KR101897775B1

KR101897775B1 - Moving robot and controlling method thereof

Info

Publication number: KR101897775B1
Application number: KR1020160026616A
Authority: KR
Inventors: 박성길; 전형신; 이정현; 최혁두
Original assignee: 엘지전자 주식회사
Priority date: 2016-03-04
Filing date: 2016-03-04
Publication date: 2018-09-12
Also published as: KR20170103556A

Abstract

The present invention relates to a mobile robot, and more particularly, to a vacuum cleaner that performs autonomous traveling, including a main body, a driving unit for providing driving force for moving the main body, A three-dimensional camera sensor for generating three-dimensional coordinate information related to the three-dimensional coordinate information, and calculating a distance between a plurality of points distributed around the main body and one point of the main body based on the generated three-dimensional coordinate information, And a control unit for detecting information related to at least one of the terrain and the obstacles existing around the main body using the plurality of distance values, and controlling the driving unit based on the detected information.

Description

[0001] MOVING ROBOT AND CONTROLLING METHOD THEREOF [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile robot and a control method thereof, and more particularly, to a vacuum cleaner that performs autonomous traveling and a control method thereof.

In general, robots have been developed for industrial use and have been part of factory automation. In recent years, medical robots, aerospace robots, and the like have been developed, and household robots that can be used in ordinary homes are being developed.

A representative example of the domestic robot is a robot cleaner, which is a type of household appliance that sucks and cleanes dust or foreign matter around the robot while traveling in a certain area by itself. Such a robot cleaner is generally equipped with a rechargeable battery and has an obstacle sensor capable of avoiding obstacles during traveling, so that it can run and clean by itself.

In recent years, research has been actively carried out to utilize the robot cleaner in various fields such as health care, smart home, and remote control by moving away from the cleaning operation by merely autonomously moving the cleaning area by the robot cleaner.

Specifically, the conventional robot cleaner includes only an infrared sensor, an ultrasonic sensor, an RF sensor, an optical sensor, or a camera sensor for acquiring a two-dimensional image in order to detect information related to an obstacle. Therefore, it is difficult to obtain accurate obstacle information in the conventional robot cleaner.

In particular, conventional robot cleaners generally detect obstacles by using two-dimensional image information obtained by a two-dimensional camera sensor. By using such two-dimensional image information, the distance between the obstacle and the robot body and the three- It is difficult to detect.

In addition, the conventional robot cleaner extracts feature points from two-dimensional image information to detect obstacle information. When the two-dimensional image information is formed such that feature point extraction is disadvantageous, the accuracy of the detected obstacle information is remarkably degraded.

In order to detect the information related to the material of the floor surface, the conventional robot cleaner determines the output level of the driving motor of the robot cleaner according to the material of the floor surface based on the output value of the driving motor, Or not. However, since the degree to which the output value of the driving motor varies depending on the material of the bottom surface is not constant, such a determination method has a problem that accuracy is low.

In order to solve such a problem, there is a need for a robot cleaner equipped with a three-dimensional camera sensor.

However, since the viewing angle of the 3D camera sensor is narrower than that of the 2D camera sensor, there arises a problem that the area in which the robot cleaner using the 3D camera sensor can acquire the obstacle information at a certain point is somewhat limited.

Also, since the 3D camera sensor acquires a larger amount of data than the 2D camera sensor, the amount of computation of the robot cleaner using the 3D camera sensor may be excessively increased.

If the amount of computation of the robot cleaner is excessively increased, time required for detecting the obstacle information and determining the traveling algorithm corresponding to the obstacle information is increased, so that it is difficult to immediately react to the surrounding obstacles.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a three-dimensional camera sensor that acquires three-dimensional coordinate information related to an obstacle located in a terrain or a periphery around a mobile robot or a robot cleaner, The present invention provides a vacuum cleaner that performs autonomous traveling that performs traveling, and a control method thereof.

It is another object of the present invention to provide a cleaner for performing autonomous traveling which can reduce an amount of computation and immediately respond to an obstacle in the process of detecting information related to a bottom surface using three-dimensional coordinate information obtained from a three- And to provide a control method thereof.

It is another object of the present invention to provide a method and apparatus for detecting information related to a floor by using three-dimensional coordinate information obtained from a three-dimensional camera sensor, And a control method thereof.

It is another object of the present invention to provide a vacuum cleaner which can detect the distance between an obstacle and a main body and the shape of an obstacle more accurately by using a three-dimensional camera sensor, and a control method thereof.

It is also an object of the present invention to provide a vacuum cleaner and a control method thereof that can autonomously travel while accurately detecting information related to an obstacle even when the viewpoint of the three-dimensional camera sensor is changed.

According to an aspect of the present invention, there is provided a vacuum cleaner for performing autonomous traveling, the vacuum cleaner including a main body, a driving unit for providing a driving force for moving the main body, And a three-dimensional camera sensor for generating related three-dimensional coordinate information.

In addition, the vacuum cleaner performing autonomous travel according to the present invention calculates the distance between a plurality of points distributed around the main body and one point of the main body, based on the generated three-dimensional coordinate information, And a control unit for detecting information related to at least one of the terrain and obstacles existing around the main body by using a plurality of distance values and controlling the driving unit based on the detected information.

In one embodiment, the three-dimensional camera sensor may capture an image associated with a floor surface located on a side of the main body in the traveling direction, and may include a plurality of three-dimensional And generates coordinate information.

In one embodiment, the plurality of points are located within a predetermined distance from a reference point of the photographed image.

In one embodiment, the plurality of points form a grid including the reference point.

In one embodiment, the controller calculates distances from one point of the main body to the plurality of points using the plurality of three-dimensional coordinate information, and calculates a degree of dispersion (degree) of the calculated plurality of distance values and the output level of the driving unit is set based on the scattering of the driving signal.

In one embodiment, the control unit calculates an average value and a variance of the calculated plurality of distance values, and sets an output level of the driving unit based on the calculated average value and variance.

In one embodiment, the apparatus further includes a memory for storing a database related to a distance value between the floor surface and the main body, and the controller updates the database using the calculated plurality of distance values.

In one embodiment, the control unit controls the driving unit to increase the driving force when the calculated variance is greater than a predetermined reference variance value.

In one embodiment, the image forming apparatus may further include an output sensing unit that senses information related to an output of the driving unit, wherein the control unit uses the output sensing unit to determine whether a change in output of the driving unit during a unit time And controls the three-dimensional camera sensor to photograph an image related to the bottom surface positioned on the side of the main body in the traveling direction, according to the determination result related to the output change.

In one embodiment, the apparatus further comprises a connecting member coupled between the three-dimensional camera sensor and the body, the connecting member changing a direction in which the three-dimensional camera sensor is directed, the connecting member tilting the three- tilting the three-dimensional camera sensor, and a second rotation motor for panning the three-dimensional camera sensor.

In one embodiment, the control unit detects the information related to the obstacle disposed around the main body based on the three-dimensional coordinate information, and controls the driving unit to perform the avoidance driving for the detected obstacle .

In one embodiment, the control unit predicts the moving direction of the main body when performing the avoidance driving, and controls the connecting member to control the direction of the three-dimensional camera sensor based on the predicted moving direction .

