KR20130020062A - Obstacle detecting apparatus for robot cleaner and robot cleaner having the same - Google Patents

Abstract

PURPOSE: An obstacle detecting apparatus of a robot cleaner and a robot cleaner including the same are provided to sense an obstacle over the entire area of the outer periphery of a robot cleaner main body by sensing the capacitance variation of an electrode planted in a sensor body arranged along the outer periphery of a main body. CONSTITUTION: An obstacle detecting apparatus of a robot cleaner includes an electrode and a sensing unit. The electrode is planted inside a sensor body(110) arranged along the outer periphery of a main body(A). The sensing unit senses the capacitance variation of the electrode by an obstacle approaching the outer periphery of the main body in the driving of the main body. The control unit controls the driving of a drive unit in order to prevent a collision of the main body and the obstacle in case the obstacle is detected based on a capacitance variation signal transmitted from the sensing unit. The electrode is comprised of a metal plate of a strip type and is formed in a bent or convex form to the outside of the main body as it goes from the periphery to the center based on the height direction.

Description

Obstacle detecting apparatus for robot cleaner and robot cleaner having the same}

The present invention relates to an obstacle detecting apparatus for a robot cleaner and a robot cleaner having the same, and more particularly, a robot capable of detecting an obstacle for all areas around the main body of the robot cleaner using a capacitive sensor. An obstacle detecting apparatus for a cleaner and a robot cleaner having the same are provided.

The robot cleaner generally refers to a device that cleans while driving according to a program embedded in a predetermined region without a user's operation. Such a robot cleaner generally includes the dust collecting unit 10 and the sensor as illustrated in FIGS. 1A and 1B. The unit 20, the driver 30, the transmitter / receiver 40, and the controller 50 are configured to be included.

The suction part 10 is installed on the main body A to collect dust on the floor facing the air while inhaling air, for example, a suction port formed to face the floor by driving a suction motor (not shown). Dust may be sucked through.

The sensor unit 20 is disposed at the front side of the main body A and is configured as a detection sensor for sensing an obstacle, and the sensing signal detected by the detection sensor is transmitted to the control unit 50.

The drive unit 30 is provided on the main body A, including a wheel W that can move in a state where the main body A is supported from the bottom surface.

The transmitter / receiver 40 is provided for transmission / reception with the external device 60, and the control signal received from the external device 60 is transmitted to the controller 50.

The control unit 50 is based on the sensing signal received from the sensor unit 20, the control unit received from the external device 60 through the transmission / reception unit 40 described above, the exhaust unit 10, the driving unit ( 30) to control the operation.

In the conventional robot cleaner configured as described above, in particular, the sensor unit 20, as shown in Figure 1a, a transmitting element for transmitting a signal such as infrared or ultrasonic wave and a receiving element for receiving the reflected signal The paired element pair unit 20a is arranged at a predetermined interval on the front side of the main body A, and the element pair unit 20a includes an infrared light emitting element and an infrared light receiving element in pairs, or an ultrasonic transmitting element and an ultrasonic wave. Receiving elements were constructed in pairs.

However, when the device pair unit 20a includes an infrared light emitting device and an infrared light receiving device in pairs, a blind spot may not be detected at an area corresponding to the distance between the device pair units 20a. There was a problem.

In order to solve this problem, a large number of device pair units 20a may be densely arranged to solve the above-mentioned rectangular area, but in this case, a large number of device pair units 20a are required, so that an excessive manufacturing cost is required. It was the cause that caused the problem.

On the other hand, when the ultrasonic transmitting element and the ultrasonic receiving element is composed of a pair, the ultrasonic wave emitted from the ultrasonic sensor affects other electronic devices, there is a problem that causes the malfunction of the affected electronic device.

An object of the present invention for solving the problems according to the prior art, using a capacitive sensor of the robot cleaner for detecting obstacles to all the area around the robot cleaner main body and provided with the same To provide a robot cleaner.

