Patent Description:
<CIT> relates to a method of mapping an area to be mowed with an autonomous mowing robot comprises receiving mapping data from a robot lawnmower, the mapping data specifying an area to be mowed and a plurality of locations of beacons positioned within the area to be mowed, and receiving at least first and second geographic coordinates for first and second reference points that are within the area and are specified in the mapping data.

In general, a mobile robot is a device that automatically performs a predetermined operation while driving by itself in a predetermined zone without a user's manipulation. The mobile robot senses an obstacle located in the zone to perform an operation by moving closer to or away from the obstacle.

Such a mobile robot may include a mobile robot that mows the lawn on a ground surface of a region as well as a cleaning robot that performs cleaning while driving in the region. In general, a mobile robot device may include a riding type device that mows the lawn or weeds the grass on the ground while moving according to a user's operation when the user rides on the device, and a walk-behind type or hand type device that mows the lawn while moving when the user manually pulls or pushes the device. Such a mobile robot device is moved by the user's direct manipulation to mow the lawn, so there is an inconvenience in that the user must directly operate the device. Accordingly, a mobile robot-type mobile robot device having an element capable of mowing the lawn in a mobile robot is being studied.

In the case of such a mobile robot for a lawn mower (lawn mower), since it operates outdoors rather than indoors, it drives over a wider region than a mobile robot that drives in an indoor environment. In the case of indoors, the ground is monotonous, and factors such as terrain/features that affect driving are limited, but in the case of outdoors, there are various factors that affect driving, and the terrain is greatly affected. In particular, since the mobile robot may drive in an unrestricted wide region due to the nature of an outdoor region, it is essential to set a driving region for the mobile robot to drive. Therefore, it is essentially required to set a driving region for the mobile robot to drive, that is, to set a boundary region and to accurately recognize the boundary region.

On the other hand, <CIT>) (hereinafter, referred to as a prior document) discloses a technology in which a plurality of beacons are installed at a boundary portion of the driving region to allow a robot to determine a relative position with respect to the beacons based on a signal transmitted from the beacons while driving along the boundary, and store coordinate information thereof so as to use the stored information for position determination. In other words, according to the prior document, signals are transmitted and received to and from the plurality of beacons distributed at the boundary portion of the driving region to set the driving region based on the transmission and reception result, thereby performing accurate driving region/position recognition using relative position information with respect to the plurality of beacons. Due to this, it may be possible to partially overcome the limitation of the position recognition of the mobile robot system.

However, in the prior document, the boundary region is set only by simply installing a beacon, and there is a limitation in which boundary setting can only be made in a limited way. Furthermore, since the boundary region is set only according to the installation state of the beacon, there is also a concern that boundary formation may be performed inaccurately depending on the communication performance of the beacon. That is, there is a limitation in which it is difficult to set a boundary according to a user's request and accurately set a boundary with a boundary setting technology in the related art. As a result, in the related art, a technology for performing an accurate and convenient boundary setting according to a user's request has not been proposed, and due to this, there is a problem in that the usability, safety, reliability and convenience of the mobile robot is inevitably limited.

The present disclosure is intended to provide an embodiment of a mobile robot system capable of overcoming the limitation of the related art as described above, and a method of generating boundary information of the mobile robot system.

Specifically, the present disclosure is intended to provide an embodiment of a mobile robot system capable of simply and conveniently acquiring boundary information of a driving region of a mobile robot, and a method of generating boundary information of the mobile robot system.

In addition, the present disclosure is intended to provide an embodiment of a mobile robot system capable of quickly and easily performing boundary setting of a driving region, and a method of generating boundary information of the mobile robot system.

In order to solve the foregoing problems, according to an embodiment of the present disclosure, there is provided a solution of matching a plurality of map data acquired by performing communication of a mobile robot to generate boundary information.

Specifically, first map data for positions of a plurality of transmitters may be generated based on a result of receiving transmission signals from the plurality of transmitters installed in a driving region, and second map data for a region corresponding to the driving region may be received from a communication target element in which map information of a region including the driving region is stored to match the first map data and the second map data so as to generate boundary information on a boundary region of the driving region.

That is, a mobile robot system and a method of generating boundary information of the mobile robot system of the present disclosure may generate the first map data based on a result of receiving the transmission signals, and receive the second map data for a region corresponding to the driving region from the communication target element to match the first map data and the second map data so as to generate boundary information of the driving region, thereby setting a boundary region.

Through such technical features, a mobile robot system and a method of generating boundary information of the mobile robot system provided in the present disclosure may match a plurality of map data acquired through the execution of communication to generate boundary information, thereby solving the foregoing problems.

The foregoing technical features may be applied and implemented to a lawn mower robot, a control method of the lawn mower robot, a lawn mower robot system, a control system of the lawn mower robot, a method of controlling the lawn mower robot, a method of setting a boundary region of the lawn mower robot, a method of generating/acquiring boundary information of the lawn mower robot system, and the like, and the present disclosure provides an embodiment of a mobile robot system and a method of generating boundary information of the mobile robot system using the foregoing technical features as a problem solving means.

An embodiment of a mobile robot system of the present disclosure having the foregoing technical feature as a means of solution may include a plurality of transmitters installed in a boundary region of a driving region to transmit transmission signals, a communication target element that stores map information of a region including the driving region to provide the map information to a communication target device, and a mobile robot that generates first map data for positions of the plurality of transmitters based on a reception result of the transmission signals, receives second map data for a region corresponding to the driving region from the communication target element to match the first map data and the second map data so as to generate boundary information of the driving region.

In addition, according to a method of generating boundary information in a mobile robot system having the foregoing technical feature as a means of solution, the mobile robot system including a plurality of transmitters installed in a boundary region of a driving region to transmit transmission signals, a communication target element that stores map information of a region including the driving region to provide the map information to a communication target device, and a mobile robot that generates first map data for positions of the plurality of transmitters based on a reception result of the transmission signals, receives second map data for a region corresponding to the driving region from the communication target element to generate boundary information of the driving region based on the first map data and the second map data, the method may include converting the first map data and the second map data into first coordinate information and second coordinate information, respectively, determining coordinate values corresponding to a position of any one transmitter in the first coordinate information, detecting a reference point that aligns with the coordinate values in the second coordinate information, aligning the first map data and the second map data based on the coordinate values and the reference point to match the first coordinate information and the second coordinate information, and generating boundary information of the driving region according to the matching result.

An embodiment of a mobile robot system and a method of generating boundary information of the mobile robot system of the present disclosure may match a plurality of map data acquired through the execution of communication with a communication target to generate boundary information, thereby having an effect capable of simply and conveniently acquiring boundary information.

Accordingly, there is an effect capable of simply and conveniently performing the setting of a boundary region as well as quickly and easily performing the boundary setting of a driving region.

In addition, an embodiment of a mobile robot system and a method of generating boundary information of the mobile robot system of the present disclosure may match map data based on an actual installation position and map data that guarantees visibility and reliability to acquire boundary information, thereby having an effect capable of performing the setting of a boundary region in a precise and detailed manner.

Accordingly, the mobile robot system may be controlled in various and efficient ways, thereby having an effect capable of increasing the efficiency, usability, and utility of the mobile robot system.

Hereinafter, embodiments of a mobile robot system and a control method thereof will be described in detail with reference to the accompanying drawings, and the same or similar elements are designated with the same numeral references regardless of the numerals in the drawings and their redundant description will be omitted.

