KR100485707B1 - Robot cleaner system having external charging apparatus and method for docking with the same apparatus - Google Patents

Abstract

The present invention relates to a robot cleaner system and an external charging device connecting method capable of detecting and connecting an external charging device installed in an area which cannot be detected by an upward camera. An object of the present invention, an external charging device including a power supply terminal connected to the commercial power, a power supply terminal is installed and fixed to a predetermined position, and a charging device identification mark installed on the floor in front of the terminal block; And a recognition mark detection sensor installed at the bottom of the main body so as to detect the recognition mark of the charging device, a driving unit for moving the main body, an upper camera installed on the main body to capture the ceiling, and an obstacle located at the outer periphery of the main body. In case of a collision, a bumper outputs a collision signal, a charging terminal installed in the bumper to be connected to a power terminal, a charging battery installed on the main body, and charged with power supplied through the charging terminal, and a recognition mark is detected when a charging command is received. It is achieved by providing a robot cleaner system comprising a; robot cleaner including a control unit for controlling the drive unit to connect to the external charging device after detecting the charging device recognition mark using the sensor.

Description

Robot cleaner system having external charging device and method for connecting the external cleaner of robot cleaner {Robot cleaner system having external charging apparatus and method for docking with the same apparatus}

The present invention relates to a robot vacuum cleaner system comprising a robot cleaner having a rechargeable battery and an external charging device for charging the rechargeable battery, and more particularly, can detect and connect an external charging device installed in an area that cannot be detected by a camera. The present invention relates to a method of connecting a robot cleaner having an external charging device and an external charging device of the robot cleaner.

In general, the robot cleaner cleans the dust and foreign substances from the floor while driving itself within a certain range of working areas without the user's operation, or secures the door or window of the house or checks the opening and closing of the gas valve. Say the device to do it.

The robot cleaner uses sensors to determine the distance to obstacles such as furniture, office supplies, and walls installed in a work area such as a house or an office, and uses the determined information to perform the operation while driving so as not to collide with the obstacle.

Such a robot cleaner has a battery installed to supply power for driving, and the battery generally uses a rechargeable battery that can be recharged and used again when power is consumed. Therefore, the robot cleaner is composed of an external charging device and a system to charge the rechargeable battery when necessary.

However, in order to enable the robot cleaner to automatically return to the external charging device when charging is required, the location of the external charging device should be grasped.

Conventional method for the robot cleaner to determine the location of the external charging device, the external cleaner generates a high frequency signal, the robot cleaner receives the high frequency signal generated by the external charging device and the external according to the strength of the received high frequency signal Locate the charger.

However, in the method of tracking the position of the external 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 intensity of the high frequency signal is changed. There is a problem that the robot cleaner does not correctly find the connection position of the external charging device.

In addition, even when the position of the external charging device is correctly found, there is a problem that the power terminal of the external charging device and the charging terminal of the robot cleaner are not connected to match exactly.

In order to solve this problem, the applicant has a patent that the robot cleaner can accurately locate the external charging device and connect it to the external charging device ("Robot cleaner system having an external charging device and an external charging device connection method of the robot cleaner") Patent application (application number; Patent application 10-2002-0066742) as of October 31, 2002.

According to the patent application, the robot cleaner can recognize the position of the external charging device using the upper camera installed on the main body and the position recognition mark installed on the ceiling to face the ceiling. In addition, the connection to the external charging device is always confirmed by using the bumper signal and the contact signal between the charging terminal and the power supply terminal.

However, the robot cleaner system having the external charging device filed by the present applicant has a limitation in the installation place of the external charging device. That is, there was a limitation that the external charging device can be applied only when the external charging device is installed in the area where the position recognition mark can be recognized by the upper camera of the robot cleaner. Therefore, there is a problem that it is difficult to use when the area to be worked on by the robot cleaner is larger than the area where the position recognition mark can be recognized by the upward camera.

Therefore, in order to overcome the above limitations, the robot cleaner can detect the position of the external charging device and connect it to the external charging device even when the external charging device is installed outside the area where the position recognition mark can be recognized by the upper camera. There has been a need for an invention of a robot vacuum cleaner system having a charging device and a connection method thereof.

The present invention was devised in view of the above problems, and an external charging device capable of accurately detecting and connecting the position of the external charging device even when the external charging device is installed at a position where the position recognition mark cannot be detected by the upper camera. The purpose is to provide a robot vacuum cleaner system having a.

In addition, another object of the present invention is to provide a method for connecting an external charging device for a robot cleaner which can accurately find and connect an external charging device installed outside the recognition area of the upper camera.

