Robot and control method therefor

Abstract

A robot is provided. The robot comprises: a time of flight (ToF) sensor; a moisture removal module for removing moisture from a cover glass disposed on the ToF sensor; a memory; and at least one processor causing the robot to receive, through the ToF sensor, a reflection signal obtained by reflecting, by an object, a signal output from the ToF sensor, to identify that moisture is on the cover glass when the ToF sensor outputs, on the basis of the reflection signal, a value indicating an overlapping state of the reflection signal, and to remove the moisture from the cover glass by using the moisture removal module.

Description

Robot and its control method

[0001] The present disclosure relates to a robot and a method for controlling the same, and more specifically, to an autonomous mobile robot that drives autonomously and a method for controlling the same.

[0002] In addition to simple repetitive functions, robots can autonomously navigate by detecting their surroundings in real time and collecting information based on sensors and cameras. Such robots are currently being used in many fields, and in the kitchen, autonomous robots are widely used for service purposes.

[0003] Meanwhile, kitchen spaces may have high humidity and transparent objects such as glass doors. In this case, if the autonomous mobile robot's sensors fail to detect the accurate location of objects due to moisture, smooth autonomous driving may be impossible.

[0004] The information described above may be provided as related art for the purpose of aiding understanding of the present disclosure. No claim or determination is made as to whether any of the foregoing may be applied as prior art related to the present disclosure.

[0005] A robot according to one embodiment of the present disclosure includes a time of flight (ToF) sensor for detecting objects around the robot, a moisture removal module for removing moisture from a cover glass placed on the ToF sensor, a memory for storing instructions, and at least one processor including processing circuitry. When the instructions are executed individually or collectively by the at least one processor, the robot receives a reflected signal through the ToF sensor that is reflected by the object from a signal output from the ToF sensor, and when the ToF sensor outputs a value indicating the superposition state of the reflected signal based on the reflected signal, the robot identifies that there is moisture on the cover glass and removes the moisture from the cover glass using the moisture removal module.

[0006] A control method for a robot including a ToF sensor according to one embodiment of the present disclosure comprises the steps of: receiving a reflected signal through the ToF sensor that is reflected by an object, which is a signal output from the ToF sensor; identifying that there is moisture on the cover glass when the ToF sensor outputs a value indicating the superposition state of the reflected signal based on the reflected signal; and removing moisture from the cover glass placed on the ToF sensor using a moisture removal module included in the robot.

[0007] A non-transient computer-readable recording medium storing one or more instructions executed by a processor of an autonomous driving robot to perform an operation according to one embodiment of the present disclosure, wherein the operation comprises the steps of: receiving a reflected signal through the ToF sensor that is reflected by an object from a signal output from the ToF sensor; identifying that there is moisture on the cover glass when the ToF sensor outputs a value indicating a superposition state of the reflected signal based on the reflected signal; and removing moisture from the cover glass placed on the ToF sensor using a moisture removal module included in the robot.

[0008] In relation to the description of the drawings, the same or similar reference numerals may be used for identical or similar components.

[0009] FIG. 1 is a diagram schematically illustrating a robot in space according to one embodiment.

[0010] FIG. 2 is a block diagram illustrating the configuration of a robot according to one embodiment.

[0011] FIG. 3 is a block diagram illustrating the detailed configuration of an autonomous driving robot according to one embodiment.

[0012] FIG. 4 is a drawing for explaining a ToF sensor and a cover glass included in a robot according to one embodiment.

[0013] FIG. 5 is a flowchart illustrating a method for a robot to remove moisture adsorbed on a cover glass according to one embodiment.

[0014] FIG. 6 is a diagram illustrating a signal output from a TOF sensor according to one embodiment.

[0015] FIGS. 7A and 7B are drawings illustrating the path of a signal according to the state of the cover glass according to one embodiment.

[0016] FIG. 8 is a diagram illustrating the superposition state of a reflected signal according to one embodiment.

[0017] FIGS. 9a to 9c are drawings illustrating the operation of removing moisture from the cover glass using a moisture removal module according to one embodiment.

[0018] The terms used in the embodiments of this disclosure have been selected to be as widely used and general as possible, taking into account their functions within this disclosure; however, these terms may vary depending on the intent of those skilled in the art, case law, the emergence of new technologies, etc. Additionally, in specific cases, terms have been arbitrarily selected by the applicant, and in such cases, their meanings will be described in detail in the relevant explanatory section of this disclosure. Therefore, terms used in this disclosure should be defined not merely by their names, but based on their meanings and the overall content of this disclosure.

[0019] In this specification, expressions such as “have,” “may have,” “include,” or “may include” indicate the presence of such features (e.g., numerical values, functions, operations, or components such as parts) and do not exclude the presence of additional features.

[0020] The expression "at least one of A or / and B" should be understood as representing either "A" or "B" or "A and B".

[0021] Expressions such as "first," "second," "first," or "second" used in this specification may modify various components regardless of order and / or importance, and are used only to distinguish one component from another and do not limit said components.

[0022] Where it is stated that a component (e.g., Component 1) is "operatively or communicatively coupled with / to" or "connected to" another component (e.g., Component 2), it should be understood that the component may be directly connected to the other component or connected through the other component (e.g., Component 3).

