KR20200024629A - Cleaner and and method for controlling the same - Google Patents

Abstract

Disclosed are a cleaner and a control method thereof. The cleaner according to the embodiment of the present invention includes: a main body having a suction motor for generating suction force; a driving unit for moving the main body; a suction unit which is connected to a handle through an extension pipe and sucks external dust; a hose coupling unit which is provided on the main body and is connected to the handle on one side to allow a flexible hose for supplying the suction force to the suction unit to be coupled thereto; and a control unit which executes an automatic following function that controls the driving unit so that the main body can follow the position of the handle while the suction motor is being driven. In addition, the control unit detects a coupling release signal by the hose coupling unit and outputs a control signal to terminate the automatic following function in response to the coupling release signal.

Description

Cleaner and its control method {CLEANER AND AND METHOD FOR CONTROLLING THE SAME}

The present invention relates to a vacuum cleaner capable of automatically following the main body and a control method thereof.

The vacuum cleaner uses suction power generated by the suction motor to inhale dust or foreign substances in the cleaning target area together with air, separates dust or foreign substances from the sucked air, and discharges only the air, and refers to a device for collecting dust or foreign substances.

The cleaner may be classified into a manual cleaner and an automatic cleaner. The manual cleaner performs cleaning while being moved by a user's operation. The manual cleaner may be classified into a canister type, an upright type, a handy type, a stick type, and the like according to a shape. Automatic cleaners perform cleaning based on Simulaneous Localization and Mapping (SLAM) technology without user intervention.

Among the various types, the canister type is distinguished from other types in that the main body and the handle are connected by a flexible hose. When the handle is moved by the user, the body is also moved along the handle by the physical force transmitted through the flexible hose. However, this mechanism causes several problems.

First, in order to move the canister type cleaner, the user must apply a force to turn off the body as well as the handle. This gives the user a physical burden, and there is a problem that the fatigue of the user increases after cleaning. Accordingly, a technique has been developed in which the main body moves along the position of the handle connected to the flexible hose during the cleaning in the canister type cleaner.

On the other hand, the flexible hose can be separated from the main body for cleaning, parts replacement, and the like. At this time, when the flexible hose is away from the main body, a situation may occur in which the main body still follows the handle or moves alone along the direction in which the signal is received. Accordingly, there is a problem that the technology applied for the user's convenience lowers the user's satisfaction.

Accordingly, an object of the present invention is to provide a cleaner and a control method thereof in which the flexible hose for supplying suction force is separated from the main body so that the main body does not move in an unintended direction.

In addition, another object of the present invention is to provide a cleaner even when the flexible hose is connected to the main body

In addition, another object of the present invention is to provide a cleaner and a method of controlling the same so that the driving of the main body is controlled differently depending on whether the suction motor of the main body is operating even when the flexible hose is fastened to the main body.

In addition, another object of the present invention is a cleaner and its control implemented to continue following the handle connected to the flexible hose in consideration of the user's convenience in the exceptional situation that the flexible hose is suddenly pulled out of the body during cleaning, but soon reconnected To provide a method.

To this end, the cleaner according to the present invention, the main body having a suction motor for generating a suction force; A main body having a suction motor generating a suction force; A driving unit which moves the main body; A suction part connected to the handle through an extension tube and sucking dust from the outside; A hose fastening part provided in the main body and having one side connected to the handle to which a flexible hose for supplying suction power to the suction part is fastened; And a control unit configured to sense a fastening signal by the hose fastening unit, and execute an automatic tracking function for controlling the driving unit to follow the position of the handle based on the fastening signal. The controller may further include storing information related to the fastening signal in a memory when the fastening signal is received, and based on the information stored in the memory in response to receiving a command for activating the automatic tracking function. Check whether the fastening, and if the fastening release signal is detected by the hose fastening unit is characterized in that for switching the automatic tracking function to an inactive state.

In addition, in one embodiment, the handle is provided with a transmitter for emitting a signal and the main body is provided with a receiver for receiving the emitted signal, the control unit, when the fastening signal is detected, through the transmitter and the receiver The driving unit may be configured to recognize a position of the steering wheel based on a signal transmitted and received and to follow the recognized position.

In addition, in one embodiment, the hose fastening unit, the switching signal of the switch according to whether the flexible hose is connected, the change of the current / voltage / resistance value applied to the main body, the feedback signal, the motion signal of the main body, and the contact sensor And detecting the at least one of the signals to generate the fastening signal or the fastening release signal.

The control unit may monitor whether the suction motor is driven in response to the detection of the fastening signal, and determine whether to execute the auto tracking function based on a monitoring result.

In addition, in one embodiment, the control unit, characterized in that the execution of the automatic tracking function, if the fastening release signal is received from the hose fastening unit while the automatic tracking function is executed.

In addition, in one embodiment, the control unit, when the fastening release signal is received while the automatic tracking function is executed, controls the driving unit to perform a predetermined movement at the current position, and after the predetermined time has elapsed It is characterized by terminating the automatic tracking function.

In addition, in one embodiment, the control unit, in response to receiving the fastening signal to the hose fastening unit within the predetermined time, characterized in that to continue to maintain without ending the automatic tracking function.

The controller may determine whether to activate the automatic tracking function according to whether the handle is moved when the fastening signal is detected when the main body is turned off.

In addition, in one embodiment, the control unit, in response to the fastening signal is detected in the power off state and the handle is moved beyond the reference range, the main body to execute the automatic tracking function while maintaining the power off state. It features.

In addition, the cleaner according to another embodiment of the present invention, the main body having a suction motor for generating a suction force; A driving unit which moves the main body; A suction part connected to the handle through an extension tube and sucking dust from the outside; A hose fastening part provided in the main body and having one side connected to the handle to which a flexible hose for supplying suction power to the suction part is fastened; And a control unit configured to execute an automatic tracking function for controlling the driving unit so that the main body follows the position of the handle while the suction motor is driven, wherein the control unit senses a release signal by the hose coupling unit and And outputting a control signal for terminating the automatic tracking function in response to the release signal.

As described above, the cleaner and the control method thereof according to the present invention, before the cleaner body follows the position of the handle and executes the automatic tracking function that runs on its own, first checks whether the flexible hose connected to the handle is fastened to the body. Detect. And, if the flexible hose is not fastened to the main body limits the execution of the automatic tracking function.