In order to achieve the above object, the robot cleaner having an external charging device according to the present invention, the power terminal connected to the commercial power, the terminal block is installed and fixed to a predetermined position and the terminal block is installed on the floor in front of the terminal block External charging device including a charging device identification mark; And a recognition mark detection sensor installed at the bottom of the main body so as to detect the recognition mark of the charging device, a driving unit for moving the main body, an upper camera installed on the main body to capture the ceiling, and an obstacle located at the outer periphery of the main body. A bumper that outputs a collision signal in the event of a collision, a charging terminal installed on the bumper to be connected to a power terminal, a charging battery installed on the main body and charged with power supplied through the charging terminal, and a recognition mark is detected when a charging command is received And a robot cleaner including a control unit for controlling the driving unit to connect to the external charging device after detecting the charging device recognition mark using the sensor.

Here, the charging device recognition mark is characterized in that it is installed at a right angle to the terminal block, the recognition mark detection sensor is preferably installed on the bottom of the main body in the direction in which the bumper is installed.

In addition, it is preferable that the charging device recognition mark is a metallic tape, and the recognition mark detection sensor is a proximity sensor capable of detecting the metallic tape.

In the present invention, the control unit determines that the charging terminal is connected to the power terminal only when the charging terminal detects a signal in contact with the power terminal after the collision signal of the bumper is received.

In addition, the robot cleaner further includes a battery charge detection unit for detecting the charge amount of the rechargeable battery, and stops the operation and return to the external charging device when the charge request signal is received from the battery charge detection unit, or when the external operation is completed, the external It is preferable to return to the charging device.

In order to achieve the above object, the method for connecting an external power supply device for a robot cleaner according to the present invention includes moving the robot cleaner by a work instruction signal while the robot cleaner is connected to an external charging device. Storing the upper image of the detected position as entry position information; Performing the task indicated by the robot cleaner; When the charging command signal is input, the robot cleaner returns to the entry position using the current position information and the stored entry position information calculated from the upper image captured by the upper camera; Detecting an external charging device by detecting a charging device recognition mark of the external charging device with a recognition mark detection sensor of the main body of the robot cleaner; Connecting the charging terminal to the power terminal of the external charging device by the robot cleaner; And charging an external power source to the rechargeable battery through the charging terminal.

The detecting of the external charging device may include: driving the robot cleaner forward; Determining whether there is an obstacle in front of the robot cleaner while driving; If there is an obstacle, the robot cleaner traveling in one direction along the obstacle; Determining whether the charging device recognition mark is detected while the robot cleaner is driving; When the charging device recognition mark is detected, proceeding to an external charging device connection step; If the charging device recognition mark is not detected, determining whether the reference distance is exceeded, the robot cleaner rotates 180 degrees to drive along the obstacle.

In addition, the external charging device connection step, the robot cleaner is rotated so that the charging terminal toward the external charging device driving; Determining whether a collision signal of a bumper is received while the robot cleaner is running; Determining whether a signal in which the charging terminal of the robot cleaner contacts the power terminal of the external charging device is received after the collision signal of the bumper is received; If the contact signal of the charging terminal is not received after the collision signal of the bumper is received, checking whether the contact signal is received by correcting the driving angle by a robot cleaner; If the robot cleaner does not receive a contact signal even after modifying the driving angle a predetermined number of times, retracting the robot cleaner to the entry position.

At this time, the robot cleaner is preferably 15 degrees to correct the running angle, the number of times to correct the driving angle is preferably six times.

And, the charge command signal is characterized in that is sent when the amount of charge is insufficient in the task execution step, or the execution is completed.

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

1 to 3, the robot cleaner system includes a robot cleaner and an external charging device.

The robot cleaner 10 includes the main body 11, the suction unit 16, the driving unit 20, the upper camera 30, the front camera 32, the control unit 40, the storage device 41, and the transmission / reception unit 43. ), A sensor unit 12, a bumper 54, and a rechargeable battery 50.

The suction part 16 is provided on the main body 11 so that the dust | floor of the floor which opposes while collecting air may be collected. Such a suction unit 16 can be configured by a variety of known methods. As an example, the suction unit 16 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 drive unit 20 is a motor for rotationally driving two wheels 21a and 21b installed on both sides of the front, two wheels 22a and 22b installed on both sides of the rear and two wheels 22a and 22b at the rear, respectively. And a timing belt 25 installed to transmit the power of the 23 and 24 and the rear wheels 22a and 22b to the front wheels 21a and 21b. The driver 20 independently drives the motors 23 and 24 to rotate in the forward or reverse directions according to the control signal of the controller 40. The running direction is determined by controlling the rotation speed of each motor 23, 24 differently.

The front camera 32 is installed on the main body 11 so as to capture the front image and outputs the captured image to the controller 40.

The upper camera 30 is installed on the main body 11 so that the upper image can be captured and outputs the captured image to the controller 40.

