KR20030013008A - Robot cleaner - Google Patents

Robot cleaner Download PDF

Info

Publication number
KR20030013008A
KR20030013008A KR1020010047286A KR20010047286A KR20030013008A KR 20030013008 A KR20030013008 A KR 20030013008A KR 1020010047286 A KR1020010047286 A KR 1020010047286A KR 20010047286 A KR20010047286 A KR 20010047286A KR 20030013008 A KR20030013008 A KR 20030013008A
Authority
KR
South Korea
Prior art keywords
robot cleaner
main body
sensor
obstacle
obstacles
Prior art date
Application number
KR1020010047286A
Other languages
Korean (ko)
Inventor
송정곤
김광수
고장연
Original Assignee
삼성광주전자 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 삼성광주전자 주식회사 filed Critical 삼성광주전자 주식회사
Priority to KR1020010047286A priority Critical patent/KR20030013008A/en
Publication of KR20030013008A publication Critical patent/KR20030013008A/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

PURPOSE: A robot cleaner is provided to extend the defecting range of obstacles without increasing a number of sensors. CONSTITUTION: A driving unit drives plural wheels in a main body(10a). A sucking unit(11) is installed on the main body to suck dusts from a floor. A swing sensor(12c) detects obstacles by rotating in the main body. A control unit controls the driving unit to prevent the clash with the obstacles according to a detecting signal of the obstacles from the swing sensor. Thereby, the detecting efficiency of the obstacles is improved.

Description

로봇 청소기{Robot cleaner}Robot cleaner

본 발명은 로봇 청소기에 관한 것으로, 좀더 상세하게는 장애물 검출 능력을 강화시킨 로봇 청소기에 관한 것이다.The present invention relates to a robot cleaner, and more particularly, to a robot cleaner with enhanced obstacle detection capability.

통상적으로, 로봇 청소기는 사용자의 조작 없이도 청소하고자 하는 청소구역 내를 스스로 주행하면서 바닥면으로부터 먼지, 이물질을 흡입하는 청소작업을 수행하는 기기를 말한다.In general, the robot cleaner refers to a device that performs a cleaning operation of sucking dust and foreign substances from the floor while driving itself in a cleaning area to be cleaned without a user's manipulation.

로봇 청소기는 센서를 통해 청소구역내에 설치된 가구, 사무용품, 벽과 같은 장애물까지의 거리를 판별하고, 판별된 정보를 이용하여 장애물과 충돌되지 않도록 제어하면서 청소구역을 청소한다.The robot cleaner determines the distance to obstacles such as furniture, office supplies, and walls installed in the cleaning area through the sensor, and cleans the cleaning area while controlling the collision with the obstacle using the determined information.

이러한 로봇 청소기의 장애물 검출방식은 센서를 본체에 고정시켜 설치하고, 센서에 의해 검출된 신호에 따라 장애물의 유무를 판단한다. 그런데, 이러한 장애물 검출방식은 장애물 검출 각도 범위가 제한되어 장애물 검출 각도 범위를 확대시키기 위해서는 센서의 수를 늘려야 하는 단점이 있다.In the obstacle detecting method of the robot cleaner, the sensor is fixed to the main body and installed, and the presence or absence of the obstacle is determined according to the signal detected by the sensor. However, the obstacle detection method has a disadvantage in that the number of sensors must be increased in order to increase the obstacle detection angle range because the obstacle detection angle range is limited.

본 발명은 상기와 같은 문제점을 개선하기 위하여 창안된 것으로서, 센서의 수를 많이 늘리지 않으면서도 장애물 검출 범위를 확장시킬 수 있도록 하는 로봇 청소기를 제공하는데 그 목적이 있다.The present invention was devised to improve the above problems, and an object thereof is to provide a robot cleaner which can extend an obstacle detection range without increasing the number of sensors.

도 1은 본 발명에 따른 로봇 청소기의 커버를 분리한 상태를 나타내 보인 사시도 이고,1 is a perspective view showing a state in which the cover of the robot cleaner according to the present invention is removed;

도 2는 도 1의 로봇 청소기가 적용된 로봇 청소기 시스템을 나타내 보인 블록도 이고,FIG. 2 is a block diagram illustrating a robot cleaner system to which the robot cleaner of FIG. 1 is applied.