In addition, if it is detected that the flexible hose connected to the handle is separated from the main body even after the auto tracking function is executed, the execution of the auto tracking function can be stopped, thereby preventing the main body from traveling in an unintended direction. .

Furthermore, taking into account the exceptional situation in which the flexible hose was suddenly removed from the main body during cleaning, but soon reconnected, when the flexible hose is detected to be disconnected from the main body during cleaning, movement of the main body is stopped and the automatic tracking function is terminated. By keeping time, both the stability and user satisfaction of the use of the automatic tracking function can be satisfied.

1 is a conceptual view illustrating a canister type cleaner according to an embodiment of the present invention.
2a to 2c are conceptual diagrams for explaining the concept of the automatic tracking function associated with the present invention.
3 is a block diagram illustrating a detailed configuration of a canister type cleaner according to an embodiment of the present invention.
4A to 4C are views for explaining a configuration required to selectively execute the auto tracking function according to whether a canister cleaner is fastened with a hose.
5A, 5B, 6, and 7 are flowcharts illustrating various examples of an execution method of the automatic tracking function according to whether a hose of a canister cleaner is fastened in a canister cleaner according to an embodiment of the present invention.

Hereinafter, exemplary embodiments disclosed herein will be described in detail with reference to the accompanying drawings, and the same or similar components will be given the same reference numerals regardless of the reference numerals, and redundant description thereof will be omitted. In addition, the accompanying drawings are only for easily understanding the embodiments disclosed in the present specification, the technical idea disclosed in the specification by the accompanying drawings are not limited, and all changes included in the spirit and scope of the present invention. It should be understood to include equivalents and substitutes.

1 is a conceptual view illustrating a canister type cleaner 100 according to an embodiment of the present invention.

In this specification, the canister cleaner and the cleaner may be used in the same sense. In addition, in the present specification, the cleaner performs a function of cleaning the floor while driving a certain area under the initiative / manipulation / control of a user (including a robot having artificial intelligence, hereinafter referred to as a user).

The cleaner 100 shown in FIG. 1 includes a main body 110, a suction nozzle 120, a handle 130, an extension tube 140, and a flexible hose 150. Hereinafter, each configuration will be described sequentially.

The main body 110 generates suction and collects dust. The suction motor 104 (FIG. 5) is provided inside the main body 110. The suction force generated by the suction motor 104 (FIG. 5) is transmitted to the suction nozzle 120, and suction of air and dust is performed by the suction force. The main body 110 is coupled to the dust collecting dust 111 capable of collecting dust, the dust collecting 111 is formed to store the dust separated from the air. The air separated from the dust is discharged to the outside of the main body 110.

The main body 110 is moved by the rotation of the wheels 112 and 113. The wheels 112 and 113 of the main body 110 may be mounted on both sides of the main body 110, respectively. The first wheel 112 may be mounted on one side of the main body 110, and the second wheel 113 may be mounted on the other side of the main body 110. The main body 110 and the handle 130 are connected by the flexible hose 150. Accordingly, when the handle 130 is moved, the main body 110 may also move along the handle 130 by the physical force transmitted through the flexible hose 150.

The suction nozzle 120 is configured to suck air using the suction force generated by the suction motor inside the main body 110. When the suction nozzle 120 is close to an area to be cleaned, such as a floor, air is sucked through the suction port formed in the bottom surface of the suction nozzle 120. An auxiliary wheel (not shown) may be installed at the bottom of the suction nozzle 120 to smoothly move the suction nozzle 120.

The handle 130 is formed to be gripped by hand. The handle 130 is connected to the suction nozzle 120 by the extension tube 140 to control the position of the suction nozzle 120.

Controlling the position of the handle 130 means changing the direction of travel or the direction of travel of the suction nozzle 120 according to the user's intention. Therefore, when the user manipulates the handle 130 while holding the handle 130 by hand, the traveling direction or the traveling path of the suction nozzle 120 may be changed. This is because the suction nozzle 120 is connected to the handle 130 by the extension tube 140.

The handle 130 may be provided with a key module 310 including one or more keys for turning on and off the power of the cleaner 100 or for adjusting suction power. The key module 310 may be equipped with a UWV sensor to transmit the position change of the handle 130 to the main body 110 in the form of a signal. In addition, the key provided in the key module 310 is formed so that the main body 110 can detect an input even in a power off state. To this end, power may be applied to the key module 310 separately from the main body 110.

In general, since the suction nozzle 120 performs the cleaning in a state close to the floor, it is very inconvenient for the user to directly grip and clean the suction nozzle 120. Therefore, when the handle 130 is connected to the suction nozzle 120 by the extension tube 140, the handle 130 may be located close to the hand of the person standing upright. Since the position of the hand may be different according to the height of the person, the extension pipe 140 may extend or contract along the length direction.

The flexible hose 150 is connected to the main body 110 and the handle 130 to enable the suction force generated by the suction motor to be transferred to the suction nozzle 120. Flexible means that it can stretch or shrink along the length of the hose and bend. As the flexible hose 150 is extended or shortened, the distance between the main body 110 and the handle 130 may be longer or shorter. Similarly, as the flexible hose 150 is bent, the distance between the main body 110 and the handle 130 may be longer or shorter.

Air and dust sucked through the suction nozzle 120 is moved to the main body 110 through the extension tube 140 and the flexible hose 150, and filtered inside the main body 110.

The cleaner 100 of the present invention is capable of an automatic tracking function and an automatic avoidance function. In order to implement the automatic tracking function and the automatic avoidance function, the handle side includes a transmitter 160 that transmits an optical signal, for example, one of an infrared sensor, an ultrasonic sensor, a UWV sensor, and an RF sensor. Can be. It may be formed integrally with the key module 310 described above.

 In addition, transmitters 171 and 172 and receivers 181 and 182 may be formed on the main body 110. The transmitters 171 and 172 and the receivers 181 and 182 may be formed of any one of an infrared sensor, an ultrasonic sensor, a UWV sensor, an RF sensor, and a geomagnetic sensor.

The handle side transmitter 160 may be installed at the handle 130 or the key module 310. A signal transmitted from the handle side transmitter 160, for example, an IR signal, an ultrasonic signal, a UWV signal, or an RF signal, is received by the receivers 181 and 182 of the main body 110 following the handle 130. Since it should be, the handle side transmitting unit 160 is preferably disposed at the rear of the handle 130. Here, the rear portion of the handle 130 refers to a portion facing the main body 110, and on the contrary, the front portion of the handle 130 refers to a portion facing the suction nozzle 120.