In one embodiment, the controller rotates the three-dimensional camera sensor in a direction opposite to the predicted movement direction.

In one embodiment, the control unit returns the direction in which the three-dimensional camera sensor is directed in the moving direction of the main body when the avoidance driving is completed.

In one embodiment, the controller generates normal vector information by using neighboring three-dimensional coordinate information with respect to any one of the generated three-dimensional coordinate information, and forms a plane on the basis of the generated vector information And detects an area corresponding to a bottom surface of the detected area.

According to the present invention, since the mobile robot can acquire the three-dimensional coordinate information related to the obstacle by using the three-dimensional camera sensor, the mobile robot can more accurately acquire the information related to the terrain or the obstacle located around the mobile robot The effect is derived.

In addition, according to the present invention, since the mobile robot can detect the distance between the obstacle located in the periphery of the mobile robot and the mobile robot in real time using the three-dimensional coordinate information, Effect is derived.

In addition, according to the present invention, the obstacle avoiding operation for avoiding an obstacle can be performed quickly by reducing the calculation amount of the mobile robot using the three-dimensional camera sensor, so that the obstacle avoiding operation performance of the mobile robot is improved . That is, according to the present invention, since the mobile robot can immediately change the moving direction to avoid the obstacle, the collision between the mobile robot and the obstacle can be prevented.

According to the present invention, since the effect of noise generated in the three-dimensional camera sensor can be reduced when the mobile robot detects the terrain or obstacle information located in the periphery of the mobile robot, Or the information related to the obstacle can be obtained more accurately.

Further, according to the present invention, it is possible to more accurately detect the material or shape of the floor in which the mobile robot is running.

According to the present invention, even when the viewpoint of the three-dimensional camera sensor is changed by the movement of the mobile robot or the rotation of the three-dimensional camera sensor, information related to the terrain or the obstacle located in the periphery of the mobile robot can be accurately detected .

According to another aspect of the present invention, there is provided a mobile robot for detecting obstacles or terrain information using a three-dimensional camera sensor having a relatively narrow viewing angle, which is capable of avoiding an obstacle located at a wider angle than a viewing angle of a three- Effect is derived.

1A is a block diagram illustrating components of a mobile robot according to an embodiment of the present invention.
1B is a block diagram showing more detailed components of the sensing unit 140 included in the mobile robot of the present invention.
2A to 2D are conceptual diagrams showing an embodiment of a mobile robot having a three-dimensional camera sensor according to the present invention.
FIGS. 3A and 3B are conceptual diagrams showing a connection member for changing the direction in which the three-dimensional camera sensor provided in the mobile robot according to the present invention is oriented relative to the main body of the mobile robot.
4A and 4B are conceptual diagrams illustrating a method of detecting a bottom surface using three-dimensional coordinate information in a mobile robot according to the present invention.
4C is a flowchart illustrating a method of detecting a bottom surface using three-dimensional coordinate information.
5 is a flowchart illustrating a method of detecting a bottom surface using three-dimensional coordinate information in a mobile robot according to the present invention.
FIG. 6 is a graph showing a change in the output value of the driving motor over time when the mobile robot according to the present invention travels roughly.
FIGS. 7A and 7B are conceptual diagrams showing a method for a mobile robot according to the present invention to detect information related to a material of a floor using a three-dimensional camera sensor. FIG.
7C is a flowchart illustrating a method for a mobile robot according to the present invention to detect information related to a material of a floor using a three-dimensional camera sensor.
8A and 8B are conceptual diagrams showing a method of avoiding an obstacle while changing a photographing angle by a three-dimensional camera sensor provided in a mobile robot according to the present invention.
FIG. 8C is a flowchart illustrating a method of changing a direction of a three-dimensional camera sensor based on three-dimensional coordinate information obtained by a three-dimensional camera sensor according to the present invention.
9A to 9C are conceptual diagrams illustrating an embodiment for determining a three-dimensional coordinate system associated with three-dimensional coordinate information generated by a three-dimensional camera sensor of a mobile robot according to the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In the following, FIG. 1A, components of a mobile robot according to an embodiment of the present invention will be described in detail.

1A, a mobile robot according to an embodiment of the present invention includes a communication unit 110, an input unit 120, a driving unit 130, a sensing unit 140, an output unit 150, a power source unit 160 ), A memory 170, and a controller 180, or a combination thereof.

At this time, it is needless to say that the components shown in FIG. 1A are not essential, so that a robot cleaner having components having more components or fewer components can be implemented. Hereinafter, each component will be described.

First, the power supply unit 160 includes a battery that can be charged by an external commercial power supply, and supplies power to the mobile robot. The power supply unit 160 supplies driving power to each of the components included in the mobile robot, and supplies operating power required for the mobile robot to travel or perform a specific function.

At this time, the controller 180 senses the remaining power of the battery, and when the remaining power is insufficient, controls the battery 180 to move to a charge connected to the external commercial power source, and receives the charging current from the charging stand to charge the battery. The battery may be connected to the battery sensing unit so that the battery remaining amount and the charging state may be transmitted to the control unit 180. The output unit 150 can display the battery remaining amount on the screen by the control unit.

The battery may be located at the bottom of the center of the robot cleaner, or may be located at either the left or right side. In the latter case, the mobile robot may further include a balance weight to eliminate weight biases of the battery.

Meanwhile, the driving unit 130 includes a motor. By driving the motor, the left and right main wheels can be rotated in both directions to rotate or move the main body. The driving unit 130 can advance the main body of the mobile robot forward, backward, leftward, rightward, curved, or rotated in place.

Meanwhile, the input unit 120 receives various control commands from the user for the robot cleaner. The input unit 120 may include one or more buttons, for example, the input unit 120 may include an OK button, a setting button, and the like. The OK button is a button for receiving a command for confirming the detection information, the obstacle information, the position information, and the map information from the user, and the setting button is a button for receiving a command for setting the information from the user.

Also, the input unit 120 may include an input reset button for canceling the previous user input and receiving the user input again, a delete button for deleting the preset user input, a button for setting or changing the operation mode, A button for receiving an input, and the like.

The input unit 120 may be installed on the upper portion of the mobile robot using a hard key, a soft key, a touch pad, or the like. In addition, the input unit 120 may have a form of a touch screen together with the output unit 150.

On the other hand, the output unit 150 can be installed on the upper portion of the mobile robot. Of course, the installation location and installation type may vary. For example, the output unit 150 may display a battery state, a traveling mode, and the like on a screen.

In addition, the output unit 150 can output the state information of the mobile robot, for example, the current state of each configuration included in the mobile robot, detected by the sensing unit 140. [ The output unit 150 may display the external status information, the obstacle information, the position information, the map information, and the like detected by the sensing unit 140 on the screen. The output unit 150 may include any one of a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, and an organic light emitting diode (OLED) As shown in FIG.

The output unit 150 may further include sound output means for audibly outputting an operation process or an operation result of the mobile robot performed by the control unit 180. [ For example, the output unit 150 may output a warning sound to the outside in accordance with the warning signal generated by the control unit 180.

On the other hand, the communication unit 110 is connected to the terminal device and / or another device (referred to as "home appliance" in this specification) located in a specific area and a communication method of one of wired, wireless, And transmits and receives signals and data.