도 3은 도 2의 중앙제어장치를 나타내 보인 블록도이고,3 is a block diagram showing the central control device of FIG.

도 4는 도 1의 로봇 청소기의 개략적인 정면도이고,4 is a schematic front view of the robot cleaner of FIG. 1,

도 5는 도 1의 스윙센서를 발췌하여 개략적으로 도시한 사시도이다.FIG. 5 is a perspective view schematically showing the swing sensor of FIG. 1; FIG.

< 도면의 주요 부분에 대한 부호의 설명><Description of the reference numerals for the main parts of the drawings>

10: 로봇 청소기 11: 흡진부10: robot cleaner 11: reducer

12: 센서부 13: 전방 카메라12: sensor unit 13: front camera

14: 상방 카메라 15: 구동부14: upward camera 15: drive unit

16: 기억장치 17: 송/수신부16: Storage 17: Transmitter / Receiver

18: 제어부 19: 배터리18: control unit 19: battery

20: 배터리 충전량 검출부 30: 외부 충전장치20: battery charge detection unit 30: external charging device

40: 원격 제어기 41: 무선 중계기40: remote controller 41: wireless repeater

50: 중앙 제어장치50: central control unit

상기의 목적을 달성하기 위하여 본 발명에 따른 로봇 청소기는 외부장치와 무선으로 통신하면서 청소 작업을 수행할 수 있도록 된 로봇 청소기를 구비하는 로봇 청소기에 있어서, 본체상에 설치된 복수의 바퀴를 구동하는 구동부와; 바닥면으로부터 먼저를 흡진하도록 상기 본체상에 설치된 흡진부와; 상기 본체의 일측에 일정각도범위로 회전하면서 장애물의 유무를 검출하는 스윙센서와; 상기 스윙센서의 장애물 검출신호에 따라 장애물과의 충돌이 방지되도록 상기 구동부를 제어하는 제어부;를 구비한다.In order to achieve the above object, the robot cleaner according to the present invention is a robot cleaner having a robot cleaner capable of performing a cleaning operation while communicating wirelessly with an external device, comprising: a driving unit for driving a plurality of wheels installed on a main body; Wow; A suction part provided on the main body to suck first from the bottom surface; A swing sensor which detects the presence or absence of an obstacle while rotating at a predetermined angle on one side of the main body; And a controller configured to control the driving unit to prevent collision with an obstacle according to the obstacle detection signal of the swing sensor.

상기 스윙센서는 상기 본체상에 설치된 모터와; 상기 모터의 회전축과 결합된 스윙아암과; 상기 스윙아암에 결합된 보호 캡내에서 설치된 광원; 및 상기 보호 캡내에 상기 광원과 이격되게 설치된 수광부;를 구비한다.The swing sensor includes a motor installed on the main body; A swing arm coupled with a rotation shaft of the motor; A light source installed in a protective cap coupled to the swing arm; And a light receiving unit spaced apart from the light source in the protective cap.

이하, 첨부된 도면을 참조하면서 본 발명의 바람직한 실시예에 따른 로봇 청소기를 보다 상세하게 설명한다.Hereinafter, a robot cleaner according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

도 1은 본 발명에 적용되는 로봇 청소기의 커버를 분리한 상태를 나타내 보인 사시도이고, 도 2는 도 1의 로봇 청소기가 적용되는 로봇 청소기 시스템을 나타내 보인 블럭도이다.1 is a perspective view illustrating a state in which a cover of a robot cleaner applied to the present invention is removed, and FIG. 2 is a block diagram illustrating a robot cleaner system to which the robot cleaner of FIG. 1 is applied.

도면을 참조하면, 로봇 청소기(10)는 흡진부(11), 센서부(12), 전방카메라(13), 상방 카메라(14), 구동부(15), 기억장치(16), 송/수신부(17), 제어부(18) 및 배터리(19)를 구비한다.Referring to the drawings, the robot cleaner 10 includes a suction unit 11, a sensor unit 12, a front camera 13, an upper camera 14, a driving unit 15, a storage device 16, and a transmission / reception unit ( 17), a control unit 18 and a battery 19.

