초록 ▼

Disclosed are a mobile robot and a mobile robot charge station return system, the mobile robot having a simplified structure by commonly using a detection sensor capable of both receiving charge station guide signals and obstacle detection signals, the two types of signals having different frequenci

Disclosed are a mobile robot and a mobile robot charge station return system, the mobile robot having a simplified structure by commonly using a detection sensor capable of both receiving charge station guide signals and obstacle detection signals, the two types of signals having different frequencies. The mobile robot includes a signal reception unit including one or more detection sensors for both receiving obstacle detection signals of different frequency bands and the charge station position guide signals outputted from a charge station; and a controller for separating and detecting the obstacle detection signals and the charge station position guide signals, which are outputted from the signal reception unit, according to frequency bands, and controlling an operation of the mobile robot according to the detected signals.

대표청구항 ▼

What is claimed is: 1. A mobile robot comprising: a signal reception unit including one or more detection sensors that receive obstacle detection signals and charge station position guide signals outputted from a charge station; and a controller which classifies a signal received by the signal rece

What is claimed is: 1. A mobile robot comprising: a signal reception unit including one or more detection sensors that receive obstacle detection signals and charge station position guide signals outputted from a charge station; and a controller which classifies a signal received by the signal reception unit as either an obstacle detection signal or a charge station position guide signal based on a frequency of the received signal, outputs the received signal based on its classification, and controls an operation of the mobile robot based on the received signal. 2. The mobile robot as claimed in claim 1, further comprising a battery detection circuit that detects a battery level of a battery supplying power at regular intervals, and outputs battery charge request signals when the detected battery level is less than a predetermined reference value. 3. The mobile robot as claimed in claim 2, wherein the controller detects charge station position guide signals which are outputted from the signal reception unit in response to the battery charge request signals outputted from the battery detection circuit, and controls the mobile robot to return to the charge station by using the detected charge station position guide signals. 4. The mobile robot as claimed in claim 1, wherein the controller comprises: a travel controller that controls a movement of the mobile robot; a charge station position calculator that calculates a position of the charge station by using a charge station position guide signal received by the signal reception unit; and a charge station return processor that outputs control signals to the travel controller in order to cause the mobile robot to return to the charge station with reference to charge station position information outputted from the charge station position calculator. 5. The mobile robot as claimed in claim 1, wherein the detection sensors of the signal reception unit are spaced apart at predetermined intervals along a side of the mobile robot, and unique identification information is associated with each of the detection sensors. 6. The mobile robot as claimed in claim 5, wherein the controller determines a position of the charge station by using the identification information of a detection sensor of the one or more detection sensors which received a charge station position guide signal. 7. The mobile robot as claimed in claim 1, wherein the detection sensors of the signal reception unit are installed on a front upper surface of the mobile robot and are separated by partitions to detect signals from different directions, and unique identification information is associated with each of the detection sensors. 8. The mobile robot as claimed in claim 7, wherein the controller determines a position of the charge station by using the identification information of a detection sensor of the one or more detection sensors which received a charge station position guide signal. 9. The mobile robot as claimed in claim 1, wherein the signal reception unit comprises: a space detection sensor that receives charge station position guide signals of different frequencies outputted to respective preset areas from the charge station; and a direction detection sensor that detects a direction in which the charge station position guide signals are received. 10. The mobile robot as claimed in claim 9, wherein the controller determines a position of the mobile robot from a center of the charge station by using a frequency of the charge station position guide signals detected through the space detection sensor, and determines a return movement direction to the charge station by using the direction detection sensor. 11. The mobile robot as claimed in claim 9, wherein the direction detection sensor comprises: a forward detection sensor that detects charge station position guide signals at a front of the cleaning robot; and a backward detection sensor that detects charge station position guide signals at a back of the cleaning robot. 12. The mobile robot as claimed in claim 1, wherein the mobile robot comprises a cleaning robot. 13. A mobile robot charge station return system for causing a mobile robot to return to a charge station, the system comprising: the charge station, which includes a plurality of guide signal emitters that output charge station position guide signals of different frequencies to respective preset areas; and the mobile robot, which includes a signal reception unit having one or more detection sensors that receive obstacle detection signals and the charge station position guide signals of outputted from the charge station, and a controller which classifies a signal received by the signal reception unit as either an obstacle detection signal or a charge station position guide signal based on a frequency of the received signal, outputs the received signal based on its classification, and controls an operation of the mobile robot based on the received signal. 14. The system as claimed in claim 13, wherein the signal reception unit of the mobile robot comprises: a space detection sensor that receives the charge station position guide signals outputted to respective preset areas from the charge station; and a direction detection sensor that detects a direction in which the charge station position guide signals are received. 15. The system as claimed in claim 14, wherein the controller of the mobile robot determines a position of the mobile robot from a center of the charge station by using a frequency of the charge station position guide signals detected through the space detection sensor, and determines a return movement direction to the charge station by using the direction detection sensor. 16. The system as claimed in claim 14, wherein the direction detection sensor comprises: a forward detection sensor that detects charge station position guide signals at a front of the cleaning robot; and a backward detection sensor that detects charge station position guide signals at a back of the cleaning robot. 17. The system as claimed in claim 13, wherein the mobile robot further comprises a battery detection circuit that detects a battery level of a battery supplying power at regular intervals, and outputs battery charge request signals when the detected battery level is less than a predetermined reference value. 18. The system as claimed in claim 17, wherein the controller detects charge station position guide signals which are outputted from the signal reception unit in response to the battery charge request signals outputted from the battery detection circuit, and controls the mobile robot to return to the charge station by using the detected charge station position guide signals. 19. The system as claimed in claim 13, wherein the controller of the mobile robot comprises: a travel controller that controls a movement of the mobile robot; a charge station position calculator that calculates a position of the charge station by using a charge station position guide signal received by the signal reception unit; and a charge station return processor that outputs control signals to the travel controller in order to cause the mobile robot to return to the charge station with reference to charge station position information outputted from the charge station position calculator. 20. The system as claimed in claim 13, wherein the mobile robot comprises a cleaning robot. 21. A method of controlling a mobile robot, comprising: receiving a signal with a signal reception unit of the mobile robot; classifying the signal as either an obstacle detection signal or a charge station position guide signal based on a frequency of the received signal; outputting the signal based on its classification; and controlling an operation of the mobile robot based on the signal.