WO2008136570A1 - Unité robot de nettoyage et procédé de nettoyage l'utilisant - Google Patents

Unité robot de nettoyage et procédé de nettoyage l'utilisant Download PDF

Info

Publication number
WO2008136570A1
WO2008136570A1 PCT/KR2008/000227 KR2008000227W WO2008136570A1 WO 2008136570 A1 WO2008136570 A1 WO 2008136570A1 KR 2008000227 W KR2008000227 W KR 2008000227W WO 2008136570 A1 WO2008136570 A1 WO 2008136570A1
Authority
WO
WIPO (PCT)
Prior art keywords
sub
area
cleaning
cleaning robot
signal generator
Prior art date
Application number
PCT/KR2008/000227
Other languages
English (en)
Inventor
Joo-Pyo Heo
Chang-Nam Song
Original Assignee
Acerobot Co., Ltd.
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 Acerobot Co., Ltd. filed Critical Acerobot Co., Ltd.
Publication of WO2008136570A1 publication Critical patent/WO2008136570A1/fr

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
    • 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
    • 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
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • 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

Definitions

  • the present invention relates to a cleaning robot unit and a cleaning method using the cleaning robot unit, and more particularly, to a cleaning robot unit and a cleaning method using the cleaning robot unit in order to efficiently clean a cleaning area formed of a plurality of sub-areas partitioned by obstacles such as doors or walls.
  • the operation area may have various shapes or surface areas, and it may be difficult to clean the operation area efficiently in this case.
  • the present invention provides a cleaning robot unit and a cleaning method using the cleaning robot unit in order to efficiently clean an area by segmenting an operation area into a plurality of sub-areas and performing mapping for each of the sub-areas.
  • the present invention provides a cleaning robot unit and a cleaning method using the cleaning robot unit, wherein an operation area is segmented in order to perform mapping with respect to each of segmented sub-areas, thereby enabling efficient cleaning operation.
  • FIG. 1 is a block diagram for explaining a cleaning robot of a cleaning robot unit according to an embodiment of the present invention
  • FIGS. 2 and 3 illustrate a mapping process of the cleaning robot unit
  • FIG. 4 is a flowchart illustrating a cleaning method according to an embodiment of the present invention. Best Mode
  • a cleaning robot unit cleaning a cleaning area formed of a plurality of sub-areas partitioned by obstacles such as doors or walls, comprising: a sub-area signal generator that is installed in each of the sub-areas, and generates different signals for each of the sub-areas, wherein the generated signals cannot pass through the obstacles; and a cleaning robot comprising: a receiving unit receiving the sub-area signal generated from the sub-area signal generator from each of the sub-areas; a controlling unit reading the sub-area signal received in the receiving unit and generating a signal regarding each of the sub-areas while the cleaning robot moves along the borders of each of the sub-areas; and a storing unit storing information about the sub-area generated from the controlling unit, wherein the cleaning robot moves along the borders of each of the sub-areas starting from the sub-area signal generator placed in the first sub-area of the sub-areas, and returns to the first sub-area signal generator in order to collect mapping information about the first sub-
  • the cleaning robot may receive a signal from the third sub-area signal generator, and if the third sub-area has not been cleaned, the cleaning robot may store in the storing unit the position where the signal generated from the third sub-area signal generator is received and continue the mapping process regarding the first sub-area or the second sub-area, and when the cleaning of the first sub-area or the second sub-area is completed based on the mapping information about the first sub-area or the second sub-area, the cleaning robot unit may move to the third sub-area signal generator to move along the borders of the third sub- area and collect mapping information about the third sub-area, and then clean the third sub-area based on the collected mapping information.
  • the cleaning time of each of the sub-areas may be calculated based on information that is received while moving along the borders of each of the sub-areas, and the cleaning operation may be performed for the calculated time.
  • the cleaning robot may move up to the first sub-area signal generator, perform the mapping process regarding the first sub-area signal, and then start cleaning the first sub-area.
  • a cleaning method to clean an operation area that is formed of a plurality of sub-areas partitioned by obstacles such as doors or walls, wherein a sub-area signal generator that generates a sub-area signal which cannot pass through the obstacles and a cleaning robot unit are used, the method comprising: mapping the first sub-area, wherein the cleaning robot obtains mapping information about the first sub-area by moving along the borders of the first sub-area ; determines, when a signal generated from a second sub-area signal generator installed in the second sub-area is received while moving along the borders of the first sub-area, whether the second sub-area has been cleaned already; and stores, if the second sub-area has not been cleaned, the position where the signal generated from the second sub-area signal generator is received; cleaning the first sub-area based on the information obtained in the first sub-area mapping; moving to the second su b- area signal generator based on the information stored in the first sub-area mapping; mapping the second sub-area, where
  • the cleaning robot when the cleaning robot receives a signal generated from a third sub-area signal generator installed in the third sub-area, the cleaning robot may determine whether the third sub-area has been cleaned already; and if the third sub-area has not been cleaned yet, the cleaning robot may store the position where the signal generated from the third sub-area signal generator is received, wherein the method further comprises: moving to the third sub- area signal generator based on the stored information after the cleaning of the first sub- area or the second sub-area is completed: mapping the third sub-area, wherein the cleaning robot moves along the borders of the third sub-area to obtain mapping information about the third sub-area; and cleaning the third sub-area based on the inf ormation obtained in the second sub-area mapping.
  • the cleaning time of each of the sub-areas may be calculated based on information that is received while moving along the borders of each of the sub-areas, and the cleaning operation may be performed for the calculated time.
  • the method may further comprise, before the mapping of the first sub-area, moving up to the first sub-area signal generator.
  • FIG. 1 is a block diagram for explaining a cleaning robot of a cleaning robot unit according to an embodiment of the present invention.