흡진부(11)는 공기를 흡입하면서 대향되는 바닥의 먼지를 집진할 수 있도록 본체(10a) 상에 설치되어 있다. 이러한 흡진부(11)는 알려진 다양한 방식에 의해구성될 수 있다. 일 예로서, 흡진부(11)는 흡입모터(미도시)와, 흡입모터의 구동에 의해 바닥과 대향되게 형성된 흡입구 또는 흡입관을 통해 흡입된 먼지를 집진하는 집진실을 구비한다.The suction part 11 is provided on the main body 10a so that the dust | floor of the floor which opposes while collecting air may be collected. Such a suction part 11 may be configured by various known methods. As an example, the dust collecting unit 11 includes a suction motor (not shown) and a dust collecting chamber for collecting dust sucked through a suction port or a suction pipe formed to face the floor by driving the suction motor.

센서부(12)는 외부로 신호를 송출하고, 반사된 신호를 수신할 수 있도록 몸체의 측면 둘레에 소정 간격으로 배치되어 있는 장애물 검출 센서(12a)와, 주행거리를 측정할 수 있는 주행거리 검출센서(12b) 및 스윙센서(12c)를 구비한다.The sensor unit 12 transmits a signal to the outside and the obstacle detection sensor 12a disposed at predetermined intervals around the side of the body to receive the reflected signal, and the mileage detection capable of measuring the mileage distance. The sensor 12b and the swing sensor 12c are provided.

장애물 검출 센서(12a)는 적외선을 출사하는 적외선 발광소자(12a1)와, 반사된 광을 수신하는 수광소자(12a2)가 수직상으로 쌍을 이루어 외주면을 따라 다수가 본체(10a)에 고정되어 배열되어 있다. 또 다르게는 장애물 검출센서(12a)는 초음파를 출사하고, 반사된 초음파을 수신할 수 있도록 된 초음파 센서가 적용될 수 있다. 장애물 검출센서(12a)는 장애물 또는 벽과의 거리를 측정하는데도 이용된다.The obstacle detecting sensor 12a is a pair of vertically paired infrared light emitting elements 12a1 for emitting infrared light and light receiving elements 12a2 for receiving reflected light and fixed to the main body 10a along the outer circumferential surface thereof. It is. Alternatively, the obstacle detection sensor 12a may emit an ultrasonic wave, and an ultrasonic sensor configured to receive the reflected ultrasonic wave may be applied. The obstacle detecting sensor 12a is also used to measure the distance from the obstacle or the wall.

주행거리 검출센서(12b)는 바퀴(15a 내지 15d)의 회전수를 검출하는 회전검출 센서가 적용될 수 있다. 예컨대, 회전 검출센서는 모터(15e)(15f)의 회전수를 검출하도록 설치된 엔코더가 적용될 수 있다.The traveling distance detection sensor 12b may be a rotation detection sensor for detecting the rotation speed of the wheels 15a to 15d. For example, the rotation detection sensor may be an encoder installed to detect the rotation speed of the motor (15e) (15f).

스윙센서(12c)는 일정 각도 범위내로 회전하면서 장애물을 검출할 수 있도록 설치되어 있다. 즉, 도 4및 도 5를 참조하면, 스윙센서(12c)는 장애물 검출센서(12a)의 하부에서 일정각도로 회전할 수 있도록 본체(10a)에 설치되어 있다.The swing sensor 12c is installed to detect an obstacle while rotating within a predetermined angle range. That is, referring to FIGS. 4 and 5, the swing sensor 12c is installed in the main body 10a so as to rotate at a predetermined angle under the obstacle detection sensor 12a.

