KR20210115953A - Recharging apparatus for Robot Cleaner - Google Patents

Abstract

The present invention relates to a charging device for a robot cleaner comprising: a main body which forms an exterior appearance of the robot cleaner and is provided with a terminal for charging the same; a guide signal generating means which is provided in the main body and transmits a return guide signal to the robot cleaner; and a board part photographed by two camera sensors provided in the robot cleaner when the robot cleaner receives the signal transmitted by the guide signal generating means and moves to areas in front of the main body, wherein the two camera sensors are spaced apart from each other, and the board part has a repeated pattern.

Description

Recharging apparatus for Robot Cleaner

The present invention relates to a charging device for a robot cleaner, and more particularly, to a charging device for a robot cleaner capable of calibrating a depth camera of a robot cleaner using two depth cameras.

In general, a robot vacuum cleaner is a cleaning device that sucks dust and foreign substances from the floor while driving within a certain range of work without user manipulation. The cleaning operation is performed while driving while avoiding obstacles or walls.

For driving as described above, a battery for supplying power required for driving is provided in the robot cleaner, and the battery is reused through charging after power is consumed.

Therefore, the robot cleaner is provided to the consumer together with a charging device, and the charging device includes a function of generating a return induction signal so that the robot vacuum cleaner, whose battery is exhausted, can return to the charging device and be charged. Meanwhile, Korean Patent Laid-Open Patent No. 10-2003-0013010, which is a charging device according to the prior art, publishes only the function of charging the robot cleaner.

Since the robot vacuum cleaner has a characteristic of frequently accessing the charging device, a technology for applying various functions to the charging device is possible.

The present invention may provide a charging device for a robot cleaner capable of improving the driving performance of the robot cleaner whenever the charging device approaches.

The present invention may provide a charging device for a robot cleaner capable of calibrating a depth camera of a robot cleaner using two depth cameras.

The present invention provides a charging device for a robot cleaner comprising: a main body having an external shape and provided with a terminal for charging the robot cleaner; and a board part photographed by two spaced apart camera sensors provided in the robot cleaner.

Since the board part has a repeated pattern, it is possible to increase the recognition rate so that the board part can be differentiated from other parts in the image captured by the camera. In addition, the board unit includes a lot of information in the image photographed in the repeated pattern, so that it is possible to improve the error recognition rate in the camera.

The present invention is provided in the main body, the guide signal generating means for transmitting a return guide signal to the robot cleaner; and an induction signal guide member provided in the induction signal generating means and improving the straightness of the induction signal.

In addition, the present invention is a main body provided with a terminal for charging the robot cleaner; an induction signal generating means provided in the main body to transmit a return guide signal to the robot cleaner; and a board part photographed by two spaced apart camera sensors provided in the robot cleaner while the robot cleaner receives the signal transmitted by the induction signal generating means and moves in front of the main body. of charging devices.

The present invention forms an exterior, the main body is provided with a terminal for charging the robot cleaner; an induction signal generating means provided in the main body to transmit a return guide signal to the robot cleaner; and a board part photographed by two spaced apart camera sensors provided in the robot cleaner while the robot cleaner receives the signal transmitted by the induction signal generating means and moves in front of the main body. The board unit provides a charging device for a robot cleaner, characterized in that it has a repeated pattern.

According to the present invention, whenever the robot cleaner connects to the charging device, the error of the depth camera can be adjusted. Accordingly, since the robot cleaner using the depth camera can correct the depth camera, the performance of detecting an obstacle may be improved.

In addition, according to the present invention, the charging device of the robot cleaner can provide other functions in addition to the function of charging the robot cleaner, so that the charging device can be used in various ways.

1 is a perspective view of a robot cleaner according to an embodiment;
2 is a block diagram illustrating components of a robot cleaner according to an embodiment;
3 is a view showing an appearance of a charging device of a robot cleaner according to an embodiment;
4 is an exploded perspective view of a charging device of a robot cleaner according to an embodiment;
5 is a view viewed from the lower side of the mounting state of the guide signal guide member.
6 is a view showing an area in which an induction signal is generated from a charging device of a robot cleaner according to an embodiment;
7 is a view for explaining a board unit according to another embodiment.

