KR100538934B1 - Cleaning system and control method for the same - Google Patents

Abstract

The present invention provides a cleaning system and a control method thereof, wherein the cleaning system includes a robot cleaner equipped with a mark checking unit for cleaning while driving a plurality of zones, and a distinguishing mark for distinguishing the zones so that the mark checking unit can be picked up. And a control unit for giving a command to the robot cleaner, wherein the control unit issues a command to perform cleaning by moving the robot cleaner to a corresponding room based on the distinguishing mark photographed through the mark checking unit. do.

The control method of the cleaning system includes selecting a room to be cleaned, moving the robot cleaner to the selected room to be cleaned, and performing cleaning while driving the robot cleaner in the room. It features. Therefore, it is possible to perform a quick and clean cleaning while reducing the waste of cleaning time and power consumption.

Description

CLEANING SYSTEM AND CONTROL METHOD FOR THE SAME}

The present invention relates to a cleaning system and a control method thereof, and more particularly, to a robot cleaning system and a method for controlling the same, which can clean any selected area of a plurality of cleaning areas.

Recently, there has been provided a system for self-cleaning while the robot cleaner traverses the area to be cleaned. Such a system is usually equipped with an image pickup unit such as a camera, for example, in a robot cleaner for cleaning while driving the area. The robot cleaner uses this imaging unit to check the current position of the robot in real time and to perform cleaning while avoiding obstacles in front of the robot cleaner.

By the way, in such a conventional cleaning system, a path for moving the robot cleaner is set, and when the cleaning instruction is issued, the robot cleaner performs cleaning while sequentially driving along the set movement path. Therefore, only one side of any specified region or a plurality of partitioned parts cannot be cleaned quickly. For example, in a room having a plurality of partitioned rooms, only one of the rooms can be selectively used, so only the selected room can be messed with dust or dirt (hereinafter referred to as "foreign substance"). In this case, if the cleaning is performed using a conventional cleaning system, since the robot cleaner performs cleaning sequentially while traveling along the set movement path, it takes a long time, and in particular, a problem in that power consumption is wasted. .

An object of the present invention, in consideration of this problem in the prior art, by moving the robot cleaner to any one area selected from the partitioned area after cleaning to stop the operation, thereby reducing the waste of cleaning time and power consumption It is to provide a cleaning system and a control method thereof.

Another object of the present invention is to provide a cleaning system and a control method thereof, in which a robot cleaner is quickly moved and cleaned by calculating a shortest path to a corresponding area when a command is given to clean one area.

The cleaning system for cleaning each of the plurality of zones for achieving the above object includes a robot cleaner equipped with a mark checking unit for cleaning the plurality of zones, and a distinguishing mark for distinguishing the zones so that the mark checking unit can image. And a control unit for giving a command to the robot cleaner, wherein the control unit issues a command to perform cleaning by moving the robot cleaner to a corresponding area based on the distinguished mark photographed through the mark checking unit. .

It is preferable that the mark confirmation unit is a CCD camera mounted on the robot cleaner.

The distinguishing mark is preferably disposed at regular intervals along a traveling path in order to prevent the robot cleaner from deviating from the path.

The distinguishing mark is preferably composed of a donut-shaped figure mark cut on one side and a circular mark paired with this, in order to increase the identification of the mark checking unit.

The control unit preferably includes a transceiver for transmitting and receiving data to and from the robot cleaner, a memory unit for storing the data, and a shortest movement path calculator for reading the location information of the area and calculating the shortest movement path.

Preferably, the data is location information of each cleaning zone according to the image of the captured distinguishing mark.

In addition, to achieve the object of the present invention, a control method of a cleaning system includes selecting a zone to be cleaned, moving the robot cleaner to the selected zone, and performing the robot cleaner at the zone. Characterized in that.

In the control method of the cleaning system, when all the zones to be cleaned are selected, the robot cleaner sequentially cleans all the zones, and before the step of selecting the cleaning zone, the robot cleaner is initially driven, and the different distinguishing marks. It is preferable to further include the step of confirming and storing the cleaning area is installed.

The moving of the robot cleaner preferably includes checking whether the cleaning zone is correct, and calculating a shortest movement path to move the robot cleaner from the current position to the cleaning zone.

Hereinafter, a cleaning system and a control method thereof according to a preferred embodiment of the present invention will be described with reference to the accompanying drawings.

