KR20060078099A - Home network connecting cleaning robot system - Google Patents

Abstract

The present invention is possible to remotely instruct the cleaning robot through the home net server, the cleaning instructions, the order of cleaning and feedback of the cleaning status, the user is provided with a remote control that can direct the operation to the cleaning robot to see the cleaning status monitored A home net linked robot cleaning system, comprising: a cleaning robot which transmits position data and distance data with obstacles, and receives position movement data and operation data to perform cleaning; A home server which compares the position data received from the cleaning robot and the distance data with the obstacles with the structure diagram of the house and the cleaning order data input by the user to transmit the position movement data and the operation data to the cleaning robot; And a remote controller capable of transmitting position movement data and operation data to the cleaning robot by a user.

Sweeping robot, homenet, remote control

Description

Home net connecting cleaning robot system

1 is a block diagram of a robot system for cleaning the homenet linkage of the prior art;

Figure 2 is a block diagram of a home net linkage cleaning robot system of an embodiment of the present invention

3 is a plan view of the house structure

<Description of the symbols for the main parts of the drawings>

1: internet 10: robot cleaner

19: antenna 30: home server

39: antenna 50: communication terminal

100: cleaning robot 110: display unit

120: position sensor 121: distance sensor

130: transceiver 140: robot controller

150: power supply 160: suction motor

161: suction unit 170: moving motor

171: wheel 200: home server

210: transceiver 220: home server control unit

230: display unit 240: input unit

250: memory 300: remote control

The present invention relates to a home net interlocked robot cleaning system, and more particularly, to the cleaning robot via the home net server, the cleaning instruction, the order of cleaning and feedback of the cleaning status are possible, and the user reports the cleaning status monitored. The present invention relates to a home net-linked robot cleaning system having a remote control that can directly instruct a robot to operate.

Cleaning at home during housework is a relatively laborious task compared to other household chores, even if you use a vacuum cleaner to carry it around.

Therefore, the robot cleaner developed to solve this problem can automatically clean the area to be cleaned by inhaling foreign substances such as dust from the floor surface while traveling by itself in the area to be cleaned without the user's manipulation.

For the robot cleaner, research and development of a cleaning robot that performs cleaning while autonomously moving by using a remote controller (hereinafter referred to as a 'remote controller') is given. Research on mobile robots that have a complex function of cleaning robots plus home disaster prevention functions is ongoing.

Since the conventional robot cleaner does not have a function of detecting the shape of the cleaning area, cleaning is performed by using a sensor that detects an obstacle regardless of the shape of the cleaning area, or while driving the cleaning area according to the data previously input by the user. Cleaning will be performed.

When the sensor is used in the above, the robot cleaner determines the distance to the obstacles such as furniture, office supplies, and walls installed in the cleaning area by the sensor, and drives the moving means such as wheels provided in the robot cleaner, thereby changing its direction. Clean the cleaning area.

Therefore, the robot cleaner is more likely to repeatedly clean the already cleaned place, and the robot cleaner takes a long time to clean the cleaning area. In addition, since the outside of the robot cleaner cannot check the cleaning state, it is not possible to determine whether the cleaning is performed correctly.

In particular, since the conventional cleaning robot is to be cleaned through a basic algorithm built into the robot itself during production of the product, there is a blind spot where the cleaning time is excessively consumed or the cleaning is not performed.

The cleaning robot used for the conventional homenet sends a basic operation command for cleaning the command from the server centered on the homenet server. The cleaning robot operates according to the command and the cleaning situation is fed back to the homenet server so that the consumer of the homenet server It is configured to know the situation by looking at the display device.

Figure 1 shows a robot cleaner that works in conjunction with a conventional home net server.

1 is a view showing a control system of a robot cleaner according to a preferred embodiment of the present invention. The control system of the robot cleaner includes a robot cleaner 10 for wirelessly transmitting and receiving data, a communication terminal 50 for controlling the robot cleaner 10 via the Internet network 1, and a robot cleaner 10 and data transfer. And a home server 30 capable of exchanging data with the communication terminal 50 through the Internet network 1.

