KR950005270A - 청소기와 그 제어방법 - Google Patents

청소기와 그 제어방법 Download PDF

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Publication number
KR950005270A
KR950005270A KR1019930015373A KR930015373A KR950005270A KR 950005270 A KR950005270 A KR 950005270A KR 1019930015373 A KR1019930015373 A KR 1019930015373A KR 930015373 A KR930015373 A KR 930015373A KR 950005270 A KR950005270 A KR 950005270A
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South Korea
Prior art keywords
cleaner
microcomputer
driving
motor
function
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KR1019930015373A
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English (en)
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KR0140499B1 (ko
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김지현
한석진
이재봉
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김광호
삼성전자 주식회사
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Priority to KR1019930015373A priority Critical patent/KR0140499B1/ko
Priority to JP6183813A priority patent/JPH07152433A/ja
Publication of KR950005270A publication Critical patent/KR950005270A/ko
Priority to US08/633,375 priority patent/US5841259A/en
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Publication of KR0140499B1 publication Critical patent/KR0140499B1/ko

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    • 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
    • A47L5/00—Structural features of suction cleaners
    • A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
    • A47L5/22—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum with rotary fans
    • A47L5/28—Suction cleaners with handles and nozzles fixed on the casings, e.g. wheeled suction cleaners with steering handle
    • A47L5/32—Suction cleaners with handles and nozzles fixed on the casings, e.g. wheeled suction cleaners with steering handle with means for connecting a hose
    • 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
    • A47L9/26—Incorporation of winding devices for electric cables
    • 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
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
    • B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
    • B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
    • B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
    • B65H75/40—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable
    • B65H75/42—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material mobile or transportable attached to, or forming part of, mobile tools, machines or vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
    • B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
    • B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
    • B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
    • B65H75/44—Constructional details
    • B65H75/4481—Arrangements or adaptations for driving the reel or the material
    • B65H75/4484—Electronic arrangements or adaptations for controlling the winding or unwinding process, e.g. with sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
    • B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
    • B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
    • B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
    • B65H75/44—Constructional details
    • B65H75/4481—Arrangements or adaptations for driving the reel or the material
    • B65H75/4486—Electric motors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G11/00—Arrangements of electric cables or lines between relatively-movable parts
    • H02G11/02—Arrangements of electric cables or lines between relatively-movable parts using take-up reel or drum
    • 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
    • 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

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Acoustics & Sound (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Electric Suction Cleaners (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

본원 발명은 청소구역내에 있는 물체에 대한 정보를 검출하는 물체감지수단과, 검출된 정보를 판별하는 마이크로컴퓨터와, 상기 마이크로컴퓨터에 청소기의 동작 모드를 셋팅하는 기능선택수단과, 상기 기능선택수단을 통해 청소기의 동작모드가 선택될 때 청소기능을 수행하는 청소수단과, 물체에 대한 정보에 따라 경로를 변경하며 청소기를 수행시키는 구동수단과, 청소기가 주행할 때 인출 또는 인입되는 전원케이블의 장력을 일정하게 유지시키는 케이블장력 조절수단을 구비하여 자동·수동 또는 원격제어로 청소기능을 수행할 수 있고 이동경로의 기준이 되는 표준평면의 설정으로 청소구역 전체를 유효하게 청소할 수 있다.

Description

청소기와 그 제어방법
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 본 발명에 따른 기능판넬 구성도.
제2도는 본 발명에 따른 원격제어기의 구성도.
제3도는 본 발명에 따른 청소기의 횡단면도.
제4도는 본 발명에 따른 청소기의 종단면도.
제5도는 본 발명에 따른 전원케이블 장력조절유니트의 분리사시도.
제6도는 본 발명에 따른 청소기의 제어회로도.
제7도는 본 발명에 따른 청소기의 이동경로를 나타낸 도면.
제8도는 본 발명에 따른 청소기의 동작순서를 설명한 플로우챠트.

