KR20100134958A - Mobile body and method for controlling traveling of the same - Google Patents

Abstract

PURPOSE: A robot cleaner and a driving control method thereof are provided to effectively control the traveling of the robot cleaner by calculating the accurate height of the cleaner body from the floor. CONSTITUTION: A robot cleaner comprises a main body(110), a first sensor(114), a second sensor(116), and a control device(118). The first sensor measures the vertical distance to the floor from the bottom of the main body. The second sensor measures the angle between the bottom of the main body and the floor. The control device computes a measurement height value from the floor to the bottom of the front end of the main body based on the distance and the angle measured by the first and second sensors and compares the measurement height value with the set value to control the traveling of the robot cleaner.

Description

MOBILE BODY AND METHOD FOR CONTROLLING TRAVELING OF THE SAME}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving body and a traveling control method of a moving body, and more particularly, to a moving body and a traveling control method of a moving body which can more effectively control the traveling of the moving body by accurately calculating the height from the floor to the front end of the bottom of the main body.

In general, a robot cleaner, which is a representative example of a mobile robot, refers to an automatic cleaning device that automatically cleans a cleaning area by suctioning foreign substances such as dust while driving a certain cleaning area such as a house or an office without a user's manipulation. Such a robot cleaner is manufactured to perform cleaning while traveling in a predetermined cleaning path or an optimal cleaning path according to a built-in program.

On the other hand, when the robot cleaner performs the cleaning, if there is an obstacle such as a wall on the driving path of the robot cleaner or if there is a low ground such as a bathroom floor or a cliff lower than the flat surface, it is difficult to drive normally. In order to avoid the need to change the driving route, this operation is controlled by the control device according to the various sensors installed in the main body and the signals received by the sensors.

Sensors installed in the main body of the robot cleaner include various sensors, for example, a PSD (Position Sensitive device) sensor, an ultrasonic sensor, and a laser sensor.

However, these sensors are distance measuring sensors, and since the robot cleaner has a certain slope when climbing the threshold, there is a problem in that the height of the robot cleaner cannot be accurately measured from the floor. That is, even if the distance measured by the sensors for measuring the distance is the same, the height of the robot cleaner is different from the floor according to the size of the bottom of the robot cleaner and the angle of the floor, only the sensor for measuring the distance of the robot cleaner from the floor The problem is that the height cannot be measured accurately.

Therefore, even if the robot cleaner is continuously driven when the height of the robot cleaner is below a certain height from the floor, and the driving direction is changed when the height of the robot cleaner is above a certain height, the height of the robot cleaner cannot be accurately measured from the floor. There is a problem in that there may be an error in driving direction control.

The present invention has been made to solve the above problems, by measuring the distance between the front end and the bottom of the main body and the angle of the bottom and bottom of the main body using a sensor, from the bottom to the front end of the main body It is an object of the present invention to provide a moving body and a traveling control method of the moving body which can control the running of the moving body more effectively by calculating the height accurately.

In addition, a sensor for measuring the distance between the front end and the bottom of the main body is located at the front end of the main body, and a sensor for measuring the angle of the angle formed by the bottom and the bottom of the main body is located at the center of the main body, thereby enabling more accurate measurement. Accordingly, an object of the present invention is to provide a moving object and a traveling control method of the moving object which can more accurately calculate the height from the bottom to the front end of the bottom of the main body.

According to the above object, the movable body includes a main body, a first sensor capable of measuring a distance extending from the front end of the bottom of the main body to a floor perpendicular to the bottom of the main body, and a bottom of the main body and the bottom of the main body. Using the second sensor capable of measuring the size of the angle, the distance measured from the first sensor and the angle measured from the second sensor, a measured height value, which is the height from the bottom to the front end of the bottom surface of the main body, is measured. And a control device capable of calculating and comparing the measured height value with a preset value to control the running of the moving object.

The measured height value is characterized by h = s * cos θ (h: measured height value, s: distance between the front end and the bottom of the main body, θ: the angle between the bottom and the bottom of the main body).

