KR102431988B1 - A robot cleaner - Google Patents

Abstract

a main body, a traveling unit provided in the main body to drive the main body, a sensor unit provided in the main body to detect a collision between the main body and an obstacle, and a control unit configured to control the sensor unit and the traveling unit, wherein the sensor unit includes the A first sub-sensor unit, a second sub-sensor unit, and a third sub-sensor unit are provided on the front side of the main body and arranged side by side in a lateral direction of the main body, wherein each of the sub-sensor units includes a plurality of sensors at the height of the main body. To provide a robot cleaner that is formed by stacking in the direction.
The robot cleaner may more effectively detect an obstacle by changing the sensitivity of the sensor unit according to the traveling speed.

Description

Robot vacuum cleaner {A ROBOT CLEANER}

The present invention relates to a robot cleaner and a control method of the robot cleaner, and more particularly, to a robot cleaner having a plurality of sensors whose sensing sensitivities change according to driving, and a control method of the robot cleaner.

In general, robots have been developed for industrial use and have been a part of factory automation. Recently, the field of application of robots has been further expanded, and medical robots, aerospace robots, etc. are being developed, and household driving robots that can be used in general households are also being made.

A representative example of the home traveling robot is a robot cleaner, which performs a function of cleaning while driving in a predetermined area by itself while sucking in surrounding dust or foreign substances.

Such a robot vacuum cleaner may collide with various obstacles such as objects placed on walls or floors while driving in the cleaning area. Therefore, the role of the obstacle detection sensor is important so that the robot cleaner can recognize obstacles encountered while driving and appropriately avoid or follow them.

However, the conventional robot cleaner has a problem in that it can only determine the presence or absence of an obstacle by having a single integrated sensor, and it is difficult to determine the height and position of the obstacle in detail.

In addition, the conventional robot cleaner has a problem in that it is difficult to change the sensing sensitivity of the obstacle detection sensor, and thus it is impossible to distinguish the obstacles that can be overcome depending on the driving situation.

An object of the present invention for solving the above problems is to provide a robot cleaner capable of solving the above problems and changing the obstacle detection sensitivity according to driving conditions and a control method thereof.

Accordingly, it is an object of the present invention to provide a robot cleaner capable of stably detecting an obstacle by intersecting a plurality of sensors, and a method for controlling the same.

Another object of the present invention is to provide a robot cleaner that corrects a driving direction according to whether an obstacle is detected, and a control method thereof.

Another object of the present invention is to provide a robot cleaner that improves obstacle detection performance by using an inertial measurement device, and a control method therefor.

In order to solve the above technical problems, a main body, a traveling unit provided in the main body to drive the main body, a sensor unit provided in the main body to detect a collision between the main body and an obstacle, and controlling the sensor unit and the traveling unit A robot cleaner including a control unit is provided.

The sensor unit may detect an obstacle that the main body encounters while driving by detecting an external force greater than or equal to a preset threshold value.

The control unit controls the sensor unit to change the threshold value in response to a change in the traveling speed of the traveling unit, and controls the traveling unit to change the traveling direction of the main body when the obstacle is detected by the sensor unit. can

The controller may control the sensor unit to increase the threshold value as the traveling speed of the traveling unit increases, and control the sensor unit to decrease the threshold value as the traveling speed of the traveling unit decreases. have.

The controller may control the sensor unit so that the threshold value has a preset initial value when the driving unit stops driving.

The preset initial value may be plural.

The sensor unit may include a first sub-sensor unit, a second sub-sensor unit, and a third sub-sensor unit provided on the front surface of the main body and arranged side by side in a lateral direction.

The plurality of sub-sensor units may be formed to cover all the front portions of the side housings of the main body.

The second sub-sensor unit may have a higher threshold value than the first and third sub-sensor units provided on both sides of the second sub-sensor unit.

Each of the sub-sensor units may be formed by stacking a plurality of sensors in a height direction of the body.

At least some of the sensors of the first sub-sensor may be provided in vertical contact with at least some of the sensors of the second sub-sensor.

The controller of the robot cleaner may control the traveling unit to change a traveling direction in a direction opposite to that of the first sub sensor unit when an obstacle collision is detected only by the first sub sensor unit.

The controller may control the driving unit to change a driving direction in a direction opposite to that of the first sub-sensor unit when an obstacle collision is simultaneously detected by the first sub-sensor unit and the second sub-sensor unit.

The controller may control the driving unit to change the driving direction to a reverse direction when an obstacle collision is simultaneously detected by all of the sub-sensor units.

The control unit may set a new driving pattern or set a new driving direction after switching the driving direction to the reverse direction.

When an obstacle collision is detected only by a sensor arranged on the lowest layer among the plurality of sensors included in the sensor unit, the control unit may control the driving unit to run along the periphery of the obstacle.

According to the robot cleaner as described above, it is possible to variably control the sensing sensitivity of the sensor unit as the driving speed changes, thereby improving the obstacle detection performance according to the driving situation.

In addition, according to the robot cleaner, it is possible to easily grasp the position of the obstacle and the characteristics of the obstacle by arranging a plurality of sensors crosswise.

In addition, according to the robot cleaner, it is possible to simplify the obstacle avoidance pattern during driving.

Further scope of applicability of the present invention will become apparent from the following detailed description. However, it should be understood that the detailed description and specific embodiments such as preferred embodiments of the present invention are given by way of example only, since various changes and modifications within the spirit and scope of the present invention may be clearly understood by those skilled in the art.

