EP2420170A1 - Staubsauger und Steuerverfahren dafür - Google Patents

Staubsauger und Steuerverfahren dafür Download PDF

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Publication number
EP2420170A1
EP2420170A1 EP11177855A EP11177855A EP2420170A1 EP 2420170 A1 EP2420170 A1 EP 2420170A1 EP 11177855 A EP11177855 A EP 11177855A EP 11177855 A EP11177855 A EP 11177855A EP 2420170 A1 EP2420170 A1 EP 2420170A1
Authority
EP
European Patent Office
Prior art keywords
unit
handle
transmission unit
reception
transmission
Prior art date
Legal status (The legal status 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 status listed.)
Granted
Application number
EP11177855A
Other languages
English (en)
French (fr)
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EP2420170B1 (de
Inventor
Sangyun Kim
Younggie Kim
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
LG Electronics Inc
Original Assignee
LG Electronics Inc
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Filing date
Publication date
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Publication of EP2420170A1 publication Critical patent/EP2420170A1/de
Application granted granted Critical
Publication of EP2420170B1 publication Critical patent/EP2420170B1/de
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • A47L9/2805—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
    • 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
    • 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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4069—Driving or transmission means for the cleaning tools
    • 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
    • A47L15/00—Washing or rinsing machines for crockery or tableware
    • A47L15/0018—Controlling processes, i.e. processes to control the operation of the machine characterised by the purpose or target of the control
    • A47L15/006—Controlling processes, i.e. processes to control the operation of the machine characterised by the purpose or target of the control using wireless communication between internal components of the machine
    • 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
    • A47L15/00—Washing or rinsing machines for crockery or tableware
    • A47L15/02—Washing or rinsing machines for crockery or tableware with circulation and agitation of the cleaning liquid in the cleaning chamber containing a stationary basket
    • A47L15/13—Washing or rinsing machines for crockery or tableware with circulation and agitation of the cleaning liquid in the cleaning chamber containing a stationary basket using sonic or ultrasonic waves
    • 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
    • A47L23/00—Cleaning footwear
    • A47L23/22—Devices or implements resting on the floor for removing mud, dirt, or dust from footwear
    • A47L23/26—Mats or gratings combined with brushes ; Mats
    • A47L23/263—Mats or gratings combined with brushes ; Mats with moving or driven parts, also combined with suction cleaning
    • 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
    • A47L5/00—Structural features of suction cleaners
    • A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
    • A47L5/22—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum with rotary fans
    • A47L5/36—Suction cleaners with hose between nozzle and casing; Suction cleaners for fixing on staircases; Suction cleaners for carrying on the back
    • A47L5/362—Suction cleaners with hose between nozzle and casing; Suction cleaners for fixing on staircases; Suction cleaners for carrying on the back of the horizontal type, e.g. canister or sledge type
    • 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
    • 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
    • A47L9/24—Hoses or pipes; Hose or pipe couplings
    • 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
    • A47L9/24—Hoses or pipes; Hose or pipe couplings
    • A47L9/248—Parts, details or accessories of hoses or pipes
    • 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
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2894—Details related to signal transmission in suction cleaners
    • 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

Definitions

  • the present invention relates to vacuum cleaners, and more particularly to a vacuum cleaner which perceives a relative position of a handle unit to a body and a change of the relative position to make the body to move automatically according to movement of the handle unit; and a method for controlling the same.
  • the vacuum cleaner is an electric product for sucking up foreign matter from a cleaning objective surface by a vacuum created by a vacuum motor provided to the body.
  • the upright type vacuum cleaner has a suction nozzle and the body integrated as one body
  • the canister type vacuum cleaner has the suction nozzle and the body connected with an elastic connection hose.
  • the upright type vacuum cleaner has a handle provided to the body, to clean the cleaning objective surface while pushing the body.
  • the canister type vacuum cleaner has the handle unit spaced from the body. Therefore, if the user moves the handle unit to adjust a moving direction of the suction nozzle, the body moves toward the moving direction of the handle unit as the body which is connected to the handle unit with the connection hose is pulled by the connection hose.
