KR20090062210A - Topological map apparatus of robot cleaner and controlling method of robot cleaner using topological map - Google Patents

Abstract

A topological map apparatus of robot cleaner and controlling method using the same are provided to perform clean successively and prevent washing fraction space again. A method for controlling robot cleaner using a topological map comprises: a step of searching cleaning subject space by sensing magnetic generation part from a magnetic sensor; a step of framing topological map to the cleaning subject space based on the sensing result of magnetic generation part by the magnetic sensor; and a step of cleaning the subject space based on the topological map.

Description

Topological map apparatus of robot cleaner and controlling method of robot cleaner using topological map}

The present invention relates to a robot cleaner, and more particularly, to a method for controlling a robot cleaner using a phase map device and a phase map of the robot cleaner.

The robot cleaner is an automatic vacuum cleaner which performs cleaning by itself while moving the floor according to the input program using the charged battery as a power source.

According to such a robot cleaner, unlike the conventional cleaning method in which the user carries out the cleaning by directly dragging the cleaner, the cleaning can be performed automatically by the operation of the remote control or the operation of a simple operation button. This saves you the time of cleaning.

In the conventional robot cleaner, when the space to be cleaned is divided into several spaces, each of the divided spaces is not distinguished from each other.

According to the conventional cleaning method of the robot cleaner, since the previously cleaned compartment space is cleaned again, waste of energy is severe, and there is a disadvantage that the cleaning efficiency may be reduced.

In addition, according to the conventional cleaning method of the robot cleaner, an error accumulates in the position information of the robot cleaner while traveling between the respective compartment spaces, and thus incorrectly misplaces the position of the robot cleaner, thereby preventing the cleaning from being performed smoothly. .

In addition, according to the conventional cleaning method of the robot cleaner, when the cleaning is to be performed only for a certain space of each compartment, the robot cleaner itself does not distinguish the compartment space that is required for cleaning, There is a disadvantage that can cause inconvenience such as closing the door.

An object of the present invention is to provide a phase guidance device of a robot cleaner capable of cleaning a space to be cleaned using a phase map and a method of controlling the robot cleaner using the phase map.

The phase guidance apparatus of the robot cleaner according to an aspect of the present invention is a robot cleaner for cleaning a space to be cleaned,

A magnetic generator disposed in a predetermined portion of the space to be cleaned; A magnetic sensor for sensing the magnetic generator; And a controller configured to prepare a phase map of the space to be cleaned according to a detection result of the magnetic generator by the magnetic sensor.

In a method of controlling a robot cleaner using a phase map according to an aspect of the present invention, a magnetic sensor disposed in a predetermined portion of a cleaning target space is detected by a magnetic sensor to search for the cleaning target space, and the magnetic generation by the magnetic sensor is performed. Creating a phase map of the space to be cleaned according to a negative sensing result; And cleaning the space to be cleaned according to the created phase map.

The generating of the phase map may include searching for an initial space of the space to be cleaned, creating a phase map for the first space, determining whether a new space exists in the space to be cleaned, and As a result of the determination, if a new space exists, searching for the new space may include creating a phase map to which the new space is added.

According to a method of controlling a robot cleaner using a phase map device and a phase map of a robot cleaner according to an aspect of the present invention, the magnetic sensor disposed on a door leading to each compartment of the space to be cleaned is detected by a magnetic sensor. Each compartment of the target space can be accurately recognized for each space. Therefore, it is possible to clean some of the compartments of each compartment without any other measures such as closing the doors of the compartments other than the compartments, thereby improving the user's convenience.

In addition, according to the method of controlling the robot cleaner using the phase map device and the phase map of the robot cleaner, the cleaning target space is divided into each partition space by using a phase map in which each partition space of the cleaning object space created by the phase map device is displayed. Not much to clean. Therefore, since the cleaning can be performed sequentially for each of the compartments, it is possible to prevent the phenomenon of cleaning the compartments that have already been cleaned again, thereby preventing energy waste due to the cleaning of the same compartments again. There is an effect that the cleaning efficiency of the robot cleaner can be improved.

