KR101631906B1 - Robot cleaner with power cable and controlling method thereof - Google Patents

Abstract

A wired robot cleaner and a control method thereof are disclosed. The wired robot cleaner and the wired robot cleaner control method according to the present invention can supply power through a wired power cable instead of a battery and can perform autonomous cleaning, thereby increasing the usable time of the cleaner. In addition, according to the present invention, when the obstacle is detected, the position is stored and the robot cleaner can be returned to the reverse position by storing the movement route, so that the wired power cable can be prevented from being caught by the obstacle, You can clean it.

Robot cleaner, wire, obstacle

Description

TECHNICAL FIELD [0001] The present invention relates to a wired robot cleaner and a control method thereof.

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wired robot cleaner, and more particularly, to a wired robot cleaner capable of being powered by a wired power cable and running autonomously to perform cleaning, and a control method thereof.

In general, robots have been developed for industrial use and have been part of factory automation. In recent years, medical robots, aerospace robots, and the like have been developed, and household robots that can be used in ordinary homes are being developed.

A representative example of the domestic robot is a robot cleaner, which is a type of household appliance that sucks and cleanes dust or foreign matter around the robot while traveling in a certain area by itself. Generally, the robot cleaner is equipped with a rechargeable battery and can run and clean by itself.

However, in the conventional wireless robot cleaner, an expensive rechargeable battery must be used, and in order to continuously perform the cleaning operation, the battery must be charged from time to time. In addition, the conventional wireless robot cleaner has a problem that the usable time of the vacuum cleaner is reduced according to the charged amount or capacity of the battery.

In addition, as shown in FIG. 1A and FIG. 1B, the vacuum cleaner supplied with power through the power cable has a problem that the power cable is caught by an obstacle and it is difficult to recover the power cable. have. In such a case, the safety of the user may occur, and the reliability of the system is deteriorated.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a wired robot cleaner which can receive power through a wired power cable instead of a battery and perform cleaning autonomously, and a control method thereof.

Another object of the present invention is to provide a wired robot cleaner capable of precisely cleaning a cleaning area of a full range while preventing a power cable of a wired line from being caught by an obstacle and a control method thereof.

According to an aspect of the present invention, there is provided a wired robot cleaner comprising: a power unit connected to a wired power cable and supplying power applied through the power cable to a cleaner; And a control unit for performing a cleaning operation on the cleaning area by avoiding the obstacle when it is determined that the object is an obstacle. In addition, if the control unit terminates the cleaning operation for the cleaning area or if the obstacle avoidance is not possible, the control unit returns the wired robot cleaner to the initial position in the reverse order of the movement route.

The wired robot cleaner according to an embodiment of the present invention further comprises a storage unit for storing an initial position, a current position and a movement path of the cleaner. The image processing apparatus according to claim 1, further comprising an image sensor for photographing an upper portion and generating upper image information and outputting the upper image information, wherein the control unit creates a cleaning map based on the upper image information, Area can be set.

The wired robot cleaner according to an embodiment of the present invention further comprises a winding unit for winding the power cable. The apparatus further includes a tension detecting unit for detecting a tension of the power cable.

According to another aspect of the present invention, there is provided a wired robot cleaner including a power unit connected to a wired power cable and supplying power to the inside of the cleaner through the power cable, A storage unit for storing an initial position, a current position and a movement path of the vacuum cleaner; a storage unit for storing the current position in the storage unit when the object is determined to be an obstacle; And a control unit for performing a cleaning operation on the cleaning area, completing the cleaning operation for the cleaning area, or returning to the initial position in the reverse order of the movement route, when the obstacle avoidance is not possible. The wired robot cleaner according to another embodiment of the present invention further comprises a winding unit for winding the power cable and a tension detecting unit for detecting a tension of the power cable.

According to another aspect of the present invention, there is provided a method of controlling a wired robot cleaner including a map creating step of creating a map for cleaning based on upper image information generated from an upper image, A storage step of storing an initial position of the cleaner; a sensing step of sensing an object existing in the cleaning area; a determining step of determining whether the object is an obstacle; And a cleaning step of avoiding an obstacle and performing a cleaning operation for the corresponding cleaning area when it is determined that the obstacle is an obstacle.

