KR20080076169A - Program travelling method and the program travelling equipment of cleaning robot - Google Patents

Abstract

A program traveling method and a program traveling apparatus of a cleaning robot are provided to connect a control device of the cleaning robot with a computer both in wire and wireless methods and to program a cleaning schedule and a traveling path for progressing the cleaning work based on the programmed schedule and minimizing blind spots or repeatedly cleaned areas. A program traveling apparatus of a cleaning robot comprises a cleaning robot device and a cleaning robot. The cleaning robot device has robot sensing wheels(102), a plurality of wheel driving wheels(120,130) driving the robot sensing devices, a robot control device(110) controlling the wheel driving devices, and a battery for supplying power to the wheel driving devices and the robot control device. The cleaning robot has a battery charging device(140), and a computer(150) connected with the robot control device in both wire and wireless methods. The robot sensing wheels reflect transmitting and receiving signals to/from reflection mirrors of robot wheels(101) and the sensing wheels and detect signals of patterns by which the robot wheels are slid.

Description

Program Traveling Method and The Program Traveling Equipment of Cleaning Robot

1 is a configuration diagram of a program traveling device of a cleaning robot.

2 is a floor chart of a cleaning robot's X Y coordinate setting.

3 is a detailed view of a robot sensing wheel.

4 is a slip calculation floor chart of a robot sensing wheel.

5 is a driving program installation floor chart of the cleaning robot.

6 is a cleaning schedule floor chart of the cleaning robot driving program.

<Description of Symbols for Major Parts of Drawings>

10: robot sensing wheel 101: robot wheel

104: sensing wheel 104: slip sensor

110: robot control device 120, 130: wheel drive device

140: battery charger 150: computer or portable terminal

The present invention relates to a robot cleaner, which is largely divided into a cleaning device and a cleaning robot, and relates to a program driving method of the cleaning robot and a driving device thereof.

The present invention relates to a driving method of a small robot cleaner for cleaning an interior. The present invention relates to a cleaning robot for repeatedly cleaning the same place, such as a house or office, every day. Alternatively, by measuring the distance using an image sensor or recognizing the state of the room, the robot cleaner cleans the recognized space while traveling in a loop or a bumpy manner, or randomly installs a program according to the number of collisions when an obstacle is encountered. In order to change the angle, the zigzag driving method is used. However, the driving method as described above has the disadvantage of repeatedly traveling the same place, and requires a complex and many sensors, there is a problem that the manufacturing cost of the cleaning robot becomes expensive.

In order to solve the problems described above, the present invention takes into account the characteristics of the robot cleaner that periodically cleans the same place periodically, and makes and installs a cleaning schedule of the cleaning robot and a running program of the cleaning robot, and then runs the program. While cleaning the furnace and the program schedule, if an obstacle occurs, the cleaning robot traveling method and the traveling device are configured to avoid and clean the obstacle.

As described above, it is important for the cleaning robot that cleans the driving path according to the schedule of the driving program to accurately recognize the position coordinates of the cleaning robot itself that is running. As a solution thereof, the robot sensing wheel is configured to configure the XY coordinate of the robot itself. The driving path is determined according to the set coordinates, and the vehicle is cleaned while traveling along the determined driving path.

As described above, in order to configure a system for programming the floor plan and the driving route of the driving program in the robot cleaner, expensive equipment such as a computer equipped with an operating system and a monitor must be installed, but the present invention uses a cleaning robot using a separate computer. It is characterized by consisting of a method of programming and installing the program by connecting to the control unit of the wired and wireless communication, and storing in the control unit of the cleaning robot.

In order to drive with the program, the cleaning robot has a obstacle sensor for detecting an obstacle and an acceleration sensor for detecting an impact of a floor mainly on which the cleaning robot travels, and complements the driving path of the driving program. It consists of a traveling method and a traveling device for cleaning more efficiently. In addition, the programming operation is characterized by including a proxy method using a computer remote access service.

The robot cleaner can be broadly classified into a cleaning device and a cleaning robot, and the present invention relates to a program driving method of the cleaning robot and a driving device thereof.