In addition, according to the method for controlling the robot cleaner using the phase map device and the phase map of the robot cleaner, the user's request and the space to be cleaned are made by using a phase map in which each partition space of the space to be cleaned created by the phase map device is displayed. There is an effect that the cleaning order for each partition space can be adjusted according to the condition of.

In addition, according to the method for controlling the robot cleaner using the phase map device and the phase map of the robot cleaner, the corners on the created phase map when the controller moves through each door in which the magnetic generator is installed, using the created phase map. The position of the robot cleaner may be corrected by recognizing the phase relationship between the detected corners. Therefore, even when the position error of the robot cleaner is accumulated, the position of the robot cleaner can be accurately recognized on the phase map, so that the robot cleaner can be accurately moved between the respective compartments of the space to be cleaned in the required order. In addition, there is an effect that the robot cleaner can perform the cleaning on the cleaning target space smoothly.

In addition, according to the method of controlling the robot cleaner using the phase map device and the phase map of the robot cleaner, each compartment space of the space to be cleaned can be sensed using a magnetic generator and a magnetic sensor, so that the manufacturing cost of the robot cleaner is increased. There is an effect that can be reduced.

In addition, according to the method for controlling the robot cleaner using the phase map device and the phase map of the robot cleaner, when the magnetic generator is used in the form of a magnetic tape, the door on which the magnetic generator is disposed can be stably and accurately even in various environmental conditions of the space to be cleaned. There is an effect that can be recognized and such a door recognition algorithm can be simplified.

In addition, according to the method of controlling the robot cleaner using the phase map device and the phase map of the robot cleaner, when a magnet is used as the magnetic generator, the magnetic generator is semi-permanent by the magnetic sensor without receiving extra energy from the outside. Can be detected. Therefore, the durability of the phase guidance device of the robot cleaner is improved, and there is an effect that the operation efficiency can be improved.

Hereinafter, with reference to the drawings will be described a control method of the robot cleaner using the phase map device and the phase map of the robot cleaner according to embodiments of the present invention.

1 is a block diagram showing the configuration of the phase guidance apparatus of the robot cleaner according to the first embodiment of the present invention, Figure 2 is a phase cleaning apparatus of the robot cleaner according to the first embodiment of the present invention in a cleaning target space; It is a figure which shows that the phase map was created.

1 and 2 together, the phase guidance apparatus 100 of the robot cleaner according to the present embodiment includes a magnetic sensor 110, a controller 120, a display 130, a driver 140, It may include an input unit 150 and a storage unit 160.

In addition, the phase guidance apparatus 100 of the robot cleaner includes magnetic generators 50 and 51 disposed at a gate of the space to be cleaned 10.

The cleaning target space 10 is a space that is detected and cleaned by the phase guidance apparatus 100 of the robot cleaner. For example, the first compartment 11, the second compartment 12, and the third compartment It is shown that it consists of (13).

The reference numerals 20 to 30 shown are walls constituting the respective compartment spaces 11, 12, 13, and the reference numerals 31 to 40 are corners of the compartment spaces 11, 12, 13, and reference numerals 41 to 43. Are centers of the compartments 11, 12 and 13, and reference numerals 60 and 61 are centers of the magnetic generating units 50 and 51, respectively.

Here, the cleaning target space 10 including the first partition space 11, the second partition space 12, and the third partition space 13 may include a phase guidance device 100 of the robot cleaner. It is presented by way of example in order to explain the construction and operation, it is to be understood that the invention is not limited thereto.

Magnets may be used as the magnetic generators 50 and 51. Then, the magnetic generators 50 and 51 may be semi-permanently sensed by the magnetic sensor 110 without receiving extra energy from the outside. Therefore, the durability of the phase guidance apparatus 100 of the robot cleaner may be improved, and its operation efficiency may be improved.

