JP6290943B2 - ロボット掃除機及びロボット掃除機の制御方法 - Google Patents
ロボット掃除機及びロボット掃除機の制御方法 Download PDFInfo
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- 238000000034 method Methods 0.000 title claims description 47
- 238000004140 cleaning Methods 0.000 claims description 486
- 239000000428 dust Substances 0.000 claims description 152
- 238000001514 detection method Methods 0.000 claims description 148
- 230000003749 cleanliness Effects 0.000 claims description 10
- 230000003247 decreasing effect Effects 0.000 claims 1
- 238000004891 communication Methods 0.000 description 11
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- 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
- A47L9/2826—Parameters or conditions being sensed the condition of the floor
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- 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
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- 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
- A47L9/28—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
- A47L9/281—Parameters or conditions being sensed the amount or condition of incoming dirt or dust
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing 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
- 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
-
- 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
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/01—Mobile robot
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Robotics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
11 駆動車輪
12 掃除ユニット
13 カメラ
14 電源部
15 通信部
16 保存部
17 入出力部
20a 第1センサ
20b 第2センサ
30 制御部
100 ロボット掃除機
Claims (8)
- 走行及び掃除を行うロボット掃除機において、
外観を形成する本体と、
前記本体の異なる位置に備えられ、前記本体の走行経路の床面上の塵埃を検知する複数の塵埃センサと、
前記複数の塵埃センサの検知結果に基づいて前記本体の走行及び掃除を制御する制御部とを含み、
前記複数の塵埃センサは、
前記本体の前方に備えられ、前記走行経路の床面上の塵埃を先に検知する第1センサと、
前記本体の後方に備えられ、前記走行経路の床面上の塵埃を後で検知する第2センサとを含み、
前記制御部は、
前記本体の現在位置を認識して座標化し、前記本体の現在位置における座標情報及び前記複数の塵埃センサの検知結果に基づいて前記本体の走行及び掃除を制御する、ロボット掃除機。 - 前記制御部は、
掃除区域を掃除する前に、前記第1センサの第1検知結果と所定の第1基準とを比較した結果に基づいて前記掃除区域の掃除を制御し、
前記第1検知結果と前記第1基準とを比較した結果が、前記掃除区域の清潔度が良好でないことを意味する場合、前記掃除区域の位置座標を集中掃除対象区域に指定して保存し、前記集中掃除対象区域に指定された位置座標に基づいて前記掃除区域を集中掃除するように制御する、請求項1に記載のロボット掃除機。 - 前記制御部は、
前記掃除区域を集中掃除する場合、前記本体の走行速度を低下させる、前記本体の塵埃吸引力を増加させる、又は前記掃除区域を複数回繰り返し掃除するように制御する、請求項2に記載のロボット掃除機。 - 前記制御部は、
前記掃除区域を掃除した後、前記第1センサの第1検知結果と前記第2センサの第2検知結果との差と、所定の第2基準とを比較した結果に基づいて前記本体の走行及び掃除を制御し、
前記第1検知結果と前記第2検知結果との差が前記第2基準より大きい場合、前記掃除区域以外の区域に移動するように制御する、請求項2又は3に記載のロボット掃除機。 - ロボット掃除機の制御方法において、
走行経路及び掃除モードを設定する段階と、
設定された前記掃除モードに基づいて前記走行経路上の床面上の掃除区域を掃除するように制御する段階と、
前記ロボット掃除機の本体に備えられた複数の塵埃センサが前記掃除区域の塵埃を検知する段階と、
前記ロボット掃除機の現在位置を認識し、認識した位置を座標化する段階と、
前記複数の塵埃センサのうち第1センサの第1検知結果と所定の第1基準とを比較し、集中掃除するか否かを判断する段階と、
前記集中掃除するか否かの判断結果に基づいて前記掃除区域を掃除するように制御する段階と、
前記第1センサの第1検知結果と前記複数の塵埃センサのうち第2センサの第2検知結果との差と、所定の第2基準とを比較し、前記掃除区域の掃除状態を判断する段階と、
前記掃除区域の掃除状態の判断結果に基づいて前記ロボット掃除機の走行及び掃除を制御する段階とを含む、ロボット掃除機の制御方法。 - 前記複数の塵埃センサは、
前記本体が直線方向に走行する場合又は前記本体が走行方向を変える場合において同一地点を通過することになる基準範囲内にそれぞれ備えられる、請求項5に記載のロボット掃除機の制御方法。 - 前記第1センサは、前記本体の前方に備えられて前記走行経路の床面上の塵埃を先に検知し、
前記第2センサは、前記本体の後方に備えられて前記走行経路の床面上の塵埃を後で検知する、請求項5又は6に記載のロボット掃除機の制御方法。 - 前記掃除区域の掃除状態を判断する段階において、
前記第1検知結果と前記第2検知結果との差が前記第2基準より大きい場合、前記掃除区域以外の区域を掃除するように判断し、
前記第1検知結果と前記第2検知結果との差が前記第2基準以下であり、かつ前記掃除区域を集中掃除しなかった場合、前記掃除区域以外の区域を掃除するように判断し、
前記第1検知結果と前記第2検知結果との差が前記第2基準以下であり、かつ前記掃除区域を集中掃除した場合、前記掃除区域を再掃除するように判断する、請求項7に記載のロボット掃除機の制御方法。
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KR1020150029299A KR102122236B1 (ko) | 2015-01-20 | 2015-03-02 | 로봇 청소기 및 로봇 청소기의 제어 방법 |
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JP2007319457A (ja) * | 2006-06-01 | 2007-12-13 | Matsushita Electric Ind Co Ltd | 自走式掃除機およびそのプログラム |
KR101212873B1 (ko) | 2010-05-20 | 2012-12-14 | 주식회사 에스원 | 청소 로봇 및 그 제어 방법 |
KR20120035519A (ko) * | 2010-10-05 | 2012-04-16 | 삼성전자주식회사 | 먼지 유입 감지 유닛 및 이를 구비하는 로봇 청소기 |
CN202739908U (zh) * | 2012-09-11 | 2013-02-20 | 长安大学 | 一种智能寻赃物吸尘器 |
US8972061B2 (en) * | 2012-11-02 | 2015-03-03 | Irobot Corporation | Autonomous coverage robot |
EP3048502B1 (en) * | 2015-01-20 | 2020-12-23 | LG Electronics Inc. | Robot cleaner and method for controlling robot cleaner |
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2016
- 2016-01-19 EP EP16151873.3A patent/EP3048502B1/en active Active
- 2016-01-19 JP JP2016007894A patent/JP6290943B2/ja active Active
- 2016-01-19 US US15/000,424 patent/US9526390B2/en active Active
- 2016-01-20 CN CN201610036990.3A patent/CN105796001B/zh active Active
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US9526390B2 (en) | 2016-12-27 |
EP3048502A1 (en) | 2016-07-27 |
CN105796001A (zh) | 2016-07-27 |
US20160206170A1 (en) | 2016-07-21 |
EP3048502B1 (en) | 2020-12-23 |
JP2016131888A (ja) | 2016-07-25 |
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