KR20050010591A - The control Methode of cleaning path for cleaning robot - Google Patents

Abstract

PURPOSE: A control method of a cleaning passage of a cleaning robot is provided to clean the corner accurately without repetition by zigzagging the cleaning robot around the corner, and to prevent the cleaned area from being smeared with dust of the travel wheel by placing the cleaning tool in the cleaning area and the robot body in the cleaned area. CONSTITUTION: A cleaning tool is protruded in a cleaning robot for the travel direction, and the operation space of the cleaning robot is obtained by swinging the cleaning robot in the cleaning area from the memory. The cleaning robot detects the position without contacting to the wall, and moves into the area to be cleaned by zigzagging and controlling the pose. The cleaning robot moves along the area to be cleaned around the corner, and cleans the corner by the cleaning tool. The cleaning tool is installed to the turret rotating 360 angular degrees, and moved for cleaning the area to be larger than the width of the travel wheel in rotating the turret.

Description

The control method of cleaning path for cleaning robot}

The present invention relates to a cleaning path control method of a cleaning robot, and in particular, the cleaning tool of the cleaner protrudes, and after cleaning a larger area than the main body toward the moving direction of the cleaning robot by a turret rotating the cleaning tool. By moving it, it always relates to the method of cleaning without dust on the wheel of the cleaning robot.

Existing domestic and foreign cleaning robots use only basic collision detection sensors to clean the whole day by simply moving the cleaning method along the wall or moving randomly (when the rotating ball hits the wall in a V-shape). There may be an area where it will not be possible, and also because the cleaning tool is mounted inside the robot, it will not be able to clean the corners and corners of the room since it will not be cleaned at all on the wall.

In addition, the cleaning time is also very long because the cleaning method in a random manner, in the case of a 40-pyeong apartment needs to be recharged several times. In other words, the existing cleaning robot is about the level of a simple mobile cleaner (first generation cleaning robot) rather than a robot.

Figure 7 shows the structure of such a conventional cleaning robot, the schematic configuration of the cleaning robot can be seen that the suction port in the rear or the front of the wheel. In addition, the width of the suction port is smaller than the width of the wheel is smaller than the width of the wheel can be seen that there is a disadvantage. In addition, the suction port is smaller than the outside size of the cleaning robot, it can be seen that the corner cleaning is difficult. Of course, it seems that the cleaning area can be increased by increasing the width of the suction port, but in reality, the battery-powered cleaning robot has a structural problem in that the suction power is weak to increase the size of the suction port.

Therefore, as shown in FIG. 8, since the area smaller than the size of the cleaning robot is cleaned, the wall or corner cannot be cleaned, and the wheel of the cleaning robot passes through the uncleaned area in the traveling direction. This causes dirt on the wheels, and when driving in the cleaned area, there is a problem of dirtying the cleaned parts again.

9 shows a method of cleaning by a conventional cleaning robot by a random method, which takes a lot of time since the entire cleaning area cannot be completely cleaned and there are many overlapping cleaning areas.

An object of the present invention for solving the above problems is to prevent the cleaning robot from cleaning the corners and corners so that the uncleaned area does not occur, using the zigzag cleaning method to clean or clean the same area as in the conventional random method. The present invention provides a cleaning method that does not leave an area and prevents a problem of dirtying the cleaning area due to dust on the driving wheels during cleaning.

1 is a schematic structural diagram of a cleaning robot of the present invention;

2 is a swing operation when the cleaning robot of the present invention exits from the charging station,

Figure 3 is a swing operation of the cleaning robot of the present invention in the cleaning area,

Figure 4 is a zigzag operation after the swing operation of the cleaning robot of the present invention in the cleaning area,

5 is a cleaning area cleaning method of the cleaning robot of the present invention;

6 is a corner and corner cleaning method of the cleaning robot of the present invention,

7 is a schematic structural diagram of an existing cleaning robot;

8 is a cleaning form of the existing cleaning robot,

9 is a cleaning method of the existing cleaning robot.

The present invention to achieve the object as described above and to perform the problem for eliminating the conventional defects is a space for cleaning robot moving by moving the cleaning robot initially entered into the cleaning area cleaning robot having a cleaning tool protruding toward the driving direction The initial stage to secure the, and after the control of the posture by recognizing its position so as not to contact the wall, and cleaning only moving the uncleaned area by zigzag, and then move along the uncleaned area of the edge of the cleaning area The cleaning control method comprises a finishing step of cleaning the place including the corner with a cleaning tool.

The cleaning tool is mounted on a turret rotating 360 degrees to move while cleaning the area larger than the width of the running wheel by the rotation of the turret during movement.

The cleaning zone measures the cleaning robot in advance before the start of cleaning and stores the data in a storage location of the cleaning robot, and then corrects the magnetic position by comparing with the data measured by the sensor during the actual cleaning. In more detail, the initial cleaning area information input is directly input by a PC or other device (PDA, etc.), and the cleaning map is input, and the cleaning robot moves directly to measure the cleaning area information and to create the cleaning map. It is selected and used.

