KR100655011B1 - Robot refrigerator and control method thereof - Google Patents

Abstract

The present invention relates to a refrigerator, in particular a mobile robot refrigerator and a control method thereof.

According to an aspect of the present invention, there is provided a robot refrigerator comprising: a robot refrigerator refrigerating food at a temperature below a predetermined temperature and moving and returning to an arbitrary point by a user's call; A remote controller for controlling the movement of the robot refrigerator; A power supply device for supplying power to the robot refrigerator; and the power supply device includes a charging unit mounted on the robot refrigerator and a charging set attached to a wall, and the charging unit and the charging set are connected to an original point. And a position signal transmitter and a position signal receiver for transmitting and receiving the position signal upon return.

According to the robot refrigerator and its control method according to the present invention, by moving to the user location with the food being stored in the refrigerator by the external user call signal, the user can eliminate the inconvenience of going directly to the refrigerator.

Refrigerator, robotic refrigerator, remote control, charging

Description

Robot refrigerator and control method thereof

1 is a perspective view of a robot refrigerator according to an embodiment of the present invention.

2 is a detailed configuration diagram of a robot refrigerator according to an embodiment of the present invention.

Figure 3 is a detailed configuration of the control panel unit according to the present invention.

Figure 4 is a side view showing a state in which the robot refrigerator according to the invention mounted on the charging set.

5 is a cross-sectional view taken along line AA ′ of FIG. 1B according to the present invention;

Figure 6 (a) (b) (c) is a configuration diagram showing an operating state of the robot refrigerator according to the present invention.

7 is a cross-sectional view showing a door opening and closing state of the robot refrigerator according to an embodiment of the present invention.

8 is a view showing another configuration of the door of the robot refrigerator according to the present invention.

9 is a view showing another configuration of the door of the robot refrigerator according to the present invention.

10 is a view showing another configuration of the door of the robot refrigerator according to the present invention.

11 is a flow chart showing a movement and return control method of the robot refrigerator according to the present invention.

12 is a flow chart showing a method for controlling the use power of the robot refrigerator according to the present invention.

13 is a flowchart illustrating a charging power control method of a robot refrigerator according to the present invention.

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

100 ... Robot Refrigerator 101 ... Remote Controller

105 Case 110 Control panel

111 Remote control receiver 112 Refrigeration temperature display

113 ... Charge status indicator 114 ... Return button

115 ... power switch 116 ... control section

117 DC converter 120 charging unit

121.Rechargeable battery 122 ... Contact connector

123 Position signal receiver 131 Thermoelectric element

133.Refrigerator 140 ... Driver

150 ... Charge set 151 ... Mains supply

152 Position signal transmitter 160,163,155,167 Refrigerator door

The present invention relates to a refrigerator, in particular a mobile robot refrigerator and a control method thereof.

In general, a refrigerator is used to freeze or refrigerate food by lowering the temperature in the refrigerator by discharging cold air, and according to a variety of tastes and preferences of a user, a top-type refrigerator, Bottom-type refrigerators with refrigerators at the top and freezers at the bottom, and Side By Side-type refrigerators with the freezer and the freezers at the left and right of the main body. .

In addition, the refrigerator is not only a refrigerator for storing general food, but also another refrigerator to maintain the taste of kimchi and to store vegetables, fruits, meat, fish, and wine fresher. There is.

Refrigerators of the same type are fixed in a state of being installed at a specific location, and the user approaches directly, opens the refrigerator door, and takes food and the like. However, there is always the inconvenience that the user must move to the location where the refrigerator is installed.

It is a first object of the present invention to provide a robot refrigerator, which refrigerated and controls food movement.

A second object of the present invention is to provide a robot refrigerator capable of remote control.

It is a third object of the present invention to provide a rechargeable robot refrigerator.

A fourth object of the present invention is to provide a portable robot refrigerator.

According to an aspect of the present invention, there is provided a robot refrigerator comprising: a robot refrigerator refrigerating food at a temperature below a predetermined temperature and moving and returning to an arbitrary point by a user's call; A remote controller for controlling the movement of the robot refrigerator; A power supply device for supplying power to the robot refrigerator; and the power supply device includes a charging unit mounted on the robot refrigerator and a charging set attached to a wall, and the charging unit and the charging set are connected to an original point. And a position signal transmitter and a position signal receiver for transmitting and receiving the position signal upon return.