The magnetic generators 50 and 51 are installed in the doors of the cleaning target space 10 while constituting the phase guidance device 100 of the robot cleaner. The magnetic generators 50 and 51 may be manufactured in the form of magnetic tape, and may be easily installed at each door of the space 10 to be cleaned, and may have a semi-permanent lifetime.

The magnetic sensor 110 is installed on the bottom of the robot cleaner, and detects the magnetic generators 50 and 51. The detection result of the magnetic generators 50 and 51 in the magnetic sensor 110 is transmitted to the controller 120.

The controller 120 prepares a phase map of the cleaning target space 10 according to the detection result of the magnetic generators 50 and 51 transmitted from the magnetic sensor 110.

In addition, the control unit 120 also reflects information on the corners 31 to 40 of the cleaning target space 10 detected by an obstacle detection sensor (not shown) installed in the robot cleaner, and the cleaning target space Create a phase map for (10).

In detail, when at least one of the magnetic generators 50 and 51 is detected by the magnetic sensor 110, the controller 120 may provide information about the magnetic generators 50 and 51 and the cleaning target space. Information about the corners 31 to 40 of (10) and the like are used to estimate the size of each of the partition spaces 11, 12 and 13 and the central portions 41 to 43 thereof.

Using the estimated value as described above, the control unit 120 may move the robot cleaner through a partition space in which the robot cleaner is currently located and a door in which the detected magnetic generators 50 and 51 are disposed. Add a connection to the compartment.

Through this process, the controller 120 may prepare a phase map of the cleaning target space 10. Compared to the grid map, the phase map can easily expand the map of the entire area to be cleaned 10 without using a large memory, which can be directly used as a driving route of the robot cleaner.

The display unit 130 is a portion capable of displaying various types of information processed by the controller 120, and the driver 140 is configured for each component of the robot cleaner according to a command of the controller 120, for example. It is a part that can drive driving wheels, sensors, etc. In addition, the input unit 150 is a part capable of inputting various commands to the controller 120 from the outside, and the storage unit 160 is a part capable of storing various information processed by the controller 120. .

3 is a flowchart illustrating a method of controlling the robot cleaner using the phase map according to the first embodiment of the present invention.

Hereinafter, a method of controlling the robot cleaner using the phase map according to the first embodiment of the present invention will be described with reference to FIG. 3.

In the control method of the robot cleaner using the phase map, the magnetic sensor 110 detects the magnetic generators 50 and 51 disposed at the doors of the cleaning target space 10 and the cleaning target space 10. And generating a phase map for the cleaning target space 10 according to the detection result of the magnetic generators 50 and 51 by the magnetic sensor 110 and cleaning the phase according to the created phase map. It may be configured to clean the target space 10, which will be described in more detail below.

First, a search is performed for the first space where the robot cleaner is located, for example, the first partition space 11 of the cleaning target space 10 (S100).

The search for the first compartment 11 is performed by the robot cleaner moving along the wall of the first compartment 11 and each of the magnetic generating units 50 and 51 and the first compartment 11. It may be performed in a manner of detecting the corners (31 to 34).

The search method for the first partition space 11 may be equally applied to the search for the other partition spaces 12 and 13.

While searching for the first partition space 11, which is the first space as described above, the controller 120 detects the magnetic generators 50 and 51 by the magnetic sensor 110, and detects the obstacle by the obstacle detecting sensor. According to a result of detection of the corner, etc., a local phase map of the first partition space 11 is prepared (S110).

Then, the controller 120 determines whether a new space, for example, the second compartment 12 and / or the third compartment 13, exists in the cleaning target space 10 (S120).

The control unit 120 determines whether there is a new space according to whether the magnetic generators 50 and 51 are detected during the search for the first partition space 11, that is, whether there is a new door. Can be. When the magnetic generators 50 and 51 are detected, the controller 120 may recognize that a new door exists and determine that a new space exists accordingly.

As a result of the determination (S120), when it is determined that a new space, for example, the second compartment 12, exists, the controller 120 moves the robot cleaner to the second compartment 12. In operation S130, the second partition space 12, which is a new space, is searched for.