The robot cleaner 10 has a camera (not shown) for capturing an image of a surrounding and an interfacing unit (not shown) for interfacing data including the image captured by the camera with the home server 30. The data is transmitted and received through the antenna 19 provided in the robot cleaner 10 and the antenna 39 provided in the home server.

The home server 30 is connected to the external internet network 1, and is comprised so that mutual data can be received with indoor household appliances.

Therefore, the home server 30 has an interface capable of communicating with the robot cleaner 10 and the communication terminal 50.

The communication terminal 50 receives an image photographed by the camera attached to the robot cleaner 10 by accessing the home server 30 through the Internet network 1. In addition, the communication terminal 50 controls the operation of the robot cleaner 10 by transmitting a control signal to the home server 30 connected to the Internet network (1).

The communication terminal 50 shown above is capable of connecting to the Internet network by wire and wireless, and refers to a communication device provided with a display unit. Examples include personal computers, notebooks, personal digital assistants, and the like. In addition, the home server 30 refers to a home appliance equipped with a device that performs a role of a server in a home network capable of receiving data including driving indoor home appliances. For example, it refers to a product in which a home server is mounted in a refrigerator, a television, a computer, and an audio.

In the prior art, only the basic operation commands such as on / off can be sent to the cleaner, and since the cleaner is operated by the basic algorithm stored in its own microcomputer or computing unit when the product is shipped, the efficiency of cleaning according to the shape of the indoor space or the structure is Falls.

In addition, since it is configured to be universally cleaned, there was a disadvantage in that excessive cleaning time is required.

An object of the present invention for solving the above problems, it is possible to instruct the cleaning robot to the cleaning robot, the cleaning order instruction and the feedback of the cleaning status to the cleaning robot through the home net server at a remote location, the user to monitor the cleaning status The present invention provides a robot system for cleaning a homenet interlocking robot equipped with a remote control capable of directing operation to the robot.

The present invention for achieving the above object, the cleaning robot for transmitting the position data and the distance data with the obstacle, and receiving the position movement data and operation data to perform the cleaning; A home server which compares the position data received from the cleaning robot and the distance data with the obstacles with the structure diagram of the house and the cleaning order data input by the user to transmit the position movement data and the operation data to the cleaning robot; And a remote controller capable of transmitting position movement data and operation data to the cleaning robot by a user.

The cleaning robot in the above, the power; Body portion; A moving motor for driving a moving wheel to move the body portion; A suction motor providing suction power to a suction part for sucking external dust; A position sensor for generating position data of the current robot; A distance sensor for generating distance data from an obstacle; Transmitting and receiving unit for transmitting the position data and the distance data, and receives the position movement data and operation data from a home server or a remote control; And cleaning by operating the control of the power source or the suction motor according to the position movement and the operation data of the moving motor according to the received position movement data, and transmitting the position data and the distance data to the transceiver. It characterized in that it comprises a robot control unit.

In addition, the home server, the transmission and reception unit for transmitting and receiving data with the cleaning robot; A memory for storing a house structure and a cleaning sequence input by a user; An input unit for inputting a cleaning order; A display unit which displays a current position and an operating state of the cleaning robot; And receiving position data and distance data transmitted by the cleaning robot from a transmitting and receiving unit, and comparing the data with the cleaning order inputted by the input unit and the house structure stored in the memory. It is characterized in that it comprises a home server control unit for generating the position movement data and operation data to send to the transmission and reception unit, and supply the current position and operation state of the cleaning robot to the display unit.

Hereinafter, the present invention will be described in detail through examples and drawings.

2 is a block diagram showing an outline of a robot cleaning system according to the present invention.

The robot cleaning system of the present invention includes a cleaning robot 100, a home server 200, a remote controller 300, and includes the Internet 1 and the communication terminal 50 as in the prior art.