The sensor unit 12 has a recognition mark detection sensor 15 capable of detecting the charging device recognition mark 88 and a predetermined circumference around the side of the main body 11 so as to transmit a signal to the outside and receive the reflected signal. It is provided with the obstacle detection sensor 14 arrange | positioned at intervals, and the travel distance detection sensor 13 which can measure a travel distance.

The recognition mark detection sensor 15 is installed at the bottom of the robot cleaner main body 11 so as to detect the charging device recognition mark 88 of the external charging device 80 described later. Then, the recognition mark detection sensor 15 is in the direction of the robot cleaner where the bumper 54 is installed so that the recognition mark 88 can be detected when the robot cleaner 10 moves forward, that is, the front lower part of the main body 11. It is preferable to install in. In addition, the recognition mark detection sensor 15 has three sensors 15a, 15b, and 15c arranged in two rows so that the front sensor 15a is turned on and then any one of the rear sensors 15b and 15c. When one sensor is ON, it is determined that there is a charging device recognition mark 88. In addition, the charging device recognition mark 88 and the recognition mark detection sensor 15 may be used as long as they can detect each other. As an example of the combination, a metal tape is used as the charging device recognition mark 88, and the recognition mark detection sensor 15 uses a proximity sensor capable of detecting the metal tape.

The obstacle detecting sensor 14 is arranged along the outer circumferential surface of the main body 11 in a vertical pair of the infrared light emitting element 14a for emitting infrared light and the light receiving element 14b for receiving the reflected light. Alternatively, the obstacle detection sensor 14 may emit an ultrasonic wave, and an ultrasonic sensor capable of receiving the reflected ultrasonic wave may be applied. The obstacle detecting sensor 14 is also used to measure the distance from the obstacle or the wall.

The mileage detection sensor 13 may be a rotation detection sensor for detecting the rotational speed of the wheel (21a, 21b, 22a, 22b). For example, the rotation detection sensor may be an encoder provided to detect the rotation speed of the motor (23, 24).

The transmitter / receiver 43 transmits data to be transmitted through the antenna 42, and transmits a signal received through the antenna 42 to the controller 40.

The bumper 54 is installed on the outer circumference of the robot cleaner main body 11, and when the robot cleaner 10 collides with an obstacle such as a wall around it, it absorbs a shock and outputs a collision signal to the controller 40. Therefore, the bumper 54 is supported by an elastic member (not shown) so that the robot cleaner 10 can move forward and backward in a direction parallel to the floor on which the robot cleaner 10 runs, and the collision signal when the bumper 54 collides with an obstacle. The sensor which outputs to the control part 40 is attached. Therefore, when the bumper 54 collides with the obstacle, a predetermined collision signal is transmitted to the controller 40. In addition, the front of the bumper 54, the charging terminal 56 is provided at a height that matches the power terminal 82 of the external charging device (80). In the case of using a three-phase power supply, three charging terminals 56 are installed.

The charging battery 50 is installed on the main body 11 and is connected to the charging terminal 56 installed on the bumper 54. Therefore, when the charging terminal 56 is connected to the power supply terminal 82 of the external charging device 80, the charging battery 50 is charged by a commercial AC power supply. That is, in the state where the robot cleaner 10 is connected to the external charging device 80, the power supply terminal 82 of the external charging device 80 in which the power introduced through the power cord 86 connected to the commercial AC power supply is interconnected. ) Is supplied to the charging battery 50 through the charging terminal 56 of the bumper 54.

The battery charge detector 52 detects the charge of the rechargeable battery 50, and transmits a charge request signal to the controller 40 when the detected charge reaches the set lower limit level.

The controller 40 processes the signal received through the transmitter / receiver 42 and controls each element. When a key input device (not shown) provided with a plurality of keys for manipulating the function setting of the device is further provided on the main body 11, the controller 40 processes the key signal input from the key input device.

The controller 40 controls each element so that the robot cleaner 10 can wait while charging while connected to the external charging device 80 when no operation is performed. When the robot cleaner 10 waits in a state of being connected with the external charging device 80 at the time of waiting for the work, the robot cleaner 10 can maintain the charging amount of the charging battery 50 within a predetermined range.

The controller 40 captures the ceiling on which the position recognition mark is installed by using the upper camera 30 to form an upper image. Then, the current position of the robot cleaner 10 is calculated using the upward image, the working path is created according to the instructed command, and then the indicated work is performed.

The controller 40 separates the upper image captured by the upper camera 30 and the recognition mark detecting sensor 15 when the sensor 40 is separated from the external charging device 80 to perform the indicated operation and then returns to the external charging device 80. By using the access to the external charging device 80 and the connection is performed smoothly.