While searching for the second partition space 12 which is a new space as described above, the controller 120 detects the magnetic generator 51 by the magnetic sensor 110, and the corner by the obstacle detection sensor. The phase map to which the second partition space 12 is added is created in accordance with the detection result of S140 or the like (S140).

In detail, the controller 120 searches for the search using the information on the magnetic generator 51 and the information about the corners 31 to 37 of the searched partition spaces 11 and 12. The size of each partition space 11, 12 and its central part 41, 42 are estimated.

Using the estimated value as described above, the controller 120 controls the robot cleaner through a door in which the second compartment 12 in which the robot cleaner is currently located and the detected magnetic generator 51 are arranged. The connection relationship with the movable 1st partition space 11 is added.

Through this process, the controller 120 may prepare a phase map to which the new space is added.

Thereafter, the controller 120 issues a cleaning execution command for the second compartment 12, which is a new space, to allow the robot cleaner to clean the second compartment 12 (S150).

Then, the controller 120 determines whether there is another new compartment of the cleaning target space 10, in this case, the third compartment 13, so that the new space above, that is, the third compartment 13 ), The phase mapping and the cleaning process (S120 to S150) to which the new space is added are repeated.

After that, when it is determined that there is no new space anymore (S120), the controller 120 moves the robot cleaner to the first compartment 11, which is an initial space, and the first compartment 11. ) To be cleaned (S160).

4 is a flowchart illustrating a process of a robot cleaner recognizing a magnetic generator in a method of controlling a robot cleaner using a phase map according to a first embodiment of the present invention.

Hereinafter, a process of recognizing the magnetic generator by the robot cleaner in the method of controlling the robot cleaner using the phase map according to the first embodiment of the present invention will be described with reference to FIG. 4.

When it is determined that the robot cleaner detects the magnetic generating units 50 and 51 while searching for a section space of the cleaning target space 10 (S200) (S210), the controller 120 will be described below. The magnetic generating units 50 and 51 may be recognized by the process.

Here, for example, in the process of searching for the first compartment 11 of the cleaning target space 10 by the robot cleaner, the magnetic generating unit disposed between the second compartment 12 ( 51) will be described as being detected.

As described above, when the magnetic generator 51 is detected during the search for the first partition space 11, the controller 120 controls both driving wheels of the robot cleaner to the magnetic generator 51. To match (S220).

Then, the controller 120 determines the position where the robot cleaner is located as the start point of the magnetic generator 51 and stores the start point of the magnetic generator 51 in the storage 160. (S230).

Thereafter, the controller 120 rotates the robot cleaner so that the driving direction of the robot cleaner coincides with the length direction of the magnetic generator 51 (S240).

Then, the controller 120 drives the robot cleaner along the magnetic generator 51 (S250). In this driving process, the magnetic sensor 110 continuously detects the magnetic generator 51.

Thereafter, when it is determined that the robot cleaner reaches the wall by the obstacle detecting sensor (S260), the controller 120 determines the point where the robot cleaner is located as the end point of the magnetic generator 51. In operation S270, an end point of the magnetic generator 51 is stored in the storage 160.

Then, the controller 120 calculates a center point of the magnetic generator 51 from the start point and end point information of the magnetic generator 51 stored in the storage 160 (S280).

Thereafter, the controller 120 recognizes the center point of the magnetic generator 51 calculated as described above as the center point of the door in which the magnetic generator 51 is disposed, and the information is stored in the storage unit 160. ).

The center point of the door in which the magnetic generator 51 is calculated by the above process corresponds to reference numeral 61.

The control unit 120 displays the position of the magnetic generator 51 on the phase map using the center point 61 calculated as described above.

Through the above process, the position of the magnetic generator 51 may be displayed on the phase map.

According to the method for controlling the robot cleaner using the phase map device 100 and the phase map of the robot cleaner according to the present embodiment as described above, the magnetic generators 50 and 51 are detected by the magnetic sensor 110. In addition, each partition space 11, 12, 13 of the space to be cleaned 10 may be correctly recognized for each space. Therefore, some compartments of each compartment 11, 12, 13 can be cleaned without any other measures such as closing doors of compartments other than the compartments, so that user convenience can be improved.

