KR900007378A - Automatic driving method of vacuum cleaner - Google Patents

Automatic driving method of vacuum cleaner Download PDF

Info

Publication number
KR900007378A
KR900007378A KR1019880014723A KR880014723A KR900007378A KR 900007378 A KR900007378 A KR 900007378A KR 1019880014723 A KR1019880014723 A KR 1019880014723A KR 880014723 A KR880014723 A KR 880014723A KR 900007378 A KR900007378 A KR 900007378A
Authority
KR
South Korea
Prior art keywords
distance
routine
dir
vacuum cleaner
turn
Prior art date
Application number
KR1019880014723A
Other languages
Korean (ko)
Other versions
KR920010563B1 (en
Inventor
오기태
Original Assignee
최근선
주식회사 금성사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 최근선, 주식회사 금성사 filed Critical 최근선
Priority to KR1019880014723A priority Critical patent/KR920010563B1/en
Publication of KR900007378A publication Critical patent/KR900007378A/en
Application granted granted Critical
Publication of KR920010563B1 publication Critical patent/KR920010563B1/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2857—User input or output elements for control, e.g. buttons, switches or displays
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2894—Details related to signal transmission in suction cleaners
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Electric Suction Cleaners (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

내용 없음.No content.

Description

진공청소기의 자동주행방법Automatic driving method of vacuum cleaner

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제2도는 본 발명 진공청소기의 측면을 보인 구성도.Figure 2 is a block diagram showing the side of the vacuum cleaner of the present invention.

제3도는 본 발명 진공청소기의 전체구성을 보인 블록도.Figure 3 is a block diagram showing the overall configuration of the vacuum cleaner of the present invention.

제4도는 본 발명 진공청소기의 자동경로를 보인 작용도.4 is a view showing the automatic path of the vacuum cleaner of the present invention.

제5도는 본 발명 진공청소기의 자동주행에 있어서, 자세보정의 일예를 보인 작용도.5 is an operation diagram showing an example of posture correction in the automatic driving of the vacuum cleaner of the present invention.

제6도는 본 발명 진공청소기의 자동주행에 대한 모드를 보인 표.Figure 6 is a table showing the mode for automatic driving of the vacuum cleaner of the present invention.

제7도는 본 발명 진공청소기의 자동주행에 대한 전체신호 흐름도.7 is an overall signal flow chart for automatic driving of the vacuum cleaner of the present invention.

제8도는 본 발명 진공청소기의 자동주행에 있어서, 전방거리 및 좌방거리 측정에 대한 신호흐름도.8 is a signal flow chart for the front distance and the left distance measurement in the automatic driving of the vacuum cleaner of the present invention.

제9도는 본 발명 진공청소기의 자동주행에 있어서, 자세보정에 대한 신호흐름도.9 is a signal flow chart for attitude correction in the automatic driving of the vacuum cleaner of the present invention.

제10도는 본 발명 진공청소기의 자동주행에 있어서, 현재의 좌표계산에 대한 신호흐름도.10 is a signal flow chart for the current coordinate calculation in the automatic driving of the vacuum cleaner of the present invention.

제11도는 본 발명 진공청소기의 자동주행에 있어서, 1회전 점검에 대한 신호흐름도.11 is a signal flow chart for the one-turn check in the automatic running of the vacuum cleaner of the present invention.

Claims (5)

