JP2013085959A - Robot cleaner and method for controlling the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot cleaner adjusting the degree of the projection or the storage of auxiliary cleaning units when an obstacle is sensed, and to provide a method for controlling the robot cleaner.SOLUTION: This robot cleaner includes: a body traveling on a floor; an obstacle sensing part sensing the obstacle approaching the body; the auxiliary cleaning units mounted in a lower part of the body such that each auxiliary cleaning unit can be projected or stored; and a control part adjusting the degree of the projection or the storage of the auxiliary cleaning units when the obstacle is sensed to perform control such that the auxiliary cleaning units are projected or stored.

Description

  The present invention relates to a robot cleaner that automatically cleans dust or the like accumulated on a floor while traveling in a cleaning area, and a control method thereof.

  In general, a robot cleaner refers to a device that automatically cleans by sucking foreign matter such as dust from the floor while autonomously running in an area to be cleaned without user operation. Such a robot cleaner is provided with an auxiliary cleaning tool for improving cleaning performance in a portion adjacent to the wall surface in addition to a main brush for removing dust and the like accumulated under the main body.

  The auxiliary cleaning tool of the robot cleaner removes dust on the floor, in particular, dust in a portion adjacent to the wall surface, by projecting from the inside of the robot cleaner body to the outside. As described above, the auxiliary cleaning tool can improve the cleaning performance in the adjacent portion with the wall surface, but protrudes outside the robot cleaner main body, so there is a risk of colliding with an obstacle, for example, the wall surface. There was an increase. However, the conventional robot cleaner cannot accurately control the protrusion of the auxiliary cleaning tool, and it is difficult to avoid a collision between the auxiliary cleaning tool and an obstacle, and the wall of the robot cleaner is obstructed. Efficient cleaning in the adjacent area was impossible.

  One aspect of the present invention provides a robot cleaner and a control method thereof that adjusts the degree of protrusion or storage of an auxiliary cleaning unit when an obstacle is detected.

  Another aspect of the present invention provides a robot cleaner that controls protrusion or storage of an auxiliary cleaning unit according to the form of an obstacle, and a control method thereof.

  Another aspect of the present invention provides a robot cleaner that controls protrusion or storage of an auxiliary cleaning unit according to the traveling direction of the main body, and a control method thereof.

  Another aspect of the present invention provides a robot cleaner that controls protrusion or storage of an auxiliary cleaning unit according to a cleaning mode, and a control method thereof.

  A robot cleaner according to an embodiment of the present invention includes a main body that travels on a floor, an obstacle detection unit that detects an obstacle in the vicinity of the main body, and an auxiliary device that is mounted on the lower portion of the main body so as to protrude and be retractable. A cleaning unit; and a control unit that controls the degree of protrusion or storage of the auxiliary cleaning unit to control the auxiliary cleaning unit to protrude or be stored when the obstacle is detected.

  The control unit adjusts the degree of protrusion or storage of the auxiliary cleaning unit based on an angle formed by a traveling direction of the main body and an auxiliary cleaning unit swingably attached to a lower portion of the main body.

  The controller may be configured such that the distance between the outermost edge of the auxiliary cleaning unit and the obstacle is larger than a predetermined first critical value and smaller than a predetermined second critical value. Adjust.

  In addition, the control unit adjusts the degree of protrusion or storage of the auxiliary cleaning unit by comparing an output signal according to the sensing direction of the obstacle sensing unit and a predetermined threshold value.

  The predetermined critical value corresponds to a distance from the main body to the outermost edge of the auxiliary cleaning unit.

  The controller may adjust the degree of protrusion or storage of the auxiliary cleaning unit based only on an output signal that follows the direction in which the auxiliary cleaning unit protrudes from the obstacle sensing unit.

  The control unit adjusts the degree of protrusion or storage of the auxiliary cleaning unit in proportion to the output signal.

  A robot cleaner according to another embodiment of the present invention is mounted on a main body that travels on a floor, an obstacle detection unit that detects an obstacle near the main body, and a lower part of the main body so as to protrude and be retractable. An auxiliary cleaning unit; and a controller that controls protrusion or storage of the auxiliary cleaning unit based on a form of the obstacle when the obstacle is detected.

  In addition, the control unit controls the auxiliary cleaning unit so that the auxiliary cleaning unit protrudes for a certain period of time when the obstacle is in the form of a flat wall surface, or protrudes after being stored for a certain period of time.

  In addition, when at least two or more auxiliary cleaning units are attached to the lower part of the main body, and the obstacle is detected only on one side of the main body, only the auxiliary cleaning unit in the obstacle direction is provided. Control to protrude or retract.

  In addition, when at least two auxiliary cleaning units are attached to the lower part of the main body, and the controller forms a corner wall surface, the auxiliary cleaning units on both sides protrude or be accommodated. Control.

  In addition, the control unit adjusts the protrusion or storage of the auxiliary cleaning unit when the obstacle is an obstacle having a size equal to or smaller than a reference size.

  A robot cleaner according to another embodiment of the present invention is mounted on a main body that travels on a floor, an obstacle detection unit that detects an obstacle near the main body, and a lower part of the main body so as to protrude and be retractable. An auxiliary cleaning unit; and a controller that adjusts the protrusion or storage of the auxiliary cleaning unit according to the traveling direction of the main body when the obstacle is detected.

  In addition, the control unit controls the auxiliary cleaning unit to be housed before and after the main body is rotated before or after being rotated backward or forward.

  The controller controls the auxiliary cleaning unit on the front side in the rotation direction of the main body to be stored.

  In addition, the control unit performs control so that the protruding distance of the auxiliary cleaning unit on the rear side in the rotation direction of the main body increases.

  In addition, when the main body rotates, the control unit adjusts the traveling speed of the main body or the rotation speed of the auxiliary cleaning tool attached to the auxiliary cleaning unit.