Obstacle detection apparatus for a robot cleaner of the present invention for solving the above technical problem, a obstacle for the robot cleaner comprising a drive unit for providing a driving force for driving the main body, at least a control unit for controlling the driving of the drive unit, An electrode embedded in a sensor body disposed along an outer circumference of the main body; And a sensing unit configured to sense a change in capacitance of the electrode due to an obstacle near the outer circumferential surface of the main body when the main body travels, wherein the control unit is configured to receive the capacitance change signal transmitted from the sensing unit. When it is determined that there is an obstacle on the basis of the control of the driving unit to prevent the collision between the main body and the obstacle.

Preferably, the electrode is composed of a metal plate in the form of a strip, it may be formed to be bent or convex toward the outer side of the main body toward the outer side from the center portion in the height direction.

Preferably, the sensing unit comprises a PLL module connected to the electrode, the control unit ADC module for converting the analog voltage signal output from the PLL module into a digital voltage signal in accordance with the change in capacitance of the electrode and the Comprising an operation processing module for controlling the driving of the drive unit to prevent the collision between the main body and the obstacle when it is determined that there is an obstacle by comparing the digital voltage signal output from the ADC module and the predetermined reference voltage signal. have.

Preferably, the sensor body may be divided into a plurality of parts along the circumference of the outer circumferential surface of the main body, and the electrode may be embedded in each sensor body.

Preferably, the sensor body is configured along the outer circumference of the main body, a plurality of electrodes may be divided and embedded in the sensor body.

Preferably, the sensing unit sequentially detects the capacitance change from the plurality of electrodes, and the control unit sequentially receives the capacitance change signal for the plurality of electrodes from the sensing unit, whether an obstacle exists for the corresponding electrode. In the case of determining that there is an obstacle with respect to the corresponding electrode, the driving of the driving unit may be controlled based on the position information of the corresponding electrode.

Preferably, the sensing unit includes a selection module connected to each of the plurality of electrodes and a PLL module sequentially connected to the plurality of electrodes by the selection module, wherein the control unit includes a capacitance of a corresponding electrode connected to the PLL module. When the ADC module converts the analog voltage signal outputted from the PLL module into a digital voltage signal according to the change of and the digital voltage signal outputted from the ADC module and a predetermined reference voltage signal are determined to be an obstacle, the main body And it may be configured to include a calculation processing module for controlling the driving of the drive unit to prevent the collision of the obstacle.

Preferably, the sensing unit detects capacitance changes of the plurality of electrodes, respectively, and the control unit receives capacitance change signals for the plurality of electrodes from the sensing unit, respectively, to determine whether an obstacle exists for the corresponding electrode. If it is determined that there is an obstacle with respect to the corresponding electrode, the driving of the driving unit may be controlled based on the position information of the corresponding electrode.

Preferably, the sensing unit includes a plurality of PLL modules individually connected to a plurality of electrodes, respectively, and the control unit is connected to each of the plurality of PLL modules, and the plurality of the plurality of electrodes according to a change in capacitance of the plurality of electrodes. The main body and the obstacle in the case where it is determined that there is an obstacle by comparing the analog voltage signal output from the PLL module to the digital voltage signal and the digital voltage signal output from the ADC module with a preset reference voltage signal It may be configured to include a calculation processing module for controlling the driving of the drive unit to prevent the collision.

According to another aspect of the invention, there is provided a robot cleaner equipped with an obstacle sensing device of the robot cleaner.

As described above, the present invention can detect obstacles to all areas around the outer circumferential surface of the main body of the robot cleaner through a simple structure for detecting a change in capacitance of an electrode embedded in a sensor body disposed along the outer circumferential surface of the main body. There is an advantage.

In addition, as the electrode is convexly formed toward the outer side of the main body, there is an advantage that it is possible to detect an obstacle for a wide area around the outer circumference of the main body.

In addition, by dividing and embedding a plurality of electrodes in the sensor body, there is an advantage that can detect not only obstacles to all areas around the outer circumferential surface of the robot cleaner body, but also the direction in which the obstacles are detected.