흡입호스(13)를 본체(42)에 접속하여 진공청소를 수행하게 수동식 진공청소기에 있어서, 상기 본체(42)의 저면 후방부에 흡입장공(15A)으로 된 흡입부(15)를 설치하고, 진공흡입모터(25)를 구동하게 한 모터드라이버(35)와, 각각의 좌, 우스태핑모터(26)(27)를 통해 좌,우바퀴(24)(25)를 제어하게 한 스태핑모터드라이버(34)(36)와, 각각의 좌방, 전방초음파센서송신기(19)(29)를 통해 벽에 초음파를 송신하게 한 초음파센서변조기(33)(37)와, 각각의 좌방, 우방초음파센서수신기(20)(28)를 통해 초음파를 수신하게 한 초음파센서복조기(31)(32)와, 상기 초음파센서복조기(31)(32)를 스캔하여 상기 초음파센서변조기(33)(37), 스태핑모터드라이버(34)(36), 모터드라이버(35)를 제어하게 한 마이콤(30)를 구비하여, 자동주행모드시 키패드로부터 1회전마다 중앙으로 옮기는 거리(△d), 돌아야 할 횟수(n*)를 읽어 들인 후 상기 진공흡입모터(23)를 구동하고, 돈횟수(n), 방향(Dir), 좌표(x,y), 좌회전기준거리(s*), 우회전기준거리(f*)를 초기화한 후 전방거리(f) 측정루틴(PA1), 좌방거리(s) 측정루틴(PA2)을 수행하고, 좌방거리(s)가 좌회전기준거리(s*)이상이면 90°좌회전을 수행한 후 방향(Dir)을 Dir-1로 감소기키고 전방거리(f)가 우회전기준거리(f*)이하이면 90°우회전을 수행한 후 방향 (Dir)을 Dir+1로 증가시키며, 상기 우회전기준거리(f*)이상으로 되면 자세보정루틴(PA3)의 수행후 직진을 하고, 현재의 좌표계산루틴(PA4), 1회전완료점검루틴(PA5)을 수행한후 완료되면 돈횟수(n)와 돌아야할 횟수(n*)가 같아질때까지 상기 전방거리측정루틴(PA1)부터의 과정을 반복하며, 같아지면 상기 진공흡입모터(23)를 정지시키는 것을 특징으로 한 진공청소기의 자동주행방법.In the manual vacuum cleaner which connects the suction hose 13 to the main body 42 to perform vacuum cleaning, the suction part 15 which consists of suction holes 15A is provided in the rear part of the bottom face of the said main body 42, A stepping motor driver for controlling the left and right wheels 24 and 25 through the motor driver 35 driving the vacuum suction motor 25 and the left and right tapping motors 26 and 27 respectively. 34, 36, and ultrasonic sensor modulators 33 and 37 which transmit ultrasonic waves to the wall through the respective left and front ultrasonic sensor transmitters 19 and 29, and respective left and right ultrasonic sensor receivers ( 20 and 28, the ultrasonic sensor demodulators 31 and 32, which receive ultrasonic waves, and the ultrasonic sensor demodulators 31 and 32, scan the ultrasonic sensor modulators 33 and 37 and the stepping motor driver. (34) (36) and the microcomputer (30) for controlling the motor driver (35), the distance to move to the center every one revolution from the keypad in autonomous driving mode (△ d), stone After which are must read the number (n *) to the vacuum driving the suction motor 23, the money number (n), the direction (Dir), and the coordinate (x, y), left reference distance (s *), right reference After initializing the distance (f * ), perform the forward distance (f) measurement routine (PA1) and the left distance (s) measurement routine (PA2), and if the left distance (s) is greater than the left turn reference distance (s * ), 90 After the left turn, decrease the direction (Dir) to Dir-1 and if the forward distance (f) is less than the right turn reference distance (f * ), perform a 90 ° right turn and then increase the direction (Dir) to Dir + 1. If the right turn reference distance (f * ) or more, the posture correction routine (PA3) after performing straight, and after performing the current coordinate calculation routine (PA4), one-turn completion check routine (PA5) is completed The process from the front distance measuring routine PA1 is repeated until the number n and the number of times n * are equal, and when the number n is equal, the vacuum suction motor 23 is stopped. East travel methods. 제1항에 있어서, 전방거리(f), 좌방거리(s) 측정루틴(PA1)(PA2)은 각각의 전방거리(f), 좌방거리(s)를 초기화한 후 송신펄스를 보내고, 상기 송신펄스가 도달할때까지 상기 전방거리(f), 좌방거리(s)를 증가시키는 것을 특징으로한 진공청소기의 자동주행방법.The method according to claim 1, wherein the forward distance (f) and the left distance (s) measurement routine (PA1) (PA2) transmits a transmission pulse after initializing each of the forward distance (f) and the left distance (s). Automatic driving method of the vacuum cleaner, characterized in that to increase the front distance (f), the left side distance (s) until the pulse arrives. 제1항에 있어서, 자세정보루틴(PA3)은 목표주행궤적의 허용오차를 △f 로하고, 보정되는 시간량을 △t로하고, 실험적인 상수를 f로하여, 좌방거리(s)가 우회전기준거리(f*)+△f이하로 되면 △t=ftx(s-f*)로 계산되는 보정신간(△t)동안 좌회전을 수행하고, 좌방거리(s)가 우회전기준거리(f*)-△f이상으로 되면 △t=ftx(f*-s)로 계산되는 보정시간(△t)동안 우회전하는 것을 특징으로 한 진공청소기의 자동주행방법.The position information routine (PA3) has a tolerance of the target driving trajectory as Δf, the amount of time to be corrected as Δt, and the experimental constant as f, and the left distance s is turned right. If the reference distance (f * ) + △ f or less, the left turn is performed during the corrected time (△ t) calculated as △ t = ftx (sf * ), the left distance (s) is the right turn reference distance (f * )-△ The automatic driving method of the vacuum cleaner characterized by turning right during the correction time (Δt) calculated as Δt = ftx (f * -s). 제1항에 있어서, 현재의 좌표계산루틴(PA4)은 방향(Dir)이 “0, 1, 2, 3”으로 변화 될 때마다 좌표(x,y)를 증가 및 감소시키는 것을 특징으로 하는 진공청소기의 자동주행방법.The vacuum of claim 1, wherein the current coordinate calculation routine PA4 increases and decreases the coordinates x and y whenever the direction Dir changes to “0, 1, 2, 3”. Automatic driving of the vacuum cleaner. 제 1 항에 있어서, 1회전 완료점검루틴(PA5)은 좌표(X)가 “0”으로 되고 방향(Dir)이 “4”로 되는지를 판단하는 것을 특징으로 한 진공청소기의 자동주행방법.2. The automatic driving method of a vacuum cleaner according to claim 1, wherein the one-turn completion check routine (PA5) determines whether the coordinate (X) is "0" and the direction (Dir) is "4". ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019880014723A 1988-11-09 1988-11-09 Electric vacuum cleaner KR920010563B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1019880014723A KR920010563B1 (en) 1988-11-09 1988-11-09 Electric vacuum cleaner

