KR100474273B1 - Running control method and apparatus for automatic running vacuum cleaner - Google Patents
Running control method and apparatus for automatic running vacuum cleaner Download PDFInfo
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- KR100474273B1 KR100474273B1 KR10-2002-0055137A KR20020055137A KR100474273B1 KR 100474273 B1 KR100474273 B1 KR 100474273B1 KR 20020055137 A KR20020055137 A KR 20020055137A KR 100474273 B1 KR100474273 B1 KR 100474273B1
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
본 발명은 자동 주행 청소기가 층계나 다리 마루 등의 단차부분으로 떨어지는 것을 방지하면서 단차부분의 경계면을 청소하는 기술에 관한 것이다. 이러한 본 발명은, 청소기를 전방을 향해 자동 주행시키면서 적외선 센서에서의 투사광에 대한 입사광의 유무를 근거로 전방에 단차부분이 나타나는 것을 인식하는 제1과정과; 전방에 단차부분이 나타날 때 청소기를 일정 각도 회전시킨 후 바퀴 주변에 설치된 두 개의 적외선 센서에서의 투사광에 대한 입사광의 유무를 근거로 단차부분과 바닥면을 인식하면서 그 단차부분의 경계면을 따라 똑바르게 주행시키는 제2과정에 의해 달성된다.The present invention relates to a technique for cleaning the boundary of the stepped portion while preventing the automatic traveling cleaner from falling into the stepped portion such as stairs or leg floors. The present invention includes a first step of recognizing that a step portion appears in the front based on the presence or absence of incident light with respect to the projection light from the infrared sensor while automatically driving the cleaner toward the front; When the step part appears in the front, rotate the cleaner at an angle and recognize the step part and the bottom surface based on the presence or absence of incident light from the two infrared sensors installed around the wheel. It is achieved by the second process of driving correctly.
Description
본 발명은 자동 주행 청소기가 층계나 다리 마루 따위의 단차부분으로 떨어지는 것을 방지하면서 단차부분의 경계면을 청소하는 기술에 관한 것으로, 특히 청소를 위해 자동 운행 도중 단차부분에 도달하면 그 단차부분의 경계면을 따라 주행하면서 청소를 할 수 있도록 한 자동 주행 청소기의 주행 제어 방법 및 장치에 관한 것이다.The present invention relates to a technique for cleaning the boundary of the stepped portion while preventing the automatic driving cleaner from falling into the stepped portion of the stairs or leg floor, and in particular, when the stepped portion is reached during the automatic driving for cleaning, the boundary of the stepped portion is The present invention relates to a traveling control method and apparatus for an automatic traveling cleaner which enables cleaning while driving along.
근래 들어 사용자가 청소기를 직접 끌고 다니면서 조작하지 않아도 청소기가 스스로 주행하면서 청소하는 자동 주행 청소기가 등장하였다. 이를 위해 청소기는 벽을 감지하기 위한 초음파 센서나 단차부분을 감지하기 위한 광센서들을 구비하게 된다. Recently, an automatic driving cleaner has appeared, in which the cleaner runs by itself while the user does not operate by directly dragging the cleaner. To this end, the cleaner is equipped with an ultrasonic sensor for detecting a wall or light sensors for detecting a stepped portion.
도 1은 종래 기술에 의한 자동 주행 청소기에서 단차부분을 감지하기 위해 하단 양 측면부에 각기 설치되어 있는 한 쌍의 적외선 센서(TX),(RX)를 나타내고 있다. 이와 같은 경우 청소기가 상기 적외선 센서(TX),(RX)를 통해 단차부분(11)을 감지하여 그 단차부분(11)의 경계면을 따라가면서 청소를 하기 위해서는 상기 하나의 적외선 수신센서(RX)를 통해 소정 주기로 수신 신호를 감지하면서 주행을 제어하게 되므로 경계면을 따라 똑바르게 주행하지 못하고, 도 2에서와 같이 약간 지그재그 경로(21)로 주행하게 된다. FIG. 1 illustrates a pair of infrared sensors TX and RX which are respectively installed at both side surfaces of a lower side in order to detect a stepped portion in a conventional automatic driving cleaner. In this case, the cleaner detects the stepped portion 11 through the infrared sensors TX and RX, and cleans the single infrared receiver RX along the boundary surface of the stepped portion 11 for cleaning. Since the driving is controlled while sensing the received signal at a predetermined period, the driving cannot be performed straight along the boundary surface, and the driving is performed in a slightly zigzag path 21 as shown in FIG.