[0023] The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, terms such as "comprising" or "consisting of" are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0024] In the present disclosure, a "module" or "part" performs at least one function or operation and may be implemented in hardware or software, or a combination of hardware and software. Additionally, a plurality of "modules" or a plurality of "parts" may be integrated into at least one module and implemented by at least one processor, except for a "module" or "part" that needs to be implemented in specific hardware.

[0025] In this specification, the term "user" may refer to a person using the robot or a device using the robot (e.g., an artificial intelligence robot).

[0026] An embodiment of the present disclosure will be described in more detail below with reference to the attached drawings.

[0027] FIG. 1 is a diagram schematically illustrating a robot in space according to one embodiment.

[0028] Referring to FIG. 1, the robot (100) can move through space (10) and perform various actions such as serving and cleaning. The robot (100) may be, for example, an autonomous mobile robot (AMR).

[0029] The robot (100) can perceive the surrounding space and move autonomously. The robot (100) perceiving the surrounding space (10) and moving may include the robot (100) exploring the surroundings to detect locations and surrounding objects, and using the detected information to avoid surrounding objects or move autonomously along an optimal path. Movement may be replaced with expressions such as driving, for example. Objects may include various types of obstacles existing in the space (10) where the robot (100) is located. Objects may include, for example, doors, walls, furniture, home appliances, etc.

[0030] The space (10) may refer to an area where the robot (100) travels. The space (10) may include various indoor spaces such as, for example, a house, a hotel, a shop, a mart, a restaurant, etc.

[0031] Meanwhile, the robot (100) can travel in a special space. A special space may refer to, for example, a space (10) where a transparent glass door exists or where the robot (100) can be easily contaminated by contaminants. For example, a special space may include a kitchen, a dining room, etc.

[0032] When the robot (100) is driving in a special space, additional sensors (e.g., 1D ToF, time of flight) may be required to detect transparent objects such as glass doors. Meanwhile, since the special space can easily contaminate the sensors with contaminants (e.g., moisture, water droplets, etc.), the robot (100) may require additional configurations to protect the sensors from contaminants. Configurations to protect the sensors from contaminants may include, for example, a cover glass. The cover glass can protect the sensors from physical damage or contaminants such as dust and moisture.

[0033] FIG. 2 is a block diagram illustrating the configuration of a robot according to one embodiment.

[0034] Referring to FIG. 2, the robot (100) may include at least one processor (110) (hereinafter referred to as processor (110)), memory (120), moisture removal module (130), and ToF sensor (140). Meanwhile, the configuration of the robot (100) shown in FIG. 2 is merely one embodiment, and it is understood that some configurations may be added depending on the embodiment.

[0035] The processor (110) can cause other components of the robot (100) to perform various operations by executing instructions stored in memory (120). For example, the processor (110) can control the operation of the robot (100) by operatively connecting with memory (120), a moisture removal module (130), and a TOF sensor (140). Additionally, the processor (110) can control the operation of the robot (100) according to the present disclosure by executing one or more instructions stored in memory (120). The processor (110) may be composed of one or more processors.

[0036] The processor (110) may include one or more of a CPU (Central Processing Unit), GPU (Graphics Processing Unit), APU (Accelerated Processing Unit), MIC (Many Integrated Core), DSP (Digital Signal Processor), NPU (Neural Processing Unit), hardware accelerator, or machine learning accelerator. The processor (110) may control one or any combination of other components of the autonomous mobile robot (100) and may perform operations or data processing related to communication. The processor (110) may execute one or more programs or instructions stored in the memory (120) of the autonomous mobile robot (100). For example, the processor (110) may perform a method according to one embodiment of the present disclosure by executing one or more instructions stored in the memory (120).

[0037] The processor (110) may be implemented as one or more IC (integrated circuit (or circuitry)) chips and may perform various data processing operations. The processor (110) may include at least one electrical circuit and may process instructions (or programs, data, etc.) stored in memory (120) individually or collectively. The processor (110) may include a processor assembly comprising one or more processing circuits. The processor (110) may include any processing circuit that is operative to control the performance and operations of one or more components of the robot (100) (e.g., memory (120), moisture removal module (130), and TOF sensor (140)). For example, the processor (110) may include one or more processing circuits. For example, the processor (110) may include one or more processing circuits configured to perform various functions of the present disclosure individually and / or collectively. As a non-limiting example, at least a portion of the processor (110) may be included in the first chip of the robot (100), and at least another portion of the processor (110) may be included in the second chip of the robot (100) different from the first chip of the robot (100).

[0038] When a method according to one embodiment of the present disclosure includes a plurality of operations, the plurality of operations may be performed by a single processor or by a plurality of processors. For example, when a first operation, a second operation, and a third operation are performed by a method according to one embodiment, the first operation, the second operation, and the third operation may all be performed by a first processor, or the first operation and the second operation may be performed by a first processor (e.g., a general-purpose processor) and the third operation may be performed by a second processor (e.g., an artificial intelligence dedicated processor).

[0039] The processor (110) may be implemented as a single-core processor including one core, or as one or more multicore processors including multiple cores (e.g., homogeneous multicore or heterogeneous multicore). When the processor (110) is implemented as a multicore processor, each of the multiple cores included in the multicore processor may include internal processor memory such as cache memory or on-chip memory, and a common cache shared by the multiple cores may be included in the multicore processor. Additionally, each of the multiple cores included in the multicore processor (or some of the multiple cores) may independently read and execute program instructions for implementing a method according to one embodiment of the present disclosure, or all (or some) of the multiple cores may be linked together to read and execute program instructions for implementing a method according to one embodiment of the present disclosure.

