KR101248281B1 - Guiding robot system with air cleaning function - Google Patents

Abstract

The present invention relates to a guide robot system, by adding an air cleaning function to the robot system for autonomous driving of a target space and guiding various information, and effectively controlling the movement of the robot to achieve a guide effect and a dust collecting and air cleaning effect. It relates to a guide robot system having an air cleaning function configured to.

Description

Guiding robot system with air cleaning function

The present invention relates to a guide robot system, which adds an air cleaning function to a robot system that autonomously drives a target space and guides various information, and effectively controls the movement of the robot to maximize dust collection and air cleaning effects as well as guide effects. It relates to a guide robot system having an air cleaning function configured to be.

As air quality is the most important environmental measure in the modern society where pollution is increasing rapidly, air purifiers of various sizes are used to prevent the spread of various viruses or bacteria that are transmitted into the air and to remove fine dust to create a comfortable living environment. It is used in homes and homes, and large buildings use air conditioning systems to discharge muddy air and inject fresh air.

However, since a conventional air cleaner is fixed at a specific position, only the number M ² around the air cleaner is positioned to have an air cleaning effect. It is known that most of the area air does not have the effect of an air cleaner.

Unlike household robot cleaner systems that perform cleaning using no time zones, air cleaner systems are often used wherever they are, and must remove fugitive dust and bacterial suspended solids in the air. In the case of facilities that require continuous air quality management, such as hospitals, clinics, clothing stores, and manufacturing sites for various products, intensive dust collection and air cleaning treatment is required at the point where a lot of dust occurs.

The air cleaner used in the large space should be able to move and operate to the required point, and this moving air cleaner should be over a certain level for mutual safety between the system and the pedestrian, and should be able to avoid obstacles. In some cases, people in the working space should be able to be asked to move out of the room, and a proper air cleaning effect can be expected only if the capacity is proportional to the size of the processing space.

To this end, a fusion technology between a robot and an air cleaner that can move autonomously is required, but in this connection, robot cleaners are mainstream, and products equipped with air cleaners have not been commercialized yet.

However, when looking at the prior arts about the convergence of the robot and the air cleaning function, the air cleaner is mounted on the fuselage of the home robot cleaner, the route map is made in the same way as the robot cleaner, and the surrounding obstacles are avoided. It is a small household air cleaning robot with similar structure and tracks the direction of pollutant in the air using the sensor integrated pager fixed in the building and moves in the direction called by the pager. There is a system to perform the cleaning. The pager using system is characterized by having a function of locking and controlling the gas.

In other words, the prior art is an automated system in which robots and support systems automatically control air and shut off gas valves without managers. It is a system that is suitable for small spaces and spaces with little human activity. It is difficult to apply in large spaces where there is a lot of people's movements and obstacles in the surroundings (e.g. clothing stores, hospital lobby, production sites, etc.). .

Especially in the case of air cleaning robots whose main purpose is to improve air quality while people are active, if there are many obstacles in the surroundings and the position of fixed obstacles can be changed from time to time, the robot constructs a map by itself to determine the path automatically. It is much easier and more efficient for managers to route routes.

In addition, the robot will autonomously run and perform the air cleaning and fine dust removal functions, but the movement path of the robot should be freely designated by the manager, so that the air quality improvement of the workplace can be expected without additional operation of the air cleaner.

In order to overcome the limitations of the air purifier according to the prior art, the present invention introduces a robot control station that fuses an autonomous robot and an air purifier but can efficiently control the movement of the robot and enhances the dust collecting function by removing floor dust. To provide a guide robot system configured to.

The present invention provides a function of setting or changing a moving path of a robot, a guide point requiring a guide service on the moving path, and multimedia information to be provided for each guide point based on the location information of the target space. A robot control station configured to control the robot by communicating with the robot based on the control command and data according to the set information; A guide robot which autonomously runs in a target space according to a control command of the robot control station and provides corresponding information at the set guide point; An air cleaning unit mounted on the guide robot and performing an air cleaning function including dust collection while moving along the movement path of the guide robot; And a floor dust suction unit mounted on the guide robot and moving along the movement path of the guide robot, and collecting dust by scattering dust adhered to the ground. It provides a guide robot system having an air cleaning function, characterized in that configured to perform the air cleaning function, including the dust collection in the floor and the air while guiding necessary information while moving the target space. .