이러한 스윙센서(12c)는 본체(10a) 상에 설치된 모터(12c4)와, 모터(12c4)의 회전축과 결합된 스윙아암(12c3)과, 스윙아암(12c3)에 결합된 보호 캡내에서 설치된 광원(12c1) 및 보호 캡내에 광원(12c1)과 이격되게 설치된 수광부(12c2)를 구비한다.The swing sensor 12c includes a motor 12c4 installed on the main body 10a, a swing arm 12c3 coupled to a rotation shaft of the motor 12c4, and a light source installed in a protective cap coupled to the swing arm 12c3. 12c1) and a light receiving portion 12c2 provided to be spaced apart from the light source 12c1 in the protective cap.

스윙센서(12c)의 회전주기는 로봇 청소기의 허용된 주행속도를 고려하여 적절하게 결정된다.The rotation period of the swing sensor 12c is appropriately determined in consideration of the allowed traveling speed of the robot cleaner.

전방 카메라(13)는 전방의 이미지를 촬상할 수 있도록 본체(10a)상에 설치되어 촬상된 이미지를 제어부(18)로 출력한다.The front camera 13 is installed on the main body 10a so as to capture the front image and outputs the captured image to the controller 18.

상방 카메라(14)는 상방의 이미지를 촬상할 수 있도록 본체(10a)상에 설치되어 촬상된 이미지를 제어부(18)로 출력한다.The upper camera 14 is provided on the main body 10a so as to capture an image from above, and outputs the captured image to the control unit 18.

구동부(15)는 전방의 양측에 설치된 두 개의 바퀴(15a)(15b)와, 후방의 양측에 설치된 두 개의 바퀴(15c)(15d), 후방의 두 개의 바퀴(15c)(15d)를 각각 회전 구동시키는 모터(15e)(15f) 및 후방의 바퀴(15c)(15d)에서 발생되는 동력을 전방의 바퀴로 전달할 수 있도록 설치된 타이밍벨트(15g)를 구비한다. 구동부(15)는 제어부(18)의 제어신호에 따라 각 모터(15e)(15f)를 독립적으로 정방향/역방향 회전 구동시킨다. 방향회전은 각 모터의 회전수를 다르게 구동하면 된다.The driving unit 15 rotates two wheels 15a and 15b provided at both sides of the front, two wheels 15c and 15d and two wheels 15c and 15d at the rear, respectively. And a timing belt (15g) provided so as to transmit power generated by the motors (15e) (15f) and the rear wheels (15c) (15d) to be driven to the front wheels. The driver 15 independently drives the respective motors 15e and 15f to rotate in the forward / reverse direction according to the control signal of the controller 18. In the directional rotation, the rotation speed of each motor may be driven differently.

송/수신부(17)는 송신대상 데이터를 안테나(17a)를 통해 송출하고, 안테나(17a)를 통해 수신된 신호를 제어부(18)로 전송한다.The transmitter / receiver 17 transmits the data to be transmitted through the antenna 17a and transmits the signal received through the antenna 17a to the controller 18.

배터리(19)는 외부 충전장치(도 4참조)와 결합 및 분리 가능하게 본체(10a) 외측에 설치된 배터리의 충전 단자(미도시)를 통해 충전할 수 있도록 본체(10a)상에 설치되어 있다.The battery 19 is installed on the main body 10a to be charged through a charging terminal (not shown) of a battery installed outside the main body 10a so as to be combined with and detachable from an external charging device (see FIG. 4).

배터리 충전량 검출부(20)는 배터리(19)의 충전량을 검출하고, 검출된 충전량이 설정된 하한 레벨에 도달하면 충전요청신호를 발생한다.The battery charge detection unit 20 detects the charge of the battery 19 and generates a charge request signal when the detected charge reaches the set lower limit level.

제어부(18)는 송/수신부(17)를 통해 수신된 신호를 처리하고, 각 요소를 제어한다. 본체(10a)상에 기기의 기능 설정을 조작하기 위한 다수의 키가 마련된 키입력장치(미도시)가 더 구비된 경우 제어부(18)는 키입력장치로부터 입력된 키신호를 처리한다.The controller 18 processes the signal received through the transmitter / receiver 17 and controls each element. When a key input device (not shown) is further provided on the main body 10a in which a plurality of keys are provided for manipulating the function setting of the device, the controller 18 processes the key signal input from the key input device.

