KR100524705B1 - Inhalation brush control apparatus and method for robot cleaner - Google Patents
Inhalation brush control apparatus and method for robot cleaner Download PDFInfo
- Publication number
- KR100524705B1 KR100524705B1 KR10-2002-0077440A KR20020077440A KR100524705B1 KR 100524705 B1 KR100524705 B1 KR 100524705B1 KR 20020077440 A KR20020077440 A KR 20020077440A KR 100524705 B1 KR100524705 B1 KR 100524705B1
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- brush
- command value
- suction
- rotation current
- current command
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/02—Nozzles
- A47L9/04—Nozzles with driven brushes or agitators
- A47L9/0494—Height adjustment of dust-loosening tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2847—Surface treating elements
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Abstract
본 발명은 로봇 청소기의 흡입 브러시 제어장치 및 방법에 관한 것으로, 흡입 브러시의 높낮이를, 부하에 따라 자동으로 조절함으로써, 바닥면의 쓰레기를 효율적으로 흡입하여 청소성능을 향상시키도록 한 것이다. 이를 위하여 본 발명은 사용자의 토크명령에 따라, 브러시 회전전류 지령치를 발생하는 브러시 회전전류 지령치발생부와; 장애물에 따른 브러시 회전전류를 검출하는 브러시 회전전류 검출부와; 상기 브러시 회전전류 지령치와 브러시 회전전류를 비교하는 비교기와; 상기 비교기의 비교신호에 의해, 브러시 회전전류가 브러시 회전전류 지령치보다 크면, 흡입 브러시를 수직 상승시키고, 브러시 회전전류가 브러시 회전전류 지령치보다 작으면, 흡입 브러시를 수직 하강시키기 위한 제어신호를 출력하는 제어부와; 상기 제어부의 제어신호에 의해, 흡입 브러시를 수직으로 이동시키는 구동부를 포함하여 구성한다.The present invention relates to a suction brush control apparatus and method for a robot cleaner, by automatically adjusting the height of the suction brush according to the load, to efficiently suck the garbage on the bottom surface to improve the cleaning performance. To this end, the present invention comprises a brush rotation current command value generating unit for generating a brush rotation current command value in accordance with the user's torque command; A brush rotation current detection unit detecting a brush rotation current according to an obstacle; A comparator for comparing the brush rotation current command value with the brush rotation current; According to the comparison signal of the comparator, when the brush rotational current is larger than the brush rotational current command value, the suction brush is vertically raised, and when the brush rotational current is smaller than the brush rotational current command value, a control signal for vertically lowering the suction brush is output. A controller; It comprises a drive unit for vertically moving the suction brush by the control signal of the control unit.
Description
본 발명은 로봇 청소기의 흡입 브러시 제어장치 및 방법에 관한 것으로, 특히 흡입 브러시의 높낮이를, 부하에 따라 자동으로 조절함으로써, 바닥면의 쓰레기를 효율적으로 흡입할 수 있도록 한 로봇 청소기의 흡입브러시 제어장치 및 방법에 관한 것이다.BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a suction brush control apparatus and method for a robot cleaner, and in particular, a suction brush control apparatus for a robot cleaner capable of efficiently suctioning garbage on the floor by automatically adjusting the height of the suction brush according to a load. And to a method.
통상적으로, 로봇 청소기는 거리센서를 통해 청소구역내에 설치된 가구나 사무용품, 벽등의 장애물까지의 거리를 판별하고, 이에 따라 로봇 청소기의 좌륜모터와 우륜모터를 선택적으로 구동시킴으로써, 스스로 방향을 전환해 가면서 청소구역을 청소한다.In general, the robot cleaner determines the distance to obstacles such as furniture, office supplies, and walls installed in the cleaning area through the distance sensor, and selectively drives the left and right wheel motors of the robot cleaner, thereby changing the direction by itself. Clean the area.
이러한 로봇 청소기는 사용자의 조작 없이도 청소하고자 하는 구역내를 스스로 주행하면서, 본체의 바닥면에 부착된 흡입브러시를 통하여, 바닥면으로부터 먼지 등의 이물질을 흡입함으로써, 청소하고자 하는 구역을 자동으로 청소한다.The robot cleaner automatically cleans the area to be cleaned by suctioning foreign matters such as dust from the floor through a suction brush attached to the bottom of the main body while driving itself in the area to be cleaned without a user's operation. .
그러나, 종래 로봇 청소기는, 본체의 바닥면에 부착된 흡입 브러시와 바닥면과의 높이가 항상 일정하게 고정되어 있으므로, 높이가 다른 장애물에 따라 흡입브러시의 흡입 성능이 저하되는 문제점이 있다.However, in the conventional robot cleaner, since the height between the suction brush attached to the bottom surface of the main body and the bottom surface is always fixed constantly, there is a problem that the suction performance of the suction brush decreases according to obstacles having different heights.