The cleaning robot 100 is a power supply 150; Body portion; Moving motor 170; Moving wheel 171; Suction part 171; Suction motor 170; Position sensor 120; Distance sensor 121; Transceiver 121; And a robot control unit 140.

The cleaning robot includes a position sensor 120 and a distance sensor 121 to determine the current position.

The position sensor 120 sets a reference point, and calculates coordinates on a plane according to the movement therefrom to generate position data.

In addition, when there is an obstacle that is an obstacle of the cleaning robot, the distance sensor 121 measures distance between the obstacle and the cleaning robot to generate distance data.

The location data and distance data are transmitted to the home server 200 by the transceiver 130. In addition, the transceiver 130 receives the position movement data and operation data from the home server 200 or the remote control 300.

Therefore, when the position movement data and operation data are duplicated by the home server 200 or the remote controller 300, this is solved by giving priority to the position movement data and the operation data by the remote controller 300.

The power supply 150 should be an independent power supply for the cleaning robot to be easily moved, and it is preferable to use a rechargeable battery because it can stably supply power for a long time.

When the cleaning operation of the cleaning robot is performed by the suction part 161 and the suction motor 160, the suction robot 160 sucks dust and the like outside the cleaning robot through the suction part 161.

The suction part 161 is preferably formed under the body portion of the cleaning robot because it can clean the place where the cleaning robot is located regardless of the rotation of the cleaning robot.

In addition, the suction unit 161 has a dust filter, which is a known technique, to prevent dust from directly entering the suction motor 160 and to accumulate dust in a loading box provided inside the body.

The cleaning robot is driven by the moving motor 170 and the moving wheel 171.

The driving of the cleaning robot may be composed of steering wheel and straight wheel like a car, or two parallel wheels may be composed of two pairs of wheels capable of forward and reverse rotation, respectively.

When the two pairs of wheels all rotate in the same direction, the cleaning robot moves straight. When the two pairs of wheels rotate in opposite directions, the cleaning robot rotates clockwise or counterclockwise.

The robot controller 140 controls the mobile motor 170 according to the position movement data received by the transceiver 130, and controls the power supply 150 or the suction motor 160 according to the operation data. .

The display unit 110 may display whether or not the cleaning robot 100 is currently operated and the remaining amount of the rechargeable battery. In addition, it is also possible to generate a sound signal to determine where the cleaning robot 100 is currently.

The home server 200 includes a transceiver 210, a home server controller 220, a display 230, an input 240, and a memory 250.

The transceiver 210 receives position data and distance data from the transceiver 130 of the cleaning robot 100, and also transmits position movement data and operation data to the transceiver 130 of the cleaning robot 100. do.

The input unit 240 allows a user to input the cleaning order, a keyboard and a mouse may be used, and a touch panel may be used.

The memory 250 stores a house structure and a cleaning order input by a user.

The display unit 230 displays the current position and operating state of the cleaning robot 100. In particular, a drawing of a house structure input to the memory 250 may be output on a screen, and an icon may indicate where the cleaning robot 100 is located in the house structure.

The control unit 220 is connected to the transceiver 210, the memory 250, the input unit 240, the display unit 230, the position data and the distance transmitted by the cleaning robot 100 from the transceiver 210 Receives the data, compares the data with the cleaning sequence input by the input unit 240 and the house structure stored in the memory 250 to generate the position movement data and operation data sent to the transceiver 210, the current cleaning robot It serves to supply the position and operation state of the display unit 230.

On the other hand, since the home server 200 includes the same configuration in a personal computer, after installing a program capable of performing the same function in the personal computer, the transceiver 210 is connected to a data interface such as a USB port of the computer. After connecting, it may be to control the cleaning robot 100 from a personal computer.

In addition, recently, since home appliances in the home are gradually connected to a network to form a home network, a home appliance including a control unit and a transceiver such as the cleaning robot 100 may be similarly housed through the transceiver 210. Or it can be controlled from anywhere outside.

In order to efficiently operate the cleaning robot linked to the home net server of the present invention, the home server 200 actually accumulates a plan structure diagram of the house, and the user inputs the input unit 240 on the home server 200. By instructing through, the cleaning can be done in an efficient order when the actual person cleaning.

