KR20080015985A - Method for rejoining charging apparatus of mobil robot and system thereof - Google Patents

Abstract

A method and a system for chasing a charging device of a mobile robot are provided to return the mobile robot to a charging station by inverse-operating the location of the mobile robot and checking an image of the charging station. A system of chasing a charging device of a mobile robot comprises a communication unit, a displacement gauging sensor, a magnetic field sensor, an image sensor, and a control unit. A method for chasing a charging device of a mobile robot comprises the steps: moving to a predetermined path of inverse-operating an accumulated displacement and sending a magnetic output request signal to a charging station(S13); receiving the magnetic field from the charging station and detecting intensity of the magnetic field(S14); and checking an image mark of the charging station and docking(S15).

Description

Method for rejoining charging apparatus of mobil robot and system

1 is a view showing the configuration of a mobile robot system according to an embodiment of the present invention.

2 is a view showing the operation of a mobile robot according to an embodiment of the present invention.

3 is a flowchart illustrating a method for automatically returning a mobile robot to a charging station according to an exemplary embodiment of the present invention.

The present invention relates to a method and a system for tracking a charging device for a mobile robot that allows the robot to automatically return to the charging station for charging the mobile robot.

Typically, a robot cleaner, which is a representative example of a mobile robot, refers to a device that automatically cleans an area to be cleaned by inhaling foreign substances such as dust from the floor surface while driving itself in the area to be cleaned without a user's manipulation.

These mobile robots are equipped with a battery to supply the power required for driving, it is common to use a rechargeable battery that can be recharged when the power is consumed.

Therefore, the mobile robot is composed of an external charging device and a system to charge the rechargeable battery when necessary.

In the conventional method for the mobile robot to track the position of the charging device, a high frequency signal is generated by an external charging device, and the robot cleaner receives the high frequency signal generated by the charging device and according to the strength of the received high frequency signal. Find a location.

However, in the method for tracking the position of the charging device according to the intensity of the detected high frequency signal, the intensity of the high frequency signal may be changed by external factors (reflected waves, jammers, etc.), and the charge of the high frequency signal may be changed. It may be difficult to pinpoint the docking position into the device.

The present invention is to solve the above-mentioned problems, the mobile robot inverts the movement position of the movement and check the magnetic field tracking and the image of the charging station to automatically return to the charging station of the mobile robot to implement the automatic charging The present invention provides a method for tracking a charging device for a robot and a system thereof.

Mobile robot system according to the present invention for achieving the above object, the communication means including a transmission and reception unit for transmitting and receiving a magnetic field generation request signal and the generated magnetic field; A displacement measuring sensor for calculating a displacement of the movement path; A magnetic field detection sensor for detecting a position of a charging station by detecting an intensity of a magnetic field received by the communication means; An image sensor identifying a charging terminal of the charging station; The mobile robot may be configured to include a control unit which controls to automatically return to the charging station position by using the output result of each sensor.

In the present invention, the battery charge detection unit for detecting the charge amount of the battery and outputs the result; It characterized in that the mobile robot further comprises a drive unit including a moving means such as wheels.

In the present invention, the communication means further comprises a short-range wireless communication module, such as Bluetooth, ZigBee.

In the present invention, the communication means including a magnetic field generating means and including a transceiver for receiving a magnetic field generation request signal and transmitting the generated magnetic field; The charging station is configured to include a charging terminal for charging a battery.

In the present invention, the communication means further comprises a short-range wireless communication module, such as Bluetooth, ZigBee.

In addition, the mobile robot system according to the present invention, in order to automatically return to the charging station for charging the mobile robot, to move to a path that inverts the displacement of the movement path, to detect the strength of the magnetic field to bring the current position close to the charging station A mobile robot that moves and checks an image of the charging station and connects to the charging terminal; And a charging station for generating a magnetic field to locate the mobile robot.

