KR20050114312A - Cleanning robot with ultrasonic satellite - Google Patents

Abstract

The cleaning robot shown in FIG. 2 is a cleaning robot that does not have a magnetic position recognition function, which takes a lot of cleaning time and may not repeatedly clean a specific point or do not clean at all.

The existing robot is equipped with a connection device to add the magnetic position recognition function using the ultrasonic satellite and add the algorithm accordingly to maximize the function of the cleaning robot.

It consists of an ultrasonic satellite, an existing cleaning robot and a new control device and an interface connecting it.

Description

Cleaning Robot with Ultrasonic Satellite

The cleaning robot shown in FIG. 2 is a cleaning robot that does not have a magnetic position recognition function, which takes a lot of cleaning time and may not repeatedly clean a specific point or do not clean at all.

The existing robot is equipped with a connection device to add the magnetic position recognition function using the ultrasonic satellite and add the algorithm accordingly to maximize the function of the cleaning robot.

It consists of an ultrasonic satellite, an existing cleaning robot and a new control device and an interface connecting it.

1. Application of ultrasonic satellite

   Our laboratory developed the ultrasonic satellite system by applying GPS satellite method using ultrasonic waves to recognize the position of the cleaning robot. It is a low cost, simple position-aware system that can be applied to a cleaning robot to achieve a cleaning ability that can surpass that of expensive vision systems.

2. Wireless interface with new controller and new remote control

   Although the development of the cleaning robot will continue, it is possible to implement advanced functions beyond the limitations of the conventional cleaning robot by simply connecting the existing entry robot and the ultrasonic satellite. In order to do this, modification of the existing cleaning robot is inevitable. However, in the case of a fully automatic cleaning robot, it is difficult to add additional functions beyond those supported by the manufacturer. Fortunately, the cleaning robot that can be operated manually can be added more easily. In the case of the cleaning robot that uses the remote control, additional functions using the manual function can be given by the new production of the remote control.

3. Add safety device

   Safety cannot be overemphasized. The system has added some safety features to existing functions.

3-1. Safety cover: An additional cover can be added to stop the robot's function with simple operation if desired.

3-2. Voice Support: Adds simple voice recognition for emergency stops. For example, the emergency stop function works when a sound of a certain size or more is recognized.

3-3. RF emergency stop function: Emergency stop by infrared remote control does not work when the view is blocked. In addition, control signals through various complex paths may not work due to disturbances. Therefore, the emergency stop function is assisted to operate on RF signal which is auxiliary irrespective of sight and implemented by simple function.

  ○ Structure of the robot

The proposed cleaning robot consists of a system.

1. Recognition of Current Location by Ultrasonic Satellite: Implementation of Route Planning

1-1. Ultrasonic Transmitter Placed in Multiple Known Fixed Positions (Ultrasound)

1-2. Synchronization signal is sent out at regular intervals

1-3. Multiple ultrasonic satellites each have an address

Ultrasonic wave is sent after the delay time that matches the address after receiving the synchronization signal

1-4. The robot receives ultrasonic signals from each satellite

1-5. Compute the distance to each ultrasonic satellite compared to the sync signal

1-6. Calculate the current position of the robot using the coordinates of several ultrasonic satellites

2. The role of the controller: various path plans can be implemented

2-1. Point-based automatic cleaning: Automatic route execution from the designated location to the starting point

2-2. Area type automatic cleaning: Recognizes the cleaning area as a starting point

In-zone route can be created

2-3. Iterative learning: remembering or learning from previous cleaning actions

Can implement a timed repeat function

3. Adopted existing cleaning robot: It can be cleaned under furniture because it has a low height of circular structure

  ○ How it works

1. Location Awareness:

1-1. Ultrasound propagates about 340 meters per second.

Therefore, measuring the time can tell the distance.

1-2. The three-dimensional position of the moving object is determined by four defined independent positions (ultrasound satellites)

Knowing each distance can be found.

1-3. Sharing of Ultrasound Resources

1-3-1. One moving object sends out ultrasonic waves

1-3-1-1. Multiple receivers provide each distance

1-3-1-2. Simultaneous measurement

1-3-1-3. Sound interference problem when there are several moving objects

1-3-1-4. Can not send ultrasound at the same time

Complicated because you have to set rules

1-3-1-5. Slow responsiveness because you have to wait for the sequence

1-3-2. Ultrasonic satellite transmission in a fixed position

1-3-2-1. Each mobile object receives its own and recognizes its own position

1-4. Parallel Position Estimation Method: Measure the control results to calculate the predicted position

Use as a position value for a short time.

2. Cleaning function: adopted entry-level cleaning robot

2-1. Vacuum suction: creates a vacuum that only sucks in fine dust

2-2. Sweep and hold: Small garbage can be cleaned with brush and

Pick up and remove with combined rotation.

2-3. Manual parallelism: Remove large garbage or obstacles in advance.

It is good to have a movable basket with a high foot height.

  ○ Cleaning method

1. Path planning: Unlike the path generation by trial and error of conventional low-cost cleaning robot

Applicable paths and methods to meet user needs

1-1. Specify cleaning area: selectable according to your needs

1-2. Key path setting: reflects user knowledge or controller learning results

1-3. Detailed path generation: Residual machining with CAM

2. cleaning function

2-1. Vacuum suction: fine dust

2-2. Sweeping and Carrying: Small Garbage

2-3. Manual Parallelism: How to Put Out Large Garbage or Obstacles Ahead

Roles in parallel with manual or zone exclusion

3. Performance Evaluation Method

  ○ Performance evaluation method (safety method, cleaning performance measurement method, etc.)

safety

1. Obstacles: bypass when encountered (contact guides and recognition switches)

2. Stairs: Evade if found (distance sensor)

3. Emergency stop

3-1. Stops when the upper part is touched (side is perceived as an obstacle)

3-2. Simple voice recognition function, emergency stop operation in case of sound input of stop related condition

3-3. Emergency stop by RF radio reception: Bluetooth wireless control, infrared emergency stop

Add emergency stop function by RF in case of failure

How to measure cleaning performance

1. Cleaning Path: Pass exactly the designated path

2. Cleaning time: time taken to pass through the designated area

3. Securing autonomous areas: searchable areas for cleaning

The function is added because it adds magnetic position recognition function by using ultrasonic satellite and automatically controls by manual operation function of existing robot.

1 is a configuration example of an ultrasonic satellite

2 is an example of a cleaning robot to which the present invention is applicable.

3 is a remote control applied to the cleaning robot of FIG.

Claims (2)

In the cleaning robot: Add the magnetic position recognition function using the ultrasonic satellite by using the manual operation function to the existing cleaning robot; Connect a controller to which an algorithm capable of the magnetic position recognition function is applied; A cleaning robot using an ultrasonic satellite, characterized in that the safety device is mounted in triple of emergency stop by cover, emergency stop by voice and emergency stop by RF signal. The method of claim 1 wherein: Algorithm that is possible with self position recognition function, A cleaning area designation function selectable according to a user's needs; A main path setting function reflecting a user's knowledge or a learning result of a controller; Cleaning robot using ultrasonic satellite, characterized in that consisting of a detailed path generation function applying the residual machining method of the CAM function.