KR101662081B1 - A vacuum cleaner - Google Patents

A vacuum cleaner Download PDF

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Publication number
KR101662081B1
KR101662081B1 KR1020100080754A KR20100080754A KR101662081B1 KR 101662081 B1 KR101662081 B1 KR 101662081B1 KR 1020100080754 A KR1020100080754 A KR 1020100080754A KR 20100080754 A KR20100080754 A KR 20100080754A KR 101662081 B1 KR101662081 B1 KR 101662081B1
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KR
South Korea
Prior art keywords
unit
main body
handle
transmitting
receiving
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KR1020100080754A
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Korean (ko)
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KR20120018248A (en
Inventor
김상윤
김영기
Original Assignee
엘지전자 주식회사
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Application filed by 엘지전자 주식회사 filed Critical 엘지전자 주식회사
Priority to KR1020100080754A priority Critical patent/KR101662081B1/en
Priority to EP20110177855 priority patent/EP2420170B1/en
Priority to RU2011134978/12A priority patent/RU2478335C1/en
Publication of KR20120018248A publication Critical patent/KR20120018248A/en
Application granted granted Critical
Publication of KR101662081B1 publication Critical patent/KR101662081B1/en

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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
    • 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
    • A47L5/00—Structural features of suction cleaners
    • A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
    • A47L5/22—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum with rotary fans
    • A47L5/36—Suction cleaners with hose between nozzle and casing; Suction cleaners for fixing on staircases; Suction cleaners for carrying on the back
    • A47L5/362—Suction cleaners with hose between nozzle and casing; Suction cleaners for fixing on staircases; Suction cleaners for carrying on the back of the horizontal type, e.g. canister or sledge type
    • 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
    • A47L9/24—Hoses or pipes; Hose or pipe couplings
    • A47L9/248—Parts, details or accessories of hoses or pipes
    • 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
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • 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
    • A47L9/2894—Details related to signal transmission in suction cleaners

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Computer Networks & Wireless Communication (AREA)

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a vacuum cleaner, and more particularly, to a vacuum cleaner capable of automatically recognizing a relative position and a relative positional change of a handle portion with respect to a main body,

Figure R1020100080754

Description

[0001] The present invention relates to a vacuum cleaner,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a vacuum cleaner, and more particularly, to a vacuum cleaner capable of automatically recognizing a relative position and a relative positional change of a handle portion with respect to a main body,

The vacuum cleaner is an electric appliance that sucks and removes foreign matter present on the surface to be cleaned by the vacuum pressure of a vacuum motor provided in the main body.

The vacuum cleaner has an upright type and a canister type according to its structure. The upright type is a vacuum cleaner in which the suction nozzle and the main body are formed as one body, and the canister type is a case in which the suction nozzle and the main body are connected by an elastic hose.

In the case of the canister type, a handle is provided on the main body, and usually the cleaning surface is cleaned while pushing the main body.

Conversely, in the canister type, the handle portion is separated from the main body. Accordingly, when the user moves the handle portion to adjust the moving direction of the suction nozzle, the main body connected to the handle portion is pulled by the connecting hose and moves in the handle portion moving direction.

In the case of such a canister type, it is difficult to move the main body and the suction nozzle as much as the user desires because of the weight of the main body.

In addition, since the main body is usually located behind the user, there is a problem that the user is inconvenienced because the user may get caught in the main body when the user steps backwards.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a vacuum cleaner equipped with a main body that can automatically move in response to a user's manipulation of a handle portion, thereby enhancing the convenience of the user.

To achieve these and other advantages and in accordance with the purpose of the present invention, as embodied and broadly described herein, there is provided a suction device comprising: a handle part connected to a suction nozzle; A driving unit for driving wheels provided in the main body; A transmitting unit and a receiving unit that are respectively provided in the handle unit and the main body and communicate with each other using ultrasonic waves; and the control unit controls the transmitting unit and the receiving unit, and applies the distance data between the transmitting unit and the receiving unit derived from the ultrasonic communication result to the trilateration method And a control unit for recognizing a change in a relative position and a relative position of the handle unit with respect to the main body and controlling the driving unit to move the main body according to a change in the relative position of the handle unit.