In describing the technology disclosed herein, moreover, the detailed description will be omitted when specific description for publicly known technologies to which the invention pertains is judged to obscure the gist of the technology disclosed in the present disclosure. Also, it should be noted that the accompanying drawings are merely illustrated to easily explain the concept of the technology disclosed in the present disclosure, and therefore, they should not be construed to limit the concept of the technology by the accompanying drawings.

Hereinafter, an embodiment of a mobile robot system (hereinafter, referred to as a system) will be described.

In the system, the mobile robot may refer to a robot capable of autonomous driving, a mobile lawn mower robot, a lawn mower robot, a lawn mower device, or a mobile robot for a lawn mower.

The system may be a system of a mobile robot (hereinafter, referred to as a robot) that cuts the grass in a driving region. Here, the robot may refer to a lawn mower robot, and accordingly, the system <NUM> may refer to a drive/control/operation system of the lawn mower robot that cuts the grass in a driving region.

As illustrated in <FIG>, the system <NUM> includes a terminal <NUM> that displays a control screen for an operation control of the robot <NUM> and the robot <NUM> operating in response to a manipulation of the control screen That is, the terminal <NUM> may display the control screen on which the control of the mobile robot <NUM> is performed on a display, and the mobile robot <NUM> may operate to cut the grass in the driving region while driving in the driving region according to a manipulation on the control screen. Furthermore, the system <NUM> may further include at least one of a transmitter <NUM> that transmits and receives signals to and from at least one of the robot <NUM> and the terminal <NUM>, a GPS satellite <NUM>, and a web server <NUM>.

In the system <NUM>, the robot <NUM> may operate according to a driving principle as illustrated in <FIG>, and a signal flow between devices for position determination may be carried out as illustrated in <FIG>. Accordingly, the robot <NUM> may drive in a driving region <NUM> as illustrated in <FIG>.

The robot <NUM> may drive by itself within the driving region <NUM> as illustrated in <FIG>. The robot <NUM> may perform a specific operation while driving. Here, the specific operation may be an operation of cutting the lawn within the driving region <NUM>. The driving region <NUM> is a region corresponding to a driving and operating target of the robot <NUM>, and a predetermined outdoor/field region may be defined as the driving region <NUM>. For instance, a garden, a yard, or the like, for the robot <NUM> to cut the lawn may be defined as the driving region <NUM>. A charging device <NUM> for charging the driving power of the robot <NUM> may be provided in the driving region <NUM>, and the robot <NUM> may be docked to the charging device <NUM> provided in the driving region <NUM> to charge driving power.

The driving region <NUM> may be defined as a predetermined boundary region <NUM> as illustrated in <FIG>. The boundary region <NUM> may correspond to a boundary line between the driving region <NUM> and an outer region <NUM>, thereby allowing the robot <NUM> to be driven within the boundary region <NUM> so as not to deviate from the outer region <NUM>. In this case, the boundary region <NUM> may be defined as a closed curve or a closed loop. The boundary region <NUM> may be set based on coordinate information on a map for the driving region <NUM>. In this case, the robot <NUM> may recognize the boundary region <NUM> by recognizing a virtual boundary line based on the coordinate information. Furthermore, the boundary region <NUM> may be set by a wire <NUM> defined as a closed curve or a closed loop. In this case, the wire <NUM> may be installed in any region, and the robot <NUM> may drive within the driving region <NUM> of a closed curve defined by the installed wire <NUM>.

In addition, one or more transmitters <NUM> may be disposed in the driving region <NUM> as illustrated in <FIG>. The transmitter <NUM> is a signal generation element that transmits a signal for allowing the robot <NUM> to determine position information, and may be distributed and installed within the driving region <NUM>. The robot <NUM> may receive a transmission signal transmitted from the transmitter <NUM> to determine a current position based on the reception result, or may determine position information on the driving region <NUM>. In this case, the robot <NUM> may receive the transmission signal through a receiver that receives the transmission signal. The transmitter <NUM> may be preferably disposed in the vicinity of the boundary region <NUM> in the driving region <NUM>. In this case, the robot <NUM> may determine the boundary region <NUM> based on the placement position of the transmitter <NUM> disposed in the vicinity of the boundary region <NUM>.

The robot <NUM> may communicate with the terminal <NUM> moving in a predetermined region as illustrated in <FIG>, and may drive by following the position of the terminal <NUM> based on data received from the terminal <NUM>. The robot <NUM> may set a virtual boundary in a predetermined region based on position information received from the terminal <NUM> or collected while driving by following the terminal <NUM>, and set an inner region defined by the boundary as the driving region <NUM>. When the boundary region <NUM> and the driving region <NUM> are set, the robot <NUM> may drive within the driving region <NUM> so as not to deviate from the boundary region <NUM>. In some cases, the terminal <NUM> may set the boundary region <NUM> and transmit the set boundary region to the robot <NUM>. When the region is changed or expanded, the terminal <NUM> may transmit the changed information to the robot <NUM> to allow the robot <NUM> to drive in a new region. Furthermore, the terminal <NUM> may display data received from the robot <NUM> on a screen to monitor the operation of the robot <NUM>.

The robot <NUM> or the terminal <NUM> may receive position information to determine a current position. The robot <NUM> and the terminal <NUM> may determine a current position based on position information transmitted from the transmitter <NUM> disposed in the driving region <NUM>, a GPS signal using the GPS satellite <NUM> or data information transmitted from the web server <NUM>. The robot <NUM> and the terminal <NUM> may receive transmission signals transmitted from preferably three transmitters <NUM>, and compare the signal reception results to determine the current position. In other words, three or more transmitters <NUM> may be preferably disposed in the driving region <NUM>.

The robot <NUM> sets any one point within the driving region <NUM> as a reference position, and then calculates the position during movement as coordinates. For example, an initial start position, a position of the charging device <NUM> may be set as a reference position, and furthermore, coordinates with respect to the driving region <NUM> may be calculated using the position of any one of the transmitters <NUM> as the reference position. In addition, the robot <NUM> may set an initial position as the reference position during each operation, and then determine the position while driving. The robot <NUM> may compute a driving distance with respect to the reference position, based on the number of rotations of the drive wheel <NUM>, a rotational speed, and a rotational direction of the main body <NUM>, and determine the current position within the driving region <NUM> accordingly. Even in the case of determining position using the GPS satellite <NUM>, the robot <NUM> may determine the position using any one point as the reference position.

As illustrated in <FIG>, the robot <NUM> may determine a current position based on position information transmitted from the transmitter <NUM> or the GPS satellite <NUM>. The position information may be transmitted in the form of a GPS signal, an ultrasonic signal, an infrared signal, an electromagnetic signal, or an Ultra-Wide Band (UWB) signal. The transmission signal transmitted from the transmitter <NUM> may be preferably an Ultra-Wide Band (UWB) signal. Accordingly, the robot <NUM> may receive the UWB (Ultra-Wide Band) signal transmitted from the transmitter <NUM> to determine the current position based thereon.

As illustrated in <FIG>, the robot <NUM> that cuts the grass while driving in the driving region <NUM> may include a main body <NUM>, a driving unit <NUM> that moves the main body <NUM>, a communication unit <NUM> that communicates with a communication target element, a weeding unit <NUM> that cuts the grass on a ground surface while driving, and a controller <NUM> that controls the driving unit <NUM>, the communication unit <NUM>, and the weeding unit <NUM> to control the driving and weeding operation of the robot <NUM>.