1A is a perspective view illustrating an example of a general robot cleaner.
1B is a block diagram illustrating a schematic configuration of an example of a general robot cleaner.
2 is a perspective view of a robot cleaner to which an obstacle sensing device according to a first embodiment of the present invention is applied.
3 is a plan view of the robot cleaner to which the obstacle sensing apparatus according to the first embodiment of the present invention is applied.
Figure 4 is a plan view showing the configuration of the sensor body and the electrode of the obstacle detecting apparatus according to the first embodiment of the present invention.
5A is a cross-sectional view showing an example of the AA cross-sectional view of FIG. 4.
5B is a sectional view showing another example of the AA sectional view of FIG. 4;
6 is a block diagram showing a schematic configuration of an obstacle detecting apparatus according to a first embodiment of the present invention.
7 is a block diagram showing a schematic configuration of a PLL module of the obstacle detecting apparatus according to the first embodiment of the present invention.
8 is a perspective view of a robot cleaner to which an obstacle sensing device according to a second embodiment of the present invention is applied.
9 is a plan view of a robot cleaner to which the obstacle sensing apparatus according to the second embodiment of the present invention is applied.
Figure 10a is a plan view showing the configuration of the sensor body and the electrode of the obstacle detecting apparatus according to a second embodiment of the present invention.
Figure 10b is a plan view showing the configuration of the sensor body and the electrode of the obstacle detecting apparatus according to a second embodiment of the present invention.
11 is a block diagram showing a schematic configuration of an obstacle detecting apparatus according to a second embodiment of the present invention.
12 is a block diagram showing a schematic configuration of a PLL module of an obstacle detecting apparatus according to a second embodiment of the present invention.
13 is a plan view showing the configuration of the sensor body and the electrode of the obstacle detecting apparatus according to a third embodiment of the present invention.
14 is a block diagram showing a schematic configuration of an obstacle detecting apparatus according to a third embodiment of the present invention.

The present invention can be embodied in many other forms without departing from the spirit or main features thereof. Accordingly, the embodiments of the present invention are to be considered in all respects as merely illustrative and not restrictive.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component. And / or < / RTI > includes any combination of a plurality of related listed items or any of a plurality of related listed items.

When a component is referred to as being "connected" or "connected" to another component, it may be directly connected to or connected to that other component, but it may be understood that other components may be present in between. Should be. On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In the present application, the terms "comprises", "having", "having", and the like are intended to specify the presence of stated features, integers, steps, operations, components, Steps, operations, elements, components, or combinations of elements, numbers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Do not.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like or corresponding elements are denoted by the same reference numerals, and a duplicate description thereof will be omitted. In the following description of the present invention, if it is determined that the detailed description of the related known technology may obscure the gist of the present invention, the detailed description thereof will be omitted.

Robot cleaner according to an embodiment of the present invention is configured to include a suction unit, a sensor unit, a driver, a transmission / reception unit, a control unit.

In the present embodiment, the suction unit, the driver, and the receiver / receiver may be arbitrarily selected and applied to the dust collector, the driver, and the receiver / receiver which constitute the conventional robot cleaner. The detailed description thereof will be omitted, and the description will be focused on the sensor unit (hereinafter, referred to as an obstacle detecting device) which is a feature of the present embodiment.

On the other hand, the obstacle detection apparatus of the present embodiment described below, the simple operation robot cleaner for performing cleaning while changing the movement path at random according to the detection of the obstacle, the automatic charging function and the function of the above-described simple operation robot cleaner; Heavy-duty robot cleaner with movement path control, multiple sensors (e.g. cameras) are attached to create a map in the billing area while performing environmental awareness, and sequentially cleaning from one side to the other while recognizing the location Of course, it can be applied to all robot cleaners such as a high-performance robot cleaner to perform.

Hereinafter, the functions and operations of the obstacle detecting apparatus and the control unit related thereto will be described.

The obstacle detecting apparatus according to the present embodiment may be provided with a robot cleaner configured to include a driving unit providing a driving force for driving the main body and a control unit for controlling driving of the driving unit.