본 발명은 상기와 같은 문제점을 해결하기 위하여 안출된 것으로, 흡입 브러시의 높낮이를, 부하에 따라 자동으로 조절함으로써, 바닥면의 쓰레기를 효율적으로 흡입하여 청소성능을 향상시키도록 한 로봇 청소기의 흡입브러시 제어장치 및 방법을 제공함에 그 목적이 있다.The present invention has been made in order to solve the above problems, by automatically adjusting the height of the suction brush according to the load, the suction brush of the robot cleaner to efficiently suck the garbage on the bottom surface to improve the cleaning performance It is an object of the present invention to provide a control apparatus and method.
상기와 같은 목적을 달성하기 위한 본 발명은, 사용자의 토크명령에 따라, 브러시 회전전류 지령치를 발생하는 브러시 회전전류 지령치발생부와; 장애물에 따른 브러시 회전전류를 검출하는 브러시 회전전류 검출부와;상기 브러시 회전전류 지령치와 브러시 회전전류를 비교하는 비교기와;상기 비교기의 비교신호에 의해, 브러시 회전전류가 브러시 회전전류 지령치보다 크면, 흡입 브러시를 수직 상승시키고, 브러시 회전전류가 브러시 회전전류 지령치보다 작으면, 흡입 브러시를 수직 하강시키기 위한 제어신호를 출력하는 제어부와;상기 제어부의 제어신호에 의해, 흡입 브러시를 수직으로 이동시키는 구동부를 포함하여 구성한 것을 특징으로 한다.The present invention for achieving the above object, the brush rotation current command value generating unit for generating a brush rotation current command value in accordance with the user's torque command; A brush rotation current detection unit detecting a brush rotation current according to an obstacle; a comparator comparing the brush rotation current command value and the brush rotation current; and when the brush rotation current is greater than the brush rotation current command value by the comparison signal of the comparator, suction A control unit for vertically raising the brush and outputting a control signal for vertically lowering the suction brush when the brush rotational current is smaller than the brush rotational current command value; a driving unit for vertically moving the suction brush by the control signal of the control unit; It is characterized by including the configuration.
상기와 같은 목적을 달성하기 위한 본 발명은, 흡입 브러시 구동 모터에 걸리는 브러시 회전전류를 검출하는 제1 과정과; 상기 브러시 회전전류와 브러시 회전 전류 지령치를 비교하는 제2 과정과; 상기 제2 과정의 비교결과, 브러시 회전전류가 브러시 회전전류 지령치보다 크면 흡입 브러시를 수직 상승시키고, 브러시 회전전류가 브러시 회전전류 지령치보다 작으면 흡입 브러시를 수직 하강시키는 제3 과정으로 수행함을 특징으로 한다.The present invention for achieving the above object, the first process for detecting a brush rotation current applied to the suction brush drive motor; A second step of comparing the brush rotation current and the brush rotation current command value; As a result of the comparison of the second process, when the brush rotational current is greater than the brush rotational current command value, the suction brush is vertically raised, and when the brush rotational current is smaller than the brush rotational current command value, the suction brush is vertically lowered. do.
이하, 본 발명에 의한 로봇 청소기의 흡입 브러시 제어장치 및 방법에 대한 작용과 효과를 첨부한 도면을 참조하여 상세히 설명한다.Hereinafter, operations and effects of the apparatus and method for controlling a suction brush of a robot cleaner according to the present invention will be described in detail with reference to the accompanying drawings.
도1은 본 발명 일실시예에 따른 로봇 청소기의 흡입 브러시 제어장치에 대한 구성을 보인 블록도로서, 이에 도시한 바와같이 사용자의 토크명령에 따라, 브러시 회전전류 지령치를 발생하는 브러시 회전전류 지령치발생부(1)와; 장애물에 따른 브러시 회전전류를 검출하는 브러시 회전전류 검출부(4)와; 상기 브러시 회전전류 지령치와 브러시 회전전류를 비교하는 비교기(5)와; 상기 비교기(5)의 비교신호에 의해, 흡입 브러시의 높낮이를 제어하기 위한 명령신호를 출력하는 제어부(2)와; 상기 제어부(2)의 제어신호에 의해, 흡입 브러시를 수직으로 이동시키는 구동부(3)를 포함하여 구성한다.1 is a block diagram showing a configuration of a suction brush control device of a robot cleaner according to an embodiment of the present invention. As shown in FIG. 1, a brush rotation current command value is generated to generate a brush rotation current command value according to a torque command of a user. Part (1); A brush rotation current detection unit 4 for detecting a brush rotation current according to an obstacle; A comparator (5) for comparing the brush rotation current command value with the brush rotation current; A control unit 2 for outputting a command signal for controlling the height of the suction brush according to the comparison signal of the comparator 5; It comprises a drive unit (3) for moving the suction brush vertically by the control signal of the control unit (2).
