KR920010563B1 - Electric vacuum cleaner - Google Patents

Abstract

The vacuum cleaner has an automatic running device using ultrasonic sensors. An automatic running is performed by controlling wheels by the signals from the ultrasonic sensors, which sense obstacles and walls. The left and right wheels are driven by left and right step motors. The control device includes ultrasonic sensor transmitters, ultrasonic sensor modulators, ultrasonic sensor receivers, ultrasonic sensor demodulators and a micom.

Description

Automatic driving method of vacuum cleaner

1 is a block diagram of a conventional vacuum cleaner.

Figure 2 is a block diagram showing the side of the vacuum cleaner of the present invention.

Figure 3 is a block diagram showing the overall configuration of the vacuum cleaner of the present invention.

4 is a view showing the automatic path of the vacuum cleaner of the present invention.

5 is an operation diagram showing an example of posture correction in the automatic driving of the vacuum cleaner of the present invention.

Figure 6 is a table showing the mode for automatic driving of the vacuum cleaner of the present invention.

7 is an overall signal flow chart for automatic driving of the vacuum cleaner of the present invention.

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.

9 is a signal flow chart for attitude correction in the automatic driving of the vacuum cleaner of the present invention.

10 is a signal flow chart for the current coordinate calculation in the automatic driving of the vacuum cleaner of the present invention.

11 is a signal flow chart for the one-turn check in the automatic running of the vacuum cleaner of the present invention.

* Explanation of symbols for the main parts of the drawings

1,11 Inlet port 2: Connector

3: adjusting nut 4,13: suction hose

5: handle 6,16: power plug

7, 12: extension pipe 14: connection hole

15: suction unit 15A: suction hole

17 filter 18 tank

19: Left ultrasonic sensor transmitter 20: Left ultrasonic sensor receiver

21,22: rechargeable battery 23: vacuum suction motor

24: left wheel 25: right wheel

26: left stepping motor 27: right tapping motor

28: Front ultrasonic sensor receiver 29: Front ultrasonic sensor transmitter

30: micom 31,32: ultrasonic sensor demodulator

33,37: Ultrasonic sensor modulator 34,36: Stepping motor driver

35: motor driver 38: buzzer

39: start key 40: stop key

The present invention relates to a vacuum cleaner for sucking and cleaning dust on the floor, and in particular, to detect obstacles and walls by using ultrasonic sensors, and to automatically drive the vacuum cleaner to perform automatic driving by controlling the wheels with its signal. It is about a method.

In the conventional vacuum cleaner, as shown in FIG. 1, when the user grips the handle 5 and the extension handle 7 while the power plug 6 is plugged in, the vacuum motor operates. As it is lowered, the cleaning function is performed as the suction port 1, the extension pipe 7, and the suction hose 4 laid on the floor are sequentially sucked into the tank.

By the way, in the conventional vacuum cleaner, the user has to keep operating while performing the cleaning function, there is a defect that causes inconvenience.

The present invention, in view of the conventional defects such as the detection of obstacles or walls through the ultrasonic sensor to control the wheel to perform automatic driving, by using a manual function of the automatic driving of the vacuum cleaner to provide convenience to the user The invention is invented and described in detail with reference to the accompanying drawings.

2 is a block diagram showing the side of the vacuum cleaner of the present invention, as shown in the figure, a left wheel 24 is provided on one side of the bottom surface of the vacuum cleaner main body 42, and a caster 41 is installed on the rear side thereof. On the front side of the main body 42, a left ultrasonic sensor transmitter 19, a left ultrasonic sensor receiver 20, and a front ultrasonic sensor receiver 38 for measuring the distance between the left side and the front and the wall are respectively attached. In the rear part of the bottom surface of the main body 42, a suction part 15 for sucking dust during the automatic driving of the present invention is formed, and the rear part of the main body 42 is a conventional suction port for conventional manual driving. (11), the suction hose 13 to which the extension pipe 12 is connected is detachably provided.