The obstacle detecting apparatus of the present embodiment includes a sensor body, an electrode, and a sensing unit, and the control unit is configured to prevent collision between the main body and the obstacle when it is determined that there is an obstacle based on a sensing sensor of the sensing unit. Control the driving of the drive unit.

First, the obstacle detecting apparatus of the first embodiment will be described.

As shown in FIG. 2 to FIG. 4, the obstacle detecting apparatus of the first embodiment includes one sensor body 110 disposed along the circumference of the outer circumferential surface of the main body A and embedded in the sensor body 110. It comprises one electrode 120, the sensing unit 130 for detecting a change in capacitance of the electrode 120, the control unit 300 provided in the robot cleaner for the control of the component functions.

The sensor body 110, as shown in Figures 5a and 5b, is formed in a substantially rectangular cross-section, it is preferably composed of a soft material such as rubber, such as a hard material that is not easily bent according to the installation location Of course, it can be configured.

The electrode 120 is embedded in the sensor body 110, but may be composed of a pair of metal plates 121 and 122 formed in a strip form.

Preferably, as shown in Figure 5a, the pair of metal plate (121, 122) is formed to be bent toward the outer side (AA direction) of the side of the main body (A) toward the center from the outer side relative to the height direction Can be.

Also, as shown in FIG. 5B, the pair of metal plates 121 and 122 are convex toward the side outer side (AA direction) of the main body A as it goes from the outer side to the center portion with respect to the height direction. Can be formed.

As described above, the pair of metal plates 121 and 122 are bent or convex toward the side outer side of the main body A as the pair of metal plates 121 and 122 are directed from the outer side to the central portion in the height direction. 121, 122 has the effect of radially widening toward the upper and lower circumference of the outer circumferential surface of the main body (A), it is possible to detect obstacles to a wide area around the outer circumferential surface of the main body (A) There is this.

The detector 130 detects a change in capacitance of the electrode 120 due to an obstacle near the outer circumferential surface of the main body A when the main body A travels.

As illustrated in FIG. 6, the sensing unit 130 includes a PLL (131, Phase Locked Loop) module electrically connected to the electrode 120.

For example, as illustrated in FIG. 7, the PLL module 131 includes a variable capacitance diode 131b, a phase locked loop IC 131c, and a phase locked loop IC having one end connected to the RF oscillator 131a. It may include a frequency adjusting signal line 131d and a detection capacitor 131e connecting the 131c and the variable capacitor diode 131b.

The variable capacitance diode 131b has a property of changing capacitance according to an applied voltage, one end of which is connected to the frequency adjustment signal line 131d and the other end of which is grounded.

Therefore, when it is necessary to actively adjust or change the oscillation frequency of the RF oscillator 131a, the frequency adjusting voltage applied to the variable capacitance diode 131b may be changed.

The RF oscillator 131a and the phase locked loop IC 131c are connected in parallel with the variable capacitance diode 131b.

The phase locked loop IC 131c continuously checks the oscillation frequency of the RF oscillator 131a through the detection capacitor 131e, and adjusts the frequency to the variable capacitance diode 131b through the frequency adjustment signal line 131d. Supplying a voltage serves to keep the oscillation frequency of the RF oscillator 131a constant.

The frequency adjusting signal line 131d may be provided with a loop filter 131f for converting the supplied power to the DC power.

The robot cleaner obstacle sensing device of the present embodiment is characterized in that the oscillation frequency of the RF oscillator 131a is kept constant using the phase locked loop IC 131c.

When an obstacle that can cause a change in capacitance approaches a pair of metal plates 121 and 122 constituting the electrode 120 while the robot cleaner is running, the pair of metal plates 121 and 122 are moved. The capacitance is changed between the oscillation frequency of the RF oscillator 131a, and at this time, the oscillation frequency is fixed by appropriately changing the frequency adjustment voltage applied to the variable capacitance diode 131b by the phase locked loop IC 131c. Keep it.

That is, maintaining the reference voltage set for the frequency adjustment voltage means that the oscillation frequency of the RF oscillator 131a maintains the reference state because there is no obstacle that can cause a change in capacitance. This means that the oscillation frequency of the RF oscillator 131a cannot maintain the reference state because there is an obstacle that can cause a change in capacitance, and the obstacle is determined based on whether the frequency adjustment voltage is changed. It is to be detected.