The robot <NUM> may be an autonomous driving robot including the main body <NUM> provided to be movable as illustrated in <FIG> and 1C to cut the grass. The main body <NUM> defines an outer appearance of the robot <NUM>, and is provided with at least one element for performing an operation such as driving of the robot <NUM> and cutting the grass. The main body <NUM> is provided with the driving unit <NUM> capable of moving and rotating the main body <NUM> in a desired direction. The driving unit <NUM> may include a plurality of rotatable driving wheels, and each wheel may be rotated individually to allow the main body <NUM> to be rotated in a desired direction. More specifically, the driving unit <NUM> may include at least one main driving wheel 11a and an auxiliary wheel 11b. For example, the main body <NUM> may include two main driving wheels 11a, and the main driving wheels may be provided on a rear bottom surface of the main body <NUM>.

The robot <NUM> may allow the controller <NUM> to determine a current position of the main body <NUM> and control the driving unit <NUM> to drive within the driving region <NUM> so as to control the driving of the main body <NUM>, and control the weeding unit <NUM> to cut the grass on a ground surface while the main body <NUM> drives in the driving region <NUM> so as to control the driving and weeding operation of the robot <NUM>.

The robot <NUM> operating in this way, as illustrated in <FIG>, may include the main body <NUM>, the driving unit <NUM>, the communication unit <NUM>, the weeding unit <NUM>, and the controller <NUM> to cut the grass while driving in the driving region <NUM>. Furthermore, the robot <NUM> may further include at least one of a receiver <NUM>, an output unit <NUM>, a storage unit <NUM>, a sensing unit <NUM>, a photographing unit <NUM>, an input unit <NUM>, and an obstacle detection unit <NUM>.

The driving unit <NUM>, which is a driving wheel provided at a lower portion of the main body <NUM>, may be rotatably driven to move the main body <NUM>. In other words, the driving unit <NUM> may operate to allow the main body <NUM> to be driven in the driving region <NUM>. The driving unit <NUM> may include at least one drive motor to move the main body <NUM> to allow the robot <NUM> to be driven. For instance, the driving unit <NUM> may include a left wheel drive motor that rotates a left wheel and a right wheel drive motor that rotates a right wheel.

The driving unit <NUM> may transmit information on a driving result to the controller <NUM>, and receive a control command for an operation from the controller <NUM>. The driving unit <NUM> may operate according to a control command received from the controller <NUM>. In other words, the driving unit <NUM> may be controlled by the controller <NUM>.

The communication unit <NUM> may communicate with one or more communication target elements that communicate with the robot <NUM>. The communication unit <NUM> may communicate with one or more communication target elements in a wireless communication method. The communication unit <NUM> may communicate with the transmitter <NUM>, and may also be connected to a predetermined network to communicate with the web server <NUM> or the terminal <NUM> that controls the robot <NUM>. Here, communication with the web server <NUM> may be performed through the terminal <NUM>, or the communication unit <NUM> and the web server <NUM> may directly communicate with each other. When communicating with the terminal <NUM>, the communication unit <NUM> may transmit the generated map to the terminal <NUM>, receive a command from the terminal <NUM>, and transmit data on the operation state of the robot <NUM> to the terminal <NUM>. The communication unit <NUM> may include a communication module such as Wi-Fi and WiBro, as well as short-range wireless communication such as ZigBee and Bluetooth to transmit and receive data.

The communication unit <NUM> may transmit information on a communication result to the controller <NUM>, and receive a control command for an operation from the controller <NUM>. The communication unit <NUM> may operate according to the control command received from the controller <NUM>. In other words, the communication unit <NUM> may be controlled by the controller <NUM>.

The receiver <NUM> may include a plurality of sensor modules for transmitting and receiving position information. The receiver <NUM> may include a position sensor module that receives the transmission signal from the transmitter <NUM>. The position sensor module may transmit a signal to the transmitter <NUM>. When the transmitter <NUM> transmits a signal using any one of an ultrasonic wave, UWB (Ultra-Wide Band), and an infrared ray, the receiver <NUM> may be provided with a sensor module that transmits and receives an ultrasonic, UWB, or infrared signal corresponding thereto. The receiver <NUM> may preferably include a UWB sensor. For reference, UWB radio technology refers to using a very wide frequency band of several GHz or more in a baseband without using a radio carrier (RF carrier). UWB radio technology uses very narrow pulses of several nanoseconds or several picoseconds. Since the pulses emitted from such a UWB sensor are several nanoseconds or several picoseconds, penetrability is good, and accordingly, very short pulses emitted from other UWB sensors may be received even when there are obstacles around them.

When the robot <NUM> drives by following the terminal <NUM>, the terminal <NUM> and the robot <NUM> may each include a UWB sensor to transmit and receive a UWB signal to and from each other through the UWB sensor. The terminal <NUM> may transmit a UWB signal through a UWB sensor, and the robot <NUM> may determine the position of the terminal <NUM> based on the UWB signal received through the UWB sensor, and move by following the terminal <NUM>. In this case, the terminal <NUM> operates at a transmitting side, and the robot <NUM> operates at a receiving side. When the transmitter <NUM> is provided with a UWB sensor to transmit a transmission signal, the robot <NUM> or the terminal <NUM> may receive a transmission signal transmitted from the transmitter <NUM> through the UWB sensor provided therein. In this case, a signal method of the transmitter <NUM> and a signal method of the robot <NUM> and the terminal <NUM> may be the same or different.

The receiver <NUM> may include a plurality of UWB sensors. When two UWB sensors are included in the receiver <NUM>, for example, they may be provided at the left and right sides of the main body <NUM>, respectively, to receive transmission signals, thereby comparing a plurality of received signals to calculate an accurate position. For example, when distances measured by the left sensor and the right sensor are different according to the positions of the robot <NUM> and the transmitter <NUM> or the terminal <NUM>, a relative position between the robot <NUM> and the transmitter <NUM> or the terminal <NUM> and a direction of the robot <NUM> may be determined based thereon.

The receiver <NUM> may further include a GPS module that transmits and receives a GPS signal from the GPS satellite <NUM>.

The receiver <NUM> may transmit a reception result of the transmission signal to the controller <NUM>, and receive a control command for an operation from the controller <NUM>. The receiver <NUM> may operate according to a control command received from the controller <NUM>. In other words, the receiver <NUM> may be controlled by the controller <NUM>.

The output unit <NUM>, which is an output element for outputting information on the state of the robot <NUM> in the form of a voice, may include a speaker, for instance. When an event occurs during the operation of the robot <NUM>, the output unit <NUM> may output an alarm related to the event. For example, when the driving power of the robot <NUM> is exhausted, a shock is applied to the robot <NUM>, or an accident occurs on the driving region <NUM>, an alarm voice may be output to transmit information on the accident to the user.

The output unit <NUM> may transmit information on an operation state to the controller <NUM>, and receive a control command for an operation from the controller <NUM>. The output unit <NUM> may operate according to a control command received from the controller <NUM>. In other words, the output unit <NUM> may be controlled by the controller <NUM>.