According to another aspect of the present invention, there is provided a method of controlling a wired robot cleaner, including: storing a initial position of a cleaner; sensing a body in an area to be cleaned; And a cleaning step of avoiding an obstacle when it is determined that the obstacle is an obstacle and performing a cleaning operation for the corresponding cleaning area as a result of the determination. The cleaning step may include a first step of storing a current position when it is determined that the obstacle is an obstacle, a second step of determining whether the obstacle can be avoided, And a third step of avoiding an obstacle if the avoidance is possible and performing a cleaning operation for the corresponding cleaning area. The cleaning step may further include a fourth step of returning to the initial position in a reverse order of the movement path if the obstacle avoidance is not possible as a result of the second process.

The present invention is advantageous in that the power can be supplied through a wired power cable instead of the battery and can be cleaned autonomously, thereby increasing the usable time of the cleaner.

In addition, the present invention can prevent the wired power cable from being caught by an obstacle, thereby precisely cleaning the entire range of the cleaning area.

In addition, the present invention improves the safety of the user and the stability of the system by continuing the cleaning operation while preventing the power cable of the wire from being obstructed by the obstacle.

Hereinafter, a method for controlling a wired robot cleaner and a wired robot cleaner according to the present invention will be described with reference to the accompanying drawings.

Referring to FIG. 2, a wired robot cleaner according to an embodiment of the present invention includes a power unit (not shown) connected to a wired power cable 180 and supplying power supplied through the power cable 180 to the inside of the cleaner A control unit 130 for avoiding the obstacle and performing a cleaning operation on the cleaning area when the object is determined to be an obstacle, .

The power supply unit 110 is connected to the external power supply 300 through the wired power cable 180 to continuously charge the battery or to check the residual capacity of the battery in the case of the wireless robot cleaner using the battery . That is, the power unit 110 receives power from the external power source 300 and supplies power to the wired robot cleaner. The power supply unit 110 may further include a protection circuit (not shown) that cuts off power applied from the external power supply 300 when an operation error or an abnormal condition occurs.

When the robot cleaner performs a search operation to set a cleaning area, the sensing unit 120 senses objects existing in the cleaning area to be set. At this time, the control unit 130 determines whether the sensed object is an obstacle. If it is determined that the obstacle is an obstacle, the control unit 130 causes the wired robot cleaner to travel the obstacle.

In addition, when the control unit 130 finishes the cleaning operation for the cleaning area, the control unit 130 returns the wired robot cleaner to the initial position in the reverse order of the travel path. That is, when the robot cleaner performs a cleaning operation, the control unit 130 stores an initial position or a current position, that is, a position at which the cleaning operation is to be started, and stores the movement route corresponding to the movement of the wired robot cleaner do. Then, when the robot cleaner completes the cleaning operation, the control unit 130 causes the wired robot cleaner to travel in the reverse direction of the movement path and returns to the initial position or the current position at the start of the cleaning operation.

The wired robot cleaner according to an embodiment of the present invention further includes a storage unit 140 that stores an initial position, a current position, and a movement path of the vacuum cleaner. The control unit 130 stores the current position in the storage unit 140 in the initial position at the start of the cleaning operation or in the cleaning operation, which is changed according to the movement of the wired robot cleaner, When finished, move the wired robot cleaner.

The wired robot cleaner may further include an image sensor 150 for photographing the upper side and generating upper side image information and outputting the upper side image information. That is, an image sensor 150 such as a camera capable of photographing the upper part is provided to generate the upper image information, and the position of the robot cleaner can be determined by image processing of objects installed on the ceiling or the wall using the upper image information have. In this case, there is an advantage that a user or the like does not need to set a cleaning area or a cleaning map in advance in the wired robot cleaner.

At this time, the control unit 130 may create a cleaning map based on the upper image information, and may set the cleaning area based on the cleaning map. That is, the wired robot cleaner itself creates the cleaning map, sets the cleaning area based on the cleaning map, and performs the searching and cleaning operations while moving autonomously.

The wired robot cleaner further comprises a winding unit (160) for winding the power cable (180). The winding unit 160 includes a reel unit so that the power cable can be easily wound or unwound. The wired robot cleaner further includes a tension detecting unit 170 for detecting the tension of the power cable 180. That is, when the tension of the power cable 180 is detected and the detected tension becomes equal to or higher than a predetermined reference tension, it can be determined that it is caught in an obstacle or the like. In addition, it is possible to maintain a constant tension during the cleaning operation, thereby cleaning the cleaning area.

