KR100579580B1 - Control method of robot cleaner sensing pattern - Google Patents

Abstract

The control method of the pattern recognition robot cleaner according to the present invention stores the movement pattern while manually moving the robot cleaner, and subsequently cleans the robot cleaner with the stored movement pattern, thereby reducing the cleaning time and power consumption. have.

Robot cleaner, control method, movement route, movement pattern, obstacle, controller

Description

Control method of robot cleaner sensing pattern             

1 is a control block diagram of a pattern recognition robot cleaner according to the present invention;

2 is a flowchart illustrating a first embodiment of a method for controlling a pattern recognition robot cleaner according to the present invention;

3 is a flowchart illustrating a second embodiment of a method for controlling a pattern recognition robot cleaner according to the present invention;

4 is a flowchart illustrating a third embodiment of a method for controlling a pattern recognition robot cleaner according to the present invention;

5 is a flowchart showing a control procedure of the cleaning step shown in FIGS.

6 is a diagram illustrating a movement pattern of the pattern recognition robot cleaner according to the present invention.

<Explanation of symbols on main parts of the drawings>

1: control panel 10: detector

11: blower 12: drive unit

14: control unit 16: display unit

The present invention relates to a robot cleaner, and more particularly, to a control method of a pattern recognition robot cleaner, which stores a movement pattern and performs cleaning according to the stored movement pattern.

In general, the robot cleaner performs cleaning by itself, and moves while cleaning at random according to the built-in artificial intelligence.

When the robot cleaner detects an obstacle in the middle of the movement, the robot cleaner performs a cleaning by changing the direction in the direction without the obstacle, and performs the cleaning while moving in the changed direction until a new obstacle appears.

However, since the robot cleaner according to the related art performs cleaning while moving at random, it takes not only a considerable time to clean all the predetermined spaces such as a living room or a floor, but also increases power consumption and appropriately responds to changes in the surrounding environment. There is a hard problem.

The present invention has been made to solve the above problems of the prior art, and since the robot cleaner cleans according to the stored movement pattern, it provides a control method of the pattern recognition robot cleaner that can reduce the cleaning time and power consumption. The purpose is.

Another object of the present invention is to provide a control method of a pattern recognition robot cleaner that can appropriately respond to changes in the surrounding environment.

According to an aspect of the present invention, there is provided a control method of a pattern recognition robot cleaner, comprising: a movement pattern storing step of storing a movement pattern while manually moving the robot cleaner; And a cleaning step of cleaning the robot cleaner with the stored movement pattern after the movement pattern storing step.

In the moving path storing step, a plurality of moving patterns are stored, and in the cleaning step, when any one of the plurality of moving patterns is selected, cleaning is performed using the selected moving pattern.

The control method of the pattern recognition robot cleaner further comprises a movement pattern resave step of deleting the stored movement pattern and storing a new movement pattern, wherein the pattern recognition robot cleaner performs cleaning with the newly stored movement pattern. It features.

In the cleaning step, when an obstacle is detected while cleaning with the stored movement pattern, the obstacle is avoided and then moved along a subsequent movement path to perform cleaning.

The cleaning step may include: a first process of the pattern recognition robot cleaner performing cleaning along the moving path of the stored moving pattern and simultaneously detecting whether there is an obstacle on the moving path; If an obstacle is detected during the first process, searching for a movement path closest to the current position where the obstacle is detected among the movement paths of the stored movement patterns; A third step of setting an optimal virtual path between the moving path found in the second step and the current location; A fourth process of moving the pattern recognition robot cleaner along a virtual path set in the third process; When the pattern recognition robot cleaner reaches the movement path searched in the second process, the pattern recognition robot cleaner may include a fifth process of cleaning along the subsequent movement path.

The second process is characterized in that the movement path closest to the current movement path is selected from the movement paths after the current movement path.

The control method of the pattern recognition robot cleaner is characterized by displaying the number of times to avoid the obstacle.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a control block diagram of a pattern recognition robot cleaner according to the present invention.

As shown in FIG. 1, the pattern recognition robot cleaner according to the present invention includes a control panel 1 through which a user inputs various commands, a sensing unit 10 for detecting an obstacle, and a control panel 1. A blower 11 for collecting dust and the like in a collecting unit according to an input command, a driving unit 12 for moving the pattern recognition robot cleaner, and the blower 11 according to an input command of the control panel 1 And a controller 14 for controlling the driver 12 according to an input command of the control panel 1 and a detection result of the sensor 10.

The control panel 1 is provided with a movement pattern input unit 2 for storing the movement pattern.

The control panel 1 is provided with a second movement pattern input unit 3 for storing a plurality of movement patterns.