Figure 3 is a block diagram showing the overall configuration of the vacuum cleaner of the present invention, as shown in this, when performing the automatic driving function, the dust passing through the suction hole 15A is filtered through the filter 17, and the manual driving function At the time of performing, the suction hose 13 is detached and used by the connection hole 14, the tank 18, and the vacuum suction motor which circulates the air of the tank 18 through the motor drive 35 ( 23) and left and right tapping motors 26 and 27 to adjust the left and right wheels 24 and 25 through the respective stepping motor drivers 34 and 36, and the left and front ultrasonic sensor transmitters. 19) and ultrasonic sensor modulators 33 and 37 for applying ultrasonic waves to the 29, and ultrasonic sensor demodulators 31 and 32 to demodulate ultrasonic waves from the left and front ultrasonic sensor receivers 20 and 28. Scans the state of the start key 39, the stop key 40, and the ultrasonic sensor demodulators 31 and 32, and a buzzer 38 and the ultrasonic sensor modulator ( 33) (37), the stepping motor driver (34) and (36), it consists of a microcomputer 30 to drive the motor driver (35).

4 is an operation diagram showing the automatic path of the vacuum cleaner according to the present invention, and as shown therein, the right turn change amount f0 (f0 + 2d) (f0 + 3d) (f0 + 5d) (f0 + 6d) of the vacuum cleaner. It shows the automatic driving accordingly.

5 is an operation diagram showing an example of posture correction in the automatic driving of the vacuum cleaner according to the present invention. As shown in FIG. 5, the driving of the vacuum cleaner while keeping the distance to the left wall constant is shown.

Figure 6 is a table showing the mode for the automatic running of the vacuum cleaner of the present invention as shown in this, it shows the driving state of the left stepping motor 26, the right tapping motor 27 according to the straight, left turn, right turn.

The present invention configured as described above will be described with reference to FIG. 7 which is an overall signal flow diagram for autonomous driving.

After reading the distance (Δd) to move to the center and the number of turns (n *) of the cleaner from the keypad every time the wheel is rotated, the vacuum suction motor 23 is driven through the motor driver 35, and the number of times of the cleaner (n), the direction of the cleaner (Dir), the coordinates (x, y) of the cleaner, and initializes the reference distance (s *) to the left of the cleaner and the reference distance (f *) to the right of the cleaner, respectively, as the starting point (s0). (f0).

In this way, the forward distance f measurement weightin PAI and the left distance s measurement routine PA2 are performed, and it is determined whether the left distance s is less than or equal to the reference distance s * of turning left, If not, turn left by 90 ° through the left turn mode as shown in FIG. 6 and subtract the direction Dir to Dir-1, and if it is below, determine whether the forward distance f is the right turn reference distance f *. do.

That is, if there is no left side barrier, after making a left turn of 90 °, the direction Dir is subtracted to Dir-1, and if there is a left side force, it is determined whether the front distance f is greater than or equal to the reference distance f *.

At this time, if the forward distance f is not greater than the right turn reference distance f *, turn 90 ° right through the right turn mode as shown in FIG. 6, and then increase the direction Dir to Dir + 1. After performing the correction routine (PA3), the straight line is performed, and the current coordinate calculation routine (PA4) and the determination routine (PA5) for turning a round are performed.

After doing this, if the one-turn rotation is not completed, the process from the forward distance (f) measurement routine is repeated, and when it is completed, the number of times n is increased to n + 1, the direction (Dir) is initialized, and the left turn reference distance ( After increasing s *) to s * + d and increasing the right turn reference distance f * to f * + Δd, it is determined whether the number of turns (n) and the number of turns (n *) are the same.

At this time, if n = n * does not repeat the process from the measurement routine (PA1) of the front distance (f), when n = n *, the vacuum suction motor 23 through the motor driver 35 Automatic driving cleaning is completed by stopping.

Here, the front distance f measurement weightin PA1 and the left distance s measurement routine PA2 are respectively initialized the front distance f and the left distance s as shown in FIG. Ultrasonic signals are sent to the walls through the left ultrasonic sensor transmitters 29 and 19, respectively, and the front and left ultrasonic sensor receivers 28 and 20 determine whether the ultrasonic waves have been reached. The forward distance f and the left distance s are increased to f + 1 and s + 1, and then discriminated again.