[0040] When a method according to one embodiment of the present disclosure includes a plurality of operations, the plurality of operations may be performed by one of the plurality of cores included in a multi-core processor, or may be performed by a plurality of cores. For example, when a first operation, a second operation, and a third operation are performed by a method according to one embodiment, the first operation, the second operation, and the third operation may all be performed by a first core included in a multi-core processor, or the first operation and the second operation may be performed by a first core included in a multi-core processor and the third operation may be performed by a second core included in a multi-core processor.

[0041] In the embodiments of the present disclosure, a processor may mean a system-on-chip (SoC) in which one or more processors and other electronic components are integrated, a single-core processor, a multi-core processor, or a core included in a single-core processor or a multi-core processor, wherein the core may be implemented as a CPU, GPU, APU, MIC, DSP, NPU, hardware accelerator, or machine learning accelerator, but the embodiments of the present disclosure are not limited thereto.

[0042] Memory (120) is configured to store various programs, instructions, data, etc. used for the operation of the robot (100). One or more instructions may be stored in memory (120). Memory (120) may be implemented as at least one of various types of memory, such as DRAM (dynamic RAM), SRAM (static RAM), SDRAM (synchronous dynamic RAM), OTPROM (one time programmable ROM), PROM (programmable ROM), EPROM (erasable and programmable ROM), EEPROM (electrically erasable and programmable ROM), mask ROM, flash ROM, flash memory, hard drive, or solid state drive (SSD).

[0043] The moisture removal module (130) may include hardware components for removing moisture adsorbed on the cover glass of the ToF sensor (140). The moisture removal module (130) may include, for example, a transparent heater composed of a transparent wire, a wiper, a fan, etc. As an example, the transparent heater may include a thin wire arranged in a mesh form on the cover glass. The processor (110) may remove moisture from the cover glass by providing heat to the cover glass using the transparent heater. As an example, the fan may be located near the cover glass and blow air toward the cover glass. The processor (110) may remove moisture from the cover glass by blowing air toward the cover glass using the fan. As an example, the wiper may be located at the top center of the cover glass. The processor (110) may remove moisture from the cover glass by operating the wiper.

[0044] The ToF sensor (140) may be a sensor for obtaining the distance to an object located around the autonomous mobile device (100). The processor (110) may use the ToF sensor (140) to output a signal and detect the signal that is reflected from the object and returns to the sensor to obtain the distance to the object. For example, the ToF sensor (140) may include a 1D ToF sensor.

[0045] FIG. 3 is a block diagram illustrating the detailed configuration of an autonomous driving robot according to one embodiment.

[0046] Referring to FIG. 3, the robot (100) may include a processor (110), memory (120), moisture removal module (130), sensor (141), driving unit (150), communication interface (160), input interface (170), and output interface (180). However, such configuration is exemplary, and it is understood that new configurations may be added or some configurations omitted in addition to such configurations when implementing the present disclosure. Meanwhile, detailed descriptions of configurations shown in FIG. 3 that overlap with configurations shown in FIG. 2 will be omitted.

[0047] The sensor (141) is configured to sense information regarding the surrounding environment of the robot (100). The sensor (141) can generate electrical information from non-electronic information related to the robot (100) that can be processed by the processor (110) and / or memory (120). The information may be referred to as sensor data. The processor (110) can obtain information regarding the surrounding environment of the robot (100) based on the sensor data of the sensor (141).

[0048] According to one embodiment, the sensor (141) may include a ToF sensor (140), a LiDAR sensor (142), and a camera (143).

[0049] The lidar sensor (142) emits a laser in a 360-degree direction, and when a laser reflected from an object is received, it can obtain information about the indoor space by analyzing the time difference for the laser to be reflected back from the object and the signal strength of the received laser. The information about the indoor space may include the location, distance, and direction of the object. The lidar sensor (142) can provide the acquired information about the indoor space to the processor (110).

[0050] The camera (143) can capture images around the robot (100). For example, the camera (143) can capture the front of the robot (100).

[0051] According to one example, the camera (143) may include a three-dimensional camera sensor (e.g., a depth camera). The three-dimensional camera sensor may capture images around the robot (100) to generate three-dimensional spatial information related to the robot (100). For example, the three-dimensional camera sensor may detect the distance to objects around the robot (100) to generate an image (e.g., a depth image) containing three-dimensional distance information. The image may contain depth information for each pixel. Accordingly, the data acquired by the three-dimensional camera sensor may include three-dimensional coordinate information (e.g., (x,y,z) coordinate values) of points explored by the three-dimensional camera sensor through scanning. For example, the three-dimensional camera sensor may be implemented in various ways, such as stereo vision or IR (Infra Red) methods.

[0052] The drive unit (150) can move the robot (100). For example, the drive unit (150) may include at least one wheel, at least one motor for rotating the wheel, a brake for stopping the rotating wheel, etc. The processor (110) can control the drive unit (150) to perform various driving actions such as moving, stopping, speed control, turning, and changing angular velocity of the robot (100).