1 is a block diagram showing a configuration of a cleaning system of the present invention according to an embodiment, Figure 2 is a perspective view of the main part of the robot cleaner of FIG.

1 and 2, the cleaning system 1 includes a robot cleaner 3, a controller 50, and a distinguishing mark 40.

The robot cleaner 3 includes a running body 10, and the mark body 20, 20 ′ is mounted on the running body 10. In the traveling body 10, communication between the exhaust unit 11, the driving unit 13, and a rechargeable battery (not shown) and a control unit 50 for supplying power to the exhaust unit 11 and the driving unit 13 is provided. Robot transmitting and receiving unit 15 is provided.

The exhaust part 11 may be configured in various forms so that foreign substances on the floor may be sucked together with the air. For example, a simple configuration including a suction motor, a suction brush that sucks air containing foreign matter by the suction force of the suction motor, and a dust collecting chamber provided between the suction motor and the suction brush can be possible. The dust collecting chamber is provided with an intake port and an exhaust port communicating with the suction brush and the suction motor, respectively. The air sucked through the intake port separates the foreign matter contained in the dust collection chamber and is exhausted to the exhaust port.

The drive unit 13 can be simply configured with wheels provided on the bottom surface of the traveling body 10, a rotating motor for rotating these wheels, and a timing belt for transmitting the rotational force of the rotating motor to the wheels. The driving unit 13 drives each wheel in the forward and backward directions, and in a constant or variable manner according to the command of the controller 50.

The mark confirmation unit 20 is constituted by a CCD camera which picks up an external image. The mark check unit 20 is mounted on the upper surface of the traveling body 10 to upwardly capture the image of the upper image camera 20 'and, if necessary, the image of the front of the traveling body 10 can be captured. The front CCD camera 20 is comprised.

The controller 50 includes a transceiver 51, a memory 53, and a shortest movement path calculator 55.

The transceiver 51 exchanges data with the robot cleaner 3. The data is the image information of the image discrimination mark 40 and the position information of the current robot cleaner 3. The image information and the location information are stored in the memory unit 53.

The shortest movement path computing unit 55 calculates the shortest movement path that can go from the current position of the robot cleaner 3 to the position of the room to be cleaned. The shortest movement path is extracted from an obstacle information map probabilistically created based on a value input from an infrared sensor (not shown) of the robot cleaner 3.

The controller 50 may be incorporated in the robot cleaner 3 without providing it separately from the robot cleaner 3.

As shown in Fig. 3, the distinguishing mark 40 is a donut-shaped figure mark 41, 42, 43, 44, 45, 46, 47, 48, and one figure mark 41, 42, 43, 44. , 45, 46, 47, and 48 paired with circular marks 41 ', 42', 43 ', 44', 45 ', 46', 47 ', 48'.

With the above configuration, the control section 50 (refer to FIG. 1) shows that the cut portions 49 of the figure marks 41, 42, 43, 44, 45, 46, 47, and 48 are circular marks 41 ', 42', 43 '. , 44 ', 45', 46 ', 47', 48 ', it is possible to identify the room or hallway to be cleaned.

In addition, the distinguishing mark 40 is a circle 31, a rectangle 32, a triangle 33, a rhombus 34, a pentagon 35, a hexagon 36 with a central portion cut in a circular shape as shown in FIG. , The shape mark of the star shape 37 and the ellipse 38, and the circular mark 31 ', 32', 33 paired with each of the shape marks 31, 32, 33, 34, 35, 36, 37 and 38. ', 34', 35 ', 36', 37 ', 38').

In addition, it is preferable to install the distinguishing mark 40 at regular intervals along the traveling path in order to prevent the robot vacuum cleaner 3 (see FIG. 2) from escaping.

Referring to Figure 5 the operation of the cleaning system having the configuration as described above are as follows.

First, a pair of distinguishing marks 41, 41 ', 43, 43', 45, 45 ', 47, 47' is attached to the ceiling of each room R1, R2, R2, R4, and a pair of distinguishing marks (42,42 ', 44,44', 46,46 ', 48,48') are attached to the ceiling of each corridor (F1 F2, F3, F4). In some cases, it can be attached to the entrance.