The handle side transmitter 160 is configured to transmit an auto tracking signal that causes the main body 110 to automatically follow the handle 130. In most cleaners 100 that are commercially available, the main body 110 follows the handle 130 by a physical force in which a user pulls the handle 130. Since the concept of automatic is not included in the physical force that the user pulls the handle 130, such following may be referred to as manual following. In contrast, automatic tracking means that the main body 110 follows the handle 130 even if the user does not apply a separate physical force.

Receiving units 181 and 182 installed in the main body 110 are formed to receive the automatic tracking signal transmitted from the handle side transmitting unit 160. Since the signal may be converted into a distance, the distance between the handle 130 and the main body 110 may be measured by the handle side transmitter 160 and the receivers 181 and 182 of the main body.

However, the present invention is not limited thereto, and the relative position between the handle 130 and the main body 110 may be measured using a time difference of arrival (TDoA) or an angle of arrival (AoA) positioning technology.

The receivers 181 and 182 of the main body include, for example, a first receiver 181 and a second receiver 182. The first receiver 181 is installed at one side of the main body 110. The second receiver 182 may be installed on the other side of the main body 110, respectively. One side of the main body 110 may mean the left side of the main body 110, and the other side of the main body 110 may mean the right side of the main body 110. Alternatively, one side of the main body 110 may mean the right side of the main body 110, and the other side of the main body 110 may mean the left side of the main body 110.

The handle side transmitter 160 and the first receiver 181 are formed to detect a distance L1 between one side of the main body 110 and the handle 130. In addition, the handle side transmitter 160 and the second receiver 182 are formed to measure the distance (L2) between the other side of the main body 110 and the handle 130. The two distances L1 and L2 may be divided into a first distance L1 and a second distance L2. These two distances L1 and L2 are based on the automatic tracking direction of the main body 110. This will be described later with reference to FIGS. 2A to 2C.

The main body side transmitters 171 and 172 are installed in the main body 110. It is preferable to be installed to be exposed to the outside of the main body 110 of the main body side transmission unit (171, 172).

On the other hand, the main body side transmitting unit 171, 172 is formed to transmit the automatic avoiding ultrasonic waves to the main body 110 to automatically avoid the obstacle. In most cleaners 100 that are commercially available, the main body moves or the wheels of the main body are rotated or redirected by a physical force that the user pulls the handle 130, so that the main body 110 avoids obstacles. Since the physical force that the user pulls on the handle 130 does not include the concept of automatic, this avoidance may be referred to as manual avoidance. In contrast, automatic avoidance means that the main body 110 bypasses the obstacle even if the user does not apply a separate physical force.

The receivers 181 and 182 installed in the main body 110 are configured to receive an automatic avoidance signal transmitted by the main body side transmitters 171 and 172 and refracted by an obstacle, for example, an IR signal, a pulse signal, or an ultrasonic wave. Is formed. Since the signal may be converted into a distance, the distance between the obstacle and the main body 110 may be measured by the main body side transmitters 171 and 172 and the receivers 181 and 182.

The cleaner 100 may include a controller 320 (FIG. 3). The controller 320 (FIG. 3) is responsible for the overall control of the cleaner 100. For example, the controller may control the first wheel 112 and the second wheel based on the handle-side transmitter 160, the body-side transmitters 171 and 172, and various distances L1 and L2 sensed by the receiver. It is formed to control the rotation of the wheel (113).

Each of the first wheel 112 and the second wheel 113 is rotatably formed in a forward direction or a backward direction of the main body 110 by a driving unit such as a drive motor. The first wheel 112 and the second wheel 113 may be controlled independently of each other. The controller may control the driving direction to control the rotation direction and the rotation speed of the first wheel 112 and the second wheel 113.

Hereinafter, the concept of the automatic driving function will be described.

2A to 2C are conceptual diagrams for describing the concept of the automatic tracking function.

In order to move the position of the suction nozzle 120 while the user grips the handle 130, the handle 130 may be rotated left and right or the handle 130 may be moved forward or backward. Since the handle 130 and the suction nozzle 120 are connected by the extension pipe 140, the position of the suction nozzle 120 is moved under the control of the handle 130.

When the position of the suction nozzle 120 is changed by the control of the handle 130, the distance between the handle 130 and the main body 110 is changed. Accordingly, the first distance L1 between the handle 130 and one side of the body 110 measured by the handle-side ultrasonic transmitter 160 and the first ultrasonic receiver 181, and the handle-side ultrasonic transmitter 160. And the second distance L2 between the other side of the main body 110 and the handle 130 measured by the second ultrasonic receiver 182 are changed.

Referring to FIG. 2A, before the position of the suction nozzle 120 is moved by the handle 130, the first distance L1 and the second distance L2 are substantially the same, even if there is a slight difference. Is nothing.

After the direction of the suction nozzle 120 is moved by the handle 130, the first distance L1 is naturally shorter than the second distance L2. When it is detected by the handle-side ultrasonic transmitter 160 and the ultrasonic receivers 181 and 182 that the first distance L1 is shorter than the second distance L2, the first wheel 112 is controlled by the control unit. The main body 110 is rotated in the backward direction, and the second wheel 113 is rotated in the forward direction of the main body 110.

Referring to FIG. 2B, after the suction nozzle 120 is moved forward by the handle 130, the distance between the handle 130 and the main body 110 increases. In this case, the difference between the first distance and the second distance remains substantially the same, and even if there is a difference, a slight difference is maintained.

It can be understood that when the suction nozzle 120 is between two imaginary extensions parallel to the first wheel 112 and the second wheel 113 as shown in FIG. 2B, the suction nozzle 120 is not biased to one side. have. When the reference value in which the suction nozzle 120 is not biased to one side is S1, when the difference between the first distance L1 and the second distance L2 is smaller than the reference value S1, the suction nozzle 120 is one side. It can be understood as not biased.

If the suction nozzle 120 and the handle 130 move forward along one straight line and the main body 110 moves forward along the handle 130, the difference between the first distance L1 and the second distance L2 is It will be kept smaller than the reference value S1. Therefore, when the main body 110 attempts to automatically follow the handle 130, when the difference between the first distance L1 and the second distance L2 is smaller than the predetermined reference value S1, the main body 110 may move to the handle 130. You must go straight forward or backward along).