The external charging device 80 includes a power supply terminal 82, a terminal block 84, and a charging device recognition mark 88. The power supply terminal 82 is connected to the power cord 86 through an internal transformer and a power cable, and is connected to the charging terminal 56 of the robot cleaner 10 to supply power to the charging battery 50. Power cord 86 is connected to a commercial AC power supply, the internal transformer may be omitted. The charging device recognition mark 88 is installed on the front floor of the external charging device 80 so that the robot cleaner 10 can recognize the position of the external charging device 80 using the recognition mark detection sensor 15. . At this time, the charging device recognition mark 88 is preferably installed so that the recognition mark detection sensor 15 to be perpendicular to the external charging device 80 so that the position of the external charging device 80 can be accurately detected. When using the proximity sensor as the recognition mark detection sensor 15, it is preferable to use a metal tape that can be detected by the proximity sensor as the charging device recognition mark 88. In addition, the length of the charging device recognition mark 88 is a plurality of recognition mark detection sensors provided on the bottom surface of the robot cleaner main body 11 when the robot cleaner 10 performs the wall following driving along the external charging device 80 ( Preferably, two or more sensors 15a, 15b, and 15c can detect the charging device recognition mark 88. For example, as shown in FIGS. 6 and 8, when the robot cleaner 10 includes three recognition mark detection sensors 15a, 15b, and 15c, two sensors 15a in three (15a, 15b, and 15c) may be used. And 15b, or 15a and 15c, can detect the charging device identification mark 88.

The terminal block 84 supports the power supply terminal 82 to maintain the same height as the charging terminal 56 of the robot cleaner 10 and allows the power supply terminal 82 to be fixed at a predetermined position. In the power supply terminal 82, when the commercial AC power supply is three-phase, three power supply terminals 82 are provided in the terminal block 84.

Hereinafter, a process in which the robot cleaner 10 detects the external charging device 80 and connects to the power supply terminal 82 in the robot cleaner system will be described with reference to FIGS. 1 to 9.

In the initial state in which the robot cleaner system having the external charging device 80 is installed, the robot cleaner 10 waits while the charging terminal 56 is connected to the power supply terminal 82 of the external charging device 80. At this time, the external charging device 80 is installed in a place that can not detect the position recognition mark installed on the ceiling of the work area with the upper camera 30 of the robot cleaner 10. That is, the working area of the robot cleaner 10 is a camera area A capable of detecting the position recognition mark of the ceiling by the upper camera 30 and the position of the ceiling by the upper camera 30 as shown in FIG. 5. It is divided into the non-camera area B which cannot detect a recognition mark, and the external charging device 80 is provided in the non-camera area B. As shown in FIG.

When the work instruction signal is received, the robot cleaner 10 captures the ceiling with the upper camera 30 while traveling forward from the connected external charging device 80. If a position recognition mark (not shown) is detected in progress, the coordinates of the viewpoint are calculated from the upper image and stored in the storage device 41. That is, the robot cleaner 10 calculates and stores the coordinates of the position (P1 of FIG. 5) which enters into the camera area A from the non-camera area B. In FIG. Subsequently, the position where the robot cleaner 10 first enters the camera region A from the non-camera region B (P1 in FIG. 5) is called an entry position. Here, the work instruction signal includes a cleaning operation or a security operation through a camera.

The robot cleaner 10 periodically checks whether a charging command signal is received while performing the indicated work according to the work instruction signal.

When the charging command signal is received, the controller 40 of the robot cleaner 10 captures a current upper image with the upper camera 30 and calculates a position of the current robot cleaner 10. Thereafter, the controller 40 loads the coordinate information of the stored entry position P1 and calculates an optimal path from the current position to the entry position P1. Next, the controller 40 controls the driving unit 20 to cause the robot cleaner 10 to travel along the path.

Here, the charge command signal is generated when the robot cleaner 10 completes the operation indicated or when the charge request signal is input from the battery charge detector 52 during the operation. In addition, the robot cleaner 10 may force the user to generate a charging command signal while the robot cleaner 10 is working.

When the robot cleaner 10 reaches the entry position P1, the controller 40 controls the driver 20 to move the robot cleaner 10 toward the wall 90. This is because at this time, since the robot cleaner 10 is in the non-camera area B, the upper camera 30 cannot identify its position. When the robot cleaner 10 detects the wall 90 by the obstacle detecting sensor 14, the robot cleaner 10 stops at a position P2 away from the wall 90 and then moves along the wall 90 as shown in FIG. 5. Drive clockwise. In other words, the robot cleaner 10 is to run the wall following. In this case, the distance between the robot cleaner 10 traveling along the wall 90 and the wall 90 may be arbitrarily designated by the user. The controller 40 checks whether the charging device recognition mark 88 is detected by the recognition mark detection sensor 15 while performing the wall tracking control. When the detection signal of the charging device recognition mark 88 is received from the recognition mark detection sensor 15, the controller 40 terminates the wall tracking control of the robot cleaner 10 and moves the robot cleaner 10 to the external charging device 80. To. At this time, the control unit 40 is one of the three recognition mark detection sensors (15a, 15b, 15c) of the rear sensor 15b or 15c after a certain time after the front sensor (15a) is turned on (ON) ( ON), it is determined that the charging device recognition mark 88 is detected (see FIG. 6).

