KR102118350B1 - Apparatus for guiding robot cleaner charging - Google Patents

Abstract

Disclosed is a charging induction device for a robot cleaner. Charging induction device for a robot cleaner of the present invention is installed in a charging station signal generator for generating a position detection signal; A signal receiving unit installed in the robot cleaner and receiving a position detection signal transmitted from the signal transmitting unit through a plurality of paths; An angle detector configured to detect an angle of the charging station based on at least one of a path of the position detection signal received by the signal receiving unit and a sequence in which the position detection signal is received through each path; And rotating the robot cleaner in place so that the position detection signal is received through a plurality of paths through the signal receiving unit, and when the angle of the charging station is detected by the angle detecting unit, the robot cleaner is connected to the angle of the charging station. It characterized in that it comprises a driving control unit to drive along.

Description

Charging induction device for robot cleaners {APPARATUS FOR GUIDING ROBOT CLEANER CHARGING}

The present invention relates to a robot vacuum cleaner induction device, and more particularly, to a robot cleaner induction device for guiding a robot cleaner to a charging station.

In general, a vacuum cleaner is a device that performs cleaning by suctioning foreign matter on a cleaning surface with suction power generated by driving a fan, and a vacuum cleaner body generating suction power and a suction duct extending from the vacuum cleaner body to suck foreign matter on the cleaning surface And a connector for connecting the suction duct and the cleaner body.

Recently, the use of a robot cleaner that automatically cleans dust and the like accumulated on the floor while driving the cleaning area without user intervention is gradually increasing.

The robot cleaner detects the cleaning area and obstacles using the sensor at the command of the control means, runs the cleaning area and automatically cleans it, and when the power of the battery installed inside the device runs out, It is a device that moves to a charging station provided separately in a predetermined position to charge it, and after charging, returns to the original position where it was cleaned again and performs cleaning.

However, conventionally, there have been problems in that the manufacturing cost of the robot cleaner is increased and the design is complicated by using a plurality of infrared sensors in the robot cleaner.

The background technology of the present invention is disclosed in the'Automatic charging system and return method of the robot cleaner' of Korean Patent Publication No. 10-2004-0087176 (2014.10.13.).

The present invention was devised to improve the above-mentioned problems, and the object according to an aspect of the present invention is to use the infrared cleaner or magnetic force selectively depending on the distance between the robot cleaner and the charging station, so that the robot cleaner is stable and closely connected to the charging station It is to provide a charging induction device for a robot cleaner that can be guided.

Charging induction device for a robot cleaner according to an aspect of the present invention is installed in a charging station signal generator for generating a position detection signal; A signal receiving unit installed in the robot cleaner and receiving a position detection signal transmitted from the signal transmitting unit through a plurality of paths; An angle detector configured to detect an angle of the charging station based on at least one of a path of the position detection signal received by the signal receiving unit and a sequence in which the position detection signal is received through each path; And rotating the robot cleaner in place so that the position detection signal is received through a plurality of paths through the signal receiving unit, and when the angle of the charging station is detected by the angle detecting unit, the robot cleaner is connected to the angle of the charging station. It characterized in that it comprises a driving control unit to drive along.

The signal transmission unit of the present invention is provided in the charging station infrared transmission sensor for transmitting infrared rays to the upper direction of the charging station; And an outgoing signal diffuser plate provided in the charging station to cover the infrared outgoing sensor and diffusing the signal from the red line outgoing sensor to the front and side of the charging station.

The signal receiving unit of the present invention is an infrared receiving unit for receiving an infrared signal transmitted from the signal transmitting unit; It characterized in that it comprises a receiving signal selection inducing member for selectively guiding a signal transmitted from the signal transmitting unit through a plurality of different paths.

The receiving signal selection inducing member of the present invention is characterized in that it comprises a plurality of signal receiving waveguides for receiving infrared signals from the infrared receiver.

When the angle detection unit of the present invention rotates clockwise or counterclockwise by the driving control unit, after detecting a signal received through the received signal waveguide located in the center among the plurality of received signal waveguides, the received signal waveguide located in the center It is characterized in that the angle of the charging station is detected by a central infrared signal flowing through the center of the received signal waveguide located in the center based on the inflow angle of the infrared signal flowing through.

The angle detector of the present invention is characterized in that it detects the received signal waveguide located in the center based on whether the infrared signal is received through the infrared receiver and the received signal waveguide received through each of the received signal waveguides.

The receiving signal selection inducing member of the present invention is characterized in that it comprises a signal attenuation unit to attenuate the transmission signal induced by a diagonal line to the signal receiving waveguide to block the reception.