1 is a perspective view showing an example of a robot cleaner.
2 is a rear view of the robot cleaner.
3 is a conceptual diagram illustrating the configuration of a robot cleaner.
4 is a perspective view of a robot cleaner.
5 is a front view for explaining the arrangement of the sensor unit of the robot cleaner.
6 is a configuration diagram illustrating a method of a sensor unit detecting an obstacle.
7 is a block diagram illustrating a control method for changing the sensing sensitivity of the sensor unit in response to the traveling speed of the robot cleaner.
8 is a configuration diagram for explaining a control method for correcting an initial set value of a sensor unit using an inertial measurement device.
9 is a block diagram of a control method in which a sensor unit can more accurately detect an obstacle using an inertial measurement device.

Hereinafter, the embodiments disclosed in the present specification will be described in detail with reference to the accompanying drawings, but the same or similar components are assigned the same reference numerals regardless of reference numerals, and redundant description thereof will be omitted. The suffixes "module" and "part" for components used in the following description are given or mixed in consideration of only the ease of writing the specification, and do not have distinct meanings or roles by themselves. In addition, in describing the embodiments disclosed in the present specification, if it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed in this specification, the detailed description thereof will be omitted.

In addition, the accompanying drawings are only for easy understanding of the embodiments disclosed in the present specification, and the technical idea disclosed herein is not limited by the accompanying drawings, and all changes included in the spirit and scope of the present invention , should be understood to include equivalents or substitutes.

Terms including ordinal numbers such as first, second, etc. may be used to describe various elements, but the elements are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

When a component is referred to as being “connected” or “connected” to another component, it may be directly connected or connected to the other component, but it is understood that other components may exist in between. it should be On the other hand, when it is said that a certain element is "directly connected" or "directly connected" to another element, it should be understood that the other element does not exist in the middle.

The singular expression includes the plural expression unless the context clearly dictates otherwise.

In the present application, terms such as “comprises” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It is to be understood that this does not preclude the possibility of the presence or addition of numbers, steps, operations, components, parts, or combinations thereof.

1 is a perspective view showing an example of a robot cleaner 1 .

For reference, in this specification, the robot cleaner 1, the traveling robot, the mobile robot, and the cleaner may be used as the same meaning.

Referring to FIG. 1 , the robot cleaner 1 performs a function of cleaning the floor while traveling on its own in a predetermined area. The cleaning of the floor referred to herein includes sucking in dust (including foreign matter) on the floor or mopping the floor.

The main body 10 of the robot cleaner 1 forms the exterior of the robot cleaner 1 .

The main body 10 includes an upper housing 20 covering an upper surface, a lower housing 40 provided under the upper housing 20 and enclosing a lower surface of the main body 10 , the upper housing 20 and the lower portion. It consists of a side housing 30 formed by connecting between the housings 40 .

For example, the main body 10 may be formed in a shape having a width larger than the height as a whole. In addition, when the main body 10 is viewed from above, the main body 10 may be formed in a circular shape or may be formed in a rectangular shape with rounded corners.

The main body 10 may have four corners rounded with a preset radius of curvature. And, the radius of curvature of the front and rear corners and both side corners may be formed to be larger than the curvature radius of the four corners.

At least one surface of the upper housing 20 , the side housing 30 , and the lower housing 40 may be provided with a sensor unit for sensing the external environment of the main body 10 .

Meanwhile, a battery (not shown) for supplying power to the robot cleaner 1 may be mounted on the main body 10 of the robot cleaner 1 . The battery is configured to be rechargeable, and may be configured to be detachably attached to the bottom of the cleaner body 10 .

Meanwhile, the main body 10 of the robot cleaner 1 may be equipped with a driving unit 410 for driving the robot cleaner 1 . The driving unit 410 may be one or more, preferably two or more. The traveling part 410 may be detachably configured on the bottom surface of the main body 10 .

In one embodiment, the driving unit 410 may be configured to include a wheel and a wheel cover for fixing the wheel to be rotatable with respect to the body 10 .

The components shown in FIG. 1 are not essential in implementing the robot cleaner 1, so the robot cleaner 1 described herein may have more or fewer components than those listed above. have. Hereinafter, each component will be described.

First, the suction unit ( FIGS. 3 and 460 ) may be disposed to protrude from one side of the body 10 to suck air containing dust. The one side may be the side on which the cleaner body 10 travels in the forward direction, that is, the front side of the cleaner body 10 .

The suction unit ( FIGS. 3 and 460 ) may include a suction port, and may include a motor for generating an air pressure difference for suctioning dust, and a rotary blade. In addition, it is possible to prevent the suctioned dust from being discharged back to the outside of the vacuum cleaner including the filter.

Meanwhile, the sensor unit 300 may include at least one of an external signal detection sensor, a front detection sensor, a cliff detection sensor, a 2D camera sensor, and a 3D camera sensor.

The external signal detection sensor may detect an external signal of the mobile robot. The external signal detection sensor may be, for example, an infrared sensor, an ultra-sonic sensor, a radio frequency sensor, or the like.

The front detection sensor may be, for example, an infrared sensor, an ultrasonic sensor, an RF sensor, a geomagnetic sensor, etc., and the mobile robot may use one type of sensor as the front detection sensor or use two or more types of sensors together as needed. have.

The control unit ( FIGS. 3 and 100 ) serves to process information based on artificial intelligence technology, and is one or more modules that perform at least one of information learning, information inference, information perception, and natural language processing. may include.