이와 같이 종래의 자동 주행 청소기에 있어서는 하나의 적외선 수신센서를 통해 소정 주기로 수신 신호를 감지하여 주행을 제어하게 되므로 단차부분의 경계면을 따라 똑바르게 주행하지 못하고, 약간 지그재그 경로로 주행하게 되는 문제점이 있었다. As described above, in the conventional automatic driving cleaner, the driving signal is controlled by detecting a received signal at a predetermined period through one infrared ray receiving sensor, so that the vehicle cannot travel straight along the boundary of the stepped portion, but travels in a slightly zigzag path. .
따라서, 본 발명의 목적은 청소를 위해 자동 주행 도중 단차부분에 도달하면 그 단차부분의 경계면을 따라 똑바르게 주행하면서 바닥면을 청소하는 자동 주행 청소기의 주행 제어 방법 및 장치를 제공함에 있다.Accordingly, an object of the present invention is to provide a traveling control method and apparatus for an automatic traveling cleaner which cleans a floor while traveling straight along the boundary of the stepped portion when the stepped portion is reached during the automatic driving for cleaning.
본 발명에 의한 자동 주행 청소기의 주행 제어 방법은, 청소기를 자동으로 주행시키면서 청소기 본체의 전면에 설치된 광센서에서의 투사광에 대한 입사광의 유무를 근거로 전방에 단차부분이 나타나는 것을 인식하는 제1과정과; 상기 전방에 단차부분이 나타날 때 청소기를 좌측(또는 우측) 방향으로 일정 각도 회전시킨 후 바퀴 주변에 설치된 두 개의 광센서에서의 투사광에 대한 입사광의 유무를 근거로 단차부분과 바닥면을 인식하면서 그 단차부분의 경계면을 따라 나란히 주행시키는 제2과정으로 이루어진다.A traveling control method of an automatic traveling cleaner according to the present invention is a first method for recognizing that a stepped portion appears in the front based on the presence or absence of incident light with respect to the projection light from an optical sensor installed on the front side of the cleaner body while driving the cleaner automatically. Process; When the stepped portion appears in front of the cleaner, rotate the cleaner to the left (or right) direction at an angle and recognize the stepped portion and the bottom surface based on the presence or absence of incident light on the projection light from the two optical sensors installed around the wheel. And a second process of traveling side by side along the boundary of the stepped portion.
도 3은 본 발명에 의한 자동 주행 청소기의 주행 제어 장치의 블록도로서 이에 도시한 바와 같이, 청소기 본체의 전방에 광센서를 설치하여 전방에 단차부분이 나타나는 것을 감지할 수 있도록 광신호를 발사하고, 청소기 바퀴 주변에 두 개의 광센서를 설치하여 단차부분의 경계면을 따라 주행할 때 경계부분과 바닥면을 감지할 수 있도록 광신호를 발사하는 센서부(31)와; 상기 센서부(31)의 전면에 설치된 광센서에서의 투사광에 대한 입사광의 유무를 근거로 전방에 단차부분이 나타난 것을 인식하여 청소기를 좌측 방향으로 회전시킨 후 그 센서부(31)의 바퀴 주변에 설치된 한 쌍의 광센서에서의 투사광에 대한 입사광의 유무를 근거로 단차부분을 인식하여 그 단차부분의 경계면을 따라 이동하도록 구동부(33)의 구동을 제어하는 제어부(32)와; 상기 제어부(32)의 제어하에 청소기를 주행시키고 청소를 위해 청소용 모터를 구동시키는 구동부(33)와; 상기 구동부(33)에서 청소용 모터가 구동될 때 해당 청소 부위를 청소하기 위한 청소부(34)로 구성한 것으로, 이와 같이 구성한 본 발명의 작용을 첨부한 도 4 내지 도 6을 참조하여 상세히 설명하면 다음과 같다.3 is a block diagram of a driving control apparatus for an automatic traveling cleaner according to the present invention. As shown in FIG. 3, an optical sensor is installed in front of the cleaner main body to emit an optical signal to detect that a step portion appears in the front. A sensor unit 31 which emits an optical signal so that two optical sensors are installed around the cleaner wheel to detect the boundary portion and the bottom surface when traveling along the boundary surface of the stepped portion; Recognizing that a stepped portion appeared in the front based on the presence or absence of incident light with respect to the projection light from the optical sensor installed in the front of the sensor unit 31 rotates the cleaner to the left direction, and then around the wheel of the sensor unit 31 A control unit 32 for controlling the driving of the driving unit 33 to recognize the stepped portion and move along the boundary surface of the stepped portion based on the presence or absence of incident light with respect to the projected light from the pair of optical sensors; A driving unit 33 for driving the cleaner under the control of the control unit 32 and driving the cleaning motor for cleaning; When the cleaning motor is driven in the drive unit 33 is configured as a cleaning unit 34 for cleaning the cleaning site, described in detail with reference to Figures 4 to 6 attached to the operation of the present invention configured as described below. same.