The control device causes the movable body to move in the first direction when the measured height value is smaller than the preset value for the movable body traveling in the first direction, and the measured height value is larger than the preset value. Or the like, the movable body moves in a second direction different from the first direction.

The first sensor may be positioned at the front end of the bottom surface of the main body, and may be any one of a Position Sensitive Device (PSD) sensor, an ultrasonic sensor, and a laser sensor.

The second sensor is located at the center of the main body, characterized in that any one of a tilt sensor, an acceleration sensor, and a gyro sensor.

The moving body is characterized in that the robot cleaner.

The traveling control method of the moving object according to the above object is a main body, a first sensor that can measure the distance extending from the front end of the bottom of the main body to the bottom perpendicular to the bottom of the main body, the bottom and the bottom of the main body In the traveling control method of a moving object including a second sensor capable of measuring the size of the angle, using the first sensor to measure the distance extending from the front end of the bottom of the main body to the floor perpendicular to the bottom of the main body The first step, the second step of measuring the size of the angle formed between the bottom and the bottom of the body using the second sensor, the distance measured in the first step and the angle measured in the second step A third step of calculating a measured height value which is a height from the bottom to the front end of the bottom surface of the main body, and the side calculated in the third step By comparing the height values with a predetermined value, it characterized in that it comprises a fourth step of controlling the driving of the vehicle.

In the third step, the measured height value is calculated based on h = s * cos θ (h: measured height value, s: distance between the front end and the bottom of the body, θ: the angle between the bottom and the bottom of the body) It is characterized by.

In the fourth step, when the measured height value is smaller than the preset value with respect to the movable body traveling in the first direction, the movable body is controlled to move in the first direction, and the measured height value is set to the preset height. If greater than or equal to a value, the moving body is controlled to move in a second direction different from the first direction.

The first sensor may be positioned at the front end of the bottom surface of the main body, and may be any one of a Position Sensitive Device (PSD) sensor, an ultrasonic sensor, and a laser sensor.

The second sensor is located at the center of the main body, characterized in that any one of a tilt sensor, an acceleration sensor, and a gyro sensor.

The moving body is characterized in that the robot cleaner.

The moving object and the traveling control method of the moving object according to the present invention as described above has the following effects.

The moving object and the traveling control method of the moving object according to the present invention measure the distance between the front end and the bottom of the main body and the angle of the bottom and the bottom of the main body by using a sensor to accurately measure the height from the bottom to the front end of the main body. By calculating, the running of the moving body can be controlled more effectively.

In the moving object and the traveling control method of the moving object according to the present invention, a sensor for measuring the distance between the front end and the bottom of the main body is located at the front end of the main body, and the sensor for measuring the size of the angle formed by the bottom and the bottom of the main body is a central portion of the main body. By being located at, the more accurate measurement is possible, and the height from the bottom to the front end of the bottom of the main body can be more accurately calculated.

Hereinafter, with reference to the accompanying drawings will be described in detail with respect to the moving body according to the present invention.

The moving body according to the present invention may be used as a robot cleaner, and in the following, an embodiment of the robot cleaner will be described as a case in which the moving object according to the present invention is used as a robot cleaner.

1 is a perspective view showing an embodiment of a robot cleaner according to the present invention, Figure 2 is a side view showing an embodiment of a robot cleaner according to the present invention.

1 and 2, the robot cleaner according to the present invention includes a main body 110, a first sensor 114 and a second sensor 116 provided at a predetermined position of the main body, and a robot cleaner. It includes a control device 118 that can control the running of.

The first sensor 114 may measure a distance extending from the front end of the bottom of the main body 110 to the bottom of the main body 110 in a direction perpendicular to the bottom of the main body 110. Therefore, the first sensor 114 is preferably located at the front end of the bottom surface of the main body 110. As the first sensor 114, a sensor for measuring a distance may be used. For example, a position sensitive device (PSD) sensor, an ultrasonic sensor, a laser sensor, or the like may be used. A PSD (Position Sensitive device) sensor, an ultrasonic sensor, a laser sensor, and the like are well known technologies, and thus description thereof will be omitted.