The control unit ( FIGS. 3 and 100 ) detects the remaining power of the battery (not shown), and when the remaining power is insufficient, controls to move to a charging station connected to an external commercial power source, and receives a charging current from the charging station to charge the battery. . The user interface unit (not shown) may display the remaining battery level on the screen by the control unit ( FIGS. 3 and 100 ).

2 is a rear view of the robot cleaner 1 .

Referring to FIG. 2 , the robot cleaner 1 may include a traveling part and a suction part 460 formed under the main body 10 to travel the main body.

The driving unit 410 may include one or more wheels 411 , 412 , 413 , and 414 .

The one or more wheels 411 , 412 , 413 , and 414 of the driving unit 410 may include driving wheels 411 and 412 and auxiliary wheels 413 and 414 .

The driving wheels 411 and 412 may include a right wheel 411 and a left wheel 412 which are provided to be spaced apart from each other in the width direction of the body 10 .

In addition, the auxiliary wheels 413 and 414 may include a front wheel 413 and a rear wheel 414 that are provided to be spaced apart from each other in the front-rear direction of the main body 10 .

For example, the one or more wheels 411 , 412 , 413 , and 414 may be formed to protrude downward of the lower housing.

Specifically, the two driving wheels 411 and 412 may be connected to a motor, respectively. That is, the right wheel 411 and the left wheel 412 may be respectively connected to two motors controlled by the controller.

At this time, if only one of the right wheel 411 and the left wheel 412 is driven, the robot cleaner 1 may be rotated.

For example, if only the motor connected to the right wheel 411 is driven, the robot cleaner 1 may be rotated to the left. Alternatively, if only the motor connected to the left wheel 412 is driven, the robot cleaner 1 may be rotated to the right.

Using the above-described operating principle, when the robot cleaner 1 according to an embodiment detects an obstacle in the sensor unit, it may respond appropriately to rotate the main body 10 in the left, right or reverse direction.

3 is a conceptual diagram illustrating the configuration of the robot cleaner.

According to one embodiment, the robot cleaner is provided in the main body 10, the traveling part 410 provided in the main body 10 to drive the main body 10, the main body 10 and the main body 10 and It includes a sensor unit for detecting a collision of an obstacle, and a control unit 100 for controlling the sensor unit and the driving unit 410 .

In addition, the robot cleaner may further include a suction unit 460 for sucking dust and a storage unit 700 capable of storing various data required for driving the robot cleaner.

Meanwhile, the robot cleaner may further include an inertial measurement unit (IMU, 600). The IMU 600 may measure the speed and direction, gravity, and acceleration of the robot cleaner body. The measured physical values may be processed into meaningful data usable for control of the robot cleaner through a comprehensive calculation process in the control unit 100 .

Accordingly, the robot cleaner may detect the inclination of the main body by using the IMU 600 , and may correct the sensed data sensed by the sensor unit 300 accordingly. This will be described later.

Hereinafter, the sensor unit 300 provided in the robot cleaner will be described in detail.

The sensor unit 300 may detect an obstacle that the main body encounters while driving.

For example, the sensor unit 300 may be a pressure-sensitive capacitive sensor. Accordingly, it is possible to sense the force pressing the sensor unit 300 and convert it into an electrical signal.

The sensor unit may detect a collision between the main body and an obstacle when an external force greater than or equal to a preset threshold value is detected.

Specifically, the sensor unit 300 has a preset threshold value, and when the magnitude of the force (external force) pressing the sensor unit 300 is greater than or equal to the preset threshold value, the sensor unit ( 300), it can be recognized that there is an external force to press.

Accordingly, the threshold value may be a threshold value through which the sensor unit 300 may recognize an obstacle.

Hereinafter, the sensing process of the sensor unit 300 will be described in detail.

When the main body collides with an obstacle placed on the floor while driving in the cleaning area, the obstacle presses the sensor unit 300 . Accordingly, a pressing force, that is, an external force is applied to the sensor unit 300 .

The magnitude of the external force may vary depending on the size, mass, elasticity, shape of the material, or the traveling speed of the main body of the obstacle.

For example, when the traveling speed of the main body is higher, the magnitude of the external force applied to the sensor unit 300 may be greater even if it collides with the same obstacle. In addition, when the mass of the obstacle is large, a greater external force may be generated by colliding with the sensor unit 300 .

If the external force generated when the main body collides with the obstacle A is smaller than a preset threshold value, the sensor unit 300 does not recognize that the obstacle A exists. Accordingly, the robot cleaner recognizes that there is no obstacle in the traveling direction and does not take a special response even if it collides with the obstacle A.

On the other hand, when the external force generated when the main body collides with the obstacle B is greater than the preset threshold value, the sensor unit 300 recognizes that the obstacle B exists, and accordingly controls an electrical signal corresponding to the obstacle detection signal ( 100) is sent. Accordingly, the robot cleaner recognizes that there is an obstacle in the driving direction, and takes appropriate measures to overcome the obstacle, such as changing the driving direction accordingly.

The control unit 100 controls the sensor unit to change the threshold value in response to a change in the traveling speed of the traveling unit 410 , and when the obstacle is detected by the sensor unit 300 , the traveling direction of the main body is determined. The driving unit 410 may be controlled to change.

That is, the control unit 100 may adjust the sensing sensitivity of the sensor unit 300 by allowing the sensor unit 300 to have the threshold value variably.

For example, when the threshold value is high, a relatively larger external force is required for the sensor unit 300 to detect an obstacle. Therefore, in this case, it can be said that the sensitivity of the sensor unit 300 is low.