The change of the frequency adjusting voltage may be sensed through the change of the frequency adjusting voltage through the voltage sensing line 131g connected to the phase fixing loop IC 131c or the loop filter 131f.

On the other hand, the phase locked loop IC 131c is set with a reference frequency of the RF oscillator 131a and a reference value of the frequency adjusting voltage output to maintain it.

In addition, how much frequency adjustment voltage should be applied to restore the oscillation frequency of the RF oscillator 131a to the reference frequency, which is changed as the robot cleaner approaches an obstacle capable of generating a change in capacitance. Hardware for mounting the software or implementing the algorithm can be provided.

The controller 300 drives the driving unit 200 to prevent a collision between the main body A and the obstacle when it is determined that there is an obstacle based on the capacitance change signal transmitted from the sensing unit 130. For example, the front and rear and left and right directions of the wheel W provided in the driving unit 200 may be controlled.

The controller 300 includes an analog to digital converter (ADC) module 310 and a calculation processing module 320.

The ADC module 310 is moved from the PLL module 131 according to the change of capacitance between the pair of metal plates 121 and 122 due to an obstacle approaching the electrode 120 while the robot cleaner is running. Converts the output analog voltage signal into a digital voltage signal, preferably with an amplifier function.

The operation processing module 320 is connected to the ADC module 310, receives a digital voltage signal output from the ADC module 310, compares a predetermined reference signal to determine whether the obstacle is detected, and When it is determined that there is an obstacle as a result of the determination, the driving of the driving unit 200 is controlled to prevent a collision between the main body A and the obstacle.

For example, when it is determined that there is an obstacle as a result of the operation processing module 320, the main body A is controlled to stop once, or the main body A proceeds in a direction opposite to the direction in which the main body A proceeds. The driving of the driving unit 200 may be controlled by controlling the driving of the driving unit 200, or controlling the driving of the driving unit 200 to proceed in a direction inclined left and right with respect to the direction in which the main body A travels.

Further, for example, in the case of a high-performance robot cleaner which generates a track map in the cleaning area while performing environmental awareness, and sequentially cleans from one side to the other while recognizing the position, it moves to the track next to the track in progress. Then, the driving of the driving unit 200 may be controlled to sequentially perform cleaning.

On the other hand, the operation processing module 320 may be made of a structure in which the ADC module 310 is integrated.

The operation processing module 320 may be implemented as a hardware configuration that includes software for functions such as storing the frequency adjustment voltage change as a reference signal, determining whether to detect an obstacle, or implementing a corresponding algorithm.

On the other hand, the control unit 300 is preferably composed of a main control unit configured to control various operations and functions of the robot cleaner.

Next, the obstacle detecting apparatus of the second embodiment will be described.

The obstacle detecting apparatus of the second embodiment includes a plurality of sensor bodies 110a to 110f disposed along the outer circumference of the main body A, and a plurality of electrodes 120a to buried inside the respective sensor bodies 110a to 110f. 120f) and the sensing unit 130 sequentially detects a capacitance change from the plurality of electrodes 120a to 120f.

As shown in FIGS. 8 to 10A, the obstacle detecting apparatus of the second embodiment includes a plurality of sensor bodies 110a to 110f and each sensor body 110a which are divided into a plurality of parts along the circumference of the outer circumferential surface of the main body A. FIG. Including the plurality of electrodes (120a ~ 120f) embedded in the electrode (120a ~ 120f) for each of the inside of the ~ 110f, and the sensing unit 130 for detecting the capacitance change sequentially from the plurality of electrodes (120a ~ 120f) It is composed.

For example, as shown in FIG. 9, a first electrode 120a is embedded in the first sensor body 110a, a second electrode 120b is embedded in the second sensor body 110b, and a third A third electrode 120c is embedded in the sensor body 110c, a fourth electrode 120d is embedded in the fourth sensor body 110d, and a fifth electrode 120e is embedded in the fifth sensor body 110e. The sixth electrode 120f may be embedded in the sixth sensor body 110f.