In addition, in the charging device tracking method of the mobile robot according to the present invention for achieving the above object, when the battery charging request of the mobile robot is generated, the mobile robot moves to a path that inverts the cumulative displacement and transmits the magnetic field output request signal to the charging station. Transmitting; Receiving the magnetic field transmitted from the charging station to detect and move the strength of the magnetic field; Identifying and docking the image markers of the charging station.

In the present invention, the magnetic field is characterized in that the alternating magnetic field of the 5 ~ 15MHz band.

In the present invention, the magnetic field strength is characterized by detecting the maximum value of the magnetic field using a measurement algorithm such as the maximum gradient method.

Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

1 is a view showing the configuration of a mobile robot system according to an embodiment of the present invention.

Referring to FIG. 1, a mobile robot system includes: a communication means 12 which transmits an alternating current (AC) magnetic field generation request command through a magnetic field antenna 11 and includes a transceiver for receiving the generated alternating magnetic field; A displacement measuring sensor 13 for calculating a displacement of the mobile robot; A magnetic field detection sensor (14) for detecting the position of the charging station by detecting the intensity of the alternating magnetic field received by the communication means (12); An image sensor 15 for recognizing a specific image or mark of the charging station to perform a smooth docking with the charging terminal; A battery charge detection unit 17 for detecting a charge amount of the battery 16 and outputting a result thereof; A drive unit 18 including moving means such as wheels; The mobile robot 10 and the alternating current (AC) magnetic field are configured to include a control unit 19 which controls to automatically return to the charging station position using the output results of the sensors 13, 14 and 15. Communication means (22) comprising a magnetic field generating means for generating and a transmitting / receiving portion for transmitting or receiving said alternating current (AC) magnetic field through a magnetic field antenna (21); It consists of a charging station 20 comprising a charging terminal 23 capable of charging a battery.

First, the battery charge detector 17 detects the charge of the battery included in the mobile robot and outputs a battery charge request signal to the controller 19 when it is determined that the battery needs to be charged.

When the charge request signal is input to the control unit 19, the control unit 19 uses the displacement measurement sensor 13 for calculating the displacement of the mobile robot to reverse the path of the mobile robot or invert the accumulated displacement. In order to move the mobile robot 10 by controlling the driving unit 18 to approach the charging station 20.

Here, the displacement measuring sensor 13 may be configured as a sensor in contact with the floor to measure the amount of rotation or an optical sensor or acceleration sensor, and calculates the displacement of the path traveled by the mobile robot from the charging station do.

In addition, the controller 19 moves the mobile robot to the charging station by using the displacement measuring sensor 13, and then uses the magnetic field generating means included in the communication means 12 of the mobile robot 10. The magnetic field output request signal for requesting the generation of the alternating magnetic field is transmitted to the communication means 22 of the charging station 20.

The charging station 20 receiving the magnetic field output request signal generates and transmits an alternating magnetic field through the magnetic field generating means included in the communication means 22, and the mobile robot 10 transmits the communication through the communication means 12. Receives an alternating magnetic field transmitted from the charging station 20.

In another embodiment, the communication means 12 of the mobile robot 10 may include a short range communication module such as Bluetooth or Zigbee to transmit a magnetic field output request signal to the charging station, and the charging station 20 Communication means 22 may also be provided with the short-range communication module to enable communication.

At this time, the controller 19 tracks the charging station 20 by controlling the driving unit 18 to move in the direction of the highest magnetic field intensity while moving the position of the current mobile robot using the magnetic field measuring sensor 14.

For example, the maximum value of the intensity of the magnetic field is measured using a measurement algorithm such as the steepest descent.

Here, the magnetic field measurement sensor 14 may be composed of a coil, a magnetoresistance or a magnetic impedance element, and the alternating magnetic field includes a 5 to 15 MHz band.

As described above, when the displacement measuring sensor 13 and the magnetic field measuring sensor 14 approach the charging station 20 at a predetermined distance, the controller 19 uses the image sensor 15 to move the mobile robot ( 10) docks the charging terminal 23 of the charging station (20).

Here, the image sensor 15 may be composed of a CCD or CMOS or a plurality of photodiodes, and may check the image of the charging terminal or a specific mark displayed on the charging terminal to smoothly dock the charging terminal.

