Mobile robot system and boundary information generation method for mobile robot system
The present specification relates to a mobile robot system and a boundary information generation method for the mobile robot system, the mobile robot system comprising a signal processing device that comprises a receiving tag for receiving a transmission signal and a distance sensor, so as to recognize coordinate information about a spot at which the point of the distance sensor is designated on the basis of the reception result of the receiving tag and the distance measurement result of the distance sensor, thereby generating boundary information according to the path designated as the point of the distance sensor on the basis of the recognized coordinate information.
1. A mobile robot system comprising:
a plurality of transmitters installed in a boundary region of a driving region to transmit transmission signals;
a signal receiving device that receives the transmission signal transmitted from each of the plurality of transmitters, and measures a distance to an irradiation point to which a measurement signal is irradiated based on a result of irradiating the measurement signal on a ground surface of the driving region; and
a mobile robot that receives a reception result of the transmission signal and a measurement result of the distance from the signal receiving device to generate boundary information of the driving region in response to a path to which the measurement signal is irradiated on the ground surface based on the reception result and the measurement result,
wherein the signal receiving device comprises:
a plurality of receiving tags provided at different positions to receive the transmission signal;
a distance sensor that irradiates the measurement signal on the ground surface to measure the distance based on the irradiation result; and
a communication module that transmits a reception result of each of the plurality of receiving tags and a measurement result of the distance sensor to the mobile robot,
wherein the mobile robot comprises:
a driving unit that moves a main body of the mobile robot;
a communication unit that communicates with a communication target element; and
a controller that generates information and control commands for controlling operation of the mobile robot and controls the driving unit and the communication unit to control operation of the mobile robot,
wherein the plurality of receiving tags comprise:
a first tag provided at one side of the signal receiving device; and
a second tag provided at another side of the signal receiving device,
wherein the distance sensor is provided at one side of the signal receiving device,
wherein the first tag and the second tag are provided at positions corresponding to a same straight line as the distance sensor,
wherein the mobile robot receives the reception result and the measurement result from the communication module through the communication unit and generates the boundary information by the controller,
wherein when the measurement signal is continuously emitted to an arbitrary path along the boundary region by the signal receiving device, the mobile robot receives the reception result and the measurement result while the measurement signal is continuously emitted to the path, recognizes coordinate information of the irradiation point based on the reception result and the measurement result to generate the boundary information using the coordinate information, and
wherein the controller sets the boundary region based on the boundary information, sets at least an area of an inner area of the boundary region as the driving region, and controls the driving of the mobile robot to be driven within the driving region so as not to deviate from the boundary region.
2. The mobile robot system of claim 1 , wherein the plurality of transmitters are dispersedly installed in the boundary region.
3. The mobile robot system of claim 1 , wherein the signal receiving device is detachably attached to the mobile robot.
4. The mobile robot system of claim 1 , wherein the communication module transmits the reception result and the measurement result to the mobile robot in real time.
5. The mobile robot system of claim 1 , wherein the mobile robot detects an irradiation direction of the measurement signal based on the reception result to recognize the coordinate information based on the irradiation direction and the measurement result.
6. The mobile robot system of claim 5 , wherein the mobile robot determines position information at which each of the plurality of receiving tags has received the transmission signal based on the reception result to detect the irradiation direction based on the position information.
7. The mobile robot system of claim 5 , wherein the mobile robot calculates coordinate values according to the measurement result using the irradiation direction, and reflects a separation length between the distance sensor and a tag adjacent to the distance sensor among the plurality of receiving tags to the coordinate values to recognize the coordinate information.
8. The mobile robot system of claim 1 , wherein the mobile robot recognizes coordinate information of each of a plurality of irradiation points corresponding to the path based on the reception result and the measurement result while the measurement signal is irradiated to the path to generate the boundary information based on the recognition result.
9. The mobile robot system of claim 8 , wherein the mobile robot arranges points corresponding to coordinate information included in the recognition result on one coordinate plane, and connects points connectable with one line among the arranged points to generate the boundary information.
10. The mobile robot system of claim 9 , wherein the mobile robot connects points that are not continuous by a predetermined interval or more, except for points that cannot be connected with one line among the arranged points, to generate the boundary information.
11. The mobile robot system of claim 9 , wherein the mobile robot stores an image of each process of generating the boundary information from the recognition result.
12. A method of generating boundary information in a mobile robot system, the mobile robot system comprising a plurality of transmitters installed in a boundary region of a driving region to transmit transmission signals; a signal receiving device that receives the transmission signal transmitted from each of the plurality of transmitters, and measures a distance to an irradiation point to which a measurement signal is irradiated based on a result of irradiating the measurement signal on a ground surface of the driving region; and a mobile robot that receives a reception result of the transmission signal and a measurement result of the distance from the signal receiving device to generate boundary information of the driving region based on the reception result and the measurement result, the method comprising:
irradiating the measurement signal to an arbitrary path on the ground surface;
transmitting, by the signal receiving device, the reception result and the measurement result to the mobile robot during the irradiating step;
recognizing, by the mobile robot, coordinate information of each of a plurality of irradiation points corresponding to the path based on the reception result and the measurement result; and
generating, by the mobile robot, the boundary information based on the recognition result of the coordinate information,
wherein the signal receiving device comprises:
a plurality of receiving tags provided at different positions to receive the transmission signal;
a distance sensor that irradiates the measurement signal on the ground surface to measure the distance based on the irradiation result; and
a communication module that transmits a reception result of each of the plurality of receiving tags and a measurement result of the distance sensor to the mobile robot,
wherein the mobile robot comprises:
a driving unit that moves a main body of the mobile robot;
a communication unit that communicates with a communication target element; and
a controller that generates information and control commands for controlling operation of the mobile robot and controls the driving unit and the communication unit to control operation of the mobile robot,
wherein the plurality of receiving tags comprises;
a first tag provided at one side to receive the transmission signal from the one side; and
a second tag provided at another side to receive the transmission signal from the other side,
wherein the distance sensor is provided at one side of the signal receiving device,
wherein the first tag and the second tag are provided at positions corresponding to a same straight line as the distance sensor,
wherein the mobile robot receives the reception result and the measurement result from the communication module through the communication unit and generates the boundary information by the controller, and
wherein the controller sets the boundary region based on the boundary information, sets at least an area of an inner area of the boundary region as the driving region, and controls the driving of the mobile robot to be driven within the driving region so as not to deviate from the boundary region.
13. The method of claim 12 , wherein the transmitting step is transmitting, by the signal receiving device, the reception result and the measurement result to the mobile robot in real time.
14. The method of claim 12 , wherein the generating step is arranging points corresponding to coordinate information included in the recognition result on one coordinate plane, and connecting points connectable with one line among the arranged points to generate the boundary information.