  • the canister type vacuum cleaner has a drawback in that movement of the body and the suction nozzle as much as the user desires is difficult due to weight of the body.
  • the body exists behind the user, and, since there are cases when the user is caught at the body in the middle of backward movement, the canister type vacuum cleaner causes inconvenience to the user.
  • the present invention is directed to a vacuum cleaner, and a method for controlling the same.
  • An object of the present invention is to provide a vacuum cleaner which has a body that can move automatically matched to user's handle unit handling for enhancing user's convenience.
  • a vacuum cleaner includes a handle unit connected to a suction nozzle, a body connected to the handle unit with a connection hose, a driving unit for driving wheels provided to the body, a transmission unit and a reception unit respectively provided to the handle unit and the body for making ultrasonic wave communication therebetween, and a control unit for controlling the transmission unit and the reception unit, applying a distance data between the transmission unit and the reception unit obtained as a result of the ultrasonic communication to trilateration to perceive a relative position and a change of the relative position, and controlling the driving unit such that the body moves matched to the change of the relative position of the handle unit.
  • the reception unit is plural, and provided to the body spaced from one another, and the transmission unit is at least one provided to the handle unit.
  • the control unit divides a speed of an ultrasonic wave transmitted from the transmission unit and received at the reception unit with a time period from a transmission time of the transmission unit to a reception time of the reception unit, to calculate a distance between the transmission units to the reception unit.
  • the reception units provided to the body communicate with the transmission unit at a time or alternately.
  • the transmission unit is plural to have a first transmission unit and a second transmission unit spaced from each other and provided to both sides of a holder provided to the handle unit.
  • the holder is fixed to the handle unit so as to be movable following a moving locus of the handle unit, and the control unit compares a relative position of the first transmission unit with respect to the body to a relative position of the second transmission unit with respect to the body, to sense rotation and a rotation direction of the handle unit, and controls the driving unit according to the rotation and the rotation direction sensed thus.
  • the vacuum cleaner further includes a supplementary transmission unit provided to the body for emission of the ultrasonic wave to an outside of the body, and the transmission unit is provided to receive the ultrasonic wave emitted from the supplementary transmission unit and reflected at an obstacle outside of the body, and the control unit perceives a position of the obstacle around the body by receiving the ultrasonic wave reflected at the obstacle, and controls the driving unit to prevent the body from bringing into contact with and hitting the obstacle.
  • a supplementary transmission unit provided to the body for emission of the ultrasonic wave to an outside of the body
  • the transmission unit is provided to receive the ultrasonic wave emitted from the supplementary transmission unit and reflected at an obstacle outside of the body, and the control unit perceives a position of the obstacle around the body by receiving the ultrasonic wave reflected at the obstacle, and controls the driving unit to prevent the body from bringing into contact with and hitting the obstacle.
  • the control unit controls the transmission unit and the supplementary transmission unit not to emit the ultrasonic waves at a time so that no interference takes place between the ultrasonic wave from the transmission unit and the ultrasonic wave from the supplementary transmission unit.
  • the control unit controls such that the supplementary transmission unit emits the ultrasonic wave after perception of the relative position of the handle unit with respect to the body is finished owing to the ultrasonic wave communication between the transmission unit and the reception unit.
  • the vacuum cleaner further includes a motion sensor provided to the handle unit and connected to the control unit for sensing a moving locus of the handle unit, and the control unit controls the driving unit according to information on a moving direction or a rotation direction of the handle unit provided thereto from the motion sensor.
  • the transmission unit is plural, and provided to the body spaced from one another, and the reception unit is at least one provided to the handle unit.
  • the control unit controls such that the ultrasonic wave communication between the reception units and the transmission unit is made in a sequence.
  • the control unit controls the driving unit to move the body toward the handle unit if the distance between the handle unit and the body exceeds a predetermined reference range, and controls the driving unit to move the body in a direction opposite to the handle unit if the distance between the handle unit and the body is smaller than the predetermined reference range.