The cleaning robot may be cleaned in a state where the above information is input by removing the dust in the initial direction by performing a swing operation using a turret rotatable 360 degrees when exiting the charging station. And, after proceeding to the cleaning area while the turret (Turret) swinging (swing) operation to prepare the area so as not to get dust on the wheel, and cleaning, and then moving the cleaning area in a zigzag cleaning step, After cleaning the bottom part except the edge, clean along the edge, but do not rotate the turret left or right, and close the suction inlet of the cleaning tool to the wall to maintain the angle with the wall to complete the cleaning of the predetermined area. .

The cleaning of the cleaning area while moving in a zigzag may be performed while continuing the swing of the turret.

In the cleaning method, the zigzag moving method automatically calculates the size of the cleaning tool according to the size of the first cleaning area, and automatically calculates how many round trips should be performed in zigzag for the entire area.

Also in the calculation, the turning point at which the robot moves in the opposite direction will be turned at the point leaving the uncleaned area of the last step of cleaning along the wall. This cleaning area is automatically calculated anew whenever the size of the cleaning tool is changed. The swing angle is randomly input. However, the rotation angle is set so that the area larger than the width of the robot robot wheel is cleaned.

The magnetic position measurement and posture correction method when moving to the zigzag, the detailed information of the cleaning area is input to the memory of the cleaning robot, and the magnetic position measurement and correction method during the actual cleaning job is performed according to the cleaning path through the following steps. You are done.

A ceiling map setting step of creating a map of the ceiling area and inputting a specific element, an image acquisition step of acquiring an image of the ceiling area through the camera and the fisheye lens of the traveling robot, and expressing a specific element; Through the image contrast step of contrasting the ceiling image and a specific element of the pre-set / preset ceiling map, and the actual position checking step of identifying the actual position by the image contrast, the magnetic position of the cleaning robot is estimated to fit the set value. Compensation is made.

In addition, the self-position measurement and posture correction method of the cleaning robot when moving along the wall is the value input from the distance measuring sensor (especially the ultrasonic sensor) in the direction of finishing cleaning along the wall along with the position measurement method by comparing the information of the ceiling during actual driving. Compare and correct your posture with the following steps.

Installing a plurality of distance measuring sensors in a driving direction of the cleaning robot; An effective value recognizing step of determining whether or not valid values of distance data measured by the plurality of distance measuring sensors are valid; An angle measuring step of measuring an angle between the cleaning robot and the wall surface from the distance data measured by the valid value determination; Recognizing the position of the cleaning robot according to the measured angle is made of a posture correction step of correcting the position of the cleaning robot according to the angle.

That is, in the attitude control method of the cleaning robot used in the present invention, two or more distance measuring sensors are disposed with respect to a traveling direction (direction to be measured) of the mobile robot, and the two or more measured distance data are compared with each other to measure the direction. Improve the reliability of the distance measurement data for the robot and obtain the angle between the robot and the detected obstacle through two or more distance data and a simple algorithm without any complicated algorithm to correct the attitude of the mobile robot or follow the outline of the obstacle and avoid it. I can do it.

In this case, the sensor uses a distance measuring sensor (including an ultrasonic sensor) for detecting obstacles present on the moving path, correcting the attitude of the robot, and measuring the distance in relation to autonomous driving of the mobile robot.

As described above, the cleaning method of the present invention uses the synchronous movement technology, the ultrasonic array sensor technology, the vision processing technology, which can move in any direction with a small position error, and efficiently cleans the robot while recognizing its position in the home. Way.

Hereinafter, the configuration and the operation of the embodiment of the present invention will be described in detail with reference to the accompanying drawings.

Figure 1 is a schematic structural diagram of the cleaning robot of the present invention, Figure 2 is a swing operation diagram when the cleaning robot of the present invention exits from the charging station, Figure 3 is a swing (swing) operation of the cleaning robot of the present invention in the cleaning area Figure 4 is a zigzag operation after the swing operation of the cleaning robot of the present invention in the cleaning area, Figure 5 is a cleaning method diagram showing the entire cleaning area of the cleaning robot of the present invention, Figure 6 is a corner of the cleaning robot of the present invention and The cleaning method of the corner is shown, the schematic structure of the cleaning robot of the present invention according to Figure 1 is a cleaning tool for sucking the cleaning object protrudes in front of the cleaning robot, this cleaning tool is mounted on a turret rotatable 360 degrees I have a structure.

However, even if the turret is attached, the wheel will be dusty if the turret is fixed and cleaned. However, the following algorithm is used to solve this structural problem.

First, when exiting the charging station by using a turret (Turret) rotatable 360 degrees swing (swing) to remove the dust in the direction of travel (see Figure 2).

Second, in the cleaning area, a turret (swing) of the turret (Turret) to provide a cleaned portion that will not get dust on the wheel (see Figure 3).

After the swing operation of the third turret (Turret) through the zigzag operation always the wheel passes only the cleaned portion (see Figure 4).

After cleaning the bottom part except the fourth corner, the corner is in close contact with the suction inlet wall to maintain the angle with the wall to clean the predetermined area (see Figure 6).