The receiving unit is provided in the main body in a state where the receiving units are spaced apart from each other, and the transmitting unit is composed of at least one or more and is provided in the handle unit.

The control unit calculates the distance between the transmitting unit and the receiving unit by dividing the speed of the ultrasonic waves transmitted from the transmitting unit and received by the receiving unit by the time from the transmitting time of the transmitting unit to the receiving time of the receiving unit.

And each receiving unit provided in the main body communicates with the transmitting unit at the same time or performs communication alternately.

The transmitting unit includes a plurality of transmitting and receiving units, and the first transmitting unit and the second transmitting unit are disposed on the handle unit and are spaced apart from each other on both sides of the supporting unit .

Wherein the support base is fixed to the handle unit and is movable in accordance with a movement locus of the handle unit,

The control unit compares a relative position of the first transmitting unit with respect to the main body and a relative position of the second transmitting unit with respect to the main body to sense whether the handle unit is rotating or rotating and controls the driving unit accordingly. do.

The ultrasonic diagnostic apparatus according to claim 1, further comprising an auxiliary transmitting unit provided on the main body to emit an ultrasonic wave to the outside of the main body, wherein the receiving unit is configured to receive ultrasonic waves emitted from the auxiliary transmitting unit,

The control unit receives ultrasonic waves reflected from the obstacle and recognizes the position of the obstacle around the body, and controls the driving unit to prevent collision with the obstacle in contact with the obstacle.

The control unit controls the transmitting unit and the auxiliary transmitting unit to emit ultrasonic waves asynchronously so that collision does not occur between the ultrasonic waves emitted from the transmitting unit and the ultrasonic waves emitted from the auxiliary transmitting unit.

The control unit controls the ultrasonic wave to be emitted from the auxiliary transmitting unit after the recognition of the status of the handle of the main body is completed due to the ultrasonic communication between the transmitting unit and the receiving unit.

Further comprising a motion sensor provided at the handle portion and connected to the control portion to sense a movement locus of the handle portion,

And the control unit controls the driving unit according to the movement direction or the rotation direction information of the handle unit transmitted from the motion sensor.

The transmitter includes a plurality of transmitters, and the transmitters are provided in the main body in a state of being separated from each other, and the receiver is provided on the handle portion.

And the controller controls ultrasonic communication between the receiving unit and the transmitting unit to be sequentially performed.

Wherein the control unit controls the driving unit to move the main body toward the handle part when the distance between the handle part and the main body exceeds a predetermined reference range, The controller controls the driving unit to move the main body in the direction opposite to the handle part.

The vacuum cleaner according to the present invention is advantageous in that, when the user moves the handle part, the body automatically moves along the handle part, so that the user does not need to pull it off.

In addition, when the user steps backward, the body is automatically moved, so that the user does not have to worry about taking it.

In addition, it is possible to easily grasp the position of the obstacle, to detect the distance between the obstacle and the main body, and to avoid the obstacle, thereby preventing the main body from being damaged by the collision with the obstacle.

Further, there is an advantage that the user senses the rotation direction of the handle portion and rotates automatically without the user rotating the main body, thereby enhancing the user's convenience.

1 is a perspective view of a first embodiment of the present invention.
2A and 2B are conceptual diagrams of a trilateration method.
3 is a control block diagram of the control unit of the present invention
4 is a control block diagram of the first embodiment of the present invention
5 is a control block diagram of a second embodiment of the present invention.
6 is a perspective view of a third embodiment of the present invention.
7 is a control block diagram of a third embodiment of the present invention.
8 is a control block diagram of a fourth embodiment of the present invention.
9 is a view illustrating the operation of the cleaner main body according to the user's operation in the present invention.
10 is a control block diagram of a fifth embodiment of the present invention.
11 is a side view showing the main body moving in the front-rear direction in the present invention.
12 and 13 are control flowcharts of the present invention.