  • a method for controlling a vacuum cleaner includes the steps of making ultrasonic wave transmission and reception between a transmission unit provided to a handle unit and a reception unit provided to a body, calculating a distance between the transmission unit and the reception unit, and perceiving a position of the handle unit having the transmission unit provided thereto by trilateration, determining whether the distance between the handle unit and the body exceeds a predetermined reference range or not, and controlling movement of the body if the distance between the handle unit and the body exceeds the predetermined reference range.
  • the method further includes the steps of determining whether the handle unit having the transmission unit provided thereto is rotated or not by distance calculation between the transmission unit and the reception unit and the trilateration, perceiving a rotation direction and a rotation extent of the handle unit if it is determined that the handle unit is rotated, and moving the body matched to the rotation direction and the rotation extent of the handle unit.
  • FIG. 1 illustrates a perspective view of a canister type vacuum cleaner in accordance with a first preferred embodiment of the present invention.
  • FIGS. 2A and 2B illustrate diagrams showing a concept of trilateration, respectively.
  • FIG. 3 illustrates a control block diagram of a control unit of the present invention.
  • FIG. 4 illustrates a control block diagram in accordance with a first preferred embodiment of the present invention.
  • FIG. 5 illustrates a control block diagram in accordance with a second preferred embodiment of the present invention.
  • FIG. 6 illustrates a perspective view of a canister type vacuum cleaner in accordance with a third preferred embodiment of the present invention.
  • FIG. 7 illustrates a control block diagram in accordance with a third preferred embodiment of the present invention.
  • FIG. 8 illustrates a control block diagram in accordance with a fourth preferred embodiment of the present invention.
  • FIGS. 9A and 9B illustrate schematic views showing movement of a vacuum cleaner body matched to movement of a user in the present invention, respectively.
  • FIG. 10 illustrates a control block diagram in accordance with a fifth preferred embodiment of the present invention.
  • FIG. 11 illustrates a side view showing a body moving back and forth.
  • FIGS. 12 and 13 illustrate a flow chart showing the steps of a method for controlling a vacuum cleaner in accordance with a preferred embodiment of the present invention.
  • the vacuum cleaner includes a body 10, a suction nozzle 20, an extensible pipe 30 connected to the suction nozzle 20 to have an extensible length, a handle unit 40 at one side of the extensible pipe 30, and a connection hose 50 connected between the handle unit 40 and the body 10.
  • the handle unit 40 is provided for a user to hold.
  • the body 10 and the handle unit 40 have a transmission unit 100 and a reception unit 200 mounted thereto respectively for communication with each other with an ultrasonic wave.
  • the transmission unit 100 is mounted to the body 10
  • the reception unit 200 is mounted to the handle unit 40, and vice versa.
  • the body 10 has a control unit (Not shown) provided thereto for controlling ultrasonic wave emission from the transmission unit 100 and ultrasonic wave reception at the reception unit 200.
  • a control unit (Not shown) provided thereto for controlling ultrasonic wave emission from the transmission unit 100 and ultrasonic wave reception at the reception unit 200.
  • An electric cable 60 is led through an inside of the connection hose 50, and connected between an inside of the body 10 and the handle unit 40.
  • the electric cable 60 connects the control unit (Not shown) to the transmission unit 100 or the reception unit 200 mounted to the handle unit 40.
  • the transmission unit 100 or the reception unit 200 in the body 10 is also connected to the control unit (Not shown) for carrying out an operation order from the control unit.
  • wheels 11 for moving the body, wherein the wheels 11 are connected to a driving unit (Not shown) such as a motor in the body, and the driving unit (Not shown) is connected to the control unit (Not shown) for driving the wheels 11 under the control of the control unit to move the body 100.
  • a driving unit such as a motor in the body
  • the driving unit is connected to the control unit (Not shown) for driving the wheels 11 under the control of the control unit to move the body 100.
  • the reception unit 200 or the transmission unit 100 arranged to the body 10 thus makes ultrasonic wave communication with the transmission unit 100 or the reception unit 200 provided to the handle unit 40.
  • a distance between the transmission unit 100 and the reception unit 200 is calculated with reference to a reaching distance and time period of the ultrasonic wave, and data on the distance is applied to the trilateration to perceive a position of the handle unit 40 with respect to the body.