The storage unit <NUM> may include a hard disk drive (HDD), a solid state disk (SSD), a silicon disk drive (SDD), a ROM, RAM, CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device as a storage element for storing data that can be read by a microprocessor. In the storage unit <NUM>, a received signal may be stored, reference data for determining an obstacle may be stored, and obstacle information on the sensed obstacle may be stored. In addition, control data for controlling the operation of the robot <NUM>, data according to the operation mode of the robot <NUM>, position information to be collected, information on the driving region <NUM> and the boundary region <NUM> may be stored in the storage unit <NUM>.

The sensing unit <NUM> may include one or more sensors that sense information on the posture and operation of the main body <NUM>. The sensing unit <NUM> may include at least one of a tilt sensor that detects a movement of the main body <NUM> and a speed sensor that detects a driving speed of the driving unit <NUM>. The tilt sensor may be a sensor that senses the posture information of the main body <NUM>. When the main body <NUM> is inclined in a front, rear, left, or right direction, the tilt sensor may calculate an inclined direction and angle thereof to sense the posture information of the main body <NUM>. A tilt sensor, an acceleration sensor, or the like may be used for the tilt sensor, and any of a gyro type, an inertial type, and a silicon semiconductor type may be applied in the case of the acceleration sensor. Moreover, in addition, various sensors or devices capable of sensing the movement of the main body <NUM> may be used. The speed sensor may be a sensor that senses a driving speed of a driving wheel provided in the driving unit <NUM>. When the driving wheel rotates, the speed sensor may sense the rotation of the driving wheel to detect the driving speed.

The sensing unit <NUM> may transmit information on a sensing result to the controller <NUM>, and receive a control command for an operation from the controller <NUM>. The sensing unit <NUM> may operate according to a control command received from the controller <NUM>. In other words, the sensing unit <NUM> may be controlled by the controller <NUM>.

The photographing unit <NUM> may be a camera for photographing the vicinity of the main body <NUM>. The photographing unit <NUM> may photograph the vicinity of the main body <NUM> to generate image information on the driving region <NUM> of the main body <NUM>. The photographing unit <NUM> may photograph the front of the main body <NUM> to detect obstacles present in the vicinity of the main body <NUM> and on the driving region <NUM>. The photographing unit <NUM>, which is a digital camera, may include an image sensor (not shown) and an image processing unit (not shown). The image sensor, which is a device that converts an optical image into an electrical signal, is configured with a chip in which a plurality of photo diodes are integrated, and a pixel is exemplified as a photo diode. Charges are accumulated in each of the pixels by an image formed on the chip by light passing through a lens, and the charges accumulated in the pixels are converted into an electrical signal (e.g., voltage). As an image sensor, CCD (Charge Coupled Device), CMOS (Complementary Metal Oxide Semiconductor), or the like are well known. In addition, the photographing unit <NUM> may include the image processing unit (DSP) that generates the image information through image processing on the photographed result.

The photographing unit <NUM> may transmit a reception result to the controller <NUM>, and receive a control command for an operation from the controller <NUM>. The photographing unit <NUM> may operate according to a control command received from the controller <NUM>. In other words, the photographing unit <NUM> may be controlled by the controller <NUM>.

The input unit <NUM> may include an input element such as at least one button, a switch, and a touch pad, and an output element such as a display module to receive a user command and output an operation state of the robot <NUM>. For example, a command for the execution of the monitoring mode may be input through the display, and a state for the execution of the monitoring mode may be output.

The input unit <NUM> may display a state of the robot <NUM> through the display, and display a control screen on which a control operation of the robot <NUM> is carried out. The control screen may refer to a user interface screen on which a driving state of the robot <NUM> is displayed, and to which a command for a driving operation of the robot <NUM> is input from a user. The control screen may be displayed on the display through the control of the controller <NUM>, and the display on the control screen, the input command, and the like may be controlled by the controller <NUM>.

The input unit <NUM> may transmit information on an operation state to the controller <NUM>, and receive a control command for an operation from the controller <NUM>. The input unit <NUM> may operate according to a control command received from the controller <NUM>. In other words, the input unit <NUM> may be controlled by the controller <NUM>.

The obstacle detection unit <NUM> includes a plurality of sensors to detect an obstacle existing in a driving direction. The obstacle detection unit <NUM> may detect an obstacle in front of the main body <NUM>, that is, in a driving direction, using at least one of laser, ultrasonic, infrared, and 3D sensors. The obstacle detection unit <NUM> may further include a cliff detection sensor provided on a rear surface of the main body <NUM> to sense a cliff.

The obstacle detection unit <NUM> may transmit information on a detection result to the controller <NUM>, and receive a control command for an operation from the controller <NUM>. The obstacle detection unit <NUM> may operate according to a control command received from the controller <NUM>. In other words, the obstacle detection unit <NUM> may be controlled by the controller <NUM>.

The weeding unit <NUM> mows the lawn on the ground surface while driving. The weeding unit <NUM> may be provided with a brush or blade for mowing the lawn to mow the lawn on the ground through rotation.

The weeding unit <NUM> may transmit information on an operation result to the controller <NUM>, and receive a control command for an operation from the controller <NUM>. The weeding unit <NUM> may operate according to a control command received from the controller <NUM>. In other words, the weeding unit <NUM> may be controlled by the controller <NUM>.

The controller <NUM> may include a central processing unit to perform overall operation control of the robot <NUM>. The controller <NUM> may determine the state of the driving region <NUM> while driving in the driving region <NUM> through the main body <NUM>, the driving unit <NUM>, and the photographing unit <NUM> to control the driving of the main body <NUM>, and control the function/operation of the robot <NUM> to be performed through the communication unit <NUM>, the receiver <NUM>, the output unit <NUM>, the storage unit <NUM>, the sensing unit <NUM>, the input unit <NUM>, the obstacle detection unit <NUM>, and the weeding unit <NUM>.

The controller <NUM> may control the input/output of data, and control the driving unit <NUM> to allow the main body <NUM> to be driven according to a setting. The controller <NUM> may control the driving unit <NUM> to independently control the operation of the left wheel drive motor and the right wheel drive motor, thereby controlling the main body <NUM> to drive in a straight or rotating manner.

The controller <NUM> may set the boundary region <NUM> on the basis of position information determined based on at least one of the position information received from the terminal <NUM> or the web server <NUM> and the transmission signal received from the transmitter <NUM>. The controller <NUM> may also set the boundary region <NUM> based on position information collected by itself while driving. The controller <NUM> may set any one of regions defined by the set boundary region <NUM> as the driving region <NUM>. The controller <NUM> may connect discontinuous position information with a line or a curve to set the boundary <NUM> in a closed loop shape, and set an inner region thereof as the driving region <NUM>. When the driving region <NUM> and the boundary region <NUM> are set, the controller <NUM> may control the driving of the main body <NUM> to be driven within the driving region <NUM> so as not to deviate from the set boundary region <NUM>. The controller <NUM> may determine a current position based on the received position information, and control the driving unit <NUM> to allow the determined current position to be located within the driving region <NUM> so as to control the driving of the main body <NUM>.

In addition, the controller <NUM> may control the driving of the main body <NUM> to be driven by avoiding an obstacle according to obstacle information received by at least one of the photographing unit <NUM> and the obstacle detection unit <NUM>. In this case, the controller <NUM> may modify the driving region <NUM> by reflecting the obstacle information to region information previously stored for the driving region <NUM>.