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

1, a vacuum cleaner according to the present invention includes a main body 10, a suction nozzle 20, an extension pipe 30 connected to the suction nozzle 20 and capable of reducing or extending its length, A handle 40 provided at one side of the extension pipe 30 and a connection hose 50 connecting the handle 40 to the main body 10.

The handle portion 40 is provided in a form that can be grasped by the user.

The main body 10 and the handle portion 40 are equipped with a transmitting portion 100 and a receiving portion 200 which can communicate with each other using ultrasonic waves.

 When the transmitter 100 is mounted on the main body 10 and the receiver 200 is mounted on the handle 40 and the transmitter 100 is mounted on the handle 40, The receiving unit 200 is mounted.

The main body 10 is provided with a control unit (not shown) for controlling the emission of ultrasonic waves from the transmission unit 100 and the reception of ultrasonic waves from the reception unit 200.

The inside of the main body 10 and the handle portion 40 are connected to each other by a wire 60 disposed inside the connection hose 50. The wire 60 allows the control portion A transmitting unit 100 or a receiving unit 200 provided in the receiving unit 40 is connected.

The transmitter 100 or the receiver 200 provided in the main body 10 is also connected to the controller to perform an operation command of the controller.

A wheel 11 is provided on the side of the main body 10 to move the main body. The wheel 11 is connected to a driving unit (not shown) such as a motor provided inside the main body, (Not shown) is connected to the control unit (not shown) to move the main body 10 by driving the wheel 11 based on a command from the control unit.

Here, when the receiving unit 200 or the transmitting unit 100 is mounted on the main body 10, two are disposed on the front side of the main body 10 and one is disposed on the rear side of the main body 10, The present invention is not limited to this arrangement.

The receiving unit 200 or the transmitting unit 100 disposed in the main body 10 performs ultrasonic communication with the transmitting unit 100 or the receiving unit 200 provided in the handle unit 40. [

When the transmitting unit 100 of the handle unit 40 transmits ultrasonic waves in the direction of the receiving unit 200 (or the transmitting unit 100 provided in the main unit 10 is connected to the receiving unit 200 of the handle unit 40) The distance between the transmitting unit 100 and the receiving unit 200 is calculated on the basis of the arrival distance and time of the ultrasonic waves and the distance data is applied to the trunk measuring method, Can be recognized.

The outline of the trilateration method based on Fig. 2 (a) is as follows.

Trilateration is a method of obtaining the relative position of an object using triangular geometry. In trilateration, two or more reference points are used to determine the position of the target, and the distance between the object and each reference point is used.

At least three reference points are required to determine precisely and uniquely the relative position in two dimensions by trilateration only.

When it is desired to know the relative position of the point T from each of the reference points P1, P2 and P3, the distance r1 from P1 to T, the distance r2 from P2 to T and the distance r3 from P3 to T are obtained.

Then, the point T is an intersection of a sphere S1 having a radius r1, a sphere S2 having r2, and a sphere S3 having r3. Then, the positions on the x, y, and z axes of the point T are determined as follows.

Figure 112010053731217-pat00001

Here, x, y, and z are positions on the x, y, and z axes, respectively, of the T point, d is the distance on the x axis between the points P1 and P2, and i is the distance on the x axis between the points P1 and P3 , j is the distance on the y-axis between point P1 and point P3. Here, the z-axis uses only positive values.

2 (b) is a perspective view of the handle 40 of the vacuum cleaner of the present invention by applying distance data based on ultrasonic communication between the transmitter 100 provided on the handle 40 and the receiver 200 provided on the body, As shown in FIG.

Although the transmitting unit 100 is mounted on the handle 40 and the receiving unit 200 is mounted on the main body 10 in this figure, the position may be changed.

Here, the position of the receiving unit 200 provided in the main body 10 is set at the positions of the reference points P1, P2, and P3, and the position of the transmitting unit 100 provided at the handle unit 40 is the T point.

Here, the distances (reaching speed / arrival time) between the points P1, P2 and P3 and the point T are calculated and recognized, and if the above-described trilateration method is used, the exact position is obtained for the point T.