The operation of the wired robot cleaner according to one example of the present invention will be described with reference to FIGS. First, a cleaning map is generated, a cleaning map is input from a user or the like, the entire area is set as a cleaning area, or a plurality of cleaning areas are set as a pixel format. FIGS. 3A and 3B are views showing an operation in which the wired robot cleaner avoids obstacles in the presence of an obstacle on the movement route of the wired robot cleaner. That is, when the wired robot cleaner detects an obstacle while performing a search or cleaning operation by advancing in a predetermined direction in the corresponding cleaning area, it stores the current position at the time of detecting the obstacle and performs an operation to avoid it. For example, when the wired robot cleaner is divided into a plurality of cleaning areas, the wired robot cleaner determines whether or not an obstacle has been avoided after moving to a cleaning area adjacent to the cleaning area. Then, the wired robot cleaner returns to the original cleaning area, . When the search operation or the cleaning operation is completed in the corresponding cleaning area, the power cable 180 is recovered and the stored position and the travel path are reversed to return to the initial position. If the control unit 130 determines that the obstacle avoidance is impossible after the detection unit 120 detects the obstacle, for example, if the obstacle is large and covers the corresponding cleaning area and the adjacent cleaning area, the power cable 180 ) And returns to the initial position in the reverse order of the stored position and the movement path. After returning to the original position, it is moved to the side of a certain distance and performs a search operation or a cleaning operation repeatedly. FIG. 3C and FIG. 3D are diagrams illustrating another example of an operation in which the wired robot cleaner avoids an obstacle due to an obstacle present on the moving path of the wired robot cleaner. Similarly, when an obstacle is detected during a search or cleaning operation by advancing in a predetermined direction in the corresponding cleaning area, the current position at the time of detecting the obstacle is stored and an operation for avoiding the current position is performed.

The wired robot cleaner according to another embodiment of the present invention includes a power unit 110 connected to a wired power cable 180 and supplying power applied through the power cable 180 to the inside of the cleaner, A storage unit (140) for storing an initial position, a current position and a movement path of the vacuum cleaner; a storage unit (140) for storing the current position in the storage unit 140), avoiding the obstacle, performing a cleaning operation on the cleaning area, terminating the cleaning operation on the cleaning area, or if obstacle avoidance is not possible, And a control unit (130) for returning the control unit The wired robot cleaner according to another embodiment of the present invention further includes a winding unit 160 for winding the power cable and a tension detection unit 170 for detecting the tension of the power cable.

The power supply unit 110 is connected to the external power supply 300 via the wired power cable 180 and receives power from the external power supply 300 to supply power to the wired robot cleaner. The power supply unit 110 may further include a protection circuit (not shown) that cuts off power applied from the external power supply 300 when an operation error or an abnormal condition occurs.

When the wired robot cleaner performs a search operation to set a cleaning area, the sensing unit 120 detects objects existing in a cleaning area to be set. At this time, the control unit 130 determines whether the sensed object is an obstacle. If it is determined that the obstacle is an obstacle, the control unit 130 causes the wired robot cleaner to travel the obstacle.

In addition, when the control unit 130 finishes the cleaning operation for the cleaning area, the control unit 130 returns the wired robot cleaner to the initial position in the reverse order of the travel path. That is, when the wired robot cleaner performs the cleaning operation, the control unit 130 stores the initial position or the current position in the storage unit 140, and the movement path corresponding to the movement of the wired robot cleaner is also stored in the storage unit 140 140). Herein, the initial position indicates a position where the cleaning operation is started or a position where the cleaner is initially placed, and the current position is a position to start the search or start the cleaning operation in the corresponding cleaning area, or when the obstacle is detected Means the position at the time of detection. Then, when the wired robot cleaner completes the cleaning operation, the control unit 130 causes the wired robot cleaner to travel in the reverse direction of the travel route stored in the storage unit 140, Return to location.

The winding unit 160 includes a reel unit so that the power cable can be easily wound or unwound. Further, when the tension of the power cable 180 is detected through the tension detecting unit 170 and the detected tension becomes equal to or higher than a predetermined reference tension, it can be determined that it is caught in an obstacle or the like. In addition, it is possible to maintain a constant tension during the cleaning operation, thereby cleaning the cleaning area.