Claims (6)

  1. 청소기에 있어서, 청소구역내에 있는 물체에 대한 정보를 검출할 수 있도록 초음파를 방사하고 물체에 부딪혀 반사되어오는 초음파를 수신하는 물체감지수단과, 상기 물체감지수단의 출력단에 접속되어 상기 물체감지수단에서 입력되는 물체에 대한 정보를 판별하는 마이크로컴퓨터와, 사용자가 청소기의 동작모드를 상기 마이크로컴퓨터에 셋팅할 수 있게하는 기능선택수단과, 상기 마이크로컴퓨터에 접속되어 상기 기능선택수단을 통해 청소기의 동작모드가 선택될 때 상기 마이크로컴퓨터에서 인가되는 제어신호에 따라 청소기능을 수행하는 청소수단과, 상기 마이크로컴퓨터에 접속되어 상기 물체감지수단에서 검출한 물체에 대한 정보에 따라, 이동경로를 변경하며 청소기를 주행시키는 구동수단과, 상기 마이크로컴퓨터에 접속되어 상기 구동수단의 동작으로 청소기가 주행할 때 인출 또는 인입되는 전원케이블의 장력을 일정하게 유지시키는 케이블장력 조절수단을 구비한 것을 특징으로 하는 청소기.
  2. 제1항에 있어서, 상기 기능선택 수단은 청소기에 설치된 기능판넬과, 상기 마이크로컴퓨터에 연결되는 원격신호수신회로부와 원격제어기로 이루어진 원격제어수단으로 구성되어 청소기가 자동·수동 및 원격제어로 청소 기능을 수행할 수 있도록 된 것을 특징으로 하는 청소기.
  3. 제1항에 있어서, 상기 구동수단은 상기 마이크로컴퓨터의 출력단에 접속되어 상기 마이크로컴퓨터로부터 제어신호를 수신하는 모터구동회로부와, 상기 제어신호에 응답해서 모터구동부에서 인가되는 구동전류의 흐름방향에 따라 정회전 또는 역회전하는 모터와, 상기 모터의 구동력을 전달받아 회전하는 동력바퀴와, 상기 모터와 동력바퀴 사이에 연결되어 모터의 구동력을 단속하는 클러치와, 상기 마이크로컴퓨터의 출력단에 접속되어 상기 마이크로컴퓨터로부터 인가되는 제어신호에 따라 상기 클러치에 구동전류를 인가하는 클러치구동회로부를 포함하는 것을 특징으로 하는 청소기.
  4. 제1항에 있어서, 상기 물체감지수단의 청소기의 주행경로상에 있는 장애물을 탐지하는 수단과, 청소구역의 벽면을 감지하여 주행경로의 기준이 되는 표준평면을 설정하는 수단으로 이루어진 것을 특징으로 하는 청소기.
  5. 청소기의 제어방법에 있어서, 청소기의 기능모드를 선택하는 제1단계와, 기능모드의 선택에 응답해서 구동모터와 동력바퀴를 기구적으로 접속시키는 제2단계와, 물체감지수단에서 인가되는 물체정보에 대한 신호로부터 표준평면을 설정하는 제3단계와, 표준평면과의 이격거리를 일정하게 유지시키며 청소기를 주행시키는 제4단계와, 주행경로상에 장애물을 검출하는 제5단계와, 상기 제5단계에서 검출하는 신호에 응답해서 청소기의 주행방향을 변경하는 제6단계로 이루어진 것을 특징으로 하는 청소기의 제어방법.
  6. 제5항에 있어서, 청소기가 주행할 때 인출 또는 인입되는 전원케이블의 장력을 조절하는 단계를 추가로 포함하는 것을 특징으로 하는 청소기의 제어방법.
    ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
KR1019930015373A 1993-08-07 1993-08-07 청소기와 그 제어방법 KR0140499B1 (ko)

Priority Applications (3)

Application Number Priority Date Filing Date Title
KR1019930015373A KR0140499B1 (ko) 1993-08-07 1993-08-07 청소기와 그 제어방법
JP6183813A JPH07152433A (ja) 1993-08-07 1994-08-04 掃除機およびその制御方法
US08/633,375 US5841259A (en) 1993-08-07 1996-04-17 Vacuum cleaner and control method thereof

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Application Number Priority Date Filing Date Title
KR1019930015373A KR0140499B1 (ko) 1993-08-07 1993-08-07 청소기와 그 제어방법

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KR950005270A true KR950005270A (ko) 1995-03-20
KR0140499B1 KR0140499B1 (ko) 1998-07-01

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JP (1) JPH07152433A (ko)
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