The pattern recognition robot cleaner is not limited to the number of the movement pattern input unit, but for convenience of description, the movement pattern input unit 2 and the second movement pattern input unit 3 will be described below.

The control panel 2 is provided with a movement pattern re-input unit 4 for deleting an existing movement pattern and storing a new movement pattern.

The pattern recognition robot cleaner starts storing the movement pattern when the movement pattern input unit 2, the second movement pattern input unit 3, and the movement pattern re-input unit 4 are input.

The pattern recognition robot cleaner may terminate the storage of the movement pattern upon re-input of the movement pattern input unit 2, the second movement pattern input unit 3, and the movement pattern re-input unit 4, and may be separately provided. It is also possible to end the storage of the movement pattern when the storage end input unit 5 is input. Hereinafter, for convenience of explanation, the description will be limited to ending the storage of the movement pattern upon input of the storage end input unit 5.

The control panel 1 is provided with a pattern cleaning input unit 6 input by the user so that the pattern recognition robot cleaner cleans with the stored movement pattern by the input of the movement pattern input unit 2.

In addition, the control panel 1 has a second pattern cleaning input unit 7 inputted by a user so that the pattern recognition robot cleaner cleans the second moving pattern stored by the input of the second moving pattern input unit 3. Is provided.

The control panel 1 is provided with an automatic cleaning input unit 8 input by a user so that the pattern recognition robot cleaner can be cleaned at random.

On the other hand, the pattern recognition robot cleaner further comprises a display unit 16 controlled by the control unit 14 to display various driving information such as the number of avoidances to be described later.

2 is a flowchart illustrating a first embodiment of a method for controlling a pattern recognition robot cleaner according to the present invention.

First, after the user places the pattern recognition robot cleaner at a specific position, input the movement pattern input unit 2 and manually move the pattern recognition robot cleaner, the pattern recognition robot cleaner stores the movement pattern. (S1, S2)

The pattern recognition robot cleaner stores data of a distance and an angle at which the pattern recognition robot cleaner is moved based on the specific position.

Subsequently, when the user inputs the storage end input unit 5, the pattern recognition robot cleaner ends the storing of the movement pattern (S3 and S4).

After the movement pattern is stored as described above, when the user places the pattern recognition robot cleaner again at a specific position and then inputs the pattern cleaning input unit 6, the pattern recognition robot cleaner returns the movement path of the movement pattern that has been stored. Move along and perform cleaning. (S5, S6)

3 is a flowchart illustrating a second embodiment of a method for controlling a pattern recognition robot cleaner according to the present invention.

First, after the user places the pattern recognition robot cleaner at a specific position, inputs the movement pattern input unit 2 and manually moves the pattern recognition robot cleaner, the pattern recognition robot cleaner stores the movement pattern. (S11, S12)

Thereafter, when the user inputs the storage end input unit 5, the pattern recognition robot cleaner ends the storing of the movement pattern (S13, S14).

Then, after the user places the pattern recognition robot cleaner at a second specific position, the user inputs the second moving pattern input unit 3 and manually moves the pattern recognition robot cleaner. 2 Save the movement pattern (S15, S16).

Thereafter, when the user inputs the storage end input unit 5, the pattern recognition robot cleaner ends the storing of the second movement pattern. (S17, S18)

After the movement pattern and the second movement pattern are stored as described above, after the user repositions the pattern recognition robot cleaner at a specific position or a second specific position, the user may move one of the plurality of movement patterns in which the pattern recognition robot cleaner is stored. Either of the pattern cleaning input unit 6 or the second pattern cleaning input unit 7 is inputted so that cleaning can be performed by the moving pattern. (S19)

The pattern recognition robot cleaner performs cleaning while moving along the movement path of the movement pattern selected by the user among the stored movement pattern and the second movement pattern (S20).

4 is a flowchart illustrating a third embodiment of a method for controlling a pattern recognition robot cleaner according to the present invention.

First, when the user places the pattern recognition robot cleaner at a specific position, inputs the movement pattern re-input unit 4 and manually moves the pattern recognition robot cleaner, the pattern recognition robot cleaner may store the previously stored movement pattern. Delete and save the new movement pattern (S31, S32).

Thereafter, when the user inputs the storage end input unit 5, the pattern recognition robot cleaner ends the storing of the new movement pattern. (S33, S34)

After the new movement pattern is stored as described above, when the user repositions the pattern recognition robot cleaner to a specific position and inputs the pattern cleaning input unit 6, the pattern recognition robot cleaner moves the movement path of the newly stored movement pattern. Carry out cleaning while moving along. (S35, S36)

5 is a flowchart illustrating a control procedure of the cleaning step illustrated in FIGS. 2 to 4, and FIG. 6 is a diagram illustrating an example of a movement pattern of the pattern recognition robot cleaner according to the present invention.

