, a mobile robot (100) can project visual images related to work information, in a waiting area, a mobile robot (100) can project advertising information, and regardless of the area, a visual image related to status information can be projected only when there is a request from a manager or in an emergency situation.

[0272] In an embodiment, the control unit (180) of the mobile robot (100) can set different types of visual information to be projected for each of the multiple areas within the driving space. In this case, the types of visual information can broadly include status information, task information, and advertising information.

[0273] In addition, in an embodiment, the control unit (180) of the mobile robot (100) can recognize the type of visual information to be projected based on an area matching the current location of the mobile robot, and can determine the visual information to be projected based on the type of the recognized visual information and the received task information.

[0274] For example, in a queue area where advertisement projection is permitted, advertisement information can be determined as the visual information to be projected. Furthermore, for example, in a hall area where serving is performed, task information can be determined as the visual information to be projected.

[0275] Figure 17 is an example of multiple mobile robots (100A, 100B, 100C) operating in a minimum display mode within a driving space.

[0276] In a driving space, a mobile robot (100A) driving according to an assigned serving task can project information related to the task, for example, a target table location, onto the ceiling as visual information (1701) while driving. In addition, in the driving space, a mobile robot (100B) that has reached a target table location (1711) can project visual information (1702) onto the floor. Meanwhile, a mobile robot (100C) that has completed its task and returned to the waiting area may not project visual information.

[0277] Figure 18 is an example in which multiple mobile robots (100A, 100B, 100C) within a driving space are operated in maximum display mode or optimal display mode by zone.

[0278] In the driving space, the mobile robot (100A) that is driving according to the assigned serving task projects visual information (1801) onto the ceiling, and the mobile robot (100B) that returns after completing the task can project advertising information in the maximum display mode or, in the optimal display mode, can project advertising information only when other mobile robots do not project visual information. In addition, in the waiting area, multiple mobile robots (100C) can collaborate to project a single advertising information (1802) onto the ceiling.

[0279] In this way, each of the plurality of mobile robots within the driving space can determine whether to project a visual image and what information to project based on the set processing mode or display mode.

[0280] As described above, the mobile robot according to an embodiment of the present invention can detect its surroundings while driving and change the projection area, or the size or content of the projected image. This allows for more efficient information provision. Furthermore, in the event of an emergency, such as upon a manager's request or through status detection, the location and abnormal status of the mobile robot can be monitored from a distance. Furthermore, by varying the size and content of the displayed information depending on the distance to the target associated with the task being performed, the necessary information can be efficiently provided to the required audience, maximizing the utilization of projection. Furthermore, by projecting the information output on the mobile robot's display onto the ceiling, limitations in display size and location can be overcome, and the same information can be provided to multiple people simultaneously, even when the mobile robot is occupied by a person. Furthermore, multiple mobile robots can collaborate to display a single advertisement or project linked advertisement information through mutual recognition.

[0281] Further scope of the applicability of the present invention will become apparent from the detailed description below. However, since various modifications and variations within the spirit and scope of the present invention will become apparent to those skilled in the art, it should be understood that the detailed description and specific examples, such as preferred embodiments of the present invention, are given by way of example only.

[0282] The features, structures, effects, etc. described in the embodiments above are included in at least one embodiment of the present invention, and are not necessarily limited to just one embodiment. Furthermore, the features, structures, effects, etc. exemplified in each embodiment can be combined or modified in other embodiments by those skilled in the art to which the embodiments pertain. Therefore, the contents related to such combinations and modifications should be construed as falling within the scope of the present invention.

[0283] In addition, although the above description focuses on examples, these are merely examples and do not limit the present invention. Those skilled in the art to which the present invention pertains will appreciate that various modifications and applications not exemplified above are possible without departing from the essential characteristics of the present invention. For example, each component specifically shown in the examples can be modified and implemented. In addition, differences related to such modifications and applications should be interpreted as being included within the scope of the present invention defined in the appended claims.

Claims

1. A projector positioned on one side of the mobile robot and configured to project visual information; and It includes a control unit that controls the projection of visual information to the outside using the above projector, The above control unit, A method of dividing a plurality of areas within the driving space of the mobile robot, receiving status information and work information of the mobile robot, determining projectible visual information in an area matching the current location of the mobile robot among the plurality of areas based on at least one of the received status information and work information, and controlling the projector to project the determined visual information at a variable location depending on the surroundings of the mobile robot. Mobile robot.