When the position of the point T is obtained by using the trilateration method as described above, it is converted into a position on the coordinate system of the main body 10 having the front end of the main body as the reference origin F.

Since it is possible to know the reference origin F, P1 to P3, and the position of the T point, it is easy to convert the position of the T point obtained in the trilateration method to the position on the coordinate system of the main body 10 .

Therefore, the T point, that is, the relative position and distance of the handle portion 40 with respect to the reference origin F of the coordinate system of the main body 10 is determined.

The rotational direction and the degree of rotation of the handle 40 and the positional relationship between the handle 40 and the body 10, Because it is an important factor in calculating the distance between them.

That is, the positional change of the point T on the coordinate system of the main body 10 is recognized and compared with the previous point T and the present point T, and the change of the position of the handle 40 and the change of the position of the handle 40, 10).

Figure 3 is the block diagram of the internal control unit 300 used in the vacuum cleaner according to the present invention, the control unit 300 position (X S of the relative position, that is the reference point from the handle portion to present said cleaner body and the speed (V), -, Y S, Z S) and a E (E X, E Y, E Z) is the difference between the relative position (X, Y, Z) of the actual body input, and the main body is moved line The angular speed W (or the speed of both wheels) is taken as the output.

4 shows a first embodiment of the present invention.

In the first embodiment, one transmitter 100 is mounted on the handle 40, and three receivers 200 are mounted on the body. The transmitting unit 100 and the receiving unit 200 are connected to a controller 300 provided in the main body 10.

The receiving unit 100 is connected to the control unit 300 by the wiring in the main body 10 and the transmitting unit 100 is connected to the control unit 300 and the control unit 300 by a wire 60 disposed inside the connecting hose. .

The transmitter 100 emits ultrasonic waves to the receiver 200 according to an instruction from the controller 300 and the emitted ultrasonic waves are received by the receiver 200.

It is preferable that each of the receiving units 200 performs communication with the transmitting unit 100 at the same time or alternately communicates with the transmitting unit 100. This is controlled by the controlling unit 300. [

Here, the speed of the ultrasonic wave is approximately 340 m / s, and dividing the time by the time of reaching each receiving unit 200 in the transmitting unit 100 leads to a distance between the transmitting unit 100 and each receiving unit 200.

The distance between the transmitting unit 100 and each receiving unit 200 and the distance data between the receiving units 200 are calculated to calculate the position of the transmitting unit 100 and the position of the transmitting unit 100 is calculated The relative position of the transmitter 100 with respect to the reference point (the forefront portion of the main body) of the coordinate system of the main body can be derived by applying it to the coordinate system of the main body again.

Since the transmitter 100 is mounted on the handle 40, the distance between the handle 40 and the main body 10 can be derived through the above process.

The driving unit 400 is connected to the control unit 300. The driving unit 400 includes components such as a driving motor and includes wheels for moving the main body 10 .

When the distance between the handle 40 and the main body 10 is not appropriate, the controller 300 controls the driving unit 400 to rotate the wheel 11 to rotate the main body 10 Or move away from the handle portion (40).

The control unit 300 senses a change in the position of the transmitting unit 100 and rotates the driving unit 400 and the wheels 11 according to the position of the transmitting unit 100, So that the main body 10 rotates in the direction corresponding to the movement trajectory of the handle portion 40 or moves in the left and right direction.

5 shows a second embodiment of the present invention.

The second embodiment differs from the first embodiment in that a receiving section 200 is disposed on the handle section 40 and a plurality of transmitting sections 100 are disposed on the main body 10, This is the same as the first embodiment.

Here, when three transmission units 100 are arranged, each transmission unit 100 is referred to as a first transmission unit 101, a second transmission unit 102, and a third transmission unit 103, It is possible to define the position of the receiving unit 200 disposed on the handle unit 40 by applying the distance data between the transmitting units 101 to 103 and the receiving unit 200 and the distance data between the transmitting units to the trilateration method, The relative position and distance of the receiving unit 200 with respect to the reference origin of the coordinate system of the main body 10 can be derived by applying the position of the receiving unit 200 to the body coordinate system.