청소기가 전방으로 주행하다가 단차부분(51)에 도달하게 되면, 제어부(32)는 전방 적외선센서(31A)에서의 투사광에 대한 입사광의 유무를 근거로 그 사실을 인식한 후 구동부(33)의 주행 구동장치의 구동을 중지시키게 되고, 이에 의해 청소기의 주행 동작이 중지된다.When the cleaner travels forward and reaches the stepped portion 51, the controller 32 recognizes the fact based on the presence or absence of incident light with respect to the projection light from the front infrared sensor 31A, and then, The driving of the traveling driving device is stopped, whereby the traveling operation of the cleaner is stopped.
이와 동시에, 상기 제어부(32)는 상기 구동부(33)의 구동을 제어하여 청소기가 도 5에서와 같이 반시계 방향으로 회전하게 된다. 이후, 도 6에서와 같이 청소기 본체(40)의 우측바퀴(41R) 주변에 설치된 측면 적외선센서(31C)에 의해 단차부분이 검출되고, 또 다른 측면 적외선센서(31B)에 의해 바닥면이 검출될 때 상기 반시계 방향으로의 회전 동작을 중지하게 된다. At the same time, the control unit 32 controls the driving of the driving unit 33 so that the cleaner rotates in the counterclockwise direction as shown in FIG. 5. Subsequently, as shown in FIG. 6, the stepped portion is detected by the side infrared sensor 31C installed around the right wheel 41R of the cleaner body 40, and the bottom surface is detected by the other side infrared sensor 31B. When the counterclockwise rotation is stopped.
이후, 상기 제어부(32)는 상기 구동부(33)의 구동을 제어하여 청소기가 전방을 향해 주행하게 된다. 이와 같은 상태에서 상기 제어부(32)는 상기 두 개의 측면 적외선센서(31B),(31C) 모두를 통해 바닥면이 감지되면 청소기의 본체(40)를 약간 오른쪽으로 이동시켜 주행되게 하고, 반대로 모두를 통해 단차부분이 감지되면 약간 왼쪽으로 이동시켜 주행되게 한다.Thereafter, the controller 32 controls the driving of the driving unit 33 so that the cleaner runs toward the front. In this state, when the bottom surface is detected through both of the two side infrared sensors 31B and 31C, the control unit 32 moves the main body 40 of the cleaner to the right to allow the vehicle to run to the right. When the stepped part is detected, the vehicle moves to the left slightly.
이에 따라, 상기 청소기의 본체(40)는 단차부분(51)과 약간의 거리를 유지하면서 전방을 향해 똑바르게 주행할 수 있게 된다. 즉, 상기와 같은 제어 동작에 의해 청소기가 단차부분의 경계면을 따라 이동할 수 있게 된다. As a result, the main body 40 of the cleaner can travel straight ahead while maintaining a slight distance from the stepped portion 51. That is, by the above control operation, the cleaner may move along the boundary of the stepped portion.
물론, 청소기가 자동으로 주행할 때, 상기 제어부(32)의 제어에 의해 구동부(33)의 청소용 모터가 구동되고, 이에 의해 청소부(34)를 통해 주행면이 청소된다. Of course, when the cleaner runs automatically, the cleaning motor of the driving unit 33 is driven by the control of the control unit 32, thereby cleaning the running surface through the cleaning unit 34.
참고로, 상기 제어부(32)가 센서부(31)에 설치되어 있는 상기 적외선 센서(31A-31C)를 이용하여 단차부분과 바닥을 인식하는 과정을 설명하면, 해당 적외선 센서로부터 주사된 적외선이 반사되어 입사되면 바닥면으로 인식하고, 입사되지 않으면 단차부분으로 인식하게 된다. For reference, when the controller 32 recognizes a step portion and a bottom by using the infrared sensors 31A-31C installed in the sensor unit 31, the infrared rays reflected from the infrared sensor are reflected. If it is incident, it is recognized as the bottom surface, and if it is not incident, it is recognized as a step portion.
참고로, 상기 적외선센서(31A),(31B),(31C)는 본 발명에 적용되는 광센서의 일실시 구현예를 나타낸 것으로, 본 발명에 적용되는 광센서가 이들로 한정되는 것은 아니다. For reference, the infrared sensors 31A, 31B, and 31C show an embodiment of the optical sensor applied to the present invention, but the optical sensor applied to the present invention is not limited thereto.