3A to 3D, when the wired robot cleaner advances in a predetermined direction in the cleaning area and performs the searching or cleaning operation, the sensing unit 120 senses an object and the control unit 130 If it is determined that the object is an obstacle, the control unit 130 stores the current position at which the obstacle is detected in the storage unit 140 and performs an operation to avoid the obstacle. When the search operation or the cleaning operation is completed in the corresponding cleaning area, the power cable 180 is recovered and the stored position and the travel path are reversed to return to the initial position. If the control unit 130 determines that the obstacle avoidance is impossible after the detection unit 120 detects the obstacle, for example, if the obstacle is large and covers the corresponding cleaning area and the adjacent cleaning area, the power cable 180 ), And returns to the initial position in the reverse order of the stored position and travel route. After returning to its original position, it moves to a side of a certain distance and performs a search operation or a cleaning operation for another cleaning area repeatedly.

Referring to FIG. 4, a method of controlling a wired robot cleaner according to an exemplary embodiment of the present invention includes a sensing step S200 for sensing an object in a cleaning area, a determination step for determining whether the object is an obstacle S300) and a cleaning step (S400) of avoiding an obstacle and performing a cleaning operation for the corresponding cleaning area when it is determined that the obstacle is determined as a result of the determination step (S300). In addition, it may further include a storing step S100 for storing the initial position of the cleaner. Hereinafter, the configuration and operation of the apparatus will be described with reference to FIGS.

When the wired robot cleaner advances in a predetermined direction in the cleaning area and detects an object while performing the searching or cleaning operation (S200), the wired robot cleaner stores the initial position at the start of the searching operation or the cleaning operation, It is determined whether the object is an obstacle (S300). As a result of the determination, if the object is an obstacle, the current position at the time of detecting the obstacle is stored and an obstacle is avoided. Upon completion of the search operation or the cleaning operation in the corresponding cleaning area, the power cable is recovered and the stored position and travel route are reversed to return to the pre-stored initial position.

According to another aspect of the present invention, there is provided a control method for a wired robot cleaner, including a map creating step (S10) of creating a cleaning map based on upper image information generated from an upper image, And an area setting step (S20) of setting an area. That is, the wired robot cleaner includes an image sensor such as a camera capable of photographing the upper side to generate upper image information, creates a cleaning map by image processing of objects installed on a ceiling or a wall using the upper image information (S10 ), Whereby the position of the robot cleaner can be determined. In this case, there is an advantage that a user or the like does not need to set a cleaning area or a cleaning map in advance in the wired robot cleaner. In other words, in the control method of the wired robot cleaner according to the embodiment of the present invention, a cleaning map is created based on the upper image information (S10) and the cleaning area can be set based on the cleaning map (S20 ). That is, the wired robot cleaner creates the cleaning map on its own, sets the cleaning area on the basis of the map, and performs the searching and cleaning operations while moving autonomously.

Referring to FIG. 5, a method for controlling a wired robot cleaner according to another embodiment of the present invention includes a storing step S100 for storing an initial position of a cleaner, a sensing step S200 for sensing an object in the cleaning area, (S300) of determining whether the object is an obstacle; and a cleaning step (S400) of performing a cleaning operation for the corresponding cleaning area by avoiding an obstacle when it is determined that the object is an obstacle as a result of the determining step (S300) . Hereinafter, the configuration and operation of the apparatus will be described with reference to FIGS.

If it is determined in step S300 that the obstacle is an obstacle, the cleaning step S400 may include a first step S410 of storing the current position and a second step S420 of determining whether the obstacle can be avoided And a third step (S430) of avoiding an obstacle when the obstacle can be avoided as a result of the second process and performing a cleaning operation for the corresponding cleaning area (S430).

In addition, if the obstacle avoidance is not possible, the cleaning step S400 may further include a fourth step S450 of returning to the initial position in the reverse order of the travel route as a result of the second process.

When the wired robot cleaner advances in a predetermined direction in the cleaning area and detects an object while performing the searching or cleaning operation (S200), the wired robot cleaner stores the initial position at the start of the searching operation or the cleaning operation, It is determined whether the object is an obstacle (S300). As a result of the determination, if the object is an obstacle, the current position at the time of detecting the obstacle is stored, the obstacle is avoided, and the search or cleaning operation is continued (S430). When the search operation or the cleaning operation is completed in the corresponding cleaning area (S440), the power supply cable is recovered and the stored position and the movement path are reversed in order to return to the pre-stored initial position or the predetermined position (S450). If it is determined that the obstacle can not be avoided as a result of the determination in step S300, for example, if the obstacle is large and covers the cleaning area and the adjacent cleaning area, And returns to the initial position (S450). If the search operation or the cleaning operation is not completed for the corresponding cleaning area after returning to the original position (S460), the search operation or the cleaning operation is continued for the corresponding area (S460) Moves to the side of the distance to determine whether the cleaning of the other cleaning area or the entire cleaning area has been completed, and performs a search operation or a cleaning operation repeatedly.