If the robot cleaner 10 does not detect the charging device recognition mark 88 while moving the predetermined distance after starting the wall following driving, the controller 40 rotates the robot cleaner 10 by 180 degrees and then reverses it. The wall tracking control is again performed in the direction (see FIG. 7). When the charging device recognition mark 88 is detected from the recognition mark detection sensor 15 during the wall following driving, the controller 40 terminates the wall tracking control and connects the robot cleaner 10 to the external charging device 80. At this time, the control unit 40 is one of the three recognition mark detection sensors (15a, 15b, 15c) of the rear sensor 15b or 15c after a certain time after the front sensor (15a) is turned on (ON) ( ON), it is determined that the charging device recognition mark 88 is detected (see FIG. 8).

Here, a method of connecting the robot cleaner 10 to the external charging device 80 will be described.

When the charging device recognition mark 88 is detected, the robot cleaner 10 moves to the connection position P3, while the charging terminal 56 of the bumper 54 faces the power terminal 82 of the external charging device 80. Rotate the direction so that Here, the connection position P3 is a predetermined position by the geometric relationship between the power supply terminal 82 of the external charging device 80 and the charging device recognition mark 88. When the robot cleaner 10 moves to the connection position, the controller 40 controls the robot cleaner 10 to travel toward the external charging device 80.

After that, when the controller 40 receives the collision signal from the bumper 54, the controller 40 checks whether the contact signal with the power terminal 82 is received from the charging terminal 56. When the collision signal of the bumper 54 and the contact signal of the charging terminal 56 are received at the same time, the controller 40 determines that the charging terminal 56 is completely connected to the power terminal 82 of the external charging device 80. The robot cleaner 10 is advanced until the bumper 54 is pressed to some extent to complete the connection.

If the contact signal is not received after the collision signal is received, the controller 40 determines that the charging terminal 56 is not connected to the power terminal 82 of the external charging device 80. 9 illustrates an example in which a collision signal is received but no contact signal is received. Referring to the drawings, a line connecting the center of the power supply terminal 82 and the center of the robot cleaner 10 (I-I) and a line connecting the center of the charging terminal 56 and the robot cleaner 10 (II-II) When the power supply terminal 82 and the charging terminal 56 do not come into contact with each other when the predetermined angle θ is not coincided with each other, the controller 40 causes the collision signal of the bumper 54 to be turned OFF. After moving the robot cleaner 10 in a reverse direction to such a degree, the driving unit 20 is controlled to rotate the driving angle by a predetermined angle and then go straight forward again.

When the control unit 40 receives the collision signal of the bumper 54 and the contact signal of the charging terminal 56 after turning the predetermined angle, the robot cleaner 10 is determined to be connected after advancing a predetermined distance in the direction.

If the contact signal of the charging terminal 56 is not received even when the driving angle is rotated by a predetermined angle, the controller 40 again corrects the driving angle of the robot cleaner 10. If the contact signal of the charging terminal 56 is not received until the predetermined number of times, the controller 40 returns the robot cleaner 10 to the entry position P1. Then, the control unit 40 repeats the above process again, and when the collision signal and the contact signal are received at the same time, the robot cleaner 10 advances a predetermined distance in that direction to complete the connection.

Here, the predetermined angle for modifying the running angle may be arbitrarily determined in consideration of the size of the power terminal 82 of the external charging device 80 and the charging terminal 56 of the robot cleaner 10, but preferably the correction angle 15 degrees. In addition, the number of corrections can be appropriately determined in consideration of the correction angle. In the case of modifying the driving angle several times, it is also possible to change the correcting direction only in one direction. However, if the driving angle is modified several times in one direction from the first direction, and the contact signal is not received even then, the robot cleaner 10 It is preferable to correct the driving angle in the opposite direction after the return to the direction. When the correction angle is 15 degrees, it is preferable to correct the driving angle three times by 15 degrees in one direction, and when there is no contact signal between them, it is preferable to correct the driving angle three times by 15 degrees in the opposite direction. In this case, since the robot cleaner 10 first attempts to connect with the power supply terminal 82 within a 45 degree range from the point where the robot cleaner 10 first contacts the external charging device 80, the charging terminal 56 Contact signals may be received.

In the above description, an example in which the control unit 40 performs arithmetic processing by itself and detects the external charging device 80 and performs a connection is described.

According to another aspect of the present invention, the robot cleaner 10 stores the image above the entrance position (P1) and the robot cleaner 10 to reduce the operation processing burden for the control to detect and connect the external charging device 80. The robot cleaner system is constructed so that the connection control of the controller is handled by an external control device.