  • the reaching time period of the ultrasonic wave is calculated from an ultrasonic wave emission time point from the transmission unit 100 to an initial ultrasonic wave reception time point at the reception unit 200.
  • the trilateration is a method for obtaining a relative position of an object by using triangle geometry.
  • two or more than two reference points and distances to the reference points from the object are used.
  • a distance r1 from P1 to T, a distance r2 from P2 to T, and a distance r3 from P3 to T are obtained.
  • T point becomes an intersection point of a sphere S1 having a radius r1, a sphere S2 having a radius r2, and a sphere S3 having a radius r3. Then, positions of the T point on an x-axis, a y-axis and a z-axis are fixed as follows.
  • x, y, and z are positions on the x-axis, the y-axis and the z-axis respectively, d is a distance between P1 and P2 on the x-axis, i is a distance between P1 and P3 on the x-axis, and j is a distance between P1 and P3 on the y-axis.
  • the z-axis has a positive value, only.
  • FIG. 2B illustrates a schematic view showing perception of a position of the handle unit 40 by applying a distance data obtained based on ultrasonic communication between the transmission unit 100 at the handle unit 40 and the reception unit 200 at the body to the trilateration in the vacuum cleaner of the present invention.
  • the positions of the reception units 200 at the body 10 are the reference points of P1, P2, and P3, the position of the transmission unit 100 at the handle unit 40 is the T point.
  • a process is performed, in which the position of the T point is converted to a position on a coordinate system of the body 10 in which a front end of the body is taken as a reference origin F.
  • the relative position and the distance of the T point, i.e., the handle unit 40, with respect to the reference origin F of the coordinate system of the body 10 is fixed.
  • the most important is the relative positions of the handle unit 40 on the x-axis and the y-axis of the coordinate system of the body, because those are important parameters for calculating a rotation direction, a rotation extent, and the distance between the handle unit 40 and the body 10.
  • the position change of the handle unit 40 and the distance between the handle unit 40 and the body 10 can be known.
  • FIG. 3 illustrates a block diagram in a control unit 300 used in a vacuum cleaner of the present invention, wherein the control unit 300 has a difference E (Ex, Ey, Ez) as inputs thereto, which is a difference between positions (Xs, Ys, Zs) of a reference point, i.e., a relative position of the body with respect to the handle unit the body intends to present, and actual relative positions (X, Y, Z) of the body, and a linear speed V, an angular speed W (Or, speeds of the two wheels) at which the body is to move as outputs therefrom.
  • E Ex, Ey, Ez
  • FIG. 4 illustrates a control block diagram in accordance with a first preferred embodiment of the present invention.
  • the first embodiment suggests one transmission unit 100 mounted to the handle unit 40 and three reception units 200 mounted to the body. And, the transmission unit 100 and the reception units 200 are connected to the control unit 300.
  • the reception units 200 are connected to the control unit 300 with cables led through an inside of the body 10, and the transmission unit 100 is connected to the control unit 300 with a cable 60 led through an inside of the connection hose.
  • the transmission unit 100 emits the ultrasonic wave to the reception units 200, and the ultrasonic wave emitted thus is received at the reception units 200.
  • reception units 200 perform communication with the transmission unit 100 under the control of the control unit 300, at the same time, or alternately.
  • a speed of the ultrasonic wave is about 340m/s, and by dividing the speed with time periods the ultrasonic wave reaches from the transmission unit 100 to the reception units 200 respectively, distances between the transmission unit 100 to the reception units 200 can be obtained, respectively.
  • the position of the transmission unit is calculated, and by applying the position of the transmission unit 100 to the coordinate system of the body, the relative position of the transmission unit 100 with respect to the reference point (The fore most point of the body) of the coordinate system of the body can be calculated.
  • the transmission unit 100 is mounted to the handle unit 40, the distance between the handle unit 40 and the body 10 can be obtained through above process.
  • control unit 300 has a driving unit 400 connected thereto, wherein the driving unit 400 is an element like a driving motor connected to wheels 11 (See FIG. 1 ) for moving the body 10.
  • control unit 300 controls the driving unit 400 to rotate the wheels 11 to make the body 100 move adjacent to the handle unit 40, or spaced away from the handle unit 40, more.