The present invention is characterized in that it further comprises a short-range charging induction unit for connecting the robot cleaner to the charging station by using the magnetic force generated from the charging station.

The short-range charging induction part of the present invention is provided on the charging station to generate a magnetic force; A magnetic sensor for sensing magnetic force generated from the magnet member; And a relative position detector configured to detect a relative position of the robot cleaner based on the magnetic force sensed by the magnetic sensor.

When the relative position detection unit of the present invention detects the magnetic force sensed by the magnetic sensor, it compares the strength of the magnetic force with a preset reference value and determines that the robot cleaner is located near the charging station according to the comparison result. It is characterized by.

The relative position detection unit of the present invention, the angle between the robot cleaner and the magnet member of the charging station, whether the robot cleaner is located on the left or right side of the magnet member, the robot cleaner on the center line of the magnet member Characterized in that the relative position of the robot cleaner is detected by using at least one of a rotation angle for positioning, a moving distance, and a rotation angle for the robot cleaner to view the magnet member on a central line.

The charging induction device for a robot cleaner according to an aspect of the present invention enables the robot cleaner to be stably and closely guided to the charging station by selectively using infrared or magnetic force depending on the distance between the robot cleaner and the charging station.

The charging induction device for a robot cleaner according to another aspect of the present invention can reduce the number of infrared sensors used by detecting the robot cleaner with an infrared transmission/reception sensor.

Since the charging connection part connected to the robot cleaner according to another aspect of the present invention is rotatably coupled to the charging station and rotates and protrudes only when the robot cleaner is connected to the charging station, the charging terminal is prevented from being exposed to the outside to charge It can prevent contamination and damage of the terminal.

1 is a perspective view for explaining a charging induction device for a robot cleaner according to an embodiment of the present invention.
2 is a plan view illustrating a charging induction device for a robot cleaner according to an embodiment of the present invention.
3 is an exploded perspective view of a charging station according to an embodiment of the present invention.
FIG. 4 is a cross-sectional view of FIG. 3.
5 is a side view showing a robot cleaner according to an embodiment of the present invention.
6 is a cross-sectional view for explaining a signal receiving unit according to an embodiment of the present invention.
7 is a block diagram of an angle detection unit and a driving control unit according to an embodiment of the present invention.
8 is a diagram illustrating a method of detecting a central infrared signal according to an embodiment of the present invention.
9 is a block diagram of a short-range charging induction unit according to an embodiment of the present invention.
10 to 13 are views showing a relative position detection process of the robot cleaner according to an embodiment of the present invention.
14 is a perspective view illustrating a charging connection unit according to an embodiment of the present invention.
15 is a schematic view for explaining the operation of the filling rotating body according to an embodiment of the present invention.

Hereinafter, an embodiment of a charging induction device for a robot cleaner according to the present invention will be described with reference to the accompanying drawings. In this process, the thickness of the lines or the size of components shown in the drawings may be exaggerated for clarity and convenience.

In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to a user's or operator's intention or practice. Therefore, definitions of these terms should be made based on the contents throughout this specification.

1 is a perspective view for explaining a charging induction device for a robot cleaner according to an embodiment of the present invention, and FIG. 2 is a plan view for explaining a charging induction device for a robot cleaner according to an embodiment of the present invention, FIG. 3 Is an exploded perspective view of a charging station according to an embodiment of the present invention, Figure 4 is a cross-sectional view of Figure 3, Figure 5 is a side view showing a robot cleaner according to an embodiment of the present invention, Figure 6 is the present invention It is a cross-sectional view for explaining a signal receiving unit according to an embodiment.

1 to 6, the charging induction device 100 for a robot cleaner according to an embodiment of the present invention is a sensor used for returning to the charging station 20 of the robot cleaner 10 The quantity can be reduced, and the robot cleaner 10 can be stably and easily induced to the connection position of the charging station 20.

To this end, the charging induction device 100 for a robot cleaner according to the present embodiment detects a robot cleaner 10 located at a long distance from the charging station 20, and is located at a short distance from the charging station 20. The detection method for detecting the robot cleaner 10 is applied in different detection methods.

For example, the charging induction device 100 for a robot cleaner according to the present embodiment detects the remote charging induction unit 110 for transmitting and receiving a remote location detection signal for detecting the robot cleaner 10, and the robot cleaner 10 It includes a short-range charging induction unit 120 for transmitting and receiving a short-range detection signal for.

In addition, the charging induction device 100 for the robot cleaner is a charging connection unit for stably and closely contacting the robot cleaner 10 approaching the charging station 20 by the short distance charging induction unit 120 ( 130).

