KR100437159B1 - External charging apparatus and robot cleaner system employing and method of rejoining the same - Google Patents

Abstract

Disclosed are an external charger for a robot cleaner, a system thereof, and an external charger tracking method. The disclosed robot cleaner system may be photographed by a main body provided with a power supply terminal to be connected to a charging terminal of a battery of the robot cleaner, a vertical guide member vertically installed at a predetermined height on the main body, and a front camera of the robot cleaner. An external charging device having a charging position guide mark formed at a predetermined position of the vertical guide member on a position where the vertical guide member is located, and an image captured by the front camera when returning to the external charging device and the stored charging position guide mark of the external charging device And a robot cleaner for adjusting the return trajectory to the external charging device. According to the method of tracking the external charging device of the robot cleaner and the system and the external charging device, the charging position guide mark image of the charging device stored when the robot cleaner is detached from the charging device or when charging is required during operation, The entry into the external charging device can be adjusted while comparing the front image, making it easy to track the charging device and reducing the coupling error.

Description

External charging apparatus and robot cleaner system employing and method of rejoining the same}

The present invention relates to an external charging device for a robot cleaner, a system thereof, and an external charging device tracking method, and more particularly, to an external charging device for a robot cleaner and a system for efficiently returning to an external charging device. The present invention relates to a method for tracking an external charger.

In general, the robot cleaner refers to a device that performs a cleaning operation of sucking dust and foreign substances from the floor while driving itself in a cleaning area to be cleaned without a user's manipulation.

The robot cleaner determines the distance to obstacles such as furniture, office supplies, and walls installed in the cleaning area through the sensor, and cleans the cleaning area while controlling the collision with the obstacle using the determined information.

The robot cleaner is provided with a battery for supplying power required for driving, and is configured to be charged with an external charging device when charging is required.

In order for the robot cleaner to automatically return to the external charging device when charging is required, the location of the charging device must be known.

Conventional method for the robot cleaner to track the position of the charging device, the high-frequency signal generated from the external charging device, the robot cleaner receives the high-frequency signal generated by the charging device to position the charger according to the strength of the received high-frequency signal Find it.

However, in the method for tracking the position of the charging device according to the intensity of the detected high frequency signal, the intensity of the high frequency signal may be changed by external factors (reflected waves, jammers, etc.), and the charge of the high frequency signal may be changed. It may be difficult to pinpoint the docking position into the device.

The present invention was devised to improve the above problems, and an object of the present invention is to provide an external charging device for a robot cleaner, a system and an external charging device tracking method for efficiently returning to an external charging device. have.

1 is a perspective view showing a state in which the cover of the robot cleaner applied to the present invention is removed;

FIG. 2 is a block diagram illustrating a robot cleaner system to which the robot cleaner of FIG. 1 is applied.

3 is a block diagram showing the central control device of FIG.

4 is a perspective view illustrating an example of the external charging device of FIG. 2;

FIG. 5 is a flowchart illustrating a separation / return process from an external charging device of the robot cleaner of FIG. 1.

<Description of the reference numerals for the main parts of the drawings>

10: robot cleaner 11: reducer

12: sensor unit 13: front camera

14: upward camera 15: drive unit

16: Storage 17: Transmitter / Receiver

18: control unit 19: battery

20: battery charge detection unit 30: external charging device

31: charging terminal 32: guide wall

33: seating portion 34: seating groove

35: power cord 36: vertical guide member

37: Charging position guide mark 40: Remote control

41: wireless repeater 50: central controller

In order to achieve the above object, an external charging device for a robot cleaner according to the present invention is provided with a front camera installed on a main body so as to image the front of the robot cleaner so as to perform cleaning while communicating wirelessly with an external device. An external charging device, comprising: a main body provided with a power supply terminal to be connected to a charging terminal of a battery of the robot cleaner; A vertical guide member installed vertically on the main body at a predetermined height; And a charging position guide mark formed at a predetermined position of the vertical guide member on a position that can be picked up by the front camera of the robot cleaner.

Preferably, the main body is provided with a seating portion provided with a groove for allowing the wheel of the robot cleaner to be partially seated when the robot cleaner is positioned at a position where the charging terminal of the robot cleaner and the power supply terminal are connected to each other. .