Hereinafter, a preferred embodiment of the present invention that can specifically realize the above object will be described with reference to the accompanying drawings.

In this process, the size or shape of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, terms specifically defined in consideration of the configuration and operation of the present invention may vary depending on the intention or custom of the user or operator. Definitions of these terms should be made based on the content throughout this specification.

Referring to FIG. 1 , the robot cleaner 100 performs a function of cleaning the floor while traveling on its own in a predetermined area. The cleaning of the floor referred to herein includes sucking in dust (including foreign matter) on the floor or mopping the floor.

The robot cleaner 100 includes a cleaner body 110 , a suction unit 120 , a sensing unit 130 , and a dust container 140 .

The cleaner body 110 is provided with a control unit (not shown) for controlling the robot cleaner 100 and a wheel unit 111 for driving the robot cleaner 100 . By the wheel unit 111 , the robot cleaner 100 may be moved or rotated forward, backward, left and right.

When the controller controls the driving of the wheel unit 111 , the robot cleaner 100 autonomously travels on the floor.

Meanwhile, a battery (not shown) for supplying power to the robot cleaner 100 is mounted on the cleaner body 110 . The battery is configured to be rechargeable, and may be detachably configured on the bottom of the cleaner body 110 .

The suction unit 120 is disposed to protrude from one side of the cleaner body 110, and is configured to suck air containing dust. The one side may be the side on which the cleaner body 110 travels in the forward direction F, that is, the front side of the cleaner body 110 .

The suction unit 120 may be detachably coupled to the cleaner body 110 . When the suction unit 120 is separated into the cleaner body 110 , a mop module (not shown) may be detachably coupled to the cleaner body 110 to replace the separated suction unit 120 . Accordingly, the user may mount the suction unit 120 on the cleaner body 110 to remove dust from the floor, and mount the mop module on the cleaner body 110 to wipe the floor.

A sensing unit 130 is disposed on the cleaner body 110 . As shown, the sensing unit 130 may be disposed on one side of the cleaner body 110 where the suction unit 120 is located, that is, in front of the cleaner body 110 .

The sensing unit 130 may be disposed to overlap the suction unit 120 in the vertical direction of the cleaner body 110 . The sensing unit 130 is disposed on the suction unit 120, and the suction unit 120 positioned at the front of the robot cleaner 100 is configured to detect an obstacle or a feature in the front so that it does not collide with the obstacle.

The sensing unit 130 is configured to additionally perform a sensing function other than the sensing function. This will be described in detail later.

In FIG. 2 below, an embodiment related to the components of the robot cleaner 100 will be described.

The robot cleaner 100 according to an embodiment of the present invention includes a communication unit 1100 , an input unit 1200 , a driving unit 1300 , a sensing unit 1400 , an output unit 1500 , a power supply unit 1600 , a memory 1700 ). and at least one of the control unit 1800 or a combination thereof.

In this case, since the components shown in FIG. 2 are not essential, a robot cleaner having more or fewer components may be implemented. Hereinafter, each component will be described.

First, the power supply unit 1600 is provided with a battery that can be charged by an external commercial power supply to supply power to the mobile robot.

The power supply unit 1600 may supply driving power to each component included in the mobile robot to supply operating power required for the mobile robot to travel or perform a specific function.

In this case, the control unit 1800 may detect the remaining power of the battery, and if the remaining power is insufficient, control to move to a charging station connected to an external commercial power source to receive a charging current from the charging station to charge the battery. The battery may be connected to the battery detection unit so that the remaining battery amount and charging state may be transmitted to the control unit 1800 . The output unit 1500 may display the remaining battery amount on the screen by the control unit.

The control unit 1800 serves to process information based on artificial intelligence technology, and may include one or more modules that perform at least one of information learning, information inference, information perception, and natural language processing. can Specifically, when a part of an image acquired through a camera provided in the vacuum cleaner is input to the learning engine, the controller 1800 may recognize at least one object or living organism included in the input image.

Meanwhile, the driving unit 1300 includes a motor, and by driving the motor, the left and right main wheels are rotated in both directions to rotate or move the main body. The driving unit 1300 may move the main body of the mobile robot forward, backward, left and right, curvedly traveling, or rotated in place.

