KR970000583B1 - Method for leading charging of a robot cleaner - Google Patents

Abstract

The method induces the robot cleaner, when the battery is running out of power to a level lower than that of a setting, to the original charge source following the position information of the source to recharge the battery. It comprises the steps of : detecting the position information of the original charge source relative to the X and Y coordinates of the cleaning floor, when the cleaner is first connected to the source, for storing in a memory; detecting the power comsumption of the battery while running the cleaner; when finding the battery short of power, moving the cleaner to the original source according to the position information of the memory to recharge the battery.

Description

How to induce filling of robot cleaner

1 is a plan view of the robot cleaner according to an embodiment of the present invention.

2 is a side cross-sectional view of the robot cleaner according to an embodiment of the present invention.

3a and 3b are side cross-sectional views showing the connection state of the robot cleaner to the power supply according to an embodiment of the present invention.

4 is a control block diagram of a robot cleaner according to an embodiment of the present invention.

5A and 5C are flowcharts showing the operation of charging induction control of the robot cleaner according to the present invention.

6 is a view illustrating a connection with a power supply of the robot cleaner according to an embodiment of the present invention.

7 is a driving example of the robot cleaner according to an embodiment of the present invention.

* Explanation of symbols for main parts of the drawings

1: robot cleaner 10: battery

20: control means 30: charge level detection means

40: driving means 50: encoder

60: driving direction detection means 70: suction motor drive means

80: memory means 90: power receiving means

91: light receiving portion 92: bumper member

93: contact sensor 94: contact terminal

100: power supply 101: body

102: light emitting unit 103: connection terminal

104: guide member 105: cover member

106: pinion member 107: link member

The present invention relates to a self-propelled robot cleaner for cleaning the floor while moving by itself, and in particular, the robot cleaner leads the robot cleaner to a power supply to charge the battery when the battery power supplying driving energy is consumed and falls below a certain level. The present invention relates to a method of inducing charging of a cleaner.

In general, a robot cleaner which performs charging while automatically charging battery power has used a method of inducing a power connection between the robot cleaner and a power supply using an optical sensor.

That is, when the robot cleaner runs out of cleaning or when the cleaning is completed, the battery power supplying the driving energy of the robot cleaner is consumed and falls below a predetermined level. Recognizing the positional information of the feeder, it starts moving itself toward the power supply.

At this time, while detecting the optical signal transmitted from the light emitting unit attached to the power supply in the rear light receiving unit of the robot cleaner, the robot cleaner is guided to the power supply in accordance with the optical signal transmitted from the light emitting unit, the robot cleaner is built-in When it is determined that the power supply is reached based on the received information, the magnetic position is corrected by the derivative of the light emitting unit.

As such, when the robot cleaner corrects its position by induction of the light emitting unit, the robot cleaner is electrically connected to the power supply and starts charging the battery while receiving the optical signal transmitted from the light emitting unit at the light receiving unit.

However, in the induction method of the robot cleaner to the power supply, the robot cleaner is moved to the power supply according to the built-in location information so that the robot cleaner slides on the driving wheel according to the material and state of the floor surface on which the robot cleaner is driven. When this occurs, the magnetic position information of the robot cleaner changes.

As a result, the robot cleaner does not reach the power supply accurately, and thus, an optical signal of the light emitting unit cannot be received at the rear light receiving unit. Thus, the robot cleaner moves to the left and right to detect the light signal of the light emitting unit at the rear light receiving unit. There was a problem that the induction time is long because the trial and error is repeated.

Thus, in order to induce an accurate connection of the robot cleaner to the power supply, a separate position correction sensor may be additionally used, but the manufacturing cost increases and the configuration becomes complicated.

Accordingly, the present invention has been made to solve the above problems, the object of the present invention is that the battery power is consumed during the cleaning run or when the cleaning is completed, the robot power according to the position information of the initially input power supply when falling below a certain level The present invention provides a method of inducing a charge of a robot cleaner that can reduce the manufacturing cost while simplifying the construction because the battery can be charged accurately by inducing the cleaner to the power supply.