  A robot cleaner according to another embodiment of the present invention is mounted on a main body that travels on a floor, an obstacle detection unit that detects an obstacle near the main body, and a lower part of the main body so as to protrude and be retractable. An auxiliary cleaning unit; and a controller that adjusts the protrusion or storage of the auxiliary cleaning unit according to a cleaning mode of the main body when the obstacle is detected.

  In addition, when the cleaning is completed, the control unit controls the auxiliary cleaning unit not to protrude.

  In addition, the control unit controls the auxiliary cleaning unit not to protrude when the obstacle is determined to be the charger or the discharge station while the main body returns to the charger or the discharge station. .

  The robot cleaner further includes a signal sensing unit that senses an identification signal of the charger or the discharge station.

  The signal sensing unit senses an infrared signal, an RF signal, and a magnetic field signal.

  In addition, the control unit controls the auxiliary cleaning unit not to protrude for a certain time when the cleaning operation is started in the automatic cleaning mode.

  Further, the control unit controls the auxiliary cleaning unit not to protrude when the main body performs charging.

  Further, the control unit controls the auxiliary cleaning unit not to protrude when charging of the main body is completed or when the power supply of the charger is shut off.

  A method for controlling a robot cleaner according to an embodiment of the present invention includes: driving a main body to travel on a floor; detecting obstacles close to the main body; The degree of protrusion or storage of the auxiliary cleaning unit is adjusted so that the auxiliary cleaning unit protrudes or is stored.

  Further, the protrusion or storage of the auxiliary cleaning unit is controlled based on the angle formed by the traveling direction of the main body and the auxiliary cleaning unit swingably attached to the lower portion of the main body.

  The distance between the outermost edge of the auxiliary cleaning unit and the obstacle is larger than a predetermined first critical value and smaller than a predetermined second critical value. Control overhang or storage.

  In addition, the protrusion or storage of the auxiliary cleaning unit is controlled by comparing an output signal according to an obstacle sensing direction with a predetermined critical value.

  The predetermined critical value corresponds to a distance from the main body to the outermost edge of the auxiliary cleaning unit.

  Further, the protrusion or storage of the auxiliary cleaning unit is controlled based only on the output signal according to the sensing direction of the obstacle from which the auxiliary cleaning unit protrudes.

  Further, the protrusion or storage of the auxiliary cleaning unit is controlled in proportion to the output signal.

  According to one aspect of the present invention, by adjusting the degree of protrusion or storage of the auxiliary cleaning unit, the collision between the auxiliary cleaning unit and the obstacle is avoided, and at the same time, the cleaning efficiency in the adjacent portion with the wall surface is improved. It becomes possible. According to another aspect of the present invention, by controlling the protrusion or storage of the auxiliary cleaning unit according to the form of the obstacle, the cleaning time of the robot cleaner is reduced and the cleaning efficiency in the adjacent part to the wall surface is increased. It becomes possible. According to another aspect of the present invention, by controlling the protrusion or storage of the auxiliary cleaning unit according to the traveling direction of the main body, it is possible to travel without colliding with the obstacle even in the obstacle avoidance traveling. According to another aspect of the present invention, by controlling the protrusion or storage of the auxiliary cleaning unit according to the cleaning mode, it is possible to quickly return to the charger or the discharge station, and determine the charger or the discharge station as an obstacle. By doing so, it is possible to prevent the auxiliary cleaning unit from colliding.

It is a figure showing roughly appearance of a robot cleaner concerning one example of the present invention. It is a figure which shows schematically the structure of the lower part of the robot cleaner of FIG. It is a figure which shows schematically the structure which makes an auxiliary cleaning unit protrude or accommodate by one Example of this invention. It is a figure which shows schematically the structure which makes an auxiliary cleaning unit protrude or accommodate by the other Example of this invention. It is a figure which shows schematically the structure of the auxiliary cleaning tool which concerns on one Example of this invention. It is a figure which shows schematically the structure of the auxiliary cleaning tool which concerns on the other Example of this invention. It is a block diagram which shows roughly the control structure of the robot cleaner which concerns on one Example of this invention. 3 is a flowchart schematically showing a control method of a robot cleaner according to an embodiment of the present invention. It is a figure which shows schematically operation | movement of the robot cleaner which concerns on the Example of FIG. 6 is a flowchart schematically showing a control method of a robot cleaner according to another embodiment of the present invention. It is a figure which shows roughly operation | movement of the robot cleaner which concerns on the Example of FIG. It is a graph which shows roughly the obstruction detection result of the robot cleaner concerning the example of Drawing 10. 6 is a flowchart schematically showing a control method of a robot cleaner according to another embodiment of the present invention. It is a figure which shows roughly operation | movement of the robot cleaner which concerns on the Example of FIG. 14 is a graph schematically showing an obstacle detection result of the robot cleaner according to the embodiment of FIG. 13. It is a figure which shows roughly operation | movement of the robot cleaner which concerns on the other Example of this invention. It is a figure which shows roughly operation | movement of the robot cleaner which concerns on the other Example of this invention. It is a figure which shows roughly operation | movement of the robot cleaner which concerns on the other Example of this invention. It is a figure which shows roughly operation | movement of the robot cleaner which concerns on the other Example of this invention. It is a figure which shows roughly operation | movement of the robot cleaner which concerns on the other Example of this invention. It is a figure which shows roughly operation | movement of the robot cleaner which concerns on the other Example of this invention. It is a figure which shows roughly operation | movement of the robot cleaner which concerns on the other Example of this invention. It is a figure which shows roughly operation | movement of the robot cleaner which concerns on the other Example of this invention. It is a figure which shows roughly operation | movement of the robot cleaner which concerns on the other Example of this invention.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

  FIG. 1 is a view schematically showing an appearance of a robot cleaner according to an embodiment of the present invention.

  Referring to FIG. 1, the robot cleaner 1 includes a main body 10 that forms an appearance, and auxiliary cleaning units 21 and 22 for cleaning adjacent portions and corner portions of the wall surface.