  • control unit 300 senses a position change of the transmission unit 100, and controls the driving unit 400 and the wheels 11 accordingly, to make the body 10 to rotate, or to move in left/right directions, matched to a moving locus of the handle unit 40.
  • FIG. 5 illustrates a control block diagram in accordance with a second preferred embodiment of the present invention.
  • the second embodiment is different from the first embodiment in that the reception unit 200 is mounted to the handle unit 40 and a plurality of the transmission units 100 are mounted to the body 10 while other parts are identical to the first embodiment.
  • a position of the reception unit 200 at the handle unit 40 can be defined, and then, by applying the position of the reception unit 200 to the coordinate system of the body, a relative position and a distance of the reception unit 200 with respect to the reference origin of the coordinate system of the body 10 can be calculated.
  • the distance between the handle unit 40 and the body 10 and the relative position can be perceived, and based on this, alike the first embodiment, by driving the driving unit 400 and the wheels 11 (See FIG. 1 ) under the control of the control unit 300, distance adjustment between the body 10 and the handle unit 40 and rotation of the body 10 can be made.
  • the transmission units 100 if the number of the transmission units 100 is greater than the reception unit 200, and if the transmission units 100 emit the ultrasonic waves to the reception unit 200 at the same time, there can be interference in reception of the signals.
  • the communication between the transmission units 100 and the reception unit 200 is made in a sequence.
  • the control unit 300 calculates a distance between the first transmission unit 101 and the reception unit 200.
  • the control unit 300 calculates a distance between the second transmission unit 102 and the reception unit 200.
  • the control unit 300 calculates a distance between the third transmission unit 103 and the reception unit 200.
  • FIG. 6 illustrates a perspective view of a canister type vacuum cleaner in accordance with a third preferred embodiment of the present invention.
  • the vacuum cleaner of the third preferred embodiment is different from the vacuum cleaner of the first preferred embodiment in that, though the vacuum cleaner of the first embodiment has one transmission unit 100 mounted to the handle unit 40, the vacuum cleaner of the third embodiment has two transmission units 100 mounted to the handle unit 40. Except above, the first and third embodiment vacuum cleaners are identical.
  • the handle unit 40 has a holder 550 fixed thereto, and the transmission units 100 are mounted to both sides of the holder 550 spaced from each other.
  • the two transmission units 100 make ultrasonic wave communication with the plurality of reception units 200 at the body 10, respectively.
  • the holder 550 has a first holder 551 which is an extension from the handle unit 40, and a second holder 552 which is an extension from an end portion of the first holder 551 to both sides for mounting the transmission units 100 thereto, respectively.
  • positions of the transmission units 100 are calculated by the trilateration, and a relative position and a distance to the body 10 can also be calculated.
  • control unit 300 determines the rotation direction and the rotation extent of the body 10, and, according to this, moves the body 10.
  • positions of the transmission units 100 and the reception units 200 are interchangeable.
  • FIG. 7 illustrates a control block diagram in accordance with a third preferred embodiment of the present invention.
  • the handle unit 40 has a first transmission unit 110 and a second transmission unit 120 mounted thereto, and the body 10 has a plurality of the reception units 200 provided thereto. If three reception units 200 are provided, a first reception unit 201, a second reception unit 202, and a third reception unit 203 are provided.
  • first to second transmission units 110 and 120 and the control unit 300 are connected with electric cables 60 led through an inside of the connection hose, and the first to third reception units 201 ⁇ 203 and the control unit 300 are connected with electric cables in the body 10.
  • ultrasonic wave communication between the first transmission unit 110 and the first to third reception units 201 - 203 are made, and distances between the first transmission unit 110 and the first to third reception units 200 are calculated.
  • ultrasonic wave communication between the second transmission unit 120 and the first to third reception units 201 - 203 are made, and distances between the second transmission unit 120 and the first to third reception units 201 ⁇ 203 are calculated.
  • the control unit 300 keeps performing such a step, applies distance data to the trilateration to define positions of the first transmission unit 110 and the second transmission unit 120, detects movement of the handle unit 40 based on position changes of the first and second transmission units 110 and 120, and controls movement of the body 10 according to the movement detected thus.