As illustrated in FIGS. 9 and 10A, the sensor bodies 110a to 110f are divided into a plurality and disposed along a circumference of the outer circumferential surface of the main body A. Preferably, the sensor bodies 110a to 110f are formed at an equiangular or variously divided angle. Also, it can be divided into various numbers and arranged, and in this embodiment, six sensor bodies 110a to 110f are configured at 60 ° intervals.

On the other hand, each of the sensor body (110a ~ 110f) is formed of a substantially rectangular cross-section, as in the first embodiment, it is preferably composed of a soft material such as rubber, but may be composed of a hard material that is not easily bent according to the installation location Of course it can.

The electrodes 120a to 120f are embedded in the respective sensor bodies 110a to 110f, and each electrode 120a to 120f may be configured as a pair of metal plates formed in a strip form.

For example, as illustrated in FIG. 11, the first electrode 120a may include the first a electrode plate 120a1, the first b electrode plate 120a2, and the second electrode 120b may include the second a electrode plate 120b1. The second b electrode plate 120b2 and the third electrode 120c are the third a electrode plate 120c1 and the third b electrode plate 120c2, and the fourth electrode 120d is the fourth a electrode plate 120d1 and the fourth b electrode plate. 120d2, the fifth electrode 120e is the fifth electrode plate 120e1 and the fifth electrode plate 120e2, and the sixth electrode 120f is the sixth electrode plate 120f1 and the sixth electrode plate 120f2. Can be configured.

On the other hand, the pair of metal plate (120a1, 120a2, ..., 120f1, 120f2) is formed to be bent toward the outer side of the main body (A) toward the center from the outer side in the height direction as in the first embodiment Can be.

Meanwhile, the electrodes 120a to 120f may be embedded in the plurality of divided sensor bodies 110a to 110f, respectively, but are disposed along the outer circumference of the main body A as shown in FIG. 10B. Of course, the electrodes 120a to 120f may be divided into a plurality of sensors inside the sensor body 110a.

The detector 130 detects a change in capacitance of the electrodes 120a to 120f due to an obstacle approaching around the outer circumferential surface of the main body A when the main body A travels.

As illustrated in FIG. 11, the sensing unit 130 includes a selection module 133 connected to the plurality of electrodes 120a to 120f, and the plurality of electrodes 120a to 120f by the selection module 133. It is configured to include a PLL module 131 that can be sequentially connected to).

The selection module 133 is sequentially connected to the plurality of electrodes 120a to 120f by the operation processing module 320 which will be described later.

The PLL module 131 is configured to be sequentially connected to the plurality of electrodes 120a to 120f by the selection module 133, and the capacitance of each electrode 120a to 120f through the selection module 133. Detect.

For example, as illustrated in FIG. 12, the PLL module 131 may include a variable capacitance diode 131b, a phase locked loop IC 131c, and a phase locked loop IC having one end connected to the RF oscillator 131a. And a frequency adjusting signal line 131d and a detection capacitor 131e connecting the 131c and the variable capacitor diode 131b, and the function and operation of each element are the same as those of the PLL module 131 of the first embodiment. Since it is the same, the description is omitted.

The controller 300 stores the arrangement positions of the plurality of electrodes 120a to 120f, and the sensing unit 130 sequentially processes the plurality of electrodes 120a to 120f through the selection module 133. It is controlled to be connected to, and receives a signal about the capacitance of the electrode through the sensing unit 130 for sensing the capacitance of the electrode connected to the selection module 133.

Therefore, the controller 300 matches the arrangement position of the electrode with the signal regarding the capacitance of the electrode received from the sensing unit 130, and matches the signal regarding the capacitance of the electrode with a preset reference signal. In comparison, it is determined whether an obstacle exists in a direction corresponding to the arrangement position of the corresponding electrode.