Conversely, when the threshold value is low, the sensor unit 300 may recognize an obstacle even if a relatively small external force is applied thereto. Accordingly, in this case, it can be said that the sensitivity of the sensor unit 300 is high.

The control unit 100 may adjust the sensitivity of the sensor unit 300 according to the traveling speed of the traveling unit 410 .

Specifically, the control unit 100 controls the sensor unit 300 so that the threshold value increases as the traveling speed of the traveling unit 410 increases, and the traveling speed of the traveling unit 410 decreases. Accordingly, the sensor unit 300 may be controlled to decrease the threshold value.

That is, when the main body 10 moves quickly because the traveling speed of the traveling unit 410 is high, the control unit 100 sets the threshold value of the sensor unit high to increase the sensitivity of the sensor unit 300 . It is set low, and even if it collides with a predetermined obstacle, it is possible to control the main body 10 to maintain the existing driving path. Accordingly, the robot cleaner 1 may push out obstacles on the travel path.

Therefore, when driving quickly in a wide cleaning area with only relatively small and light obstacles, the robot cleaner lowers the sensitivity of the sensor unit 300 and reduces the detection frequency and time required to detect obstacles, so that the Allows for quick cleaning.

Conversely, when the traveling speed of the traveling unit 410 decreases and the main body 10 moves slowly, the control unit 100 sets the threshold value of the sensor unit 300 to be low, so that the sensor unit ( 300) can be set to a high sensitivity and can be controlled to detect more obstacles. Accordingly, the robot cleaner may travel slowly in the cleaning area and respond sensitively to obstacles.

Therefore, when the driving speed is lowered to thoroughly clean a narrow area, the robot cleaner increases the sensitivity of the sensor unit 300, detects all small and light obstacles encountered in the driving direction, and responds appropriately. Allows for meticulous cleaning.

When the driving unit 410 stops driving, the controller 100 may control the sensor unit 300 so that the threshold value has a preset initial value.

The initial value may be preset by a user. Accordingly, the user sets the sensitivity criteria of the desired sensor, and applies it to the sensor unit 300, so that user-customized cleaning is possible.

The preset initial value may be plural. Each of the plurality of initial values may be stored in the storage unit 700 to correspond to a unique cleaning mode. For example, the user may set the initial threshold value high in the quick cleaning mode and set the threshold initial value low in the meticulous cleaning mode. Accordingly, the user may set different sensitivity standards of the sensor unit 300 according to individual cleaning modes, thereby increasing the cleaning efficiency of the robot cleaner.

4 is a perspective view of the robot cleaner 1 .

The sensor unit 300 is provided on the front side of the main body 10, and the first sub-sensor unit 310, the second sub-sensor unit 320, and the third sub-sensor unit are arranged side by side in the lateral direction of the main body. 330 may be included.

Here, the lateral direction of the main body may refer to a lateral direction of the main body. That is, the plurality of sub-sensor units may be sequentially arranged side by side in a horizontal direction on the front surface of the main body. The plurality of sub-sensor units 310 , 320 , and 330 are the It may be provided on some surfaces.

For example, from a viewpoint facing the front of the main body 10 , the first sub-sensor unit 310 and the second sub-sensor unit are sequentially from the left side of the front side of the side housing 30 to the right side of the front side. (320), the third sub-sensor unit 330 may be provided.

In one embodiment, the plurality of sub-sensor units 310 , 320 , and 330 may be formed to cover all the front portions of the side housing 30 .

Accordingly, the first sub-sensor unit 310 may detect an obstacle on the right side of the main body 10 in the traveling direction, and the second sub-sensor unit 320 detects an obstacle in front of the main body 10 in the traveling direction. may be detected, and the third sub-sensor unit 330 may detect an obstacle on the left side of the main body 10 in the traveling direction.

Each sub-sensor unit 310 , 320 , 330 may have an independent threshold value. That is, the first sub-sensor unit 310 and the second sub-sensor unit 320 may each have different threshold values.

The second sub-sensor unit 320 may have a higher threshold value than the first and third sub-sensor units 310 and 330 provided on both sides of the second sub-sensor unit 320 . Accordingly, the robot cleaner 1 may respond sensitively to obstacles encountered on both sides of the main body 10 in the driving direction, and push out obstacles encountered in the front of the driving direction. Therefore, the regular robot cleaner 1 can avoid the obstacle quickly and accurately while continuing to maintain the main path.

Each of the sub-sensor units 310 , 320 , and 330 may be formed by stacking a plurality of sensors in a height direction of the main body 10 .

The plurality of sensors are arranged side by side in the lateral direction of the main body 10, and may be stacked in at least two layers or more vertically. That is, the first sub-sensor unit 310 , the second sub-sensor unit 320 , or the third sub-sensor unit 330 may include a plurality of sensors arranged side by side in at least two rows in the lateral direction of the main body. .

Accordingly, the plurality of sub-sensor units may detect the height of the obstacle, respectively.

Threshold values related to obstacle detection of the plurality of sensors included in each of the sub-sensor units 310 , 320 , and 330 may change in response to a change in the traveling speed of the traveling unit 410 . That is, the controller may control the plurality of sensors to change the threshold value in response to a change in the driving speed of the driving unit 410 . Also, when the obstacle is detected by the plurality of sensors, the controller may control the driving unit 410 to change the driving direction of the main body.

The arrangement of the plurality of sensors will be described in detail with reference to FIG. 5 below.

5 is a front view for explaining the arrangement of the sensor unit of the robot cleaner.