In a house or office where the area to be cleaned is limited, the same area is regularly cleaned every day. Using this characteristic, the driving program can be programmed on a separate computer and installed in the cleaning robot, and installed in the cleaning robot. The present invention relates to a method of installing a running program of a cleaning robot, a method of traveling with a running program, a method of recognizing and setting coordinates of a driving path, and a device for cleaning while cleaning a place to be cleaned according to a schedule of a traveling program.

The robot cleaner mainly performs a function of a robot that cleans dust and dirt generated in a daily life on behalf of a person in a room such as a home or an office, and the robot cleaner is preferably small, which generates as little noise as possible. In addition, it should be equipped with the requirement that it can be cleaned quickly while running quietly without discomfort to the resident, and can be supplied at a low price.

The driving method of the cleaning robot is preferably run according to a schedule to clean the area to be cleaned evenly so that there is no blind spot and to minimize duplication of cleaning the same point repeatedly.

If an unexpected obstacle is found while cleaning while driving in the driving method, the obstacle must be avoided and then cleaned along the driving path. Even during the cleaning process, the battery should be moved to the charging device before the battery is completely discharged and charged again, and after the cleaning, the battery must be returned to the charging position again and continue to be cleaned. After that, the wait function should be performed.

In order to explain the program driving method of the cleaning robot of the present invention, a basic background of the robot cleaner will be described below.

The robot cleaner mainly functions to suck and clean dust generated from daily life in the home, and it is preferable to clean it after the morning rush hour and before the evening rush hour. Except for the special case of changing the furniture layout, the internal structure does not change and the cleaning time is set in advance so that the schedule can be set and programmed. Therefore, just before using the robot cleaner for the first time, if the driving route is ideally set, there is a characteristic that the cleaning can be continued according to the driving route and the driving schedule. If an obstacle occurs during cleaning, however, the obstacle must be avoided and then returned to the set road to continue cleaning. If the structure inside the cleaning area is changed, the driving program must be supplemented and set again.

In order to make a driving schedule and cleaning schedule as described above and store them in the control device of the cleaning robot, a device such as a computer and a monitor equipped with an operating system in the cleaning robot should be configured. In this case, the cleaning robot becomes large and expensive. It will be difficult to spread. Accordingly, in the present invention, a system is configured to connect a computer or a portable terminal and a control device of a cleaning robot, which are provided in each household, by wired and wireless communication, to program a driving route and a cleaning schedule in the connected computer and to store the cleaning robot.

An example of a method of programming a travel program will now be described in detail.

How to install the driving program on the computer: When the separate computer or portable terminal and the control device of the cleaning robot are connected by wired / wireless communication, the driving program stored in the control device of the cleaning robot is automatically installed on the computer. If the automatic installation does not work, you can install the program from the CD.

How to create a floor plan of the space to be cleaned: The residential space of a house or apartment can be divided into several flat models, and several standardized models of the plane can be pre-designed to use the graphic / multimedia functions such as hatching programs. After placing the standard model in advance and checking the model of the pre-placed plane on the computer monitor, selecting and installing the plane model most similar to the plane to be cleaned, and dragging or dragging a part of the plane partition with the mouse. By modifying a part of the robot, the robot is normally connected to a charging device, and the position of the waiting robot is set to the program displayed on the monitor and linked to it, so that automatic operation by remote or program is possible. How to drag the cleaning robot to the computer mouse, Thus the running surface as drawn in the far-field can be operated by setting the system to far-field operation.

By operating the cleaning robot in the above manner, measuring the XY coordinates and numerical values inside the chambers drawn on the floor plan, and applying the XY coordinates inside the chambers drawn on the floor plan to the traveling program, it is possible to adjust the indoor dimensions of the actual plane. With a simple mouse operation, the plane can be programmed to have the same structure and dimensions as the plane to be cleaned.

How to create a driving path for driving the space of the plane to be cleaned: The door symbol of each room is displayed by dragging the mouse with the mouse using the graphic / multimedia function on the floor plan of the space to be cleaned, and the symbol of the charging device is placed by dragging Then, the pattern model of the cleaning driving route set in advance in the driving program is selected and entered into the hatching program, and the charging device displayed on the monitor and the main chamber of each chamber are clicked and programmed.