The communication unit 110 can transmit and receive data with other devices located in a specific area. In this case, the other device may be any device capable of connecting to a network and transmitting / receiving data. For example, the device may be an air conditioner, a heating device, an air purifier, a lamp, a TV, The other device may be a device for controlling a door, a window, a water supply valve, a gas valve, or the like. The other device may be a sensor for detecting temperature, humidity, air pressure, gas, or the like.

Accordingly, the control unit 180 can transmit the control signal to the other device through the communication unit 110, so that the other device can operate according to the received control signal. For example, when the other device is an air conditioner, it is possible to turn on the power or perform cooling or heating for a specific area according to a control signal, and in the case of a device for controlling a window, It can be opened at a certain rate.

In addition, the communication unit 110 may receive various status information from at least one other device located in a specific area. For example, the communication unit 110 may set the temperature of the air conditioner, whether the window is opened or closed, The current temperature of the specific area sensed by the temperature sensor, and the like.

Accordingly, the control unit 180 may generate the control signal for the other device according to the status information, the user input through the input unit 120, or the user input through the terminal apparatus.

At this time, the communication unit 110 may be connected to at least one of other wireless communication systems such as radio frequency (RF) communication, Bluetooth, infrared communication (IrDA), wireless LAN (LAN), Zigbee At least one communication method may be employed, and thus the other device and the mobile robot 100 may constitute at least one network. At this time, the network is preferably the Internet.

The communication unit 110 can receive a control signal from the terminal device. Accordingly, the control unit 180 can perform control commands related to various operations according to the control signal received through the communication unit 110. [ In addition, the communication unit 110 may transmit state information, obstacle information, location information, image information, map information, and the like of the mobile robot to the terminal device.

Meanwhile, the memory 170 stores a control program for controlling or driving the robot cleaner and data corresponding thereto. The memory 170 may store audio information, image information, obstacle information, location information, map information, and the like. Also, the memory 170 may store information related to the traveling pattern.

The memory 170 mainly uses a nonvolatile memory. Here, the non-volatile memory (NVM) is a storage device capable of continuously storing information even when power is not supplied. Examples of the storage device include a ROM, a flash memory, A storage device (e.g., a hard disk, a diskette drive, a magnetic tape), an optical disk drive, a magnetic RAM, a PRAM, and the like.

1B, the sensing unit 140 includes an external signal sensor 141, a front sensor 142, a cliff sensor 143, a lower camera sensor 144, an upper camera sensor 145, And a three-dimensional camera sensor 146.

The external signal detection sensor 141 can sense an external signal of the mobile robot. The external signal detection sensor 141 may be, for example, an infrared ray sensor, an ultrasonic sensor, a radio frequency sensor, or the like.

The mobile robot can receive the guidance signal generated by the charging signal using the external signal detection sensor 141 and confirm the position and the direction of the charging base. At this time, the charging base can transmit a guidance signal indicating a direction and a distance so that the mobile robot can return. That is, the mobile robot can receive the signal transmitted from the charging station, determine the current position, set the moving direction, and return to the charging state.

In addition, the mobile robot can detect a signal generated by a remote control device such as a remote controller or a terminal by using an external signal detection sensor 141.

The external signal detection sensor 141 may be provided on one side of the inside or outside of the mobile robot. For example, the infrared sensor may be installed in the mobile robot or in the vicinity of the lower or upper camera sensor 145 or the three-dimensional camera sensor 146 of the output unit 150.

On the other hand, the front sensor 142 may be installed at a predetermined distance along the outer circumferential surface of the mobile robot in front of the mobile robot, specifically, the side surface of the mobile robot. The front sensing sensor 142 is disposed on at least one side of the mobile robot to sense an obstacle ahead of the mobile robot. The front sensing sensor 142 senses an object, particularly an obstacle, To the control unit 180. That is, the front sensing sensor 142 may sense protrusions existing on the moving path of the mobile robot, household appliances, furniture, walls, wall corners, and the like, and may transmit the information to the controller 180.

The front sensor 142 may be, for example, an infrared sensor, an ultrasonic sensor, an RF sensor, a geomagnetic sensor, or the like. The mobile robot may use one type of sensor as the front sensor 142, The above sensors can be used together.

Ultrasonic sensors, for example, can typically be used to detect distant obstacles in general. The ultrasonic sensor includes a transmitter and a receiver. The controller 180 determines whether an obstacle is present or not based on whether the ultrasonic wave radiated through the transmitter is reflected by an obstacle or the like and is received by the receiver, The distance to the obstacle can be calculated.

Also, the controller 180 can detect the information related to the size of the obstacle by comparing the ultrasonic waves emitted from the transmitter and the ultrasonic waves received by the receiver. For example, the control unit 180 can determine that the larger the obstacle is, the more ultrasonic waves are received in the receiving unit.

In one embodiment, a plurality (e. G., Five) of ultrasonic sensors may be installed along the outer circumferential surface on the front side of the mobile robot. At this time, preferably, the ultrasonic sensor can be installed on the front side of the mobile robot alternately with the transmitting part and the receiving part.

That is, the transmitting unit may be disposed to be spaced left and right from the front center of the main body, and one or two transmitting units may be disposed between the receiving units to form a receiving area of the ultrasonic signal reflected from the obstacle or the like. With this arrangement, the receiving area can be expanded while reducing the number of sensors. The angle of origin of the ultrasonic waves can maintain an angle range that does not affect different signals to prevent crosstalk. Also, the receiving sensitivity of the receiving units may be set differently.

In addition, the ultrasonic sensor may be installed upward by a predetermined angle so that the ultrasonic wave emitted from the ultrasonic sensor is outputted upward, and the ultrasonic sensor may further include a predetermined blocking member to prevent the ultrasonic wave from being radiated downward.

As described above, the front sensing sensor 142 can use two or more kinds of sensors together. Accordingly, the front sensing sensor 142 can be any one of an infrared sensor, an ultrasonic sensor, and an RF sensor Can be used.

For example, the front sensing sensor 142 may include an infrared sensor in addition to the ultrasonic sensor.

The infrared sensor may be installed on the outer surface of the mobile robot together with the ultrasonic sensor. The infrared sensor can also detect the obstacles existing on the front or side and transmit the obstacle information to the controller 180. That is, the infrared sensor senses protrusions existing on the moving path of the mobile robot, house furniture, furniture, wall surface, wall edge, and the like, and transmits the information to the control unit 180. Therefore, the mobile robot can move within a specific area without collision with the obstacle.

On the other hand, the cliff sensor 143 (or Cliff Sensor) can detect obstacles on the floor supporting the main body of the mobile robot by mainly using various types of optical sensors.

That is, the croft detection sensor 143 is provided on the rear surface of the floor mobile robot, but it may be installed in a different position depending on the type of the mobile robot. The obstacle detection sensor 143 is located on the back surface of the mobile robot and detects an obstacle on the floor. The obstacle detection sensor 143 may include an infrared sensor including an emitting unit and a light receiving unit, an ultrasonic sensor, An RF sensor, a position sensitive detector (PSD) sensor, and the like.

For example, any one of the cliff detection sensors 143 may be installed in front of the mobile robot, and the other two cliff detection sensors 143 may be installed relatively behind.

For example, the cliff detection sensor 143 may be a PSD sensor, but it may be composed of a plurality of different kinds of sensors.