In addition, according to the method for controlling the robot cleaner using the phase map device 100 and the phase map of the robot cleaner, the respective partition spaces 11 and 12 of the cleaning target space 10 created by the phase map device 100 are provided. , The cleaning target space 10 can be cleaned for each partition space 11, 12, 13 by using the phase map marked 13. Therefore, the cleaning of the partition spaces 11, 12, and 13 may be sequentially performed, thereby preventing the phenomenon of cleaning the previously cleaned partition spaces again. Energy waste can be prevented, and the cleaning efficiency of the robot cleaner can be improved.

In addition, according to the method for controlling the robot cleaner using the phase map device 100 and the phase map of the robot cleaner, the respective partition spaces 11 and 12 of the cleaning target space 10 created by the phase map device 100 are provided. , The cleaning order for each of the partition spaces 11, 12, 13 may be adjusted according to a user's request, the state of the space to be cleaned 10, and the like, using the phase map on which 13 is displayed.

In addition, according to the method for controlling the robot cleaner using the phase map device 100 and the phase map of the robot cleaner, the controller 120 uses the created phase map, and the magnetic generators 50 and 51 are installed. When moving through each door, the position of the robot cleaner may be corrected by recognizing a phase relationship between each corner of the created phase map and the detected corners. Therefore, even when the position error of the robot cleaner is accumulated, the position of the robot cleaner can be accurately recognized on the phase map, and accordingly, the robot cleaner can determine each partition space 11 of the space to be cleaned 10. 12, 13) can be accurately moved in the required order, the robot cleaner can perform the cleaning to the cleaning target space 10 smoothly.

In addition, according to the method for controlling the robot cleaner using the phase map device 100 and the phase map of the robot cleaner, each of the partition spaces 11, 12, and 13 of the space to be cleaned 10 is the magnetic generator 50. 51 and the magnetic sensor 110 may be used to detect the robot cleaner.

In addition, according to the method for controlling the robot cleaner using the phase map device 100 and the phase map of the robot cleaner, when the magnetic generators 50 and 51 are used in the form of magnetic tape, Under various environmental conditions, the doors on which the magnetic generators 50 and 51 are disposed can be stably and accurately recognized, and such door recognition algorithms can be simplified.

Hereinafter, a second embodiment of the present invention will be described with reference to the drawings. In carrying out this description, the description overlapping with the description of the first embodiment of the present invention described above is replaced with, and will be omitted herein.

5 is a flowchart illustrating a control method of a robot cleaner using a phase map according to a second embodiment of the present invention.

Hereinafter, a method of controlling a robot cleaner using a phase map according to a second embodiment of the present invention will be described with reference to FIG. 5.

First, a search is performed for the first space in which the robot cleaner is located, for example, the first partition space 11 of the cleaning target space 10 (S300).

While searching for the first partition space 11, which is the first space as described above, the controller 120 detects the magnetic generators 50 and 51 by the magnetic sensor 110, and detects the obstacle by the obstacle detecting sensor. According to the detection result of the corner or the like, a local phase map of the first partition space 11 is prepared (S310).

Then, the controller 120 determines whether a new space, for example, the second compartment 12 and / or the third compartment 13, exists in the cleaning target space 10 (S320).

As a result of the determination (S320), when it is determined that a new space, for example, the second compartment 12, exists, the controller 120 moves the robot cleaner to the second compartment 12. In operation S330, the second partition space 12, which is a new space, is searched for.

While searching for the second partition space 12 which is a new space as described above, the controller 120 detects the magnetic generator 51 by the magnetic sensor 110, and the corner by the obstacle detection sensor. The phase map to which the second partition space 12 is added is created in accordance with the detection result of the step (S340).