  • FIGS. 2 and 3 illustrate a mapping process of the cleaning robot unit.
  • the cleaning robot unit is for cleaning a cleaning area that is formed of a plurality of sub-areas partitioned by obstacles such as doors or walls, and includes a cleaning robot 10 and a plurality of area signal generators 20.
  • the cleaning area is formed of a first sub-area Sl, which is a living room, and a second sub-area S2 and a third sub-area S3, which are both rooms.
  • the first sub-area Sl, the second sub-area S2, and the third sub-area S3 are partitioned by doors and walls.
  • the sub-areas are partitioned according to convenience, and there is no restriction regarding partitioning the sub-areas.
  • the cleaning robot 10 includes, as illustrated in the block diagram of FIG. 1, a receiving unit 11, a controlling unit 12, a storing unit 13, a driving unit 14, and a sensor unit 15.
  • the receiving unit 11 receives a sub-area signal generated from the sub-area signal generators 20.
  • the controlling unit 12 reads each sub-area signal received in the receiving unit 11 and controls the cleaning robot 10 to move along the borders of the sub-areas, and creates information about each sub-area while the cleaning robot 10 moves along the borders of each of the sub-areas.
  • the storing unit 13 stores information generated from the controlling unit about the sub-areas.
  • the driving unit 14 is for driving the cleaning robot 10, and includes a driving motor, a driving wheel, etc. (not shown).
  • the sensor unit 15 is used to control the cleaning robot 10 when moving along the sub-areas' borders, and includes a front sensor and a lateral sensor in order to sense obstacles such as doors or walls and to guide the cleaning robot 10 to go around the obstacles.
  • the sub-area signal generator 20 is installed in each of the sub-areas and generates different signals for the sub-areas, and signals cannot pass through obstacles such as doors or walls.
  • a first sub-area signal generator 21, a second sub-area signal generator 22, and a third sub-area signal generator 23 are installed in three sub-areas, respectively.
  • sub-area signals cannot pass through obstacles such as doors or walls; for example, when the door of the third sub-area S3, which is a room, is closed, the cleaning robot 10 cannot receive a signal generated from the third sub-area signal generator 23 while the cleaning robot 10 moves along the borders of the first sub-area Sl.
  • FIG. 4 is a flowchart illustrating a cleaning method according to an embodiment of the present invention.
  • the cleaning robot 10 receives a signal from one of the sub-area signal generators 20, that is, the first sub-area signal generator 21, the second sub-area signal generator 22, and the third sub-area signal generator 23, and then moves to one of the first, second, and third sub-area signal generators 21, 22, and 23.
  • the cleaning robot 10 is placed around the first sub-area signal generator 21 at the beginning of cleaning, and the first sub-area Sl, the second sub-area S2, and the third sub-area S3 are not cleaned.
  • the cleaning robot 10 moves to the first sub-area signal generator 21 and starts mapping of the first sub-area Sl.
  • the first sub-area Sl is mapped as the cleaning robot 10 moves along its doors or walls; the cleaning robot 10 moves along the dotted line denoted Pl in FIG. 2 while finding out the position of the doors or walls using a front sensor and a lateral sensor of the above-described sensor unit 15.
  • the cleaning robot 10 moves in a direction where there are no obstacles; when there are no obstacles both in front and at the side, the cleaning robot 10 moves forward or backward to find another obstacle to perform a mapping process again.
  • mapping when the cleaning robot 10 senses a signal from a sub-area signal generator, it is checked whether the signal is of the sub-area that is currently being mapped or not.
  • the mapping process is ended. If the signal is from the currently mapped sub-area, the mapping process is ended. If the signal is from other sub-area, it is checked whether the sub-area has been cleaned already or not; if the sub-area has been cleaned already, the mapping process is continued; and if the sub-area has not been cleaned yet, the position where the signal of the sub-area is stored in the storing unit 13.
  • the cleaning robot 10 moves along the borders of the first sub-area Sl, starting from the first sub-area signal generator 21. During this motion, the cleaning robot 10 receives a signal from the second sub-area signal generator 22, and because the second sub-area S2 has not been cleaned, a position P2 of the cleaning robot 10 where the signal from the second sub-area signal generator 22 is received is stored. Then the cleaning robot 10 continues moving along the borders and the mapping process is also continued.
  • the cleaning robot 10 receives a signal from the third sub-area signal generator 23 during the mapping process, and because the third sub-area S3 has not been cleaned, a position P3 of the cleaning robot 10 where the signal from the third sub-area signal generator 23 is received is stored, and then the cleaning robot 10 continues moving along the borders and the mapping process is also continued.
  • the cleaning robot 10 receives a signal from the first sub-area signal generator 21 again, and since the signal is from the first sub-area Sl that is currently being mapped, the mapping process is ended.
  • the cleaning time is calculated based on the surface area that is calculated based on information about the first sub-area Sl that is collected during the mapping process, for example, the moving distance the cleaning robot 10 goes and the angle at which the cleaning robot 10 is turned, and the first sub- area S 1 is cleaned for the calculated cleaning time.
  • the cleaning robot 10 moves up to the second sub-area signal generator 22 using the position information stored in the storing unit 13, and starts a mapping process about the second sub-area S2.
  • the information about positions where cleaning is completed and the information about the position of the second sub-area signal generator 22 stored in the storing unit 13 are compared to each other to calculate the shortest course and that the cleaning robot 10 move along this calculated shortest course.
  • the cleaning robot 10 calculates the cleaning time based on the information about the second sub-area S2, and performs the cleaning operation for the calculated time, and then moves to the third sub-area S3.
  • calculation of the cleaning time based on the mapping information is described.
  • calculation of the cleaning time and cleaning according to the cleaning time is not the only option, and the cleaning robot may also move and clean based on information about the cleaning area.
  • the present invention provides a cleaning robot unit and a cleaning method using the cleaning robot unit, wherein an operation area is segmented in order to perform mapping with respect to each of segmented sub-areas, thereby enabling efficient cleaning operation.

