US 12,453,305 B2
Mobile robot system and boundary information generation method for mobile robot system
Dongki Noh, Seoul (KR); Seungmin Baek, Seoul (KR); Jaekwang Lee, Seoul (KR); Jeongwoo Ju, Seoul (KR); Jaemin Lee, Seoul (KR); Sungyeon Park, Seoul (KR); and Minkuk Jung, Seoul (KR)
Assigned to LG ELECTRONICS INC., Seoul (KR)
Appl. No. 17/777,732
Filed by LG ELECTRONICS INC., Seoul (KR)
PCT Filed Oct. 22, 2020, PCT No. PCT/KR2020/014477
§ 371(c)(1), (2) Date May 18, 2022,
PCT Pub. No. WO2021/101090, PCT Pub. Date May 27, 2021.
Claims priority of application No. 10-2019-0149518 (KR), filed on Nov. 20, 2019.
Prior Publication US 2023/0024763 A1, Jan. 26, 2023
Int. Cl. A01D 34/00 (2006.01); A01D 101/00 (2006.01); G05D 1/00 (2006.01)
CPC A01D 34/008 (2013.01) [G05D 1/0248 (2013.01); A01D 2101/00 (2013.01)] 14 Claims
OG exemplary drawing
 
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.