Simulation of the cleaning robot in the space to be cleaned: Once the floor plan and driving route of the space to be cleaned programmed with the graphic / multimedia function are completed and saved as above, switch to the simulation program and run the cleaning robot on the computer connected to the cleaning robot. Following the driving route indicated in the programmed driving program, you can simulate a cleaning robot that cleans while driving the driving route of each room.

Cleaning schedule creation: As above, when the floor plan and the driving route of the space to be cleaned are completed and the simulation is completed, the cleaning schedule such as the cleaning time and the cleaning order of each room is pre-programmed and programmed.

Driving program storage in the cleaning robot: The driving program in which the simulation and cleaning schedule are completed as described above is stored in the control device of the cleaning robot, and the cleaning robot storing the driving program as described above is determined according to the cleaning schedule determined at a predetermined time. You can clean yourself with a driving pattern.

Driving programming work agency: In case it is difficult for a user to perform the above programming work, the seller or the manufacturer of the cleaner uses a computer remote access service to remotely access and program a separate computer connected to the cleaner, It includes a method for performing programming using a computer remote access service that simulates, confirms and stores.

As a basic condition for cleaning while running with the above running program; The correct floor plan, cleaning runway according to the floor plan, the characteristics of the door and floor and the location of the filling device should be programmed. In addition, there is a need for a robot that can be cleaned along the driving path. In particular, if the robot wheel slips while driving, the X Y coordinate that recognizes the position of the robot itself is distorted, making it difficult to execute a programmed driving program. Therefore, the cleaning robot of the present invention constitutes a sliding distance sensing method of the robot sensing wheel and a device for sensing and calculating the sliding distance of the robot wheel.

In the process of cleaning with the driving program, an obstacle sensor in a traveling direction is configured in case an obstacle occurs in a predetermined driving path, and an obstacle sensor for preventing a collision with an obstacle when the cleaning robot moves forward or backward Is a distance measuring method using a laser, and a sensor that detects the received light using an angle of firing and reflecting a laser or an ultrasonic wave, and is a position recognition system using infrared, ultrasonic, RFID, UWB, and signal strength. In the distance, there are sensors that measure the position of the cleaning robot with precision within tens of millimeters.

The robot cleaner operates the battery as a power source, and since it is difficult to embed sufficient battery capacity, the capacity of all the mounted devices needs to be minimized as much as possible, so that a limited capacity battery is installed.

The battery should be constantly recharged and continuously cleaned to prevent the robot cleaner from stopping and failing to perform its normal function even when the battery is constantly being checked and the remaining battery capacity is checked. In the scheduling process of the robot cleaner is programmed to take into account the power consumption and the capacity of the battery, in consideration of the capacity of the battery is set to be charged in the process of moving from the room to the next cleaning room to clean.

In order to perform the function as described above, the present invention constitutes a traveling device in which the cleaning robot travels with a running program, sets the XY coordinates of the cleaning robot for traveling according to the program, and the cleaning robot sets the XY coordinates. The robot sensing wheel for sensing the slip, the sliding distance of the robot sensing wheel, the method of calculating the sliding distance of the robot sensing wheel, the installation of the driving program in connection with the control device of the cleaning robot from a separate computer, The cleaning according to the driving program will be described in detail below.

In order to accurately drive the cleaning robot according to the driving program, it is important to accurately recognize the position coordinates of the cleaning robot itself. However, only the coordinate recognition of the robot sensing wheel is limited, and inertial sensors such as an acceleration sensor are provided to compensate for this. It detects minute shock, friction and vibration generated when the wheel rolls and compares it with the vibration of the driving route stored in the driving program in advance. Can be.

In the same manner as above, it is possible to accurately set the coordinates of the cleaning robot moving in the driving program with the floor characteristics of the main distinction while driving with the cleaning robot running program, and using the set coordinates, the cleaning robot itself while driving with the running program. The driving program is corrected to complement the more accurate driving program.

In the program correction using the acceleration sensor, the cleaning robot which displays the position of the threshold, the floor, the carpet, the floor plate and the like in the process of creating the floor plan and the cleaning driving path on the computer connected to the cleaning robot and the wired and wirelessly, Or by detecting minute shocks and vibrations generated when passing through carpets, and comparing the vibration signal of the sensor when passing through preset doors and floors, carpets, and floorboards. You can check the current position of the cleaning robot and its coordinates. The door and the carpet of the house has a slight jaw, when the wheel of the cleaning robot to move the floor and floor carpets, etc., the impact and vibration depending on the characteristics of the floor to the cleaning robot is fine but different.

