KR101460367B1 - Robot cleaner and control method thereof - Google Patents

Abstract

The present invention relates to a robot cleaner and a control method thereof.

A robot cleaner according to an embodiment of the present invention performs cleaning by suctioning dust while traveling on a floor, comprising: a sensor for detecting an obstacle; A power supply connected to an external power source and a power cord to receive operating power of the robot cleaner; And a controller for controlling the power cord so as to prevent the power cord from being wound on the obstacle by using a traveling pattern in which the robot cleaner travels backward.

Robot cleaner, obstacle, travel route

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a robot cleaner,

The present invention relates to a robot cleaner and a control method thereof.

2. Description of the Related Art Generally, a robot cleaner, which is a typical example of a robot cleaner, refers to a device that automatically cleans a region to be cleaned by suctioning foreign matter such as dust from a floor surface while traveling in a self-

The robot cleaner includes a distance sensor or a photographing unit to check the distance to an obstacle such as an appliance installed in a cleaning area, office supplies, a wall, or the presence of an obstacle, thereby cleaning the cleaning area while avoiding collision or obstruction.

The robot cleaner may include a drive wheel at a lower portion of the cleaner main body and may be connected to a drive motor. The driving motor may be controlled by a control unit to change the direction of the robot cleaner. And a suction port for sucking out ozone such as dust and the like.

In addition, when the robot cleaner travels by itself to clean the battery, when the battery needs to be charged, the robot cleaner searches for the location of the charging station by communicating with the charging station provided at a predetermined position, moves and docks with the charging station.

As described above, since the power source for operating the robot cleaner is conventionally supplied from the battery, in order to overcome the short use time of the battery, it is necessary to repeatedly check the battery capacity and charge the battery. When the charging operation is performed during cleaning, A problem arises that the time required for cleaning becomes longer.

An object of the present invention is to provide a robot cleaner capable of operating without using a battery by using a household power source as a power source for operating the robot cleaner and a control method thereof.

A robot cleaner according to an embodiment of the present invention performs cleaning by suctioning dust while traveling on a floor, comprising: a sensor for detecting an obstacle; A power supply connected to an external power source and a power cord to receive operating power of the robot cleaner; And a controller for controlling the power cord so as to prevent the power cord from being wound on the obstacle by using a traveling pattern in which the robot cleaner travels backward.

The control method of the robot cleaner according to an embodiment of the present invention is a method of controlling a robot cleaner that performs cleaning by suctioning dust while traveling on a floor, ; Detecting the obstacle at the time of driving, bypassing the obstacle and going straight ahead; And reversing the traveling path so that the power cord is not wound on the obstacle.

According to the robot cleaner and the control method of the present invention, since the operation power of the robot cleaner is supplied through the external power source, the power can be continuously supplied to the robot cleaner irrespective of the presence of the battery.

Further, the present invention has the effect of performing the cleaning without winding the power cord on the obstacle by using the traveling pattern that travels backward through the path traveled by the robot cleaner.

In addition, the present invention has the effect of collecting pollutants attached to the floor surface, vacuuming the cleaned floor surface, and then cleaning the floor surface once cleaned with sprayed steam, thereby achieving cleaning and germicidal effects at the same time.

In addition, the present invention has an effect of providing a stronger suction force and a steam cleaning function stably by generating a high output using an external power source.

A robot cleaner according to an embodiment of the present invention performs cleaning by suctioning dust while traveling on a floor, comprising: a sensor for detecting an obstacle; A power supply connected to an external power source and a power cord to receive operating power of the robot cleaner; And a controller for controlling the power cord so as to prevent the power cord from being wound on the obstacle by using a traveling pattern in which the robot cleaner travels backward.

In the present invention, the robot cleaner further includes a steam cleaner for generating steam.

In the present invention, the moving direction of the robot cleaner is detected by using the rotation angle of the rotating means rotating in the direction in which the power cord moves.

In the present invention, the movement direction of the robot cleaner is detected by using a limit switch that detects the pressing of the roller by the power cord.

In the present invention, the detection sensor is a tact sensor for detecting an obstacle according to contact or non-contact.

In the present invention, the controller controls the robot cleaner to perform cleaning in a zigzag manner using a traveling pattern that travels backward when the obstacle is detected.

According to the present invention, the controller controls the tension to be maintained by pulling or pulling the power cord according to the movement of the robot cleaner.