In order to achieve the above object, the charging method of the robot cleaner according to the present invention is a method of charging the battery of the robot cleaner which autonomously moves by embedding the magnetic position, the cleaning area and the position information of the power supply, and the method of the robot cleaner and the power supply. Initial position information storage step of detecting the initial position information of the robot cleaner about the X and Y axes in the cleaning area and storing it in the control means during the initial connection, i.e., before the cleaning operation of the robot cleaner, and the robot during the cleaning operation of the robot cleaner. A power detection step for detecting how much battery power supplying the driving energy of the cleaner is consumed, and the initial position information to charge the battery when the battery power detected by the power detection step is below a predetermined level set in the control means; Power the robot cleaner according to the initial position information stored in the storage step Characterized in that the charge movement step to move to the feeder.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

As shown in FIGS. 1 to 2, reference numeral 1 denotes a main body of the robot cleaner, and the front and rear surfaces of the robot cleaner 1 are 180 ° left and right with respect to the front by a rotational force applied from a driving unit such as a motor. Navigation ultrasonic sensor (3; below, ultrasonic sensor) that emits ultrasonic waves to detect the presence or absence of obstacles within this rotation range, the distance and direction of the obstacle branches, and the reflected ultrasonic waves hit the obstacle Is called).

In addition, the left and right sides and the rear end of the robot cleaner 1 is fixed to the ultrasonic wave to detect the distance to the object in the normal direction, specifically, the wall surface (W) of the cleaning zone, the emitted ultrasonic wave is a wall ( A fixed ultrasonic sensor (4, 5, 6; hereinafter referred to as an ultrasonic sensor) is mounted to receive a signal that is reflected upon W).

In addition, left and right driving motors 411 and 421 which generate driving force so that the robot cleaner 1 switches forward, backward and left and right are mounted at left and right lower ends of the ultrasonic sensor 3 in left and right symmetry. Left and right driving wheels 411a and 421b are attached to the left and right driving motors 421, respectively.

In addition, the robot cleaner 1 is equipped with a suction motor 71 for generating a suction force for sucking dust or foreign matter, and dust or foreign matter sucked into the suction port 2 on the front of the suction motor 71. The dust-collecting chamber 8 in which the dust collection bag 7 which accumulates | stores is built is formed.

In addition, a non-powered wheel 431 which is not connected to a power source such as a motor is installed on the rear bottom surface of the robot cleaner 1 so as to support the rear load of the robot cleaner 1, and the non-powered wheel 431 is the robot. The cleaner 1 is used to rotate 360 ° so as to easily change the driving route.

A brush 9 is installed between the non-powered wheel 431 and the power wheels 411a and 421a to collect dust or foreign matter on the floor, and the dust sucked through the brush 9 is disposed in the hood 11. Accumulated in the dust collecting bag (7) through.

In addition, in the drawing, a battery 10 for supplying driving energy of the robot cleaner 1 is mounted on a generally rear surface of the robot cleaner 1, and the battery 10 is disposed on a lower rear side of the robot cleaner 1. ), A power receiving means 90 electrically connected to the battery 10 via a wire (not shown) is mounted.

On the other hand, the power supply 100 which is electrically connected to the power receiving means 90 to supply power to the battery 10 is installed on a predetermined wall surface in the cleaning zone in which the robot cleaner 1 travels.

The power supply 100 for supplying power to the battery 10 transmits an optical signal when the body 101 and the robot cleaner 1 are in operation, as shown in FIGS. 3A to 3B. Of the robot cleaner 1 guided by a guide signal of the light emitting part 102 and the light emitting part 102 attached to a predetermined position on the upper outer surface of the body 101 to guide the robot cleaner 1. A connecting terminal 103 movably mounted in a horizontal portion of the body 101 to be electrically connected to a contact surface of the power receiving means 90, and a guide groove 104a therein to guide the connecting terminal 103. The horizontal portion of the body 101 to cover the formed guide member 104 and the connection terminal 104 sliding in the guide groove 104a of the guide member 104 from the outside of the body 101. Sliding the cover member 105 and the cover member 105 slidably mounted on the upper inner side The pinion member 106 to rotate the connecting terminal 103 up and down by the pinion member 106 and the cover member 105 which is slid by the rotational force of the pinion member 106 and the rotational force. And a link member 107 which couples the cover member 105 and the connection terminal 103 to each other, and is connected to an unshown main power terminal on the wall surface on which the robot cleaner 1 travels.