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

Abstract

L'invention concerne une unité robot de nettoyage et un procédé de nettoyage utilisant l'unité robot de nettoyage. L'unité robot de nettoyage nettoie une zone à nettoyer formée par plusieurs sous-zones cloisonnées par des obstacles, tels que des portes ou des parois, et inclut : un générateur de signal de sous-zone qui est installé dans chacune des sous-zones et génère différents signaux pour chacune des sous-zones, où les signaux générés ne peuvent pas passer à travers les obstacles ; et un robot de nettoyage comprenant : - une unité de réception recevant le signal de la sous-zone généré par le générateur de signal de sous-zone depuis chacune des sous-zones ; - une unité de commande lisant le signal de sous-zone reçu dans l'unité de réception et générant un signal concernant chacune des sous-zones pendant que le robot de nettoyage bouge le long des bords de chacune des sous-zones ; et - une unité de stockage stockant des informations concernant la sous-zone générées par l'unité de commande.
PCT/KR2008/000227 2007-05-07 2008-01-14 Unité robot de nettoyage et procédé de nettoyage l'utilisant WO2008136570A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020070044197A KR100874259B1 (ko) 2007-05-07 2007-05-07 청소로봇 유닛 및 그 청소로봇 유닛을 이용한 청소방법
KR10-2007-0044197 2007-05-07

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WO2008136570A1 true WO2008136570A1 (fr) 2008-11-13