To this end, the robot cleaner 10 is configured to wirelessly transmit the upper image captured by the upper camera 30 to the outside and operate according to a control signal received from the outside, and the remote controller 60 controls the operation and the external. The robot cleaner 10 is wirelessly controlled through a series of controls including the return to the charging device 80.

The remote controller 60 includes a wireless repeater 63 and a central controller 70.

The wireless repeater 63 processes the radio signal received from the robot cleaner 10 and transmits the radio signal to the central control unit 70 through a wire, and wirelessly transmits the signal received from the central control unit 70 through the antenna 62. To the robot cleaner 10.

The central control unit 70 is constructed of a conventional computer, an example of which is shown in FIG. Referring to the drawings, the central controller 70 includes a central processing unit (CPU) 71, a ROM 72, a RAM 73, a display device 74, an input device 75, The storage device 76 and the communication device 77 are provided.

The storage device 76 is provided with a robot cleaner driver 76a that controls the robot cleaner 10 and processes a signal transmitted from the robot cleaner 10.

When the robot cleaner driver 76a is executed, the robot cleaner 10 provides a menu for setting the control regarding the robot cleaner 10 through the display device 74, and a menu item selected by the user for the provided menu is supplied to the robot cleaner 10. To be executed by Preferably, the menu includes a cleaning task execution and a security task execution 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, a work method, and the like as a sub selection menu for the large category.

When the robot cleaner driver 76a receives a work instruction signal through the input device 75 by the set work timing or the user, the robot cleaner 10 starts upward from the external charging device 80 and moves upward from the camera 30 of the robot cleaner 10. Is received from the robot cleaner 10, and it is checked whether the position recognition mark is detected from the received upper image. When the position recognition mark is detected from the upper image for the first time, the position information of the robot cleaner 10 at that time is calculated and stored in the storage device 76 as the entry position.

Thereafter, the robot cleaner driver 76a controls the robot cleaner 10 so that the indicated work can be performed. The control unit 40 of the robot cleaner 10 controls the driving unit 20 and / or the dust collecting unit 16 according to the control information received from the robot cleaner driver 76a through the wireless repeater 63, and is currently the upper camera. The upper image captured by the 30 is transmitted to the central controller 70 through the wireless repeater 63.

When a charge command signal such as a battery charge request signal or a work completion signal is received from the robot cleaner 10 through the wireless repeater 63 during the operation control, the robot cleaner driver 76a enters the memory stored in the storage device 76. The return path is calculated by using the position information of the position and the current position information extracted from the received upper image captured by the current upper camera 30, and returns to the entry position along the calculated return path. Thereafter, the robot cleaner 10 is connected to the external charging device 80 through the process as described above.

Hereinafter, a method of connecting the robot cleaner to the external charging device in one embodiment of the above-described robot cleaner system having an external charging device will be described in detail with reference to FIGS. 11 to 13.

In the following description, the robot cleaner 10 is connected to the external charging device 80 and is waiting for the initial state.

First, when the work instruction is received, the controller 40 drives the robot cleaner 10 forward in the connected external charging device 80. Then, the image is continuously captured using the upper camera 30 while traveling (S100).

When the controller 40 detects the position recognition mark in the upper image for the first time, the position coordinates of the robot cleaner 10 at that time are stored in the storage device 41 as the entry position P1 (S200).

Since the robot cleaner 10 performs the indicated cleaning or security operation (S300).

The controller 40 determines whether a charge command signal is received while performing the indicated operation (S400).

When the charging command signal is received, the controller 40 captures the image of the upper image with the upper camera 30 to calculate the position information of the current robot cleaner 10, and then the current position information and the stored entry position P1. Using the position information, the robot cleaner 10 calculates a return path to return to the entry position P1. Thereafter, the controller 40 drives the robot cleaner 10 along the calculated return path (S500).

When the robot cleaner 10 moves to the entry position P1, the controller 40 controls the robot cleaner 10 to detect the external charging device 80 (S600). An embodiment of a method in which the controller 40 detects the external charging device 80 is illustrated in FIG. 12.

Referring to FIG. 12, the controller 40 controls the robot cleaner 10 to travel straight ahead toward the wall 90 (S610). It is determined whether an obstacle detection signal is received from the obstacle detection sensor 14 while driving (S620). If an obstacle is detected, the controller 40 controls the robot cleaner 10 to follow the obstacle in one direction along the obstacle (S630). The controller 40 determines whether the charging device recognition mark 88 detection signal is received from the recognition mark detection sensor 15 while controlling the wall tracking of the robot cleaner 10 (S640). When the charging device recognition mark 88 detection signal is received, the control unit 40 controls the robot cleaner 10 to be connected to the external charging device 80 (S700).