Meanwhile, the input unit 1200 receives various control commands for the robot cleaner from the user. The input unit 1200 may include one or more buttons, for example, the input unit 1200 may include a confirmation button, a setting button, and the like. The confirmation button is a button for receiving a command for checking detection information, obstacle information, location information, and map information from the user, and the setting button is a button for receiving a command for setting the information from the user.

Meanwhile, the output unit 1500 may be installed above the mobile robot. Of course, the installation location or installation type may vary. For example, the output unit 1500 may display a battery state or a driving method on the screen.

The output unit 1500 may include a sound output means for audibly outputting an operation process or operation result of the mobile robot performed by the controller 1800 . For example, the output unit 1500 may output a warning sound to the outside according to the warning signal generated by the control unit 1800 .

On the other hand, the communication unit 1100 is connected to a terminal device and/or other device located in a specific area (in this specification, the term "home appliance" is used interchangeably) with one of wired, wireless, and satellite communication methods. to transmit and receive signals and data.

Meanwhile, the memory 1700 stores a control program for controlling or driving the robot cleaner and data corresponding thereto. The memory 1700 may store audio information, image information, obstacle information, location information, map information, and the like. Also, the memory 1700 may store information related to a driving pattern.

Meanwhile, the sensing unit 1400 may include an external signal detection sensor and a cliff detection sensor.

The external signal detection sensor may detect an external signal of the mobile robot. The external signal detection sensor may be, for example, an infrared sensor, an ultra sonic sensor, a radio frequency sensor, or the like.

The mobile robot can check the position and direction of the charging station by receiving a guide signal generated by the charging station using an external signal detection sensor. In this case, the charging stand may transmit a guide signal indicating a direction and a distance so that the mobile robot can return. That is, the mobile robot may receive a signal transmitted from the charging station, determine its current position, set a moving direction, and return to the charging station.

On the other hand, the cliff detection sensor (or cliff sensor) may detect an obstacle on the floor supporting the main body of the mobile robot, mainly using various types of optical sensors.

The sensing unit 1400 may include a depth camera. The sensing unit 1400 may include a first camera 1402 and a second camera 1404 . It is possible that the two cameras are cameras that acquire a two-dimensional image. The controller 1800 may be formed in a stereo vision method for generating 3D coordinate information by combining two or more images obtained from the two or more cameras. For example, the controller 1800 may use a time difference between images received by two cameras or generate 3D coordinate information in various ways. The controller 1800 may detect an obstacle by combining images captured by the two cameras 1402 and 1404 , and guide the robot cleaner to run while avoiding the obstacle.

Meanwhile, the first camera 1402 and the second camera 1404 are arranged to be spaced apart from each other, so that even if one object is photographed, there is a slight difference in the images captured by the two cameras.

3 is a view showing the appearance of a charging device of a robot cleaner according to an embodiment, and FIG. 4 is an exploded perspective view of the charging device of the robot cleaner according to an embodiment.

The charging device 200 of the robot cleaner includes a main body 210 forming an external shape. The main body 210 includes a base 300 , a front cover 400 , a return induction unit cover 220 , and an upper cover 500 . The base 300 forms a rear surface and a bottom surface of the charging device 200 and provides a mounting space for the terminal part 212 and the board part 300 to be described below.

The base 300 may be provided with a fastening part to which at least the board part 300 and the terminal part 212 can be assembled or temporarily assembled, and the fastening part has a part of the board part 300 or the terminal part 212 . It can be coupled using a false fitting or a separate fastening member.

The terminal unit 212 uses a power supply source such as commercial power or a battery to convert a voltage that can be used in the robot cleaner as needed, and then supplies it to the robot cleaner. The terminal part 212 is in contact with the power terminal of the robot cleaner to supply charging power to the robot cleaner, and is formed by bending a conductor having low electrical resistance, such as copper, a plurality of times.

In addition, the bent terminal portion 212 as described above is mounted so that at least a portion thereof is exposed to the outside of the front cover 400 coupled to the front side of the base 300 .

The induction signal generating means 260 is composed of a plurality of infrared sensors, and guides the robot vacuum cleaner to return to the charging device according to the transmitted infrared signal, and is located between the base 300 and the front cover 400 . It is fitted to the printed circuit board 280 and is positioned at the rear side of the return induction unit cover 220 .