In addition, the vertical guide member is installed on a position facing the robot cleaner when the robot cleaner is seated in the seating portion.

The filling position guide mark is preferably formed in a circular shape.

In addition, the robot cleaner system according to the present invention for achieving the above object is an external charging device, a battery installed on the main body to charge in combination with the external charging device, and the front camera to capture the front area A robot cleaner system installed on the main body and having a robot cleaner configured to perform a cleaning operation while communicating wirelessly with an external device, wherein the external charging device is connected to a charging terminal of a battery of the robot cleaner. A main body provided with a power supply terminal; A vertical guide member installed vertically on the main body at a predetermined height; And a charging position guide mark formed at a predetermined position of the vertical guide member on a position that can be picked up by the front camera of the robot cleaner, wherein the robot cleaner is driven by the front camera upon returning to the external charging device. The return trajectory to the external charging device is adjusted while comparing the captured image with the stored charging position guide mark of the external charging device.

In addition, in order to achieve the above object, the tracking method for tracking the external charging device of the robot cleaner according to the present invention, when the work instruction signal is received while the robot cleaner is coupled to the external charging device, the charging position guide mark of the external charging device; Photographing and storing by the front camera; Driving the robot cleaner to perform the indicated task; Adjusting the direction of the robot cleaner until the image of the charging position guide mark is captured by the front camera when the charging amount is insufficient or the operation is completed; When the charging position guide mark is captured by the front camera, the external charging is performed while adjusting the return trajectory of the external charging device while comparing the image of the current charging position guide mark captured with the stored image of the charging position guide mark. Returning to the device.

Hereinafter, with reference to the accompanying drawings will be described in more detail an external charging device and a robot cleaner system applying the same according to a preferred embodiment of the present invention.

1 is a perspective view illustrating a state in which a cover of a robot cleaner applied to the present invention is removed, and FIG. 2 is a block diagram illustrating a robot cleaner system to which the robot cleaner of FIG. 1 is applied.

Referring to the drawings, the robot cleaner 10 includes a suction unit 11, a sensor unit 12, a front camera 13, an upper camera 14, a driving unit 15, a storage device 16, and a transmission / reception unit ( 17), a control unit 18 and a battery 19.

The suction part 11 is provided on the main body 10a so that the dust | floor of the floor which opposes while collecting air may be collected. Such a suction part 11 may be configured by various known methods. As an example, the dust collecting unit 11 includes a suction motor (not shown) and a dust collecting chamber for collecting dust sucked through a suction port or a suction pipe formed to face the floor by driving the suction motor.

The sensor unit 12 transmits a signal to the outside and the obstacle detection sensor 12a disposed at predetermined intervals around the side of the body to receive the reflected signal, and the mileage detection capable of measuring the mileage distance. The sensor 12b is provided.

In the obstacle detection sensor 12a, a plurality of infrared light emitting elements 12a1 for emitting infrared rays and light receiving elements 12a2 for receiving reflected light are vertically paired and arranged along the outer circumferential surface thereof. Alternatively, the obstacle detection sensor 12a may emit an ultrasonic wave, and an ultrasonic sensor configured to receive the reflected ultrasonic wave may be applied. The obstacle detecting sensor 12a is also used to measure the distance from the obstacle or the wall.

The traveling distance detection sensor 12b may be a rotation detection sensor for detecting the rotation speed of the wheels 15a to 15d. For example, the rotation detection sensor may be an encoder installed to detect the rotation speed of the motor (15e) (15f).

The front camera 13 is installed on the main body 10a so as to capture the front image and outputs the captured image to the controller 18.

The upper camera 14 is provided on the main body 10a so as to capture an image from above, and outputs the captured image to the control unit 18.

The driving unit 15 rotates two wheels 15a and 15b provided at both sides of the front, two wheels 15c and 15d and two wheels 15c and 15d at the rear, respectively. And a timing belt (15g) provided so as to transmit power generated by the motors (15e) (15f) and the rear wheels (15c) (15d) to be driven to the front wheels. The driver 15 independently drives the respective motors 15e and 15f to rotate in the forward / reverse direction according to the control signal of the controller 18. In the directional rotation, the rotation speed of each motor may be driven differently.

The transmitter / receiver 17 transmits the data to be transmitted through the antenna 17a and transmits the signal received through the antenna 17a to the controller 18.