When the suction nozzle 120 and the handle 130 are advanced, the first distance L1 and the second distance L2 will be long. On the contrary, when the suction nozzle 120 and the handle 130 are advanced, the first distance L1 and the second distance L2 will be shortened. When the reference value for determining whether the main body 110 is required to move forward and backward according to the forward and backward movement of the handle 130 is S2, the first distance L1 and the second distance L2 are the reference values ( If it is longer than S2) advance of the main body 110 is required. On the contrary, when the first distance L1 and the second distance L2 are shorter than the reference value S2, the main body 110 needs to be reversed. The main body 110 may automatically follow the handle 130 while maintaining the proper distance between the handle 130 and the main body 110.

In FIG. 2B, since the handle 130 and the main body 110 are almost in a straight line, the difference between the first distance L1 and the second distance L2 is smaller than the predetermined reference value S1. In this state, when the first distance L1 and the second distance L2 are longer than the predetermined reference value S2 as the handle 130 moves forward, the first wheel 112 and the second wheel 113 are moved. The main body 110 is rotated in the forward direction. Accordingly, the main body 110 automatically follows the handle 130.

Unlike FIG. 2B, the first distance L1 and the first distance L1 and the second distance L2 are kept smaller than the next preset reference value S1 while the handle 130 is driven backward. When the second distance L2 is shorter than the preset reference value S2, the first wheel 112 and the second wheel 113 are rotated in the backward direction of the main body 110. Accordingly, the main body 110 automatically follows the handle 130.

Referring to FIG. 2C, before the position of the suction nozzle 120 is moved by the handle 130, the first distance L1 and the second distance L2 are substantially the same, even if there is a slight difference. Is nothing.

After the direction of the suction nozzle 120 is moved by the handle 130, the second distance L2 is naturally shorter than the first distance L1. When it is detected by the handle side transmitter 160 and the receivers 181 and 182 that the second distance L2 is shorter than the first distance L1, the first wheel 112 is controlled by the controller. 110, the second wheel 113 is rotated in the backward direction of the main body 110.

Therefore, even if the user does not physically drag the main body 110, the main body 110 is rotated along the rotational direction of the handle 130 by the control described with reference to FIGS. 2A to 2C or according to the forward or backward movement of the handle 130. Since the body 110 may move forward or backward, the body 110 may naturally follow the handle 130 automatically.

Hereinafter, the 'automatic tracking function' disclosed in this specification means that the main body 110 rotates along the rotation direction of the handle 130 or moves forward or backward according to the forward or backward of the handle 130.

In order to perform the 'automatic tracking function' disclosed in the present specification, a transmitter and a receiver provided at the handle 130 and the body 110 may exchange signals with each other to determine a relative position of each other. . Accordingly, it is possible to determine whether the handle 130 is moving away from or near the main body 110. Hereinafter, a proper distance between the handle 130 and the main body 110 may be referred to as a 'critical following distance'.

The 'critical following distance' is based on a signal transmitted and received through the transmitter and the receiver of the transmitter 130 and the main body 110, the handle 130 and the main body 110 can be far away from the maximum 'maximum Follow-up distance. In addition, the "threshold following distance" is based on the signal transmitted and received through the transmitter and the receiver of the transmitter 130 and the main body 110, the handle 130 and the main body 110 can be close to the maximum It can include a 'minimum following distance'.

When the separation distance between the handle 130 and the main body 110 approaches the minimum following distance, the control unit moves away from the handle 130 and the main body 110 as if the repulsive force is applied to each other. Can reduce the running speed of the body.

On the other hand, when the separation distance between the handle 130 and the main body 110 approaches the maximum following distance, the control unit, the separation distance between the handle 130 and the main body 110, as if the attraction force (pulling force to each other) is applied As a result, the traveling speed of the main body can be increased to get closer.

3 is a block diagram illustrating a configuration of a cleaner related to an embodiment of the present invention.

The cleaner according to an embodiment of the present invention includes a communication unit 301, an input unit 302, a sensing unit 303, an output unit 304, a memory 305, a driving unit 306, a suction unit 307, and a power supply unit ( 308, and the control unit 320.

On the other hand, the configuration shown in Figure 3 is not essential, it is a matter of course that a cleaner having more or less components than that can be implemented. Hereinafter, each component will be described.

The power supply unit 308 includes a battery that can be charged by an external commercial power supply to supply power to the cleaner. That is, the cleaner according to the present invention may be removed from the code for supplying commercial power, and may be supplied with power through the battery of the power supply unit 308. The power supply unit 308 may supply driving power to each of the components included in the cleaner to supply operating power required to drive the cleaner or perform a specific function. The battery may be located at the bottom of the center of the cleaner, or may be located at either of the left and the right.

The output unit 304 can output various types of signal sounds or predetermined voices.

The controller 320 performs a role of processing information based on artificial intelligence technology, and may include one or more modules that perform at least one of learning of information, inference of information, perception of information, and processing of natural language. Can be.

The driving unit 306 may rotate the left and right main wheels independently by using a motor provided while the auto tracking function is executed, thereby moving the main body forwards, backwards, leftwards, rightwards, curves, or rotates in place. In addition, the driving unit 306 may rotate the left and right main wheels by the user's force or external force without driving the motor while the auto tracking function is inactive.

Meanwhile, the input unit 302 receives various control commands for the cleaner from the user. The input unit 302 may include one or more buttons. In addition, the input unit 302 may be installed on the handle 130 with a hard key, a soft key, a touch pad, or the like. In addition, the input unit 302 may have a form of a touch screen together with the output unit 304.

On the other hand, the output unit 304 may display the battery state or driving mode, etc. on the screen or output in the form of sound.

In addition, the output unit 304 may output the state information inside the cleaner detected by the sensing unit 303, for example, each component included in the cleaner, for example, a state of the remaining charge amount of the battery. In addition, the output unit 304 may display external state information, obstacle information, location information, map information, etc. detected by the sensing unit 303 on the screen.

The output unit 304 may output a warning sound to the outside according to the warning signal generated by the control unit 320. In this case, the sound output means (not shown) may be a means for outputting sound such as a beeper and a speaker, and the output unit 304 may include audio data or message data having a predetermined pattern stored in the memory 305. It can be output to the outside through the sound output means using.