The control method of the robot cleaner according to an embodiment of the present invention is a method of controlling a robot cleaner that performs cleaning by suctioning dust while traveling on a floor, ; Detecting the obstacle at the time of driving, bypassing the obstacle and going straight ahead; And reversing the traveling path so that the power cord is not wound on the obstacle.

In the present invention, the running of the robot cleaner is a zigzag method.

In the present invention, the bypassing and straightening step may include moving the robot cleaner in a direction in which the contact is not sensed by using a contact-type sensor on the front surface of the robot cleaner; Moving until the contact is not detected on the front surface and going straight; And moving in a direction opposite to the moved direction when the contact is not detected on the side of the rectilinear movement.

In the present invention, the power cord is drawn or drawn in accordance with the movement of the robot cleaner so that the tension of the power cord is maintained during the robot clean-up period and the socket of the external power source.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

1 is a block diagram of a robot cleaner according to an embodiment of the present invention.

Referring to FIG. 1, a sensor 110 for detecting an obstacle; A suction unit (120) for sucking dust on the floor; A steam cleaning unit 130 for heating water to generate steam; A driving unit 140 for moving the robot cleaner; A memory 150 for storing various data necessary for controlling the robot cleaner; A power supply unit 160 connected to an external power source and a power cord for supplying operating power of the robot cleaner; And a control unit 170 receiving the signal of the detection sensor to obtain information on the state and position of the robot cleaner and controlling the robot cleaner using the information.

The detection sensor 110 includes a height detection sensor and an obstacle detection sensor. Specifically, the height sensor is provided at a front lower portion of the robot cleaner, and is installed to face the surface to be cleaned, and measures the distance from the bottom surface.

The height sensor may be used to identify a cleaning zone or to identify a traveling path by sensing a mark of a predetermined pattern provided on the floor surface. Here, the height detecting sensor may be a water / light emitting sensor.

The obstacle detecting sensor may be installed on a side surface of the robot cleaner and may be used to detect an obstacle or a wall in a forward or traveling direction, and to sense the distance. Here, the obstacle detecting sensor may be a water / light emitting sensor.

Also, the obstacle detection sensor may be a tact sensor for surrounding the periphery of the robot cleaner including front / back, left / right sides of the robot cleaner, and detecting an obstacle or a wall depending on the contact. have.

Although not shown in FIG. 1, it may further include a plurality of detection sensors including a step detection sensor for preventing the robot from dropping at a high place including the stairs.

Further, a photographing unit such as a camera may be further provided to detect a mark of a predetermined pattern provided on the ceiling to check a cleaning area, or to check the distance to an obstacle such as an appliance, office equipment, .

Further, it is possible to return the robot cleaner in the direction in which the external power source is connected by using the camera, or to confirm the position and direction in which the power cord is laid. Here, the camera may be a pan / tilt camera.

The signal sensed by the sensing sensor 110 is transmitted to the controller 170. The controller compares the applied signal with the reference data stored in the memory 150 to obtain information on the state and position of the robot cleaner, And uses the information to control the robot cleaner.

The suction unit 120 collects dust on the bottom surface by generating a strong suction force on a suction port (suction port or suction pipe) formed in the robot cleaner and is installed on the bottom surface of the robot cleaner so as to communicate with the suction port, Collect pollutants attached to the floor and vacuum in.

Specifically, the suction unit 120 includes a brush for collecting contaminants on the bottom surface. The suction unit 120 includes a suction port formed to face the bottom surface by driving of the suction motor and a suction motor, And a dust collecting chamber for collecting dust.

The steam cleaning unit 130 is a part for obtaining steam by heating water, and has a heater for heating water to generate steam.

Specifically, a mop attaching portion capable of attaching and detaching the mop is formed at a lower portion where steam is sprayed. By the steam sprayed by attaching the mop to the steam cleaning portion 130, contaminants on the bottom surface, particularly stuck foreign substances or stains, .

For example, contaminants such as dust on the floor can be primarily collected using a brush through the suction unit 120, and secondarily vacuum suction may be performed to obtain a stronger cleaning effect. In addition, since the vacuum cleaned floor is cleaned again through the steam cleaner 130, it is possible to more effectively remove foreign matter and stubborn foreign matter adhering to the surface to be cleaned (bottom surface).

Here, the user can select whether the suction unit 120 and the steam cleaning unit 130 operate, and cleaning is performed using one or more of the suction unit 120 and the steam cleaning unit 130 according to the selection. .