The second sensor 116 may measure the size of an angle formed between the bottom of the main body 110 and the bottom. Therefore, the second sensor 116 is preferably located at the center of the main body 110. As the second sensor 116, a sensor for measuring a tilt may be used. For example, a tilt sensor, an acceleration sensor, a gyro sensor, or the like may be used. Since the tilt sensor, the acceleration sensor, the gyro sensor, and the like are well known technologies, descriptions thereof will be omitted.

The controller 118 calculates the measured height value, which is the height from the bottom to the front end of the bottom surface of the main body 110, using the distance measured from the first sensor 114 and the magnitude of the angle measured from the second sensor 116. In addition, the driving height of the robot cleaner may be controlled by comparing the measured height value with a preset value. A process in which the controller 118 controls the running of the robot cleaner will be described later.

Robot cleaner according to the present invention may further include a plurality of wheels 112 on the bottom. The plurality of wheels 112 rotate on the bottom of the robot cleaner, thereby moving the robot cleaner in a direction controlled by the controller 118.

Hereinafter, the process of controlling the driving of the robot cleaner by the controller with reference to the accompanying drawings will be described in more detail in each case.

3 is a view showing the control of the robot vacuum cleaner according to the present invention, Figure 4 is a view showing the control of the robot cleaner in the drop zone according to the present invention, Figure 5 is a threshold of the robot cleaner according to the present invention Figure 6 is a view showing the control in, Figure 6 is a view showing the control in the drop area behind the threshold of the robot cleaner according to the present invention.

The controller 118 measures the distance 130 extending from the front end of the bottom of the body 110 measured from the first sensor 114 to the floor perpendicular to the bottom of the body 110 and measured from the second sensor 116. The measured height value 140, which is the height from the bottom 120 to the front end of the bottom surface of the main body 110, may be calculated using the size 132 of the angle formed by the bottom surface and the bottom 120 of the main body 110. 3 and 4, the bottom and bottom 120 of the main body 110 are horizontal, and thus, an illustration of an angle size 132 formed by the bottom and the bottom 120 of the main body 110 is omitted.

At this time, the equation for calculating the measured height value 140 is as follows.

h = s * cosθ (h: measured height value 140), s: distance 130 extending from the front end of the body to the floor perpendicular to the bottom of the body, θ: the size of the angle formed by the bottom and the bottom of the body ( 132))

The controller 118 compares the measured height value 140 calculated by Equation 1 with a preset value, and when the measured height value 140 is smaller than the preset value, the controller 118 is the first direction that is the driving direction of the robot cleaner. If the driving height continues in the direction 150 and the measured height value 140 is greater than or equal to the preset value, the robot cleaner may control to travel in the second direction 160 which is different from the direction in which the robot cleaner was traveling.

In this case, the second direction 160 may be, for example, a direction opposite to the first direction 150, a direction toward 90 degrees to the left from the first direction 150, or 90 to the right from the first direction 150. Direction toward the degree is possible.

The preset value is a value stored in advance in the control device 118, it is preferable to set the height value of the degree that does not damage when the robot cleaner falls on the floor. In addition, in order to safely use the robot cleaner, it is preferable to set the robot cleaner to a value lower than the height value that does not break when the robot cleaner falls on the floor. The preset value may be set to an appropriate value through the floor drop experiment of the robot cleaner, and the value may be changed according to the material, structure, and the like of the robot cleaner.

First, referring to FIG. 3, the body 110 of the robot cleaner is traveling in the first direction 150 while being parallel to the floor 120. Since the main body 110 and the bottom 120 are parallel, the distance 130 extending from the front end of the bottom of the main body 110 to the floor perpendicular to the bottom of the main body 110 is equal to the measurement height value 140. The controller 118 compares the measured height value 140 with a preset value to determine whether the robot cleaner runs in the first direction 150 or the second direction 160, and the wheel 112. Rotate) to control the robot cleaner to run.