[0053] The communication interface (160) can communicate with an external device through a network. The external device may include a server, a home appliance, a mobile device (e.g., a smartphone, a tablet PC, a wearable device, etc.). The communication interface (160) may include a wireless communication module. The communication module may be implemented as at least one hardware chip.

[0054] Networks may include wide area networks (WANs) such as the Internet, local area networks (LANs) formed around access points (APs), and short-range wireless networks that do not pass through access points (APs). Short-range wireless networks may include Bluetooth (Bluetooth™, IEEE 802.15.1), Zigbee (IEEE 802.15.4), Wi-Fi Direct, Near Field Communication (NFC), Z-Wave, etc., but are not limited thereto.

[0055] According to one example, the communication interface (160) can communicate with an external device through an access point (AP). For example, the access point (AP) can connect the local network (LAN) to which the robot (100) is connected to a wide area network (WAN) to which the server is connected. The robot (100) can be connected to the server through the wide area network (WAN). The access point (AP) can communicate with the robot (100) using wireless communication such as Wi-Fi (Wi-Fi™, IEEE 802.11), Bluetooth, or Zigbee, and can connect to the wide area network (WAN) using wired communication. Additionally, the communication interface (160) can communicate with other external devices through the server. For example, the communication interface (160) can communicate with external devices, mobile devices, etc., through the server.

[0056] According to one example, the robot (100) may be directly connected to an external device without going through an access point (AP). For example, the communication interface (160) may communicate with the external device via a long-range wireless network or a short-range wireless network. The robot (100) may be connected to home appliances, mobile devices, etc. via a short-range wireless network (e.g., Wi-Fi Direct). Additionally, the robot (100) may be connected to an external device via a wide area network (WAN) using a long-range wireless network (e.g., a cellular communication module).

[0057] The input interface (170) includes circuitry. The input interface (170) can receive user input and transmit the user input to the processor (110). For example, the input interface (170) can receive various user inputs for setting or selecting various functions supported by the robot (100).

[0058] The input interface (170) may include various types of input devices.

[0059] According to one example, the input interface (170) may include a physical button. The physical button may include a function key or a dial button. The physical button may be implemented as one or more keys.

[0060] According to one example, the input interface (170) can receive user input using a touch method. For example, the input interface (170) can be implemented as a touch screen capable of performing the function of a display.

[0061] According to one example, the input interface (170) can receive user voice using a microphone. The processor (110) can perform a function corresponding to the user voice using voice recognition. For example, the processor (110) can convert the user voice into text data using a Speech To Text (STT) function, obtain control command data based on the text data, and perform a function corresponding to the user voice based on the control command data. According to an embodiment, the STT function may be performed on an external server.

[0062] The output interface (180) may include a display. The display may display various screens. The processor (110) may display various notifications, messages, information, etc. related to the operation of the robot (100) on the display.

[0063] The display may be implemented as a display including self-emissive elements or as a display including non-emissive elements and a backlight. For example, the display may be implemented as various types of displays such as LCD (Liquid Crystal Display), OLED (Organic Light Emitting Diodes) display, LED (Light Emitting Diodes) display, micro LED display, Mini LED display, QLED (Quantum dot light-emitting diodes) display, etc.

[0064] FIG. 4 is a drawing for explaining a ToF sensor and a cover glass included in a robot according to one embodiment.

[0065] Referring to FIG. 4, the robot (100) may include at least one ToF sensor (140-1 to 140-5). At least one ToF sensor (140-1 to 140-5) may be positioned on the front of the robot (100).

[0066] According to one embodiment, the ToF sensor (140) may include a signal output module (410) and a signal receiving module (420). The signal output module (410) may output a signal for identifying the distance between the robot (100) and an object. The signal may include, for example, a light signal (e.g., laser, infrared), a sound wave signal, or a radio wave. The signal output module (410) may include, for example, at least one of a laser diode, an LED (light emitting diode), an ultrasonic transducer, or an antenna. For example, if the signal is a light signal, the signal output module (410) may be a laser diode or an LED. For example, if the signal is a sound wave signal, the signal output module (410) may be an ultrasonic transducer. For example, if the signal is a radio wave, the signal output module (410) may be an antenna.

[0067] The signal receiving module (420) may refer to a module for detecting a reflected signal when the signal output from the signal output module (410) is reflected by an object. The signal receiving module (420) may include, for example, at least one of a photo detector (PD), a photo receiver, an ultrasonic transducer, or a receiving antenna. For example, if the signal is a light signal, the signal receiving module (420) may be a photo detector or a photo receiver. For example, if the signal is a sound wave signal, the signal receiving module (420) may be an ultrasonic transducer. For example, if the signal is a radio wave, the signal receiving module (420) may be an antenna.

[0068] For example, the ToF sensor (140) can measure the distance to an object based on the phase difference between the signal output from the signal output module (410) and the signal detected by the signal receiving module (420) after the signal is reflected from the object. For example, the ToF sensor (140) can measure the distance to an object based on the time difference between the time when the signal is output from the signal output module (410) and the time when the signal is detected by the signal receiving module (420) after the signal is reflected from the object.