As shown in FIG. 5 , the sensor unit may be provided along at least some of the front surfaces of the side housing 30 of the main body 10 .

The sensor unit may further include a first sub sensor unit 310 , a second sub sensor unit 320 , and a third sub sensor unit 330 .

In addition, each of the sub-sensor units 310 , 320 , 330 may be formed by stacking a plurality of sensors A, B, C, D, E, and F in the height direction of the body 10 .

A-sensor 311 (hereinafter, A-sensor) included in the first sub-sensor unit 310, D-sensor 312 (hereinafter, D-sensor) included in the first sub-sensor 310, and a second sub-sensor 320 Sensor B included in (321, hereinafter, sensor B), sensor E (322, hereinafter, sensor E) included in the second sub-sensor unit 320, sensor C (331, included in the third sub-sensor unit 330) Hereinafter, C sensor) and the F sensor 332 (hereinafter, F sensor) included in the third sub-sensor unit 330 may each independently perform a sensor function.

Threshold values of the A to F sensors may be independently changed. Accordingly, the robot cleaner 1 can effectively detect obstacles according to the traveling speed using sensors having various sensitivities.

At least some sensors of the first sub-sensor unit 310 may be provided in vertical contact with at least some sensors of the second sub-sensor unit 320 .

For example, as shown in FIG. 5 , the A sensor 311 of the first sub sensor unit 310 has a partial surface of the E sensor 322 of the second sub sensor unit 320 . It may be provided in contact with the top and bottom. Similarly, a partial surface of the B sensor 321 of the second sub sensor unit 320 may be provided in vertical contact with a partial surface of the F sensor 332 of the third sub sensor unit 330 .

Accordingly, the plurality of sub-sensor units 310 , 320 , and 330 cross each other, thereby minimizing a blind spot in which the sensor cannot detect an obstacle. That is, according to the embodiment, the sensor provided in the robot cleaner 1 can detect obstacles of various sizes encountered while driving without a so-called dead zone.

A partial surface of the D sensor 312 may be provided in contact with the side surface of the A sensor 311 . In addition, a partial surface of the C sensor may be provided in contact with the side surface of the F sensor 332 . That is, the D sensor 312 and the C sensor 331 are partially bent upward or downward. Accordingly, the sensor unit may detect obstacles of various sizes encountered while driving without a dead zone between the first thermal sensors D, E, and F and the second thermal sensors A, B, and C.

In addition, when an obstacle is detected by some of the plurality of sensors disposed on the front part of the main body 10 , the robot cleaner 1 may appropriately change the driving direction accordingly.

When an obstacle collision is detected only in the first sub-sensor unit 310 , the control unit of the robot cleaner 1 changes the traveling direction in a direction opposite to that of the first sub-sensor unit 310 . ) can be controlled.

For example, when an obstacle is simultaneously detected by the A sensor 311 and the D sensor 312 included in the first sub-sensor unit 310 , the control unit controls the second in the traveling direction of the main body 10 . Recognizing that there is an obstacle on the side where the first sub-sensor unit 310 is located, it is possible to control the driving unit 410 to travel in a direction opposite to the side where the first sub-sensor unit 310 is located.

Conversely, when an obstacle collision is detected only in the third sub-sensor unit 330 , the controller controls the driving unit 410 to change the driving direction in a direction opposite to the third sub-sensor unit 330 . can

When the size of the obstacle is relatively large, the obstacle may be detected by one or more sub-sensor units. Even when an obstacle is detected by the one or more sub-sensor units, the control unit may appropriately change the driving direction accordingly.

When an obstacle collision is simultaneously detected by the first sub-sensor unit 310 and the second sub-sensor unit 320 , the control unit changes the driving direction in a direction opposite to that of the first sub-sensor unit 310 . The driving unit 410 may be controlled.

For example, the A-sensor 311 and the D-sensor 312 included in the first sub-sensor part 310 and the B-sensor 321 included in the second sub-sensor 320 and the When an obstacle is simultaneously detected by the E-sensor 322, the control unit recognizes that there is an obstacle on the side where the first sub-sensor 310 is located in the traveling direction of the main body 10, and the first sub-sensor unit ( The driving unit 410 may be controlled to travel in a direction opposite to the direction on which the 310 is located.

Conversely, when an obstacle collision is simultaneously detected by the second sub-sensor unit 320 and the third sub-sensor unit 330 , the control unit sets the driving direction in the opposite direction to the third sub-sensor unit 330 . It is possible to control the driving unit 410 to change.

On the other hand, when the size of the obstacle is very large beyond the width of the front part of the main body 10, the robot cleaner 1 sets a new driving route by changing the driving direction in the reverse direction rather than turning left or right. may be desirable.

The controller may control the driving unit 410 to reverse the driving direction when an obstacle collision is simultaneously detected by all of the sub-sensor units 310 , 320 , and 330 .

In addition, the control unit may set a new driving pattern or set a new driving direction after switching the driving direction to the reverse direction.

Accordingly, the robot cleaner 1 may select an appropriate travel path according to the size of various obstacles to effectively perform cleaning.

In addition, since the sensor unit has a plurality of sensors stacked up and down, only the plurality of sensors arranged on some layers may detect an obstacle. Accordingly, the sensor unit may determine the height of the obstacle.

If the height of the obstacle is lower than the height of the main body, the obstacle may collide only with sensors arranged in the first row provided below among the plurality of sensors. Accordingly, the sensor unit 300 may recognize that the obstacle is an obstacle having a low height.