제어부(18)는 작업요청신호가 수신되면 작업을 수행한다.The control unit 18 performs a task when a task request signal is received.

작업요청신호는 청소작업 또는 카메라(12)(14)를 통한 감시작업등을 포함한다.The job request signal includes a cleaning operation or a monitoring operation through the cameras 12 and 14.

제어부(18)는 지시된 작업을 수행할 때 센서부(12)에서 출력되는 신호를 이용하여 장애물과의 충돌없이 원할하게 작업을 수행할 수 있도록 구동부(15)를 제어한다.The controller 18 controls the driving unit 15 to perform the work smoothly without collision with an obstacle by using a signal output from the sensor unit 12 when performing the instructed work.

한편, 로봇 청소기(10)로의 작업지시 및 지시된 작업의 결과처리에 대한 연산처리부담을 줄이기 위해 로봇 청소기(10)의 제어를 외부에서 처리하도록 로봇 청소기 시스템이 구축되는 것이 바람직하다.On the other hand, it is preferable that the robot cleaner system is constructed to externally process the control of the robot cleaner 10 in order to reduce the operation processing burden on the work instruction to the robot cleaner 10 and the result processing of the indicated work.

이를 위해 로봇 청소기(10)는 전방 및 상방 카메라(13)(14)에 의해 촬상된 이미지를 외부로 무선으로 송출하고, 외부로부터 수신된 제어신호에 따라 동작하도록 구성되고, 원격제어기(40)는 작업제어 및 충전장치(30)로의 복귀를 포함한 일련의 제어를 무선으로 로봇청소기(10)를 제어한다.To this end, the robot cleaner 10 is configured to wirelessly transmit an image captured by the front and upper cameras 13 and 14 to the outside, and operate according to a control signal received from the outside, and the remote controller 40 is The robot cleaner 10 is wirelessly controlled through a series of controls including work control and return to the charging device 30.

원격제어기(40)는 무선중계기(41)와 중앙제어장치(50)를 구비한다.The remote controller 40 includes a wireless repeater 41 and a central controller 50.

무선 중계기(41)는 로봇 청소기(10)로부터 수신된 무선신호를 처리하여 유선을 통해 중앙제어장치(50)에 전송하고, 중앙제어장치(50)로부터 수신된 신호를 안테나(42)를 통해 무선으로 로봇 청소기(10)로 송출한다.The wireless repeater 41 processes the radio signal received from the robot cleaner 10 and transmits the radio signal to the central controller 50 through a wire, and wirelessly transmits the signal received from the central controller 50 through the antenna 42. The robot cleaner 10 is sent to the robot cleaner 10.

중앙제어장치(50)는 통상적인 컴퓨터로 구축되며, 그 일예가 도 3에 도시되어 있다. 도면을 참조하면, 중앙제어장치(50)는 중앙처리장치(CPU)(51), 롬(ROM)(52), 램(RAM)(53), 표시장치(54), 입력장치(55), 기억장치(56) 및 통신장치(57)를 구비한다.The central control unit 50 is constructed of a conventional computer, an example of which is shown in FIG. Referring to the drawings, the central control unit 50 includes a central processing unit (CPU) 51, a ROM 52, a RAM 53, a display unit 54, an input unit 55, The storage device 56 and the communication device 57 are provided.

기억장치(56)에는 로봇 청소기(10)를 제어하며 로봇 청소기(10)로부터 전송된 신호를 처리하는 로봇 청소기 드라이버(56a)가 설치되어 있다.The storage device 56 is provided with a robot cleaner driver 56a that controls the robot cleaner 10 and processes a signal transmitted from the robot cleaner 10.

