KR930011955A - 자동주행청소용 로버트의 장애물 감지장치 - Google Patents

자동주행청소용 로버트의 장애물 감지장치 Download PDF

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Publication number
KR930011955A
KR930011955A KR1019910025531A KR910025531A KR930011955A KR 930011955 A KR930011955 A KR 930011955A KR 1019910025531 A KR1019910025531 A KR 1019910025531A KR 910025531 A KR910025531 A KR 910025531A KR 930011955 A KR930011955 A KR 930011955A
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KR
South Korea
Prior art keywords
ultrasonic
ultrasonic element
main body
obstacle
automatic driving
Prior art date
Application number
KR1019910025531A
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English (en)
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KR940006561B1 (ko
Inventor
이장우
Original Assignee
이헌조
주식회사 금성사
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Application filed by 이헌조, 주식회사 금성사 filed Critical 이헌조
Priority to KR1019910025531A priority Critical patent/KR940006561B1/ko
Priority to JP4357899A priority patent/JPH0622884A/ja
Priority to US07/998,941 priority patent/US5293955A/en
Publication of KR930011955A publication Critical patent/KR930011955A/ko
Application granted granted Critical
Publication of KR940006561B1 publication Critical patent/KR940006561B1/ko

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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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • 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
    • A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • 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
    • A47L9/2826—Parameters or conditions being sensed the condition of the floor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • 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)
  • Robotics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Suction Cleaners (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

본 발명은 벽면을 따라 이동하면서 청소를 하는 자동주행 청소용 로버트의 장애물 감지장치에 관한것으로서, 좀더 구체적으로는 초음파 감지 센서의 배치를 달리하여 각 초음파 소자가 초음파의 지향성을 받지않고 항상 벽면과 평행인 상태를 유지하면서 청소를 할 수 있도록 한 것이다.
종래에는 중앙에 설치된 초음파 소자의 양측으로 45도 경사지게 서로 마주보도록 설치되어 있기 때문에 일측의 초음파 소자에서 발사된 초음파가 수신측으로 가지 않고 지향성에 의해 다른측에 설치된 초음파소자의 수신측에 들어가게 되므로 장애물 인식수단에서 오동작을 하게되는 문제점이 있었다.
본 발명은 이를 개선하기 위해, 본체(11)의 양모서리부에 위치된 취부부재(22)와, 상기 취부부재에 본체의정면을 향하도록 고정된 초음파소자(23a)와, 그 일측에 45도 방향으로 기울어져 있는 초음파 소자(23b)와, 또 다른 일측에 상기 초음파소자(23a)와, 90도 측면을 향하고 있는 초음파 소자(23c)와, 본체의 정면과 양측면에 고정된 초음파소자(24)(25)로 구성된 초음파 장애물 센서(23)를 구비하여 상기 초음파 장애물 센서가 장애물을 감지함에 따른 제어수단에 의해 본체의 방향을 전환시킬 수 있도록 하여서 된 것이다.

Description

자동주행청소용 로버트의 장애물 감지장치
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제9도는 본 발명 장치가 설치된 청소용 로버트의 측면도,
제10도는 제9도의 횡단면도,
제11도는 제9도의 종단면도,
제12도는 본 발명 장치의 회로구성도.

Claims (2)

  1. 본체(11)의 양모서리부에 위치된 취부부재(22)와, 상기 취부부재에 본체의 정면을 향하도록 고정된 초음파소자(23a)와, 그 일측에 45도 방향으로 기울어져 있는 초음파 소자(23b)와, 또 다른 일측에 상기 초음파소자(23a)와 90도 측면을 향하고 있는 초음파 소자(23c)와, 본체의 정면과 양측면에 고정된 초음파소자(24)(25)로 구성된 초음파 장애물 센서(23)를 구비하여 상기 초음파 장애물 센서가 장애물을 감지함에 따른 제어수단에 의해 본체의 방향을 전환시킬 수 있도록 된 자동주행 청소용 로버트의 장애물 감지장치.
  2. 제1항에 있어서, 제어수단은 진행거리 및 주행방향을 판단하는 CPU(26)와, 상기 초음파 장애물 센서에 의해 장애물을 감지하는 초음파회로부(27)와, 바퀴(28)를 구동시키기 위해 모터(19)를 작동시키는 구도회로부(30)와, 상기 구동회로부에 의해 이동되는 바퀴의 회전 데이터를 인식하는 거리 및 방향 검지수단(29)으로 구성된 자동주행 청소용 로버트의 장애물 감지장치.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019910025531A 1991-12-30 1991-12-30 자동주행 청소용 로버트의 장애물 감지장치 KR940006561B1 (ko)

Priority Applications (3)

Application Number Priority Date Filing Date Title
KR1019910025531A KR940006561B1 (ko) 1991-12-30 1991-12-30 자동주행 청소용 로버트의 장애물 감지장치
JP4357899A JPH0622884A (ja) 1991-12-30 1992-12-25 自動走行掃除用ロボットの障害物感知装置
US07/998,941 US5293955A (en) 1991-12-30 1992-12-30 Obstacle sensing apparatus for a self-propelled cleaning robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019910025531A KR940006561B1 (ko) 1991-12-30 1991-12-30 자동주행 청소용 로버트의 장애물 감지장치

Publications (2)

Publication Number Publication Date
KR930011955A true KR930011955A (ko) 1993-07-20
KR940006561B1 KR940006561B1 (ko) 1994-07-22

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US (1) US5293955A (ko)
JP (1) JPH0622884A (ko)
KR (1) KR940006561B1 (ko)

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