The charging induction device 100 for the robot cleaner uses a charging station 20 by using the short distance charging induction unit 120 to move the robot cleaner 10 moving to the detection area of the short distance charging induction unit 120 by the remote charging induction unit 110. ). Then, the robot cleaner 10 aligned with the connection position of the charging station 20 moves to the charging station 20 and is charged by being connected to the charging station 20 through the charging connection unit 130.

The remote charging induction unit 110 detects the robot cleaner 10 in a different detection method from the short distance charging induction unit 120 to induce the movement of the robot cleaner 10. The remote charging induction unit 110 is provided in the robot cleaner 10 and the charging station 20, and the robot cleaner 10 is one of an optical sensor, an ultrasonic sensor, and an image sensor to detect the position of the charging station 20. It is configured to send and receive detection signals.

For example, the remote charging induction unit 110 according to the present embodiment may be an infrared sensor, which is one of the optical sensors.

Specifically, the remote charging induction unit 110 according to this embodiment detects and induces the robot cleaner 10, the signal transmitting unit 111 provided in the charging station 20, and the signal provided in the robot cleaner 10 It includes a receiving unit 113. The remote charging induction unit 110 charges the robot cleaner 10 by detecting the position of the robot cleaner 10 while the signal receiver 111 receives the position detection signal when the signal transmitter 111 transmits a position detection signal. It will lead to the station 20.

The signal transmitter 111 includes an infrared transmitter 111a for transmitting infrared rays, and a transmitter signal diffuser 111b for diffusing infrared rays transmitted from the infrared transmitter 111a. The infrared transmitter 111a is provided at the upper end of the charging station 20 and transmits infrared rays in an upward direction of the charging station 20. Then, the infrared rays are reflected to the transmission signal diffusion plate 111b and diffused to the front and side of the charging station 20.

The outgoing signal diffusion plate 111b is coupled to the charging station 20 so as to cover the infrared transmitter 111a and diffuses the infrared rays transmitted by the infrared transmitter 111a to the front and side of the charging station 20. To this end, the outgoing signal diffuser plate 111b is gradually expanded from the lower end to the upper end so as to cover from the rear to the upper end of the infrared transmitter 111a, and its surface protrudes in a round shape.

For example, the outgoing signal diffusion plate 111b according to the present embodiment may be formed in the form of a horn speaker.

On the other hand, the charging station 20 is a signal transmission unit 111 is soldered (Soldering) PCB 21 is installed, the transparent cover 23 is coupled to protect the signal transmission unit 111.

The signal receiving unit 113 receives the remote location detection signal transmitted from the infrared transmitter 111a so that the robot cleaner 10 detects the location of the charging station 20. The signal receiving unit 113 receives the remote location detection signal while the robot cleaner 10 rotates in one place, and selectively receives the remote location detection signal through three reception paths to detect the location of the charging station 20. Will receive.

To this end, the signal receiving unit 113 is provided in the robot cleaner 10, the infrared receiving unit 113a for receiving the remote location sensing signal emitted from the infrared transmitter 111a, and the remote location sensing signal through different paths Optionally includes a receiving signal selection inducing member (113b) to lead to the infrared receiver (113a).

The infrared receiver 113a is coupled to the robot cleaner 10 to be located inside the reception signal selection induction member 113b.

The reception signal selection inducing member 113b is coupled to the robot cleaner 10 to cover the infrared receiver 113a, and the infrared receiver 113a receives a remote location detection signal through different paths according to the position of the robot cleaner 10. At least three or more signal receiving waveguides 113c are formed to induce the.

In addition, the receiving signal selection inducing member 113b is provided with an infrared receiver 113a therein, a body 113d coupled to the robot cleaner 10, and a sensor installation space 113e inside the body 113d. ) Is formed, and the signal receiving waveguide 113c is branched into three branches in the sensor installation space 113e.

The signal receiving waveguide 113c is formed through the body 113d to achieve three specific angles based on the infrared receiver 113a. At this time, the robot cleaner 10 is rotated so as to receive the remote position detection signal through the central signal receiving waveguide 113c of the three signal receiving waveguides 113c, the position is adjusted.

For example, if the robot cleaner 10 receives a remote location sensing signal through any one of the signal receiving waveguides 113c on both sides, the robot cleaner 10 is remotely positioned through the central signal receiving waveguide 113c. It is rotated selectively left and right by the angle θ deviation of the signal receiving waveguide 113c until the detection signal is received.