The memory 305 stores a control program for controlling or driving the cleaner and data corresponding thereto. The memory 305 may store audio information, image information, obstacle information, location information, map information, and the like. In addition, the memory 305 may store information related to the driving pattern.

The memory 305 mainly uses a nonvolatile memory. The non-volatile memory (NVM, NVRAM) is a storage device that can maintain stored information even when power is not supplied. For example, a ROM, a flash memory, or a magnetic computer. Storage devices (eg, hard disks, diskette drives, magnetic tapes), optical disk drives, magnetic RAMs, PRAMs, and the like.

The sensing unit 303 may include at least one of an external signal sensor, a front sensor, a cliff sensor, a 2D camera sensor, and a 3D camera sensor.

In addition, the sensing unit 303 transmits an external signal sensed through the sensor to the control unit 320 during the execution of the automatic tracking function, while the main body moves by itself according to the automatic tracking function, such as an obstacle, a person, an animal, a cliff, You can avoid the designated virtual area.

The external signal detection sensor may detect an external signal. The external signal detection sensor may be, for example, an infrared ray sensor, an ultrasonic sensor, an RF sensor, or the like.

The suction unit 307 scatters the surrounding dust through a brush (not shown) that scatters the dust of the designated cleaning area, and sucks the dust according to the driving of the suction motor provided in the main body 110. The suction part 307 is connected to the main body 110 through a connection member. Here, the connection member may include a handle 130, an extension tube 140 and a flexible hose 150 connected to the handle 130.

The communication unit 301 may be connected to a terminal device and / or another device located in a specific area by one of wired, wireless, and satellite communication methods to transmit and receive signals and data. In addition, the communication unit 301 as used herein may mean a sensor such as a transmitter provided on the handle 130 and a sensor such as a transmitter and a receiver provided in the main body 110.

In addition, the present invention is provided with an automatic tracking function module 330 associated with the execution of the automatic tracking function selectively activated through a user input. The automatic tracking function module 330 may be provided in the control unit 320 or separately from the control unit 320 as shown in FIG. 3.

In addition, in the present specification, the control unit 320 and the automatic tracking function module 330 may receive power from the power supply unit 308 independently of each other.

'Auto tracking' is operated to relieve the user's physical burden while cleaning. Specifically, when the cleaner 100 starts or maintains cleaning, the suction motor provided in the main body 110 is driven, and when the position of the handle 130 is changed according to the cleaning operation, the main body 110 is handle 130. Follow the position of) and move on its own. Here, although not shown, the suction motor is mounted on the main body 110 and supplies suction power to the suction part 120 through the flexible hose 150 according to the motor driving. When the cleaning is completed, the driving of the suction motor is stopped and the automatic tracking function that the main body 110 follows the position of the handle 130 is also terminated.

Meanwhile, the flexible hose 150 (hereinafter, referred to as a 'hose') is connected to the main body through a fastening means such as a connector formed on the main body, and may be separated as necessary. For example, when the inner wall surface of the flexible hose 150 is clogged with dust or the like and needs to be cleaned, the user may separate the flexible hose 150 from the fastening means by external force. Alternatively, for example, the flexible hose 150 may be separated from the main body to replace the battery of the handle 130 connected to the flexible hose 150.

As such, when the flexible hose 150 is separated from the main body and then moved away from the main body 110, the main body 110 is positioned on the handle 130 based on a signal emitted from the transmitting unit 160 on the side of the handle 130. You can continue to follow. At this time, if the body 110 misses the position of the handle 130, the case may continue to move toward the direction in which the signal is received.

As such, when the flexible hose 150 is separated from the main body, if the automatic tracking function is maintained, the main body 110 may move in a direction not intended by the user.

Thus, in the present invention, when the separation distance between the handle 130 and the main body 110 due to the separation of the flexible hose 150, etc. has been implemented to prevent the movement of the main body not intended by the user.

First, referring to FIGS. 4A and 4B, a configuration required to selectively execute the auto tracking function according to whether a hose is fastened in the canister cleaner according to an embodiment of the present invention will be described in detail.

The cleaner according to the present invention may include a hose fastening unit 340, a control unit 320, and an automatic tracking function control module 330 as essential components.

The hose fastening part 340 is formed in the main body 110 and includes a fastening means connected to the flexible hose 150 and a fastening detecting means for generating a signal when fastening / unfastening of the flexible hose 150. Here, the fastening / unfastening may be used as the same meaning as connection / disconnection or connection / disconnection.

The fastening means may be formed of a mechanical lever. In addition, the fastening means may be a clamp means or a connector for fixing and supporting the flexible hose 150 to the connector of the main body 110. That is, the fastening means may include all the various types of devices for fixing the flexible hose 150 having a flexibility in a designated position.

Referring to FIG. 4B, one end of the flexible hose 150 is connected to the connector C3 of the main body. And, the other end of the flexible hose 150 is connected to the handle 130 side. The handle 130 is connected to the suction part 120 through the extension tube 140. For example, when the flexible hose 150 connected to the handle 130 is pushed in the fitting direction of the connector C3 of the main body, one end of the flexible hose 150 is connected to the connector C3 of the main body with a click sound. Connected. Then, the suction unit 120 receives the suction power from the suction motor built into the main body through the connected flexible hose 150 to suck the dust.

Meanwhile, the flexible hose 150 may be separated from the connector C3 of the main body as shown in FIG. 4C. Specifically, when a pulling force is applied to the connected flexible hose 150 in a direction opposite to the fitting direction, the flexible hose 150 is separated from the connector C3. Alternatively, the flexible hose 150 may be separated from the connector C3 by applying an input to the hose connection button or by rotating in one direction with the input and pulling in the opposite direction to the fitting direction.

When the flexible hose 150 is separated from the connector C3 as described above, the end 410 of the flexible hose 150 and the end 420 of the connector C3 are exposed to the outside.

On the other hand, the fastening detecting means detects that the flexible hose 150 is connected or disconnected to the connector (C3) of the main body 110 in the form of a signal. The fastening detecting means may include, for example, a switch or a connection detecting sensor.

When the fastening detecting means is a switch, when the flexible hose 150 is connected to the connector C3 of the main body, the first hose outputs a first signal for turning on the switching element of the switch. When the connected flexible hose 150 is disconnected from the connector C3 of the main body, a second signal for turning off the switching element of the switch is output. The controller 320 may receive the output first signal / second signal and recognize whether the flexible hose 150 is fastened.