In this case, the robot control station may be provided for the start position, the stop position (guide point), the movement direction, the movement distance of the guide robot, and the guide point of the set movement path for setting the movement path. Provides a user interface that includes the ability to insert, delete, and change multimedia information.

In addition, the air cleaner may be configured to control its operation at the robot control station, and may provide a control function including a sensor state, an operation state, and a strength control of the air cleaner.

According to the present invention, since a single air cleaner can efficiently process a large space, which previously had to operate several fixed air cleaners, by moving the robot and performing air cleaning, maximizing air cleaner utilization efficiency and energy consumption. It has the effect of minimizing.

In addition, the floor cleaning function can be added by scattering and removing floor dust, and the dust collecting effect can be enhanced. It is expected to greatly contribute to the prevention of various respiratory diseases and infectious diseases.

Above all, the present invention is meaningful to provide the first robot air purifier commercial technology that can safely and accurately perform the air cleaning operation by controlling the movement of the robot based on the exact surrounding situation through the robot control station.

1 is a block diagram of a robot system according to the present invention.

The present invention is based on a guide robot system that performs guidance in a target space, and the robot system of the present invention is a system designed to enable path planning and tracking based on indoor positioning by a manager, unlike a robot cleaner. It provides service while maintaining indoor positioning accuracy about 50cm by using.

In addition, the robot control station including the storyline editor software as a user interface for supporting the path design can safely and accurately move the guide robot, so that the function of the air cleaner mounted on the guide robot and moving together can be maximized. will be.

1 is a block diagram of a system according to the present invention, which includes a robot control station 10 and a guide robot 20.

According to the present invention, the robot control station 10 sets a moving path of the robot 20, a guide point requiring a guide service on the moving path, and multimedia information to be provided for each guide point on the program based on the location information of the target space. It provides a function to change and is configured to control the robot by communicating with the robot based on the control command and data according to the set information.

That is, the robot control station 10 designates and changes the starting position, the stopping position (guiding point), the moving direction, the moving distance, and the set movement of the guide robot 20 to set the movement path. By providing a user interface that includes the ability to insert, delete, and change the multimedia information provided for each guide point of the route, the administrator can easily control the robot, and the surrounding situation of the robot using the image information received from the guide robot. Can also be used for remote monitoring.

Such a robot control station is mounted on a computer and driven, but can be used on a mobile terminal such as a smart phone to improve the efficiency of the robot control by making it based on Web or Android.

In addition, the robot control station 10 may not only control the robot 20, but also control the movement of the robot and the air cleaning operation by controlling the driving of the air cleaner described later. In this case, the robot control station may control the air. It provides a control function including the sensor state, operation state and intensity control of the cleaner.

The guide robot 20 includes a control unit 201, a communication unit 202, a positioning unit 203, an input / output unit 204, a sensor unit 205, an air cleaner 206, and a floor dust suction unit 207. Include.

The control unit 201 controls the operation between the respective components in the robot, and controls the components in the robot in accordance with the drive command and the control command of the robot control station 10.

The communication unit 202 performs a communication operation with external means including the robot control station 10, the positioning unit 203 is a real-time position information provided by the positioning system 30 in the target space, the robot itself Positioning is performed by comparing encoder information and Gyro sensor.

In order to improve the accuracy of the positioning, the Kalman Filter which adds the Gyro and the encoder value is used. In order to reduce the burden due to the calculation amount, it is preferable to manufacture a separate module.

The input / output unit 204 corresponds to a user interface of a robot that can transmit various guide information (including advertisements) that are multimedia information and can also receive a user's command. The multimedia information is provided by a predetermined means among various media. will be.

The sensor unit 205 is a sensor for detecting a surrounding situation or an object, and may be used to determine whether there is an obstacle by determining whether it is a stationary object or a moving object.

As such, the robot 20 may not only perform the control command but also transmit the self-recognized information to the robot control station 10 to optimize the control command and provide an interaction function for the actions of people around the moving path. have.

The interaction is a function of responding to the reaction of the people around by using the signals of the sensor unit and the input and output unit to improve the mobile environment and to maximize the effect of the guidance service, such as requiring people on the route to work for work. In particular, it is a sensing function of the behavior of a person.

The guide robot 20 of the present invention provides a feature of performing an air cleaning operation while moving safely in an optimized movement path through interaction with the robot control station 10 as described above.

The air cleaner 206 is mounted on the guide robot 20 and moves together along the movement path of the guide robot, and performs an air cleaning function including dust collection.