The battery 19 is installed on the main body 10a to be charged through a charging terminal (not shown) of a battery installed outside the main body 10a so as to be combined with and detachable from an external charging device (see FIG. 4). That is, as shown in FIG. 4, when the robot cleaner 10 is coupled with the external charging device 30, the external charging in which the power introduced through the power cord 35 that can be combined with the commercial AC power is interconnected. It is supplied from the power supply terminal 31 of the device 30 to the battery 19 via the charging terminal of the battery.

The battery charge detection unit 20 detects the charge of the battery 19 and generates a charge request signal when the detected charge reaches the set lower limit level.

The controller 18 processes the signal received through the transmitter / receiver 17 and controls each element. When a key input device (not shown) is further provided on the main body 10a in which a plurality of keys are provided for manipulating the function setting of the device, the controller 18 processes the key signal input from the key input device.

The controller 18 controls each element to wait while charging in a coupled state with the external charging device 30 during the non-working. When the non-working in the standby state coupled with the external charging device 30, it is possible to maintain the charge amount of the battery 19 within a certain range.

The controller analyzes the image photographed by the front camera 14 upon returning to the external charging device 30 after the work is carried out from the external charging device 30 and smoothly enters and docks the external charging device 30. do.

An external charging device 30 for allowing the robot cleaner 10 to enter the external charging device 30 will be described with reference to FIG. 4.

Referring to the drawings, the external charging device 30 has a seating portion 33, a charging terminal 31, a vertical guide member 36 formed on the main body.

The seating part 33 is formed to extend along a guide wall 32 having a front open to guide the entry and exit of the robot cleaner 10, and a groove 34 is provided to allow the robot cleaner 10 to be seated. The groove 34 is formed on a position corresponding to the wheel 15 at the seating position.

The rear wall of the seating part 33 has a terminal at a corresponding position so that the robot cleaner 10 can be connected to the charging terminal of the battery 19 of the robot cleaner 10 when the robot cleaner 10 is seated at the seating position 33. (31) is provided. The terminal 31 is connected to the power cord 35 through an internal transformer and a power cable. Internal transformers may be omitted.

The vertical guide member 36 is formed at a predetermined height in a direction perpendicular to the mounting portion 33 on a position facing the robot cleaner 10 seated on the mounting portion 33.

The vertical height from the bottom surface of the vertical guide member 36 is formed higher than the height of the front camera 13.

Near the center of the vertical guide member 36, the front camera 13 facilitates image identification and position correction during imaging, and the charging position guide mark formed in a circular shape so that the robot cleaner 10 can easily grasp the charging position. 37) is formed. The filling position guide mark 37 is preferably black, and the remaining portion around the guide mark of the vertical guide member 36 is preferably white.

The robot cleaner 10 seated on the external charging device 30 initializes or works so that the return to the external charging device 30 can be efficiently performed by using the image information of the charging position guide mark 37 after performing the work. When the instruction signal is received, the front camera 14 is coupled to the external charging device 30 opposite the charging position guide mark 37 and / or the front camera is retracted from the external charging device 30 by a predetermined distance. An image of the charging position guide mark 37 in front of the charging device 30 captured by (13) is stored in the storage device 16.

Here, the work request signal includes a cleaning operation or a monitoring operation through the cameras 12 and 14.

The controller 18 of the robot cleaner 10 may use the movement trajectory information stored at the time of departure from the external charging device 30 when the requested operation is completed or the charge request signal is input from the battery charge detection unit 20 during the operation. Thus, the front camera 13 calculates the position and the direction in which the charging position guide mark 37 of the external charging device 30 faces, and the front camera of the external charging device 30 is charged using the calculated information. The drive unit 15 is controlled to face the position guide mark.

Subsequently, when the charging position guide mark 37 is captured by the front camera 13, the trajectory entry into the seating portion 33 is adjusted by using the image information of the guide mark 37 captured thereafter.