A guide signal guide member 240 is disposed in front of the guide signal generating means 260 . The guide signal guide member 240 can improve the straightness of the signal generated by the guide signal generating means (260).

Between the printed circuit board 280 and the front cover 400, a board unit 300 capable of being photographed by a camera provided in the robot cleaner is provided.

The board unit 300 is provided on the inner shelf of the main body 210, and the front of the main body, that is, the front of the front cover 400, is made of a transparent material, so that the board unit 300 in the camera provided in the robot cleaner. can be filmed.

The board unit 300 includes a panel 310 vertically disposed on the floor, and a pattern 320 is provided in the center thereof. The pattern 320 means that a specific shape, a specific color, or a specific pattern is repeatedly formed.

The pattern 320 may include a first color body part 322 formed in a dark color and a second color body part 324 formed in a light color. The first color unit 322 is expressed in black and the second color unit 324 is expressed in white, so that the difference between the first color unit 322 and the second color unit 324 is reduced. It is possible to make it well recognized by the camera. The first color unit and the second color unit may be alternately arranged in up, down, left, and right directions. That is, it is possible to arrange the two color body parts in such a way that the second color body part does not exist in a portion adjacent to the first color body part.

Meanwhile, the panel 310 may be disposed to be spaced apart from the front surface of the main body 210 , that is, the front surface of the front cover 400 . Since there is a space between the front surface and the panel 310 , when the panel 310 is installed on the main body 210 , the panel 310 can be prevented from being damaged.

5 is a view viewed from the lower side of the mounting state of the guide signal guide member.

As shown, the induction signal generating means 260 includes an approach induction sensor 262 that transmits an infrared signal to guide the robot cleaner located at a remote location to the charging device 200, and the approach induction sensor 262. It consists of a docking induction sensor 264 for guiding the docking position of the robot cleaner approaching the charging device 200 .

At least one approach induction sensor 262 may be provided on both left and right sides, and at least one docking induction sensor 264 may be provided between the approach induction sensors 262 .

In addition, the induction signal guide member 240 is formed in an approximately "T" shape, thereby limiting the angle of transmission of the signals transmitted from the docking induction sensor 264 and the approach induction sensor 262 . The induction signal guide member 240 protrudes in the forward direction of the induction signal transmitted from the front side, that is, the induction signal generating means 260 in the state mounted on the printed circuit board 280, as shown in FIG. The protrusion length corresponds to a distance from the printed circuit board 280 in contact with the return induction unit cover 220 mounted on the front cover 400 .

In addition, a guide 242 formed so as to open the front side while surrounding the docking induction sensor 264 is provided at a central portion of the guide signal guide member 240 .

Accordingly, the docking induction signal transmitted to the outside from the docking induction sensor 264 may be transmitted only through the opening of the guide 242 . That is, the guide signal guide member is located in front of the guide signal generating means based on the irradiation direction of the light emitted from the guide signal generating means to improve the straightness of the light irradiated by the guide signal generating means.

In addition, a plurality of reflection units 244 are provided inside the guide 242 to further improve straightness by limiting the angle of transmission of the docking guidance signal transmitted to the opening as described above. The reflector may be formed in the shape of a plurality of plates or protrusions protruding inward.

The reflective part 244 is formed to protrude inward from the left and right sides of the inner surface of the guide 242, and is formed in multiple layers including at least the end and central portions of the guide 242 and the vicinity of the docking induction sensor 264. .

That is, the reflective portions 244 are formed to protrude inward from the left and right sides of the inner surface of the guide 242, respectively, and each of the reflective portions 244 protruded to face each other and are spaced apart from each other by a predetermined distance.

Accordingly, one layer is formed by a pair of reflective parts 244 facing each other, and the formed layer provides a passage of light emitted from the docking induction sensor 264 through an opening provided in the central part. . In addition, the opening between the reflective parts 244 formed as described above is positioned on a straight line with the docking induction sensor 264 .

For this reason, the docking induction signal transmitted from the docking induction sensor 264 can pass only a signal having a relatively small transmission angle toward the opening of the reflection unit 244, and a signal having a relatively large transmission angle toward the opening. They are shielded by the reflector 244 to block external transmission.