The control unit follows the outer edge of the obstacle when only the sensors arranged on the lowest layer (eg, the D sensor, the E sensor, and the F sensor of FIG. 5 ) among the plurality of sensors included in the sensor unit detect an obstacle collision. to control the driving unit 410 to travel.

For example, the robot cleaner 1 recognizes an obstacle having a relatively low height, such as a small object placed on a threshold or a floor, runs along the periphery of the obstacle, determines the length of the obstacle, etc. By determining the pattern, cleaning can be performed.

The table below is a table showing various embodiments of the above-described driving direction change configuration.

As shown in the chart, in the case of the embodiments I to IV, an obstacle is detected in some of the plurality of sub sensor units 310 , 320 , 330 , and accordingly, the control unit travels left or right You can control it to change direction.

In addition, in the case of the above embodiments V and VI, when an obstacle is detected only by the sensors arranged in the lower row or when an obstacle is simultaneously detected by all sensors, the height of the obstacle can be recognized and the driving direction can be set appropriately.

6 to 9 are block diagrams showing a control method of the robot cleaner.

6 is a configuration diagram illustrating a method for the sensor unit to detect an obstacle.

The control unit provided in the main body of the robot cleaner may control the traveling unit to control the main body to travel in a preset traveling direction. (S601)

While the main body is driving, it may collide with an obstacle located on a driving path according to the preset driving direction. (S602) An external force acts on the main body by the collision with the obstacle.

As the external force is applied to the body, the sensor unit may detect the obstacle. Hereinafter, the sensing process of the sensor unit will be described in more detail.

The sensor unit is provided on some of the outer surfaces of the main body. The sensor unit may be a pressure-sensitive sensor capable of sensing a contact pressure when in contact with an external object. Accordingly, the sensor unit may sense an external force acting on the main body due to the collision with the obstacle (S603), and more specifically, the sensor unit may sense the magnitude of the external force.

The sensor unit includes a first sub-sensor unit, a second sub-sensor unit, and a third sub-sensor unit provided on a front surface of the main body and arranged side by side in a lateral direction of the main body, wherein each of the sub-sensor units includes a plurality of sensors. It may be formed by stacking in the height direction of the body.

Also, the sensor unit may have a preset threshold value. The threshold value is a kind of threshold value, and when an external force acting on the body is equal to or greater than the threshold value, the sensor unit may detect the obstacle.

The sensor unit compares the threshold value with an external force acting on the main body due to a collision with an obstacle. (S604)

When the external force applied by the obstacle to the sensor unit provided in the main body is greater than the threshold value of the sensor unit, the sensor unit detects that the main body collides with the obstacle, and transmits a corresponding electrical signal to the control unit do.

Accordingly, the controller may control the traveling unit to change the traveling direction of the main body 10 to avoid the obstacle. (S605)

On the other hand, if the external force does not exceed the threshold value, the sensor unit does not transmit a signal indicating that the obstacle is detected. Accordingly, the control unit controls the traveling unit to maintain the existing traveling direction as it is, and the main body continues to travel along the preset traveling direction.

7 is a block diagram illustrating a control method for changing the sensing sensitivity of the sensor unit in response to the traveling speed of the robot cleaner.

In a state in which the main body of the robot cleaner is stopped, the control unit may set the threshold value of the sensor unit to a preset initial value. (S701)

Accordingly, the initial value may be a reference point to which the main body returns as the vehicle stops running, no matter what threshold value the sensor unit has in any specific situation. That is, the initial value serves as a reference point for the threshold value, and may be used as an index capable of indicating the sensing sensitivity of each of the plurality of sensor units.

The initial value can be arbitrarily set by the user through a user input unit provided in the main body.

When the main body starts traveling, the control unit may measure the traveling speed of the traveling unit. (S702)

The control unit may determine the driving speed of the driving unit in real time, calculate the change amount, and recognize that the driving speed is changed. (S703)

If the traveling speed does not change, the controller may control the sensor to maintain a preset threshold value. (S704) Accordingly, in this case, the sensing sensitivity of the sensor unit is not changed.

The control unit may change the threshold value of the sensor unit as the traveling speed changes. (S705)

For example, the control unit controls the sensor unit so that the threshold value increases than the existing value as the traveling speed of the traveling unit increases, and as the traveling speed of the traveling unit decreases, the threshold value is changed to the existing value. The sensor unit may be controlled to decrease than the value of .

The sensor unit may compare a threshold value set by the controller with an external force generated by an obstacle while driving. (S706)

When the external force is greater than the threshold value, the sensor unit may detect that the obstacle collides with the main body. (S707)

Conversely, when the external force is less than the threshold value, the sensor unit does not detect the obstacle.

Accordingly, as the traveling speed of the main body changes, the control unit may increase or decrease the threshold value of the sensor unit to variably control the sensitivity of the sensor unit.

To summarize the above, the control method of a robot cleaner having a plurality of sensor units includes the steps of: a main body traveling along a preset driving direction; detecting an obstacle when the main body collides with an obstacle while driving; When the sensor unit detects an obstacle, the method may include changing the traveling direction of the main body.

The sensor unit includes a first sub-sensor unit, a second sub-sensor unit, and a third sub-sensor unit provided on a front surface of the main body and arranged side by side in a lateral direction of the main body, wherein each of the sub-sensor units includes a plurality of sensors. It may be formed by stacking in the height direction of the body.