At this time, the operation processing module 320 is a high speed, for example, tens of microseconds to several milliseconds by the unit of time in a certain order by the sensing unit 130 through the selection module 133 a plurality of electrodes The capacitance of each electrode 120a to 120f is checked by being connected to the 120a to 120f, and thus, the selection module 133 and the plurality of electrodes 120a to 120f are sequentially connected at high speed. This has the same effect as operating in multi.

The controller 300 includes an analog to digital converter (ADC) module 310 and a calculation processing module 320 (Central Processing Unit).

The ADC module 310 is an analog voltage output from the PLL module 131 according to a change in capacitance of the electrodes 120a to 120f sequentially connected to the selection module 133 while the robot cleaner is running. The signal is converted into a digital voltage signal, and preferably provided with an amplifier function.

The operation processing module 320 is connected to the ADC module 310, receives a digital voltage signal output from the ADC module 310, compares a predetermined reference signal to determine whether the obstacle is detected, and When it is determined that there is an obstacle as a result of the determination, the driving of the driving unit 200 is controlled to prevent a collision between the main body A and the obstacle. For example, the wheel W of the driving unit 200 is controlled. Can control forward and backward and left and right directions.

For example, as illustrated in FIG. 9, the operation processing module 320 may include the capacitance of the first electrode 120a, the capacitance of the second electrode 120b, the capacitance of the third electrode 120c, The direction of progress in the state of sequentially checking the capacitance of the fourth electrode 120d, the capacitance of the fifth electrode 120e, and the capacitance of the sixth electrode 120f in the order of several microseconds to several milliseconds. If the capacitance of the third electrode 120c differs from the predetermined reference signal by a predetermined deviation or more due to an obstacle located on the side of the third electrode 120c while the device is traveling toward the third side, the operation processing module 320 may perform a third operation. It is determined that an obstacle exists in the front side of the electrode 120c, and the driving of the driving unit 200 is controlled to change the course in the avoiding direction according to the detection of the obstacle so that collision between the main body A and the obstacle is prevented. can do.

Next, the obstacle detecting apparatus of the third embodiment will be described.

13 and 14, the obstacle detecting apparatus of the third embodiment is embedded in the plurality of sensor bodies (110a to 110f), each sensor body (110a to 110f) disposed along the outer circumference of the main body It comprises a plurality of electrodes (120a ~ 120f), the sensing unit 130 for detecting a change in capacitance for the plurality of electrodes (120a ~ 120f), respectively.

The detector 130 detects a change in capacitance of the electrodes 120a to 120f due to an obstacle approaching around the outer circumferential surface of the main body when the main body travels.

As illustrated in FIG. 13, the sensing unit 130 includes a plurality of PLL modules 131a to 131f that are individually connected to the plurality of electrodes 120a to 120f, respectively. Detailed configurations of 131a to 131f are the same as those of the first or second embodiment, and thus description thereof will be omitted.

The control unit receives capacitance change signals for the plurality of electrodes 120a to 120f from the PLL modules 131a to 131f, respectively, and determines whether an obstacle exists for the corresponding electrode. If it is determined that there is the control of the driving unit based on the hardware position of the corresponding electrode, the detailed configuration is the same as the first embodiment or the second embodiment, so description thereof will be omitted.

Comparing the obstacle detecting device of the second embodiment with the obstacle detecting device of the third embodiment, the detecting unit 130 of the obstacle detecting device of the second embodiment sequentially selects the electrodes 120a to 120f through the selection module 133. Connected to sense the capacitance of the corresponding electrode in time order, and the sensing unit 130 of the obstacle detecting apparatus of the third embodiment detects a plurality of PLL modules 131a to 131f individually connected to the electrodes 120a to 120f. There is a difference in that it simultaneously senses the capacitance for each electrode (120a ~ 120f) through.

On the other hand, in the above, the obstacle detecting apparatus for the robot cleaner to detect the obstacle for all the areas around the robot cleaner body using a capacitive sensor, but the conventional sensor unit, for example, It is a matter of course that the element pair unit in which the transmitting element for transmitting a signal such as infrared or ultrasonic wave and the receiving element for receiving the reflected signal are paired together with the obstacle detecting device of the present embodiment can be used together.