[0069] The cover glass (430) may be a glass film (or a transparent plastic film) that covers the surface of the TOF sensor (140) to protect the TOF sensor (140) from contaminants or physical impact. The cover glass (430) can protect the TOF sensor (140) from contaminants without affecting the intensity of the signal output from the TOF sensor (140) and the intensity of the signal reflected from an object. The cover glass (430) may be replaced with expressions such as protective glass, transparent cover, optical cover, etc.

[0070] FIG. 5 is a flowchart illustrating a method for a robot to remove moisture adsorbed on a cover glass according to one embodiment.

[0071] The processor (110) can perform at least one of the operations of FIG. 5. For example, when instructions stored in memory (120) are executed individually or collectively by the processor (110), the robot (100) can be made to perform the operations of FIG. 5.

[0072] In operation 510, according to one embodiment, the processor (110) can receive a reflected signal through the ToF sensor (140) that is reflected by an object from a signal output from the ToF sensor (140). A description of the signal output from the ToF sensor (140) is explained in detail in FIG. 6.

[0073] FIG. 6 is a diagram illustrating a signal output from a TOF sensor according to one embodiment.

[0074] Referring to FIG. 6, the TOF sensor (140) can output a plurality of signals (610-1 to 610-n) at intervals of a certain period. The plurality of signals (610-1 to 610-n) may have a constant frequency. For example, the TOF sensor (140) may output a signal of one wavelength at intervals of one second. The TOF sensor (140) may output a first signal (610-1) at 0 seconds, a second signal (610-2) at 1 second, and an nth signal (610-n) at n seconds. Meanwhile, although the plurality of signals (610-1 to 610-n) are depicted in the form of a sine wave in FIG. 6, they are not limited thereto. The plurality of signals (610-1 to 610-n) may include signals having a constant frequency, such as a pulse shape, a cosine wave shape, a square wave shape, etc.

[0075] For example, let us assume a case where a processor (110) outputs a plurality of light signals (610-1 to 610-n, hereinafter referred to as signals (610)) through a ToF sensor (140). The processor (110) can output signals (610) using a signal output module of the ToF sensor (140) (e.g., 410 in FIG. 4). The signal output module may be an LED. The signals may be modulated signals having a constant frequency. As an example, the processor (110) may output signals in which the signal strength (amplitude) changes according to a constant frequency.

[0076] According to one embodiment, the signal (610) may be reflected by an object located within the space. The object may include, for example, an object located in front of the ToF sensor (140), such as a glass door, furniture, or a person. The processor (110) may detect the reflected signal reflected by the object using the ToF sensor (140). The processor (110) may identify the distance between the robot (100) and the object based on the phase difference between the signal (610) output from the ToF sensor (140) and the signal reflected by the object detected using the ToF sensor (140).

[0077] In operation 520, according to one embodiment, the processor (110) can obtain a value indicating the superposition state of the reflected signal using the ToF sensor (140). The superposition state of the reflected signal may mean that a plurality of signals output from the TOF sensor (140) are superimposed and detected by the TOF sensor (140). The superposition state of the reflected signal is described in detail in FIGS. 7a, 7b, and 8.

[0078] FIGS. 7A and 7B are drawings illustrating the path of a signal according to the state of the cover glass according to one embodiment.

[0079] FIG. 7a is a diagram showing the path of a signal when moisture is not adsorbed on the cover glass according to one embodiment.

[0080] The fact that moisture has been adsorbed onto the cover glass may mean that there is moisture (or water droplets) on the surface of the cover glass.

[0081] FIG. 7a illustrates an example of a case where water droplets are not adsorbed onto the cover glass (710). The processor (110) can detect a signal reflected from an external object (730) using a TOF sensor (140). For example, the ToF sensor (140) can receive a signal reflected from an external object.

[0082] If no water droplets are adsorbed on the cover glass (710), the signal path may include a path (720) that is output from a signal output module (e.g., 410 in FIG. 4) and reflected by an external object toward a signal receiving module (e.g., 420 in FIG. 4).

[0083] FIG. 7b is a diagram showing the path of a signal when a water droplet is adsorbed onto a cover glass according to one embodiment.

[0084] When water droplets are adsorbed on the cover glass (760), the processor (110) can detect signals reflected from the object using the TOF sensor (140). For example, the TOF sensor (140) can detect signals reflected from the external object (790) as well as signals reflected from moisture (765) adsorbed on the cover glass. When moisture is adsorbed on the cover glass (760), the signal path may include a path (770) that is output from a signal output module (e.g., 410 in FIG. 4) and reflected by the external object (790) toward a signal receiving module, and a path (780) that is output from a signal output module (e.g., 410 in FIG. 4) and reflected by moisture (765) on the cover glass (760) toward a signal receiving module (e.g., 420 in FIG. 4). When moisture is adsorbed onto the cover glass (760), the TOF sensor (140) can output a value indicating the superposition state of the reflected signal.

[0085] According to one embodiment, the ToF sensor (140) identifies whether the reflected signal is in a superposition state based on the reflected signal, and if the reflected signal is superpositioned, outputs a value indicating the superposition state of the reflected signal. The reflected signal may be a signal that is reflected by an object from the signal output by the ToF sensor (140).

[0086] According to one embodiment, the TOF sensor (140) may be configured to output a value indicating the superposition state of the reflected signal when it is identified that the reflected signal is in a superposition state. The superposition state of the reflected signal is described in detail in FIG. 8.