도2는 본 발명 실시예에 따른 로봇 청소기의 흡입 브러시 제어방법에 대한 동작흐름도로서, 이에 도시한 바와같이 흡입 브러시 구동 모터에 걸리는 브러시 회전전류를 검출하는 제1 과정과; 상기 브러시 회전전류와 브러시 회전 전류 지령치를 비교하는 제2 과정과; 상기 제2 과정의 비교결과, 브러시 회전전류가 브러시 회전전류 지령치보다 크면 흡입 브러시를 수직 상승시키고, 브러시 회전전류가 브러시 회전전류 지령치보다 작으면 흡입 브러시를 수직 하강시키는 제3 과정으로 이루어지며, 이와같은 본 발명의 동작을 설명한다.FIG. 2 is a flowchart illustrating a method of controlling a suction brush of a robot cleaner according to an exemplary embodiment of the present invention, and a first process of detecting a brush rotational current applied to a suction brush driving motor as shown in the drawing; A second step of comparing the brush rotation current and the brush rotation current command value; As a result of the comparison of the second process, when the brush rotational current is greater than the brush rotational current command value, the suction brush is vertically raised; and when the brush rotational current is smaller than the brush rotational current command value, the suction brush is vertically lowered. The same operation of the present invention will be described.
먼저, 로봇 청소기는, 청소하고자 하는 구역내를 스스로 주행하면서, 본체의 바닥면에 부착된 흡입 브러시를 통하여, 바닥면으로부터 먼지 등의 이물질을 흡입하여 청소를 수행한다.First, the robot cleaner sucks foreign matters, such as dust, from the bottom surface through the suction brush attached to the bottom surface of the main body while driving itself in the area to be cleaned.
이때, 상기 흡입 브러시는, 사용자의 토크 명령에 따라, 브러시 회전전류 지령치발생부(1)에서 발생하는 브러시 회전전류 지령치에 의해 흡입정도가 제어된다. At this time, the suction brush is controlled by the brush rotation current command value generated in the brush rotation current command value generation unit 1 in accordance with the torque command of the user.
이렇게, 로봇청소기가 흡입브러시를 통해 이물질을 흡입하여 청소를 수행할 때, 브러시 회전 전류검출부(4)는, 브러시 구동모터에 인가되는 전류를, 브러시 회전전류로 검출하여 비교기(5)에 인가한다.In this way, when the robot cleaner sucks foreign matter through the suction brush and performs cleaning, the brush rotation current detection unit 4 detects the current applied to the brush driving motor as the brush rotation current and applies it to the comparator 5. .
이에 따라, 상기 비교기(5)는, 흡입 브러시의 바닥면과의 부하정도를 알기 위하여, 상기 브러시 회전전류와 브러시 회전전류 지령치를 비교하여 그에 따른 비교신호를 제어부(2)에 인가한다.Accordingly, the comparator 5 compares the brush rotational current with the brush rotational current command value and applies the comparison signal to the controller 2 so as to know the degree of load with the bottom surface of the suction brush.
이에 따라, 상기 제어부(2)는 상기 비교기(5)의 비교신호에 의해, 흡입 브러시의 높낮이를 제어하기 위한 명령신호를 출력하는데, 브러시 회전전류가 브러시 회전전류 지령치보다 크면, 흡입 브러시를 수직 상승시키기 위한 명령신호를 출력하고, 브러시 회전전류가 브러시 회전전류 지령치보다 작으면, 흡입 브러시를 수직 하강시키기 위한 명령신호를 출력한다.Accordingly, the control unit 2 outputs a command signal for controlling the height of the suction brush according to the comparison signal of the comparator 5, and if the brush rotation current is greater than the brush rotation current command value, the suction brush is vertically raised. And a command signal for lowering the suction brush when the brush rotation current is smaller than the brush rotation current command value.
이후, 구동부(3)는 상기 제어부(2)의 명령신호에 의해, 흡입 브러시의 높이를 수직 상승 또는 수직 하강시킨다.Subsequently, the driving unit 3 vertically raises or lowers the height of the suction brush by the command signal of the control unit 2.