On the other hand, the power supply 100 is of course equipped with a rectifier circuit to charge the battery 10 by converting the AC power to direct current when the main power terminal is connected.

In addition, the power receiving means 90 for electrically connecting the power supply 100 to the battery 10 built in the robot cleaner 1, as shown in Figures 3a to 3b, the power supply ( The light receiving unit 91 attached to the lower rear of the robot cleaner 1 to receive the optical signal transmitted from the light emitting unit 102 of the 100, and the power receiving means 90 is the side of the vertical portion of the power supply 100 The bumper member 92 mounted on the lower end of the light receiving portion 91, that is, the rear lower end of the robot cleaner 1, and mounted inside the bumper member 92 so as to soften the impact when it hits the light receiving means. The contact sensor 93 which detects that the power supply 100 has contacted the power supply 100 and the connection terminal 103 of the power supply 100 are in contact with the battery 10 via a wire (not shown). The contact cleaner 94 is formed on the lower left side of the robot cleaner 1.

A control block diagram for charging the battery of the robot cleaner configured as described above will be described with reference to FIG.

As shown in FIG. 4, the control means 20 is a microcomputer which controls the overall driving operation of the robot cleaner 1 by receiving a DC voltage supplied from the battery 10, and the charge level detecting means 30. ) Detects the charging level of the battery 10 for supplying the driving energy of the robot cleaner 1 and outputs it to the control means 20 to compare the detected charging level with a preset reference level.

In addition, the driving means 40 drives the robot cleaner 1 under the control of the control means 20, and the driving means 40 drives the left driving motor 411 to move the robot to the right. The left motor drive part 41 which drives), and the right motor drive part 42 which drives the right traveling motor 421 so that the said robot moves to the left side are comprised.

The encoder 50 detects the traveling distance of the robot moved by the driving means 40. The encoder 50 generates a pulse signal according to the rotational speed of the left driving motor 411, thereby generating the robot. Is the left encoder 51 for detecting the travel distance moved to the right side, and the right encoder 52 for generating the pulse signal according to the rotation speed of the right traveling motor 421 to detect the travel distance moved to the left side of the robot. It consists of).

Further, the traveling direction detecting means 60 rotates in accordance with the voltage level that changes at the time of rotation of the robot cleaner 1 so as to detect a change in the traveling direction of the robot cleaner 1 moved by the driving means 40. Gyro sensor for detecting a change in the driving direction of the robot cleaner 1, the suction motor driving means 70 is suctioned so that the robot cleaner 1 performs a cleaning function under the control of the control means 20 Drive control of the motor 71 is carried out.

In addition, in the drawing, the memory means 80 is a memory unit built in the control means 20, and the memory capacity for controlling the various means is limited, so that a buffer ( As an auxiliary memory means for expanding the memory capacity through 81, this memory means 80 uses DRAM or the like.

Hereinafter, the operation and effect of the charge induction method for charging the battery of the robot cleaner configured as described above will be described.

5A and 4C are flowcharts showing the charging induction control operation procedure of the robot cleaner according to the present invention. In FIGS. 5A and 5C, S denotes a step.

First, when the operation switch (not shown) of the robot cleaner 1 is turned on, the control means 20 receives the DC voltage supplied from the battery 10 to initialize the robot cleaner 1.

At this time, in the ultrasonic sensors 3 and 6 attached to the front and rear of the robot cleaner 1, the robot cleaner 1 emits ultrasonic waves in a state in which the robot cleaner 1 is connected to the power supply 100, and the emitted ultrasonic waves are wall surfaces. When receiving the reflected signal, i.e., the echo signal, is detected as shown in FIG. 6, the robot cleaner 1 detects the positional information on the Y axis.

In addition, in the ultrasonic sensors 4 and 5 attached to the left and right sides of the robot cleaner 1, the robot cleaner 1 emits ultrasonic waves in a state in which the robot cleaner 1 is connected to the power supply 100, and the emitted ultrasonic waves strike a wall surface. As shown in FIG. 6, the reflected signal, that is, the echo signal, is received to sense the positional information on the X-axis of the robot cleaner 1.

