KR20100010080A - Robot cleaner and control method thereof - Google Patents

Abstract

PURPOSE: A robot cleaner and a control method thereof are provided to continuously supply power to the robot cleaner regardless of a battery. CONSTITUTION: A robot cleaner is composed of a detection sensor(110), a power unit(160), and a control unit(170). The detection sensor senses an obstacle. The power unit is connected with external power by a power code. Operation power of the robot cleaner is supplied to the power unit. The control unit controls the power code to be not wound around the obstacle using a travelling pattern of the robot cleaner.

Description

Robot Cleaner and Control Method {ROBOT CLEANER AND CONTROL METHOD THEREOF}

The present invention relates to a robot cleaner and a control method thereof.

In general, a robot cleaner, which is a representative example of a robot cleaner, refers to a device that automatically cleans an area to be cleaned by inhaling foreign substances such as dust from the floor surface while driving itself in the area to be cleaned without a user's manipulation.

The robot cleaner is equipped with a distance sensor or a photographing unit to clean the cleaning area while avoiding a collision or obstruction by checking the presence of obstacles or obstacles such as obstacles such as appliances, office supplies, and walls installed in the cleaning area.

In addition, the robot cleaner is provided with a driving wheel in the lower portion of the cleaning main body is connected to the drive motor, the drive of the drive motor is controlled by the control unit can be changed the direction of the robot cleaner, the lower part of the robot cleaner dust from the cleaning surface A suction port is provided to suck out dirt, such as dust, to suck dust and perform cleaning.

In addition, when the robot cleaner runs while cleaning itself, when the battery needs to be charged, it finds the position of the charging station and moves through the communication with the charging station provided at a predetermined position, and the charging station is docked to perform charging.

As such, in the related art, power for operating the robot cleaner is supplied from a battery, so that the battery capacity must be repeatedly checked and charged to overcome the short use time of the battery. There is a problem that the time required for cleaning becomes long.

SUMMARY OF THE INVENTION An object of the present invention is to provide a robot cleaner and a method of controlling the same, which can be operated without using a battery by using household power as a power source for operating the robot cleaner.

According to an embodiment of the present invention, a robot cleaner includes: a robot cleaner that sucks dust while driving on a floor to perform cleaning, comprising: a sensor for sensing an obstacle; A power supply unit connected to an external power source and a power cord to receive operation power of the robot cleaner; It characterized in that it comprises a control unit for controlling the power cord is not wound around the obstacle by using a driving pattern for driving the reverse path traveling the robot cleaner.

In addition, the control method of the robot cleaner according to an embodiment of the present invention, in the control method of the robot cleaner to suck the dust while driving the floor to perform the cleaning, the robot cleaner by receiving power through a power cord connected to an external power source Driving; If the obstacle is detected during the driving, bypassing the surroundings to approach the obstacle and going straight; And driving back the route traveled so that the power cord does not wind around the obstacle.

According to the robot cleaner according to the present invention and the control method thereof, since the operation power of the robot cleaner is supplied through an external power source, the robot cleaner can continuously supply power to the robot cleaner regardless of the presence of a battery.

In addition, the present invention has the effect of performing the cleaning without winding the power cord to the obstacle by using a driving pattern to reverse the path traveled by the robot cleaner.

In addition, the present invention has the effect of collecting the contaminants attached to the bottom surface by vacuum suction, and then cleaning the bottom surface once cleaned with a mop sprayed with steam again to obtain a cleaning and sterilization effect at the same time.

In addition, the present invention has the effect of providing a strong suction power and a stable steam cleaning function by generating a high output using an external power source.

According to an embodiment of the present invention, a robot cleaner includes: a robot cleaner that sucks dust while driving on a floor to perform cleaning, comprising: a sensor for sensing an obstacle; A power supply unit connected to an external power source and a power cord to receive operation power of the robot cleaner; It characterized in that it comprises a control unit for controlling the power cord is not wound around the obstacle by using a driving pattern for driving the reverse path traveling the robot cleaner.

In the present invention, characterized in that it further comprises a steam cleaning unit for generating steam in the robot cleaner.

In the present invention, it is characterized in that for detecting the moving direction of the robot cleaner using the rotation angle of the rotating means rotating in the direction in which the power cord moves.

In the present invention, the movement direction of the robot cleaner is characterized by using a limit switch for detecting the pressing of the roller by the power cord.

In the present invention, the detection sensor is characterized in that the contact sensor (tact sensor) for detecting the obstacle in accordance with the contact.

In the present invention, when the obstacle is detected, the controller is configured to perform the cleaning in a zigzag manner by using a driving pattern in which the robot cleaner runs in a reverse direction.