Next, before the robot cleaner 3 performs the cleaning, arrows A, B, C, D, E, F in each room R1, R2, R2, R4 and each corridor F1 F2, F3, F4. Round trip in the order of, G, H.

At this time, the upper CCD camera 20 '(see Fig. 2) is provided with the distinguishing marks 41, 41', 42, 42 ', 43, 43', 44, 44 ', 45, 45', 46, 46 ', 47, 47 ', 48, 48').

The images of the distinguished marks (41, 41 ', 42, 42', 43, 43 ', 44, 44', 45,45 ', 46,46', 47,47 ', 48,48') captured by the robot cleaner The robot transmitter / receiver 15 (see Fig. 1) is transmitted to the transceiver 51 (see Fig. 1) of the controller 50 (see Fig. 1).

Thereafter, the robot cleaner 3 waits at a predetermined position until a command is issued from the controller 50 (see FIG. 1).

The control unit 50 (refer to FIG. 1) converts the transmitted image into data to distinguish the distinguishing marks 41, 41 ', 42,42', 43,43 ', 44,44', 45,45 ', 46,46', The location information of each of the rooms R1, R2, R2, R4 and corridors F1, F2, F3, F4 corresponding to 47, 47 ', 48, 48' is stored in the memory unit 53 (see Fig. 1). Save it.

The shortest movement path calculation unit 55 (see FIG. 1) is located at the current robot cleaner 3 and is located in each room to be cleaned (R1, R2, R2, R4) and each hallway (F1, F2, F3, F4). Compute the shortest path to go. The shortest movement path is extracted from an obstacle information map probabilistically created based on a value input from an infrared sensor (not shown) of the robot cleaner 3.

The controller 50 (refer to FIG. 1) moves the robot cleaner 3 to each room R1, R2, R2, R4 or each corridor F1 F2, F3, F4 according to the shortest movement path to perform cleaning. Command them to

When the command is transmitted to the robot transmitter / receiver 15 (see FIG. 1) of the robot cleaner 3 via the transmitter / receiver 51 (see FIG. 1) of the controller 50 (see FIG. 1), the robot cleaner 3 is cleaned. Is performed.

6 is a flowchart illustrating a control method of the present invention cleaning system. 6,

In order to obtain the location information of each of the rooms R1, R2, R2, and R4 and the corridors F1, F2, F3, and F4, the robot cleaner 3 (see FIG. 5) is initially driven. (S1)

The mark checking unit 20 '(refer to FIG. 2) is made of distinguishing marks 41, 41', 42, 42 ', 43, 43', 44, 44 ', 45, 45', 46, 46 ', 47, 47', 48, 48 '(refer to FIG. 5) in real time, and the robot transmitter / receiver 15 (refer to FIG. 1) has distinct marks 41, 41', 42, 42 ', 43, 43', 44, 44 ', 45, 45 ', 46, 46', 47, 47 ', 48, 48' (see FIG. 5), and transmits the image to the transceiver 51 (see FIG. 1) of the control unit (S2).

The control unit 50 (refer to FIG. 1) is provided with the distinguishing marks 41, 41 ', 42, 42', 43, 43 ', 44, 44', 45, 45 ', 46, 46', 47, 47 ', 48. , 48 ', see Fig. 5), based on the image of each distinguishing mark 41, 41', 42, 42 ', 43, 43', 44, 44 ', 45, 45', 46, 46 ', 47, 47 ', 48, 48' (see FIG. 5), and store location information of each room and each corridor in the memory unit 53 (see FIG. 1). (S3)

Then, the controller 50 (see Fig. 1) instructs the robot cleaner 3 (see Fig. 5) to clean. (S4)

The robot cleaner 3 (see Fig. 5) checks whether the command is a command to clean a specific room or hallway (S5).

At this time, if it is not a general cleaning command, that is, a command to clean a specific room or a corridor, the robot cleaner (3, see Fig. 5), each room (R1, R2, R2, R4, see Fig. 5) and each corridor (F1) Each of the rooms (R1, R2, R2, R4, F2, F3, F4, see FIG. 5) in turn, with the arrow (A, B, C, D, E, F, G, H, see FIG. 5). 5) and each corridor (F1, F2, F3, F4, see FIG. 5) in sequence (S6).

However, in the case of a command to clean a specific room or corridor, the controller 50 checks the current position of the robot cleaner 3 (S7).