In addition, since the cleaning is also displayed in the form of an icon on the plane structure output on the display unit 230 of the home server 200, it is possible to clearly determine the progress of the cleaning.

And, while the user grasps the cleaning state of the cleaning robot 100 through the display unit 230 of the home server 200, if the cleaning is not performed in the desired direction, the cleaning robot through the remote control 300 When the position movement data and operation data is transmitted to the 100, the cleaning robot moves according to the instructions of the remote controller 300.

Of course, while the user directly observes the cleaning robot 100 with the naked eye, it is also possible to transmit the position movement data and operation data to the remote control 300.

At this time, when the cleaning robot 100 receives the position movement data and operation data from both the home server 200 and the remote controller 300, the cleaning robot 100 processes the position movement data and the operation data transmitted from the remote controller 300 to take priority. Crosstalk between data can be prevented.

FIG. 3 is an example of a house structure. First, the house structure diagram is stored in the memory 250, and the order of spaces to be cleaned through the input unit 240 is, for example, in order of room 1, kitchen, room 2, and living room. After instructing to start the operation of the cleaning robot 100, the home server 200 will provide the location information to move the cleaning robot 100 in the cleaning order. At this time, the user can know where the cleaning robot is currently cleaning through the display unit 230 of the home server 200.

In addition, the user can directly command the cleaning robot 100 with the remote control 300.

The cleaning system for the homenet-linked robot according to the present invention can perform a work instruction while the user directly sees the working state of the bot by cleaning from a long distance, so that the user can perform a delicate cleaning of the degree desired by the user, and perform image processing from the outside. Since the robot does not need an image processing board, it is advantageous to miniaturize.

In addition, when using a personal computer it is possible to reduce the components of the robot cleaning can reduce the manufacturing cost of the robot cleaning.

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.

Through the present invention can not only clearly instruct the cleaning robot to clean the robot through the home net server in the remote place outside the house, but also has the advantage that can be efficiently cleaned by the user correctly instruct the order of cleaning, the robot cleaning instructions There is an advantage that the user can know the status of the cleaning by giving feedback on the fulfilled order. Such a cleaning robot can be operated not only outside the house, but also has the advantage of being controlled in the same manner in the home.

Claims (3)

A cleaning robot which transmits position data and distance data with obstacles, and receives position movement data and operation data to perform cleaning; A home server which compares the position data received from the cleaning robot and the distance data with the obstacles with the structure diagram of the house and the cleaning order data input by the user to transmit the position movement data and the operation data to the cleaning robot; And A robot system for home net interlocking cleaning, including a remote control capable of transmitting position movement data and operation data to the cleaning robot by a user. The method of claim 1, wherein the cleaning robot, power; Body portion; A moving motor for driving a moving wheel to move the body portion; A suction motor providing suction power to a suction part for sucking external dust; A position sensor for generating position data of the current robot; A distance sensor for generating distance data from an obstacle; Transmitting and receiving unit for transmitting the position data and the distance data, and receives the position movement data and operation data from a home server or a remote control; And According to the received position movement data, cleaning is performed through operation control by control of a power source or a suction motor according to position movement and operation data of a moving motor, and the position data and distance data are transmitted to a transceiver. Robot cleaning system comprising a robot control unit. The method of claim 1, wherein the home server, Transmitting and receiving unit for transmitting and receiving data with the cleaning robot; A memory for storing a house structure and a cleaning sequence input by a user; An input unit for inputting a cleaning order; A display unit which displays a current position and an operating state of the cleaning robot; And It is connected to the transceiver, the memory input unit and the display unit, receives position data and distance data transmitted by the cleaning robot from the transceiver unit, and compares the data with the cleaning sequence input by the input unit and the house structure stored in the memory. And a home server control unit for generating moving data and operation data and sending the same to the transmission / reception unit and supplying the display unit with the current position and operation state of the cleaning robot.

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