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KR (1) KR100874259B1 (fr)
WO (1) WO2008136570A1 (fr)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101972129A (zh) * 2009-06-19 2011-02-16 三星电子株式会社 机器人清洁器及其控制方法、对接站、包括该机器人清洁器和该对接站的机器人清洁器系统
WO2016096304A1 (fr) * 2014-12-16 2016-06-23 Robert Bosch Gmbh Procédé de cartographie d'une surface à traiter pour véhicules robots autonomes
CN109984689A (zh) * 2017-12-29 2019-07-09 速感科技（北京）有限公司 一种清洁机器人及清洁机器人的路径优化方法
EP3616853A1 (fr) * 2013-01-18 2020-03-04 iRobot Corporation Robot mobile et son contrôle pour l'intérieur
WO2020215910A1 (fr) * 2019-04-26 2020-10-29 速感科技（北京）有限公司 Procédé et appareil de division de zone d'un espace clos, et dispositif mobile
US11648685B2 (en) 2013-01-18 2023-05-16 Irobot Corporation Mobile robot providing environmental mapping for household environmental control
EP4043988A4 (fr) * 2020-06-12 2023-05-31 Amicro Semiconductor Co., Ltd. Procédé de planification d'un balayage d'une surface de marche le long des bords pour robot, puce et robot
WO2023179393A1 (fr) * 2022-03-24 2023-09-28 追觅创新科技(苏州)有限公司 Procédé de division de zone, dispositif et support de stockage
US12124540B2 (en) 2019-04-26 2024-10-22 Qfeeltech (Beijing) Co., Ltd. Method, apparatus for zone division of closed space and mobile device

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103349531B (zh) * 2013-07-24 2016-08-31 莱克电气股份有限公司 机器人吸尘器的侧边回归充电方法

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KR20050072300A (ko) * 2004-01-06 2005-07-11 삼성전자주식회사 청소로봇 및 그 제어방법
JP2005211359A (ja) * 2004-01-30 2005-08-11 Funai Electric Co Ltd 自律走行ロボットクリーナーシステム
JP2005304516A (ja) * 2004-04-16 2005-11-04 Funai Electric Co Ltd 自走式掃除機

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KR20040080583A (ko) * 2003-03-12 2004-09-20 삼성광주전자 주식회사 로봇청소기의 작업영역 설정방법
KR20050072300A (ko) * 2004-01-06 2005-07-11 삼성전자주식회사 청소로봇 및 그 제어방법
JP2005211359A (ja) * 2004-01-30 2005-08-11 Funai Electric Co Ltd 自律走行ロボットクリーナーシステム
JP2005304516A (ja) * 2004-04-16 2005-11-04 Funai Electric Co Ltd 自走式掃除機

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101972129A (zh) * 2009-06-19 2011-02-16 三星电子株式会社 机器人清洁器及其控制方法、对接站、包括该机器人清洁器和该对接站的机器人清洁器系统
EP3616853A1 (fr) * 2013-01-18 2020-03-04 iRobot Corporation Robot mobile et son contrôle pour l'intérieur
US11648685B2 (en) 2013-01-18 2023-05-16 Irobot Corporation Mobile robot providing environmental mapping for household environmental control
WO2016096304A1 (fr) * 2014-12-16 2016-06-23 Robert Bosch Gmbh Procédé de cartographie d'une surface à traiter pour véhicules robots autonomes
CN107003675A (zh) * 2014-12-16 2017-08-01 罗伯特·博世有限公司 用于自主机器人车辆测绘处理表面的方法
US10551844B2 (en) 2014-12-16 2020-02-04 Robert Bosch Gmbh Method for mapping a processing area for autonomous robot vehicles
CN109984689A (zh) * 2017-12-29 2019-07-09 速感科技（北京）有限公司 一种清洁机器人及清洁机器人的路径优化方法
CN109984689B (zh) * 2017-12-29 2021-09-17 速感科技（北京）有限公司 一种清洁机器人及清洁机器人的路径优化方法
WO2020215910A1 (fr) * 2019-04-26 2020-10-29 速感科技（北京）有限公司 Procédé et appareil de division de zone d'un espace clos, et dispositif mobile
US12124540B2 (en) 2019-04-26 2024-10-22 Qfeeltech (Beijing) Co., Ltd. Method, apparatus for zone division of closed space and mobile device
EP4043988A4 (fr) * 2020-06-12 2023-05-31 Amicro Semiconductor Co., Ltd. Procédé de planification d'un balayage d'une surface de marche le long des bords pour robot, puce et robot
WO2023179393A1 (fr) * 2022-03-24 2023-09-28 追觅创新科技(苏州)有限公司 Procédé de division de zone, dispositif et support de stockage

Also Published As

Publication number Publication date
KR100874259B1 (ko) 2008-12-16
KR20080098842A (ko) 2008-11-12

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