In the present invention, the controller is characterized in that the control to maintain the tension by drawing or drawing the power cord in accordance with the movement of the robot cleaner.

In addition, the control method of the robot cleaner according to an embodiment of the present invention, in the control method of the robot cleaner to suck the dust while driving the floor to perform the cleaning, the robot cleaner by receiving power through a power cord connected to an external power source Driving; If the obstacle is detected during the driving, bypassing the surroundings to approach the obstacle and going straight; And driving back the route traveled so that the power cord does not wind around the obstacle.

In the present invention, the robot cleaner is characterized in that the zigzag system.

In the present invention, the step of going straight through, the step of moving in a direction in which no contact is detected using a contact sensor on the front of the robot cleaner; Moving straight until no contact is detected on the front side and going straight; If the contact is not detected at the side when going straight further comprising the step of moving straight in the opposite direction to the moved direction.

In the present invention, the power cord is drawn out or drawn in according to the movement of the robot cleaner so that the tension of the power outlet and the robot cleaning period power cord is maintained.

Hereinafter, exemplary embodiments of the present invention will be described with reference to the accompanying drawings.

1 is a block diagram showing a robot cleaner according to an embodiment of the present invention.

1, a detection sensor 110 for detecting an obstacle; A suction unit 120 for sucking dust from the bottom; Steam cleaner 130 for heating the water to generate steam; A driving unit 140 for moving the robot cleaner; A memory 150 for storing various data necessary for controlling the robot cleaner; A power supply unit 160 connected to an external power source and a power cord to supply operation power of the robot cleaner; And a control unit 170 that receives information from the sensor and obtains information such as a state and a position of the robot cleaner, and controls the robot cleaner using the information.

The sensor 110 includes a height sensor and an obstacle sensor. Specifically, the height sensor is provided in the front lower portion of the robot cleaner is installed to face the surface to be cleaned to measure the distance to the bottom surface.

In addition, the height sensor may be used to check the cleaning area by detecting a mark of a predetermined pattern provided on the floor surface, or to check the driving route. Here, the height sensor may be a water / light emitting sensor.

The obstacle detecting sensor is installed on the side of the robot cleaner and may be used to detect an obstacle or a wall in a forward or driving direction, and detect the distance thereof. The obstacle detecting sensor may be a male / light emitting sensor.

In addition, the obstacle detection sensor is installed to surround the robot cleaner including the front / rear, left / right side of the robot cleaner can be a contact sensor (tact sensor) for detecting the obstacle or the wall, depending on whether the contact. have.

Although not shown in Figure 1, it may further include a number of sensors including a stair sensor, such as to prevent the robot from falling from a high place, such as stairs.

In addition, the camera may further include a photographing unit to detect a mark of a predetermined pattern provided on the ceiling to check the cleaning area, or to check the distance or the presence of obstacles such as appliances, office supplies, and walls installed in the cleaning area. .

In addition, the robot cleaner may be returned to the direction in which the external power is connected using the camera, or the position and the direction in which the power cord is placed may be checked. In this case, the camera may be a pan / tilt camera.

The signal sensed by the sensor 110 is transmitted to the controller 170, the controller compares the applied signal with the reference data stored in the memory 150, and obtains information such as the state, location of the robot cleaner, This information is used to control the robot cleaner.

The dust collecting unit 120 collects dust on the bottom surface by generating a strong suction force on the suction port (suction port or suction tube) formed in the robot cleaner, and is installed on the bottom of the robot cleaner so as to communicate with the suction port. Vacuum the contaminants attached to the floor by collecting it.

Specifically, the dust collecting unit 120 is provided with a brush for collecting the contaminants on the bottom surface, according to the embodiment dust sucked through the suction port or suction pipe formed to face the bottom surface by the driving of the suction motor and the suction motor. It may be provided with a dust collecting chamber for collecting.

The steam cleaner 130 is a part of heating the water to obtain steam, and includes a heater for heating the water and generates steam.

Specifically, by forming a mop attachment portion that can be attached to the lower part of the steam spraying, by attaching the mop to the steam cleaning unit 130 to clean the contaminants on the bottom surface, especially the stuck foreign matter or stinging by the steam sprayed Be sure to

For example, after collecting the contaminants such as dust on the bottom surface by using the brush through the dust collecting unit 120, and secondly vacuum suction to obtain a more powerful cleaning effect. In addition, since the bottom surface vacuumed through the steam cleaning unit 130 is cleaned again, it is possible to more effectively remove foreign matters or stingy stuck to the surface to be cleaned (bottom surface).