  Various sensors can be attached to the main body 10 so as to detect an obstacle, and the various sensors can be a proximity sensor 61 and / or a vision sensor 62. For example, when the robot cleaner 1 travels in an arbitrary direction without a predetermined route, that is, in a cleaning system without a map, the robot cleaner 1 uses the proximity sensor 61 to clean while detecting an obstacle. It is possible to travel in the area. On the other hand, when the robot cleaner 1 travels along a predetermined route, that is, in a cleaning system that requires a map, the vision sensor 62 that generates a map when the position information of the robot cleaner 1 is input. It can also be installed. In addition, various types of sensors can be used.

  And the signal sensor 63 can also be attached to the main body 10 so that a signal can be received from a charger or a discharge station.

  In addition, the main body 10 can be provided with a display unit 64 to display various states of the robot cleaner 1. For example, the state of charge of the battery, whether or not the dust collector is filled with dust, or the cleaning mode of the robot cleaner 1 can be indicated.

  The configuration of the auxiliary cleaning units 21 and 22 will be described in more detail with reference to FIGS.

  FIG. 2 is a diagram schematically showing the configuration of the lower part of the robot cleaner of FIG.

  Referring to FIGS. 1 and 2, the robot cleaner 1 includes a main brush unit 30, a power supply unit 50, drive wheels 41 and 42, casters 43, and auxiliary cleaning units 21 and 22.

  The main brush unit 30 is attached to an opening formed in a portion of the lower portion of the main body 10 that is deviated from the central region toward the rear R. The main brush unit 30 sweeps dust accumulated on the floor on which the main body 10 is placed and guides it to the dust inlet 33. The lower opening of the main body 10 to which the main brush unit 30 is attached becomes a dust inlet 33.

  The main brush unit 30 includes a roller 31 and a main brush 32 formed on the outer surface of the roller 31. Along with the rotation of the roller 31, the main brush 32 stirs the dust accumulated on the floor and guides it to the dust inlet 33.

  Although not shown in FIG. 2, a blower that generates suction force is attached inside the dust inlet 33, and the dust that has flowed into the dust inlet 33 is moved to the dust collector.

  The power supply unit 50 supplies drive power for driving the main body 10. The power supply unit 50 includes a battery that is electrically connected to the main body 10 and each driving device for driving various components mounted on the main body 10 and supplies driving power. The battery is a rechargeable secondary battery, and when the main body 10 completes the cleaning process and is coupled to the charger or the discharge station, it is charged with the electric power supplied from the charger or the discharge station.

  The drive wheels 41 and 42 are arranged symmetrically at the left and right ends of the central region in the lower part of the main body 10. The drive wheels 41 and 42 are configured to perform moving operations such as forward, backward, and rotational travel while the robot cleaner 1 performs cleaning.

  Based on the traveling direction of the robot cleaner 1, a caster 43 is attached to the front end of the lower part of the main body 10 so that the main body 10 can maintain a stable posture. The drive wheels 41 and 42 and the caster 43 can be detachably mounted on the main body 10 as one assembly.

  Openings are formed on both sides of the front F of the main body 10, and auxiliary cleaning units 21 and 22 are mounted so as to cover the openings.

  FIG. 3 is a diagram schematically illustrating a configuration in which an auxiliary cleaning unit protrudes or is housed according to an embodiment of the present invention.

  Referring to FIG. 3, the auxiliary cleaning units 21 and 22 include a side arm 102, a peripheral edge cover 103, and an auxiliary cleaning tool 110.

  A side arm 102 is coupled to a lower portion on one front side of the main body 10, and an arm motor (not shown) for driving the side arm 102 is accommodated on the upper side. The arm motor is connected to a rotation shaft (not shown) via a predetermined gear that transmits a driving force to the side arm 102, and this rotation shaft is attached to a coupling groove 101 formed at one end of the side arm 102. The

  Therefore, when the arm motor is driven, the side arm 102 swings with reference to the coupling groove 101 while the rotation shaft rotates. At this time, the side arm 102 swings to the outside of the main body 10, and the peripheral cover 103 does not cover the opening of the main body 10 any more and does not form the peripheral edge of the main body 10.

  A coupling groove 104 to which an auxiliary cleaning tool is coupled is formed at the other end of the side arm 102. A rotating motor (not shown) for driving the auxiliary cleaning tool is accommodated on the upper side thereof, and the auxiliary cleaning tool rotates with reference to the coupling groove 104 by the driving force of the rotating motor.

  FIG. 4 is a view schematically illustrating a configuration in which an auxiliary cleaning unit protrudes or is housed according to another embodiment of the present invention.

  Referring to FIG. 4, the auxiliary cleaning units 21 and 22 include a side arm 106, a peripheral cover 108, and an auxiliary cleaning tool 110 (see FIGS. 5 and 6).

  A side arm 106 is coupled to the lower portion of the front side of the main body 10 via a coupling groove 105, and an extension arm 107 that slides and extends to the outside of the side arm 106 is accommodated inside the side arm 106.

  The extension arm 107 moves back and forth along the longitudinal direction of the side arm 106 inside the side arm 106. Therefore, a rail is provided inside the side arm 106, a guide (not shown) is provided in the extension arm 107, and the extension arm 107 can slide along the rail while being fixed to the rail. In addition, another extension arm that slides out of the extension arm 107 and protrudes may be accommodated in the extension arm 107. Other extension arms may be moved in the same manner as the extension arm 107, and the number of extension arms is not limited.

  An arm motor (not shown) that drives the extension arm 107 is accommodated above the side arm 106. The arm motor transmits a driving force to the extension arm 107 via a predetermined gear. When the arm motor is driven, the extension arm 107 slides outside the side arm 106 and protrudes outside the main body 10. At this time, the peripheral cover 108 does not further cover the opening of the main body 10 and does not form the peripheral edge of the main body 10.