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Preferably, the robot refrigerator includes a case having a predetermined shape, a refrigerating unit for refrigerating food in the case, cooling means for cooling the temperature of the refrigerating unit below a predetermined level, and moving the refrigerator. And driving means for driving the control means for receiving the remote control signal of the remote controller and controlling the driving means according to the received signal.

Preferably, the refrigerating unit is characterized in that the outer case and the heat insulating material.

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Preferably, the cooling means is a thermoelectric cooling element (TEM).

Preferably, the driving means is characterized in that it comprises a motor and a rotary moving body for rotating by the motor to move to any point.

Preferably, the charging unit includes a rechargeable battery that is charged with a predetermined voltage and supplies a discharged power voltage according to the movement of the refrigerator, and a contact connector that is in contact with the rechargeable battery so that the main battery is supplied with the charging of the rechargeable battery. The charging set may include a main power supply which is in electrical contact with the contact connector of the charging unit to supply main power.

Preferably, the robot refrigerator is installed on the front of the case, the remote signal receiving unit for receiving a user's remote control signal, a refrigeration temperature display unit for displaying the refrigeration temperature, a charge display unit for displaying the state of charge, the power on And a control panel including at least one of a power switch for turning on / off and a return button for returning to an original point.

Preferably, the controller is characterized in that for controlling the driving of the driving means to follow the target point by checking the target position from the remote control signal received from the remote signal receiving unit.

Preferably, the remote controller includes a power switch for controlling the power on / off of the robot refrigerator, a call button for calling the refrigerator, and a return button for returning.

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Preferably, the refrigerator further includes a refrigerator door installed at one side of the case to open and close the refrigeration unit.

Preferably, the case is characterized in that the moving handle is installed.

On the other hand, the control method of the robot refrigerator according to the present invention, the robot refrigerator receiving a remote control signal selected by the user; Analyzing the received remote control signal and moving to a target point at which the remote control signal is transmitted if it is a call signal; As a result of the analysis, if the remote control signal is a return signal, characterized in that it comprises the step of returning to the charging position by transmitting and receiving a signal between the charging section and the charging set.

Preferably, the method further comprises the step of operating the refrigerator with charged power when the refrigerator is moved to the target point and operating the refrigerator with main power when returning to the charging position of the charging set.

Preferably, in a state in which the refrigerator is operated with the charged power, checking whether the charged voltage is below a predetermined voltage; As a result of the checking, informing the user of a low charging voltage state when the charged voltage is lower than or equal to a predetermined voltage; After the user is informed, the driving means is forcibly driven to return to the charging position of the charging set to perform charging.

Hereinafter, with reference to the accompanying drawings as follows.

1 is a perspective view of a robot refrigerator according to the present invention, Figure 2 is a detailed configuration of the robot refrigerator according to the present invention.

Referring to FIG. 1, the robot refrigerator 100 may include a case 105 for forming an outer shape and protecting the inside, a control panel 110 for receiving control information and displaying status information on the front of the case, and a case. It consists of a charging unit 120 having a contact connector 123 at the rear, a refrigerating unit 133 for storing food in an insulated space, and a refrigerator door 160 for opening and closing of the refrigerating unit 133. And a remote controller 101 for controlling movement and return of the refrigerator.

1 and 2, the control panel 110 includes a remote signal receiving unit 111 for receiving a remote control signal from the remote controller 101, and a refrigerating temperature display unit for displaying the internal temperature of the refrigerating unit 133. 112, a charge display unit 113 for displaying a charging state, a return button 114 for returning the refrigerator, a power switch 115, and a DC voltage A DC converter 117 and a control unit 116 for controlling each unit for movement control and operation control of the refrigerator,

The charging unit 130 and the charging set 150 are configured to include a position signal transmitter 152 and a position signal receiver 123 for transmitting and receiving position signals for movement and return of the refrigerator.

As shown in FIG. 5, the refrigerating unit 133 is insulated by a heat insulating material 134 located between the inside of the case and the outer side of the refrigerating unit, and is a thermoelectric element that is a cooling means that maintains the refrigerating temperature at a predetermined temperature. 122).