Here, the user can select whether the operation of the exhaust unit 120 and the steam cleaning unit 130, the cleaning is performed by using any one or more of the exhaust unit 120, steam cleaning unit 130 according to the selection. You can do that.

The driving unit 140 is provided with a plurality of wheels including a left wheel mounted on the left side and a right wheel mounted on the right side of the robot cleaner.

In detail, a plurality of wheels for driving are installed in the robot cleaner, and the motor for driving each wheel is independently rotated to change the driving and driving directions to move the robot cleaner to perform cleaning.

The power supply unit 160 receives power through a power cord connected to an external power source such as an outlet provided on a wall. Specifically, the robot cleaner is supplied with power to operate the commercial AC power supplied to the home.

That is, since the present invention operates the robot cleaner using an external power source, it is unnecessary to charge the battery as in the conventional robot cleaner, and may be continuously supplied with power unless a power failure occurs.

In addition, the use of a conventional battery has a limitation in increasing the cleaning performance because the output is small, but the present invention can generate a high output by using an external power source to provide a stronger suction force and effectively operate the steam cleaning function.

The controller 170 controls the driving pattern of the robot cleaner so that the power cord is not wound around the obstacle by using the information obtained through the sensor.

Specifically, the controller 170 drives the robot cleaner by using a zigzag method that moves to the left or the right, and when there is an obstacle, runs to avoid the obstacle and runs in the reverse direction of the driving direction again. By controlling the driving pattern so that the power cord is not wound on the obstacle, the robot cleaner controls itself to move while cleaning. In the following control method will be described in more detail with respect to the driving pattern to avoid obstacles so that the power cord is not wound.

In addition, the controller 170 controls the power cord to be drawn out or drawn in according to the movement of the robot cleaner so that the tension of the power cord is maintained in the external power outlet and the robot cleaning period.

In addition, the controller 170 considers that the supply of water is stopped when the current consumption of the heater of the steam cleaning unit 130 does not reach a predetermined value, and controls the power supplied to the heater to be cut off. The control may prevent the heater from overheating more than necessary.

As described above, the present invention has an effect of continuously supplying power to the robot cleaner regardless of the presence of a battery since the operation power of the robot cleaner is supplied through an external power source.

In addition, the present invention has the effect of performing the cleaning without winding the power cord to the obstacle by using a driving pattern to reverse the path traveled by the robot cleaner.

In addition, the present invention has the effect of collecting the contaminants attached to the bottom surface by vacuum suction, and then cleaning the bottom surface once cleaned with a mop sprayed with steam again to obtain a cleaning and sterilization effect at the same time.

In addition, the present invention has the effect of providing a strong suction power and a stable steam cleaning function by generating a high output using an external power source.

2 is a view schematically showing a connection structure of a power cord included in a power supply unit according to an embodiment of the present invention.

2, a power cord winding roll 210 to which the power cord 240 is wound, and rotating means 220 rotating together with the power cord according to a moving direction of the power cord; It is configured to include a rotary gear 230 for engaging the rotation means to measure the rotation angle.

The power cord winding roll 210 is wound with a power cord 240 connected to an external power source, the power cord is drawn out through the rotating means 220 is connected to an external power outlet.

Specifically, as the robot cleaner connected to the external power outlet moves, the rotating means through which the power cord passes is rotated. At this time, the moving direction of the robot cleaner can be detected by detecting the rotation angle through the rotating gear.

 In this case, the rotary gear may be an encoder, a potentiometer, or the like.

In addition, the power cord winding roll 210 is implemented to apply a force to pull the power cord itself, the power cord is automatically withdrawn as the robot cleaner moves so that the tension of the power cord and the external power outlet and robot cleaning period is maintained. Or incoming.

In addition, the power cord winding roll may be controlled to draw or draw the power cord under the control of the controller.

3 is a view schematically illustrating a connection structure of a power cord included in a power supply unit according to another embodiment of the present invention.

3, the power cord winding roll 310 is wound around the power cord 340; A plurality of rollers 320; It includes a limit switch 330 for detecting the pressing of the roller.

The power cord winding roll 310 is wound on the power cord 340 connected to an external power source, and as the robot cleaner connected to the external power outlet moves, the roller is pressed by the power cord as shown in FIG. 3B. The limit switch 330 can detect the moving direction of the robot cleaner.

In addition, the power cord winding roll 310 is implemented to apply a force to pull the power cord itself, the power cord is automatically withdrawn as the robot cleaner moves so that the tension of the power cord and the external power outlet and the robot cleaning period is maintained. Or incoming.

In addition, the power cord winding roll may be controlled to draw or draw the power cord under the control of the controller.