The driving unit 140 is provided with a plurality of wheels including a left wheel mounted on the left side of the robot cleaner and a right wheel mounted on the right side.

Specifically, the robot cleaner is provided with a plurality of wheels for traveling, and the motor for driving the wheels is independently rotated to change the travel and travel direction so that the robot cleaner moves to perform the cleaning.

The power supply unit 160 receives power through a power cord connected to an external power source such as an outlet provided on a wall surface. Specifically, power is supplied to operate the robot cleaner using commercial AC power supplied to the home.

That is, according to the present invention, since the robot cleaner operates using an external power source, it is unnecessary to charge the battery as in the conventional robot cleaner, and power can be continuously supplied as long as the power is not lost.

Further, the use of the conventional battery only has a limitation in increasing the cleaning performance because the output is small. However, since the present invention can generate a high output using an external power source, it can provide a stronger suction force and effectively operate the steam cleaning function.

The control unit 170 controls the traveling pattern of the robot cleaner so that the power cord is not wound on the obstacle by using the information obtained through the sensing sensor.

More specifically, the control unit 170 controls the robot cleaner to travel on the robot cleaner using a zigzag method that moves to the left or right. When there is an obstacle, the controller 170 travels by avoiding obstacles and travels in the reverse direction Controls the traveling pattern so that the power cord is not wound on an obstacle or the like so that the cleaning operation is performed while moving the robot cleaner itself. The driving pattern that avoids the obstacle so that the power cord is not wound in the following control method will be described in more detail.

In addition, the controller 170 controls the power cord to be drawn or drawn in accordance with the movement of the robot cleaner so that the tension of the power cord is maintained during the robot clean-up period and the external power outlet.

If the consumption current of the steam cleaning unit 130 is less than a predetermined value, the control unit 170 regards that the supply of water is stopped and controls the power supplied to the heater to be cut off. It is possible to prevent a phenomenon that the heater is overheated more than necessary by the above control.

As described above, the present invention has an effect of continuously supplying power to the robot cleaner irrespective of the presence of the battery because the operating power of the robot cleaner is supplied through the external power source.

Further, the present invention has the effect of performing the cleaning without winding the power cord on the obstacle by using the traveling pattern that travels backward through the path traveled by the robot cleaner.

In addition, the present invention has the effect of collecting pollutants attached to the floor surface, vacuuming the cleaned floor surface, and then cleaning the floor surface once cleaned with sprayed steam, thereby achieving cleaning and germicidal effects at the same time.

In addition, the present invention has an effect of providing a stronger suction force and a steam cleaning function stably by generating a high output using an external power source.

2 is a view schematically showing a connection structure of a power cord included in a power supply unit according to an embodiment of the present invention.

Referring to FIG. 2, a power cord winding roll 210 in which a power cord 240 is wound, a rotating means 220 rotating together with a power cord in accordance with the moving direction of the power cord, And a rotary gear (230) for meshing with the rotation means and measuring the rotation angle.

A power cord 240 connected to an external power source is wound around the power cord pulling roll 210. The power cord is drawn to the outside through the rotating unit 220 and connected to an external power outlet.

Specifically, as the robot cleaner connected to the external power outlet moves, the rotating means through which the power cord is passed is rotated, and the rotating direction of the robot is detected through the rotating gear to detect the moving direction of the robot cleaner.

 Here, the rotary gear may be an encoder, a potentiometer, or the like.

In addition, the power cord winding roll 210 is designed to apply a force to pull the power cord itself, so that the power cord is automatically drawn out according to the movement of the robot cleaner so that the tension of the power cord Lt; / RTI >

Further, it is also possible to control the power cord winding roll to pull out or draw in the power cord through the control of the control unit.

3 is a view schematically showing a connection structure of a power cord included in a power supply unit according to another embodiment of the present invention.

3, a power cord winding roll 310 in which a power cord 340 is wound; A plurality of rollers (320); And a limit switch 330 for detecting the pressing of the roller.

The power cord 340 connected to the external power source is wound on the power cord pulling roll 310. When the power cord is connected to the external power outlet and the robot cleaner detects that the roller is pressed by the power cord as shown in FIG. The direction of movement of the robot cleaner can be detected through the limit switch 330.

In addition, the power cord winding roll 310 is designed to apply a force for pulling the power cord itself, so that the power cord is automatically drawn out according to the movement of the robot cleaner so that the tension of the power cord Lt; / RTI >

Further, it is also possible to control the power cord winding roll to pull out or draw in the power cord through the control of the control unit.