That is, the robot cleaner 10 controls the driving unit to move forward to the external charging device 30 while adjusting the forward trajectory so that the charging position guide mark 37 is positioned at the screen center of the front camera 13. As such, when the work is finished or when charging is required, the front camera 13 faces the charging position guide mark 37, that is, the charging direction guide mark 37 is captured by the front camera 13 so that the imaging direction of the front camera 13 is captured. After adjusting, it is possible to reach the external charging device 30 while going straight afterwards, and the driving error can be adjusted by using the position information in the screen of the guide mark 37 captured by the front camera 13, While the charging device 30 can be easily found, the docking error rate can be reduced.

In the above description, an example in which the controller 18 directly analyzes the upper image and performs docking to the charging device by itself is described.

According to another aspect of the present invention, in order to reduce the operational processing burden for the control of the return to the charging device 30 of the robot cleaner 10, the image stored above the charging device 30 and the control of the return of the robot cleaner 10 to the outside. A robotic cleaner system is built to handle at.

To this end, the robot cleaner 10 is configured to wirelessly transmit the upper image captured by the upper camera 14 to the outside, and operate according to a control signal received from the outside, and the remote controller 40 controls the operation and charging. The robot cleaner 10 is wirelessly controlled through a series of controls including return to the device 30.

The remote controller 40 includes a wireless repeater 41 and a central controller 50.

The wireless repeater 41 processes the radio signal received from the robot cleaner 10 and transmits the radio signal to the central controller 50 through a wire, and wirelessly transmits the signal received from the central controller 50 through the antenna 42. Is sent to the robot cleaner 41.

The central control unit 50 is constructed of a conventional computer, an example of which is shown in FIG. Referring to the drawings, the central control unit 50 includes a central processing unit (CPU) 51, a ROM 52, a RAM 53, a display unit 54, an input unit 55, The storage device 56 and the communication device 57 are provided.

The storage device 56 is provided with a robot cleaner driver 56a that controls the robot cleaner 10 and processes a signal transmitted from the robot cleaner 10.

When the robot cleaner driver 56a is executed, the robot cleaner 10 provides a menu for setting the control through the display device 54, and the menu item selected by the user for the provided menu can be executed by the robot cleaner. Process. Preferably, the menu includes a cleaning operation and a monitoring operation as a large category, and a plurality of menus that can be supported by a device to be applied, such as a work target area selection list and a work method, are provided as a sub selection menu for the large category.

When the robot cleaner driver 56a receives a work instruction signal through the input device 55 by the set work timing or the user, the robot cleaner driver 56a is first coupled to the charging device 30 and is waiting for the front camera 13 of the robot cleaner 10. The image of the charging position guide mark of the charging apparatus photographed by the robot cleaner 10 is received from the robot cleaner 10, and the received image of the guide mark of the charging apparatus 30 is stored in the storage device 56.

Thereafter, the robot cleaner driver 56a controls the robot cleaner 10 so that the indicated work can be performed. The control unit 18 of the robot cleaner 10 controls the driving unit 15 and / or the dust collecting unit 11 according to the control information received from the robot cleaner driver 56a through the wireless repeater 41, and is currently the upper camera. The upward image picked up by 14 is transmitted to the central controller 50 via the wireless repeater 41.

When the battery charge request signal or the work completion signal is received from the robot cleaner 10 during the job control through the wireless repeater 41, the robot cleaner driver 56a of the charging device 30 stored in the storage device 56 is stored. Comparing the guide mark image 37 and the image received and received by the current front camera 14 to determine the position of the external charging device 30 while rotating the robot cleaner 10 until the guide mark image appears, The robot cleaner 10 is controlled through the process as described above to return to the identified external charging device 30.

Hereinafter, the charging device tracking process of the robot cleaner will be described in more detail with reference to FIG. 5.

In the following description, the robot cleaner 10 is combined with the charging device 30 to be described as an initial state.

First, it is determined whether a work order has been received (step 100).

If it is determined that the work instruction has been received, the charging position guide mark is photographed by the front camera and stored (step 110).

Thereafter, the indicated directed operation is performed (step 120).

At the time of performing the operation, the cleaning device is driven to be separated from the charging device 30 first, and then the driving unit 11 is driven while driving the cleaning area. Alternatively, if a monitoring operation instruction has been received, the controller 13 moves to the monitoring destination from the charging device 30, and then photographs the monitoring target area with the cameras 13 and 14, and transmits or records it to the outside.

Next, it is determined whether the operation is completed (step 130).