When the boundary region <NUM> is set during an initial setting for driving in the driving region <NUM>, the robot <NUM> may drive in the driving region <NUM> based on the set information. Here, the setting of the boundary region <NUM> is set based on a result of receiving the transmission signal from the transmitter <NUM> while the robot <NUM> autonomously drives in the driving region <NUM>, or carried out through communication between the robot <NUM> and the terminal <NUM>.

The system <NUM>, which is a system in which the setting of the boundary region <NUM> is carried out as described above, includes a plurality of transmitters <NUM>, a communication target element <NUM>, and the robot <NUM> as illustrated in <FIG>. That is, the system <NUM>, which is a mobile robot system including the plurality of transmitters <NUM>, the communication target element <NUM>, and the robot <NUM>, generates boundary information on the boundary region <NUM> of the driving region <NUM> to set the boundary region <NUM> as illustrated in <FIG>.

In the system <NUM>, the plurality of transmitters <NUM> are installed in the boundary region <NUM> of the driving region <NUM> to transmit transmission signals. The plurality of transmitters <NUM> may be dispersedly installed in the boundary region <NUM>. For instance, as illustrated in <FIG>, the plurality of transmitters <NUM> may be dispersedly installed at each corner of the boundary region <NUM>. Preferably, at least three of the plurality of transmitters <NUM> are dispersedly installed in the boundary region <NUM> to transmit the transmission signals from the installed positions, respectively. As illustrated in <FIG>, each of the plurality of transmitters <NUM> dispersedly installed in the boundary region <NUM> may transmit the transmission signal, which is a basis for determining the position of the robot <NUM> and setting the boundary region <NUM>. The transmission signal transmitted from each of the plurality of transmitters <NUM> may be received by the robot <NUM> and the terminal <NUM>.

In the system <NUM>, map information of a region including the driving region <NUM> is stored in the communication target element <NUM> stores and provided to the communication target device. Here, the communication target element <NUM> may be the web server <NUM>, and the communication target device may be the robot <NUM> or the terminal <NUM>. The web server <NUM> may directly communicate with the robot <NUM> or perform communication with the robot <NUM> while communicating with the terminal <NUM> that communicates with the robot <NUM>. The communication target element <NUM> may store control information related to the control of the system <NUM>. For instance, data related to an application of the robot <NUM> or the terminal <NUM> or data related to an operation history of the robot <NUM> may be stored. Accordingly, remote control of the system <NUM> may be performed through the communication target element <NUM>. The communication target element <NUM> may store the map information including the driving region <NUM>, and provide the map information to at least one of the robot <NUM> and the terminal <NUM>. Here, the map information may be a commercial map provided on the web, for instance, a Google map. The map information may be provided in the form of a CAD drawing, and the robot <NUM> may determine at least one of a position, a terrain, a feature, an area, an azimuth, and an actual measurement of the driving region <NUM> using the map information. Furthermore, the communication target element <NUM> may receive information on the current position of the robot <NUM> from the GPS satellite <NUM>.

In the system <NUM>, the robot <NUM> generates first map data for the positions of the plurality of transmitters <NUM> based on a reception result of the transmission signal, and receives second map data for a region corresponding to the driving region <NUM> from the communication target element <NUM> to match the first map data and the second map data and generate boundary information of the driving region <NUM>. In this case, the robot <NUM> may receive the second map data through the communication unit <NUM> communicating with the communication target element <NUM>. Here, the boundary information may refer to virtual boundary information set as the boundary region <NUM>. Accordingly, the robot <NUM> may set the boundary region <NUM> according to the boundary information to drive in the driving region <NUM>. The boundary information may be coordinate information of a portion corresponding to the boundary region <NUM> on the coordinate information based on any one point on the driving region <NUM>.

The first map data may be map information generated by the robot <NUM>. The first map data, which is map information generated based on a result of receiving the transmission signal, may be map information on the installation positions of the plurality of transmitters <NUM>. The first map data may be map information in a form in which points UI to U6 corresponding to the positions where the plurality of transmitters <NUM> are installed are displayed, as illustrated in <FIG>. That is, the robot <NUM> may determine the positions of the plurality of transmitters <NUM> based on the reception result, and generate the first map data as illustrated in <FIG>.

The second map data may be map information generated by the communication target element <NUM>. The second map data, which is map information for a region corresponding to the driving region <NUM> from the map information stored in the communication target element <NUM>, may be actual map information of the driving region <NUM>. As illustrated in <FIG>, the second map data may be map information according to actual terrains and features on the driving region <NUM>. That is, the communication target element <NUM> may determine an area corresponding to the driving region <NUM> on the map information, and generate the second map data as illustrated in <FIG>.

The robot <NUM> may match the first map data and the second map data as illustrated in <FIG>, respectively to generate the boundary information, thereby setting the boundary region <NUM>.

As such, a detailed process in which the robot <NUM> matches the first map data and the second map data to generate the boundary information may be as illustrated in <FIG>.

First, the plurality of transmitters <NUM> may be dispersedly installed in the boundary region <NUM> and then transmit the transmission signals, respectively. The robot <NUM> may determine the position of each of the plurality of transmitters <NUM> based on a reception result of the transmission signals transmitted from each of the plurality of transmitters <NUM> to generate the first map data (P1).

The communication target element <NUM> may generate the second map data according to a current position of the robot <NUM>. In this case, upon receiving a request for generating and transmitting the second map data from the robot <NUM>, the communication target element <NUM> may determine the current position of the robot <NUM> to generate the second map data. After determining the current position of the robot <NUM>, the communication target element <NUM> may transmit area information corresponding to the current position obtained from the map information to the robot <NUM>, and receive designation information on a portion corresponding to the driving region <NUM> on the area information from the robot <NUM> to generate the second map data according to the designation information (P2). That is, the communication target element <NUM> may detect the area information to transmit the detected area information to the robot <NUM>, and receive the designation information to generate the second map data according to the designation information (P2) when the designation information is designated by the robot <NUM>. The communication target element <NUM> may detect the area information corresponding to the current position from the map information based on the current location and transmit the detected area information to the robot <NUM>. Then, when the designation information corresponding to the driving region <NUM> in the area information is designated by the robot <NUM>, the designation information may be received from the robot <NUM>. After receiving the designation information, the communication target element <NUM> may generate the second map data according to the designated information (P2), and then transmit the second map data to the robot <NUM>.

When the first map data is generated and the second map data is received, the robot <NUM> may match the first map data and the second map data into one map data (P3) to generate the boundary information (P4). In this case, the robot <NUM> may match the first map data and the second map data according to a predetermined process. For instance, the first map data and the second map data may be matched according to a preset matching reference or a preset matching method. A specific process for the robot <NUM> to match the first map data and the second map data may be carried out by a process as illustrated in <FIG>.

As illustrated in <FIG>, the robot <NUM> converts the first map data and the second map data into first coordinate information and second coordinate information, respectively, in the same coordinate system, and match the first map data and the second map data using the first coordinate information and the second coordinate information (B1 to B6).

The robot <NUM> may convert the first map data into the first coordinate information (B1), convert the second map data into the second coordinate information (B2), and align the first map data and the second map data that have been converted into the same coordinate system to match the first map data and the second map data to one map data.