Then, the controller 120 determines whether there is another new compartment of the cleaning target space 10, in this case, the third compartment 13, so that the new space above, that is, the third compartment 13 ), And the phase map creation (S320 to S340) to which the new space is added is repeated.

After that, when it is determined that the new space no longer exists (S320), the controller 120 issues a cleaning instruction to the space where the robot cleaner is currently located, for example, the third compartment space 13. In operation S350, the robot cleaner cleans the third compartment space 13.

Then, the controller 120 performs the robot cleaner to be sequentially cleaned for each of the uncleaned partition spaces 11 and 12 of the cleaning target space 10 according to the prepared phase map (S360). ).

While the invention has been shown and described with respect to specific embodiments thereof, those skilled in the art can variously modify the invention without departing from the spirit and scope of the invention as set forth in the claims below. And that it can be changed. Nevertheless, it will be clearly understood that all such modifications and variations are included within the scope of the present invention.

That is, in addition to the above-described embodiments, various specific ways of creating a phase map of the space to be cleaned 10 and then cleaning each of the compartment spaces 11, 12, and 13 using such a phase map may be presented. It is to be understood that such approaches are also within the scope of the present invention.

According to the method for controlling the robot cleaner using the phase map device and the phase map of the robot cleaner according to the present invention, since the cleaning efficiency can be improved and the user's convenience can be improved, the industrial applicability thereof is high.

1 is a block diagram showing the configuration of a phase map apparatus of a robot cleaner according to a first embodiment of the present invention.

2 is a view showing a state in which a phase map is created for a space to be cleaned by the phase guidance apparatus of the robot cleaner according to the first embodiment of the present invention.

3 is a flow chart showing a control method of a robot cleaner using a phase map according to a first embodiment of the present invention.

4 is a flowchart illustrating a process of the robot cleaner recognizing a magnetic generator in the method of controlling the robot cleaner using the phase map according to the first embodiment of the present invention.

5 is a flowchart illustrating a method of controlling a robot cleaner using a phase map according to a second embodiment of the present invention.

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

10: space to be cleaned 11, 12, 13: each compartment space

50, 51: magnetic generator 100: phase guidance device of the robot cleaner

110: magnetic sensor 120: control unit

130: display unit 140: driving unit

150: input unit 160: storage unit

Claims (7)

In the robot cleaner for cleaning the space to be cleaned, A magnetic generator disposed in a predetermined portion of the space to be cleaned; A magnetic sensor for sensing the magnetic generator; And And a controller configured to create a phase map of the space to be cleaned, based on a result of sensing the magnetic generator by the magnetic sensor. The method of claim 1, And the magnetic generator is a magnet disposed at a gate of the space to be cleaned. Detecting a magnetic generating unit disposed in a predetermined portion of the cleaning target space by a magnetic sensor to search for the cleaning target space, and creating a phase map of the cleaning target space according to a detection result of the magnetic generating unit by the magnetic sensor; ; And And cleaning the space to be cleaned according to the created phase map. The method of claim 3, wherein The step of creating the phase map Searching for an initial space of the space to be cleaned and creating a phase map for the first space; Determining whether a new space exists in the space to be cleaned; And if the new space exists, searching for the new space and creating a phase map to which the new space is added. The method of claim 4, wherein The cleaning of the space to be cleaned includes: cleaning the new space according to a phase map to which the new space is added; The determining of whether the new space exists includes determining whether another new space exists in the cleaning target space after the cleaning of the new space is completed. The method of claim 4, wherein The step of cleaning the space to be cleaned is If it is determined that the new space does not exist, cleaning a portion of the current location; And cleaning the uncleaned remaining part of the cleaning target space according to the prepared phase map. The method of claim 3, wherein The step of creating the phase map Storing the starting point of the magnetic generating unit when the magnetic generating unit is detected by the magnetic sensor; Driving the robot cleaner along the magnetic generator from the starting point; Storing an end point of the magnetic generator after driving; Calculating a center point of the magnetic generator from the stored start point and end point information; And displaying the position of the magnetic generator on the phase map using the calculated center point.

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