In particular, the reception signal selection inducing member 113b is formed with a signal attenuation unit 113f in the signal reception waveguide 113c to attenuate the remote location sensing signal induced by a diagonal line to the signal reception waveguide 113c to block reception. The signal attenuation unit 113f is formed with a protrusion and a depression continuously formed on the inner surface of the signal receiving waveguide 113c. Through this, the long-distance position detection signal flowing diagonally into the signal receiving waveguide 113c is reflected by the protrusions and depressions of the signal receiving waveguide 113c and is completely canceled before reaching the infrared receiver 113a.

7 is a block diagram of an angle detection unit and a driving control unit according to an embodiment of the present invention, and FIG. 8 is a view showing a method of detecting a central infrared signal according to an embodiment of the present invention.

7, A, B, and C are paths through which the infrared signal emitted from the infrared transmitter 111a of the charging station 20 flows into the signal receiver 113 through the received signal waveguide 113c.

First, the travel control unit 115 controls the travel of the robot cleaner 10 to move the robot cleaner 10 to the charging station 20. In this process, the driving control unit 115 rotates the robot cleaner 10 clockwise or counterclockwise in its current position to detect the position of the charging station 10 at a long distance, and the charging station 10 at a short distance The robot cleaner 10 is driven to look at the center line on the magnet member 121 so as to be charged by being in contact with the robot. This will be described later.

As the robot cleaner 10 rotates clockwise or counterclockwise in place, infrared signals emitted from the infrared transmitter 111a are sequentially introduced through the received signal waveguide 113c, and the received signal waveguide 113c The signal introduced through is received by the infrared receiver 113a.

As the infrared signal is received by the infrared receiver 113a, the angle detector 114 detects a signal received through the received signal waveguide 113c located at the center of the three received signal waveguides 113c.

In order to detect the received signal waveguide 113c located at the center, the driving control unit 115 rotates the robot cleaner 10 clockwise or counterclockwise. Accordingly, the infrared receiver 113a receives the infrared signal through each of the received signal waveguides 113c, and the angle detector 114 receives the infrared signal through the infrared receiver 113a based on whether or not the infrared signal is received. Among the waveguides 113c, a received signal waveguide 113c located at the center is detected.

robotic vacuum
Direction of rotation Detection order judgment Primary Secondary 3rd order The central round
Counterclockwise ○ ○ ○ A->B->C Secondary ○ ○ Angle Over(Rotate clockwise) B->C Primary ○ Angle Over(Rotate clockwise) ○ C->B 3rd
Clockwise ○ ○ ○ C->B->A Secondary ○ ○ Angle Over(Rotate clockwise) B->A Primary ○ Angle Over(Rotate clockwise) ○ A->B 3rd

Referring to Table 1, when the robot cleaner 10 rotates counterclockwise, if infrared signals are detected in the order of A, B, and C in the first, second, and third order, the detected B in the second time The received signal waveguide 113c located at the center is determined.

When the robot cleaner 10 rotates counterclockwise, if the infrared signals are detected in the order of B and C in the order of 1st and 2nd and angled over, the detected B in the first time is centrally received. It is judged by the signal waveguide 113c.

When the robot cleaner 10 rotates counterclockwise, the infrared signal is detected in the first time, and after the angle is over, the infrared signal is detected again in the third time and the infrared signal is detected in the order of C and B. The detected B is determined to be the received waveguide 113c located at the center.

On the other hand, when the robot cleaner 10 rotates clockwise, if infrared signals are detected in the order of C, B, and A in the 1st, 2nd, and 3rd order, the B detected in the second time is centrally received. It is judged by the signal waveguide 113c.

When the robot cleaner 10 rotates clockwise, the infrared signal is detected in the order of B and A over the first and second order, and when the angle is over, the detected signal waveguide located at the center of the detected B at the first time (113c) ).

When the robot cleaner 10 rotates counterclockwise, an infrared signal is detected in the first time, and after an angle over, an infrared signal is detected again in the third time, and in the order of A and B, the infrared signal is detected. The detected B is determined to be the received waveguide 113c located at the center.

Here, the Angle over is a state that exceeds the angle at which the infrared signal flows, indicating that there is no infrared signal flow. When the angle is over, the driving control unit 115 rotates the robot cleaner 10 in the opposite direction.

Referring to FIG. 8, the L ₂ position is a central position to be detected in the A, B, and C paths of FIG. 7.

