KR100479370B1 - Method for cotrolling automobile cleaner system - Google Patents

Abstract

A method of controlling a robot cleaner system is disclosed. The control method of the robot vacuum cleaner system includes a robot cleaner which performs a security or cleaning function and a central controller which gives a control command to the robot cleaner, and as a control method of the robot cleaner system in which the robot cleaner operates according to the control command. The central controller operates the robot cleaner in the work area to store and list items necessary for a specific task, and when the robot cleaner commands the robot cleaner to perform a specific task, the central controller provides a list to select a desired task from the list. Making a selection. According to the control method of the robot cleaner system, it is possible to conveniently instruct the robot cleaner to perform a task execution command.

Description

Control method for robot cleaner system {Method for cotrolling automobile cleaner system}

The present invention relates to a control method of a robot vacuum cleaner system, and more particularly, to a control method of a robot vacuum cleaner system capable of instructing a robot cleaner a task execution command.

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.

However, when the robot cleaner performs a cleaning operation or a security operation, there is a hassle of setting items necessary for performing a task such as a work type, a work area, and an object.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a control method of a robot cleaner system that can conveniently instruct a robot cleaner to perform a task execution command.

In order to achieve the above object, there is provided a robot cleaner for performing a security or cleaning function and a central control unit for giving a control command to the robot cleaner, the control method of the robot cleaner system in which the robot cleaner operates according to the control command. The control apparatus may include: setting a function of storing and listing items necessary for a specific task while driving the robot cleaner into a work area; and providing the list when instructing the robot cleaner to perform a specific task. A method of controlling a robot cleaner system is provided, comprising: selecting a desired job from the list.

The function setting step includes storing features that can distinguish the area to be set when setting the cleaning function; and storing the position coordinates of the door of the area to be set.

In addition, the function setting step may include storing a feature for distinguishing an area to be set when setting a security function; Storing the position coordinates of the object to be set; and storing the position coordinates of the door of the area to be set.

The feature is preferably any of the marks or devices attached to the ceiling, the ceiling structure.

Hereinafter, a robot cleaner according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

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 the robot cleaner system of FIG. 1.

Referring to the drawings, the robot cleaner 10 includes a dust collecting unit 11, a sensor unit 12, a front camera 13, an upper camera 14, a driving unit 15, and a storage device 16 on a main body 10a. ), A transmitter / receiver 17, a controller 18 and a battery 19 are provided.

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.

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 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.

When the controller 18 receives the work request signal, the controller 18 controls the driving unit 15 to move the robot cleaner 10 to the work request area, and the upper camera 14 controls the robot cleaner 10. Control to capture the image. Then, the newly imaged feature is compared with the feature already stored in the storage device 17, and control is performed to determine which moving area is moved. Here, the ceiling feature may be in the form or color of a mark that can distinguish the region. In addition, a fluorescent lamp or a ceiling structure provided on the ceiling of the room may be used.

Here, the work request signal includes a cleaning operation or a monitoring operation through the cameras 13 and 14.

When the image map is stored in the memory device 16, the controller 18 recognizes a location by using the image map stored at the time of performing a task.

That is, when the work request signal is wirelessly input from the key input device or the outside, the controller 18 compares the stored feature with the feature input from the upper camera 14 so that the robot cleaner 10 distinguishes a room. do.

Such a robot cleaner is preferably constructed such that the robot cleaner system can be configured not only to perform a cleaning operation according to a control command from the outside but also to set a security or cleaning function.

The robot cleaner 10 is configured to wirelessly transmit an image captured by the cameras 13 and 14 to the outside, and operate according to a control signal received from the outside, and the remote controller 40 includes a series including job control. Control the robot cleaner 10 wirelessly.

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, a menu for controlling the robot cleaner 10 is provided through the display device 54, and a menu item selected by the user for the provided menu is executed by the robot cleaner 10. Should be handled.

The robot cleaner driver 56a controls the robot cleaner 10 so that the designated work can be performed when the work instruction signal is input through the input device 55 by the set work timing or the user. 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.

Alternatively, the wireless repeater may be provided in the form of a remote controller.

The robot cleaner driver 56a provides a menu such as "clean function setting" and "security function setting" to the robot cleaner 10 to set a cleaning or security function in advance. When the cleaning function setting menu is selected, the robot cleaner driver 56a enters a menu for inputting a ceiling feature that can distinguish the area to be set, and inputs the position coordinates of the door of the area for which the cleaning function is to be set. Provide a menu as a submenu.

In addition, when the security function setting menu is selected, the robot cleaner driver 56a is a menu for inputting a ceiling feature for distinguishing an area to be set, a menu for inputting position coordinates of an object to be secured, and a storage security function. Provides a menu to enter the position coordinates of the door of the area to be set as a submenu.