2. In paragraph 1, The above multiple areas are multiple ceiling areas divided according to the purpose of use of the driving space, The visual information that can be projected in each area is: Depending on at least one of the following: whether the above mobile robot is in use, the status of the above mobile robot, the assigned task, the progress of the task, the presence of other mobile robots in the vicinity, the status of the ceiling and floor corresponding to each area, and the congestion of the above driving space. Mobile robot.

3. In paragraph 2, The above control unit, Based on the status information of the above mobile robot, it is determined that an external notification is required, and based on the determination, visual information indicating the status information of the above mobile robot is projected onto the ceiling or floor corresponding to the current location of the above mobile robot. Mobile robot.

4. In paragraph 3, The visual information indicating the status information of the above mobile robot is: Visual information indicating either low battery or driving location of the above mobile robot, Mobile robot.

5. In paragraph 2, The above control unit, Based on the task information assigned to the mobile robot, visual information related to the operational status of the task information is projected onto the ceiling or floor corresponding to the location of the mobile robot while the mobile robot is moving. Mobile robot.

6. In paragraph 5, The above control unit, When the operational status of the above work information includes movement to a target, visual information related to the target is projected in a variable manner based on the distance between the first position corresponding to the target and the second position corresponding to the movement of the mobile robot. Mobile robot.

7. In paragraph 6, The above control unit, According to the movement of the mobile robot, at least one of the size or content of the visual information related to the target is changed according to the distance between the first position and the second position and projected onto the ceiling or floor. Mobile robot.

8. In paragraph 7, The above control unit, While the mobile robot moves toward the target, visual information related to the target is projected onto the ceiling, and based on the mobile robot reaching the target, variable visual information is projected onto the floor. Mobile robot.

9. In paragraph 5, Further comprising a display unit that displays a screen related to the above work information, The above control unit, If the operational status of the above work information includes movement to the target, the screen output to the display unit is projected onto the ceiling or floor corresponding to the current location of the mobile robot while the mobile robot moves to the target. Mobile robot.

10. In paragraph 1, The above control unit, Detecting the surroundings of the mobile robot through at least one sensor, Controlling the projector to project the determined visual information on a first display position or to project it on a second display position different from the first display position based on the detection result. Mobile robot.

11. In paragraph 10, The first display position is a ceiling matching the current location of the mobile robot, and the second display position is a wall or floor matching the current location of the mobile robot. The above control unit, Projecting the visual information by changing to the second display position based on at least one of the surrounding obstacles and the state of the ceiling detected by the at least one sensor. Mobile robot.

12. In paragraph 1, The above control unit, Based on the task information of the above mobile robot, it is determined that there is no assigned task, Activating the projection function of advertising information according to the set display mode and projecting the advertising information as the determined visual information. Mobile robot.

13. In paragraph 1, It further includes a sensing unit that visually recognizes visual information projected by the tarot robot in an area matching the location of the above-mentioned mobile robot, The above control unit, Avoiding the visual information projected by the tarot robot according to the above visual recognition, the determined visual information is projected onto the ceiling or floor. Mobile robot.

14. In paragraph 13, The above control unit, Recognize the work information of the tarot robot according to the above visual recognition, and project visual information related to the next action on the ceiling or floor based on the above recognition. Mobile robot.

15. In paragraph 1, The above control unit, Detecting that the above mobile robot has entered a queue area, determining advertising information to be projected based on the position of the mobile robot in the queue area and the length of the queue, and projecting the determined advertising information onto the ceiling or floor matching the queue area. Mobile robot.

16. In paragraph 15, The image size of the above advertising information is determined by the length of the above queue. The above control unit, Recognizing the position of the mobile robot in the above queue area, determining a partial image to be projected by the mobile robot among the advertisement information based on the recognized position, and projecting the determined partial image onto the ceiling or floor matching the above queue area. Mobile robot.

17. In paragraph 16, The above determined partial image is, which varies depending on the length of the queue or the movement of the position of the mobile robot within the queue area. Mobile robot.

18. In paragraph 1, The above control unit, Set the type of visual information to be projected differently for each of the above-mentioned multiple areas, Recognizing the type of visual information to be projected based on the area matching the current position of the mobile robot, and determining the visual information to be projected based on the type of the recognized visual information and the received task information. Mobile robot.

Images