After converting the first map data and the second map data into the first coordinate information and the second coordinate information, respectively (B1 and B2), the robot <NUM> may determine coordinate values corresponding to the position of any one transmitter from the first coordinate information (B3), and detect a reference point aligning with the coordinate values from the second coordinate information (B4) to align the first coordinate information and the second coordinate information based on the coordinate values and the reference point (B5 and B6) so as to match the first map data and the second map data. As illustrated in <FIG>, the robot <NUM> may determine the coordinate values R corresponding to the position of any one transmitter from the first coordinate information M1 (B3). In this case, the robot <NUM> may determine coordinates corresponding to a position of any one of transmitters located in the outermost periphery among coordinates on the first coordinate information M1 as the coordinate values (B3). For instance, as illustrated in <FIG>, the coordinates R corresponding to the position of the transmitter located at an upper left end of the driving region <NUM> may be determined as the coordinate values (B3). After determining the coordinate values R, the robot <NUM> may detect the reference point C that aligns with the coordinate values R from the second coordinate information M2, as illustrated in <FIG>. In this case, the robot <NUM> may detect a point that aligns with the coordinate values R in the second coordinate information M2 or that is closest to the coordinate values R as the reference point C (B4). For instance, when the coordinate values R are determined as illustrated in <FIG>, a vertex C at an upper left end of the driving region <NUM> may be detected as the reference point C (B4) as illustrated in <FIG>.

After determining the coordinate values R (B3) and detecting the reference point C (B4), the robot <NUM> may align the coordinate values R with the reference point C (B5). That is, the robot <NUM> may align the coordinate values R with the reference point C to align the first coordinate information M1 with the second coordinate information M2. For example, as illustrated in (a) of <FIG>, the coordinate values R of the first coordinate information M1 may be aligned with the reference point C of the second coordinate information M2, the first coordinate information M1 and the second coordinate information M2 may be overlapped with each other. Accordingly, as illustrated in (b) of <FIG>, the coordinates of the first coordinate information M1 may be disposed on the second coordinate information M2.

After aligning the coordinate values R with the reference point C (B5), the robot <NUM> may adjust at least one of an angle and a ratio of the first coordinate information M1 based on the coordinate values R to align the first coordinate information with the second coordinate information (B6). That is, after aligning the coordinate values R with the reference point C as illustrated in (b) of <FIG>, the robot <NUM> may adjust at least one of an angle and a ratio of the first coordinate information M1 based on the coordinate values R such that the remaining coordinates of the first coordinate information M1 are exactly disposed on the second coordinate information M2 to align the first coordinate information with the second coordinate information.

The robot <NUM> may rotate the first coordinate information M1 to allow errors D1 and D2 between the first coordinate information M1 and the second coordinate information M2 to be within a predetermined range while the coordinate values R are fixed to the reference point C, thereby adjusting the angle of the first coordinate information M1. That is, when the angle of the first coordinate information M1 is adjusted based on the coordinate values R, the robot <NUM> may rotate the first coordinate information M1 based on the coordinate values R to adjust the angle of the first coordinate information M1 while the coordinate values R is aligned with the reference point C, thereby allowing the errors D1 and D2 between the first coordinate information M1 and the second coordinate information M2 to be within a predetermined range. For instance, when there is a difference between the first coordinate information M1 and the second coordinate information M2 by a predetermined angle as illustrated in (a) of <FIG>, the coordinate values R may be rotated while the coordinate values R are aligned with the reference point C (fixed to the reference point C) such that the coordinates of the first coordinate information M1 are included in the second coordinate information M2 as illustrated in (b) of <FIG>.

The robot <NUM> may detect an actual distance between any two points on the driving region <NUM>, detect an estimated distance between coordinates corresponding to the two points, respectively, on the first coordinate information M1, and measure an adjustment reference based on the actual distance and the estimated distance, thereby reflecting the adjustment reference to the first coordinate information M1 to adjust a ratio of the first coordinate information M. That is, when a ratio of the first coordinate information M1 is adjusted based on the coordinate values R, the robot <NUM> may reflect the adjustment reference measured based on the actual distance and the estimated distance to a distance between coordinates on the first coordinate information M1 to adjust a distance ratio between the coordinates while the coordinate values R are aligned with the reference point C, thereby allowing the errors D1 and D2 between the first coordinate information M1 and the second coordinate information M2 to be within the predetermined range. Here, the adjustment reference may be measured as a ratio of the actual distance to the estimated distance. For instance, it may be measured as a ratio of an actual distance/estimated distance. As a specific example, when the actual distance is <NUM> [m] and the estimated distance is <NUM> [m], the adjustment reference may be measured as <NUM>/<NUM> = <NUM>. In this case, a distance ratio between coordinates on the first coordinate information M1 may be adjusted to an actual distance by multiplying each distance between coordinates on the first coordinate information M1 by <NUM>, which is the adjustment reference, thereby allowing the first coordinate information M1 and the second coordinate information M2 to be aligned with each other.

When adjusting a ratio of the first coordinate information M1, the robot <NUM> may detect an actual distance between and the reference point C and any one straight line point on a straight line to the reference point C, detect an estimated distance between the coordinate values R and adjacent values adjacent to the straight line point on the first coordinate information M1, and measure the adjustment reference based on the reference point C and the straight line point, thereby reflecting the adjustment reference to each distance between the coordinates of the first coordinate information M1. That is, when measuring the adjustment reference to reflect it to each distance between the coordinates of the first coordinate information M1, the robot <NUM> may measure the adjustment reference based on an actual distance between the reference point C and the straight line point, and an estimated distance between the coordinate values R and the adjacent values, corresponding to the actual distance on the coordinate information M1, thereby allowing the adjustment reference measured from the reference point C and the straight line point to be commonly reflected to each distance between the coordinates of the first coordinate information M1.

When adjusting a ratio of the first coordinate information M1, the robot <NUM> may detect actual distances between a plurality of any two points, respectively, detect estimated distances between the coordinates corresponding to the plurality of any two points, respectively, and measure a plurality of adjustment references, respectively, based on a plurality of actual distances and a plurality of estimated distances, thereby reflecting the plurality of adjustment references to distances between the coordinates of the first coordinate information M1 corresponding thereto, respectively. That is, when measuring the adjustment reference to reflect it to each distance between the coordinates of the first coordinate information M1, as illustrated in <FIG>, the robot <NUM> may measure a plurality of adjustment references based on actual distances between the plurality of two points, respectively, and estimated distances corresponding to the plurality of two points, respectively, thereby reflecting the plurality of adjustment references measured from the plurality of two points, respectively, to distances between the coordinates of the first coordinate information M1, respectively.

When adjusting a ratio of the first coordinate information M1, the robot <NUM> may detect actual distances between a plurality of any two points, respectively, detect estimated distances between coordinates corresponding to the plurality of any two points, respectively, and measure a plurality of adjustment references based on a plurality of actual distances and a plurality of estimated distances, respectively, thereby reflecting an average value of the plurality of adjustment references to each distance between the coordinates of the first coordinate information M1. That is, when measuring the adjustment reference to reflect it to each distance between the coordinates of the first coordinate information M1, as illustrated in <FIG>, the robot <NUM> may measure a plurality of adjustment references based on actual distances between the plurality of two points, respectively, and estimated distances corresponding to the plurality of two points, respectively, and calculate an average value of the plurality of adjustment references, thereby allowing the average value measured from each of the plurality of two points to be commonly reflected to each distance between the coordinates of the first coordinate information M1.