If the charging device recognition mark 88 detection signal is not received, the controller 40 determines whether the movement distance at which the robot cleaner 10 performed the wall tracking exceeded the reference distance (S650). At this time, the reference distance is a distance set appropriately by the user about the external charging device 80 so that the robot cleaner 10 does not follow the entire work area along the wall.

If the robot cleaner 10 has moved beyond the reference distance, the control unit 40 controls the robot cleaner 10 to rotate the wall after 180 degrees and then run the wall following operation (S660). When the charging device recognition mark 88 is detected during the wall following driving, the controller 40 controls the robot cleaner 10 to be connected to the external charging device 80.

One embodiment of how the robot cleaner 10 connects to the external charging device 80 is shown in FIG. 13. Referring to FIG. 13, the controller 40 moves and rotates the robot cleaner 10 so that the charging terminal 56 faces the external charging device 80 around the position where the charging device recognition mark 88 is detected. (S710). That is, the controller 40 controls the robot cleaner 10 to have a predetermined position and direction about the charging device recognition mark 88. Thereafter, the controller 40 drives the robot cleaner 10 forward.

Subsequently, the controller 40 determines whether a collision signal is received from the bumper 54 while driving (S720).

When the collision signal is received, the controller 40 determines whether the contact signal of the charging terminal 56 is received (S730).

If the contact signal of the charging terminal 56 is not received in step S730, the controller 40 retracts the robot cleaner 10 by a predetermined distance and then corrects the driving angle by a predetermined angle (S740). Then, the charging terminal 56 of the robot cleaner 10 changes in a predetermined angle in a direction in which the charging terminal 56 does not come into contact with the power supply terminal 82, and then goes straight, so that the charging terminal 56 may contact the power supply terminal 82. Can increase the probability.

At this time, the driving angle can be corrected in one direction but preferably in both directions. That is, when a contact signal is not received even after correcting a certain number of times in one direction, it is preferable to correct the driving angle a certain number of times in the opposite direction. For example, after modifying the driving angle of the robot cleaner 10 three times in the left direction by 15 degrees, the vehicle is returned to its initial state and then modified three times by 15 degrees in the right direction.

If the running angle of the robot cleaner 10 is corrected, the number of modifications is increased once (S750). In operation S760, it is determined whether the number of times of modifying the running angle of the robot cleaner 10 is equal to or less than the set value. If the number of corrections is less than or equal to the set value, the process returns to step S730 to determine whether a contact signal is received from the charging terminal 56. At this time, it is preferable that the set value of the number of times the driving angle is corrected is 6 times when the correcting angle of the driving angle is 15 degrees in step S740.

If it is determined that the charging terminal 56 contact signal has been received in step S730 through this process, the robot cleaner 10 is advanced in a predetermined distance in the direction (S731), and the charging terminal 56 of the robot cleaner 10 is removed. And the connection with the power supply terminal 82 of the external charging device 80 is completed, and charging starts (S732, S733).

As described above, in the case of the robot cleaner system having the external charging device according to the present invention, even when the external charging device cannot be determined by the upper camera, that is, the non-camera area is installed, the robot cleaner is accurately charged. Find and connect.

Although the above description has been made based on a robot cleaner, a robot for any use or a rechargeable battery is provided and performs specific tasks by moving on its own using the electric power. Naturally, it applies to every robot that charges.

As described above, according to the robot cleaner system having an external charging device according to the present invention, even if the external charging device is installed in a position where the position recognition mark cannot be detected by the upper camera of the robot cleaner, the position of the external charging device is You can find and connect correctly.

In addition, according to the method for connecting an external charging device of the robot cleaner according to the present invention, the robot cleaner can accurately find and connect the position of the external charging device provided outside the recognition area of the upper camera.

The present invention is not limited to the above-described specific embodiments, and various modifications can be made by those skilled in the art without departing from the gist of the invention as claimed in the claims. Such changes are intended to fall within the scope of the claims.

1 is a perspective view showing an embodiment of a robot vacuum cleaner system having an external charging device according to the present invention;

2 is a block diagram showing a robot vacuum cleaner system of FIG.

3 is a perspective view illustrating a state in which the cover of the robot cleaner of FIG. 1 is removed;

Figure 4 is a bottom view showing the bottom of the robot cleaner body of Figure 3,

5 is a view for explaining a state in which the robot cleaner of Figure 1 finds the external charging device while moving clockwise,

FIG. 6 is a view for explaining a method of detecting a recognition mark of a charging device by a recognition mark detection sensor of a robot cleaner in FIG. 5;

7 is a view for explaining a state in which the robot cleaner of FIG. 1 finds an external charging device while moving in a counterclockwise direction;

FIG. 8 is a view for explaining a method of detecting a recognition mark of a charging device by a recognition mark detection sensor of a robot cleaner in FIG. 7;

9 is a view illustrating a case in which the power terminal of the external charging device and the charging terminal of the robot cleaner are not connected in the robot cleaner system of FIG. 1;

10 is a block diagram showing an embodiment of the central control device of FIG.