The control unit 300 can recognize the distance and the relative position between the handle 40 and the main body 10 so that the driver 400 and the wheels 10, (See FIG. 1) 11 operates to adjust the distance between the main body 10 and the handle portion 40 and rotate the main body 10.

That is, compared with the first embodiment, only the positions and the quantities of the transmitter 100 and the receiver 200 are changed, and the main body 10 ) Are the same.

On the other hand, as in the second embodiment, when the transmitter 100 is more than the receiver 200, if the transmitter 100 simultaneously emits ultrasonic waves to the receiver 20, .

Therefore, communication between each transmitter 100 and the receiver 200 must be sequentially performed.

More specifically, when the first transmitting unit 101 transmits an ultrasonic wave, the receiving unit 200 receives the ultrasonic wave, and the control unit 300 receives the ultrasonic wave from the first transmitting unit 101 and the receiving unit 200 Derive distance.

Thereafter, when the second transmitting unit 102 transmits ultrasonic waves, the receiving unit 200 receives the ultrasonic waves, and the controller 300 derives the distance between the second transmitting unit 102 and the receiving unit 200.

Then, when the third transmitting unit 103 transmits ultrasonic waves, the receiving unit 200 receives the ultrasonic waves, and the controller 300 derives the distance between the third transmitting unit 103 and the receiving unit 200 .

The distance data between the first to third transmitting units 101 to 103 and the distance data between each of the transmitting units 100 to 101 to 103 and the receiving unit 200 derived as described above are substituted into the trilateration method The position of the handle 40 with which the receiver 200 is located can be defined.

6 is a perspective view of a vacuum cleaner according to a third embodiment of the present invention.

The third embodiment differs from the first embodiment in that a transmitter 100 is mounted on the handle 40 in the first embodiment, but in the third embodiment, (100) are mounted. Except for the above, all structures are the same as in the first embodiment.

The support unit 550 is fixed to the handle unit 40 and the transmission units 100 are disposed on both sides of the support unit 550. The two transmitting units 100 perform ultrasonic communication with a plurality of receiving units 200 disposed in the main body 10, respectively.

The support 550 includes a first support 551 extending from the handle 40 and a second support 552 extending from both ends of the first support 551 and mounted on the transmitter 100, ).

Accordingly, the position of each transmitting unit 100 is derived by trilateration, and the relative position and distance with respect to the main body 10 can also be derived.

In this state, when the user rotates the handle portion 40, the rotational direction and degree of rotation of the handle portion 40 can be recognized through the change of the positions of the respective transmitters 100.

 This is because the supporter 100 is fixed to the handle 550 so that the movement locus of the handle 550 and the locus of movement of the supporter 550 become the same, Since the movement locus of the handle portion 40 corresponds to the movement locus of the handle portion 40 as well.

Based on this, the controller (see FIG. 7) can determine the rotational direction and the degree of rotation of the main body 10, and move the main body 10 accordingly.

Here, the positions of the transmitter 100 and the receiver 200 may be mutually changed.

7 is a control block diagram of the third embodiment.

As described above, the first transmitting unit 110 and the second transmitting unit 120 are mounted on the handle unit 40, and a plurality of the receiving units 200 are provided on the main body 10. The receiving unit 200 The first receiving unit 201, the second receiving unit 202, and the third receiving unit 203 are provided.

The first and second transmission units 110 and 120 and the control unit 300 are connected to each other by a wire 60 inside the connection hose and the first to third reception units 201 to 203 and the control unit 300 Are connected by the wiring in the main body 10.

Here, in order to prevent communication crosstalk, first, the ultrasonic wave communication between the first transmitting unit 110 and the first to third receiving units 201 to 203 is performed, and the first transmitting unit 110 and the first to third receiving units (201 to 203) are derived.

Ultrasonic communication is performed between the second transmission unit 120 and the first to third reception units 201 to 203 and the distance between the second transmission unit 120 and the first to third reception units 201 to 203 is derived do.