Due to the width of the three signal receiving waveguides 113c, an angle of inflow of an infrared signal occurs. This difference is the same as L ₁ , L ₂ and L ₃ in FIG. 8. Thus, when the robot cleaner 10 rotates clockwise, it is received in the order of L ₁ , L ₂ , L ₃ , and when the robot cleaner rotates counterclockwise, the sequence of L ₃ , L ₂ , L ₁ Is received.

The angle detector 114 detects the center infrared signal L ₂ of the signal receiving waveguide 113c. In this case, if the angle of L ₁ and L ₂ is θ _α and the angle of L ₃ and L ₂ is θ _β , the angle when the central infrared signal L ₂ is received, that is, the angle θ of the robot cleaner 10 is It becomes θ=(θ _α -θ _β )/2.

Accordingly, when the robot cleaner 10 rotates clockwise or counterclockwise, the angle detector 114 detects angles θ _α and θ _β when L ₁ and L ₃ are received, respectively, and θ=(θ _α The angle of the robot cleaner 10 is detected using -θ _β )/2.

As described above, the angle detection unit 114 detects the infrared signal flowing through the centrally received signal waveguide 113c, and receives it based on the incoming angle of the infrared signal flowing through the centrally received signal waveguide 113c. The center infrared signal flowing through the center of the signal waveguide 113c is detected.

Here, the angle detection unit 114 may detect the infrared signal flowing through the received signal waveguide 113c located at the center, and then detect the central infrared signal in the above-described manner, but may receive infrared rays through each of the received signal waveguides 113c. Each time a signal flows in, the central infrared signal is detected based on the inflow angle of the infrared signal flowing through each received signal waveguide 113c. Then, when the received signal waveguide 113c located in the center is detected, it is located in the center. The center infrared signal of the received signal waveguide 113c can be detected.

9 is a block diagram of a short-distance charging induction unit according to an embodiment of the present invention, and FIGS. 10 to 13 are views showing a relative position detection process of a robot cleaner according to an embodiment of the present invention.

9 to 13, the short-range charging induction unit 120 detects the robot cleaner 10 close to the charging station 20 by the remote charging induction unit 110 in a different sensing method from the remote charging induction unit 110. It leads to the charging position of the charging station 20. That is, the short-range charging induction unit 120 induces the connection of the charging station 20 and the robot cleaner 10.

For example, the short-range charging induction unit 120 according to the present embodiment detects the robot cleaner 10 through the magnetic sensor 123 and induces it to the charging position.

To this end, the short-distance charging induction unit 120 includes a magnetic member 121 provided in the charging station 20 and a magnetic sensing sensor 123 provided in the robot cleaner 10 to sense the magnetic force of the magnetic member 121, It includes a relative position detection unit 124 for detecting the relative position of the robot cleaner 10 based on the magnetic force sensed by the magnetic sensor (123). At this time, the magnet member 121 may be provided on the charging connection unit 130 so that the charging connection unit 130 is rotatable in the charging station 20.

The short-range charging induction unit 120 is based on the position detected by the remote charging induction unit 110, as the robot cleaner 10 moves near the charging station 20, the magnetic sensing sensor of the charging station 20 ( 123) by sensing the magnetic force of the magnet member 121, and continuously detects the relative position of the robot cleaner 10 in accordance with the magnetic force, while correcting the position while traveling on the center line of the magnet member 121, charging station ( 20).

9 to 13, when the magnetic force sensed by the magnetic sensor 123 is sensed, the relative position detector 124 compares the intensity of the magnetic force with a preset reference value, and according to the comparison result, the robot cleaner 10 ) Is determined to be located near the charging station 20.

That is, since the intensity of the magnetic force increases as the distance from the charging station 20 is closer, the relative position detection unit 124 compares the intensity of the magnetic force sensed by the magnetic sensor 123 with a preset reference value and compares the magnetic force If the intensity of is greater than the reference value, it is determined that the robot cleaner 10 is located near the charging station 20.

Subsequently, the relative position detection unit 124 is the angle formed by the robot cleaner 10 and the magnet member 121 of the charging station 20, whether the robot cleaner 10 is located on the left or right side of the magnet member 121, the robot The robot cleaner uses at least one of a rotation angle and a moving distance for the cleaner 10 to be positioned on the center line of the magnet member 121, and a rotation angle for the robot cleaner 10 to view the magnet member 121 on the center line. The relative position of (10) is detected, and based on this, the robot cleaner 10 is moved to the charging connection unit 130 so that it can be charged.

를 기준으로 이후 데이터들의 XY 벡터 및 XYZ 벡터를 비교한다. In more detail, when the robot cleaner 10 starts driving to sense the magnetic member 121 of the charging station 20 as shown in FIG. 10, the relative position detecting unit 124 starts the starting point. Which is the vector value (Scala, Direction) of P _s

The XY vector and the XYZ vector of subsequent data are compared based on.