The control method of the wired robot cleaner according to another embodiment of the present invention includes a map creation step (not shown) for creating a cleaning map based on the upper image information generated from the upper image, (Not shown) for setting an area to be displayed on the display screen.

That is, the wired robot cleaner includes an image sensor such as a camera capable of photographing the upper side to generate upper image information, creates a cleaning map by image processing of objects installed on a ceiling or a wall using the upper image information, The position of the robot cleaner can be determined. In this case, there is an advantage that a user or the like does not need to set a cleaning area or a cleaning map in advance in the wired robot cleaner. In other words, in the control method of the wired robot cleaner according to another embodiment of the present invention, a cleaning map can be created based on the upside image information, and the cleaning area can be set based on the cleaning map. That is, the wired robot cleaner creates the cleaning map on its own, sets the cleaning area on the basis of the map, and performs the searching and cleaning operations while moving autonomously.

As described above, the wired robot cleaner and the wired robot cleaner control method according to the present invention can supply power through a wired power cable instead of the battery, and can perform autonomous cleaning, thereby increasing the usable time of the cleaner. In addition, when the obstacle is detected, the position is stored and the movement route is stored so that the wired robot cleaner can be returned to the reverse position, so that the wired power cable can be prevented from being obstructed by the obstacle. have. In addition, the present invention improves the safety of the user and the stability of the system by continuing the cleaning operation while avoiding obstacles.

FIGS. 1A and 1B are views for explaining a problem that a power cable of a vacuum cleaner according to the related art is caught by an obstacle;

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a wired-

3A to 3D are diagrams for explaining an operation of the wired robot cleaner according to the present invention to avoid obstacles;

FIG. 4 is a flowchart illustrating a control method of a wired robot cleaner according to an embodiment of the present invention; FIG.

5 is a flowchart illustrating a control method of a wired robot cleaner according to another embodiment of the present invention.

Claims (15)

In a wired robot cleaner, A power supply unit connected to the power cable of the wired line and supplying the power supplied through the power cable to the inside of the cleaner; A sensing unit for sensing an object existing in one of a plurality of preset cleaning areas; And Determining whether or not the obstacle can be avoided if the object is determined to be an obstacle, If the obstacle can be avoided, the cleaning operation for the cleaning area is performed by avoiding the obstacle, And a control unit for returning the wired robot cleaner to an initial position in the one area in a reverse order of the movement route when the cleaning operation for the one area is completed or if the obstacle can not be avoided. The apparatus according to claim 1, When the wired robot cleaner returns to the initial position in the one area, moves the wired robot cleaner to an area adjacent to the one area among the plurality of cleaning areas, Wherein the control unit repeatedly performs the cleaning operation, the avoidance operation to the obstacle, and the return operation to the initial position in the adjacent area in the adjacent area. 3. The method of claim 2, And a storage unit for storing an initial position, a current position, and a movement path of the cleaner. The method of claim 3, And an image sensor for capturing an image of the upper side and generating upper image information and outputting the upper image information. 5. The apparatus according to claim 4, A cleaning map is created based on the upward image information, and the cleaning area is set based on the cleaning map. The method according to claim 1, And a winding unit for winding the power cable. The method according to claim 1, And a tension detecting unit for detecting a tension of the power cable. delete delete delete A sensing step of sensing an object existing in a cleaning area among a plurality of preset cleaning areas; Determining whether the object is an obstacle; Determining whether the obstacle can be avoided; A cleaning step of avoiding the obstacle and performing a cleaning operation on the cleaning area if the obstacle can be avoided; And And returning to an initial position in the one area in a reverse order of the movement path if the cleaning operation for the one area is completed or if the obstacle can not be avoided. 12. The method of claim 11, Further comprising the step of moving to a region adjacent to one of the plurality of cleaning regions when the returning step is performed, Wherein the control unit repeatedly performs the steps of sensing, detecting whether an obstacle is present, determining whether to avoid the obstacle, cleaning, and returning to an initial position in the adjacent area. Control method. delete The method according to any one of claims 11 to 12, And a storing step of storing an initial position of the vacuum cleaner. 15. The method of claim 14, A map creating step of creating a cleaning map based on the upper image information generated from the upper image; And And setting an area to be cleaned based on the map for cleaning.

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