When the cleaning robot passes through a threshold or a carpet, a slight impact or inclination occurs, and at this time, the inertial sensor such as an angular velocity sensor can detect the shock and vibration, and the detected signal and the software of the robot controller program. By checking the coordinates of the robot robot passing through the coordinates, the program automatically complements the driving route in the program by linking the coordinates of the robot with the program.

Hereinafter, a program driving method of a cleaning robot and a driving wheel thereof according to an exemplary embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is a configuration diagram showing an example of the program running device of the cleaning robot.

1 is a cleaning robot program traveling device, and includes a cleaning robot device built in a robot cleaner, a computer to which the cleaning robot is connected through wired and wireless communication, and a battery charging device configured separately.

The cleaning robot device comprises: a robot control device, a battery, a wheel drive device, and a robot sensing wheel.

The robot control device; A separate computer 150 or a portable terminal is configured to be connected 151 by wired / wireless communication, and includes a microcomputer and a storage device capable of storing and executing a driving program and a simulation program. In addition, the cleaning robot has an inertial sensor such as an obstacle sensor 111 capable of sensing an obstacle in a driving direction and an acceleration sensor 112 that detects shock and vibration when passing over a threshold or passing through a floor.

The battery; The power supplied to the plurality of wheel drives and the robot controller and the vacuum cleaner are built in the robot cleaner is supplied from the built-in battery, the battery is automatically charged from the battery charger 140 is installed separately, The robot cleaner is guided to a program and a sensor to automatically return to the charging device 141 to automatically charge, and configured to alert and charge the discharge before the battery built in the robot cleaner is completely discharged.

The wheel drive device; It is configured on both the left and right sides of the cleaning robot, the motor (121, 131) and the encoder (122, 132), and the wheel drive device (120, 130) for controlling the driving speed and rotation speed of the robot wheel.

The robot sensing wheel 10 is; It consists of a robot wheel 101, a sensing wheel 102 and a slip sensor 104.

The computer 150 is connected to the robot control apparatus of the cleaning robot and wired and wireless communication 151, and is a computer or a portable terminal separately configured to program a travel program having an operating system and a monitor.

The battery charger 140 is a separate battery charger for charging the battery built in the robot cleaner, the robot cleaner is configured to move (141) to charge the battery.

2 is a floor chart showing an example of the X Y coordinate setting step of the cleaning robot.

The floor chart of FIG. 2 is a floor chart of a method of moving two robot sensing wheels configured on the left side and the right side, and setting the X Y coordinate of the position when the robot body moves.

The robot wheel sets two wheels at the same time as the basic principle of robot wheel operation. When the left wheel and the right wheel simultaneously rotate in the positive direction, the robot moves forward, and the left wheel and the right wheel rotate simultaneously in the reverse direction. If the robot moves backwards, the left wheel rotates in the positive direction and the right wheel rotates in the reverse direction. If the robot switches from the current position to the left, the left wheel rotates in the reverse direction and the right wheel rotates in the positive direction. The robot will turn from the current position to the right.

Coordinate setting step for setting in real time the X Y coordinates in the forward and backward and the direction change of the cleaning robot based on the operating principle of the robot wheel; A forward rotation checking step of checking whether the left wheel 211 and the right wheel 212 are both forward rotations (221, 222) (Y); A reverse rotation checking step of checking whether the left wheel 211 and the right wheel 212 are reverse rotations 231 and 232 (Y); Check that both the left wheel 211 and the right wheel 212 are forward rotations (221, 222) (Y) to set the + X coordinate, and both the left wheel 211 and the right wheel 212 are reverse rotation ( 231, 232)-setting the X coordinate, setting the X coordinate; The left wheel 211 is not reverse rotation 231 (N) and the left wheel 211 and the right wheel 212 are the same (241) so that the forward rotation (221, 222) is not the same (251) Check if the case is (Y)-set the Y coordinate, and the right wheel 212 is not the reverse rotation (232) (N) and the left wheel 211 and the right wheel 212 is the same (242) A Y coordinate setting step of setting the + Y coordinate by checking whether the reverse direction (231, 232) is the same (252), not (N); The coordinate setting 261 is performed.