At this time, when the mobile robot 10 and the charging station 20 are docked, the transmission and reception of the AC magnetic field are turned off, respectively, and various types of information such as charging status and driving information are exchanged through communication.

As such, when the charge request is generated in the mobile robot 10, the displacement is moved in a path of inverting the accumulated displacement by using the displacement measuring sensor 13 to approach the charging station 20 at a distance within several meters (M). The magnetic field measuring sensor 14 is used to track the direction in which the intensity of the alternating magnetic field is the highest, and to move the charging station 20 at intervals of several centimeters (CM).

At this time, by using the image sensor 15 to check the charging terminal image of the charging terminal 20 or a specific mark displayed on the charging terminal and docked to the charging terminal 23 accurately.

Therefore, in the present invention, the mobile robot 10 can automatically and quickly return to the charging station 20 automatically, using an approach (guess) step using the displacement measuring sensor 13 and using the magnetic field measuring sensor 14. By locating and docking the charging terminal using the image sensor 15, the error occurring when returning to the charging station of the mobile robot is reduced so as not to be affected by changes in the environmental requirements. Faster and more accurate mobile robots can be automatically docked to a charging station for automatic charging.

In addition, in the present invention, by using the AC magnetic field of the 5 ~ 15MHz band can increase the reaction speed for detecting the AC magnetic field, and the coupling between the antenna coils can be reduced in size, making the antenna cheap and low cost There are advantages to it.

2 is a view showing the operation of a mobile robot according to an embodiment of the present invention.

1 and 2, FIG. 2A shows a system of a mobile robot 10 docked at a charging terminal 23 of a charging station 20. 2 (b) shows a movement path that the mobile robot automatically moves to perform a predetermined operation such as cleaning.

If it is determined that the mobile robot needs to be charged while performing the above-described predetermined operation, the battery charge detector 17 outputs a charge request signal to the controller 19.

The control unit 19 uses the displacement measuring sensor 13 to drive the path of the mobile robot as shown in FIG. 2C or to find a path that inverts the accumulated displacement and approaches the charging station 20. Move by controlling.

At this time, the mobile robot is close to the charging station, and transmits the AC magnetic field output request signal to the charging station, as shown in Figure 2 (d), the charging station receives the generated AC magnetic field.

For example, an alternating magnetic field including a 5 to 15 MHz band was generated, and in the present invention, magnetic field communication was performed in the 13.56 MHz band.

Here, the mobile robot 10 may include a short range communication module such as Bluetooth or zigbee to transmit a magnetic field output request signal to a charging station, and the charging station 20 may also use the short range communication module. It can be provided to enable communication.

2 (e) and (f), the mobile robot 10 and the charging station 20 continuously transmit and receive an alternating magnetic field between the communication means 12 and 22 through the magnetic field antennas 11 and 21, The mobile robot 10 tracks the charging station 20 by detecting a direction in which the magnetic field strength is the highest while moving the position of the current mobile robot using the magnetic field measuring sensor 14.

At this time, after returning to the charging station 20 through the displacement measuring sensor 13 and the magnetic field measuring sensor 14 of the mobile robot, the image of the charging terminal as shown in FIG. Check the specific marking on the specific image or charging terminal and dock it correctly on the charging terminal 23.

Therefore, the above-described method enables the mobile robot 10 to be automatically charged to the charging terminal 23 of the charging station 20 more quickly and accurately without being affected by changes in the surrounding environment requirements.

After the docking, transmission and reception of the alternating magnetic field is stopped and automatically returned as shown in FIG. 2 (h) to automatically charge the battery 16 of the mobile robot 10 docked at the charging station 20.

3 is a flowchart illustrating a method in which a mobile robot automatically returns to a charging station according to an exemplary embodiment of the present invention.

Referring to FIG. 3, the mobile robot automatically moves to an arbitrary position and performs a predetermined operation such as cleaning (S11).