로봇 청소기 드라이버(56a)는 실행되면, 로봇 청소기(10)를 제어를 설정할 수 있는 메뉴를 표시장치(54)를 통해 제공하고, 제공된 메뉴에 대해 사용자로부터 선택된 메뉴항목이 로봇 청소기(10)에 의해 실행될 수 있도록 처리한다. 상기 메뉴는 대분류로서 청소작업수행, 감시작업수행을 포함하고, 대분류에 대한 서브 선택 메뉴로서 작업대상 영역 선택 리스트, 작업방식등 적용되는 기기에서 지원할 수 있는 다수의 메뉴가 제공되는 것이 바람직하다.When the robot cleaner driver 56a is executed, the robot cleaner 10 provides a menu for setting the control through the display device 54, and a menu item selected by the user for the provided menu is selected by the robot cleaner 10. Process it so it can be executed. Preferably, the menu includes a cleaning operation and a monitoring operation as a large category, and a plurality of menus that can be supported by a device to be applied, such as a work target area selection list and a work method, are provided as a sub selection menu for the large category.

지금까지 설명된 바와 같이, 본 발명에 따른 로봇 청소기는 일정 각도 범위로 회전하면서 장애물의 유무를 검출하는 스윙센서에 의해 장애물 검출능력을 높일 수 있다.As described so far, the robot cleaner according to the present invention can increase the obstacle detection capability by a swing sensor that detects the presence or absence of obstacles while rotating in a predetermined angle range.

Claims (2)

외부장치와 무선으로 통신하면서 청소 작업을 수행할 수 있도록 된 로봇 청소기를 구비하는 로봇 청소기에 있어서,A robot cleaner having a robot cleaner configured to perform a cleaning operation while communicating with an external device wirelessly, 본체상에 설치된 복수의 바퀴를 구동하는 구동부와;A driving unit for driving a plurality of wheels provided on the main body; 바닥면으로부터 먼저를 흡진하도록 상기 본체상에 설치된 흡진부와;A suction part provided on the main body to suck first from the bottom surface; 상기 본체의 일측에 일정각도범위로 회전하면서 장애물의 유무를 검출하는 스윙센서와;A swing sensor which detects the presence or absence of an obstacle while rotating at a predetermined angle on one side of the main body; 상기 스윙센서의 장애물 검출신호에 따라 장애물과의 충돌이 방지되도록 상기 구동부를 제어하는 제어부;를 구비하는 것을 특징으로 하는 로봇 청소기.And a controller configured to control the driving unit to prevent a collision with an obstacle according to an obstacle detection signal of the swing sensor. 제1항에 있어서, 상기 스윙센서는The method of claim 1, wherein the swing sensor 상기 본체상에 설치된 모터와;A motor installed on the main body; 상기 모터의 회전축과 결합된 스윙아암과;A swing arm coupled with a rotation shaft of the motor; 상기 스윙아암에 결합된 보호 캡내에서 설치된 광원; 및A light source installed in a protective cap coupled to the swing arm; And 상기 보호 캡내에 상기 광원과 이격되게 설치된 수광부;를 구비하는 것을 특징으로 하는 로봇 청소기.And a light receiving unit disposed to be spaced apart from the light source in the protective cap.
KR1020010047286A 2001-08-06 2001-08-06 Robot cleaner KR20030013008A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020010047286A KR20030013008A (en) 2001-08-06 2001-08-06 Robot cleaner

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020010047286A KR20030013008A (en) 2001-08-06 2001-08-06 Robot cleaner

Publications (1)

Publication Number Publication Date
KR20030013008A true KR20030013008A (en) 2003-02-14

Family

ID=27718082

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020010047286A KR20030013008A (en) 2001-08-06 2001-08-06 Robot cleaner

Country Status (1)

Country Link
KR (1) KR20030013008A (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2856622A1 (en) * 2003-06-30 2004-12-31 Samsung Kwangju Electronics Co DRIVE DEVICE FOR A ROBOT CLEANER
US7108731B2 (en) 2003-07-29 2006-09-19 Samsung Gwangju Electronics Co., Ltd. Air cleaning robot and system thereof
KR20190108361A (en) * 2018-03-14 2019-09-24 엘지전자 주식회사 A cleaner
WO2019190232A1 (en) * 2018-03-29 2019-10-03 Lg Electronics Inc. Cleaner
US11583158B2 (en) 2018-08-01 2023-02-21 Sharkninja Operating Llc Robotic vacuum cleaner
US11717120B2 (en) 2019-12-09 2023-08-08 Sharkninja Operating Llc Robotic cleaner