[0087] FIG. 8 is a diagram illustrating the superposition state of a reflected signal according to one embodiment.

[0088] According to one embodiment, the processor (110) can output a plurality of signals at regular intervals through the TOF sensor (140).

[0089] Referring to FIG. 8, the processor (110) can detect a plurality of reflected signals using a TOF sensor (140). For example, the TOF sensor (140) can detect a reflected signal (810) (hereinafter referred to as the first reflected signal) based on a first signal among a plurality of signals output through a signal output module (e.g., 410 in FIG. 4) and a reflected signal (820) (hereinafter referred to as the second reflected signal) based on a second signal among a plurality of signals output through the TOF sensor (140) through a signal receiving module (e.g., 420 in FIG. 4).

[0090] According to one embodiment, the superposition state of the reflected signal may mean that the TOF sensor (140) detects a portion of the first reflected signal (810) and at least a portion of the second reflected signal (820) in an overlapping manner.

[0091] For example, the case where at least a portion of the first reflected signal (810) and at least a portion of the second reflected signal (820) are detected in overlap may mean the case where at least a portion of the second reflected signal (820) is received during at least a portion (840) of the time interval (830) in which the first reflected signal (810) is received. When the TOF sensor (140) detects at least a portion of the first reflected signal (810) and at least a portion of the second reflected signal (820) in overlap, it may output a value indicating the overlap state of the reflected signals.

[0092] For example, if a first signal among a plurality of signals output from the TOF sensor (140) is reflected by an external object and a second signal among a plurality of signals output from the TOF sensor (140) is reflected by moisture adsorbed on the cover glass, a first reflected signal based on the first signal and a second reflected signal based on the second signal may be superimposed. In this case, the TOF sensor (140) may output a value indicating the superimposed state of the reflected signals.

[0093] However, it is not limited to this, and the processor (110) can identify whether the reflected signals are superimposed based on sensor data obtained using the TOF sensor (140).

[0094] According to one embodiment, the processor (110) can identify that there is moisture in the cover glass when the ToF sensor (140) outputs a value indicating the superposition state of the reflected signal.

[0095] For example, the processor (110) can identify that there is moisture in the cover glass if it identifies that the ratio of the number of times the ToF sensor (140) outputs a value indicating the superposition state of the reflected signal to the number of times the ToF sensor (140) outputs a signal is greater than or equal to a preset ratio.

[0096] For example, let us assume that the processor (110) outputs 100 signals using the ToF sensor (140). If the processor (110) detects the superposition state of the reflected signal 30 or more times while outputting 100 signals using the ToF sensor (140), it can identify that there is moisture on the cover glass.

[0097] In operation 530, according to one embodiment, if moisture is identified in the cover glass, the processor (110) can remove the moisture from the cover glass using a moisture removal module (130).

[0098] The operation of the processor (110) removing moisture from the cover glass using the moisture removal module (130) is described in detail in FIG. 9a and FIG. 9b.

[0099] FIGS. 9a to 9c are drawings illustrating the operation of removing moisture from the cover glass using a moisture removal module according to one embodiment.

[0100] FIG. 9a is a diagram illustrating the operation of removing moisture from a cover glass (920) using a transparent heater according to one embodiment.

[0101] Referring to 901 in FIG. 9a, the moisture removal module (130) may include a transparent heater (910) placed on the cover glass. If the processor (110) identifies that there is moisture on the cover glass (920) based on the value of the superposition state of the reflected signal received from the TOF sensor (140), it may apply voltage to both ends of the transparent heater (910) to provide heat to the cover glass (920). Referring to 902 in FIG. 9a, the robot (100) may remove moisture from the cover glass (920) through the heat applied to the cover glass (930). Through the transparent heater method, the robot (100) can maintain signal transmittance to the cover glass and lightness of the sensor.

[0102] FIG. 9b is a diagram illustrating the operation of removing moisture from a cover glass using a wiper according to one embodiment.

[0103] Referring to 903 in FIG. 9b, the moisture removal module (130) may include a wiper (940) located on the cover glass. The wiper (940) may be a device that moves left and right to wipe away moisture on the cover glass (950). If the processor (110) identifies that there is moisture on the cover glass (950) based on the value of the superposition state of the reflected signal received from the TOF sensor (140), it may activate the wiper (940) to remove the moisture on the cover glass (950).

[0104] Referring to 904 in FIG. 9b, the robot (100) can move the wiper (940) left and right to remove moisture from the cover glass (960).

[0105] FIG. 9c is a diagram illustrating the operation of removing moisture from a cover glass using a fan according to one embodiment.

[0106] Referring to 905 in FIG. 9c, the moisture removal module (130) may include a fan (970) located around the cover glass (980). The fan (970) may be a device that removes moisture on the cover glass (980) by sending air to the cover glass. If the processor (110) identifies that there is moisture on the cover glass (980) based on the value of the superposition state of the reflected signal received from the TOF sensor (140), it may activate the fan (970) to remove moisture on the cover glass (980).

[0107] Referring to 906 in FIG. 9c, the robot (100) can blow air onto the cover glass (990) through the fan (970) to remove moisture from the cover glass (990).