11 is a flowchart illustrating a method of connecting the robot cleaner to the external charging device in the robot cleaner system having the external charging device of FIG. 1;

12 is a flow chart showing an embodiment of the step of detecting the external charging device of FIG.

FIG. 13 is a flowchart illustrating an embodiment of connecting to an external charging device of FIG. 11.

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

10; Robot cleaner 11; main body

12; Sensor unit 13; Mileage sensor

14; Obstacle detection sensor 15; Identification Mark Detection Sensor

20; Driver 21,22; wheel

30; Upper camera 32; Front camera

40; A control unit 43; Transmitter / Receiver

50; Rechargeable battery 52; Battery charge detector

54; Bumper 56; Charging terminal

60; Remote controller 62; antenna

63; Wireless repeater 70; Central control unit

80; External charging device 82; Power terminal

84; Terminal block 86; Power cord

88; Charging device identification mark 90; wall

Claims (14)

A power terminal connected to commercial power, A terminal block provided with the power terminal and fixed to a predetermined position; An external charging device including a charging device identification mark installed on the bottom of the front of the terminal block at a right angle with the terminal block; And A recognition mark detection sensor installed at the bottom of the main body to detect the charging device recognition mark; A driving unit for moving the main body; An upper camera installed on the main body so as to capture a ceiling; A bumper installed at an outer circumference of the main body and outputting a collision signal when colliding with an obstacle; A charging terminal provided in the bumper to be connected to the power supply terminal, A charging battery installed on the main body and charged with power supplied through the charging terminal; And a robot cleaner including a control unit for controlling the driving unit to connect to the external charging device after detecting the charging device recognition mark by using the recognition mark detection sensor when a charging command is received. system. delete The robot cleaner system of claim 1, wherein the recognition mark detection sensor is installed at a bottom of the main body in a direction in which the bumper is installed. The robot cleaner system of claim 3, wherein the recognition mark detection sensor comprises three sensors. The robot cleaner system of claim 3, wherein the charging device identification mark is a metallic tape, and the sensor is a proximity sensor capable of sensing the metallic tape. The method of claim 1, wherein the control unit, And the charging terminal is determined to be connected to the power terminal only when the charging terminal detects a signal in contact with the power terminal after the collision signal of the bumper is received. According to claim 1, wherein the robot cleaner, Further comprising a battery charge detection unit for detecting the charge amount of the rechargeable battery, When the charge request signal is received from the battery charge detection unit, the robot vacuum cleaner system, characterized in that to stop the operation and return to the external charging device. According to claim 1, wherein the robot cleaner, Robot cleaner system, characterized in that to return to the external charging device when the operation is completed. Storing the upper image of the position where the robot cleaner is connected to the external charging device by the work instruction signal and the first position of the position recognition mark detected by the upper camera as the entry position information; Performing the operation indicated by the robot cleaner; When the charging command signal is input, returning to the entry position by using the current position information and the stored entry position information calculated from the upper image captured by the robot cleaner; Detecting an external charging device by detecting a charging device recognition mark of the external charging device with a sensor of the robot cleaner main body; Connecting the charging terminal to a power terminal of the external charging device by the robot cleaner; And Charging an external power source to a rechargeable battery through a charging terminal; The method of claim 9, wherein the detecting of the external charging device comprises: Driving the robot cleaner forward; Determining whether there is an obstacle in front of the robot cleaner while driving; If there is an obstacle, the robot cleaner traveling in one direction along the obstacle; Determining whether a charging device recognition mark is detected while the robot cleaner is driving; If the charging device recognition mark is detected, proceeding to the external charging device connection step; And And determining that the reference distance has been exceeded, and if the charging device recognition mark is not detected, the robot cleaner rotates 180 degrees and travels along the obstacle. The method of claim 9, wherein the external charging device connection step, Driving after the robot cleaner rotates the charging terminal toward the external charging device; Determining whether a collision signal of a bumper is received while the robot cleaner is traveling; Determining whether a signal in which the charging terminal of the robot cleaner contacts the power terminal of the external charging device is received after the collision signal of the bumper is received; If the contact signal of the charging terminal is not received after the collision signal of the bumper is received, checking whether the contact signal is received by correcting a driving angle by the robot cleaner; And retracting the robot cleaner to the entry position if the contact signal is not received even if the robot cleaner corrects the driving angle a predetermined number of times. 12. The method of claim 11, wherein the robot cleaner modifies the driving angle of 15 degrees. The method of claim 12, wherein the number of times of modifying the running angle of the robot cleaner is six times. 10. The method of claim 9, wherein the charge command signal is transmitted when the charge amount is insufficient in the work execution step or when the work is completed.