The signal transmitted to the outside of the guide 242 has a relatively narrow transmission angle, and in order to receive it, the robot cleaner moves to the intersection area of the return signal transmitted from the approach induction sensor 262 and then receives the docking induction signal. will receive

For a more detailed description, FIG. 6 is a view showing a region where an induction signal is generated from a charging device of a robot cleaner according to an embodiment.

The signal transmitted from the main body 210 to the robot cleaner is a return induction signal for guiding the robot cleaner to move toward the charging device 200 by the approach induction sensor 262 and the docking induction sensor 264. A docking guidance signal for guiding the docking of the robot cleaner and the charging device 200 is included.

The return induction signal controls the rotation of the driving wheel of the robot cleaner according to the sending direction so that the left/right movement distance of the robot cleaner moving to the left or right is reduced to guide the movement to the charging device.

To this end, the approach induction sensor 262 is provided on both left and right sides based on the docking induction sensor 264, and transmits a return induction signal at a relatively wide angle. Accordingly, a portion of the approach guidance region 262 ′ in which the return guidance of the robot cleaner is made by the approach guidance sensor 262 may overlap as shown in FIG. 6 .

In the docking induction sensor 264 for the above purpose, the transmission angle of the docking induction signal transmitted to the outside by the guide signal guide member 240 is limited.

That is, the docking induction signal having a relatively large transmission angle is blocked by the guide 242 and the reflecting unit 244, and only the docking induction signal having a relatively small transmission angle is exposed to the outside, so that the docking induction region 164' is It has a relatively very narrow width.

In addition, the position of the docking induction sensor 264 and the guide 242 is positioned between the approach induction sensor 262, so that the docking induction area 264' faces the overlapping portion of the access induction area 262'. can be formed to

Due to this, the robot cleaner approaches the docking guide area 264' while returning to the charging station toward the overlapping portion of the access guide area 262', and the robot cleaner approaching the docking guide area 164' is the Guided by the docking guidance signal, it moves to the charging device.

Hereinafter, a process of returning the robot cleaner to the charging device 200 having the above configuration will be described.

When the robot vacuum cleaner runs inside the set cleaning area and performs a cleaning operation while the battery is exhausted and charging is required or the cleaning operation is completed, the robot cleaner returns to the charging device 200 to charge the exhausted battery.

To this end, the robot cleaner transmits a return induction request signal to the charging device 200 along with battery consumption or cleaning completion, which is received by the return induction unit 202 of the charging device 200 .

When a return induction request signal is received from the robot cleaner, the charging device 200 transmits a return induction signal through the approach induction sensor 262 which is a component of the induction signal generating means 260, and the robot that detects this The cleaner moves toward the charging device 200 according to the return induction signal. At this time, the signal transmitted from the approach induction sensor 262 is received by the sensing unit 1400 provided in the robot cleaner.

In the return movement process of the robot cleaner as described above, the rotation of the driving wheel is adjusted according to the direction of the received return induction signal, that is, the position of the approach induction sensor 262 forming the corresponding approach induction area 262' to control multiple approaches. The movement continues to the overlapping portion of the approach induction area 262' formed by the induction sensor 262.

And, when the robot cleaner reaches the overlapping portion of the approach induction area 262', the robot cleaner moves to the charging device 200 according to the docking guide signal transmitted from the docking induction sensor 264.

At this time, the angle of the docking guide signal transmitted from the docking guide sensor 264 is limited by the guide signal guide member 240 to narrow the width of the docking guide area 264 ′.

Accordingly, in the robot cleaner, the left/right movement according to the receiving direction of the docking guidance signal is reduced, and as it approaches the charging device 200, the robot cleaner shows almost linear motion without left-right movement and docks to the charging device 200. .