을 산출한다.For example, as illustrated in FIG. 11, when the intensity of the magnetic force becomes greater than or equal to a reference value after the start of driving, the vector of the corresponding point is

Calculate

과

의 벡터 차를 구하면,

가 계산되어 진다. 이는

과 같다.Measured measured at point Pr

and

If you get the vector difference of

Is calculated. this is

Same as

는

지점에 위치한 자석부개(121)가 발생시키는 최외곽 자기원의 접선과 같으므로, 도 12와 같이 이동 경로를 나타낼 수 있다.Calculated

The

Since it is the same as the tangential line of the outermost magnetic source generated by the magnet swelling portion 121 located at the point, it is possible to represent a movement path as shown in FIG.

는

의 방향 성분이므로,

이다.12, the current robot position is P,

The

Since it is the direction component of

to be.

는

지점의

와 동일하며, 삼각형

은 삼각형

와 닮음 관계에 있으므로,

가 성립한다. 이에, 로봇 청소기(10)와 자석이 이루는 각도인

는

이다.According to the theorem of the expression, point P

The

Branch

Same as, triangle

Silver triangle

Because it resembles with

Is established. Thus, the angle between the robot cleaner 10 and the magnet

The

to be.

는

이며, 이에 따라, 로봇 청소기(10)의 이동거리는

가 된다.Between the tangential line and the straight line M

The

And, accordingly, the moving distance of the robot cleaner 10

Becomes.

이므로,

이고,

이므로,

이다.Thus, the rotation angle for the robot cleaner 10 to be positioned on the center line of the magnet member 121 is 90 degrees and the moving distance is M.

Because of,

ego,

Because of,

to be.

가 된다. Accordingly, the angle at which the robot cleaner 10 should rotate to view the magnet member 121 on the center line is

Becomes.

는 둔각이 되며, 이로 인하여 로봇 청소기(10)가 자석부재(121)의 좌측 또는 우측에 위치하는지의 여부를 알 수 있다.12 shows when the robot cleaner 10 is located on the left side of the magnet member 121. If, the robot cleaner 10 is located on the right side of the magnet member 121,

Is an obtuse angle, and it is possible to know whether the robot cleaner 10 is located on the left or right side of the magnet member 121.

< 90 이면 로봇 청소기(10)는 자석부재(121)의 좌측에 위치하며,

> 90 이면 로봇 청소기(10)는 자석부재(121)의 우측에 위치한다. In other words,

If <90, the robot cleaner 10 is located on the left side of the magnet member 121,

> 90, the robot cleaner 10 is located on the right side of the magnet member 121.

만큼 회전시키고, 로봇 청소기(10)가 P의 위치에서 우측에 위치할 경우, 로봇 청소기(10)를 반시계 방향으로

만큼 회전시키면, 로봇 청소기(10)가 자석부재(121)의 중앙을 바라보게 된다. 이후, 상대 위치 검출부(124)는

를

로 치환하여 상기한 방식과 같이 계산을 수행하여 자석 부재(121) 기준 좌측 위치인지 또는 우측 위치인지, 및 자석부재(121)와 로봇 청소기(10)이 이루는 각도를 계속 검색하며 이동한다. Accordingly, depending on whether the robot cleaner 10 is located on the left or right side of the position of P, the travel control unit 115 rotates 90 degrees in the clockwise or counterclockwise direction and then moves by M. For example, when the robot cleaner 10 is located on the left side from the position of P, the driving control unit 115 moves the robot cleaner 10 clockwise.

Rotate as much as possible, and when the robot cleaner 10 is located on the right side from the position of P, the robot cleaner 10 is counterclockwise.

When rotated as much as possible, the robot cleaner 10 faces the center of the magnet member 121. Then, the relative position detection unit 124

To

Substituting as described above, the calculation is performed as described above, and the magnet member 121 is continuously searched for the left or right position, and the angle formed by the magnet member 121 and the robot cleaner 10 is continuously moved.

As such, as the robot cleaner 10 is moved according to the relative position, the robot cleaner 10 moves when looking at the center of the magnet member 121 to approach the magnet member 121.

14 is a perspective view for explaining a charging connection unit according to an embodiment of the present invention, and FIG. 15 is a schematic view for explaining the operation of the charging rotating body according to an embodiment of the present invention.

In addition, the robot cleaner 10 that is close to the charging station 20 by the short-range charging induction unit 120 is connected to the charging connection unit 130 to be charged.