In addition, the driving unit 140 includes a motor, not shown, and the like, so that the wheel 141, which is a rotation moving means, moves by the driving of the motor.

Referring to the accompanying drawings, a robot refrigerator and a control method thereof according to an embodiment of the present invention configured as described above are as follows.

First, referring to FIGS. 1 and 2, the robot refrigerator 100 may include a case 105 having a predetermined shape and a predetermined size. The outer shape of the case may include a cylindrical or polygonal or head portion to form a refrigerated space therein. The body is formed in a structure in which the body is coupled in different shapes. And, the upper side of the case 105, the insulated door 160 is installed, the lower end is a predetermined number of wheels 141 which is a moving means for moving in contact with the bottom surface is configured.

The control panel 110 and the charging unit 120 are installed at a predetermined position of the case 105. Here, the control panel 110 is installed at a predetermined position on the outer surface that can best communicate the status information with the outside, for example, is installed on the front surface corresponding to the opposite direction to the wall surface and facing the remote controller 101. And, the charging unit 120 is installed at a predetermined position on the back of the refrigerator so as to face the charging set 150 on the wall as shown in FIG.

As shown in FIGS. 2 and 3, the control panel 110 includes a remote signal receiver 111, a refrigeration temperature display unit 112, a charge display unit 113, a return button 114, and a power switch 115. ).

The remote signal receiver 111 receives a signal transmitted from the remote controller 101 and transmits the signal to the controller 116, and the controller 116 moves to the target point where the remote controller 101 is located according to the remote control signal. It is determined whether to move or move to the original point (charge position).

The refrigeration temperature display unit 112 displays the current temperature of the refrigerating unit 133. The temperature of the refrigerating unit 133 is detected by a temperature sensor (not shown), and the present refrigerating temperature is numerically represented (eg, 0). ° C).

Then, the charging display unit 113 checks the power supply voltage currently charged in the rechargeable battery, and displays available information when there is no supply of main power. Here, the form of the charge display, for example, may be divided into a single color or the percentage (%) according to the remaining charge time or the amount of charge in a single color, or may indicate the state of charge in red or blue.

In addition, the return button 114 is a button provided to allow the user to directly issue a return command without using the remote controller 101, and the power switch 115 controls the on / off of the refrigerator when the refrigerator is not used. It is a switch provided for.

The control unit 116 performs various types of control on the robot refrigerator 110 according to the signal received from the remote signal receiving unit 111 and controls to automatically return according to its own return algorithm.

On the other hand, as a means for supplying power to the robot refrigerator 100 is supplied with a rechargeable power source and a main power source, the main power is normally supplied, the charging power is used at the moving point.

1, 4, and 5, the charging unit 120 is provided on the rear surface of the robot refrigerator, and the charging set 150 is installed on the wall 184, and the charging unit 120 and the charging set 150 are provided. ) Are installed at positions facing each other, and the installation height is preferably installed at the same height for contact between the terminals.

The charging unit 120 is composed of a rechargeable battery 121, a contact connector 122, and a position signal receiving unit 123 as shown in Figure 2, the charging unit 120 operates the refrigerator when the supply of main power is cut off Discharge the power charged in the rechargeable battery 121 so that the contact connector 122 has a predetermined area to facilitate contact with the main power supply unit 151 of the charging set 150 and is formed in a protruding shape or a groove shape. do.

The charging set 150 includes a main power supply 151 and a position signal transmitter 152 for supplying main power, and the main power supply 151 is in contact with the contact connector 122 for power supply. The power supply of the robot refrigerator 100 is normally in contact with the charging set 150 to receive the power supplied from the main power supply unit 151 and to use the charged power at the moving point.

In addition, the DC converter 117 illustrated in FIG. 2 is a device that converts and supplies various power sources input to the control panel unit 110 into DC voltage.