  A coupling groove 109 to which the auxiliary cleaning tool is coupled is formed at the tip of the extension arm 107. A rotary motor (not shown) for driving the auxiliary cleaning tool is accommodated above the auxiliary cleaning tool, and the auxiliary cleaning tool rotates with reference to the coupling groove 109 by the driving force of the rotary motor.

  FIG. 5 is a diagram schematically illustrating a configuration of an auxiliary cleaning tool according to an embodiment of the present invention.

  Referring to FIG. 5, the auxiliary cleaning tool 110 includes brush arms 113 that extend radially outward from a central common end and are spaced apart from each other in the circumferential direction. An auxiliary brush 112 is coupled to the brush arm 113, and a rotating shaft 114 protruding from a common common end of the brush arm 113 is coupled to the side arm 102 or the extension arm 107 through the coupling groove. When the auxiliary cleaning tool 110 rotates, the auxiliary brush 112 sweeps dust accumulated on the adjacent portion with the wall surface in the central region of the main body 10.

  FIG. 6 is a diagram schematically showing a configuration of an auxiliary cleaning tool according to another embodiment of the present invention.

  Referring to FIG. 6, the auxiliary cleaning tool 110 ′ has a circular rag holder 116, and the auxiliary rag 115 is attached to the rag holder 116 in the circumferential direction of the rag holder 116. At the center of the rag holder 116, a rotating shaft 114 is transmitted to transmit the driving force of the rotary motor to rotate the auxiliary cleaning tool 110 ′, and the rotating shaft 114 passes through the coupling groove 103 or 109 and the side arm 102, Alternatively, it is coupled with the extension arm 107. When the auxiliary cleaning tool 110 ′ rotates, the auxiliary dust cloth 115 wipes the adjacent portion with the wall surface.

  On the other hand, the auxiliary brush 112 can be made of various elastic materials, and the auxiliary cloth 115 can be made of various materials in addition to the fiber material.

  In the robot cleaner 1 according to the embodiment of the present invention, the cleaning area is widened by the auxiliary cleaning units 21 and 22 projecting to the outside of the main body 10 and can be cleaned up to a portion adjacent to the wall surface or a corner of the floor.

  In the operation of the auxiliary cleaning units 21 and 22 to be described below, the protrusions of the auxiliary cleaning units 21 and 22 are the case where the side arm 102 swings to the outside of the main body 10 according to one embodiment, except as described individually, and It is assumed that both cases where the extension arm 107 extends and protrudes outside the main body 10 according to the second embodiment. Further, it is assumed that during the cleaning operation of the robot cleaner 1, the auxiliary cleaning tool 110 rotates and cleans the adjacent part to the wall surface and the corner part of the floor.

  FIG. 7 is a block diagram schematically showing a control configuration of the robot cleaner according to one embodiment of the present invention.

  Referring to FIG. 7, the robot cleaner 1 includes an input unit 210, an obstacle sensing unit 220, a signal sensing unit 230, a control unit 240, a main body driving unit 250, a main brush unit driving unit 260, and an auxiliary cleaning unit driving unit 270. Prepare.

  The input unit 210 receives a user operation command from an operation panel provided on the main body 10 or a remote controller. The user's operation command includes a command related to running, cleaning or charging operation of the robot cleaner 1. In particular, the user can directly input a command such as whether or not the auxiliary cleaning units 21 and 22 are projected by directly operating the remote controller.

  The obstacle sensing unit 220 senses an obstacle nearby when the main body 10 is traveling. More specifically, the obstacle sensing unit 220 receives information about the obstacle from the proximity sensor 61 or the vision sensor 62 and senses an obstacle located around the main body 10.

  For example, the proximity sensor 61 is of an ultrasonic type, and can emit an ultrasonic wave and receive an ultrasonic wave reflected from the obstacle to sense the obstacle. Therefore, the proximity sensor 61 can be mounted in a form in which at least one ultrasonic transmission unit and ultrasonic reception unit are coupled to the peripheral portion of the main body 10. The ultrasonic proximity sensor 61 increases the intensity of the reflected ultrasonic wave as the distance from the obstacle is shorter, and generates a high output signal. Then, the distance between the main body 10 and the obstacle can be calculated based on the output signal of the proximity sensor 61.

  On the other hand, the vision sensor 62 can acquire an image on the travel route of the main body 10, can detect an obstacle using image processing, and the main body 10 on the image processed by the vision sensor 62 based on actual three-dimensional coordinates. The distance to the obstacle can be calculated.

  The signal sensing unit 230 senses an identification signal transmitted from the charger or formed around the charger via the signal sensor 63.

  The main body driving unit 250 drives the driving wheels 41 and 42 to move the robot cleaner 1 and adjusts the traveling direction and traveling speed of the robot cleaner 1 according to the control command of the traveling control unit 242.

  The main brush unit driving unit 260 drives the roller 31 in accordance with a control command from the cleaning control unit 241 so that the main brush 32 rotates with the rotation of the roller 31 and sweeps dust accumulated on the floor.

  The auxiliary cleaning unit drive unit 270 drives the arm motor in accordance with a control command from the cleaning control unit 241 so that the auxiliary cleaning units 21 and 22 protrude or house. In addition, the auxiliary cleaning unit driving unit 270 uses the number of rotations of the arm motor to adjust the degree to which the auxiliary cleaning units 21 and 22 are projected or stored based on the distance from the obstacle. Then, the auxiliary cleaning unit driving unit 270 adjusts the rotation speed of the auxiliary cleaning tool 110 so that the auxiliary brush 112 or the auxiliary duster 115 cleans the adjacent portion with the wall surface. .

  The control unit 240 controls the overall operation of the robot cleaner 1 according to the control program, and is largely controlled by a cleaning control unit 241 that controls the cleaning operation of the robot cleaner 1, a travel control unit 242 that controls the travel of the robot cleaner 1, It has the charge control part 243 which controls charge of the robot cleaner 1.