That is, the ultrasonic waves modulated by the respective ultrasonic sensor modulators 37 and 33 are transmitted to the wall through the front ultrasonic sensor transmitter 29 and the left ultrasonic sensor transmitter 19, and the signals thereof are transmitted to the respective front ultrasonic sensor receivers ( 28), received through the left ultrasonic sensor receiver 20 and then demodulated through the ultrasonic sensor demodulators 32 and 31 and applied to the microcomputer 30, respectively, the front distance f and the left distance s. Is determined.

As shown in FIG. 9, the attitude information routine PA4 determines whether the leftward distance s becomes the right turning reference distance f * + the tolerance of the target driving trajectory Δf, and s = f * △ t = f _t x (sf *), Δt: amount of time the correction takes place, f _t : experimental constant, s: left distance, f *: right reference distance After that, left turn is performed for Δt time, and if s = f * + Δf, it is determined whether the left distance s is less than f * −Δf.

At this time, if it is not in the state of f * -Δf, after calculating the amount of correction time that Δt = ftx (f * -s), the motor performs a right turn for Δt time.

That is, as shown in FIG. 5, when the left distance s becomes less than f * + Δf, the driver rotates left for Δt hours, and if it exceeds f * −Δf, performs right turns for Δt hours. Calibrate

Also, as shown in FIG. 10, when the direction Dir becomes "0", the current coordinate calculation routine PA4 becomes "+" when the coordinate x becomes x + 1 and the direction Dir becomes "1". If coordinate y is y + 1, if direction Dir is “2”, then coordinate x is x-1 and if direction Dir is “3”, coordinate y is y-1 If the direction Dir does not become “0-3”, the coordinate x is calculated as x + 1 and returned.

At this time, the rotation completion routine PA5 of one round determines whether the coordinate x is "0" and the direction Dir is "4", as shown in FIG.

In order to use it manually, as shown in FIG. 2, the suction port 11 and the suction hose 13 are connected to the main body 42 through the connection hole 14, so that the user can connect the extension pipe 12. Lift and use small parts manually.

Here, the power source in the manual mode uses the plug 16, and in the automatic mode, the rechargeable batteries 21 and 22 are used.

Therefore, the automatic cleaner uses the front and left ultrasonic sensors to detect the presence of the wall and the distance to the wall to make appropriate decisions with the given software, and then control the left and right wheels with the respective stepping motor. It moves straight and rotates in a desired direction, completes a closed section, and runs the closed section sequentially from the outer shell to the center.

As described in detail above, in the present invention, the vacuum cleaning is performed by automatically driving using the left and right methods in the closed section of the cleaning basic body in the automatic driving mode, and in the manual mode, the user cleans a specific small part. There is an effect that can provide a great convenience.

Claims (5)

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 reading the number of times (n *) to drive the vacuum suction motor 23, the number of turns (n), direction (Dir), coordinates (x, y), left turn reference distance (s *), right turn reference After the distance (f *) is initialized, the forward distance (f) measurement routine (PA1) and the left distance (s) measurement routine (PA2) are performed, and if the left distance (, s) is greater than the left turn reference distance (s *) After making 90 ° left turn, decrease direction (Dir) to Dir-1 and if the forward distance (f) is below right turn reference distance (f *), turn 90 ° right and turn direction (Dir) to Dir + 1. If it is more than the right turn reference distance (f *), and then go straight after performing the posture correction routine (PA3), and after completing the current coordinate calculation routine (PA4), one rotation completion check routine (PA5) The process from the front distance measuring routine PA1 is repeated until the number of turns n and the number of turns n * are equal, and when the same, the vacuum suction motor 23 is stopped. Autodrive of Law. 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. 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 ft, and the left distance s is turned right. When 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 in that the right turn during the correction time (Δt) calculated by Δt = ftx (f *-s) when f or more. 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. 2. The automatic running 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".

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