| CPC G05D 1/0214 (2013.01) [A01D 34/008 (2013.01); A01D 34/00 (2013.01); A01D 69/02 (2013.01); A01D 2101/00 (2013.01); B25J 9/16 (2013.01); B25J 19/02 (2013.01); G05B 15/02 (2013.01); G05B 2219/45098 (2013.01)] | 15 Claims |
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1. A mobile robot, comprising:
a main body;
a drive unit that moves the main body;
a sensing unit that senses at least one of posture information of the main body and driving information of the drive unit;
a receiver that receives signals transmitted from one or more transmitters disposed in a driving area; and
a controller that determines a current position of the main body based on at least one of a sensing result of the sensing unit and a reception result of the receiver to control the drive unit to be driven in the driving area so as to control the driving of the main body,
wherein the controller determines a specific point where driving is restricted within the driving area based on first position information measured based on the sensing result and second position information measured based on the reception result to control the driving of the main body according to the determination result,
wherein the specific point is a point where driving speed of the mobile robot is limited,
wherein the point comprises a slip occurrence point,
wherein the first position information and the second position information are information that measures the current position of the main body,
wherein the controller detects a placement position where one of the one or more transmitters is disposed based on the reception result, and measures the second position information based on the placement position,
wherein when determining the specific point, the controller analyzes information of the specific point based on the determination result, and determines whether to avoid the specific point according to the analysis result to control the driving of the main body according to the determination result,
wherein the controller analyzes a type of the specific point based on the determination result and history information on previous determination history to control the driving of the main body according to the type of the specific point, and
wherein as a result of analyzing the type of the specific point, when the type of the specific point corresponds to a preset second reference type, the controller determines whether it is possible to remove a driving restriction of the specific point, and controls the driving of the main body to be driven by bypassing or passing through the specific point according to the determination result.
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