[0108] If the cover glass is contaminated with contaminants such as moisture, the robot (100) may be unable to detect normal objects through the TOF sensor (140). Additionally, the reflected signal from the contaminant may cause a phenomenon that distorts the reflected signal from an external object. Meanwhile, although the user can remove the contaminant from the cover glass directly, frequently removing the contaminant from the cover glass may cause inconvenience to the user.

[0109] Accordingly, as described above, the robot (100) can control the moisture removal module (130) based on a value representing the superposition state of the reflected signal output from the TOF sensor (140). Accordingly, the robot (100) can remove contaminants from the cover glass without user intervention. The robot (100) can minimize distortion of the reflected signal caused by contaminants.

[0110] A robot according to one embodiment of the present disclosure may include at least one processor comprising a time of flight (ToF) sensor for detecting objects around the robot, a moisture removal module for removing moisture from a cover glass placed on the ToF sensor, a memory for storing instructions, and processing circuitry. When the instructions are executed individually or collectively by the at least one processor, the robot may receive a reflected signal through the ToF sensor that is reflected by the object from a signal output from the ToF sensor, and when the ToF sensor outputs a value indicating the superposition state of the reflected signal based on the reflected signal, identify that there is moisture on the cover glass and remove the moisture from the cover glass using the moisture removal module.

[0111] For example, the ToF sensor may be configured to output a value indicating the superposition state of the reflection signals when at least a portion of the second reflection signal based on the second signal output from the ToF sensor is received during at least a portion of the time interval in which the first reflection signal based on the first signal output from the ToF sensor is received.

[0112] For example, when the above instructions are executed individually or collectively by the at least one processor, the robot may identify that there is moisture in the cover glass if it is identified that the ratio of the number of times the ToF sensor outputs a value indicating the superposition state of the reflected signal to the number of times the ToF sensor outputs a signal is greater than or equal to a preset ratio.

[0113] For example, the moisture removal module may include a transparent heater placed on the cover glass.

[0114] For example, when the above instructions are executed individually or collectively by the at least one processor, the robot may provide heat to the cover glass through the transparent heater to remove the moisture from the cover glass if it is identified that there is moisture in the cover glass.

[0115] For example, the moisture removal module may include a fan placed on the cover glass.

[0116] For example, when the above instructions are executed individually or collectively by the at least one processor, if the robot identifies that there is moisture on the cover glass, it may activate the fan to remove the moisture from the cover glass.

[0117] A control method for a robot including a time of flight (ToF) sensor according to one embodiment of the present disclosure may include the steps of: receiving a reflected signal through the ToF sensor that is reflected by an object, which is a signal output from the ToF sensor; identifying that there is moisture on the cover glass when the ToF sensor outputs a value indicating the superposition state of the reflected signal based on the reflected signal; and removing moisture from the cover glass placed on the ToF sensor using a moisture removal module included in the robot.

[0118] For example, the ToF sensor may be configured to output a value indicating the superposition state of the reflection signals when at least a portion of the second reflection signal based on the second signal output from the ToF sensor is received during at least a portion of the time interval in which the first reflection signal based on the first signal output from the ToF sensor is received.

[0119] For example, the step of identifying that there is moisture in the cover glass may include identifying that there is moisture in the cover glass if the ratio of the number of times the ToF sensor outputs a value indicating the superposition state of the reflected signal to the number of times the ToF sensor outputs a signal is identified as being greater than or equal to a preset ratio.

[0120] For example, the moisture removal module may include a transparent heater placed on the cover glass.

[0121] For example, the step of removing moisture from the cover glass may include, when it is identified that there is moisture in the cover glass, providing heat to the cover glass through the transparent heater to remove the moisture from the cover glass.

[0122] For example, the moisture removal module may include a fan placed on the cover glass.

[0123] For example, the step of removing moisture from the cover glass may include the step of operating the fan to remove moisture from the cover glass when it is identified that there is moisture in the cover glass.

[0124] According to one embodiment of the present disclosure, a non-transient computer-readable recording medium may be included for storing one or more instructions executed by a control unit of an autonomous robot to perform an action.

[0125] For example, the above operation may include the step of receiving a reflected signal that is reflected by the object through the ToF sensor, which is a signal output from the ToF sensor; the step of identifying that there is moisture on the cover glass when the ToF sensor outputs a value indicating the superposition state of the reflected signal based on the reflected signal; and the step of removing moisture from the cover glass placed on the ToF sensor using a moisture removal module included in the robot.

[0126] Although various embodiments have been described above, each embodiment is not necessarily implemented individually, and may be combined with at least one other embodiment, either wholly or partially, to be implemented together in a single product.

[0127] Meanwhile, embodiments of the present disclosure may also be implemented in the form of a recording medium containing computer-executable instructions, such as program modules executed by a computer. A computer-readable medium may be any available medium accessible by a computer and includes both volatile and non-volatile media, and both removable and non-removable media. Additionally, a computer-readable medium may include computer storage media and communication media. Computer storage media include both volatile and non-volatile, removable and non-removable media implemented by any method or technique for storing information, such as computer-readable instructions, data structures, program modules, or other data. Communication media may typically include other data of modulated data signals, such as computer-readable instructions, data structures, or program modules.