Although the present invention has been described with reference to the preferred embodiments thereof with reference to the accompanying drawings, it will be apparent to those skilled in the art that many other obvious modifications can be made therein without departing from the scope of the invention. Accordingly, the scope of the present invention should be interpreted by the appended claims to cover many such variations.

110: sensor body
120: electrode
130: detection unit
131: PLL module
133: selection module
200: drive section
300: control unit
310: ADC module
320: operation processing module

Claims (10)

An obstacle detecting apparatus for a robot cleaner comprising a driving unit providing a driving force for driving the main body, and a control unit for controlling driving of the driving unit.
An electrode embedded in a sensor body disposed along an outer circumference of the main body;
And a sensing unit configured to detect a change in capacitance of the electrode due to an obstacle near the outer circumferential surface of the main body when the main body travels.
The control unit controls an operation of the driving unit to prevent collision between the main body and the obstacle when it is determined that there is an obstacle based on the capacitance change signal transmitted from the sensing unit. Sensing device.
The method of claim 1,
The electrode is composed of a strip-shaped metal plate, the obstacle detecting device of the robot cleaner, characterized in that the bent or convex toward the outer side of the main body toward the outer side from the center portion in the height direction.
The method of claim 1,
The sensing unit is configured to include a PLL module connected to the electrode,
The controller compares an ADC module for converting an analog voltage signal output from the PLL module into a digital voltage signal according to a change in capacitance of the electrode, and compares the digital voltage signal output from the ADC module with a preset reference voltage signal. And an arithmetic processing module configured to control driving of the driving unit to prevent collision between the main body and the obstacle when it is determined that there is an obstacle.
The method of claim 1,
The sensor body is configured to be divided into a plurality of circumference of the outer peripheral surface of the main body, the obstacle detection device of the robot cleaner, characterized in that the electrode is embedded in each of the sensor body.
The method of claim 1,
The sensor body is configured along the outer circumference of the main body, the obstacle detection device of the robot cleaner, characterized in that a plurality of electrodes are divided and embedded in the sensor body.
The method according to claim 4 or 5,
The sensing unit detects a change in capacitance sequentially from the plurality of electrodes,
The control unit sequentially receives the capacitance change signal for the plurality of electrodes from the sensing unit to determine whether an obstacle exists for the corresponding electrode, and when it is determined that there is an obstacle for the corresponding electrode, Obstacle detection device for a robot cleaner, characterized in that for controlling the driving of the drive unit based on the position information.
The method according to claim 6,
The sensing unit includes a selection module connected to each of the plurality of electrodes and a PLL module sequentially connected to the plurality of electrodes by the selection module,
The controller converts an analog voltage signal output from the PLL module into a digital voltage signal according to a change in capacitance of a corresponding electrode connected to the PLL module, and a digital voltage signal output from the ADC module and a predetermined reference voltage. And a calculation processing module for controlling driving of the driving unit to prevent collision between the main body and the obstacle when it is determined that there is an obstacle by comparing signals.
The method according to claim 4 or 5,
The sensing unit senses each of the capacitance changes for the plurality of electrodes,
The control unit receives the capacitance change signals for the plurality of electrodes from the sensing unit, respectively, and determines whether an obstacle exists for the corresponding electrode, but when it is determined that there is an obstacle for the corresponding electrode, the position of the corresponding electrode Obstacle detection device for a robot cleaner, characterized in that for controlling the driving of the drive unit based on the information.
9. The method of claim 8,
The sensing unit includes a plurality of PLL modules individually connected to a plurality of electrodes,
The controller may be connected to the plurality of PLL modules, respectively, to convert analog voltage signals outputted from the plurality of PLL modules into digital voltage signals according to a change in capacitance of the plurality of electrodes. And a calculation processing module configured to control driving of the driving unit to prevent collision between the main body and the obstacle when it is determined that there is an obstacle by comparing the output digital voltage signal with a preset reference voltage signal. Obstacle detector in the vacuum cleaner.
The robot vacuum cleaner provided with the obstacle detection apparatus of any one of Claims 1-9.

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