The PSD sensor uses a semiconductor surface resistance to detect the shortest path distance of incident light at one p-n junction. The PSD sensor includes a one-dimensional PSD sensor for detecting light in only one direction and a two-dimensional PSD sensor for detecting a light position on a plane, all of which can have a pin photodiode structure. The PSD sensor is a type of infrared sensor that measures the distance by measuring the angle of the infrared ray reflected from the obstacle after transmitting the infrared ray by using the infrared ray. That is, the PSD sensor uses the triangulation method to calculate the distance to the obstacle.

The PSD sensor includes a light emitting unit that emits infrared rays to an obstacle, and a light receiving unit that receives infrared rays that are reflected from the obstacle and is returned to the obstacle. When an obstacle is detected by using the PSD sensor, a stable measurement value can be obtained irrespective of the reflectance and the color difference of the obstacle.

The control unit 180 can detect the depth of the cliff by measuring the infrared angle between the infrared light emission signal emitted by the cliffing sensor 143 toward the ground and the reflection signal reflected by the obstacle.

On the other hand, the control unit 180 can determine whether to pass or not according to the ground state of the detected cliff by using the cliff detection sensor 143, and determine whether the cliff passes or not according to the determination result. For example, the control unit 180 determines whether a cliff is present or not through the cliff detection sensor 143, and then passes through the cliff only when the reflection signal is sensed through the cliff detection sensor 143.

As another example, the control unit 180 may determine the lifting phenomenon of the mobile robot using the deterioration sensor 143.

On the other hand, the lower camera sensor 144 is provided on the back side of the mobile robot, and acquires image information on the lower side, that is, the bottom surface (or the surface to be cleaned) during the movement. The lower camera sensor 144 is also referred to as an optical flow sensor in other words. The lower camera sensor 144 converts the downward image input from the image sensor included in the sensor to generate image data of a predetermined format. The generated image data can be stored in the memory 170.

The lower camera sensor 144 may further include a lens (not shown) and a lens controller (not shown) for adjusting the lens. It is preferable to use a pan-focus lens having a short focal length and a deep depth as the lens. The lens control unit includes a predetermined motor and moving means for moving the lens back and forth to adjust the lens.

Also, one or more light sources may be installed adjacent to the image sensor. The at least one light source irradiates light onto a predetermined area of the bottom surface, which is photographed by the image sensor. That is, when the mobile robot moves in a specific region along the bottom surface, a certain distance is maintained between the image sensor and the bottom surface when the bottom surface is flat. On the other hand, when the mobile robot moves on the bottom surface of a nonuniform surface, it is distant by a certain distance due to the unevenness and obstacles on the bottom surface. At this time, one or more light sources may be controlled by the control unit 180 to adjust the amount of light to be irradiated. The light source may be a light emitting device capable of adjusting the amount of light, for example, an LED (Light Emitting Diode).

Using the lower camera sensor 144, the control unit 180 can detect the position of the mobile robot regardless of the slip of the mobile robot. The control unit 180 may compute and analyze the image data photographed by the lower camera sensor over time to calculate the moving distance and the moving direction, and calculate the position of the mobile robot on the basis of the movement distance and the moving direction. By using the image information of the lower portion of the mobile robot using the lower camera sensor 144, the controller 180 can perform a correction that is robust against slippage with respect to the position of the mobile robot calculated by other means.

On the other hand, the upper camera sensor 145 is installed to face upward or forward of the mobile robot, and can photograph the surroundings of the mobile robot. When the mobile robot includes a plurality of upper camera sensors 145, the camera sensors may be formed on the upper or side surface of the mobile robot at a predetermined distance or at a certain angle.

The upper camera sensor 145 may further include a lens for focusing the subject, an adjusting unit for adjusting the camera sensor, and a lens adjusting unit for adjusting the lens. The lens uses a wide angle lens so that all surrounding areas, for example, all areas of the ceiling, can be photographed even at a predetermined position. For example, a lens whose angle of view is a certain angle, for example, 160 degrees or more.

The three-dimensional camera sensor 146 may be attached to one or a part of the body of the mobile robot to generate three-dimensional coordinate information related to the surroundings of the body.

That is, the three-dimensional camera sensor 146 may be a 3D depth camera for calculating the distance between the mobile robot and the object to be photographed.

Specifically, the three-dimensional camera sensor 146 can capture a two-dimensional image related to the surroundings of the main body, and can generate a plurality of three-dimensional coordinate information corresponding to the captured two-dimensional image.

In one embodiment, the three-dimensional camera sensor 146 includes two or more cameras for acquiring an existing two-dimensional image, and combines two or more images obtained from the two or more cameras to generate three-dimensional coordinate information Or the like.

In another embodiment, the three-dimensional camera sensor 146 includes an infrared ray pattern emitting unit for irradiating an infrared ray pattern with a single camera, and captures an image of the infrared ray pattern projected on the object to be photographed, The distance between the three-dimensional camera sensor 146 and the object to be photographed can be measured. The three-dimensional camera sensor 146 may be an IR (Infra Red) type three-dimensional camera sensor.

In another embodiment, the three-dimensional camera sensor 146 includes a light emitting portion that emits light together with a single camera, receives a part of the laser emitted from the light emitting portion reflected from the object to be photographed, , The distance between the three-dimensional camera sensor 146 and the object to be photographed can be measured. The three-dimensional camera sensor 146 may be a time-of-flight (TOF) three-dimensional camera sensor.

2A to 2D, an embodiment of a mobile robot having a three-dimensional camera sensor 146 according to the present invention will be described.

2A and 2B, the three-dimensional camera sensor 146 may be fixedly installed on the main body of the mobile robot 100, or may be installed so that the direction of the three-dimensional camera sensor 146 may be changed It is possible. That is, the three-dimensional camera sensor 146 can be tilted up and down with respect to the horizontal plane, thereby changing the direction in which the three-dimensional camera sensor 146 is oriented relative to the main body.

2A, the direction in which the three-dimensional camera sensor 146 is directed may substantially correspond to a direction parallel to the front or the ground of the main body of the mobile robot 100. [ Thereby, the three-dimensional camera sensor 146 can direct the obstacle 201 located in front of the main body and generate three-dimensional coordinate information related to the obstacle 201. [

Referring to FIG. 2B, the three-dimensional camera sensor 146 may be oriented at one point on the floor or the floor while the mobile robot 100 is running. Thus, the three-dimensional camera sensor 146 can generate three-dimensional coordinate information related to the ground or bottom surface positioned on the moving direction side of the mobile robot 100. In addition, the three-dimensional camera sensor 146 may generate three-dimensional coordinate information associated with the obstacle 202 lying on the ground or floor surface.

In one embodiment, the controller 180 can detect information related to the driving conditions of the mobile robot 100, and can control the direction in which the three-dimensional camera sensor 146 is oriented relative to the main body Can be set.

That is, when the mobile robot 100 enters the rugged area and detects the driving condition, the controller 180 controls the three-dimensional camera sensor 146 to direct the three-dimensional camera sensor 146 downward with respect to the main body Direction can be changed.

When the obstacle 201 is present in the traveling direction of the mobile robot 100, the control unit 180 may detect the traveling condition so that the three-dimensional camera sensor 146 can take the image of the obstacle 201 as far as possible. The direction in which the three-dimensional camera sensor 146 is directed can be changed to a direction parallel to the ground surface or the bottom surface.