In this way, the robot <NUM> that aligns the first coordinate information M1 with the second coordinate information M2 to match the first map data and the second map data may generate the boundary information from the matching result. The robot <NUM> may allow the matching result to be output and displayed on an outside of the robot <NUM> or a control element that controls the robot <NUM>, and generate the boundary information in response to a manipulation on the output display. That is, when matching the first map data and the second map data to generate the boundary information from the matching result, the robot <NUM> may allow the matching result to be displayed externally, thereby generating the boundary information in response to a manipulation of at least one of correction, modification, and setting on the output display, and setting the boundary region <NUM> according to the boundary information. In this case, the output display may be carried out through the input unit <NUM> of the robot <NUM> or carried out through the terminal <NUM>. As a specific example of generating the boundary information in response to a manipulation on the output display, when a matching result obtained by aligning the first coordinate information M1 with the second coordinate information M2 is output and displayed on an outside of the robot <NUM> or the control element (M), a setting manipulation L of the boundary region <NUM> may be carried out on the output display M as illustrated in <FIG>. As described above, when the region setting manipulation L is carried out on the output display M, the boundary information may be generated in response to the region setting manipulation L. Furthermore, as illustrated in <FIG>, an island setting manipulation I may be carried out on the output display M. As described above, when the island setting manipulation I is carried out on the output display M, the boundary information may be generated in response to the island setting manipulation I. In addition, as illustrated in <FIG>, a placement setting manipulation of one or more apparatuses including the charging device <NUM> may be carried out on the output display M. As such, when the placement setting manipulation is carried out on the output display M, the boundary information may be generated in response to the placement setting manipulation. When a specific setting for the driving region <NUM> is carried out in this process, the robot <NUM> may generate the boundary information by reflecting the setting result.

As described above, the robot <NUM> that generates the boundary information may store image data for each process in which the generation of the boundary information is carried out by matching the first map data and the second map data. That is, as illustrated in <FIG>, the robot <NUM> may store images in each process of matching the first map data and the second map data to generate the boundary information in the form of data. For instance, the image data of each process of aligning the first coordinate information with the second coordinate information illustrated in <FIG> may be stored in the storage unit <NUM>. Through this, the correction of the boundary information may be carried out by comparing it with data stored during the resetting of the boundary region <NUM>, or matching with position information transmitted from at least one of the terminal <NUM>, the GPS satellite <NUM> and the communication target element <NUM> may be easily carried out.

As described above, the system <NUM> may match the first map data and the second map data obtained from performing communication with the plurality of transmitters <NUM> and the communication target element <NUM> to generate the boundary information, thereby easily and accurately performing the setting of the boundary region <NUM> without separate driving/control for the generation of the boundary information.

The system <NUM> as described above may be implemented by applying a method of generating boundary information of a mobile robot system to be described below (hereinafter, referred to as a generation method).

The generation method, which is a method for generating the boundary information in the foregoing system <NUM>, may be applied to the foregoing system <NUM>, and may also be applied to another system other than the foregoing the system <NUM>.

The generation method may be a method in which the robot <NUM> generates the boundary information in the system <NUM> including the plurality of transmitters <NUM>, the communication target element <NUM>, and the robot <NUM>. The generation method may also be a method in which the terminal <NUM> remotely controlling the robot <NUM> generates the boundary information. As illustrated in <FIG>, the generation method includes converting the first map data and the second map data into first coordinate information M1 and second coordinate information M2, respectively (S10), determining coordinate values R corresponding to a position of any one transmitter from the first coordinate information M1 (S20), detecting a reference point C that aligns with the coordinate values R from the second coordinate information M2 (S30), aligning the first coordinate information M1 and the second coordinate information M2 based on the coordinate values R and the reference point C to match the first map data and the second map data (S40), and generating boundary information of the driving region <NUM> according to the matching result (S50).

That is, the generation of the boundary information in the system <NUM> may include the converting step (S10), the determining step (S20), the detecting step (S30), the matching step (S40), and the generating step (S50). Accordingly, the robot <NUM> or the terminal <NUM> may generate the boundary information in the order of converting the first map data and the second map data into the first coordinate information M1 and the second coordinate information M2, respectively (S10), determining the coordinate values R from the first coordinate information M1 (S20), detecting the reference point C from the second coordinate information M2 (S30), and aligning the first coordinate information M1 and the second coordinate information M2 based on the coordinate values (R) and the reference point (C) to match the first map data and the second map data (S40) to generate the boundary information (S50).

The converting step (S10) may be generating, by the robot <NUM> or the terminal <NUM>, the first map data based on a result of receiving the transmission signals transmitted from the plurality of transmitters <NUM>, respectively, receiving the second map data from the communication target element <NUM>, and then converting the first map data and the second map data into the first coordinate information M1 and the second coordinate information M2, respectively.

In the converting step (S10), the robot <NUM> or the terminal <NUM> may convert the first map data and the second map data into the first coordinate information M1 and the second coordinate system information M2, respectively, in the same coordinate system. Accordingly, the first coordinate information M1 and the second coordinate information M2 may be aligned with each other on the same coordinate system.

The determining step (S20) may be determining, by the robot <NUM> or the terminal <NUM>, the coordinate values R from the first coordinate information M1.

In the determining step (S20), the robot <NUM> or the terminal <NUM> may determine coordinates corresponding to a position of any one of the transmitters located in the outermost periphery among coordinates on the first coordinate information M1 as the coordinate values. For instance, as illustrated in <FIG>, the coordinates R corresponding to the position of the transmitter located at an upper left end of the driving region <NUM> may be determined as the coordinate values (B3).

The detecting step (S30) may be detecting, by the robot <NUM> or the terminal <NUM>, the reference point C from the second coordinate information M2.

In the detecting step (S30), the robot <NUM> or the terminal <NUM> may detect a point that aligns with the coordinate value R in the second coordinate information M2, or that is closest to the coordinate values R as the reference point C. For instance, when the coordinate values R are determined as illustrated in <FIG>, a vertex C at an upper left end of the driving region <NUM> may be detected as the reference point C as illustrated in <FIG>.

The matching step (S40) may be aligning, by the robot <NUM> or the terminal <NUM>, the first coordinate information M1 and the second coordinate information M2 based on the coordinate values R and the reference point C to match the first map data and the second map data.

In the matching step (S40), as illustrated in (a) of <FIG>, the robot <NUM> or the terminal <NUM> may align the coordinate values R of the first coordinate information M1 with the reference point C of the second coordinate information M2, and overlap the first coordinate information M1 with the second coordinate information M2. Accordingly, as illustrated in (b) of <FIG>, the coordinates of the first coordinate information M1 may be disposed on the second coordinate information M2.

In the matching step (S40), the robot <NUM> or the terminal <NUM> may match the coordinate values R and the reference point C, and then, adjust at least one of an angle and a ratio of the first coordinate information M1 based on the coordinate values R to match the first coordinate information M1 to the second coordinate information M2. For instance, after aligning the coordinate values R with the reference point C as illustrated in (b) of <FIG>, at least one of an angle and a ratio of the first coordinate information M1 may be adjusted based on the coordinate values R such that the remaining coordinates of the first coordinate information M1 are exactly disposed on the second coordinate information M2 to align the first coordinate information with the second coordinate information.