  In addition to the operation of the main brush unit 30, the cleaning control unit 241 controls the degree of protrusion or storage of the auxiliary cleaning units 21 and 22 and the degree of protrusion or storage of the auxiliary cleaning units 21 and 22. In addition, the cleaning control unit 241 distinguishes the cleaning mode of the main body 10 into an automatic cleaning mode, a return mode, a charging mode, a charging completion mode, a charging stop mode, and the like, and the protrusions of the auxiliary cleaning units 21 and 22 according to the cleaning mode. Or control storage.

  The travel control unit 242 controls the forward, reverse, or rotational travel of the main body 10. More specifically, the travel control unit 242 controls the rotation direction and speed of the drive wheels 41 and 42 for traveling the main body 10. Then, the traveling control unit 242 controls the turning direction or the backward movement of the main body 10 so that the main body 10 avoids the obstacle when an obstacle is detected from the traveling route of the main body 10.

  When the robot cleaner 1 completes cleaning, the charging control unit 243 controls to return to the charger or the discharge station to perform charging, and when the main body 10 and the charger are docked and charged, the charging state Judging. That is, the charging control unit 243 can determine when charging is completed or when the power source of the charger is shut off during charging.

  Hereinafter, a method of controlling the protrusion or storage of the auxiliary cleaning unit according to the above-described embodiment of the robot cleaner will be described in detail.

  FIG. 8 is a flowchart schematically showing a control method of the robot cleaner according to one embodiment of the present invention, and FIG. 9 is a diagram schematically showing the operation of the robot cleaner according to the embodiment of FIG. is there.

  Referring to FIGS. 8 and 9, the obstacle sensing unit 220 senses an obstacle close to the main body 10 (410). Next, the cleaning control unit 241 calculates a distance L from the coupling groove of the auxiliary cleaning unit 21 to the obstacle (420). That is, the cleaning control unit 241 can calculate the distance L from the rotating shaft of the auxiliary cleaning unit 21 to the obstacle based on the output signal of the proximity sensor 61.

  Next, the cleaning control unit 241 calculates the projectable distance D2 of the auxiliary cleaning unit 21 (430). When the traveling direction of the main body 10 is used as a reference, the projectable distance D2 of the auxiliary cleaning unit 21 can be calculated based on the rotation radius R of the side arm 102 and the rotation radius r of the auxiliary cleaning tool 110. Here, the rotation radius r of the auxiliary cleaning tool 110 represents the rotation radius of the non-elastic brush arm 113 (or the rag holder 116 of the auxiliary cleaning tool 110 '). More specifically, the projectable distance D2 of the auxiliary cleaning unit 21 can be calculated by the following equation.

      D2 = R * COSθ + r

  Here, θ represents an angle formed by the traveling direction of the main body 10 and the side arm 102. And based on the magnitude | size of (theta), the auxiliary | assistant cleaning unit 21 can be protruded via the rotation path | route 310 of a side arm and the rotation path | route 320 of an auxiliary cleaning tool.

  In addition, the protrusion possible distance D2 of the auxiliary cleaning unit 21 is calculated such that the outermost edge of the auxiliary cleaning unit 21 does not collide with an obstacle. Here, the outermost edge of the auxiliary cleaning unit 21 represents the outer peripheral edge of the rotating brush arm 113 (or the dust cloth holder 116 of the auxiliary cleaning tool 110 ′) in the traveling direction of the main body 10. As a result, the auxiliary brush 112 made of an elastic material and the auxiliary dust cloth 115 made of a fiber material can be cleaned while being in contact with the adjacent portion of the wall surface along the rotation path 330.

  Next, the cleaning control unit 241 adjusts the protruding distance of the auxiliary cleaning unit 21 to cause the auxiliary cleaning unit 21 to protrude (440). At this time, the protrusion distance of the auxiliary cleaning unit 21 is related to the rotation angle of the side arm 102, and the rotation angle of the side arm 102 is related to the angle θ.

  The cleaning control unit 241 can adjust the rotation angle of the side arm 102 and thereby adjust the distance D1 between the outermost edge of the auxiliary cleaning unit 21 and the obstacle. The distance D1 to the obstacle can be calculated from the difference between the distance L from the rotation axis of the auxiliary cleaning unit 21 to the obstacle and the protrusion distance D2 of the auxiliary cleaning unit 21. Then, the cleaning control unit 241 makes the distance D1 between the outermost edge of the auxiliary cleaning unit 21 and the obstacle larger than the predetermined first critical value and smaller than the predetermined second critical value. The rotation angle of the auxiliary cleaning unit 21 can be adjusted.

  FIG. 10 is a flowchart schematically showing a control method of a robot cleaner according to another embodiment of the present invention, and FIG. 11 is a diagram schematically showing the operation of the robot cleaner according to the embodiment of FIG. It is. For convenience of explanation, this method will be described in conjunction with the embodiment of FIG.

  Referring to FIGS. 10 and 11, the obstacle sensing unit 220 senses an obstacle near the body 10 (510). At least one proximity sensor 61 is attached to the periphery of the main body 10, and the proximity sensor 61 detects an obstacle in each detection direction.

  Next, the cleaning control unit 241 analyzes the obstacle detection result for each sensor position (520). When the obstacle detection result is analyzed as shown in FIG. 12, different output signals are shown according to the sensing direction of the proximity sensor 61. For example, when an obstacle is located in the traveling direction of the main body 10, the output signal of the sensor increases in order from the front of the main body 10. In this case, the distance of the obstacle can be calculated based on the output signal of the sensor A.

  Then, the cleaning control unit 241 analyzes whether the output signal of the proximity sensor 61 is larger or smaller than the critical value based on a predetermined critical value. Here, the critical value corresponds to the distance from the main body 10 to the outermost edge of the auxiliary cleaning unit 21 in the traveling direction of the main body 10.