In order to clean the air, dust and fine dust must be basically removed. Based on the dust collecting function, various air cleaning operations can be performed to improve air quality such as filtering and anion release.

Since the air cleaning technology itself is not a technical feature of the present invention, any means can be applied to the present invention as long as it is effective for improving air quality.

However, the present invention has a technical feature to provide a floor dust suction unit 207 for removing dust adhered to the floor by the electrostatic force, as well as the air cleaning function provided by the conventional air cleaner.

The floor dust suction unit 207 is mounted on the guide robot 20 to move along the movement path of the guide robot, and is a means for scattering dust collected on the ground and collecting the dust.

In order to collect dust on the floor, only a small amount of vibration from the floor is required, so that the minimum vibration required to move the floor dust is minimal. The floor dust suction unit of the present invention incorporates an ultrasonic projectile, a vortex blower, or a brush, To move the dust.

As such, the present invention provides a technical idea of collecting dust by scattering floor dust, and is not intended to limit the specific method of scattering, so that all possible methods other than the above-described method may be applied to the present invention.

The air cleaning unit 206 and the floor dust suction unit 207 is a means separated according to a function for the purpose of understanding, and may be mechanically integrated or further subdivided as necessary for the air cleaning operation.

In addition, the air cleaning unit 206 and the bottom dust suction unit 207 should be a removable structure to facilitate the cleaning or replacement of the internal filter or dust collection mechanism, and should be manufactured to be durable against impact during movement.

As described above, the guide robot system according to the present invention intelligently moves the target space according to the control command of the robot control station, guides necessary information including advertisements, and performs an air cleaning function including dust collection on the floor and in the air. It is configured to be.

10: Robot Control Station
20: guide robot
201: control unit 202: communication unit
203: positioning part 204: input / output part
205: sensor unit 206: air cleaning
207: floor dust suction unit

Claims (9)

delete Provides a function to set or change the movement path of the robot, a guide point requiring guidance service on the movement path, and multimedia information to be provided for each guide point on a program based on the location information of the target space, and a control command according to the set information. And a robot control station configured to control the robot by communicating with the robot based on the data.
A guide robot which autonomously runs in a target space according to a control command of the robot control station and provides corresponding information at the set guide point;
An air cleaning unit mounted on the guide robot and performing an air cleaning function including dust collection while moving along the movement path of the guide robot; And
A floor dust suction unit mounted on the guide robot and moving along the movement path of the guide robot, and collecting dust by scattering dust adhered to the ground; Including but not limited to:
The robot control station provides a user interface to set or change the moving path by designating and changing the starting position, the stopping position (guiding point), the moving direction, and the moving distance of the guide robot, and By inserting, deleting, and changing multimedia information for each guide point,
A guide robot system having an air cleaning function, characterized in that it is configured to perform an air cleaning function including guiding necessary information while moving a target space and collecting dust from the floor and the air. delete delete Provides a function to set or change the movement path of the robot, a guide point requiring guidance service on the movement path, and multimedia information to be provided for each guide point on a program based on the location information of the target space, and a control command according to the set information. And a robot control station configured to control the robot by communicating with the robot based on the data.
A guide robot which autonomously runs in a target space according to a control command of the robot control station and provides corresponding information at the set guide point;
An air cleaning unit mounted on the guide robot and performing an air cleaning function including dust collection while moving along the movement path of the guide robot; And
A floor dust suction unit mounted on the guide robot and moving along the movement path of the guide robot, and collecting dust by scattering dust adhered to the ground; Including but not limited to:
And a floor dust suction function, wherein the floor dust suction unit has an ultrasonic projectile and a vortex blower in order to scatter dust adsorbed on the floor surface. delete delete delete Provides a function to set or change the movement path of the robot, a guide point requiring guidance service on the movement path, and multimedia information to be provided for each guide point on a program based on the location information of the target space, and a control command according to the set information. And a robot control station configured to control the robot by communicating with the robot based on the data.
A guide robot which autonomously runs in a target space according to a control command of the robot control station and provides corresponding information at the set guide point;
An air cleaning unit mounted on the guide robot and performing an air cleaning function including dust collection while moving along the movement path of the guide robot; And
A floor dust suction unit mounted on the guide robot and moving along the movement path of the guide robot, and collecting dust by scattering dust adhered to the ground; Including but not limited to:
And the air cleaner and the floor dust suction unit are configured to be detachable from the guide robot.

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