First, the pattern recognition robot cleaner performs cleaning along the moving paths (Path 1,2,3) of the stored moving pattern, and simultaneously detects whether there is an obstacle (A) on the moving path.

When an obstacle is detected, the moving path closest to the current position (Path 3 ′) where the obstacle is detected among the moving paths (Path 1,2,3,4,5,6,7,8,9) of the stored movement pattern. 5) and a specific position (Path 5 ') closest to the current position (Path 3') among the searched movement paths (Path 5). (S52, S53)

The search for the closest moving path Path 5 is the closest to the current moving path Path 3 among the moving paths Path 4, 5, 6, 7, 8, and 9 after the current moving path Path 3. Search for the path (Path 5).

Thereafter, an optimal virtual path (Path 3 ″) between the current location (Path 3 ') and the specific location (Path 5') is set (S54).

In addition, the pattern recognition robot cleaner moves along the virtual path (Path 3 ″) to avoid obstacles.

When the pattern recognition robot cleaner reaches a specific position (Path 5 ') of the searched movement path (Path 5), the movement path after the specific position (Path 5') of the searched movement path (Path 5), and the searched movement The cleaning is performed while moving along the moving paths Paths 6, 7, 8, and 9 after the path 5 (S56).

When the pattern recognition robot cleaner finishes the cleaning of the last moving path Path 9 in the moving path, the cleaning is ended, and the display unit 16 displays the number of times of setting the virtual path Path 3 ″, that is, the number of avoiding obstacles. Display through (S57).

The control method of the pattern recognition robot cleaner according to the present invention configured as described above stores the movement pattern while manually moving the robot cleaner and cleans the robot cleaner with the stored movement pattern, thereby reducing cleaning time and power consumption. There is an advantage to that.

In addition, the control method of the pattern recognition robot cleaner according to the present invention has the advantage that the convenience of use is increased because a plurality of movement patterns are stored, and cleaning is performed by a movement pattern selected from the plurality of movement patterns.

In addition, the control method of the pattern recognition robot cleaner according to the present invention stores the new movement pattern after deleting the previously stored movement pattern, and cleaning is performed with the newly stored movement pattern, which has an advantage of coping with various environmental changes.

In addition, in the control method of the pattern recognition robot cleaner according to the present invention, if an obstacle is detected while cleaning with the stored movement pattern, the obstacle is avoided and then cleaned while moving along the subsequent movement path. And even if the environment changes there is an advantage that can be easily carried out cleaning.

In addition, the control method of the pattern recognition robot cleaner according to the present invention displays the number of obstacles avoided, so that the user may be recommended to store a new movement pattern, thereby providing an optimal cleaning.

Claims (7)

A movement pattern storage step of storing a movement pattern while manually moving the robot cleaner; And a cleaning step of cleaning the robot cleaner with the stored movement pattern after the movement pattern storing step. The method of claim 1, In the moving path storing step, a plurality of moving patterns are stored. In the cleaning step, if any one of the plurality of movement patterns is selected, the cleaning method performs a pattern recognition robot cleaner. The method of claim 1, The control method of the pattern recognition robot cleaner further comprises a movement pattern resave step of deleting the stored movement pattern and storing a new movement pattern. The pattern recognition robot cleaner control method of the pattern recognition robot cleaner, characterized in that for cleaning with the newly stored movement pattern. The method of claim 1, wherein In the cleaning step, if the obstacle is detected while cleaning with the stored movement pattern, the control method of the pattern recognition robot cleaner, characterized in that to perform the cleaning while moving along the subsequent movement path after avoiding the obstacle. The method of claim 1, wherein The cleaning step may include: a first process of the pattern recognition robot cleaner performing cleaning along the moving path of the stored moving pattern and simultaneously detecting whether there is an obstacle on the moving path; If an obstacle is detected during the first process, searching for a movement path closest to the current position where the obstacle is detected among the movement paths of the stored movement patterns; A third step of setting an optimal virtual path between the moving path found in the second step and the current location; A fourth process of moving the pattern recognition robot cleaner along a virtual path set in the third process; And when the pattern recognition robot cleaner reaches the movement path searched in the second process, a fifth process of cleaning along the subsequent movement path. The method of claim 5, wherein The second process is a control method of a pattern recognition robot cleaner, characterized in that for selecting the movement path closest to the current movement path from the movement path after the current movement path. The method of claim 5, wherein The control method of the pattern recognition robot cleaner is a control method of the pattern recognition robot cleaner, characterized in that for displaying the number of obstacles avoided.

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