  Next, the cleaning control unit 241 determines the protruding position of the auxiliary cleaning unit 21 based on the analysis result (530). The auxiliary cleaning unit 21 can be protruded through the rotation path 310 of the side arm and the rotation path 320 of the auxiliary cleaning tool. Here, the protruding position of the auxiliary cleaning unit 21 corresponds to the position on the rotation path 310 of the side arm.

  When the output signal of the proximity sensor 61 is larger than a predetermined critical value, the cleaning control unit 241 can determine that the space where the auxiliary cleaning unit 21 protrudes is insufficient at the position of the proximity sensor 61. In this case, the position of the proximity sensor 61 having the largest output signal among the proximity sensors 61 whose output signal is smaller than the critical value is determined, and the position on the rotation path 310 of the side arm corresponding to the position of the proximity sensor 61 is determined. The protruding position of the auxiliary cleaning unit 21 is determined.

  Then, when the output signal of the proximity sensor 61 is smaller than a predetermined critical value, the cleaning control unit 241 can determine that the space where the auxiliary cleaning unit 21 protrudes is sufficient at the position of the proximity sensor 61. . In this case, the position of the proximity sensor 61 having the largest output signal is determined, and the protruding position of the auxiliary cleaning unit 21 on the rotation path 310 of the side arm is determined corresponding to the position of the proximity sensor 61. On the other hand, the protruding position of the auxiliary cleaning unit 21 on the rotation path 310 of the side arm may be determined between the position of the largest proximity sensor 61 and the position of the second largest proximity sensor 61.

  Next, the cleaning control unit 241 adjusts the rotation angle of the side arm 102 based on the determined protruding position and causes the auxiliary cleaning unit 21 to protrude (540).

  FIG. 13 is a flowchart schematically showing a control method of a robot cleaner according to another embodiment of the present invention, and FIG. 14 is a diagram schematically showing the operation of the robot cleaner according to the embodiment of FIG. It is. For convenience of explanation, this method will be described in connection with the embodiment of FIG.

  Referring to FIGS. 13 and 14, the obstacle sensing unit 220 senses an obstacle close to the main body 10 (610).

  Next, the cleaning control unit 241 analyzes the obstacle detection result for each sensor position (620). When the obstacle detection result is analyzed as shown in FIG. 15, different output signals are shown according to the sensing direction of the proximity sensor 61. For example, when an obstacle is located in the direction in which the auxiliary cleaning unit 21 protrudes, the output signal of the sensor increases in the order of approaching the auxiliary cleaning unit 21. In this case, the obstacle detection result can be analyzed considering only the output signal of the sensor located in the direction in which the auxiliary cleaning unit 21 protrudes, and the output signal of the sensor B, sensor C, or sensor D can be analyzed. Based on this, the distance of the obstacle can be calculated.

  Then, the cleaning control unit 241 analyzes whether the output signal of the proximity sensor 61 is larger or smaller than the critical value based on a predetermined critical value. Here, the critical value corresponds to the distance from the main body 10 to the outermost edge of the auxiliary cleaning unit 21 in the extending direction of the extension arm 107.

  Next, the cleaning control unit 241 determines the protruding position of the auxiliary cleaning unit 21 based on the analysis result (630). The auxiliary cleaning unit 21 can protrude through the extension path 320 of the extension arm. Here, the protruding position of the auxiliary cleaning unit 21 corresponds to the position on the extension path 320 of the extension arm.

  When the output signal of the proximity sensor 61 is larger than a predetermined critical value, the cleaning control unit 241 determines that the space where the auxiliary cleaning unit 21 protrudes is insufficient at the position of the proximity sensor 61. Can do. In this case, the protruding position of the auxiliary cleaning unit 21 is determined based on the output signal of the sensor B, sensor C, or sensor D.

  And the cleaning control part 241 can judge that the space which the auxiliary cleaning unit 21 protrudes is enough, when the output signal of the proximity sensor 61 is smaller than a predetermined critical value. In this case, the protruding position of the auxiliary cleaning unit 21 can be determined to the maximum.

  Next, the cleaning control unit 241 adjusts the extension distance of the extension arm 107 based on the determined protruding position to cause the auxiliary cleaning unit 21 to protrude (640).

  The method for adjusting the protruding distance of the auxiliary cleaning unit 21 based on the traveling direction of the main body 10 when controlling the auxiliary cleaning unit 21 has been described above. Adjustment by a similar method is possible.

  In the above description, the right side auxiliary cleaning unit 21 has been described for convenience of explanation, but the same method can be applied to the left side auxiliary cleaning unit 22.

  And it can also apply to the method of controlling accommodation of auxiliary cleaning units 21 and 22 by making the method of controlling projection of auxiliary cleaning units 21 and 22 the reverse method.

  16 to 18 are diagrams schematically illustrating the operation of a robot cleaner according to another embodiment of the present invention.

  Referring to FIGS. 16 to 18, the cleaning control unit 241 determines the form of the obstacle, and adjusts the protrusion or storage of the auxiliary cleaning units 21 and 22 based on the determined form of the obstacle.

  The cleaning control unit 241 determines that there is an obstacle on the flat wall surface on one side surface of the main body 10 when the output signals of the predetermined number of proximity sensors 61 are larger than a predetermined value in order from the one side surface of the main body 10. can do. The cleaning control unit 241 adjusts the auxiliary cleaning units 21 and 22 so as to be accommodated after protruding for a certain time with respect to an obstacle on a flat wall surface. In addition, the cleaning control unit 241 can also adjust so that the auxiliary cleaning units 21 and 22 protrude after being stored for a certain period of time.

  The cleaning control unit 241 controls the left auxiliary cleaning unit 22 and the right auxiliary cleaning unit 21 so that the left auxiliary cleaning unit 22 and the right auxiliary cleaning unit 21 are individually protruded or housed. When doing so, control is performed so that only the auxiliary cleaning units 21 and 22 on either the left side or the right side protrude or be housed. The cleaning control unit 241 may control the auxiliary cleaning units 21 and 22 on both sides so as to protrude or be housed.