3 is a detailed view showing an example of a robot sensing wheel.

The robot sensing wheel 10 of FIG. 3 includes a robot wheel 101, a sensing wheel 102, and a sensor 104.

The robot wheel 101 is connected to the wheel drive device is driven and controlled is a device for moving the bot to clean, respectively configured on the left and right, the side of the wheel reflector having a plurality of reflecting eyeline 306 pattern 303 is configured to rotate together with the robot wheel 101.

The sensing wheel 102 is connected to the robot wheel 101 and the connecting shaft 301, but the driving of the sensing wheel 102 is in close contact with the floor to clean regardless of the rotation of the robot wheel 101 of the cleaning robot It is a wheel 102 that is rolled and rotated on the floor during movement. The total reflection reflectors 302a and 302b having a plurality of total reflection reflecting eyelines 305 patterns are formed at the side portions of the sensed wheels 102. The total reflection reflectors 302a and 302b of the sensing wheel 102 perform a total reflection function similar to the total reflection function of the prism, and the beams reflected by the total reflection reflectors 302a and 302b are reflected by the reflector 303 to reflect the total reflection reflector. Returning to 302a and 302b, total reflection is received by the slip sensor 104. FIG.

The slip sensor 104 is fixed to the robot body between the robot wheel 101 and the sensing wheel 102 separately from the wheel, and the laser beam 304a transmitted from the slip sensor 104 is located at the side of the sensing wheel 102. Reflected 304b in the total reflection reflector b portion 302b via the total reflection reflector a portion 302a, reaches the reflector 303 of the robot wheel 101, and then reflects in the reflector 303 of the robot wheel 101 again. 304b is configured to reflect 304a at the total reflection reflector a portion 302a via the total reflection reflector b portion 302b and be received by the slip sensor 104. At this time, the robot wheel 101 is rotated without slipping, and the robot wheel 101 is slipped. In this case, the pattern of the received pulse received by the slip sensor 104 is changed.

When the robot wheel 101 rotates in the same manner as the sensing wheel 102 without slipping; The plurality of reflector eyelids 306 patterns configured on the reflector 303 of the robot wheel 101 and the plurality of total reflector eyelids 305 patterns configured on the total reflection reflectors 302a and 302b of the sensing wheel 102 rotate simultaneously. Therefore, the reflector eyelid 306 pattern does not change with rotation, but only the total reflection reflector eyelid 302a, 302b pattern changes with rotation, and is transmitted from the slip sensor 104 to reflect the reflector 302a, 302b, 303. The pulse pattern received by the living slip sensor 104 includes a pulse pattern in the case where the laser beam is bitten by the reflector 303 portion of the robot wheel 101 and a reflector eyeline 306 portion of the robot wheel 101. It is detected by dividing into two pulse patterns, such as the pulse pattern in case of rotation by bite.

The reflection position of the laser beam is rotated by being bitten by the reflector 303 portion of the robot wheel 101; The pattern of the pulses moving while the pattern of the eye 305 of the total reflection reflectors 302a and 302b of the sensing wheel 102 rotates is detected 304a.

The reflection position of the laser beam is rotated by being bitten by the reflector eyelid 306 of the robot wheel 101; The reflector eyeline 306 pattern absorbs the laser beam as a black portion and is not reflected so that the laser beam is not detected 304a.

When the robot wheel 101 slides and does not rotate in the same manner as the sensing wheel 102; A plurality of reflector eyelids 306 patterns formed on the reflector 303 of the robot wheel 101 and a plurality of total reflection reflector eyelines 305 patterns configured on the total reflection reflectors 302a and 302b of the sensing wheel 102 are respectively. In this case, since the laser beam is also absorbed by the total reflection reflector eyeline 305 and the reflector eyeline 306, the pattern of pulses received by the slip sensor 104 may be reflected by the total reflection reflector of the sensing wheel 102. The pattern in which the eyelids 305 of 302a and 302b rotate and move, and the pattern which moves as the reflector eyelines 306 of the reflector 303 rotate and move together are received 304a, and the overlapping pattern is detected.