Through the power cord connection structure as shown in FIGS. 2 and 3, the control unit 170 may obtain information such as the position of the robot cleaner and control the robot cleaner to move to the outside and return to the external power outlet using the information. .

Here, the present invention has been described with reference to the power cord connection structure as an embodiment 2, 3, but is not limited thereto.

4 is a flowchart illustrating a method of controlling a robot cleaner according to an exemplary embodiment of the present invention.

Referring to FIG. 4, an obstacle is detected while the robot cleaner is running (S401, 402). In more detail, the driving pattern of the robot cleaner may be a zigzag pattern, and the obstacle may detect an obstacle or a wall in a forward or driving direction by using an obstacle sensor while moving in the pattern.

In detail, the zigzag pattern moves in a straight line as shown in FIG. 5 and moves by a predetermined interval to the left and the right to perform cleaning.

Here, the robot cleaner 550 refers to the direction of the path that goes straight from the start position (eg, external power source) 530 as the forward direction 510, and the direction of the path that moves in the opposite direction to the straight direction is reversed 520. It demonstrates by referring to.

That is, the zigzag pattern moves straight forward 510, moves a predetermined distance to the left, then moves straight back to the reverse direction 520, moves a predetermined distance back to the left, and then repeats the pattern moving straight forward. Here, the movement interval 540 is changeable.

In addition, in the present invention, a robot cleaner having a rectangular shape is illustrated for convenience of description, but the present invention is not limited thereto.

Subsequently, if an obstacle is detected when the cleaning is performed, the obstacle is moved in a direction in which the obstacle is not sensed and goes straight, and the vehicle moves straight in a manner of bypassing the obstacle in close proximity (S403).

In detail, as illustrated in FIG. 6A, a touch detection sensor 610 is provided around the robot cleaner 600, and when a contact is detected by the front left 620, the contact is formed on the front of the robot cleaner in a right direction in which no contact is detected. Move until it is not detected and go straight.

In addition, as shown in FIG. 6B, the obstacle may be detected depending on whether the left side of the robot cleaner contacts the robot cleaner while moving straight. If no contact is detected on the left side, the robot moves to the left side by the distance moved to the right side again. Go straight.

Thereafter, the robot cleaner runs in a reverse direction along the path traveled to perform cleaning (S404).

Specifically, when it is time to go back in the reverse direction to avoid the obstacle, the driving pattern is controlled so that the power cord is not wound around the obstacle by driving back the same path traveling in the forward direction again.

The movement path of the robot cleaner using the above-described zigzag pattern 630 moves to the right after moving to the right when an obstacle is detected as shown in FIG. 6C, and moves to the left after moving to the left by the distance moved to the right again after passing the obstacle.

When the robot cleaner runs in a manner of driving backward in the same path that has traveled again after avoiding the obstacle, the cleaning may be performed while the power cord 640 is not wound around the obstacle.

On the contrary, if the contact is detected to the front right, the driving pattern is controlled as shown in FIG. 6D.

In addition, when the obstacle is smaller than the robot cleaner, a contact may be detected at the front center of the robot cleaner. In this case, the outlet 650 to which the external power is connected is connected to the direction in which the external power is connected. Since it is on the right side of the cleaner running direction, it moves to the right side and travels while avoiding obstacles.

Here, the driving direction of the robot cleaner may be sensed through the direction in which the power cord moves as shown in FIGS. 2 and 3.

In addition, as shown in 6c, the power cord is drawn out or drawn in according to the movement of the robot cleaner so that the tension of the power cord 640 between the external power outlet 650 and the robot cleaner 660 is maintained.

Thereafter, if the obstacle is not detected, the cleaning is performed by maintaining the zigzag pattern (S405), and when the cleaning is completed, the cleaning returns to the external power outlet 650 (S406 and S407).

In addition, the present invention has been described using a rectangular obstacle as an example, but is not limited to this, the circular or other various shapes of the obstacle, in the above-mentioned manner in a manner to bypass the surroundings in close proximity to the obstacle, and to drive again By running backwards in the path, cleaning can be performed while avoiding obstacles to prevent the power cord from winding.

Referring to FIG. 7, the driving pattern for cleaning while avoiding obstacles in the above-described zigzag method is FIG. 7A, which is a path for avoiding obstacles such as chairs, and when there are no obstacles, runs in a normal zigzag pattern.

In addition, if an obstacle is detected when driving in the reverse direction as shown in 7b, the vehicle avoids the obstacle as in route 1, then reverses the route as in route 2, and then maintains the zigzag pattern driving route. Likewise, it is possible to detect the passing of an obstacle. In this case, the vehicle travels backward in the same route as in route 3 and maintains the zigzag pattern in the zigzag pattern as in route 4.