The robot cleaner driver 56a may display an image map on the display device 54 of the central controller 50 so that the robot cleaner driver 56a may select the position of the door and the position of the security object while viewing the displayed image map. The selected location is mapped and stored as a coordinate value on the image map.

In addition, a place where the battery charger (not shown) of the robot cleaner is located may be designated as an initial position, such that a coordinate value is mapped to a relative position with respect to the initial position.

When the cleaning function and the security function are to be set in this way, when values for the provided menus are input, the robot cleaner driver 56a stores and lists them by job.

Then, the robot cleaner is provided with a list that is stored when a control instruction such as cleaning operation or monitoring operation is performed from the outside. Therefore, when inputting a job as in the past, it is not necessary to select a work target area and to select a work method one by one, but only a corresponding number is selected from a list in which a function is set in advance.

Figure 4 is a flow diagram of the cleaning function setting process of the control method of the robot vacuum cleaner system according to the present invention.

The cleaning function setting menu is selected (step S402).

By operating the robot cleaner with a remote controller, the robot cleaner is moved to an area where a cleaning function is to be set (step S404).

A ceiling feature capable of distinguishing an area to be set is photographed and stored (step S406). Here, the ceiling feature may be in the form or color of a mark that can distinguish the region. In addition, a fluorescent lamp or a ceiling structure provided on the ceiling of the room may be used.

The position coordinates of the door of the area where the cleaning function is to be set are stored (step S408). The positional coordinates of the door are needed to move from one area to another.

In this way, the robot cleaner can be trained in advance on the area to set the cleaning function.

The position coordinates of the door and the position coordinates of the security object can be mapped to the coordinates of the image map if the image map is stored in advance.

In addition, a place where a battery charger (not shown) of the robot cleaner is located may be designated as an initial position so that the coordinates are mapped to a relative position with respect to the initial position.

5 is a flow chart of a security function setting process of the control method of the robot vacuum cleaner system according to the present invention.

The security function setting menu is selected (step S502).

By operating the robot cleaner with a remote controller, the robot cleaner is moved to an area where a security function is to be set (step S504).

A ceiling feature capable of distinguishing an area to be set is photographed and stored (step S506).

In addition, the robot cleaner is moved to the position where the object to be secured (or monitored) is located (step S508). The object to be secured may be a specific area such as a living room, a veranda, or a specific object such as a stove, a window, or a safe. The position coordinates of the object to be secured are stored (step S510).

The position coordinates of the door of the area where the security function is to be set are stored (step S512). The positional coordinates of the door are needed to move from one area to another.

In this way, the robot cleaner can be trained in advance on the area or object to which the security function is to be set.

6 is a table illustrating an example of setting a security function according to the method of FIG. 5.

As shown in Fig. 6, for the area designated at the time of setting the security function, the feature that can bend the area, the coordinates of the object, and the door coordinates that can enter and exit the area are stored for each area.

As described so far, according to the control method of the robot cleaner system according to the present invention, it is possible to conveniently instruct the robot cleaner to perform a task execution command by storing the necessary items for performing the cleaning operation and the monitoring operation in advance.

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 the robot cleaner system of FIG. 1;

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

Figure 4 is a flow diagram of the cleaning function setting process of the control method of the robot vacuum cleaner system according to the present invention,

5 is a flow diagram of a security function setting process of the control method of the robot vacuum cleaner system according to the present invention,

6 is a table illustrating an example of setting a security function according to the method of FIG. 5.

* <Description of the symbols for the main parts of the drawings>

10: robot cleaner 10a: main body

11: Reducer 12: Sensor

13: Front camera 14: Top camera

15: drive unit 16: storage device

17: transmitter / receiver 18: controller

19: battery 40: remote controller

41: wireless repeater 50: central controller

Claims (4)

In the control method of the robot cleaner system comprising a robot cleaner for performing a security or cleaning function and a central control unit for giving a control command to the robot cleaner, wherein the robot cleaner operates according to the control command, The central control apparatus is a function setting step of storing the items necessary for cleaning or security operation while driving the robot cleaner into the work area to list the cleaning function or security function to be selected; And And instructing the robot cleaner to perform a cleaning or security task, providing the list to select a desired task from the list. The method of claim 1, The function setting step when setting the cleaning function Storing features capable of distinguishing an area to be set; and And storing the position coordinates of the entrance door of the area to be set. The method of claim 1, The function setting step when setting the security function Storing features capable of distinguishing an area to be set; Storing the position coordinates of the object to be set; and And storing the position coordinates of the entrance door of the area to be set. The method of claim 1, The feature is a control method of a robot cleaner system, characterized in that any one of a mark or device attached to the ceiling, the ceiling structure.