The control unit 300 continuously performs this process, and defines the positions of the first transmission unit 201 and the second transmission unit 202 by substituting the distance data into the trilateration method, Captures the movement of the handle portion 40 based on the change in the distance to the body 10, and controls the movement of the body 10 accordingly.

However, changing the location and quantity of the transmitter 100 and the location and quantity of the receiver 200 also fall under the protection category of the present invention.

8 is a control block diagram of a fourth embodiment of the present invention.

The difference between the fourth embodiment and the first embodiment is that the motion sensor 600 can be attached to the handle 40 to more accurately detect the rotational motion of the handle 40. [

The motion sensor 600 is a sensor that can be used in a mobile phone terminal or the like to recognize a positional change due to the motion of an object.

Since the motion sensor 600 is connected to the control unit 300 by the electric wire 60 provided in the connection hose, the motion sensor 600 senses the rotation direction of the handle unit 40 detected by the motion sensor 600, Is transmitted to the controller 300 and becomes basic data for controlling the main body 10.

In the fourth embodiment, the transmitter 100 is mounted on the handle 40, and the first to third receivers 200 to 201 are mounted on the main body 10, And the distance calculation and the position derivation by the trilateration method have already been described, and therefore will be omitted.

9 (a) and 9 (b) illustrate the change in posture of the main body corresponding to the rotation of the handle portion 40 in the third and fourth embodiments.

The rotation state detection of the handle portion 40 through the position change state of the two transmitting portions 100 disposed on the support (550 in FIG. 6) provided in the handle portion 40 in the third embodiment, Or the detection of the rotation state of the handle portion 40 may occur through the motion sensor 600 (see FIG. 8) provided in the handle portion 40 in the fourth embodiment.

Usually, when the handle portion 40 is largely rotated, the user mostly faces the rotation direction of the handle portion 40.

That is, when the handle portion 40 moves in a predetermined region of the front region of the main body 10, as shown in the left side of FIG. 9A or the left side of FIG. 9B, And at this time the user will also be looking forward.

9 (a), when the user moves the body in the left direction and accordingly changes the position of the handle 40, the body 10 is also moved toward the direction We have to move.

9 (b), the main body 10 is rotated by the operation of the control unit 300 (refer to FIG. 8) in the direction of rotation and rotation of the handle 40, It is moved considering the relative distance.

10 shows a control block diagram of a fifth embodiment of the present invention.

Here, the difference between the first and fifth embodiments is that the main transmitter 100 is equipped with the auxiliary transmitter 150.

The auxiliary transmitting unit 150 is connected to the controller 300 and emits ultrasonic waves to the outside of the main body 100 under the control of the controller 300.

The auxiliary transmitting unit 150 serves to emit an ultrasonic wave for measuring an obstacle disposed around the main body 10 and a distance between the main body 10 and the obstacle.

Therefore, the ultrasonic waves emitted from the auxiliary transmitting unit 150 are received by the receiving unit 200 provided in the main body 10 after colliding with an obstacle around the main body 10.

This is similar to a mechanism in which a bat emits ultrasonic waves and receives reflected ultrasonic waves, recognizes the surrounding obstacles, and recognizes distances from the obstacles.

Accordingly, when the reflected ultrasonic wave received by the receiver 200 is received, the controller 300 recognizes the presence and position of the obstacle around the body 10 and measures the distance between the obstacle and the body 10 .

The controller 300 recognizes the obstacle and determines the distance between the obstacle and the main body 10. If the distance between the main body 10 and the obstacle is less than a predetermined distance, (See Fig. 1, 11) is operated so that the main body 10 is separated from the obstacle by a predetermined distance or more.

Thus, the main body 10 can be prevented from colliding with the obstacle.

Meanwhile, it is necessary to prevent the occurrence of a collision between the communication between the transmitting unit 100 and the receiving units 200 and the communication between the auxiliary transmitting unit 150 and the receiving units 200

Therefore, the transmitter 10 first emits ultrasonic waves and receives the ultrasonic waves from the receiver 200. The controller 300 recognizes the distances between the ultrasonic waves and the ultrasonic waves and substitutes them into the trilateration method, So that the position of the handle portion 40 is derived.