In addition, if the predetermined mark 710 is displayed while returning to the third route, the marked mark can be detected when the zigzag pattern is performed in the fourth route, so that the second route portion behind the obstacle can be determined to be cleaned. have.

In addition, the power cord may be wound by an obstacle while driving. In this case, when the robot cleaner moves backward while driving the robot cleaner while maintaining the tension of the power cord, the power cord may be wound up. Afterwards, cleaning can be performed again in a zigzag pattern.

In addition, a predetermined mark is displayed on a portion of the power cord wound by the obstacle, and when the mark is detected thereafter, the power cord is not wound by changing a driving pattern such as adjusting a moving interval moving left and right during zigzag driving. Can be prevented.

As described above, the present invention has an effect of continuously supplying power to the robot cleaner regardless of the presence of a battery since the operation power of the robot cleaner is supplied through an external power source.

In addition, the present invention has the effect of performing the cleaning without winding the power cord to the obstacle by using a driving pattern to reverse the path traveled by the robot cleaner.

In addition, the present invention has the effect of collecting the contaminants attached to the bottom surface by vacuum suction, and then cleaning the bottom surface once cleaned with a mop sprayed with steam again to obtain a cleaning and sterilization effect at the same time.

In addition, the present invention has the effect of providing a strong suction power and a stable steam cleaning function by generating a high output using an external power source.

Although the present invention has been described above with reference to the embodiments, these are only examples and are not intended to limit the present invention, and those skilled in the art to which the present invention pertains may have an abnormality within the scope not departing from the essential characteristics of the present invention. It will be appreciated that various modifications and applications are not illustrated. For example, each component specifically shown in the embodiment of the present invention can be modified. And differences relating to such modifications and applications will have to be construed as being included in the scope of the invention defined in the appended claims.

1 is a block diagram showing a robot cleaner according to an embodiment of the present invention.

2 is a view schematically showing a connection structure of a power cord included in a power supply unit according to an embodiment of the present invention.

3 is a view schematically showing a connection structure of a power cord included in a power supply unit according to another embodiment of the present invention.

4 is a flowchart illustrating a method of controlling a robot cleaner according to an embodiment of the present invention.

5 is a diagram illustrating a zigzag pattern method of a robot cleaner.

6 is a view showing a driving pattern of the robot cleaner according to an embodiment of the present invention.

7 is a view showing another driving pattern of the robot cleaner according to an embodiment of the present invention.

Claims (10)

In the robot cleaner which sucks dust and performs cleaning while traveling on the floor, A detection sensor for detecting an obstacle; A power supply unit connected to an external power source and a power cord to receive operation power of the robot cleaner; And a controller configured to control the power cord not to be wound around an obstacle by using a driving pattern in which the robot cleaner runs in a reverse direction. The method of claim 1, And a steam cleaner for generating steam to the robot cleaner. The method of claim 1, And a robot cleaner which detects a moving direction of the robot cleaner by using a rotation angle of the rotating means rotating in the direction in which the power cord moves. The method of claim 1, The robot cleaner characterized in that for detecting the moving direction of the robot cleaner using a limit switch for detecting that the roller is pressed by the power cord. The method of claim 1, And the controller controls to perform cleaning in a zigzag manner by using a driving pattern in which the robot cleaner runs in a reverse direction when the obstacle is detected. The method of claim 1, The control unit is a robot cleaner, characterized in that the control to maintain the tension by drawing or withdrawing the power cord in accordance with the movement of the robot cleaner. In the control method of the robot cleaner which sucks dust and performs cleaning while traveling on the floor, Driving the robot cleaner by receiving power through a power cord connected to an external power source; If the obstacle is detected during the driving, bypassing the surroundings to approach the obstacle and going straight; And driving the vehicle back in a reverse direction so that the power cord is not wound around an obstacle. The method of claim 7, wherein The robot cleaner control method according to claim 1, wherein the robot cleaner is driven in a zigzag manner. The method of claim 7, wherein The bypassing and directing may include moving in a direction in which no contact is detected by using a contact sensor on the front of the robot cleaner; Moving straight until no contact is detected on the front side and going straight; The robot cleaner control method, characterized in that further comprising the step of moving straight in the opposite direction to the moved direction if the contact is not detected at the side when the straight. The method of claim 7, wherein Robotic cleaner control method characterized in that the power cord is drawn out or drawn in accordance with the movement of the robot cleaner so that the tension of the power outlet and the robot cleaning period power cord is maintained.

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