Meanwhile, in FIG. 4B, in addition to the connector C3 of the main body 110, the second connector C1, the handle 130, and the extension tube 140, through which the suction unit 120 and the extension tube 140 can be connected / disconnected, are provided. Further shown is a third connector C2 that can be connected / disconnected.

In the present invention, the flexible hose 150 has been described as an example of being connected / disconnected from the connector C3 of the main body. However, if the transmission unit 160 associated with the automatic tracking function is provided in the extension pipe 140, the operation of the automatic tracking function described below depending on whether the extension pipe 140 and the handle 130 / suction unit 120 is connected This may be controlled.

The controller 320 may receive a fastening signal or a fastening release signal of the flexible hose 150 from the hose fastening unit 340. When the fastening signal is detected from the hose fastening unit 340, the controller 320 may control to perform driving according to the above-described auto tracking function.

Specifically, when the fastening signal is received from the hose fastening unit 340, the control unit 320 transmits a control signal to the power supply unit 308 to apply power to the board of the automatic tracking function control module 330. Then, the auto tracking function control module 330 transmits a command to activate the auto tracking function. Then, according to the control of the automatic tracking function control module 330, the main body 110 side transmitter and receiver 181, 182 and the handle 130 side transmitter 160 signals each other and receives the relative positions of each other. Recognize the control unit 306 so that the separation distance between the main body 110 and the handle 130 does not deviate from the critical following distance.

In addition, when the fastening release signal is received from the hose fastening unit 340, the control unit 320 cuts off the power applied to the board of the automatic tracking function control module 330. Then, the command to end the automatic tracking function to the automatic tracking function control module 330.

As such, when the auto release function is not terminated when the fastening release signal of the flexible hose 150 is detected from the hose fastening unit 340, as shown in FIG. 4C, the handle 130 is removed from the main body 110. When moving M1 to move away, the main body 110 is unnecessarily moved along the position of the handle 130 (M2). This lowers user satisfaction and causes battery waste.

Therefore, the cleaner according to the present invention is implemented so that the main body 110 follows the position of the handle 130 and operates automatically according to a fastening signal / fastening release signal transmitted from the hose fastening unit 340. It became.

5A and 5B, a control method of the automatic tracking function according to the present invention will be described in more detail.

Referring to FIG. 5A, the control method of the automatic tracking function according to the present invention is initially started by a process 501 of checking a fastening signal of a flexible hose.

Here, the fastening signal of the flexible hose may mean a signal received at the time of determining whether the hose is fastened. Alternatively, the fastening signal of the flexible hose refers to the most recently received signal on the basis of the timing of determining whether the hose is fastened. In the latter case, the information related to the fastening signal may be stored in the memory 305 of the cleaner and then detected and confirmed in the process of checking the hose fastening signal 501.

Meanwhile, when the hose fastening signal or the hose fastening release signal is received from the hose fastening unit 340, the information related to the fastening signal stored in the memory 305 may be updated with information related to the corresponding signal. Accordingly, in the process of checking the fastening signal (501), it is possible to always check the latest hose connection state.

As a result of determining whether the hose is fastened based on the fastening signal (502), if the hose is fastened to the connector of the main body, the automatic tracking function is selectively activated according to whether the cleaning of the cleaner is performed (503).

In detail, when the cleaning is being performed, an auto-following function is performed in which the main body 110 runs on its own to maintain the proper distance between the handle 130 and the main body 110 based on the signal emitted from the handle 130. To this end, the controller 320 applies a power to the control module 330 of the automatic tracking function and transmits a command for activating the automatic tracking function.

The control module 330 of the auto tracking function executes and controls the auto tracking function based on the command transmitted from the controller 320. Then, the receivers 181 and 182 of the main body 110 receive the signal emitted from the transmitter 160 on the handle 130 side.

Subsequently, the transmitter 160 may transmit the response signal to the response signal of the main body 110 to recognize the distance information of each other. The main body 110 performs automatic driving such as forward, backward, and changeover so that the separation distance with the handle 130 does not deviate from the above-described critical following distance.

On the other hand, if the cleaning is not performed in step 503, the automatic tracking function can also be turned off to reduce the battery consumption. Here, whether or not cleaning is being performed may be determined by driving of the suction motor provided in the main body 110.

As a result of determining whether the hose is fastened based on the fastening signal (502), if the hose is released from the connector of the main body, the automatic tracking function is deactivated (504).

Here, deactivating the automatic tracking function means that the automatic tracking function is controlled so as not to be performed. Specifically, if the auto-following function is being executed, the corresponding function is terminated, and if the auto-following function is executed before the auto-following function is executed, it means that the automatic execution function is maintained until the additional command is authorized.

As described above, in the present invention, the control operation of the automatic tracking function is performed differently depending on whether the flexible hose is fastened. This prevents the main body from following unnecessarily when the user separates and moves the flexible hose from the main body. Accordingly, user satisfaction is improved and battery consumption is also reduced.

5b is a flow chart showing more clearly that the automatic tracking function according to the present invention is controlled around the signal transmitted from the hose fastening unit 340.

The controller 320 may receive the hose fastening signal 511 from the hose fastening unit 340. Thereafter, the controller 320 may receive an input signal for turning on the main body power, performing a cleaning operation, or activating the automatic tracking function. The operation of the controller 320 may be performed regardless of the reception of the hose fastening signal 511.

Once the hose fastening signal 511 is received from the hose fastening unit 340, the controller 320 recognizes the fastening of the hose and activates the auto tracking function according to a request of an operation related to the activation of the auto tracking function. 512 is transmitted to the automatic tracking function control module 330.

The controller 320 may receive a hose fastening release signal 513 from the hose fastening unit 340. Thereafter, the controller 320 transmits a signal 514 for deactivating the auto tracking function to the auto tracking function control module 330 even when a request for an operation related to the activation of the auto tracking function is requested.

On the other hand, the hose fastening unit 340 may generate a fastening signal / fastening release signal of the flexible hose 150 through the above-described fastening detecting means, and may transmit it to the control unit 320.

The hose fastening unit 340 may include, for example, a switching signal of a switch (switching on state), a change in current / voltage / resistance value applied to the main body, a feedback signal corresponding to the fastening, a motion signal of the main body, and a contact sensor. The fastening signal may be generated by detecting at least one of the detection signals.