2 and 3, the controller 170 obtains information such as the position of the robot cleaner, and controls the movement of the robot cleaner and return to the direction of the external power outlet using the information .

Here, the present invention is not limited to the power cord connection structure according to the embodiment shown in FIGS.

4 is a flowchart illustrating a method of controlling a robot cleaner according to an embodiment of the present invention.

Referring to FIG. 4, an obstacle is sensed during traveling of the robot cleaner (S401, 402). Specifically, the running pattern of the robot cleaner may be a zigzag pattern, and an obstacle or a wall in the forward or running direction may be detected by using the obstacle detecting sensor while moving in the pattern.

Specifically, the zigzag pattern moves in a straight line as shown in FIG. 5 and moves to left and right at predetermined intervals to perform cleaning.

Hereinafter, the robot cleaner 550 refers to the direction of the path straightened by the start position (e.g., the external power source) 530 as the forward direction 510 and the direction of the path that moves in the opposite direction to the direction of the straight forward direction, Will be described.

That is, the zigzag pattern goes straight to the forward direction 510, moves to the left by a predetermined distance, then goes straight to the reverse direction 520, moves again to the left by a predetermined distance, and then repeats the forward straightening pattern. Here, the movement interval 540 can be changed.

In the present invention, a rectangular robot cleaner is shown for convenience of explanation, but the present invention is not limited thereto.

Thereafter, when an obstacle is detected at the time of performing the cleaning, the obstacle is moved in the direction in which the obstacle is not sensed, goes straight, and goes straight ahead in a manner of bypassing the vicinity of the obstacle (S403).

6A, a contact detection sensor 610 is provided around the robot cleaner 600. When contact is detected by the front left side 620, contact with the front surface of the robot cleaner is detected in the right direction, Go until it is not detected and go straight.

As shown in FIG. 6B, an obstacle can be detected according to whether the left side of the robot cleaner touches the robot cleaner during the straight forward movement. If no contact is detected on the left side, the robot cleaner moves leftward by the distance moved to the right Go straight.

Thereafter, the robot cleaner travels in the reverse direction to perform cleaning (S404).

Specifically, when the obstacle is retracted to avoid the obstacle, the traveling pattern is controlled so that the power cord is not wound on the obstacle by traveling backward in the same direction traveling in the forward direction.

When the obstacle is detected as shown in FIG. 6C, the moving path of the robot cleaner using the above-mentioned zigzag pattern 630 is moved to the right and then goes straight. When the robot cleaner passes the obstacle, the robot cleaner moves to the left by the distance moved to the right.

When the robot cleaner travels in a manner that the robot cleaner travels in the same path that travels again after traveling straightly avoiding the obstacle, the power cord 640 can be cleaned while preventing the obstacle from being wrapped.

Conversely, if the contact is detected on the right side of the front side, the running pattern is controlled as shown in FIG. 6D.

When the obstacle is smaller than the robot cleaner, contact may be detected at the center of the front surface of the robot cleaner. In this case, the outlet 650 to which the external power is connected in the direction in which the external power is connected, Since it is on the right side of the direction of travel of the cleaner, move to the right to travel while avoiding obstacles.

Here, the direction in which the robot cleaner travels can be detected through the direction in which the power cord moves, as shown in FIGS.

The power cord is drawn or drawn in accordance with the movement of the robot cleaner so that the tension of the power cord 640 between the external power outlet 650 and the robot cleaner 660 is maintained.

Thereafter, if an obstacle is not detected, the zigzag pattern is maintained to perform the cleaning (S405), and when the cleaning is completed, return to the external power outlet 650 (S406, S407).

In addition, although the present invention is described by taking a square obstacle as an example, the present invention is not limited to this, but the present invention is not limited to this, but may be applied to a circular or other various obstacles in a manner described above, Cleaning can be performed while avoiding obstacles so that the power cord is not wound by moving the path backward.

Referring to FIG. 7, a traveling pattern for performing cleaning while avoiding obstacles in the staggered manner is shown in FIG. 7A. In FIG. 7A, the vehicle travels in a normal zigzag pattern when there is no obstacle.