Hereinafter is a preferred embodiment of the present invention.

(Example 1)

Input cleaning area information and specific information to the cleaning robot. As information about the cleaning area comes out of the charging station for cleaning, the cleaning robot entered into the memory first rotates the cleaning tool to secure a seat in the direction of travel so that the wheels are free of dust. Afterwards, cleaning is performed while correcting posture by calculating magnetic position measurement and error according to newly input ceiling image and newly measured ceiling image information. After cleaning the zigzag cleaning zone several times in this way, while moving along the edge as the last step, the position is corrected by comparing the magnetic position by the distance measuring sensor, and the cleaning is completed once.

(Example 2)

Input cleaning area information and specific information to the cleaning robot. As information about the cleaning area comes out of the charging station for cleaning, the cleaning robot entered into the memory first rotates the cleaning tool to secure a seat in the direction of travel so that the wheels are free of dust. After that, while cleaning the swing of the turret continuously, the self-position measurement and error are calculated according to the newly input ceiling image and the newly measured ceiling image information. After cleaning the zigzag cleaning zone several times in this way, while moving along the edge as the last step, the position is corrected by comparing the magnetic position by the distance measuring sensor, and the cleaning is completed once.

The present invention is not limited to the above-described specific preferred embodiments, and various modifications can be made by any person having ordinary skill in the art without departing from the gist of the present invention claimed in the claims. Of course, such changes will fall within the scope of the claims.

The present invention as described above has a cleaning function that allows the cleaning robot to proceed to the zigzag while grasping the magnetic position and to clean the edge at the end to precisely clean the cleaning area at once, or to clean the same area repeatedly as in the prior art, or random method The advantage of eliminating the problem of the uncleaned area by cleaning by

In addition, unlike the existing cleaning robot, the cleaning suction tool is protruded to the outside to clean the walls and edges where dust is most accumulated in the house, and also to clean the area around obstacles.

In addition, the cleaning suction tool is always located in the area to be cleaned, while the body of the robot always moves only the area where cleaning is completed, unlike the existing cleaning robot, it is a useful invention that has completely solved the problem of moving the dust through the driving wheel. It is an invention that is expected to be greatly used in the industry.

Claims (7)

The cleaning robot with the cleaning tool protruding toward the driving direction initially swings the cleaning area input into the memory to secure the space for the cleaning robot to move, and then controls the posture by recognizing its position so as not to contact the wall. Cleaning robot comprising zigzag cleaning while moving only the uncleaned area, and then finishing along the edge of the uncleaned area to clean corners and corners with a cleaning tool. How to control the cleaning path. The method of claim 1, The cleaning tool is mounted on a turret rotating 360 degrees, the cleaning path control method of the cleaning robot, characterized in that the movement to move while cleaning the area larger than the width of the running wheel by the rotation of the turret when moving. The method of claim 1, The cleaning map information of the cleaning area may be selected from a method directly inputted to a cleaning robot by a PC or other device (PDA, etc.) or a method of creating a cleaning map by measuring the cleaning area by moving the cleaning robot directly. Cleaning path control method of the cleaning robot characterized in that. The method according to any one of claims 1 to 3, The cleaning robot cleaning step is to remove the dust in the initial direction by taking a swing operation using a turret rotatable 360 degrees when exiting the charging station, and then proceed to the cleaning area turret (Turret) swinging the wheels to clean up the area so as not to get dust on the wheel, and then cleaning the area by moving the zigzag cleaning area, and then cleaning the floor except the edge When the cleaning is done along the edges, the cleaning path of the cleaning robot is characterized in that the cleaning tool moves to maintain the angle with the wall by keeping the inlet of the cleaning tool close to the wall without rotating the turret left and right. Control method. The method of claim 4, wherein The cleaning step by moving the cleaning area in a zigzag cleaning path control method of the cleaning robot, characterized in that for cleaning while continuing the swing (swing) operation of the turret (Turret). The method of claim 4, wherein Self-position measurement and posture correction method when moving in zigzag include the step of setting the ceiling map to input a specific element by making a map of the ceiling area, and obtaining the image of the ceiling area by acquiring the image of the ceiling area through the camera and the fisheye lens of the driving robot. The robot for cleaning through an image acquisition step of expressing an element, an image contrast step of contrasting the acquired ceiling image with a specific element of a pre-set / set ceiling map, and an actual position checking step of identifying an actual position by the image contrast. And estimating the magnetic position of the robot and correcting it to meet the set value. The method of claim 4, wherein Magnetic position measurement and attitude correction method of the cleaning robot when moving along the wall surface comprises the steps of installing a plurality of distance measuring sensors in the running direction of the cleaning robot; An effective value recognizing step of determining whether or not valid values of distance data measured by the plurality of distance measuring sensors are valid; An angle measuring step of measuring an angle between the cleaning robot and the wall surface from the distance data measured by the valid value determination; Recognizing the position of the cleaning robot according to the measured angle and the cleaning path control method of the cleaning robot comprising a posture correction step of correcting the position of the cleaning robot according to the angle.