| 摘要 |
A method for detecting a movement path of a mobile robot and the mobile robot thereby are provided to detect the actual moving direction of the mobile robot by periodically inputting image from a camera, and to monitor the moving state and the abnormal state of the mobile robot by comparing the actual moving direction according to image from the camera with moving direction calculated from pulse in proportion to rpm of left and right wheel motors. A mobile robot includes a camera unit(160) taking a picture of image from a lens and outputting image, a driving unit(130) having left and right wheel motors(131,132) traveling the mobile robot according to control signals, and a rotation detection unit outputting pulse information by detecting rotary speed of the left or right wheel motor, a memory(170) storing operation program for driving the mobile robot and image from the camera, and a microprocessor(150) storing image from the camera and calculating and outputting the processing direction of the mobile robot by comparing image with the stored image. The microprocessor comprises a travel control unit(151) controlling the driving unit, a proceeding direction calculation unit(152) calculating and outputting the proceeding direction of the mobile robot by comparing image from the camera with image from the memory in moving the mobile robot, and a state detection unit calculating the proceeding direction and speed according to pulse from a rotation detection unit and outputting the control signal by detecting the abnormal state of the mobile robot according to the moving direction. The mobile robot is formed of a cleaning robot.
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