After the ultrasonic wave transmission in the transmitter 100 is completed, ultrasonic waves are emitted from the sub-transmitter 150 to the surroundings of the main body 10, and some of the emitted ultrasonic waves are struck by obstacles around the main body 10, And is received by the receiving unit 200.

The control unit 300 recognizes the distance between the obstacle and the main body 10 using the reflected ultrasonic waves, and controls the position of the main body 10 accordingly.

Then, the above process is repeated to continuously derive the position of the handle unit 200 and the position of the obstacle.

11, when the user holds the handle 40 and performs cleaning, the transmitter 100 (or the receiver 200) provided in the handle 40, and the main body (Or the transmitting unit 100) provided in the receiving unit 200 (or the transmitting unit 100).

The distance between the transmitting unit 100 and the receiving unit 200 is measured and the distance between the handle unit 40 and the main body 10 and the position of the handle unit 40 are measured by the trilateration method based on the distance data Lt; / RTI >

When the distance between the main body 10 and the handle 40 exceeds a predetermined reference distance D, the main body 10 moves in the direction of the handle 40, So that the distance between the base 40 and the base 40 is a predetermined reference distance.

When the distance between the main body 10 and the handle 40 is less than the predetermined distance D, the main body 10 moves in the direction opposite to the handle 40, And the handle portion 40 is set to a predetermined reference distance.

12 to 13 are flowcharts of control of the vacuum cleaner according to the present invention.

First, a transmitting unit emits an ultrasonic wave and transmits it (S1201). Then, the receiver receives the ultrasound transmitted from the transmitter (S1202).

When the ultrasonic wave is received, the distance between the receiving unit and the transmitting unit is measured, and the measured distance is applied to the trilateration method to derive the position of the transmitting unit or the receiving unit attached to the handle to derive the position of the handle unit (S1203).

Then, the derived position of the handle portion is applied to the coordinate system of the main body so as to grasp the relative position of the handle portion and the distance from the main body to the main body from the reference origin of the coordinate system of the main body.

When the distance between the handle portion and the main body is determined as described above, it is first determined whether the distance between the handle portion and the main body exceeds or falls below a predetermined reference range (S1204).

If the distance exceeds the predetermined reference range, the distance between the main body and the handle portion is excessively large. Therefore, in order to reduce the distance, the main body is moved toward the handle portion (S1205).

On the other hand, when the distance does not exceed the predetermined reference range but falls short of the reference range, the main body and the handle are excessively close to each other, and the main body is moved in the opposite direction of the handle portion (S1206).

On the other hand, if the distance between the handle and the main body is within the predetermined reference range, the current state is maintained (S1207).

On the other hand, after the main body is moved, it is determined whether the distance between the handle and the main body is within a predetermined reference range (S1208). If so, the main body is stopped (S1209)

Whether the handle is rotated can be determined by the motion sensor detection or by comparing the positions before and after the rotation of the transmitter or receiver disposed on the handle.

Then, it is determined whether the handle is rotated (S1301), and if it is rotated,

(S1302), and moves the main body in accordance with the rotation direction and the rotation degree of the handle portion in accordance with the rotation direction and the rotation degree of the handle portion (S1303).

On the other hand, as described above, it is determined whether the obstacle is within a predetermined distance from the main body due to the ultrasonic communication between the auxiliary transmitting unit and the receiving unit (S1304)

. Thus, when it is determined that there is an obstacle within a predetermined distance from the main body, the main body is moved so that the main body may be separated from the obstacle by a predetermined distance or more.

When the main body is separated from the obstacle by a predetermined distance or more, the main body is stopped (S1305).

12 to 13 show that the movement of the main body due to the back and forth movement of the handle portion, the movement of the main body due to the rotation of the handle portion, and the movement of the main body due to the obstacle are one process, Movement of the main body can be performed independently of each other.