이상에서 상세히 설명한 바와 같이 본 발명은 청소기 본체의 전면과 바퀴 부분에 각각 광센서를 설치하고, 자동 주행시 그 전면에 설치된 광센서에서의 투사광에 대한 입사광의 유무를 근거로 층계나 다리 마루 등의 단차부분이 나타나는 것을 인식한 후 그 단차부분의 경계면을 따라 똑바르게 주행하면서 청소하도록 함으로써, 청소기가 단차부분으로 떨어지는 것을 방지하면서 단차부분의 경계면 부위를 보다 효율적으로 청소할 수 있는 효과가 있다.As described in detail above, the present invention provides an optical sensor on the front and the wheel of the cleaner body, respectively, and based on the presence or absence of incident light on the projection light from the optical sensor installed on the front surface during automatic driving, By recognizing that the stepped portion appears and cleaning by driving straight along the boundary of the stepped portion, the cleaner can prevent the cleaner from falling into the stepped portion, thereby effectively cleaning the boundary portion of the stepped portion.
도 1은 종래의 자동 주행 청소기에서 단차부분을 감지하는 예를 나타낸 설명도.1 is an explanatory diagram showing an example of detecting a stepped portion in a conventional automatic driving cleaner.
도 2는 종래의 자동 주행 청소기의 단차부분에서의 주행 궤적을 나타낸 설명도.2 is an explanatory diagram showing a driving trajectory at a stepped portion of a conventional automatic traveling cleaner.
도 3은 본 발명에 의한 자동 주행 청소기의 주행 제어장치의 블록도.3 is a block diagram of a driving control apparatus for an automatic traveling cleaner according to the present invention;
도 4는 본 발명에 의한 적외선 센서의 설치 예시도.Figure 4 is an installation example of the infrared sensor according to the present invention.
도 5는 본 발명에서 단차부분을 감지할 때 회전하는 것을 나타낸 예시도.Figure 5 is an exemplary view showing the rotation when detecting the stepped portion in the present invention.
도 6은 본 발명에서 단차부분의 경계면을 따라 주행할 때 단차부분을 인식하는 예를 나타낸 설명도.6 is an explanatory diagram showing an example of recognizing a stepped portion when traveling along the boundary of the stepped portion in the present invention;
***도면의 주요 부분에 대한 부호의 설명*** *** Description of the symbols for the main parts of the drawings ***
31 : 센서부 31A-31C : 적외선센서31: sensor unit 31A-31C: infrared sensor
32 : 제어부 33 : 구동부32: control unit 33: drive unit
34 : 청소부 40 : 본체34: cleaning part 40: main body
41L : 좌측바퀴 41R : 우측바퀴41L: Left wheel 41R: Right wheel
51 : 단차부분51: stepped portion
Claims (3)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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KR10-2002-0055137A KR100474273B1 (en) | 2002-09-11 | 2002-09-11 | Running control method and apparatus for automatic running vacuum cleaner |
Applications Claiming Priority (1)
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KR10-2002-0055137A KR100474273B1 (en) | 2002-09-11 | 2002-09-11 | Running control method and apparatus for automatic running vacuum cleaner |
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KR100827235B1 (en) | 2006-05-19 | 2008-05-07 | 삼성전자주식회사 | Cleaning robot using carpet dector and search method of carpet boundary using the same |
KR101234880B1 (en) * | 2010-05-20 | 2013-02-19 | 주식회사 에스원 | Moving Device |
US10609862B2 (en) | 2014-09-23 | 2020-04-07 | Positec Technology (China) Co., Ltd. | Self-moving robot |
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JPH01207806A (en) * | 1988-02-16 | 1989-08-21 | Matsushita Electric Ind Co Ltd | Self-traveling cleaning machine |
JPH0584200A (en) * | 1991-09-25 | 1993-04-06 | Matsushita Electric Ind Co Ltd | Step detecting device of self-propelled vacuum cleaner |
JPH05224745A (en) * | 1992-02-07 | 1993-09-03 | Matsushita Electric Ind Co Ltd | Mobile work robot |
KR940006533A (en) * | 1992-09-22 | 1994-04-25 | 이헌조 | Collision / fall prevention device and method of automatic traveling cleaner |
KR20030066010A (en) * | 2002-02-04 | 2003-08-09 | 엘지전자 주식회사 | Control method for cleaning robot |
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2002
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Patent Citations (5)
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JPH01207806A (en) * | 1988-02-16 | 1989-08-21 | Matsushita Electric Ind Co Ltd | Self-traveling cleaning machine |
JPH0584200A (en) * | 1991-09-25 | 1993-04-06 | Matsushita Electric Ind Co Ltd | Step detecting device of self-propelled vacuum cleaner |
JPH05224745A (en) * | 1992-02-07 | 1993-09-03 | Matsushita Electric Ind Co Ltd | Mobile work robot |
KR940006533A (en) * | 1992-09-22 | 1994-04-25 | 이헌조 | Collision / fall prevention device and method of automatic traveling cleaner |
KR20030066010A (en) * | 2002-02-04 | 2003-08-09 | 엘지전자 주식회사 | Control method for cleaning robot |
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