Meanwhile, the refrigerating unit 133 constituting the refrigerating chamber for cooling the robot refrigerator 100 is insulated with a heat insulating material 134 as shown in FIG. 5, and is fixed by a thermo electric module (TEM) 131. Cool to below temperature. Here, the thermoelectric element 131 is connected to the rechargeable battery 121, is usually supplied with main power to perform cooling of the refrigerating unit 133 at a set temperature, and is charged to the rechargeable battery 121 at another point. Cooling of the refrigerating unit 133 is maintained using a power source.

Here, the thermoelectric element 131 functions as a cooling element, and a cooling function similar to a Freon compressor or an endothermic refrigerator can be miniaturized using the Pelter Effect as a thermoelectric heat-pump of a solid element. It is a device made. In other words, when DC power is applied to two different electric conductors, the contacts are cooled and heated up and down, respectively, and when the current direction is changed, the two contacts are respectively cooled.

And, the robot refrigerator 100 is provided with a communication means for periodically communicating so as to move from the original point to the target point and return operation from the target point to the original point.

The robot refrigerator 100 uses a remote control receiver 101 and a remote control receiver 111 as a communication means for moving to a target point, and when the remote control receiver 101 transmits a position signal, the remote control receiver The target signal is found by receiving the position signal at 111.

The communication means for the robot refrigerator 100 to return to the original point includes a position signal transmitter 152 and a position signal receiver 123 as shown in FIG. 2, and the position signal transmitter 152 includes a charge set ( The location signal receiver 123 is installed at the rear of the refrigerator or around the charging unit 120. Here, the position signal transmitting / receiving units 152 and 123 are preferably installed at positions facing each other, and may not be included in the charging set and the charging unit. In addition, the wireless communication method uses, for example, Brutus communication, infrared communication method and the like.

The robot refrigerator 100 receives the transmission signal of the remote controller 101 and moves to the target point, and recognizes the return mode by the return button 114 at the target point, and simultaneously the position signal of the charging set 150. The position signal transmitted from the transmitter 152 is received and returned to the original point. Here, when the refrigerator moves or returns, the location signal is transmitted at a predetermined cycle so that the distance between the refrigerator and a specific point is within a predetermined distance, and when the refrigerator is within a certain distance, the transmission is stopped.

As shown in FIG. 2, the driving unit 140 moves the refrigerator 100 from the original point to the target point or from the target point to the original point by the controller 116. In detail, the driving unit 140 may move by rotating a moving means such as a wheel by using a power such as a motor.

The operation of the robot refrigerator will be briefly described with reference to FIGS. 2 and 6 as follows.

As shown in (a) of FIG. 6, the robot refrigerator 100 cools the food of the refrigerating unit 133 with main power at an initial charging position on the wall. In this state, when the user 102 calls the robot refrigerator 100 using the remote controller 101 at a long distance, the remote signal receiving unit 111 of the control panel 110 installed at the front of the refrigerator receives the call signal. Receives and forwards to the control unit 120.

The controller 116 detects the target coordinates of the remote controller 101 received by the remote signal receiver 111, and then controls the movement to the target point by driving the driver 140. Here, the control unit 116 can detect the movement displacement by using the rotation speed, the rotation angle, etc. of the wheels, and the movement control to the target coordinates is possible. As another example, by receiving the periodic position signal from the remote controller 101, it is possible to move to the target point. As another method, the driving trajectory according to the omnidirectional movement with respect to the reciprocating traveling distance may be stored and used when returning.

At this time, since the robot refrigerator 100 separated from the original point is blocked from the supply of main power, the charging unit 120 supplies auxiliary power to the thermoelectric element 131 to cool the refrigerating unit 133 below a predetermined temperature. Given.

When the robot refrigerator 100 arrives at the target point as illustrated in FIG. 6B, the user 102 opens the refrigerator door 160 to take food to be taken and then closes the refrigerator door 160. Here, the refrigerator door is insulated.

Subsequently, when the return button (not shown) provided in the remote controller 101 or the return button 114 provided in the control panel 110 of the refrigerator is selected, the robot refrigerator 100 returns to the original point. .

As shown in (c) of FIG. 6, the control unit 116 recognizes the return mode by the return button signal and drives the position signal receiver 111 so that the position signal receiver 111 is connected to the charge set 150. When the periodic position signal transmitted from the provided position signal transmitter 152 is received and transmitted to the controller 116, the controller 116 periodically checks the position signal and controls the driving unit 140 to drive the return point. Move to

Here, when the refrigerator 100 is completely returned to the charging set 150, the refrigerator operates by receiving main power and charges the rechargeable battery 121.