As described above, the robot wheel 101 is slid so that the eye pattern 305 portion of the total reflection reflectors 302a and 302b rotates and the pulse pattern moves while the reflector eyeline 306 portion of the reflector 303 rotates. When the signal is received 304a, the rotational speeds of the two pulse patterns can be detected by applying the principle of a rotary encoder and a counter included in the sensor, and the sliding distance can be calculated by comparing the two pulse patterns. have.

In the rotary encoder, the reflector 303 on the side of the robot wheel 101 and the total reflection reflectors 302a and 302b on the side of the sensing wheel 102 perform a function of a slit in which an optical pulse pattern of the rotary encoder is input. ) And the sensing wheels 102 are reflected by the reflecting mirror which rotates the same or unequally, and are outputted to output a series of pulse patterns, and the counter calculates the number of output pulse patterns and detects the amount of rotation according to the count number, respectively. .

4 is a floor chart showing an example of calculating a slip of a robot sensing wheel.

The floor chart of FIG. 4 is a floor chart of a method of calculating the slip distance of the robot sensing wheel.

As the robot sensing wheel rotates, a signal is transmitted from the sliding sensor to transmit a signal from the sensor to the total reflection reflector (401), is transmitted from the total reflection reflector to the reflector (402), and is reflected back to the total reflection reflector (403). And is received (404) by the slip sensor through the total reflection reflector, where the transmitted laser beam is received with a pattern signal in which the eyelid 305 pattern of the total reflection reflectors 302a and 302b is rotated, and the laser beam is a reflector optic Detecting a normal pattern signal, absorbed by 306 and without a receive 304a pattern signal; Through the signal transmission and reception process, the eyelids 305 and 306 of the reflecting mirror 303 and the total reflecting mirrors 302a and 302b rotate at different speeds to receive 405 overlapping pulses, and the sliding pattern Detecting a signal; Counting (406) the detected pulse pattern and converting the slipped pattern signal into a detected time or number of patterns; Calculating a slipped distance by comparing the counted robot wheels and the number of rotations of the sensing wheels with respect to the slipped distance of the robot wheels (407), and calculating the moving distance of the robot (408); Through the transmission and reception of the signal, a normal pattern signal in which the eyelids 305 and 306 of the reflector 303 and the front reflector 302a and 302b rotate together is detected and waits 409.

5 is a floor chart showing an example of the installation program of the cleaning robot.

The floor chart of FIG. 5 is a floor chart of a method for installing a program by connecting to a robot controller of a robot cleaner and wired / wireless communication in a separate computer.

Connecting to the control device of the robot cleaner through wired / wireless communication in a computer that connects the computer and the robot (501); Installing a traveling program on a connected computer, which installs 502 a cleaning robot program on the computer; When the cleaning robot driving program is installed, clicking the hatching program to input a similar plan (503), modifying the input plan (504) and lowering (Y), corrects the plan (in 505) input in the program, Executing a driving program to input a floor plan to be cleaned; If the plan is corrected (505) in the program, or the input plan is used without modification (504) and the lower (N), the driving pattern is inputted by hatching (506) the driving pattern in the installed plan. Programming a driving pattern, which connects and complements the pattern and the driving route (507); When the programming of the driving pattern is completed, the robot runs and performs simulation (508) with the traveling program to check the actual driving pattern in the program, and stores (509) coordinates of important points to move while simulating the cleaning robot. Executing a pattern to simulate; Storing (510), in the robot controller, a traveling program in which the simulation of the traveling pattern is completed; Is done.

Such programming as above; In case the user is difficult to install, the seller or the manufacturer of the cleaner uses a computer remote access service to remotely access a separate computer connected to the cleaner, program it, execute it, simulate it, and then confirm and save it. Service how to do the work.

The computer remote access service; All computing tasks can be performed using the remote computer environment as it is, and the system can transfer files from the current computer to the remote computer, or transfer files from the remote computer to the current computer.

6 is a floor chart showing an example of a cleaning program cleaning schedule of the cleaning robot.

The floor chart of FIG. 6 is a floor chart showing a schedule for cleaning by executing the running program of the cleaning robot.