In the matching step (S40), the robot <NUM> or the terminal <NUM> may rotate the first coordinate information M1 to allow errors D1 and D2 between the first coordinate information M1 and the second coordinate information M2 to be within a predetermined range while the coordinate values R are fixed to the reference point C, thereby adjusting the angle of the first coordinate information M1. That is, when the angle of the first coordinate information M1 is adjusted based on the coordinate values R, the first coordinate information M1 may be rotated based on the coordinate values R to adjust the angle of the first coordinate information M1 while the coordinate values R is aligned with the reference point C, thereby allowing the errors D1 and D2 between the first coordinate information M1 and the second coordinate information M2 to be within a predetermined range.

In the matching step (S40), the robot <NUM> or the terminal <NUM> may detect an actual distance between any two points on the driving region <NUM>, detect an estimated distance between coordinates corresponding to the two points, respectively, on the first coordinate information M1, and measure an adjustment reference based on the actual distance and the estimated distance, thereby reflecting the adjustment reference to the first coordinate information M1 to adjust a ratio of the first coordinate information M. When a ratio of the first coordinate information M1 is adjusted based on the coordinate values R, the adjustment reference measured based on the actual distance and the estimated distance may be reflected to a distance between coordinates on the first coordinate information M1 to adjust a distance ratio between the coordinates while the coordinate values R are aligned with the reference point C, thereby allowing the errors D1 and D2 between the first coordinate information M1 and the second coordinate information M2 to be within the predetermined range.

In the matching step (S40), when adjusting a ratio of the first coordinate information M1, the robot <NUM> or the terminal <NUM> may detect an actual distance between the reference point C and any one straight line point on a straight line to the reference point C, detect an estimated distance between the coordinate values R and adjacent values adjacent to the straight line point on the first coordinate information M1, and measure the adjustment reference based on the reference point C and the straight line point, thereby reflecting the adjustment reference to each distance between the coordinates of the first coordinate information M1. That is, when measuring the adjustment reference to reflect it to each distance between the coordinates of the first coordinate information M1, the adjustment reference may be measured based on an actual distance between the reference point C and the straight line point, and an estimated distance between the coordinate values R and the adjacent values, corresponding to the actual distance on the coordinate information M1, thereby allowing the adjustment reference measured from the reference point C and the straight line point to be commonly reflected to each distance between the coordinates of the first coordinate information M1.

In the matching step S40, when adjusting a ratio of the first coordinate information M1, the robot <NUM> or the terminal <NUM> may detect actual distances between a plurality of any two points, respectively, detect estimated distances between the coordinates corresponding to the plurality of any two points, respectively, and measure a plurality of adjustment references, respectively, based on a plurality of actual distances and a plurality of estimated distances, thereby reflecting the plurality of adjustment references to distances between the coordinates of the first coordinate information M1 corresponding thereto, respectively. That is, when measuring the adjustment reference to reflect it to each distance between the coordinates of the first coordinate information M1, as illustrated in <FIG>, a plurality of adjustment references may be measured based on actual distances between the plurality of two points, respectively, and estimated distances corresponding to the plurality of two points, respectively, thereby reflecting the plurality of adjustment references measured from the plurality of two points, respectively, to distances between the coordinates of the first coordinate information M1, respectively.

In the matching step (S40), when adjusting a ratio of the first coordinate information M1, the robot <NUM> or the terminal <NUM> may detect actual distances between a plurality of any two points, respectively, detect estimated distances between coordinates corresponding to the plurality of any two points, respectively, and measure a plurality of adjustment references based on a plurality of actual distances and a plurality of estimated distances, respectively, thereby reflecting an average value of the plurality of adjustment references to each distance between the coordinates of the first coordinate information M1. That is, when measuring the adjustment reference to reflect it to each distance between the coordinates of the first coordinate information M1, as illustrated in <FIG>, a plurality of adjustment references may be measured based on actual distances between the plurality of two points, respectively, and estimated distances corresponding to the plurality of two points, respectively, and calculate an average value of the plurality of adjustment references, thereby allowing the average value measured from each of the plurality of two points to be commonly reflected to each distance between the coordinates of the first coordinate information M1.

The generating step (S50) may be generating, by the robot <NUM> or the terminal <NUM>, the boundary information according to the matching result.

In the generating step (S50), the robot <NUM> or the terminal <NUM> may allow the matching result to be output and displayed on an outside of the robot <NUM> or the terminal <NUM>, and generate the boundary information in response to a manipulation on the output display. That is, when matching the first map data and the second map data to generate the boundary information from the matching result, the matching result may be displayed externally, thereby generating the boundary information in response to a manipulation of at least one of correction, modification, and setting on the output display, and setting the boundary region <NUM> according to the boundary information. In this case, the output display may be carried out through the input unit <NUM> of the robot <NUM> or carried out through the terminal <NUM>. As a specific example of generating the boundary information in response to a manipulation on the output display, when a matching result obtained by aligning the first coordinate information M1 with the second coordinate information M2 is output and displayed on an outside of the robot <NUM> or the control element (M), a setting manipulation L of the boundary region <NUM> may be carried out on the output display M as illustrated in <FIG>. As described above, when the region setting manipulation L is carried out on the output display M, the boundary information may be generated in response to the region setting manipulation L. Furthermore, as illustrated in <FIG>, an island setting manipulation I may be carried out on the output display M. As described above, when the island setting manipulation I is carried out on the output display M, the boundary information may be generated in response to the island setting manipulation I. In addition, as illustrated in <FIG>, a placement setting manipulation of one or more apparatuses including the charging device <NUM> may be carried out on the output display M. As such, when the placement setting manipulation is carried out on the output display M, the boundary information may be generated in response to the placement setting manipulation. When a specific setting for the driving region <NUM> is carried out in this process, the robot <NUM> may generate the boundary information by reflecting the setting result.

The generation method including the converting step (S10), the determining step (S20), the detecting step (S30), the matching step (S40) and the generating step (S50) may be implemented as codes readable by a computer on a medium written by the program. The computer readable medium includes all types of recording devices in which data readable by a computer system is stored. Examples of the computer-readable medium may include a hard disk drive (HDD), a solid state disk (SSD), a silicon disk drive (SDD), a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device and the like, and may also be implemented in the form of a carrier wave (e.g., transmission over the Internet). In addition, the computer may include the controller <NUM>.

Claim 1:
A mobile robot system comprising:
a plurality of transmitters (<NUM>) installed in a boundary region of a driving region (<NUM>) and configured to transmit transmission signals;
a communication target element (<NUM>) configured to store map information of a region including the driving region (<NUM>) to provide the map information to a communication target device; and
a mobile robot (<NUM>) configured to generate first map data for positions of the plurality of transmitters (<NUM>) based on a reception result of the transmission signals, and configured to receive second map data for a region corresponding to the driving region (<NUM>) from the communication target element (<NUM>) to match the first map data and the second map data so as to generate boundary information of the driving region (<NUM>),
wherein the map information is a commercial map provided on a web,
wherein the communication target element (<NUM>) is a web server in which control information related to the control of the mobile robot system is stored; and
wherein the communication target element (<NUM>) is configured to determine a current position of the mobile robot, and then to transmit area information corresponding to the current location from the map information to the mobile robot (<NUM>), and configured to receive designation information for a portion corresponding to the driving region (<NUM>) on the area information to generate the second map data according to the designation information.