Then, the shortest movement path calculating unit 55 (see FIG. 1) calculates the shortest movement path that can go from the position of the current robot cleaner 3 (see FIG. 5) to the position of the room to be cleaned. The shortest movement path is extracted from an obstacle information map probabilistically generated based on a value input from an infrared sensor (not shown) of the robot cleaner 3 (S8).

When the shortest movement path is calculated, the robot cleaner 3 (see Fig. 5) moves quickly to the room or hallway to be cleaned (S9).

The robot cleaner 3 (refer to FIG. 5) is provided with the distinguishing marks 41, 41 ', 42, 42', 43, 43 ', 44, 44', 45, 45 ', 46, 46 ', 47, 47', 48, 48 '(see FIG. 5), and through the robot transmitter / receiver 15 (see FIG. 1), the transmitter / receiver (51, FIG. 1) of the controller 50 (see FIG. 1). The controller 50 checks again whether the room or corridor to be cleaned is correct (S10).

If the room or corridor to be cleaned is correct, the robot cleaner 3 (see FIG. 5) cleans the specified room or corridor (S11).

On the other hand, if it is not the room or hall to be cleaned, check the current position of the robot cleaner (see Fig. 5) again (S7).

According to the present invention, the robot cleaner can move quickly to the selected cleaning zone and perform the cleaning operation along the calculated shortest path, thereby reducing the waste of cleaning time and power consumption.

While the invention has been shown and described with respect to preferred embodiments for illustrating the principles of the invention, the invention is not limited to the construction and operation as shown and described. Rather, those skilled in the art will appreciate that many modifications and variations of the present invention are possible without departing from the spirit and scope of the appended claims. Accordingly, all such suitable changes and modifications and equivalents should be considered to be within the scope of the present invention.

1 is a block diagram showing the configuration of the present inventors cleaning system according to an embodiment;

2 is a perspective view of the robot cleaner of FIG.

3 is a view showing an embodiment of a distinguishing mark of FIG.

4 is a view showing another embodiment of a distinguishing mark;

5 is a schematic view showing the operation of the cleaning system of FIG.

Figure 6 is a flow chart for explaining the control method of the present inventors cleaning system.

<Description of the symbols for the main parts of the drawings>

1. Cleaning system 3. Robot cleaner

10. Traveling body 11. Reducer

15. Robot transmitting and receiving unit 20. Mark checking unit

41, 41 ', 42, 42', 43, 43 ', 44, 44'

45, 45 ', 46, 46', 47, 47 ', 48, 48'.

50. Control unit 53. Memory unit

51. Transmitter and Receiver 55. Shortest Movement Path Computation Unit

Claims (10)

A robot cleaner equipped with a mark checking unit for cleaning a plurality of zones; A distinction mark for distinguishing the area so that the mark confirmation unit can image; and, And a controller for giving a command to the robot cleaner. And the control unit issues a command to perform cleaning by moving the robot cleaner to a corresponding area based on the distinguishing mark photographed by the mark checking unit. The method of claim 1, And said mark check unit is a CCD camera mounted on said robot vacuum cleaner. The method of claim 1, wherein the distinguishing mark, Cleaning system, characterized in that arranged at a predetermined interval along the progress path of the robot cleaner. The method of claim 1, wherein the distinguishing mark, Cleaning system, characterized in that consisting of a donut-shaped figure mark cut on one side, and a circular mark paired with this. The method of claim 1, wherein the control unit A transceiver for transmitting and receiving data with the robot cleaner; A memory unit for storing the data; And, And a shortest movement path calculator configured to read the location information of the zone and calculate the shortest movement path. 6. The cleaning system according to claim 5, wherein the data is location information of each cleaning zone according to the image of the captured distinguishing mark. Selecting a zone to clean; Moving the robot cleaner to the selected area; And, And cleaning the robot cleaner in the area to be cleaned. The method of claim 7, wherein If all the areas to be cleaned are selected, the robot cleaner sequentially cleaning all the zones. The method of claim 7, wherein in the previous step of selecting the cleaning area, While the robot cleaner is initially running, identifying and storing a cleaning zone in which different distinguishing marks are installed. The method of claim 7, wherein moving the robot cleaner, Checking whether the cleaning area is correct; and, And calculating a shortest movement path for moving the robot cleaner from the current position to the cleaning zone.