For example, the control unit 180 may include an external signal detection sensor 141, a front detection sensor 142, a cliff detection sensor 143, The information related to the driving condition of the mobile robot 100 can be detected using at least one of the sensor 145 and the upper camera sensor 145. [ Preferably, the controller 180 can classify the traveling condition of the mobile robot 100 into a normal condition, a harsh condition, and the like.

In addition, the controller 180 may maintain or change the direction in which the three-dimensional camera sensor 146 is oriented according to the detected driving condition.

As shown in FIGS. 2C and 2D, the three-dimensional camera sensor 146 may be oriented toward the front of the main body or may be oriented at an arbitrary angle from the front of the main body. That is, the control unit 180 can pivot the three-dimensional camera sensor 146 to the left and right of the main body, thereby changing the direction in which the three-dimensional camera sensor 146 is oriented relative to the main body.

Referring to FIGS. 2C and 2D, the viewing angle of the three-dimensional camera sensor 146 may be a predetermined angle?. For example, the viewing angle may be in the range of 50 to 60 degrees, preferably 57 degrees.

The controller 180 controls the three-dimensional camera sensor 146 so that the three-dimensional camera sensor 146 is oriented toward the obstacle 203, if the mobile robot 100 is performing the avoidance operation for the obstacle 203. In this case, It is possible to panning the image 146. 2C and 2D, the controller 180 controls the three-dimensional camera sensor 146 to perform the avoidance operation for the obstacle 203 in a state in which the three-dimensional camera sensor 146 is directed to the obstacle 203. That is, The sensor 146 can be panned left or right or tilted up or down.

Accordingly, even when the moving direction of the mobile robot 100 is changed due to the avoidance of the obstacle 203, the three-dimensional camera sensor 146 can continuously direct the obstacle 203, 203 can be generated.

3A and 3B, an embodiment of a connecting member for changing the direction in which the three-dimensional camera sensor provided in the mobile robot according to the present invention is oriented relative to the main body of the mobile robot will be described.

As shown in FIG. 3A, a part of the main body of the mobile robot 100 may be provided with a connecting member 1460 for coupling the three-dimensional camera sensor (not shown) and the main body.

Referring to FIG. 3A, the connecting member 1460 may be disposed in front of the main body, with respect to the straight direction of the main body. However, the mounting position of the connecting member 1460 is not limited thereto, and may be any position outside the main body that can photograph the periphery of the mobile robot 100.

Although not shown in FIG. 3A, the connecting member 1460 may be positioned inside the main body and may not protrude outward.

3B, the connecting member 1460 may include a first connecting member 1461, a first rotating motor 1462, a second connecting member 1463, and a second rotating motor 1464.

Specifically, the first connecting member 1461 may be connected to the three-dimensional camera sensor and may be connected to a rotating shaft according to the driving of the first rotating motor 1462. That is, according to the driving of the first rotation motor 1462, the direction in which the three-dimensional camera sensor is directed can be changed downward or upward with reference to the horizontal plane. Accordingly, the first rotating motor 1462 can tilt the three-dimensional camera sensor 146. [

The second linking member may be connected to the combination of the first linking member 1461 and the first rotating motor 1462 and may be connected to a rotating shaft according to the driving of the second rotating motor 1464. That is, according to the driving of the second rotation motor 1464, the direction in which the three-dimensional camera sensor is directed can be changed to the left or right with respect to the straight direction of the main body. Accordingly, the second rotation motor 1464 can panning the three-dimensional camera sensor 146. [

3B, the connecting member 1460 may include a restraining member (not shown) for mechanically restricting the tilting or panning angle of the three-dimensional camera sensor in order to stably maintain the orientation of the three- Time).

4A and 4B below illustrate an embodiment related to a method of detecting a floor using three-dimensional coordinate information in a mobile robot according to the present invention.

Referring to FIG. 4A, the three-dimensional camera sensor 146 may generate a plurality of three-dimensional coordinate information 401, 402 related to the body of the mobile robot 100. The control unit 180 can detect information related to at least one of the terrain and the obstacles existing around the main body using the plurality of three-dimensional coordinate information 401 and 402 generated by the three-dimensional camera sensor 146 .

More specifically, as shown in FIG. 4A, the controller 180 uses the neighboring three-dimensional coordinate information 402 for each arbitrary three-dimensional coordinate information 401, The corresponding normal vector information 403 can be generated.

FIG. 4B shows an embodiment in which the normal vector information 403 detection method shown in FIG. 4A is applied to an arbitrary image. 4B, the three-dimensional camera sensor 146 displays three-dimensional coordinate information corresponding to the two-dimensional image, and normal vector information 403 may be generated for each three-dimensional coordinate information.

In the following FIG. 4C, a method of detecting the bottom surface using three-dimensional coordinate information and normal vector information is described.

As shown in FIG. 4C, the three-dimensional camera sensor 146 can capture a two-dimensional image related to the surroundings of the mobile robot 100 and acquire a plurality of three-dimensional coordinate information corresponding to the captured two-dimensional image (S401).

In addition, the controller 180 may compare the three-dimensional coordinate information with neighboring three-dimensional coordinate information for each of the plurality of three-dimensional coordinate information obtained by the three-dimensional camera sensor 146, Vector information can be generated (S402).

Further, the control unit 180 can detect information related to the area forming the plane based on the generated normal vector information (S403).

Then, the controller 180 may detect a portion corresponding to a bottom surface on which the mobile robot 100 can move, of the detected areas forming the plane (S404).

5, another embodiment related to a method of detecting a floor using three-dimensional coordinate information in a mobile robot according to the present invention will be described.

The three-dimensional camera sensor 146 can capture a two-dimensional image related to the surroundings of the mobile robot 100, and can acquire a plurality of three-dimensional coordinate information corresponding to the captured two-dimensional image (S501).

The controller 180 may divide the 2D image into unit areas (S502).

For example, the two-dimensional image may be formed of 320 pixels by 240 pixels, and the unit area may be 20 pixels by 20 pixels. In another example, the unit area may be formed in a square, and the length of one side of the square may correspond to 10% of the short length of the width and height of the two-dimensional image. In another example, the controller 180 may divide the two-dimensional image into a predetermined number. In another example, the controller 180 may divide the two-dimensional image into unit areas on the basis of the three-dimensional coordinate information corresponding to the two-dimensional image.

Next, the control unit 180 can generate the normal vector information using the three-dimensional coordinate information corresponding to at least a part of the divided unit areas (S503).

Specifically, the control unit 180 can generate the normal vector information related to any one of the unit areas using the three-dimensional coordinate information corresponding to any one of the divided unit areas.

Also, the controller 180 can generate the normal vector information related to any one of the unit areas using the three-dimensional coordinate information corresponding to the partial area including the center point of any one of the unit areas.

Based on the generated normal vector information, the control unit 180 can determine whether the divided unit area is a plane (S504).

That is, the control unit 180 can determine whether any one of the unit areas is planar based on the normal vector information related to any one unit area.