Meanwhile, when the refrigerator 100 is positioned for a predetermined time or more at a target point, in order to prevent the battery 121 of the charging unit 120 from being completely discharged, when the charging voltage of the battery 121 is lower than or equal to a predetermined voltage, the charging is performed. The display unit 113 is notified to the user, and the driving unit 140 is forcibly driven by the self-return algorithm to return to perform the charging operation.

7A and 7B are diagrams showing the door 160 of the robot refrigerator. As illustrated in FIG. 7, the refrigerator door 160 opens and closes the refrigerating unit while the sliding opening / closing unit 161 is moved forward / backward along the inside of the cover 162 in a hemispherical shape to the ceiling.

(A) and (b) of FIG. 8 is a lid type door 163 to which a hinge 163a is applied. 163a) is moved to its original state and closed.

9 is a configuration in which the drawer type door 165 is installed at the side of the refrigerator. A handle 165a is installed at the center of the drawer-type door 165, and a moving handle 168 is installed at the top thereof, and the door 165a is opened and closed by opening / closing the door 165 by holding the door handle 165a. In addition, the robot refrigerator 100 is provided with a moving handle to be convenient to carry when going out when the charging time is maintained for a long time.

10 is configured to install the door 167 of the hinge (167a) method to the side of the refrigerator. The door handle 167 opens and closes the door 167 at a predetermined angle about the hinge 167a installed at the other end.

11 is a flowchart illustrating a movement control method of the robot refrigerator according to the present invention.

As shown in FIG. 11, in a standby state in which the robot refrigerator is not moving (S101), a remote control signal transmitted from a remote controller is received by a user's need (S102). At this time, it is determined whether the remote control signal is a call signal (S103) or a return signal (S105).

As a result of the determination, if the call signal is checked, the target point on the remote control signal is checked and then moved to the remote controller position (S104). If the return signal is returned to the charging position by the position signal transmitted from the charge set (S106).

That is, according to the remote control signal of the user to move to the location where the user is located or to return to the original charging position.

12 is a flowchart illustrating a charging control method according to the present invention.

As shown in FIG. 12, the robot refrigerator is checked in the power-on state (S111), and whether main power is supplied (S112). When the main power is supplied, the main power is supplied to the entire refrigerator, and in particular, the cooling temperature of the refrigerating unit is kept below a predetermined temperature (S113).

When power is not supplied to the refrigerator as the main power, power is supplied to the refrigerator of the charging power charged in the rechargeable battery. While supplying power to the entire refrigerator with the charged voltage of the rechargeable battery, in particular, the cooling temperature of the refrigerating unit is maintained below a predetermined temperature (S114, S115).

13 is a view showing an operation control method according to a charging voltage of a rechargeable battery according to the present invention. First, when the refrigerator power is supplied to the power charged in the charging unit, the cooling temperature of the refrigerating unit is kept below a predetermined temperature with the charged power (S121).

At this time, it is checked whether the charging amount (voltage) of the charging unit is less than or equal to a predetermined voltage (S122), and if the check result is less than or equal to the predetermined voltage, a notification is displayed as a warning message to the user (S123). As the notification display method, a warning light or a warning sound is displayed.

After notifying the user, the control unit forcibly drives the driving unit to move the robot refrigerator to the original position where the charging set is located, and the charging unit is contacted with the contact connector of the charging unit to charge the charging unit (S124, S125).

As another embodiment of the present invention, voice recognition means may be used as a means for moving or returning the robot refrigerator. That is, the voice recognition means has a built-in microphone in the control panel of the robot refrigerator, and decoded by the voice recognition algorithm in the control unit, so that the sound can be moved and returned by one and two times of clapping, or the voice is " fridge freezer " It may be controlled by voice by dividing into "home position" and the like.

In addition, the present invention by employing a robot refrigerator having a portable handle, to cool the refrigeration unit for a predetermined time by the charged voltage of the rechargeable battery when moving to the outdoors, so that the removable battery can be installed if necessary You can also increase the use time.