Referring to FIG. 4, the main body 110 of the robot cleaner runs in the first direction 150 while being parallel to the floor 120 in the fall region. Since the main body 110 and the bottom 120 are parallel, the distance 130 extending from the front end of the bottom of the main body 110 to the floor perpendicular to the bottom of the main body 110 is equal to the measurement height value 140. At this time, since the first sensor 114 is located at the front end of the bottom surface of the main body 110, the controller 118 may detect a change in the measured height value 140 before the wheel 112 falls to the lower end of the drop zone. Can be. The controller 118 compares the measured height value 140 changed in the drop zone with a preset value to avoid falling by driving the robot cleaner in the first direction 150 or in the second direction 160. It determines whether or not to, and controls the robot cleaner to run by rotating the wheel (112).

Referring to FIG. 5, the main body 110 of the robot cleaner 110 may run in a first direction while inclining the floor 120 at a threshold 122. A distance 130 extending from the front end of the bottom of the main body 110 measured from the first sensor 114 to the bottom perpendicular to the bottom of the main body 110 and the bottom of the main body 110 measured from the second sensor 116. And the magnitude 132 of the angle formed by the bottom 120 are applied to Equation 1 to calculate the measured height value 140, which is the height from the bottom 120 to the front end of the bottom surface of the main body 110. In this case, the controller 118 may detect a change in the measured height value 140 while the robot cleaner climbs the threshold. The controller 118 compares the measured height value 140 changed at the threshold with a predetermined value, and whether the robot cleaner runs in the first direction 150 to continue the threshold climbing in the second direction 160 to climb the threshold Determine whether or not to avoid, and controls the robot cleaner to run by rotating the wheel (112).

Referring to FIG. 6, the main body 110 of the robot cleaner 110 may run in a first direction while inclining with the bottom 120 in a drop region behind the threshold 122. A distance 130 extending from the front end of the bottom of the main body 110 measured from the first sensor 114 to the bottom perpendicular to the bottom of the main body 110 and the bottom of the main body 110 measured from the second sensor 116. And the magnitude 132 of the angle formed by the bottom 120 are applied to Equation 1 to calculate the measured height value 140, which is the height from the bottom 120 to the front end of the bottom surface of the main body 110. At this time, in the process of the robot cleaner climbing the threshold, the control device 118 may detect a change in the measured height value 140 in the fall region behind the threshold. The controller 118 compares the measured height value 140 changed in the drop region behind the threshold with a preset value to determine whether the robot cleaner travels in the first direction 150 and falls over the threshold in the second direction 160. It is determined whether to avoid the fall area behind the threshold by running, and rotates the wheel 112 to control the robot cleaner to run.

Hereinafter, a driving control method of a moving body according to the present invention will be described in detail with reference to the accompanying drawings.

The movable body according to the present invention may be used as a robot cleaner, and hereinafter, a case in which the movable body according to the present invention is used as a robot cleaner will be described with reference to an embodiment of a driving control method of the robot cleaner.

7 is a flowchart illustrating an embodiment of a driving control method of the robot cleaner according to the present invention, and FIGS. 8A to 8D are diagrams illustrating each step of the driving control method of the robot cleaner according to the present invention.

According to an embodiment of the driving control method of the robot cleaner according to the present invention, first, the first sensor 314 extends from the front end of the bottom of the main body 310 to the bottom 320 perpendicular to the bottom of the main body 310. The first step 210 of measuring the distance 330, the second step 212 of measuring the size 332 of the angle formed by the bottom 320 and the bottom 320 of the main body 310 using the second sensor 316 ), A distance 330 extending vertically from the front end of the bottom of the main body 310 to the bottom 320 of the main body 310 and the angle 332 of the bottom and the bottom 320 of the main body 310. The third step 214 of calculating the measured height value 340, which is the height from the bottom 320 to the front end of the bottom surface of the main body 310, is compared with the preset height by the measured height value 340. A fourth step 216 of controlling the running of the cleaner is performed.