On the other hand, the cleaning control unit 241 can control the auxiliary cleaning unit in the same manner even when there are three or more auxiliary cleaning units.
When the output signals of a predetermined number of proximity sensors 61 are larger than a predetermined value in the order closer to the front side, in addition to the side surface of the main body 10, the cleaning control unit 241 It can be determined that the object is located. The cleaning control unit 241 can adjust the auxiliary cleaning units 21 and 22 so as to be accommodated after protruding for a certain time with respect to the obstacle on the corner wall surface. In addition, the cleaning control unit 241 can also adjust so that the auxiliary cleaning units 21 and 22 protrude after being stored for a certain period of time.

  And the cleaning control part 241 is controlled so that the auxiliary | assistant cleaning units 21 and 22 of both sides protrude, when an obstruction is located in the front of the main body 10. FIG.

  When the proximity sensor 61 whose output signal is larger than a predetermined value is not continuous, the cleaning control unit 241 can determine that an obstacle of a reference size or less is located around the main body 10. The cleaning control unit 241 adjusts so that the auxiliary cleaning units 21 and 22 do not protrude with respect to an obstacle of a reference size or less. Here, the obstacle of the reference size or smaller may be pollen, a chair leg, or the like placed on the floor on which the main body 10 travels. In this case, if the auxiliary cleaning units 21 and 22 protrude, they may collide with pollen, chair legs, or the like, or an obstacle avoidance traveling of the main body 10 may occur.

  19 to 21 are diagrams schematically illustrating the operation of a robot cleaner according to another embodiment of the present invention.

  Referring to FIGS. 19 to 21, the cleaning control unit 241 adjusts the protrusion or storage of the auxiliary cleaning units 21 and 22 according to the traveling direction of the main body 10.

  The cleaning control unit 241 controls the auxiliary cleaning units 21 and 22 on both sides to protrude when the main body 10 enters an obstacle on the corner wall surface. Then, the travel control unit 242 controls the drive wheels 41 and 42 so that the main body 10 rotates without moving forward or moves backward to avoid an obstacle.

  At this time, the cleaning control unit 241 can control the auxiliary cleaning units 21 and 22 to be accommodated before the main body 10 rotates or moves backward. Further, the cleaning control unit 241 can also control the auxiliary cleaning units 21 and 22 ahead in the rotation direction of the main body 10 to be stored before or after rotation. Further, the cleaning control unit 241 can also control the auxiliary cleaning units 21 and 22 on the rear side in the rotation direction of the main body 10 to be stored before or after rotation.

  Further, the cleaning control unit 241 decreases the protruding distance of the left auxiliary cleaning unit 22 and increases the protruding distance of the right auxiliary cleaning unit 21 when the main body 10 rotates in the rotation direction, for example, counterclockwise. It can also be made.

  Thereby, when the main body 10 travels avoiding the obstacle on the corner wall surface, the collision between the auxiliary cleaning units 21 and 22 and the obstacle can be prevented.

  In addition, the same effect can be obtained when a step portion is located on the avoidance travel route of the main body 10. In particular, there is a risk of collision with the auxiliary cleaning units 21 and 22 even when the stepped portion is not located on the travel route of the main body 10. In such a case, the auxiliary cleaning unit 22 on the rotation direction side is controlled to be stored in advance, and the auxiliary cleaning unit 21 on the opposite side in the rotation direction is naturally stored even when colliding with an obstacle. The power supply to the arm motor on the opposite side of the rotation direction may be relaxed, and a spring structure may be used for the auxiliary cleaning units 21 and 22.

  On the other hand, when the main body 10 travels around an obstacle on the corner wall surface, the traveling control unit 242 can decrease the traveling speed of the main body 10, and the cleaning control unit 241 can increase the rotational speed of the auxiliary cleaning tool 110. When the traveling speed of the main body 10 is decreased, the cleaning time of the corner wall surface is increased, and when the rotation speed of the auxiliary cleaning tool 110 is increased, the number of times the corner wall surface is cleaned of dust is increased. Can do.

  22 to 24 are diagrams schematically illustrating the operation of a robot cleaner according to another embodiment of the present invention.

  22 to 24, the cleaning control unit 241 adjusts the protrusion or storage of the auxiliary cleaning units 21 and 22 according to the cleaning mode of the main body 10.

  In the automatic cleaning mode, the cleaning control unit 241 controls the auxiliary cleaning units 21 and 22 to project when an obstacle close to the main body 10 is detected. In addition, the cleaning control unit 241 can control the auxiliary cleaning units 21 and 22 not to protrude for a predetermined time when the cleaning operation of the robot cleaner 1 starts according to the automatic cleaning mode.

  However, in the return mode, the charging control unit 243 controls the main body 10 to return to the charger 80, and the cleaning control unit 241 operates the auxiliary cleaning units 21 and 22 while the main body 10 returns to the charger 80. Control so that it does not protrude. Further, in the return mode, the cleaning control unit 241 prevents the auxiliary cleaning units 21 and 22 from protruding when the obstacle sensed while the main body 10 returns to the charger 80 is determined as the charger 80. It can also be controlled.

  When the robot cleaner 1 completes cleaning and returns to the charger 80, the auxiliary cleaning units 21 and 22 do not need to be cleaned and the auxiliary cleaning unit 21, This is because the protrusion 22 may interfere with the docking of the main body 10 and the charger 80.

  On the other hand, the charger 80 is provided with a signal transmission unit 81 that transmits an identification signal so that the cleaning control unit 241 can identify the obstacle and the charger 80.

  The identification signal may be an infrared signal 82 transmitted so that the robot cleaner 1 can follow the position of the charger 80 or dock with the charger 80. Here, the infrared signal 82 may be transmitted from the charger 80 and may be transmitted in a straight line from the charger 80. When radiated from the charger 80 and transmitted, the infrared signal 82 can be distinguished into a low output signal and a high output signal to form a signal region. For example, the low output signal is formed so as to follow the position of the charger 80, and the high output signal is formed so that it can be docked with the charger 80 during the position tracking of the charger 80.