Therefore, in step S1, the robot cleaner 1 is connected to the power supply 100 by receiving position information on the X and Y axes detected by the ultrasonic sensors 3 to 6 from the control means 20. The initial position information (X, Y) is stored, and in step S2, the robot cleaner 1 performs the initial circulation operation without cleaning to store the structure of the bar to be cleaned.

During the initial rotation of the robot cleaner 1, only the structure of the room is stored without cleaning, and the cleaning program is selected by comparing with the cleaning program previously inputted into the memory of the control means 20 to perform cleaning. will be.

That is, the structure of the room is determined by the control means 20 by using the ultrasonic sensor 3 and the driving means 40, and the data about the structure of the room determined by the control means 20 is pre-inputted in the memory. By comparing the data, you choose the best program.

Subsequently, in step S3, the most similar and efficient cleaning program is selected from the various programs previously input to the memory built in the control means 20 according to the structure of the room stored by the initial circulation operation in step S2.

Therefore, in step S4, a control signal from the control means 20 to the driving means 40 and the suction motor driving means 70 is performed to perform cleaning with the cleaning trajectory shown in FIG. 7 according to the cleaning program selected in step S3. Outputs

Accordingly, the left motor driving unit 41 and the right motor driving unit 42 of the driving unit 40 receive the control signals output from the control unit 20 and receive the left driving motor 411 and the right driving motor 421. ), The robot cleaner 1 starts running.

At this time, the left encoder 51 generates a pulse signal according to the rotational speed of the left power wheel 411a according to the driving of the left driving motor 411, and outputs the pulse signal to the control means 20, and the right encoder 52. In operation, the pulse signal is generated according to the rotation speed of the right power wheel 421a according to the driving of the right traveling motor 421 and output to the control means 20.

Accordingly, the control means 20 receives the pulse signals from the left and right encoders 51 and 52 to calculate the travel distance that the robot cleaner 1 moves.

On the other hand, the suction motor driving means 70 receives the control signal output from the control means 20 to drive the suction motor (71).

A suction force is generated in the dust collecting chamber 8 by driving the suction motor 71, and foreign substances such as dust on the bottom surface to be cleaned by the suction force are transferred through the brush 9 and the suction port 2. It is sucked and collected in the dust collecting bag 7 formed in the dust collecting chamber 8, and the remaining air is discharged into the atmosphere to perform a cleaning operation.

In the step S5 of cleaning the robot cleaner 1 as described above, the control means 20 detects the charge level of the battery 10 which supplies the driving energy of the robot cleaner 1 and detects the detected charge voltage level. Output to

When the robot cleaner 1 performs the cleaning operation, the voltage charged in the battery 10 is gradually consumed as a predetermined time passes and falls below a predetermined level, which is detected by the charge level detecting means 30. To output to the control means (20).

Therefore, in step S6, the charge voltage level detected by the charge level detecting means 30 is inputted from the control means 20, and it is determined whether or not it is below a predetermined level, and the charge level of the battery 10 is determined. If it is not a predetermined level or less (No), it is not necessary to charge the battery 10, and the process returns to step S4 to detect the charge level while continuing to perform the cleaning operation under the control of the control means 20. The means 30 detects the charge level of the battery 10.

On the other hand, in step S6, as a result of the determination, when the charge level of the battery 10 is below a predetermined level (Yes), the battery 10 needs to be charged, so that the robot cleaner 1 in the control means 20 The location data of the cleaning spot is stored in the built-in memory.

In operation S7, the control unit 20 outputs a control signal to the driving unit 40 to rotate the robot cleaner 1 to the right, thereby rotating the robot cleaner 1 to the right. In order to access the power supply 100 for supplying power for charging), the vehicle runs while cleaning to the wall (W) close to the power supply 100.

Subsequently, in step S8, it is determined whether the robot cleaner 1 has reached the wall close to the power supply 100, and if it does not reach the wall close to the power supply 100 (No), the step S7. Returning to, the robot cleaner 1 continues to run while the robot cleaner 1 reaches the wall W close to the power supply 100 under the control of the control means 20.

On the other hand, when the robot cleaner 1 reaches the wall W close to the power supply 100 (Yes) as a result of the determination in step S8, the process proceeds to step S9 and the control means 20 drives. By controlling the means 40 to stop the robot cleaner 1, the current position information is sensed to recognize the magnetic position.