Referring to FIG. 5, unlike the normal vector information generation method (S402) shown in FIG. 4C, the controller 180 generates a normal vector using three-dimensional coordinate information corresponding to one of the divided unit areas, It is possible to determine whether one of the unit areas is a plane by using the normal vector generated for any one of the unit areas. That is, according to the method shown in FIG. 5, the number of three-dimensional coordinate information to be considered by the controller 180 to generate a normal vector and the amount of calculation required to detect whether the unit area is a plane can be significantly reduced .

The control unit 180 can detect the area corresponding to the bottom surface of the two-dimensional image using the determination result of whether or not the divided unit area is planar (S505).

That is, the controller 180 determines whether or not a plane is divided for each divided unit area. Using the result of the determination, the controller 180 can distinguish the unit area corresponding to the bottom surface and the unit area corresponding to the obstacle.

In detecting the information related to the terrain, floor, obstacles, and the like existing around the mobile robot 100 using the three-dimensional coordinate information as described above, the two-dimensional image is divided into unit areas, The amount of calculation of the control unit 180 can be remarkably reduced.

In addition, when the amount of computation of the control unit 180 is significantly reduced, the mobile robot 100 can quickly respond to changes in the terrain and obstacles around the main body during traveling.

FIG. 6 is a graph showing a change in output value of the driving motor over time when the mobile robot according to the present invention travels roughly.

The mobile robot 100 according to the present invention may include an output sensing means (not shown) for sensing an output value or an output change of the driving motor, and the output sensing means may be driven in a predetermined cycle It is possible to detect the output value 601 of the motor.

Specifically, the driving motor may be installed inside the main body to transmit the driving force to the driving wheels. Further, the driving motor may transmit the driving force to the agitator disposed rotatably inside the suction head of the mobile robot cleaner.

In addition, the control unit 180 may generate the data 602 related to the output change of the driving motor by sampling the plurality of sensed output values 601.

Further, the control unit 180 can detect the rotation speed per second of the drive motor based on the output value of the drive motor detected by the output detection means. That is, the control unit 180 can detect the number of revolutions of the agitator based on the output value of the output sensing unit.

The existing mobile robot detects information related to the material of the floor under travel of the mobile robot using only the output value 601 or the data 602 related to the output change.

However, since the output of the motor is not constantly changed according to the bottom material, information related to the bottom material detected using only the output value of the driving motor or its variation is inferior in accuracy.

Therefore, in the present invention, a method of detecting information related to a material of a floor surface using three-dimensional coordinate information generated by a three-dimensional camera sensor or using three-dimensional coordinate information together with an output value of the driving motor or a change thereof I suggest.

Referring to FIG. 7A, the controller 180 may direct the three-dimensional camera sensor 146 downward by a predetermined angle? 'From the horizon in order to detect the material of the bottom surface. At this time, The sensor 146 may capture an image 700 associated with the floor surface.

As shown in FIG. 7A, the image 700 related to the bottom surface may be formed with a predetermined height d1 and a predetermined width d2. For example, the image 700 associated with the bottom surface may be formed of 320 pixels by 240 pixels.

That is, the three-dimensional camera sensor 146 photographs the image 700 related to the bottom surface positioned in the traveling direction of the main body of the mobile robot 100 or the front side of the main body, Dimensional coordinate information corresponding to the points of the three-dimensional coordinate information.

Referring to FIG. 7A, the plurality of points may be located within a predetermined distance from a reference point of the image 700 photographed in association with the floor surface.

That is, the three-dimensional camera sensor 146 corresponds to the center point of the photographed image 700 in relation to the bottom surface or a point located within a predetermined distance from the intersection of the predetermined longitudinal axis r1 and the transverse axis r2 Three-dimensional coordinate information can be generated. For example, the vertical axis r1 and the horizontal axis r2 may include a center point of the image 700, respectively.

In one embodiment, the plurality of points may form a grid including the reference point. Referring to FIG. 7A, a plurality of points may be formed in 25 points including reference points, and may be formed in a lattice shape by being distributed at equal intervals.

For example, the three-dimensional camera sensor 146 may include a center pixel located at the center point of the floor image 700 having 320 pixels X 240 pixels, and a center pixel positioned at a distance of 3 Dimensional coordinate information can be generated.

Thus, the three-dimensional camera sensor 146 does not generate all of the three-dimensional coordinate information corresponding to the image 700 related to the floor, but generates only the three-dimensional coordinate information corresponding to a specific portion, It is possible to reduce the amount of calculations performed by the processor 146.

The control unit 180 may use a plurality of three-dimensional coordinate information generated by the three-dimensional camera sensor 146 to generate a plurality of images 700 included in the image 700 related to the floor from one point of the main body of the mobile robot 100 Can be calculated.

For example, referring to FIG. 7B, a table 720 is shown that includes distance values between one point of the body from 25 points included in the image 700 associated with the floor.

The control unit 180 may set the output level of the driving unit based on the degree of scattering of the calculated plurality of distance values. In the controller 180 of the present invention, a variance value of a plurality of distance values may be used as an example of a scatter diagram.

Specifically, the control unit 180 can calculate an average value and variance for the calculated plurality of distance values. The control unit 180 can set the output level of the driving unit based on the calculated average value and variance.

For example, when the calculated variance is within the range of 0 to 3, the controller 180 controls the output of the drive motor to 70% of the maximum output. If the calculated variance falls within the range of 3 to 4, The output of the drive motor can be controlled to 90% of the maximum output when the calculated dispersion is included in the range of 4 to 5.

In another example, the control unit 180 can increase the output level of the drive motor as the calculated dispersion increases.

In another example, the control unit 180 may control the driving unit to increase the driving force of the driving motor if the calculated dispersion is greater than a predetermined reference dispersion value.

On the other hand, the controller 180 can set the rotation speed of the edgeter based on the calculated dispersion of the plurality of distance values. That is, the control unit 180 can set the rotation speed of the agitator based on the variance value of the calculated plurality of distance values.

For example, the control unit 180 may increase the rotation speed of the edgecreater as the calculated dispersion increases.

In another example, the control unit 180 may control the driving unit to increase the rotational speed of the agitator if the calculated variance is greater than a predetermined reference variance value.

Meanwhile, the memory 170 of the mobile robot 100 may store a database related to a distance value between a plurality of points included in the floor surface and the main body.

Whenever the image 700 related to the floor is photographed or when the three-dimensional coordinate information corresponding to the image 700 related to the floor is generated or the image related to the floor 700 can be updated every time the distance between a plurality of points included in the main body 700 and one point of the main body is calculated.

In the following Fig. 7C, the control method of the mobile robot shown in Figs. 7A and 7B will be described.

The three-dimensional camera sensor 146 of the mobile robot 100 can take an image related to the floor surface (S701).

Specifically, the control unit 180 can detect information related to the driving condition of the mobile robot 100, and control the three-dimensional camera sensor 146 to shoot images related to the floor surface in accordance with the detected driving conditions. Dimensional camera sensor 146 can be changed. That is, when the detected driving condition is a driving condition for photographing the bottom surface of the three-dimensional camera sensor 146, the controller 180 controls the three-dimensional camera sensor 146 and the main body of the mobile robot 100 It is possible to drive the first and second rotating motors of the connecting member 1460 to be engaged.

That is, when the mobile robot 100 enters the rugged area and detects the driving condition, the controller 180 controls the three-dimensional camera sensor 146 to move downward Dimensional camera sensor 146 can be changed.