10: main body 40: handle portion
100: transmitting unit 150:
200: Receiving unit 300:
400: driving part 550: support
600: Motion sensor

Claims (13)

A handle portion connected to the suction nozzle;
A main body connected to the handle portion by a connection hose;
A driving unit for driving wheels provided in the main body;
A transmitting unit and a receiving unit provided respectively in the handle unit and the main body and communicating with each other using ultrasonic waves;
Wherein the control unit controls the transmitting unit and the receiving unit to apply the distance data between the transmitting unit and the receiving unit derived from the ultrasonic communication result to the trilateration method to change the relative position of the handle unit with respect to the body, And a control unit for controlling the driving unit so as to control the driving unit,
Wherein the transmitter comprises a first transmitter for communicating with the receiver and a second transmitter for communicating with the receiver for communicating with the first transmitter and being spaced apart from the first transmitter,
The control unit compares a relative position of the first transmitting unit with respect to the main body and a relative position of the second transmitting unit with respect to the main body to sense whether the handle unit is rotating or rotating and controls the driving unit accordingly. Vacuum cleaner. The method according to claim 1,
Wherein the receiving unit is provided in the main body in a state of being separated from each other, and the transmitting unit is provided in the handle unit at least one. 3. The method of claim 2,
Wherein the control unit calculates the distance between the transmitting unit and the receiving unit by dividing the speed of the ultrasonic wave transmitted from the transmitting unit and received by the receiving unit by the time from the transmitting time of the transmitting unit to the receiving time of the receiving unit, . 3. The method of claim 2,
Wherein each of the receiving units provided in the main body communicates with the transmitting unit at the same time or performs communication alternately. 3. The method of claim 2,
Wherein the first transmitting part and the second transmitting part are disposed on the handle part and are spaced apart from each other on both sides of the support. 6. The method of claim 5,
Wherein the support base is fixedly disposed on the handle portion, and is movable in accordance with a movement trajectory of the handle portion. 3. The method of claim 2,
The ultrasonic diagnostic apparatus according to claim 1, further comprising an auxiliary transmitting unit provided on the main body to emit an ultrasonic wave to the outside of the main body, wherein the receiving unit is configured to receive ultrasonic waves emitted from the auxiliary transmitting unit,
Wherein the control unit recognizes the position of the obstacle around the main body by receiving the ultrasonic waves reflected by the obstacle and controls the driving unit to prevent the main body from colliding with the obstacle. 8. The method of claim 7,
Wherein the control unit controls the transmission unit and the auxiliary transmission unit to emit ultrasonic waves asynchronously so that collision does not occur between the ultrasonic waves emitted from the transmission unit and the ultrasonic waves emitted from the auxiliary transmission unit. 9. The method of claim 8,
Wherein the control unit controls the ultrasonic wave to be emitted from the auxiliary transmitting unit after the state position recognition of the handle unit with respect to the main body is completed due to the ultrasonic communication between the transmitting unit and the receiving unit. 3. The method of claim 2,
Further comprising a motion sensor provided at the handle portion and connected to the control portion to sense a movement locus of the handle portion,
Wherein the control unit controls the driving unit in accordance with movement direction or rotation direction information of the handle unit transmitted from the motion sensor. The method according to claim 1,
The vacuum cleaner according to claim 1, wherein the transmitter includes a plurality of transmitting portions, and the transmitting portion is provided in the main body in a state of being separated from each other, and the receiving portion is provided in the handle portion. 12. The method of claim 11,
Wherein the control unit controls the ultrasonic communication between the receiving unit and the transmitting unit to be sequentially performed. The method according to claim 1,
Wherein the control unit controls the driving unit to move the main body toward the handle part when the distance between the handle part and the main body exceeds a predetermined reference range, The controller controls the driving unit to move the main body in the direction opposite to the handle part.
KR1020100080754A 2010-08-20 2010-08-20 A vacuum cleaner KR101662081B1 (en)

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EP20110177855 EP2420170B1 (en) 2010-08-20 2011-08-17 Vacuum cleaner and method for controlling the same
RU2011134978/12A RU2478335C1 (en) 2010-08-20 2011-08-19 Vacuum cleaner and vacuum cleaner control method

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EP2420170B1 (en) 2013-04-24
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RU2478335C1 (en) 2013-04-10

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