Subsequently, in step S10, when the robot cleaner 1 reaches the wall surface W close to the power supply 100 under the control of the control means 20, the robot cleaner 1 is turned 90 ° toward the side without the wall surface W. To achieve this, the driving means 40 receives a control signal output from the control means 20 and rotates the robot cleaner to the right.

Therefore, in step 11, the robot cleaner 1 continues to run along the wall W in the direction rotated to the right in step 10, and in step S12, the ultrasonic sensor attached to the front surface of the robot cleaner 1 In (3), the robot cleaner 1 emits an ultrasonic wave in front of the moving body, and the emitted ultrasonic wave hits the power supply 100 to receive the reflected echo signal so that the robot cleaner 1 receives the power from the power supply 100. Detect the separated separation distance and outputs the separation distance data (D) to the control means (20).

Accordingly, in step S13, it is determined whether the separation distance D detected by the ultrasonic sensor 3 is greater than the minimum distance data Dmin (about 40 cm) preset in the control means 20, If the separation distance is larger than the minimum distance data Dmin (Yes), the process returns to the step S11, and the robot cleaner 1 continues the operation along the wall W and repeats the operation of the step S11 or less. .

On the other hand, the determination result in step S13, when the separation distance (D) is not the minimum distance data (Dmin) beam is large (No), the robot cleaner 1 is in a state close to the power supply 100 In step S14, the robot cleaner 1 is driven at a low speed by lowering the traveling speed of the left / right traveling motors 411 and 421 under the control of the control means 20 in the driving means 40, and the control means 20 In the low-speed driving of the robot cleaner 1 by the drive means 40 collects and stores the position information on the X and Y axes in detail and accurately.

Subsequently, in step S15, the robot cleaner 1 determines in step S14 whether the distance of the X-axis collected at low speed is equal to the initial information before the 90 ° right turn in step S10, and the position information of the X-axis is equal to the initial information. If it is not the same (No), return to the step S14 and until the distance of the X-axis collected at the low speed of the robot cleaner 1 becomes equal to the initial information before the 90 ° right turn in the step S10 (the robot cleaner) 1) continue low speed along the wall (W).

On the other hand, when the determination result in step S15 indicates that the distance of the X-axis is equal to the initial information (Yes), the process proceeds to step S16 and the distance of the X-axis equal to the initial information when the robot cleaner 1 is turned right by 90 °. Stop the robot cleaner (1).

Subsequently, in step S17, the driving means 40 receives the control signal output from the control means 20 so as to check the position information on the X axis of the robot cleaner 1, and then the right power wheel 421a is received. The robot cleaner 1 is rotated 90 degrees to the right, and the step S18 determines whether or not the distance of the X-axis rotated at right angles in the step S17 is equal to the initial information.

As a result of the discrimination in step S18, when the distance on the X axis is not equal to the initial information (No), the process proceeds to step S24 to adjust the fine angle error, and when the distance on the X axis is equal to the initial information (Yes). ), Go to step S19 to emit ultrasonic waves from the ultrasonic sensors 3 and 6 attached to the front and rear sides of the robot cleaner 1, and receive the echo signals reflected by the emitted ultrasonic waves to the wall surface to the Y axis. Detect current location information.

At this time, the control means 20 sets the distance to move the robot cleaner 1, and then maintains a sufficient distance from the wall surface of the robot cleaner 1 so that the robot cleaner 1 is a power supply 100 ) So as not to hit it.

Subsequently, in step S20, the robot cleaner 1 moves backward toward the power supply 100 according to the movement distance set in step S19. In step S21, the robot cleaner when the robot cleaner 1 moves backward in the step S20. When the contact sensor 93 detects whether or not (1) is in contact with the power supply 100 and outputs the detection signal to the control means 20, the control means 20, the robot cleaner 1 and the power supply ( It is determined whether the contact of 100).

As a result of the determination in step S21, when the robot cleaner 1 does not contact the power supply 100 (No), the robot cleaner 1 returns to the step S20 until it is detected by the contact sensor 93 (the robot cleaner 1). When 1) is reversed and the robot cleaner 1 is in contact with the power supply 100 (Yes), the process proceeds to step S22 while the robot cleaner 1 is stopped under the control of the control means 20. The robot cleaner 1 is connected to the power supply 100.