Specifically, the charging connection unit 130 is provided on the charging station 20, the robot cleaner 10 is exposed to the outside of the charging station 20 when the robot cleaner 10 is very close, the robot cleaner 10 according to the contact of the robot cleaner 10 ( 10).

The charging connection unit 130 is provided with a charging terminal (131a) is rotatably provided on the charging station 20, the connection rotating body 131 and the connection rotating body 131 to rotate the robot cleaner (10) Rotating guide surface (formed on the robot cleaner 10) so that the rotating induction magnetic body (133) provided and the connecting rotating body (131) exposed from the charging station (20) through rotation are in close contact with the connecting pattern (11) 135).

The connecting rotating body 131 is coupled to the magnet member 121 of the short-distance charging induction unit 120 to be rotated by the rotating induction magnetic body 133, and as the rotating induction magnetic body 133 approaches, the magnetic member 121 It is rotated in the charging station 20 by the magnetic force of is exposed to the outside. In addition, a charging terminal 131a for charging the robot cleaner 10 is provided in the connecting rotating body 131. Since the connecting rotating body 131 is exposed at the charging station 20 only when charging the robot cleaner 10, deformation and damage of the charging terminal 131a are prevented.

The rotation-inducing magnetic body 133 is coupled to the robot cleaner 10 so as to be located on the rotating body guide surface 135, and generates an attractive force through the magnetic force of the magnet member 121 to rotate the connecting rotating body 131.

The rotating body guide surface 135 guides the connecting rotating body 131 as the robot cleaner 10 approaches the charging terminal 131a as the robot cleaner 10 approaches the charging station 20, and replaces the charging terminal 131a with the robot cleaner 10 ) In close contact with the connection pattern 11. At this time, the robot cleaner 10 is provided with a connecting plate 13 on the upper side of the rotating body guide surface 135, and a connecting pattern 11 is formed on the lower surface of the connecting plate 13.

The operation of the charging induction device for a robot cleaner according to an embodiment of the present invention configured as described above will be described.

When a return signal occurs in the process of cleaning while moving a specific area by moving the robot cleaner, the remote sensor detects a remote location detection signal for returning to the charging station 20 while rotating at the received position. At this time, the remote location detection signal is transmitted from the infrared transmitter 111a of the charging station 20, and is spread in the front and side directions of the charging station 20 by the transmitter signal diffusion plate 111b.

The robot cleaner 10 detects the position of the charging station 20 and moves it by receiving the remote location detection signal from the signal receiving unit 113 provided in the robot cleaner 10.

Specifically, the robot cleaner 10 when the remote location detection signal is received by the infrared receiver 113a through any one of the three signal receiving waveguides 113c of the receiving signal selection inducing member 113b Is rotated at a certain angle to the left and right until a far position detection signal is received through the central signal receiving waveguide 113c. At this time, since the long-distance position detection signal flowing in a diagonal line to the signal receiving waveguide 113c is completely extinguished by the signal attenuator 113f, the reception is blocked, so the infrared receiver 113a is in a straight line to the signal receiving waveguide 113c. Only the remote location detection signal flowing in is detected.

In addition, when the remote location sensing signal is received through the central signal receiving waveguide 113c, the robot cleaner 10 moves to the charging station 20, and the magnetic sensing sensor 123 of the short-range charging induction unit 120 has a magnetic member ( When the magnetic force of 121) is sensed, the robot cleaner rotates and moves so that the magnetic detection sensor 123 is located in the center of the magnet member 121.

Thereafter, when the magnetic sensor 123 is located in the center of the magnet member 121, the robot cleaner 10 moves to the charging station 20, and is generated between the magnet member 121 and the rotating induction magnetic body 133. The connecting rotating body 131 is exposed by the magnetic force from the connecting rotating body 131.

And when the robot cleaner 10 further moves to the charging station 20 and the rotating body guide surface 135 contacts the connecting rotating body 131, the connecting rotating body 131 is the upper side by the rotating body guide surface 135. While rotating to the charging terminal (131a) is in close and stable contact with the connection pattern (11).

The present invention has been described with reference to the embodiment shown in the drawings, but this is only exemplary, and those skilled in the art to which the art belongs can various modifications and equivalent other embodiments from this. Will understand.

Therefore, the true technical protection scope of the present invention should be defined by the claims.