At this time, when a charge request signal for charging the battery of the mobile robot is output from the battery charge detection unit (S12), the mobile robot 10 uses the displacement measuring sensor 13 to move the path from the charging station to the mobile robot. Moving in a path that inverts the cumulative displacement of phosphorus and moves close to the charging station 20 at intervals of several meters (M), and requests the generation of an alternating magnetic field through the communication means 12 of the mobile robot 10. The magnetic field output request signal is transmitted to the communication means 22 of the charging station 20 (S13).

Subsequently, the mobile robot receives the alternating magnetic field transmitted from the charging station 20 using the magnetic field measuring sensor 14 to track the direction in which the intensity of the alternating magnetic field is the highest, and the charging station 20 and several cm (CM). In step S14).

For example, a measurement algorithm such as a steepest descent may be used to measure the maximum value of the magnetic field strength.

Thereafter, the mobile robot 10 checks an image of the charging terminal 20 or a specific mark displayed on the charging terminal using the image sensor 15, and docks the charging terminal 23 accurately (S15).

Therefore, the present invention can reduce the errors occurring when returning to the charging station of the mobile robot without being affected by changes in the surrounding environmental requirements, so that the mobile robot can be automatically docked and automatically charged to the charging station. have.

So far, the present invention has been described with reference to the embodiments, and those skilled in the art to which the present invention pertains may implement embodiments of the present invention in a different form from the detailed description of the present invention within the essential technical scope of the present invention. Could be. Here, the essential technical scope of the present invention is shown in the claims, and all differences within the equivalent range will be construed as being included in the present invention.

According to a tracking method and a system for charging a mobile robot according to the present invention, a positioning step using a displacement measuring sensor so as to automatically return to a charging station for charging the mobile robot, locating using a magnetic field measuring sensor Step), and docking to the charging terminal using the image sensor, reduces the errors that occur when returning to the charging station, and the mobile robot automatically charges more quickly and accurately without being affected by changes in the surrounding environment. It has the effect of being docked to the station and automatically recharged.

Claims (9)

Communication means including a transmission and reception unit for transmitting and receiving a magnetic field generation request signal and a generated magnetic field; A displacement measuring sensor for calculating a displacement of the movement path; A magnetic field detection sensor for detecting a position of a charging station by detecting an intensity of a magnetic field received by the communication means; An image sensor identifying a charging terminal of the charging station; And a control unit for controlling to automatically return to a charging station position by using the output result of each sensor. The method of claim 1, A battery charge detection unit for detecting a charge amount of the battery and outputting a result; A mobile robot system comprising a driving unit including a moving means such as wheels to configure a mobile robot. The method of claim 1, The communication means further comprises a short-range wireless communication module, such as Bluetooth, Zigbee, mobile robot system. Communication means including a magnetic field generating means and a transmitting and receiving unit for generating and transmitting a magnetic field after receiving a magnetic field generation request signal; A mobile robotic system comprising a charging terminal for charging a battery. The method of claim 4, wherein The communication means further comprises a short-range wireless communication module, such as Bluetooth, Zigbee, mobile robot system. When a request for charging the battery of the mobile robot occurs, Moving in a path that inverts the cumulative displacement and transmitting a magnetic field output request signal to the charging station; Receiving a magnetic field transmitted from the charging station and detecting and moving the strength of the magnetic field; Checking and docking the image marker of the charging station, characterized in that it comprises a docking device tracking method. The method of claim 6, The magnetic field is a tracking device tracking method of the mobile robot, characterized in that the alternating magnetic field of 5 ~ 15MHz band. The method of claim 6, The magnetic field strength tracking method of the mobile robot, characterized in that by detecting the maximum value of the magnetic field using a measurement algorithm such as the maximum gradient method. To automatically return to the charging station for charging the mobile robot, A mobile robot that moves in a path that inverts the displacement of the movement path, detects the strength of the magnetic field, moves the current position to approach the charging station, and checks an image of the charging station and connects to the charging terminal; And a charging station generating a magnetic field to enable the mobile robot to locate the charging terminal.

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