In addition, the hose fastening unit 340 may include, for example, a switching signal of a switch (switching off state), a change in a current / voltage / resistance value applied to the main body, a feedback signal corresponding to the release of the fastening, and a motion signal of the main body. The sensor may detect at least one of the detection signals of the touch sensor to generate a release signal.

Here, the switching signal may be applied when a switch is connected to the connector C3 of the main body 110. When connected to the connector C3 of the main body of the flexible hose 150 may be output a switching on (on) signal. On the other hand, when the flexible hose 150 is disconnected from the connector C3, a switching off signal may be output.

The change of the current / voltage / resistance value applied to the main body may be obtained through the current / voltage sensing sensor, and a detailed description thereof will be omitted.

The feedback beep corresponding to the fastening / unfastening of the hose refers to a signal generated when a predetermined beep is output to the output unit 304.

The motion signal of the main body refers to a signal generated when a general motion pattern of the main body (eg, a slight push back and forth) is detected when the flexible hose 150 is inserted into or detached from the connector C3 by physical force. .

The detection signal of the contact sensor refers to a detection signal generated according to inevitable body contact when the flexible hose 150 is inserted into or separated from the connector C3.

As such, the hose fastening part 340 may detect that the flexible hose 150 is connected to or disconnected from the connector C3 of the main body through various fastening detecting means. The controller 320 controls the automatic tracking function based on the connection / disconnection signal of the hose received from the hose fastening unit 340.

 Hereinafter, referring to FIG. 6, a method of controlling the operation of the auto tracking function by weighting whether the hose is fastened and whether the suction motor is driven will be described in detail. Specifically, FIG. 6 shows a method of controlling the operation of the auto tracking function when the hose is released while the suction motor is being driven or during the cleaning operation.

Referring to FIG. 6, first, a process of checking a hose fastening signal is performed through the hose fastening unit 340 (601). If it is determined that the hose is not fastened, the process 504 of FIG. 5A is performed. Therefore, the following process will be described under the assumption that the hose is fastened.

After checking the hose fastening signal, a process 602 of checking an operation signal of the suction motor is performed. For example, when the suction motor operates, current consumption increases according to the driving of the motor, and thus, the suction motor may be checked. The operation of the suction motor may be confirmed through other methods, but a detailed description thereof will be omitted.

After that, it is determined whether the automatic tracking function is executed depending on whether the suction motor is driven.

Specifically, if it is determined that the suction motor is in operation (603), the above-described automatic tracking function is executed (604). Accordingly, the main body 110 itself travels along the movement of the handle 130, thereby reducing the physical burden of the user. On the other hand, if the suction motor is not in operation, the process returns to the process of checking the hose fastening signal (601). In this case, the case where the suction motor is not in operation includes not only a case where the suction motor is not driven at all, but also a case where the suction motor is temporarily driven and then turned off.

Meanwhile, the controller 320 may receive a fastening signal from the hose fastening unit 340 even while the automatic tracking function is executed according to the operation of the suction motor. For example, there may be a case where the flexible hose 150 is pulled out of the connector C3 due to a poor connection from the beginning or for some other reason.

When the hose fastening release signal is detected through the hose fastening unit 340 as described above (605), the automatic tracking function being executed is terminated (606).

At the end of the automatic tracking function, a predetermined notification sound or voice command may be output. In this way, the user will be able to visually recognize the disengagement of the hose and / or the end of the automatic tracking function.

On the other hand, even when the hose fastening release signal is not detected, once the auto tracking function is executed, the process returns to step 603 of determining whether the suction motor is operated and continuously monitors the driving of the suction motor.

As described above, in the embodiment of FIG. 6, the control of the automatic tracking function is determined by the weight of the fastening of the hose and the driving of the suction motor. Accordingly, after the hose is confirmed to be fastened and the suction motor is driven to safely execute the automatic tracking function, the automatic tracking function can be terminated without missing an exceptional situation in which the hose is suddenly released.

Meanwhile, in one embodiment, if the hose is suddenly disconnected during cleaning, the following operation may be additionally performed without immediately ending the auto tracking function.

Specifically, the control unit 320 of the cleaner according to the present invention, when the suction motor is driven and the automatic tracking function is executed, when the release signal is received through the hose fastening unit 340, the main body moves at the current position The driving unit 306 may be controlled to perform the operation. Thereafter, when a predetermined time elapses, the controller 320 may end the automatic tracking function.

Here, the predetermined movement may mean that the main body 110 performs the movement in place in a predetermined pattern at the current position. The predetermined pattern may mean a pattern that is moved once, left and right, at the current position of the main body 110. In-situ movement means that the start point and the end point of the movement of the main body are the same. Alternatively, in-situ movement means that the direction of the head of the main body at the start and end of the movement is the same.

As such, when the main body 110 performs the predetermined movement, the user may visually recognize the end of the automatic tracking function. In addition, it is possible to prevent the board of the auto tracking function control module 330 from being damaged if the auto tracking function is terminated by one step depth before the end of the auto tracking function. have.

In addition, the predetermined time means a margin time considering the case where the flexible hose 150 is immediately connected after receiving the hose fastening release signal. In this way, a predetermined time is given before the final termination of the automatic tracking function, so that the automatic tracking function can be continued without further manipulation when the hose is immediately connected.

To this end, the control unit 320 may control to maintain the automatic tracking function without ending the response in response to the fastening signal received from the hose fastening unit 340 within the predetermined time.

According to another embodiment of the present invention, Figure 7 shows a control method of the automatic tracking function when the hose fastening signal or the hose fastening signal is received in the power off state of the main body.

Referring to FIG. 7, first, a hose fastening release signal may be received through the hose fastening unit 340 (701). When the hose fastening release signal is received, the main body 110 may be switched to a power off state.

The power off state refers to a state in which the general function of the cleaner is limited and can perform only a specific specific function / operation. Here, the predetermined specific function / operation includes the cleaner detecting a signal corresponding to whether the hose is fastened through the hose fastener 340.

In addition, the power-off state includes a case in which the controller 320 of the cleaner, that is, the main processor of the cleaner is turned off or in a sleep mode (standby state). Therefore, current consumption by the standby current is generated in the power off state. In the sleep mode, the suction motor built in the main body 110 does not operate.

In addition, the power-off state includes a case in which the controller 320 of the cleaner, that is, the main processor of the cleaner receives a signal corresponding to whether the hose is fastened in the sleep mode (standby state) and is switched to a wake-up state. do. Here, the wake-up state is a state capable of performing a specific operation corresponding to receiving a specific signal, and is different from a power-on state capable of performing all general operations. In the wake-up state, the suction motor built in the main body 110 does not operate.