Specifically, when the bumper member 92 mounted on the power receiving means 90 of the robot cleaner 1 strikes the right side of the vertical part of the power supply 100, the bumper member 92 is mounted inside the bumper member 92. The contact sensor 93 detects this and outputs it to the control means 20.

Therefore, in the control means 20, the light emitted from the light emitting unit 102 of the power supply 100 according to whether the robot cleaner 1 and the power supply 100 are detected by the contact sensor 93. The robot cleaner 1 is connected to the power supply 100 while receiving a signal from the light receiving portion 91 of the power receiving means 90.

That is, as shown in FIG. 3B, when the pinion member 106 is rotated counterclockwise by the driving of a motor (not shown) of the power supply 100, the cover member engaged with the pinion member 106. 105 slides to the left on the inner surface of the upper portion of the body 101 horizontal.

At this time, the first terminal 103b formed in the connecting terminal 103 is moved to the left side in the first slide hole 103c while the connecting terminal 103 is the guide groove 104a of the guide member 104. It is slid upwards within.

Therefore, the connecting terminal 103 passes through the through hole 103a of the body 101 and contacts the contact surface of the contact terminal 94 of the power receiving means 90 of the robot cleaner 1, and in step S23 the main power source. Power supplied from the terminal is applied to the guide member 104, the connection terminal 103, the contact terminal 94 and the battery 10 to start charging the battery 10.

After a predetermined time has elapsed, when the battery 10 is fully charged, the power supply 100 operates under the control of the control means 20, as opposed to when the power supply 100 is connected to the power transmission means 90. As shown in the drawing, the robot cleaner 1 is separated from the power supply 100 and the robot cleaner 1 returns to the cleaning position stored in the memory of the control means 20, and cleaning is restarted from the position. To start.

According to the charging induction method of the robot cleaner according to the present invention as described above, when the battery power is consumed when cleaning or when the cleaning is completed and falls below a certain level, the robot cleaner according to the position information of the initially input power supply Since the battery can be charged accurately by inducing the power supply, the configuration is simple and the manufacturing cost can be reduced.

Claims (5)

A battery charging method of a robot cleaner that includes a magnetic position, a cleaning area, and position information of a power supply and autonomously moves, wherein the initial stage of the robot cleaner with respect to the X and Y axes in the cleaning area when the robot cleaner and the power supply are initially connected. The initial position information storage step of detecting and storing the position information, the power detection step of detecting how much battery power is consumed when the robot cleaner is cleaned, and the battery power detected by the power detection step are stored in the control means. And a charging movement step of moving the robot cleaner to a power supply according to the initial position information stored in the initial position information storage step to charge the battery when the predetermined level or less is set. The method of claim 1, wherein the initial position information storage step detects the initial position information of the robot cleaner for the X, Y axis in the cleaning zone before cleaning the robot cleaner to recognize the initial connection position of the robot cleaner and power supply. Charging induction method of the robot vacuum cleaner, characterized in that. The method of claim 1, wherein the cleaning operation of the robot cleaner is continued when the battery power detected in the power detection step is equal to or greater than a predetermined level set in the control means. The method of claim 1, wherein the predetermined level of power set in the control means is a minimum power supply voltage required to drive the robot cleaner. The method of claim 1, wherein the charge movement step is a magnetic position recognition step for recognizing the self position while rotating the robot cleaner to the right to guide the robot cleaner to the power supply and cleaning to the wall close to the power supply, and the robot Rotate the vacuum cleaner 90 ° and run along the wall, and then the low-speed driving step for driving the robot cleaner at a low speed from a certain distance from the power supply, and the distance of the X-axis detected at the low-speed driving of the robot cleaner will be 90 ° A stop step of stopping the robot cleaner by determining whether the information is the same; a position correction step of correcting position information on the X axis by rotating the robot cleaner 90 ° at the time of stopping the robot cleaner; and X in the position correction step. After axis position correction, the robot compares the distance of Y axis with initial position information about Y axis. A movement distance setting step for setting a desired movement distance, and a charging connection step for connecting the robot cleaner to a power supply to charge the battery by reversing the robot cleaner according to the movement distance set in the movement distance setting step. Filling induction method of the robot cleaner.