For example, the control unit 180 can determine that the mobile robot 100 has entered the rough region based on the output value of the driving motor. That is, when the output value of the driving motor exceeds the reference output value, the control unit 180 determines that the driving motor has entered the rough region. If the controller 180 determines that the driving motor has entered the rough region, Dimensional camera sensor 146 and the three-dimensional camera sensor 146 and the connecting member 1460 interconnected to the main body so as to photograph the three-dimensional camera sensor 146 and the three-dimensional camera sensor 146, respectively. When the output value of the driving motor changes by a first threshold value or more within a unit time, the control unit 180 determines that the camera has entered the rough region, and controls the three-dimensional camera sensor 146 to photograph the bottom- The three-dimensional camera sensor 146 can be controlled.

In another example, the control unit 180 can determine that the mobile robot 100 has entered the rough region based on the rotation speed of the agitator. That is, when the rotational speed of the agitator exceeds the reference rotational speed, the control unit 180 determines that the user enters the rugged area and instructs the three-dimensional camera sensor 146 to photograph the three- The sensor 146 can be controlled. When the rotational speed of the agitator changes by a second threshold or more within a unit time, the control unit 180 determines that the camera enters the rugged area, The three-dimensional camera sensor 146 can be controlled.

Thereafter, the three-dimensional camera sensor 146 may detect three-dimensional coordinate information corresponding to a plurality of points included in the image 700 related to the bottom surface (S702). For example, the three-dimensional camera sensor 146 may detect three-dimensional coordinate information corresponding to a plurality of points on a floor surface located in a main body direction or a front direction of the main body. The plurality of points may be located on a floor where the mobile robot 100 is intended to move the main body.

The control unit 180 may calculate the distance from one point of the main body to a point included in the image related to the bottom surface using the detected three-dimensional coordinate information (S703).

For example, one point of the body may be located on the front of the lens of the three-dimensional camera sensor 146. In another example, one point of the body may correspond to the center of gravity of the mobile robot 100.

The controller 180 sets the three-dimensional coordinate information about one point of the main body on the basis of the predetermined three-dimensional coordinate axis and converts the three-dimensional coordinate information generated from the image related to the bottom surface into the predetermined three-dimensional coordinate axes . The control unit 180 can calculate the distance between one point of the main body and a plurality of points on the floor surface by using the three-dimensional coordinate information about the one point of the main body and the converted three-dimensional coordinate information.

Further, the control unit 180 can calculate the variance of the calculated plurality of distance values (S704). The control unit 180 may control the operation of the vacuum cleaner to perform the autonomous traveling based on the calculated dispersion value (S705).

The above variance is calculated to control the cleaner using a degree of scattering for a plurality of distance values. Accordingly, the control unit 180 of the mobile robot or the vacuum cleaner performing autonomous traveling according to the present invention may calculate the standard deviation, the average deviation, the quadrature deviation, etc. in addition to the dispersion.

8A and 8B, a method of avoiding an obstacle while changing a photographing angle by a three-dimensional camera sensor provided in the mobile robot according to the present invention will be described.

8A, the three-dimensional camera sensor 146 installed in a part of the mobile robot 100 is moved in a first direction (a direction in which the mobile robot 100 performs a straight run in the normal traveling mode of the mobile robot 100) 810) or the front of the main body of the mobile robot 100.

The control unit 180 can detect the obstacle 801 located in the traveling direction of the mobile robot 100 using the three-dimensional coordinate information generated by the three-dimensional camera sensor 146, It is possible to control the driving unit to perform the avoidance driving.

That is, the control unit 180 may control the driving unit so that the traveling direction of the main body changes to the second direction 820 in order to avoid the obstacle 801. In this case, the second direction 820 may be a direction shifted to the left or right by a predetermined angle from the first direction 810.

In addition, when the mobile robot 100 performs the evasive travel, the control unit 180 can predict the moving direction of the main body of the mobile robot 100, and based on the predicted moving direction, the three-dimensional camera sensor 146 Direction can be changed.

Specifically, the control unit 180 uses at least one of the distance between the obstacle 801 and the main body, the width of the obstacle 801, the current speed of the mobile robot 100, and the information related to the peripheral terrain of the obstacle 801 , The moving direction of the main body of the mobile robot 100 can be predicted.

Referring to FIG. 8B, the controller 180 may rotate the three-dimensional camera sensor 146 in a direction opposite to the predicted movement direction. Also, the controller 180 may rotate the three-dimensional camera sensor 146 in a direction opposite to the direction in which the moving direction of the mobile robot 100 is changed.

Specifically, when the traveling direction of the mobile robot 100 is shifted to the left in the first direction 810 and moves in the second direction 820 in order to avoid the obstacle 801, the control unit 180 controls the three- 146 to the right by a predetermined angle?.

For example, the angle formed by the first direction 810 and the second direction 820 may correspond to the predetermined angle?.

In another example, the controller 180 may increase the angle of rotation of the three-dimensional camera sensor 146 as the angle formed by the first direction 810 and the second direction 820 increases. That is, the control unit 180 can rotate the three-dimensional camera sensor 146 at a large angle as the angle by which the moving direction of the main body is changed by the avoidance operation for the obstacle 801.

Thus, according to the mobile robot 100 of the present invention, even when the obstacle is avoided, the three-dimensional camera sensor 146 having a narrow viewing angle can continuously detect information about the obstacle.

Although not shown in FIGS. 8A and 8B, when the control unit 180 determines that the avoidance travel to the obstacle 801 is completed, the direction in which the three-dimensional camera sensor is oriented can be made to correspond to the moving direction of the main body. That is, when the avoidance travel of the obstacle 801 is completed, the control unit 180 controls the direction of the three-dimensional camera sensor so that the three-dimensional camera sensor is oriented toward the front of the main body, Can be regressed.

9A to 9C, a method for determining a three-dimensional coordinate system related to three-dimensional coordinate information generated by the three-dimensional camera sensor 146 of the mobile robot according to the present invention will be described.

As shown in FIG. 9A, the camera coordinate system (Xc, Yc, Zc) can be defined by the direction of the lens of the three-dimensional camera sensor 146. That is, the camera coordinate system (Xc, Yc, Zc) can be determined by the viewpoint of the three-dimensional camera sensor 146.

Referring to FIG. 9B, the global coordinate system (X, Y, Z) can be determined by the surrounding terrain of the mobile robot. The global coordinate system (X, Y, Z) can be defined separately from the lens of the three-dimensional camera sensor 146. That is, the virtual coordinate system (X, Y, Z) can be determined regardless of the viewpoint of the three-dimensional camera sensor 146.

The control unit 180 can set information related to the global coordinate system (X, Y, Z) based on the three-dimensional coordinate information related to the surroundings of the body of the mobile robot 100.

Specifically, the control unit 180 can detect the bottom surface around the main body using the three-dimensional coordinate information, and can set the normal vector of the bottom surface as one axis of the global coordinate system. For example, the control unit 180 can set the normal vector of the bottom surface as the Z-axis of the global coordinate system.

Thereafter, the controller 180 may use a plurality of three-dimensional coordinate information related to the surroundings of the main body of the mobile robot 100 to set another axis of the global coordinate system.