In addition, the step of detecting the obstacle by the sensor unit is a step of setting a threshold value according to the traveling speed of the main body, detecting an external force applied to the main body when the main body collides with an obstacle, the detected Comparing the external force with the set threshold value, and changing the traveling direction of the main body when the sensed external force exceeds a preset threshold value.

The step of setting a threshold value according to the traveling speed of the main body may include recognizing a preset threshold value, measuring a change in the traveling speed of the main body, and when the traveling speed of the main body increases, the threshold value It may include increasing the , decreasing the threshold value when the traveling speed of the main body decreases, and returning the threshold value to a preset initial value when the traveling of the main body is stopped.

Meanwhile, as the sensor unit detects the obstacle, the controller may appropriately change the driving direction in response thereto.

That is, the step of changing the traveling direction of the main body is a step of correcting the traveling direction of the main body to the right when an external force exceeding the threshold value is detected by the sensor unit located on the left side of the traveling direction of the main body, the main body correcting the traveling direction of the main body to the left when an external force exceeding the threshold value is detected by the sensor unit located on the right side of the traveling direction of It may include correcting the traveling direction of the main body in the reverse direction when an external force exceeding the is detected.

In addition, when the obstacle is detected only by some of the plurality of sensors provided in the sensor unit, the controller may recognize the height of the obstacle according to the detection and appropriately change the driving direction in response thereto.

The changing of the driving direction of the main body may include changing the driving direction so that the main body follows the perimeter of the obstacle when an external force exceeding the threshold value is detected by a sensor unit located below among the plurality of sensor units. It may further include the step of

On the other hand, the robot cleaner may run not only on a horizontal ground but also on an inclined ground. Alternatively, the robot cleaner may travel in a state in which a part of the main body of the robot cleaner is spread over a threshold having a step or an outer boundary line of an obstacle formed widely on the floor surface.

In such a situation, even if it collides with the same obstacle, the external force applied to the sensor unit due to the inclination of the body is distributed in an axis perpendicular to the ground and an axis horizontally, so that an external force value different from that in the case of a collision on a flat ground may be applied. .

Therefore, by using an inertial measurement unit (hereinafter also referred to as IMU) capable of checking the state of the main body, the degree of inclination of the main body is sensed, and the initial setting value of the sensor unit needs to be corrected accordingly. There is a need.

8 is a configuration diagram for explaining a control method for correcting an initial set value of the sensor unit using the inertial measurement device.

First, the power of the main body of the robot cleaner is turned on. (S801) The main body may be viewed as a set including all of the sensor unit, the driving unit, and the control unit. Accordingly, the body may be the same concept as a set.

When the power of the main body is turned on, power is also supplied to the sensor unit, and accordingly, the sensor unit may load a preset initial value. Also, simultaneously or sequentially, the control unit and the sensor unit may interwork with each other to perform a procedure of correcting the initial value of the sensor unit to an appropriate value. (S802)

The control unit may obtain the speed and direction of the body, gravity, acceleration, and numerical values related to roll, pitch, and yaw from the inertial measurement device. Accordingly, the control unit may determine whether the main body is ready to travel in a stable posture. (S804)

When it is determined that the main body is ready for driving, the controller may appropriately correct the initial set value of the sensor unit in response to the state of the main body. (S806)

For example, the initial setting value may include a threshold value of the sensor unit.

When it is determined that the main body is in an unstable state and it is difficult to travel stably, the controller may control the driving unit to move the main body within a predetermined range so that the main body can take a stable posture.

Alternatively, when unstable vibration is sensed in the main body, the controller may wait until the vibration disappears.

Accordingly, the control unit may control the main body to complete preparation for driving in a stable state. (S805) When the preparation for driving is completed, the control unit may check the state of the main body again through the IMU and correct the setting value of the sensor unit.

The control unit of the robot cleaner may improve the obstacle detection performance of the sensor unit while driving by using the IMU provided in the main body.

9 is a block diagram of a control method in which the sensor unit can more accurately detect an obstacle using the inertial measurement device.

The main body may collide with or contact an obstacle located on the driving path while driving along a preset driving path. (S901)

Accordingly, the sensor unit provided on a part of the main body may sense an external force generated due to a collision or contact between the main body and the obstacle, and measure an accurate value of the external force. (S902)

Even if the external force is generated by the same obstacle, the value may vary depending on the degree of inclination or rotation of the main body. That is, when the main body collides with or contacts an obstacle on an inclined surface having a predetermined inclination, the external force generated by the obstacle may be distributed in an axis perpendicular to the ground and an axis horizontal to the ground. Accordingly, in this case, in order to derive an accurate value of the external force applied to the sensor unit, appropriate correction of the measured value is required according to the state of the main body.

for teeth. The control unit may obtain numerical values related to roll, pitch, and yaw of the main body from the IMU, and determine the current state of the main body. (S903)

The control unit may recognize that the main body is tilted through the numerical value obtained from the IMU. (S904)

When the main body is inclined, the controller may correct the external force value measured by the sensor unit to match the inclined angle of the main body. (S905)

On the other hand, when the main body is located on a horizontal ground and it is determined that the IMU is in a horizontal state, the control unit may determine the value of the external force measured by the sensor unit as an effective value.

That is, when the main body is positioned on a horizontal ground, the external force value measured by the sensor unit is determined as an effective value, and when the main body is tilted or placed obliquely by other obstacles, the state value obtained from the IMU can be determined as an accurate effective value by reflecting the value of the external force measured by the sensor unit (S906).