[0128] Additionally, computer-readable storage media may be provided in the form of non-transitory storage media. Here, 'non-transitory storage media' simply means that it is a tangible device and does not contain a signal (e.g., electromagnetic waves), and this term does not distinguish between cases where data is stored semi-permanently and cases where it is stored temporarily. For example, 'non-transitory storage media' may include a buffer in which data is stored temporarily.

[0129] According to one embodiment, the method according to the various embodiments disclosed herein may be provided by being included in a computer program product. The computer program product may be traded between a seller and a buyer as a product. The computer program product may be distributed in the form of a device-readable storage medium (e.g., compact disc read-only memory (CD-ROM)), or distributed online (e.g., download or upload) through an application store or directly between two user devices (e.g., smartphones). In the case of online distribution, at least a portion of the computer program product (e.g., downloadable app) may be temporarily stored or temporarily created on a device-readable storage medium, such as the memory of a manufacturer's server, an application store's server, or a relay server.

[0130] The foregoing description of the present disclosure is for illustrative purposes only, and those skilled in the art will understand that other specific forms can be easily modified without altering the technical spirit or essential features of the present disclosure. Therefore, the embodiments described above should be understood as illustrative in all respects and not restrictive. For example, each component described as a single unit may be implemented in a distributed manner, and components described as distributed may likewise be implemented in a combined form.

[0131] The scope of the present disclosure is defined by the claims set forth below rather than by the detailed description above, and all modifications or variations derived from the meaning and scope of the claims and equivalent concepts thereof should be interpreted as being included within the scope of the present disclosure.

Claims

1. Regarding robots (autonomous mobile robots), A ToF (time of flight) sensor for detecting objects around the robot; A moisture removal module for removing moisture from a cover glass placed on the above ToF sensor; Memory for storing instructions; and At least one processor including processing circuitry; comprising, When the above instructions are executed individually or collectively by the at least one processor, the robot, The signal output from the above ToF sensor receives the reflected signal reflected by the object through the above ToF sensor, and When the above ToF sensor outputs a value indicating the superposition state of the reflected signal based on the reflected signal, it is identified that there is moisture on the cover glass, and A robot that removes moisture from the cover glass using the above moisture removal module.

2. In Paragraph 1, The above ToF sensor is, A robot configured to output a value indicating the superposition state of the reflection signals when, during at least a portion of the time interval in which a first reflection signal based on a first signal output from the ToF sensor is received, at least a portion of a second reflection signal based on a second signal output from the ToF sensor is received.

3. In Paragraph 1, When the above instructions are executed individually or collectively by the at least one processor, the robot, A robot that identifies that there is moisture in the cover glass if the ratio of the number of times the ToF sensor outputs a value indicating the superposition state of the reflected signal to the number of times the ToF sensor outputs a signal is greater than or equal to a preset ratio.

4. In Paragraph 1, The above moisture removal module includes a transparent heater disposed on the cover glass, and When the above instructions are executed individually or collectively by the at least one processor, the robot, A robot that, when it is identified that there is moisture in the cover glass, provides heat to the cover glass through the transparent heater to remove the moisture from the cover glass.

5. In Paragraph 1, The above moisture removal module includes a fan disposed on the cover glass, and When the above instructions are executed individually or collectively by the at least one processor, the robot, A robot that, when it is identified that there is moisture on the cover glass, operates the fan to remove the moisture from the cover glass.

6. A control method for a robot including a ToF (time of flight) sensor, A step of receiving a reflected signal through the ToF sensor that is reflected by the object from the signal output from the ToF sensor; A step of identifying that there is moisture in the cover glass when the ToF sensor outputs a value indicating the superposition state of the reflected signal based on the reflected signal; and A control method comprising the step of removing moisture from a cover glass placed on a ToF sensor using a moisture removal module included in the robot.

7. In Paragraph 6, The above ToF sensor is, A control method configured to output a value indicating the superposition state of the reflection signals when at least a portion of a second reflection signal based on a second signal output from the ToF sensor is received during at least a portion of a time interval in which a first reflection signal based on a first signal output from the ToF sensor is received.

8. In Paragraph 6, The step of identifying that there is moisture in the cover glass is, A control method comprising: a step of identifying that there is moisture in the cover glass if the ratio of the number of times the ToF sensor outputs a value indicating the superposition state of the reflected signal to the number of times the ToF sensor outputs a signal is greater than or equal to a preset ratio.

9. In Paragraph 6, The above moisture removal module includes a transparent heater disposed on the cover glass, and The step of removing moisture from the above cover glass is, A control method comprising the step of, if it is identified that there is moisture in the cover glass, providing heat to the cover glass through the transparent heater to remove the moisture from the cover glass.

10. In Paragraph 6, The above moisture removal module includes a fan disposed on the cover glass, and The step of removing moisture from the above cover glass is, A control method comprising the step of, if it is identified that there is moisture on the cover glass, operating the fan to remove the moisture from the cover glass.

11. A non-transient computer-readable recording medium that stores one or more instructions executed by a processor of an autonomous robot to enable the robot to perform an action, The above operation is, A step of receiving a reflected signal through the ToF sensor that is reflected by the object from the signal output from the ToF sensor; A step of identifying that there is moisture in the cover glass when the ToF sensor outputs a value indicating the superposition state of the reflected signal based on the reflected signal; and A computer-readable recording medium comprising the step of removing moisture from a cover glass placed on the ToF sensor using a moisture removal module included in the robot.

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