다시 말해서, 본 발명은 흡입 브러시 구동 모터에 걸리는 브러시 회전전류를 검출하여, 그 브러시 회전전류와 브러시 회전 전류 지령치를 비교한 다음, 그 비교결과 브러시 회전전류가 브러시 회전전류 지령치보다 크면 흡입 브러시를 수직 상승시키고, 브러시 회전전류가 브러시 회전전류 지령치보다 작으면 흡입 브러시를 수직 하강시킴으로써, 흡입 브러시와 바닥면과의 마찰력을 일정하게 유지하여 청소 성능을 향상시킨다.In other words, the present invention detects the brush rotational current applied to the suction brush drive motor, compares the brush rotational current with the brush rotational current command value, and then, if the brush rotational current is greater than the brush rotational current command value, the suction brush is vertical. When the brush rotation current is lower than the brush rotation current command value, the suction brush is vertically lowered, thereby maintaining a constant frictional force between the suction brush and the bottom surface, thereby improving cleaning performance.
상기에서는, 전류를 이용하여 흡입 브러시의 수직이동을 제어하였는데, 상기 전류 대신 전압을 이용하여 흡입브러시의 수직이동을 제어할 수 있다.In the above, the vertical movement of the suction brush is controlled by using a current, but the vertical movement of the suction brush may be controlled by using a voltage instead of the current.
상기 본 발명의 상세한 설명에서 행해진 구체적인 실시 양태 또는 실시예는 어디까지나 본 발명의 기술 내용을 명확하게 하기 위한 것으로 이러한 구체적 실시예에 한정해서 협의로 해석해서는 안되며, 본 발명의 정신과 다음에 기재된 특허 청구의 범위내에서 여러가지 변경 실시가 가능한 것이다.The specific embodiments or examples made in the detailed description of the present invention are intended to clarify the technical contents of the present invention to the extent that they should not be construed as limited to these specific embodiments and should not be construed in consultation. Various changes can be made within the scope of.
이상에서 상세히 설명한 바와같이 본 발명은, 흡입 브러시의 높낮이를, 부하에 따라 자동으로 조절함으로써, 바닥면의 쓰레기를 효율적으로 흡입하여 청소성능을 향상시키는 효과가 있다.As described in detail above, the present invention has an effect of efficiently inhaling garbage on the bottom surface and improving cleaning performance by automatically adjusting the height of the suction brush according to the load.
도1은 본 발명 로봇 청소기의 흡입 브러시 제어장치에 대한 구성을 보인 블록도.1 is a block diagram showing a configuration for a suction brush control device of the present invention robot cleaner.
도2는 본 발명 로봇 청소기의 흡입 브러시 제어방법에 대한 동작흐름도.Figure 2 is a flow chart of the operation of the suction brush control method of the robot cleaner of the present invention.
*****도면의 주요부분에 대한 부호의 설명********** Description of the symbols for the main parts of the drawings *****
1:브러시 회전전류 지령치 발생부 2:제어부1: Brush rotation current command value generating unit 2: Control unit
3:구동부 4:브러시 회전전류 검출부3: drive unit 4: brush rotation current detection unit
5:비교기5: comparator
Claims (3)
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2002-0077440A KR100524705B1 (en) | 2002-12-06 | 2002-12-06 | Inhalation brush control apparatus and method for robot cleaner |
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| Application Number | Priority Date | Filing Date | Title |
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| KR10-2002-0077440A KR100524705B1 (en) | 2002-12-06 | 2002-12-06 | Inhalation brush control apparatus and method for robot cleaner |
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| Publication Number | Publication Date |
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| KR20040049608A KR20040049608A (en) | 2004-06-12 |
| KR100524705B1 true KR100524705B1 (en) | 2005-10-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| KR10-2002-0077440A KR100524705B1 (en) | 2002-12-06 | 2002-12-06 | Inhalation brush control apparatus and method for robot cleaner |
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| CN112237401B (en) * | 2020-10-28 | 2022-06-28 | 追觅创新科技(苏州)有限公司 | Obstacle detection method and self-moving equipment |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01308521A (en) * | 1988-06-07 | 1989-12-13 | Matsushita Electric Ind Co Ltd | Self-propelled vacuum cleaner |
| JPH03173518A (en) * | 1989-12-01 | 1991-07-26 | Mitsubishi Electric Home Appliance Co Ltd | Mobile cleaner |
| JPH0747039A (en) * | 1993-08-04 | 1995-02-21 | Matsushita Electric Ind Co Ltd | Self-mobile cleaning machine |
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2002
- 2002-12-06 KR KR10-2002-0077440A patent/KR100524705B1/en not_active IP Right Cessation
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01308521A (en) * | 1988-06-07 | 1989-12-13 | Matsushita Electric Ind Co Ltd | Self-propelled vacuum cleaner |
| JPH03173518A (en) * | 1989-12-01 | 1991-07-26 | Mitsubishi Electric Home Appliance Co Ltd | Mobile cleaner |
| JPH0747039A (en) * | 1993-08-04 | 1995-02-21 | Matsushita Electric Ind Co Ltd | Self-mobile cleaning machine |
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