Meanwhile, before the robot cleaner is docked to the charging device 200 , the robot cleaner is disposed in front of the charging device 200 . In this case, the board unit 300 may be photographed by two cameras provided in the robot cleaner. Since the positions at which the robot cleaner moves to dock the charging device 200 in front of the charging device 200 are mostly the same, the image captured by the camera of the robot cleaner must always be constantly acquired. However, in various situations, such as a prolonged use time of the robot cleaner or the robot cleaner collides with an obstacle, a change in the position of the camera may occur. In this embodiment, while the robot cleaner moves to dock the charging device 200 each time, the camera performs correction while photographing the board unit 300, thereby preventing an error in the camera from becoming large or generated. . Therefore, when the information obtained by photographing the board unit 300 by the camera is different from the previously correct information, the control unit 1800 corrects the errors of the cameras 1402 and 1404 or through the output unit 1500 . It is possible to inform the user that an error has occurred.

The situation in which the robot cleaner 100 moves to dock the charging device 200 is generally arranged in a situation in which the robot cleaner 100 faces the front of the charging device 200 and generally moves straight forward. , the camera of the robot cleaner 100 may compare an image photographed under the same condition with an image photographed under the previous correct condition.

7 is a view illustrating a board unit according to another embodiment.

The board part of FIG. 7 may be replaced with the board part provided in FIG. 4 , and the board part of the embodiment of FIG. 7 may be photographed in the same manner in the robot cleaner. Therefore, a description of the same content will be omitted.

The pattern 320 of another embodiment may include a protruding portion 332 and a recessed portion 334 formed to protrude. Meanwhile, the protrusion 332 and the recessed portion 334 may be alternately disposed in vertical, horizontal, vertical directions.

The present invention is not limited to the above-described embodiments, and as can be seen from the appended claims, modifications can be made by those skilled in the art to which the present invention pertains, and such modifications are within the scope of the present invention.

100: robot cleaner 110: cleaner body
120: suction unit 130: sensing unit
200: charging device 300: board unit
1402: first camera 1404: second camera

Claims (15)

a main body forming an exterior and provided with a terminal for charging the robot cleaner;
an induction signal generating means provided in the main body to transmit a return guide signal to the robot cleaner; and
In a state in which the robot cleaner receives the signal transmitted by the induction signal generating means and moves in front of the main body, the board unit is photographed by two spaced apart camera sensors provided in the robot cleaner; and
The charging device of the robot cleaner, characterized in that the board has a repeated pattern. According to claim 1,
The board part is provided inside the main body,
A charging device for a robot cleaner, characterized in that the front of the main body is made of a transparent material. According to claim 1,
The board part includes a panel vertically disposed on the floor,
The pattern is a charging device for a robot cleaner, characterized in that disposed in the center of the panel. 4. The method of claim 3,
The panel is a charging device for a robot cleaner, characterized in that disposed to be spaced apart from the front of the main body. According to claim 1,
The pattern is
A charging device for a robot cleaner comprising: a first color body part formed in a dark color; and a second color body part formed in a light color. 6. The method of claim 5,
The charging apparatus of the robot cleaner, characterized in that the first color part and the second color part are alternately arranged in vertical, left, and right directions. According to claim 1,
The pattern is
Charging device for a robot cleaner, characterized in that it comprises a protrusion formed to protrude and a depression formed to be depressed. 8. The method of claim 7,
The charging device for a robot cleaner, characterized in that the protrusion and the depression are alternately arranged in vertical, horizontal, vertical directions. According to claim 1,
The charging device of the robot cleaner, which is provided in the induction signal generating means, further comprising an induction signal guide member for improving the straightness of the induction signal. 10. The method of claim 9,
The induction signal generating means includes a docking induction sensor for guiding the docking position of the robot cleaner by transmitting a docking guide signal. 11. The method of claim 10,
The induction signal guide member is a charging device for a robot cleaner, characterized in that it is located in front of the guide signal generating means based on the irradiation direction of the light irradiated from the docking induction sensor. 12. The method of claim 11,
The induction signal guide member,
A charging device for a robot cleaner comprising: an opening provided in the front; and a guide formed to surround at least both left and right sides of the docking induction sensor. 13. The method of claim 12,
A charging device for a robot cleaner including a plurality of reflectors guiding a direction of an induction signal inside the guide. 11. The method of claim 10,
The induction signal guide member,
A charging device for a robot cleaner that improves straightness by limiting the angle of transmission of the signal transmitted from the docking induction sensor. According to claim 1,
The charging device for a robot cleaner including an approach induction sensor that transmits a signal for guiding a return position to the robot cleaner in the guide signal generating means.

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