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019880014723A KR920010563B1 (en) 1988-11-09 1988-11-09 Electric vacuum cleaner

Publications (2)

Publication Number Publication Date
KR900007378A true KR900007378A (en) 1990-06-01
KR920010563B1 KR920010563B1 (en) 1992-12-07

Family

ID=19279110

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019880014723A KR920010563B1 (en) 1988-11-09 1988-11-09 Electric vacuum cleaner

Country Status (1)

Country Link
KR (1) KR920010563B1 (en)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI637718B (en) 2016-02-29 2018-10-11 Ｌｇ電子股份有限公司 Vacuum cleaner
WO2017150862A1 (en) 2016-02-29 2017-09-08 엘지전자 주식회사 Vacuum cleaner
WO2017150874A1 (en) 2016-02-29 2017-09-08 엘지전자 주식회사 Vacuum cleaner
TWI664944B (en) 2016-02-29 2019-07-11 Ｌｇ電子股份有限公司 Vacuum cleaner
TWI641353B (en) 2016-02-29 2018-11-21 Ｌｇ電子股份有限公司 Vacuum cleaner
TWI643596B (en) 2016-02-29 2018-12-11 Ｌｇ電子股份有限公司 Vacuum cleaner
DE202017000984U1 (en) 2016-02-29 2017-05-29 Lg Electronics Inc. vacuum cleaner
WO2017150816A1 (en) 2016-02-29 2017-09-08 엘지전자 주식회사 Vacuum cleaner
CN209346889U (en) 2016-02-29 2019-09-06 Lg电子株式会社 Vacuum cleaner
TWI636758B (en) 2016-02-29 2018-10-01 Ｌｇ電子股份有限公司 Vacuum cleaner
TWI643597B (en) 2016-02-29 2018-12-11 Ｌｇ電子股份有限公司 Vacuum cleaner
TWI664943B (en) 2016-02-29 2019-07-11 Ｌｇ電子股份有限公司 Vacuum cleaner
DE202017002619U1 (en) 2016-05-20 2017-08-04 Lg Electronics Inc. vacuum cleaner

Also Published As

Publication number Publication date
KR920010563B1 (en) 1992-12-07

Similar Documents

Publication Publication Date Title
KR900007378A (en) Automatic driving method of vacuum cleaner
US5804942A (en) Position determining apparatus and control method of robot
JP3721973B2 (en) Vehicle steering device
JPS5748110A (en) Unattended running car
JPS62154008A (en) Travel control method for self-travel robot
JP3388155B2 (en) Vehicle automatic cruise control device
CN110775173B (en) High-precision linear walking deviation correcting system based on bilateral distance detection and engineering vehicle
JP3076648B2 (en) Self-propelled vacuum cleaner
JP2669071B2 (en) Self-propelled vacuum cleaner
JP2609890B2 (en) Self-propelled work vehicle
JP2988699B2 (en) Moving object position detection device
JPH05250032A (en) Mobile work robot
JPS6432970A (en) Steering control device for front and rear wheel steering vehicle
JP2945225B2 (en) Tracking device for tracking-type traveling work vehicles
KR950002045B1 (en) Drive sensor for vacuum cleaner
JP2945226B2 (en) Tracking device for tracking-type traveling work vehicles
JPH04168508A (en) Running robot
JP2003241832A (en) Self-propelled apparatus and control program thereof
JPS57204915A (en) Control method for attitude of unattended running car
JPS63311513A (en) Mobile working vehicle
JP2862562B2 (en) Traveling course and condition input device for moving objects
JPS6456263A (en) Propulsion controller for vehicle
JPH0379723B2 (en)
JPS63311512A (en) Mobile working vehicle
JPS6454215A (en) Car navigation system

Legal Events

Date Code Title Description
A201 Request for examination
G160 Decision to publish patent application
E701 Decision to grant or registration of patent right
GRNT Written decision to grant
FPAY Annual fee payment

Payment date: 19980630

Year of fee payment: 7

LAPS Lapse due to unpaid annual fee