Referring to FIG. 8A, while the robot cleaner climbs the threshold 322 in a first step, the robot cleaner continues with a constant period using the first sensor 314 and continues from the front of the bottom of the body 310 to the bottom surface of the body 310. The distance 330 extending vertically to the floor 320 is measured. At this time, the main body 310 of the robot cleaner travels in the first direction 400 while inclining the floor 320.

In the first step, the first sensor 314 capable of measuring the distance 330 extending from the front end of the bottom of the main body 310 to the bottom 320 perpendicular to the bottom of the main body 310 is the bottom of the main body 310. It is preferable to be located at the front end. As the first sensor 314, a sensor for measuring a distance may be used. For example, a position sensitive device (PSD) sensor, an ultrasonic sensor, a laser sensor, or the like may be used. Since a technique for measuring distance by a position sensitive device (PSD) sensor, an ultrasonic sensor, a laser sensor, or the like is well known, a description thereof will be omitted.

Referring to FIG. 8B, as the robot cleaner climbs the threshold 322 in the second step, the angle between the bottom surface and the bottom 320 of the main body 310 continues at regular intervals using the second sensor 316. The size 332 is being measured.

In the second step, the second sensor 316 capable of measuring the size 332 of the angle formed by the bottom and bottom 320 of the main body 310 is preferably located at the center of the main body 310. As the second sensor 316, a sensor for measuring a tilt may be used. For example, a tilt sensor, an acceleration sensor, a gyro sensor, or the like may be used. Since the technology for measuring the tilt by the tilt sensor, the acceleration sensor, the gyro sensor, and the like is a well-known technique, description thereof will be omitted.

Referring to FIG. 8C, in the third step, the control device 318 extends a distance 330 extending from the front end of the bottom of the main body 310 to the bottom 320 perpendicular to the bottom of the main body 310 measured in the first step. And a height from the bottom 320 to the front end of the bottom surface of the main body 310 by applying the magnitude 332 of the angle formed by the bottom surface and the bottom 320 of the main body 310 measured in the second step to Equation 1. The height value 340 is calculated. In this case, the controller 318 may detect a change in the measured height value 340 while the robot cleaner climbs the threshold.

Referring to FIG. 8D, in the fourth step, the controller 318 compares the measured height value 340 with a preset value, and when the measured height value 340 is smaller than the preset value, the robot cleaner was running. Direction continues in the first direction 400 and if the measured height value 140 is greater than or equal to the preset value, the robot cleaner may travel in the second direction 500 which is different from the direction in which the robot cleaner was traveling. To control the running of the robot cleaner.

The bottom of the robot cleaner is provided with a plurality of wheels 312, the controller 318 rotates the wheel 312 to control the robot cleaner to run in the desired direction.

In this case, the second direction 500 may be, for example, a direction opposite to the first direction 400, a direction toward 90 degrees to the left from the first direction 400, or 90 to the right from the first direction 400. Direction toward the degree is possible.

The preset value is a value stored in advance in the control device 318, it is preferable to set the height value of the degree that does not damage when the robot cleaner falls on the floor. In addition, in order to safely use the robot cleaner, it is preferable to set the robot cleaner to a value lower than the height value that does not break when the robot cleaner falls on the floor. The preset value may be set to an appropriate value through the floor drop experiment of the robot cleaner, and the value may be changed according to the material, structure, and the like of the robot cleaner.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and those skilled in the art to which the present invention pertains can be changed and modified within the scope of the present invention. .