  • FIG. 8 illustrates a control block diagram in accordance with a fourth preferred embodiment of the present invention.
  • the vacuum cleaner of the fourth preferred embodiment is different from the vacuum cleaner of the first preferred embodiment in that the vacuum cleaner of the fourth embodiment has a motion sensor 600 mounted to the handle unit 40 for accurate sensing of rotation of the handle unit 40.
  • the motion sensor 600 is a sensor used in a cellular phone and the like to perceive a position change caused by movement of an object (The cellular phone).
  • the motion sensor 600 Since the motion sensor 600 is connected to the control unit 300 with the electric cable 60 led through the connection hose, a rotation direction and a rotation extent of the handle unit 40 sensed by the motion sensor 600 are transmitted to the control unit 300, and used as basic data for controlling the body 10.
  • the fourth embodiment also suggests the handle unit 40 with the transmission unit 100 mounted thereto and the body 10 with the first to third reception units 200; 201 ⁇ 203 mounted thereto.
  • FIGS. 9A and 9B illustrate schematic views showing position changes of the body 10 matched to rotation of the handle unit 40 in the third or fourth embodiment, respectively.
  • Sensing of the rotation of the handle unit 40 from the position change of the two transmission units 100 mounted to the holder 500 (See FIG. 6 ) can take place in the third embodiment, or sensing of the rotation of the handle unit 40 from the motion sensor 600 (See FIG. 8 ) mounted to the handle unit 40 can take place in the fourth embodiment.
  • the handle unit 40 moves at a predetermined region of a front region of the body 10, the body 10 becomes to face the front direction, and, in this instance, the user will also face a front direction.
  • control unit 300 controls the body 10 to move taking the rotation direction and the rotation extent of the handle unit 40, and a relative distance to the handle unit into account.
  • FIG. 10 illustrates a control block diagram in accordance with a fifth preferred embodiment of the present invention.
  • the vacuum cleaner of the fifth embodiment is different from the vacuum cleaner of the first embodiment in that the vacuum cleaner of the fifth embodiment has a supplementary transmission unit 150 mounted to the body 10.
  • the supplementary transmission unit 150 is connected to the control unit 300 for emission of an ultrasonic wave to an outside of the body 10 under the control of the control unit 300.
  • the supplementary transmission unit 150 serves to emit the ultrasonic wave for detecting a position of, and measuring a distance from, the body 10 to an obstacle around the body 10.
  • the ultrasonic wave from the supplementary transmission unit 150 is received at the reception unit 200 provided to the body 10 after the ultrasonic wave hitting the obstacle around the body 10.
  • the control unit 300 perceives presence and a position of the obstacle around the body 10, and measures a distance between the obstacle and the body 10.
  • control unit 300 perceives the obstacle, measures the distance between the obstacle and the body 10, and determines that the distance between the obstacle and the body 10 is within a preset distance, the control unit 300 puts the driving unit 400 and the wheels 11 (See FIG. 1 ) into operation to make the body 10 to be spaced from the obstacle by the predetermined distance.
  • the transmission unit 100 emits the ultrasonic wave
  • the reception unit 200 receives the ultrasonic wave
  • the control unit 300 perceives the distance between the transmission unit 100 and the reception unit 200, and applies the distance to the trilateration, to calculate the position of the handle unit 40 having the transmission unit 100 arranged thereto.
  • the supplementary transmission unit 150 emits the ultrasonic wave around the body 10, and a portion of the ultrasonic wave emitted thus is received at the reception unit 200 after the ultrasonic wave hits the obstacle around the body 10.
  • control unit 300 controls the position of the body 10.
  • the distance between the transmission unit 100 and the reception unit 200 is measured, with reference to distance data, the distance between the handle unit 40 and the body 10 and the position of the handle unit 40 are calculated by the trilateration.
  • the body 10 moves toward the handle unit 40 to make the distance between the body 10 and the handle unit 40 to be the predetermined reference distance.
  • the body 10 moves in a direction opposite to the handle unit 40 to make the distance between the body 10 and the handle unit 40 to be the predetermined reference distance.