Also, if an obstacle is sensed when the vehicle is traveling in the reverse direction as in 7b, if the obstacle is obstructed as in the case of route 1, then the vehicle travels in the reverse direction as in the case of route 2 and then maintains the traveling path of the zigzag pattern, It is possible to detect that the vehicle passes the obstacle. In this case, the vehicle travels backward as in route 3 and maintains the traveling path of the zigzag pattern as in route 4.

If the predetermined mark 710 is displayed on the way back to the third route, the marked mark can be detected when the zig-zag pattern is performed by the fourth route, so that it can be determined that the second route portion behind the obstacle is cleaned have.

In this case, when the path traveled by the robot cleaner is reversed while maintaining the tension of the power cord as proposed in the present invention, the power cord wound around the power cord It can be released, and then the cleaning can be performed again in a zigzag pattern.

In addition, a predetermined mark is displayed on a portion where the power cord is wound by the obstacle, and when the mark is sensed, the driving pattern such as adjusting the moving distance to move left and right when traveling in a zigzag pattern is changed, .

As described above, the present invention has an effect of continuously supplying power to the robot cleaner irrespective of the presence of the battery because the operating power of the robot cleaner is supplied through the external power source.

Further, the present invention has the effect of performing the cleaning without winding the power cord on the obstacle by using the traveling pattern that travels backward through the path traveled by the robot cleaner.

In addition, the present invention has the effect of collecting pollutants attached to the floor surface, vacuuming the cleaned floor surface, and then cleaning the floor surface once cleaned with sprayed steam, thereby achieving cleaning and germicidal effects at the same time.

In addition, the present invention has an effect of providing a stronger suction force and a steam cleaning function stably by generating a high output using an external power source.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It will be understood that various modifications and applications not illustrated in the drawings are possible. For example, each component specifically shown in the embodiments of the present invention can be modified and implemented. It is to be understood that all changes and modifications that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

1 is a block diagram of a robot cleaner according to an embodiment of the present invention;

2 is a view schematically showing a connection structure of a power cord included in a power source unit according to an embodiment of the present invention;

3 is a view schematically showing a connection structure of a power cord included in a power supply unit according to another embodiment of the present invention.

4 is a flowchart illustrating a method of controlling a robot cleaner according to an embodiment of the present invention.

5 is a view showing a zigzag patterning method of the robot cleaner.

FIG. 6 is a view showing a running pattern of a robot cleaner according to an embodiment of the present invention; FIG.

7 is a view showing another traveling pattern of the robot cleaner according to the embodiment of the present invention.

Claims (10)

1. A robot cleaner for performing cleaning by suctioning dust while traveling on a floor, A sensor for detecting an obstacle; A power supply connected to an external power source and a power cord to receive operating power of the robot cleaner; And a controller for controlling the power cord so as to prevent the power cord from being wound on the obstacle by using a traveling pattern in which the robot cleaner travels backward. The method according to claim 1, Further comprising a steam cleaner for generating steam in the robot cleaner. The method according to claim 1, Wherein the moving direction of the robot cleaner is detected by using the rotation angle of the rotating means rotating in a direction in which the power cord moves. The method according to claim 1, Wherein the robot cleaner detects the direction of movement of the robot cleaner by using a limit switch that detects the pressing of the roller by the power cord. The method according to claim 1, Wherein the control unit controls the robot cleaner to perform cleaning in a zigzag manner using a traveling pattern in which the robot cleaner travels reversely when an obstacle is detected. The method according to claim 1, Wherein the control unit controls the tension to be maintained by pulling or pulling the power cord according to the movement of the robot cleaner. 1. A control method for a robot cleaner which performs cleaning by suctioning dust while traveling on a floor, Driving the robot cleaner by receiving power through a power cord connected to an external power source; Detecting the obstacle at the time of driving, bypassing the obstacle and going straight ahead; And reversing the traveling path so that the power cord is not wound on the obstacle. 8. The method of claim 7, Wherein the traveling of the robot cleaner is a zigzag method. 8. The method of claim 7, Wherein the bypassing and straightening step includes moving the robot cleaner in a direction in which contact is not sensed by using a contact-type sensor on the front surface of the robot cleaner; Moving until the contact is not detected on the front surface and going straight; Further comprising the step of moving in a direction opposite to the direction of movement when the contact is not detected on the side of the robot during the straight movement, and then proceeding straight. 8. The method of claim 7, Wherein the power cord is drawn or drawn in accordance with the movement of the robot cleaner so that the tension of the power cord is maintained during the robot clean-up period and the socket of the external power source.

Images