1 is a perspective view showing an embodiment of a robot cleaner according to the present invention;

Figure 2 is a side view showing an embodiment of a robot cleaner according to the present invention,

3 is a view showing the control on the flat of the robot cleaner according to the present invention,

4 is a view showing the control in the drop zone of the robot cleaner according to the present invention,

5 is a view showing the control at the threshold of the robot cleaner according to the present invention,

6 is a view showing the control in the drop region behind the threshold of the robot cleaner according to the present invention,

7 is a flowchart illustrating an embodiment of a driving control method of a robot cleaner according to the present invention;

8A to 8D are diagrams illustrating each step of the driving control method of the robot cleaner according to the present invention.

<Explanation of symbols on main parts of the drawings>

110, 310: main body

114, 314: First sensor

116, 316: second sensor

118, 318: controller

Claims (16)

In the mobile body, main body; A first sensor capable of measuring a distance extending from the front end of the bottom of the main body to a floor perpendicular to the bottom of the main body; A second sensor capable of measuring a magnitude of an angle formed between a bottom of the main body and the bottom; And Using the distance measured from the first sensor and the size of the angle measured from the second sensor, a measured height value, which is the height from the bottom to the front end of the bottom surface of the main body, is calculated, and the measured height value and the preset height Comparing the value, characterized in that it comprises a control device for controlling the running of the moving object Mobile body. The method of claim 1, The measured height value is, h = s * cosθ (h: measured height value, s: distance between the front end and the bottom of the body, θ: angle of the bottom and bottom of the body) Calculated based on Mobile body. The method of claim 2, The control device, If the measured height value is smaller than the predetermined value, the moving body is controlled to continue to move in the current direction, When the measured height value is greater than or equal to the preset value, the moving object is controlled to move in a direction different from the current progressing direction. Mobile body. The method of claim 2, The first sensor is located in front of the bottom surface of the main body Mobile body. The method of claim 4, wherein The first sensor is any one of a position sensitive device (PSD) sensor, an ultrasonic sensor, and a laser sensor. Mobile body. The method of claim 2, The second sensor is characterized in that located in the center of the body Mobile body. The method of claim 6, The second sensor may be any one of a tilt sensor, an acceleration sensor, and a gyro sensor. Mobile body. 8. The method according to any one of claims 1 to 7, The moving body is characterized in that the robot cleaner Mobile body. A first sensor capable of measuring a distance extending vertically from the front end of the bottom of the main body to a floor perpendicular to the bottom of the main body, and a second sensor capable of measuring the size of an angle formed between the bottom of the main body and the bottom of the main body; In the traveling control method of a moving body comprising: A first step of measuring a distance extending from the front end of the bottom surface of the main body to the floor perpendicular to the bottom of the main body by using the first sensor; A second step of measuring an angle formed between the bottom of the main body and the bottom by using the second sensor; A third step of calculating a measured height value which is a height from the bottom to the front end of the bottom surface of the main body using the distance measured in the first step and the magnitude of the angle measured in the second step; And And a fourth step of controlling driving of the moving body by comparing the measured height value calculated in the third step with a preset value. Driving control method of the moving object. The method of claim 9, In the third step, The measured height value is, h = s * cosθ (h: measured height value, s: distance between the front end and the bottom of the body, θ: angle of the bottom and bottom of the body) Calculated based on Driving control method of the moving object. The method of claim 10, In the fourth step, If the measured height value is smaller than the predetermined value, the moving body is controlled to continue to move in the current direction, When the measured height value is greater than or equal to the predetermined value, the moving body is controlled to move in a direction different from the current progressing direction. Driving control method of the moving object. The method of claim 10, The first sensor is located in front of the bottom surface of the main body Driving control method of the moving object. 13. The method of claim 12, The first sensor is any one of a position sensitive device (PSD) sensor, an ultrasonic sensor, and a laser sensor. Driving control method of the moving object. The method of claim 10, The second sensor is characterized in that located in the center of the body Driving control method of the moving object. The method of claim 14, The second sensor may be any one of a tilt sensor, an acceleration sensor, and a gyro sensor. Driving control method of the moving object. The method according to any one of claims 9 to 15, The moving body is characterized in that the robot cleaner Driving control method of the moving object.

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