So far, the present invention has been described with reference to the preferred embodiments, and those skilled in the art to which the present invention pertains to the detailed description of the present invention and other forms of embodiments within the essential technical scope of the present invention. Could be implemented. Here, the essential technical scope of the present invention is shown in the claims, and all differences within the equivalent range will be construed as being included in the present invention.

 As described above, according to the robot refrigerator and its control method according to the present invention, the user can eliminate the inconvenience of going directly to the refrigerator by moving to the user's position and providing the food being refrigerated by an external user call signal. .

In addition, during the use of the robot refrigerator, the main power is normally supplied and is always in a fully charged state, and by using the charged power only when moving, the user does not have to worry about the power supply.

In addition, the robot refrigerator automatically moves to the charging position again before being fully discharged to be charged, thereby preventing the full discharge.

In addition, there is a convenient effect that the charging power is stored refrigerated within the use time even if the portable robot refrigerator to go outdoors.

Claims (16)

A robot refrigerator for storing food in the refrigerator below a predetermined temperature and moving and returning to an arbitrary point by a user's call; A remote controller for controlling the movement of the robot refrigerator; It includes; a power supply for supplying power to the robot refrigerator; The power supply device includes a charging unit mounted on the robot refrigerator and a charging set attached to a wall, wherein the charging unit and the charging set include a position signal transmitter and a position signal receiver for transmitting and receiving a position signal upon returning to an original point. Robot refrigerators, characterized in that each comprising. The method of claim 1, The robot refrigerator includes a case having a predetermined shape, a refrigerating unit for refrigerating food inside the case, cooling means for cooling the temperature of the refrigerating unit to a predetermined temperature or less, and a drive for moving the refrigerator. And a driving means for receiving the remote control signal of the remote controller and controlling the driving means according to the received signal. delete The method of claim 2, The refrigeration unit is a robot refrigerator, characterized in that insulated with an outer case and a heat insulating material.  The method of claim 2, The cooling means is a robot refrigerator, characterized in that the thermoelectric cooling element (TEM). The method of claim 2, The driving means is a robot, characterized in that it comprises a motor and a rotatable moving body for rotating by the motor to move to any point. The method of claim 1, The charging unit includes a rechargeable battery that is charged with a predetermined voltage and supplies a discharged power voltage according to the movement of the refrigerator, and a contact connector installed on the back of the case to charge the rechargeable battery and supply main power to the inside of the refrigerator. , The charging set is a robot refrigerator, characterized in that it comprises a main power supply for supplying main power in electrical contact with the contact connector of the charging unit. The method of claim 2, In the robot refrigerator, Is installed in the front of the case, the remote signal receiving unit for receiving a user's remote control signal, a refrigeration temperature display unit for displaying the refrigerating temperature, a charge display unit for indicating the charging state, a power switch for turning on / off the power and And at least one of a return button for returning to the original point, wherein the robot refrigerator comprises a control panel provided with the control means. The method of claim 8, The control means checks the target position from the remote control signal received from the remote signal receiver to control the driving of the driving means to follow the target point. delete The method of claim 1, The remote controller includes a power switch for controlling the power on / off of the robot refrigerator, a call button for calling the refrigerator, and a return button for returning. The method of claim 2, A robot refrigerator further comprising a refrigerator door installed at one side of the case to open and close the refrigeration unit. The method of claim 2, Robot refrigerator, characterized in that the moving handle is installed in the case. Receiving, by the robot refrigerator, a remote control signal selected by the user; Analyzing the received remote control signal and moving to a target point at which the remote control signal is transmitted if it is a call signal; And returning to the charging position by transmitting and receiving a signal between the charging unit and the charging set if the remote control signal is the return signal.    The method of claim 14, Operating the refrigerator with charged power when the refrigerator is moved to the target point, and operating the refrigerator with main power when returning to the charging position of the charging set. The method of claim 15, Confirming whether the charged voltage is lower than or equal to a predetermined voltage while operating the refrigerator using the charged power; As a result of the checking, informing the user of a low charging voltage state when the charged voltage is lower than or equal to a predetermined voltage; And informing the user, forcibly driving the driving means to return to the charging position of the charging set to perform charging.

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