  The signal sensing unit 230 senses the infrared signal 82 transmitted from the charger 80, and the cleaning control unit 241 determines that the charger 80 is located in front of the main body 10 when the infrared signal 82 is sensed. 10 and the auxiliary cleaning units 21 and 22 are controlled not to protrude until the charger 80 is docked.

  The identification signal may be a short-range RF signal transmitted from the charger 80. As a result, a predetermined RF signal region 83 is formed around the charger 80, and when the main body 10 enters the RF signal region 83, the signal sensing unit 230 senses a short-range RF signal transmitted from the charger 80. can do. When the short-range RF signal is detected, the cleaning control unit 241 determines that the charger 80 is located around the main body 10 and prevents the auxiliary cleaning units 21 and 22 from protruding until the main body 10 and the charger 80 are docked. To control.

  Further, the identification signal may be a magnetic field signal formed around the charger 80. For example, the magnet belt 84 is provided so as to surround the front surface, the side surface, the entire surface, or one surface of the charger 80, and the magnet belt 84 can form a predetermined magnetic field region 85 around the charger 80. Here, the magnet belt 84 is not limited to a belt form.

  The signal sensing unit 230 senses a magnetic field formed around the charger 80, and the cleaning control unit 241 determines that the charger 80 is located around the body 10 when the magnetic field is sensed. Control is performed so that auxiliary cleaning units 21 and 22 do not protrude until charger 80 is docked.

  The cleaning control unit 241 also includes the auxiliary cleaning unit 21 in the charging mode in which the main body 10 is charged, the charging completion mode in which the charging of the main body 10 is completed, and the charging stop mode in which the power supply of the charger is shut off during charging of the main body 10 , 22 is controlled so as not to protrude.

  The operation of the robot cleaner 1 described above can be applied in a similar manner to a discharge station that discharges dust in the robot cleaner 1 in addition to the charger 80.

  On the other hand, in the embodiment of the present invention, the auxiliary cleaning units 21 and 22 of the robot cleaner 1 are described as being mounted on the left side and the right side of the main body 10. There are no restrictions.

210 Input unit 220 Obstacle sensing unit 230 Signal sensing unit 240 Control unit 250 Main body driving unit 260 Main brush unit driving unit 270 Auxiliary cleaning unit driving unit

Claims (15)

A body running on the floor;
An obstacle sensing unit for sensing an obstacle close to the main body;
An auxiliary cleaning unit mounted on the lower part of the main body so as to protrude and be retractable;
When the obstacle is sensed, a controller that controls the degree of protrusion or storage of the auxiliary cleaning unit to control the auxiliary cleaning unit to protrude or be stored;
A robot vacuum cleaner.   The control unit adjusts a degree of protrusion or storage of the auxiliary cleaning unit based on an angle formed by a traveling direction of the main body and an auxiliary cleaning unit swingably attached to a lower portion of the main body. The robot cleaner according to 1.   The controller adjusts the distance between the outermost edge of the auxiliary cleaning unit and the obstacle to be larger than a predetermined first critical value and smaller than a predetermined second critical value. The robot cleaner according to claim 2.   The robot cleaning according to claim 1, wherein the controller adjusts the degree of protrusion or storage of the auxiliary cleaning unit by comparing an output signal according to a sensing direction of the obstacle sensing unit and a predetermined threshold value. Machine.   The robot cleaner according to claim 4, wherein the predetermined critical value corresponds to a distance from the main body to an outermost edge of the auxiliary cleaning unit.   The robot cleaner according to claim 1, wherein the control unit adjusts a degree of protrusion or storage of the auxiliary cleaning unit based only on an output signal that follows a direction in which the auxiliary cleaning unit protrudes from the obstacle sensing unit.   The robot cleaner according to claim 6, wherein the control unit adjusts a degree of protrusion or storage of the auxiliary cleaning unit in proportion to the output signal.   When the obstacle is detected, the controller adjusts a degree of protrusion or storage of the auxiliary cleaning unit according to a form of the obstacle or a traveling direction of the main body, and the auxiliary cleaning unit protrudes or is stored. The robot cleaner according to claim 1, which is controlled as follows. Drive the body and run on the floor,
Detecting obstacles close to the body,
A control method for a robot cleaner, wherein the auxiliary cleaning unit is adjusted so that the auxiliary cleaning unit protrudes or is housed by adjusting the degree of protrusion or storage of the auxiliary cleaning unit that is mounted on the lower part of the main body so as to be able to project and house.   10. The robot cleaner according to claim 9, wherein protrusion or storage of the auxiliary cleaning unit is controlled based on an angle formed between a traveling direction of the main body and an auxiliary cleaning unit swingably attached to a lower portion of the main body. Control method.   The protrusion of the auxiliary cleaning unit so that the distance between the outermost edge of the auxiliary cleaning unit and the obstacle is larger than a predetermined first critical value and smaller than a predetermined second critical value. The method for controlling the robot cleaner according to claim 10, wherein the storage is controlled.   The control method of the robot cleaner according to claim 9, wherein the protrusion or storage of the auxiliary cleaning unit is controlled by comparing an output signal according to an obstacle sensing direction and a predetermined critical value.   The method of controlling a robot cleaner according to claim 12, wherein the predetermined critical value corresponds to a distance from the main body to an outermost edge of the auxiliary cleaning unit.   The method of controlling a robot cleaner according to claim 9, wherein the protrusion or storage of the auxiliary cleaning unit is controlled based only on an output signal according to a direction in which the auxiliary cleaning unit protrudes.   The method of controlling a robot cleaner according to claim 14, wherein the protrusion or storage of the auxiliary cleaning unit is controlled in proportion to the output signal.

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