The control unit and the sensor unit may detect an obstacle by using the determined effective value of the external force, and may respond appropriately thereto. (S907)

As described above, the robot cleaner can detect obstacles more accurately by using the inertia measuring device provided in the main body, and change the running direction in response to the characteristics of each obstacle, thereby improving the cleaning performance speed and efficiency. can be raised

Meanwhile, in the above description of the present invention, specific embodiments have been described, but various modifications may be made without departing from the scope of the present invention.

It is apparent to those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit and essential characteristics of the present invention.

The above detailed description should not be construed as restrictive in all respects and should be considered as illustrative. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the present invention are included in the scope of the present invention.

1: Robot vacuum cleaner
10: body
20: upper housing
30: side housing
40: lower housing
100: control unit
300: sensor unit
410: driving unit
600: inertial measurement unit (IMU)

Claims (16)

main body;
a driving unit provided on the main body to drive the main body;
a sensor unit provided on the main body to detect a collision between the main body and an obstacle; and
A control unit for controlling the sensor unit and the driving unit,
The sensor unit,
It is provided on the front side of the main body and includes a first sub-sensor unit, a second sub-sensor unit, and a third sub-sensor unit which are arranged side by side in a lateral direction of the main body;
Each of the sub-sensor units is formed by stacking a plurality of sensors in the height direction of the body,
At least some sensors of the first sub-sensor unit vertically intersect with at least some sensors of the second sub-sensor unit
robotic vacuum. delete According to claim 1,
the sensor unit
When an external force greater than a preset threshold value is detected, a collision between the main body and an obstacle is detected,
The control unit is
In response to a change in the traveling speed of the traveling unit, control the sensor unit to change the threshold value,
When the obstacle is detected by the sensor unit, controlling the traveling unit to change the traveling direction of the main body
robotic vacuum. 4. The method of claim 3,
The control unit is
when the driving unit stops driving, controlling the sensor unit so that the threshold value has a preset initial value
robotic vacuum. 5. The method of claim 4,
The control unit is
As the traveling speed of the traveling unit increases, the sensor unit is controlled to increase the threshold value,
As the traveling speed of the traveling unit decreases, controlling the sensor unit to decrease the threshold value.
robotic vacuum. According to claim 1,
The control unit is
When an obstacle collision is detected only in the first sub-sensor unit,
controlling the driving unit to change the driving direction in a direction opposite to the first sub-sensor unit
robotic vacuum. According to claim 1,
The control unit is
When an obstacle collision is simultaneously detected by the first sub-sensor unit and the second sub-sensor unit,
controlling the driving unit to change the driving direction in a direction opposite to the first sub-sensor unit
robotic vacuum. According to claim 1,
the control unit
When an obstacle collision is detected in all sub-sensors at the same time,
Controlling the driving unit to change the driving direction to the reverse direction
robotic vacuum. 9. The method of claim 8,
the control unit
After changing the driving direction to the reverse direction, setting a new driving pattern
robotic vacuum. According to claim 1,
the control unit
When an obstacle collision is detected only by the sensor arranged on the lowest layer among the plurality of sensors included in the sensor unit,
controlling the driving unit to run by following the periphery of the obstacle
robotic vacuum. According to claim 1,
Further comprising a bumper provided on at least some surface of the outer periphery of the body,
The sensor unit,
formed integrally with the bumper
robotic vacuum. In the control method of a robot cleaner having a sensor unit,
driving the main body along a preset driving direction;
detecting the obstacle by the sensor unit when the main body collides with an obstacle while driving; and
When the sensor unit detects an obstacle, including the step of changing the traveling direction of the main body,
The sensor unit includes a first sub-sensor unit, a second sub-sensor unit, and a third sub-sensor unit provided on the front side of the main body and arranged side by side in a lateral direction of the main body,
Each of the sub-sensor units is formed by stacking a plurality of sensors in the height direction of the body,
At least some sensors of the first sub-sensor unit vertically intersect with at least some sensors of the second sub-sensor unit
How to control a robot vacuum cleaner. 13. The method of claim 12,
The step of detecting the obstacle by the sensor unit,
setting a threshold value according to the traveling speed of the main body;
detecting an external force applied to the main body when the main body collides with the obstacle;
comparing the sensed external force with the set threshold value; and
When the sensed external force exceeds the set threshold value, detecting that the main body collides with an obstacle;
How to control a robot vacuum cleaner. 14. The method of claim 13,
The step of setting a threshold value according to the traveling speed of the main body,
recognizing a preset threshold value;
measuring a change in the traveling speed of the main body;
increasing the threshold value when the traveling speed of the main body increases;
reducing the threshold value when the traveling speed of the main body decreases; and
and returning the threshold value to a preset initial value when the running of the main body is stopped.
How to control a robot vacuum cleaner. 14. The method of claim 13,
Changing the running direction of the main body comprises:
correcting the traveling direction of the main body to the right when an external force exceeding the threshold value is detected by the sensor unit located on the left side of the traveling direction of the main body;
correcting the traveling direction of the main body to the left when an external force exceeding the threshold value is detected by the sensor unit located on the right side of the traveling direction of the main body; and
When an external force exceeding the threshold value is detected by the sensor unit located in front of the traveling direction of the main body, correcting the traveling direction of the main body in the reverse direction
How to control a robot vacuum cleaner. 14. The method of claim 13,
Changing the running direction of the main body comprises:
Among the plurality of sensors, when an external force exceeding the threshold value is detected only by a sensor arranged on the lowest layer, changing the driving direction so that the main body follows the outer edge of the obstacle to run
How to control a robot vacuum cleaner.

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