In one embodiment, the controller 180 detects a normal vector corresponding to each of the plurality of three-dimensional coordinate information, calculates an angle between each normal vector projected on the bottom surface and the Z axis can do. The control unit 180 can set a normal vector corresponding to the mode value among the angle values calculated for each normal vector to another axis of the global coordinate system.

Meanwhile, the control unit 180 may calculate each normal vector detected for each of the plurality of three-dimensional coordinate information and an inner product value of the Z-axis, and compare the calculated inner product value with a preset threshold value. The control unit 180 can calculate the angle between each normal vector and the Z axis based on the comparison result.

That is, when it is determined that the normal vector corresponding to the specific three-dimensional coordinate information and the inner product value calculated by the Z axis are smaller than the threshold value, the controller 180 does not calculate the angle between the specific normal vector and the Z axis .

Accordingly, the controller 180 can set information related to another axis of the global coordinate system other than the Z axis by using a normal vector that forms a normal vector and an inner product value of the Z axis larger than the threshold value.

When the two axes of the global coordinate system are determined as described above, the controller 180 may calculate the cross product values of the two axes and set information related to the other axis of the global coordinate system.

9C, the controller 180 may use the information related to the camera coordinate system (Xc, Yc, Zc) and the global coordinate system (X, Y, Z) Information can be converted into coordinate information of the global coordinate system (X, Y, Z).

Specifically, the controller 180 may convert the three-dimensional coordinate information formed by the camera coordinate system into global coordinates based on the angles formed by the global coordinate system and the camera coordinate system.

The control unit 180 may detect the bottom surface again using the converted three-dimensional coordinate information. In particular, the controller 180 may update the terrain or obstacle information around the main body using the three-dimensional coordinate information converted into the global coordinate system.

After the global coordinate system (X, Y, Z) is set as described above, the controller 180 displays the three-dimensional coordinate information generated when the distance between the three-dimensional camera sensor 146 and the obstacle is the first distance, The three-dimensional coordinate information generated when the first distance is different from the second distance can be converted into the same coordinate information.

In addition, the control unit 180 may store the three-dimensional coordinate information generated when the three-dimensional camera sensor 146 faces the first surface of the obstacle and the three-dimensional coordinate information generated when the second surface is different from the first surface It can be converted into coordinate information.

With this configuration, even if the direction of the three-dimensional camera sensor 146 is changed, the mobile robot of the present invention can acquire three-dimensional coordinate information formed by a coherent coordinate system, The accuracy can be improved.

According to the present invention, since the mobile robot can acquire the three-dimensional coordinate information related to the obstacle by using the three-dimensional camera sensor, the mobile robot can acquire the information related to the terrain or the obstacle located near the mobile robot more accurately The effect can be obtained.

It will be apparent to those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. Accordingly, the above description should not be construed in a limiting sense in all respects and should be considered illustrative. The scope of the present invention should be determined by rational interpretation of the appended claims, and all changes within the scope of equivalents of the present invention are included in the scope of the present invention.

Claims

main body;
A driving unit for providing driving force for moving the main body;
A three-dimensional camera sensor attached to one surface of the body to generate three-dimensional coordinate information related to the surroundings of the body;
Calculating a distance between a plurality of points distributed around the main body and one point of the main body based on the generated three-dimensional coordinate information,
Detecting information related to at least one of the terrain and obstacles existing around the main body using the calculated plurality of distance values,
And a control unit for controlling the driving unit based on the detected information,
Wherein,
Generating normal vector information using any one of the generated three-dimensional coordinate information using neighboring three-dimensional coordinate information,
Detects an area forming a plane based on the generated vector information,
And detecting an area corresponding to a bottom surface of the detected area.

The method according to claim 1,
The three-dimensional camera sensor comprises:
An image related to a bottom surface located on the side of the main body in the traveling direction,
Dimensional coordinate information corresponding to a plurality of points included in an image related to the bottom surface.

3. The method of claim 2,
Wherein the plurality of points are located within a predetermined distance from a reference point of the photographed image.

The method of claim 3,
Wherein the plurality of points form a grid including the reference point.

3. The method of claim 2,
Wherein,
Calculating distances from one point of the main body to the plurality of points using the plurality of three-dimensional coordinate information,
Wherein the output level of the driving unit is set based on a degree of scattering of the calculated plurality of distance values.

6. The method of claim 5,
Wherein,
Calculating a mean value and a variance of the calculated plurality of distance values,
Wherein the output level of the driving unit is set based on the calculated average value and the variance.

The method according to claim 6,
Further comprising a memory for storing a database associated with distance values between said floor and said body,
Wherein,
And updates the database using the calculated distance values. &Lt; RTI ID = 0.0 > 11. < / RTI >

The method according to claim 6,
Wherein,
And controls the driving unit to increase the driving force if the calculated variance is greater than a preset reference variance value.

3. The method of claim 2,
Further comprising output sensing means for sensing information related to an output of the driving unit,
Wherein,
Determining whether an output change of the driving unit during a unit time exceeds a predetermined threshold value by using the output sensing unit,
Wherein the controller controls the three-dimensional camera sensor to photograph an image related to a bottom surface positioned on a side of a traveling direction of the main body, according to a determination result related to the output change.

The method according to claim 1,
Further comprising a connecting member coupled between the three-dimensional camera sensor and the main body, for changing a direction in which the three-dimensional camera sensor is directed,
The connecting member includes:
A first rotation motor for tilting the three-dimensional camera sensor,
And a second rotation motor for panning the three-dimensional camera sensor.

11. The method of claim 10,
Wherein,
Based on the three-dimensional coordinate information, information related to an obstacle disposed around the body,
And controls the driving unit to perform the avoidance driving with respect to the detected obstacle.

12. The method of claim 11,
The control unit
Wherein when the avoidance travel is performed, the moving direction of the main body is predicted,
Wherein the control unit controls the connection member so that the direction of the three-dimensional camera sensor is changed based on the predicted movement direction.

13. The method of claim 12,
Wherein,
And rotating the three-dimensional camera sensor in a direction opposite to the predicted movement direction.

14. The method of claim 13,
Wherein,
Wherein when the avoidance travel is completed, the direction in which the three-dimensional camera sensor is directed returns in the moving direction of the main body.

delete

The method according to claim 1,
The three-dimensional camera sensor comprises:
Capturing a two-dimensional image related to the periphery of the main body,
Acquiring a plurality of three-dimensional coordinate information corresponding to the two-dimensional image,
Wherein,
Dividing the two-dimensional image into unit areas,
Wherein the normal vector information is generated using three-dimensional coordinate information corresponding to at least a part of the divided unit areas.

17. The method of claim 16,
Wherein,
Wherein the determination unit determines whether the divided unit area is a plane based on the generated normal vector information.

18. The method of claim 17,
Wherein,
Wherein a region corresponding to a bottom surface of the two-dimensional image is detected using a determination result of whether or not the divided unit area is a plane.

3. The method of claim 2,
Wherein,
And sets information related to the global coordinate system using the three-dimensional coordinate information.

20. The method of claim 19,
Wherein,
Dimensional coordinate system, and converts the three-dimensional coordinate information generated by the three-dimensional camera sensor into the global coordinate system based on the information related to the global coordinate system.