100: charging induction device for a robot cleaner 10: robot cleaner
11: Connection pattern 13: Connection plate
20: charging station 21: PC
23: transparent cover 110: remote charging induction
111: signal transmitter 111a: infrared transmitter
111b: outgoing signal diffusion plate 113: infrared receiver
113a: infrared receiver 113b: receiving signal selection induction member
113c: signal receiving waveguide 113e: sensor installation space
113d: body 113f: signal attenuator
114: angle detection unit 115: driving control unit
120: short-distance charging induction unit 121: magnet member
123: magnetic sensor 124: relative position detection unit
130: charging connection portion 131: connecting rotating body
133: rotating induction magnetic body 135: rotating body guide surface

Claims (11)

A signal transmitter installed in a charging station to generate a position detection signal;
A signal receiving unit installed in the robot cleaner and receiving a position detection signal transmitted from the signal transmitting unit through a plurality of paths;
An angle detector configured to detect an angle of the charging station based on at least one of a path of the position detection signal received by the signal receiving unit and a sequence in which the position detection signal is received through each path; And
The robot cleaner is rotated in place so that the position detection signal is received through a plurality of paths through the signal receiving unit, and when the angle of the charging station is detected by the angle detecting unit, the robot cleaner is operated according to the angle of the charging station. It includes a driving control unit for driving,
When the robot cleaner is installed in the charging station is in close contact with the robot cleaner further comprises a charging connection for charging the robot cleaner,
The charging connection part is provided with a charging terminal to be rotatably provided on the charging station, a rotating induction magnetic body provided on the robot cleaner to rotate the connecting rotating body, and the connecting rotating body through rotation When exposed from a charging station, charging induction device for a robot cleaner, characterized in that it comprises a rotating body guide surface formed on the robot cleaner so as to make the connection rotating body adhere to the connection pattern of the robot cleaner.
The method of claim 1, wherein the signal transmitter
An infrared transmitter that is provided on the charging station and transmits infrared rays in an upward direction of the charging station; And
Charging induction device for a robot cleaner, characterized in that it comprises a transmission signal diffuser plate provided on the charging station to cover the infrared transmission sensor to diffuse the signal transmitted from the infrared transmission sensor to the front and side of the charging station.
The method of claim 1, wherein the signal receiving unit
An infrared receiver that receives an infrared signal transmitted from the signal transmitter;
Charging signal induction device for a robot cleaner, characterized in that it comprises a receiving signal selection inducing member for selectively guiding the signal transmitted from the signal transmitting unit through a plurality of different paths.
The method of claim 3, wherein the receiving signal selection inducing member
Charging induction device for a robot cleaner, characterized in that it comprises a plurality of signal receiving waveguides for receiving an infrared signal from the infrared receiver.
According to claim 3, When the angle detection unit rotates clockwise or counterclockwise by the driving control unit, after detecting a signal received through the received signal waveguide located in the center of the plurality of received signal waveguides, located in the center Charging induction device for a robot cleaner, characterized in that the angle of the charging station is detected with a central infrared signal flowing through the center of the received signal waveguide located at the center based on the inflow angle of the infrared signal flowing through the received signal waveguide.
The method of claim 5, wherein the angle detection unit detects the received signal waveguide located in the center based on whether the infrared signal is received through the infrared receiver and the received signal waveguide received through each of the received signal waveguides. Charging induction device for robot cleaners.
The method of claim 4, wherein the receiving signal selection inducing member
Charging signal induction device for a robot cleaner, characterized in that it comprises a signal attenuator for attenuating the outgoing signal induced by a diagonal line to the signal receiving waveguide to block reception.
The charging induction device for a robot cleaner according to claim 1, further comprising a short-range charging induction unit for connecting the robot cleaner to the charging station using magnetic force generated from the charging station.
The method of claim 8, wherein the short-distance charging induction unit
A magnet member provided in the charging station to generate magnetic force;
A magnetic sensor for sensing magnetic force generated from the magnet member; And
Charging relative device for a robot cleaner, characterized in that it comprises a relative position detection unit for detecting the relative position of the robot cleaner based on the magnetic force sensed by the magnetic sensor.
The relative position detection unit of claim 9
When the magnetic force sensed by the magnetic sensor is sensed, the intensity of the magnetic force is compared with a preset reference value, and according to the comparison result, the robot cleaner is determined to be located near the charging station, thereby inducing charging for the robot cleaner. Device.
The relative position detection unit of claim 9
The angle formed by the robot cleaner and the magnet member of the charging station, whether the robot cleaner is located on the left or right side of the magnet member, a rotation angle and a moving distance for the robot cleaner to be positioned on the center line of the magnet member , And the robot cleaner detects a relative position of the robot cleaner using at least one of a rotation angle for viewing the magnet member on a central line.

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