  • FIGS. 12 and 13 illustrate a flow chart showing the steps of a method for controlling a vacuum cleaner in accordance with a preferred embodiment of the present invention.
  • a transmission unit emits an ultrasonic wave (S1201). Then, a reception unit receives the ultrasonic wave from the transmission unit (S1202).
  • a speed of the ultrasonic wave is divided by a time period taken.
  • a distance between the reception unit and the transmission unit is measured, and the distance measured thus is applied to the trilateration, to calculate a position of the transmission unit or the reception unit at the handle, to obtain a position of the handle unit (S1203).
  • the control unit moves the body in a direction of the handle unit (S1205).
  • control unit moves the body in a direction opposite to the handle unit (S1206).
  • Rotation of the handle unit can be known by sensing of the motion sensor, or by comparison of positions of the transmission unit or the reception unit at the handle unit before and after rotation.
  • the control unit perceives a rotation direction and a rotation extent of the handle unit (S1302), and moves the body matched to the rotation direction and the rotation extent of the handle unit (S1303).
  • the control unit moves the body to be spaced from the obstacle greater than the predetermined distance.
  • the control unit stops the body (S1305).
  • FIGS. 12 and 13 illustrate that the movement of the body following the back and forth movement of the handle unit, the movement of the body following the rotation of the handle unit, and the movement of the body caused by the obstacle are made by one process, the movement of body in each of the situations can be performed independently.
  • the vacuum cleaner, and the method for controlling the same of the present invention have the following advantages.
  • the vacuum cleaner makes easy detection of a position of an obstacle, and senses a distance from the body to the obstacle and avoids the obstacle, damage to the body caused by hitting the obstacle can be prevented.
  • the vacuum cleaner senses a rotation direction of the handle unit and rotates the body even if the user does not rotate the body, user's convenience is enhanced.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Computer Networks & Wireless Communication (AREA)
EP20110177855 2010-08-20 2011-08-17 Staubsauger und Steuerverfahren dafür Not-in-force EP2420170B1 (de)

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KR1020100080754A KR101662081B1 (ko) 2010-08-20 2010-08-20 진공 청소기

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EP2420170B1 EP2420170B1 (de) 2013-04-24

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EP2939580A1 (de) * 2014-05-02 2015-11-04 LG Electronics Inc. Reiniger
CN105578942A (zh) * 2013-09-23 2016-05-11 三星电子株式会社 真空吸尘器
US20180035859A1 (en) * 2015-03-06 2018-02-08 Lg Electronics Inc. Vacuum cleaner and method for controlling the same
TWI632889B (zh) * 2015-07-03 2018-08-21 Ｌｇ電子股份有限公司 清掃機以及控制該清掃機的方法
EP3313253A4 (de) * 2015-06-23 2019-01-02 LG Electronics Inc. Staubsauger und verfahren zur steuerung davon

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KR101555589B1 (ko) * 2014-05-15 2015-09-24 엘지전자 주식회사 청소기의 제어방법
KR101938646B1 (ko) 2016-10-19 2019-01-15 엘지전자 주식회사 진공 청소기
KR102553289B1 (ko) * 2017-01-12 2023-07-10 엘지전자 주식회사 청소기
KR102365395B1 (ko) * 2017-06-29 2022-02-21 엘지전자 주식회사 청소기

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EP3313253A4 (de) * 2015-06-23 2019-01-02 LG Electronics Inc. Staubsauger und verfahren zur steuerung davon
US10791893B2 (en) 2015-06-23 2020-10-06 Lg Electronics Inc. Vacuum cleaner and method for controlling the same
US11666190B2 (en) 2015-06-23 2023-06-06 Lg Electronics Inc. Vacuum cleaner and method for controlling the same
TWI632889B (zh) * 2015-07-03 2018-08-21 Ｌｇ電子股份有限公司 清掃機以及控制該清掃機的方法
US10932637B2 (en) 2015-07-03 2021-03-02 Lg Electronics Inc. Vacuum cleaner and control method therefor

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KR101662081B1 (ko) 2016-10-04
RU2478335C1 (ru) 2013-04-10
EP2420170B1 (de) 2013-04-24

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