Accordingly, the controller 320 may receive a hose fastening signal in the power off state (702). As such, when the fastening signal is sensed when the main body is powered off, the controller 320 determines whether to activate the auto tracking function differently according to whether the handle 130 is moved.

For example, in FIG. 7, when the power on signal is not received, whether the handle 130 is moved may be detected based on the hose fastening signal detected in the power off state (705). When the handle 130 moves, the auto tracking function may be activated in the power off state (704). Accordingly, the user can use the automatic tracking function when only the hose is confirmed, without turning on the main body to reduce the physical burden.

Here, the movement of the handle 130 for activating the automatic tracking function can be limited to more than the reference range, the reference range is the length of the flexible hose 150 at the critical following distance of the handle 130 and the body 110 It may mean the separation distance determined in consideration of.

On the other hand, if the movement of the handle 130 is not detected, the automatic tracking function is kept inactive until there is an additional command (706). In addition, if it is detected in step 703 that the power-on signal is received, the main body is switched from the power-off state to the power-on state and activates the auto tracking function (704).

As described above, in the present invention, in the power-off state, the cleaner body 110 may detect whether the flexible hose 150 is connected to or disconnected from the main body connector C3 and based on the detected signal. The auto tracking function can be performed while maintaining the power off state.

In addition, the cleaner according to the present invention, while the suction motor built in the main body 110 is driven, the main body is running while following the position of the handle 130 by sending and receiving a signal with the transmission unit 160 of the handle 130 side Auto tracking function can be executed.

In addition, the control unit 320 may detect the release signal received from the hose fastening unit 340 while executing the automatic tracking function, and output a control signal to terminate the automatic tracking function in response to the detected release signal. have.

As described above, the cleaner and the control method thereof according to the present invention, first, before the cleaner body follows the position of the handle and executes the self-tracking function that runs by itself, whether the flexible hose connected to the handle is fastened to the body. Detect. If the flexible hose is not fastened to the main body, the execution of the automatic tracking function is restricted. In addition, if it is detected that the flexible hose connected to the handle is detached from the main body even after the auto tracking function has been executed, the execution of the auto tracking function can be stopped, thereby preventing the main body from traveling in an unintended direction. . Furthermore, taking into account the exceptional situation in which the flexible hose is suddenly removed from the main body during cleaning, but soon reconnected, when the flexible hose is disconnected from the main body during cleaning, the movement of the main body is stopped and the automatic tracking function is terminated. By keeping time, both the stability and user satisfaction of the use of the automatic tracking function can be satisfied.

The present invention described above can be embodied as computer readable codes on a medium on which a program is recorded. The computer readable medium includes all kinds of recording devices in which data that can be read by a computer system is stored. Examples of computer-readable media include hard disk drives (HDDs), solid state disks (SSDs), silicon disk drives (SDDs), ROMs, RAMs, CD-ROMs, magnetic tapes, floppy disks, optical data storage devices, and the like. This also includes those implemented in the form of carrier waves (eg, transmission over the Internet). In addition, the computer may include a controller 320 of the cleaner. Accordingly, the above detailed description should not be construed as limiting in all aspects and should be considered as illustrative. The scope of the present invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present invention are included in the scope of the present invention.

Claims (10)

A main body having a suction motor generating a suction force;
A driving unit which moves the main body;
A suction part connected to the handle through an extension tube and sucking dust from the outside;
A hose fastening part provided in the main body and having one side connected to the handle to which a flexible hose for supplying suction power to the suction part is fastened; And
A control unit for detecting a fastening signal by the hose fastening unit and executing an automatic tracking function for controlling the driving unit to follow the position of the handle based on the fastening signal;
The control unit,
Storing information related to the fastening signal in a memory upon receiving the fastening signal, and checking whether the flexible hose is fastened based on the information stored in the memory in response to receiving a command for activating the automatic tracking function;
The cleaner according to claim 1, wherein the automatic tracking function is switched to an inactive state when the fastening release signal is detected by the hose fastening unit.
The method of claim 1,
The handle is provided with a transmitter for emitting a signal and the main body is provided with a receiver for receiving the emitted signal,
The control unit,
When the fastening signal is detected, the cleaner to recognize the position of the handle based on the signal transmitted and received through the transmitter and the receiver, and controls the driving unit to follow the recognized position.
The method of claim 1,
The hose fastening portion,
The fastening signal or the sensing signal by detecting at least one of a switching signal of a switch according to whether the flexible hose is connected, a change of a current / voltage / resistance value applied to the main body, a feedback beep, a motion signal of the main body, and a signal of a contact sensor And a cleaner for generating a release signal.
The method of claim 1,
The control unit,
And a monitoring whether the suction motor is driven in response to the detection of the fastening signal, and determining whether to execute the automatic tracking function based on a monitoring result.
The method of claim 4, wherein
The control unit,
And when the release signal is received from the hose coupling unit while the automatic tracking function is executed, ending the automatic tracking function being executed.
The method of claim 5,
The control unit,
When the fastening release signal is received while the automatic tracking function is executed, the main body controls the driving unit to perform a predetermined movement at the current position,
And the automatic tracking function ends after a predetermined time has elapsed.
The method of claim 6,
The control unit,
The cleaner according to claim 1, wherein the cleaner does not terminate the automatic tracking function in response to receiving the fastening signal from the hose fastening unit.
The method of claim 1,
The control unit,
And when the fastening signal is detected when the main body is turned off, determining whether to activate the auto tracking function differently according to whether the handle is moved.
The method of claim 8,
The control unit,
And the main body performs the automatic tracking function while maintaining the power off state in response to the fastening signal being sensed in the power off state and the handle moving beyond the reference range.
A main body having a suction motor generating a suction force;
A driving unit which moves the main body;
A suction part connected to the handle through an extension tube and sucking dust from the outside;
A hose fastening part provided in the main body and having one side connected to the handle to which a flexible hose for supplying suction power to the suction part is fastened; And
And a control unit which executes an automatic tracking function for controlling the driving unit so that the main body follows the position of the handle while the suction motor is driven.
The control unit,
And a sensor for detecting a release signal by the hose fastening unit and outputting a control signal for terminating the automatic tracking function in response to the release signal.

Images