If it is determined in step 130 that the task has not been completed, it is determined whether charging is necessary (step 140).

When the operation is completed or it is determined that charging is required, the front image is captured by the front camera (step 150).

It is determined whether the charging position image, that is, the charging position guide mark is captured by the front camera 13 (step 160).

If the charging position guide mark 37 is not captured in step 160, the imaging direction of the front camera is adjusted (step 170). That is, the robot cleaner 10 is rotated by a predetermined angle and the process returns to step 150.

If it is determined in step 160 that the charging position guide mark is captured through this process, the size of the current charging position guide mark 37 and the degree of distortion and the position in the screen are compared with the stored image of the charging position guide mark. While adjusting the trajectory, it returns to the charging position along the adjusted return trajectory (step 180). Here, the return trajectory adjustment refers to adjusting the return trajectory so that the current charging position guide mark image is matched with the stored charging position guide mark image.

As described so far, according to the external charging device of the robot cleaner and the system and the method for tracking the external charging device according to the present invention, the robot cleaner is stored when the indicated work is completed or charged during operation after the robot cleaner is separated from the charging device. The entry into the external charging device can be adjusted while comparing the charging position guide mark image of the charging device with the current front image, so that the tracking to the charging device is easy and the coupling error can be reduced.

Claims (8)

In the external charging device of the robot cleaner which is installed on the main body so that the front image can be taken to perform the cleaning operation while communicating wirelessly with the external device, A main body provided with a power supply terminal to be connected to a charging terminal of the battery of the robot cleaner; A vertical guide member installed vertically on the main body at a predetermined height; And a charging position guide mark formed at a predetermined position of the vertical guide member on a position that can be captured by the front camera of the robot cleaner. The main body further includes a seating portion provided with a groove to allow the wheel of the robot cleaner to be partially seated when the robot cleaner is positioned at a position where the charging terminal of the robot cleaner and the power supply terminal are connected to each other. The vertical guide member is an external charging device for a robot cleaner, characterized in that installed on a position facing the robot cleaner when the robot cleaner is seated in the seating portion. delete delete The external charging device for a robot cleaner according to claim 3, wherein the charging position guide mark is formed in a circular shape. An external charging device, a battery installed on the main body for charging in combination with the external charging device, and a front camera installed on the main body for capturing the front area to perform cleaning while communicating wirelessly with the external device. In the robot cleaner system provided with the robot cleaner which became possible, The external charging device, A power supply terminal is installed to be connected to a charging terminal of the battery of the robot cleaner, and the wheel of the robot cleaner is located when the robot cleaner is positioned at a position where the charging terminal and the power supply terminal of the robot cleaner are connected to each other. A main body provided with a seating portion provided with a groove so as to be partially seated; A vertical guide member installed vertically on the main body at a predetermined height and installed at a position facing the robot cleaner when the robot cleaner is seated on the seating part; And a charging position guide mark formed at a predetermined position of the vertical guide member on a position that can be picked up by the front camera of the robot cleaner. When the robot cleaner returns to the external charging device, the robot cleaner adjusts a return trajectory to the external charging device while comparing the image captured by the front camera with the stored position guide mark of the external charging device. Robot cleaner system. The method of claim 1, wherein the robot cleaner A battery charge detector detecting a charge of a battery installed on the main body so as to be coupled to the external charger; And a controller configured to control the driving unit to control the driving of the wheels to stop performing the operation when the charging request signal is received from the battery charge detection unit and to return to the external charging device. The robot cleaner system of claim 6, wherein the controller controls the driving unit to return to the external charging device when the performing operation is completed. In the method of tracking the external charging device of the robot cleaner, When the work instruction signal is received while the robot cleaner is coupled to the external charging device, Photographing and storing a charging position guide mark of the external charging apparatus by a front camera; Driving the robot cleaner to perform the indicated task; Determining that the work is completed or that charging is necessary; If it is determined that the operation is completed or that charging is necessary, adjusting the direction of the robot cleaner until the image of the charging position guide mark is captured by the front camera; When the charging position guide mark is captured by the front camera, the external charging is performed while adjusting the return trajectory of the external charging device while comparing the image of the current charging position guide mark captured with the stored image of the charging position guide mark. Returning to the device; tracking method of the external charging device of the robot cleaner comprising a.