The floor chart shows that when the robot cleaner is charged by the charging device and presses an operation switch or executes a program, the cleaning robot starts cleaning according to a cleaning schedule; Moving to a cleaning position, where the cleaning robot moves (601) to a position to be cleaned based on a program, whether it is waiting in a charging device; A program cleaning step of moving to a position to be cleaned and cleaning with the set program (602); A discharge check step of checking a discharge state of the battery in the battery discharge alarm 603 device during cleaning by a program; When the battery discharge alarm 603 occurs (Y), since the battery needs to be charged, the cleaning is stopped, the XY coordinates at the time of the cleaning stop are checked (604), stored, and moved to the charging device (605). A battery charging step of accessing 607 after completing the battery charging 606 and finding and moving coordinates to the cleaning stop position whether or not cleaning; A continuous cleaning step in which the battery discharge alarm 603 does not occur (N) or is moved 607 after the battery is charged to continue cleaning (608) with the program; The cleaning is completed by the running program (609), the moving to the charging device 610 and then connected to the charging device, the battery is automatically charged (611) by the completion of the charging, the waiting for cleaning completion step; Is done.

As described above, the present invention is connected to the control device of the cleaning robot and wired and wireless communication in a separate computer, and after programming and installing the cleaning schedule and the driving path, while cleaning according to the schedule of the running program, obstacles In this case, the driving method of cleaning the obstacles and avoiding the obstacles is related to the program driving method and the driving device of the cleaning robot which efficiently cleans the blind area or the repeating area with minimum. In other words, the seller may provide the user's services in a proxy manner.

In order to accurately recognize the XY coordinates of the cleaning robot itself and increase the efficiency of program driving while the cleaning robot equipped with the robot sensing wheels travels with the traveling program, the obstacle sensor and the cleaning robot that detect obstacles in the driving direction are mainly driven. It is equipped with an inertial sensor that senses the impact of the floor surface to complement the driving of the driving program to be cleaned more efficiently.

Claims (8)

Executing a program to move to a position to be cleaned; At the position to be cleaned, cleaning with program execution; Confirming battery discharge during cleaning by executing the program; Checking the discharge to charge the battery; Executing the program to continue cleaning; Executing the program, completing cleaning and waiting; A program running method of a cleaning robot, which is a program running method. Connecting to a robot control device in a separate computer; Installing a traveling program in a computer connected to the robot control apparatus; Inputting a floor plan to be cleaned by executing the installed driving program; Programming a travel pattern on the plan view to be cleaned; Simulating by executing the programmed driving pattern; Storing the completed program in the robot controller; A program driving method for a cleaning robot, which is a driving pattern programming method. Reflecting the transmitted signal, and detecting a signal of a normal pattern; Reflecting the transmitted signal to detect a sliding pattern signal; Converting the detected signal of the slipped pattern into a detected time or number of pulses; Calculating the calculated time or number of pulses as a slipped distance; A program running method for a cleaning robot, which is a sliding distance calculation method of a robot wheel made. Confirming the forward rotation of the left and right wheels; Confirming reverse rotation of the left and right wheels; Checking an X coordinate of the left and right wheels and a center point; Confirming the Y coordinates of the left and right wheels and a center point; Setting an X Y coordinate of the left and right wheels and a center point; A method for driving a cleaning robot, characterized in that the method of setting the X Y coordinate of the robot wheel made. The method according to any one of claims 1 to 4, The cleaning robot program further comprises a method of detecting and supplementing the driving path by detecting the impact and vibration of the floor surface passing while the cleaning robot, in connection with the program XY coordinates of the moving point Driving method. The method of claim 2, And connecting to the robot control device in the separate computer, and programming the driving pattern by using a computer remote access service. A robot sensing wheel, a plurality of wheel driving devices for driving the robot sensing wheels, a robot control device for controlling the plurality of wheel driving devices, and a battery for supplying power to the plurality of wheel driving devices and the robot control device. A cleaning robot device configured; A battery charger for charging the battery; A computer connected to the robot controller via wired or wireless communication; The cleaning robot program traveling device, characterized in that the cleaning robot is configured to run by the program. According to claim 7, The robot sensing wheel further comprises a robot sensing wheel configured to detect a signal of a pattern in which the robot wheel slides by reflecting a song reception signal to a reflector of the robot wheel and the sensing wheel by a sensor. Program shifter.

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