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07241261A (en) * 1994-03-03 1995-09-19 Matsushita Electric Ind Co Ltd Cleaning robot
KR950026471A (en) * 1994-03-29 1995-10-16 김광호 Induction device of automatic vacuum cleaner and its induction method
JPH10240343A (en) * 1997-02-27 1998-09-11 Minolta Co Ltd Autonomously traveling vehicle
KR20000001762A (en) * 1998-06-13 2000-01-15 배길성 Robot cleaner

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07241261A (en) * 1994-03-03 1995-09-19 Matsushita Electric Ind Co Ltd Cleaning robot
KR950026471A (en) * 1994-03-29 1995-10-16 김광호 Induction device of automatic vacuum cleaner and its induction method
JPH10240343A (en) * 1997-02-27 1998-09-11 Minolta Co Ltd Autonomously traveling vehicle
KR20000001762A (en) * 1998-06-13 2000-01-15 배길성 Robot cleaner

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2856622A1 (en) * 2003-06-30 2004-12-31 Samsung Kwangju Electronics Co DRIVE DEVICE FOR A ROBOT CLEANER
US7108731B2 (en) 2003-07-29 2006-09-19 Samsung Gwangju Electronics Co., Ltd. Air cleaning robot and system thereof
KR20190108361A (en) * 2018-03-14 2019-09-24 엘지전자 주식회사 A cleaner
US11154171B2 (en) 2018-03-14 2021-10-26 Lg Electronics Inc. Cleaner
WO2019190232A1 (en) * 2018-03-29 2019-10-03 Lg Electronics Inc. Cleaner
KR20190114207A (en) * 2018-03-29 2019-10-10 엘지전자 주식회사 A cleaner
US11234570B2 (en) 2018-03-29 2022-02-01 Lg Electronics Inc. Cleaner
US11583158B2 (en) 2018-08-01 2023-02-21 Sharkninja Operating Llc Robotic vacuum cleaner
US11717120B2 (en) 2019-12-09 2023-08-08 Sharkninja Operating Llc Robotic cleaner

Similar Documents

Publication Publication Date Title
JP3667281B2 (en) Robot cleaning system using mobile communication network
JP4245367B2 (en) Robot cleaner, its system and control method
KR100645379B1 (en) A robot controlling system and a robot control method
KR101771869B1 (en) Traveling body device
JP2004148090A (en) Robot cleaner, and system and control method thereof
KR100468107B1 (en) Robot cleaner system having external charging apparatus and method for docking with the same apparatus
JP3746995B2 (en) Robot cleaner, system thereof, and external charging device return method
US20040156541A1 (en) Location mark detecting method for robot cleaner and robot cleaner using the method
WO2009148242A2 (en) Robot cleaner system and method for controlling a robot cleaner
KR20030013099A (en) Robot cleaner and system therewith and method of driving thereof
KR20030013008A (en) Robot cleaner
KR100437159B1 (en) External charging apparatus and robot cleaner system employing and method of rejoining the same
KR100483567B1 (en) Robot cleaner system and control method for the same
KR100478657B1 (en) Robot cleaner system
KR100437157B1 (en) Robot cleaner and system and method of rejoining the same with external charging apparatus
KR100500839B1 (en) Robot cleaner having wall following function and method for following wall
KR100437362B1 (en) External charging apparatus of robot cleaner and system employing the same
KR100478653B1 (en) Method for area recognizing of automobile cleaner
KR100483568B1 (en) Working area setting up method for a robot cleaner
KR100266988B1 (en) Recognition device and method for cleaning area of robot cleaner
KR100726199B1 (en) Automobile cleaner
JP2022163754A (en) Vacuum cleaner management device and program
KR20100003816A (en) Method of controlling a robot cleaner
KR20030097554A (en) Robot cleaner and system thereof
JP2006099327A (en) Self-propelled cleaner and light emitting device

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
E601 Decision to refuse application