WO2015137562A1 - Aspirateur robot et procédé de commande associé - Google Patents

Aspirateur robot et procédé de commande associé Download PDF

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Publication number
WO2015137562A1
WO2015137562A1 PCT/KR2014/004237 KR2014004237W WO2015137562A1 WO 2015137562 A1 WO2015137562 A1 WO 2015137562A1 KR 2014004237 W KR2014004237 W KR 2014004237W WO 2015137562 A1 WO2015137562 A1 WO 2015137562A1
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WO
WIPO (PCT)
Prior art keywords
rotating member
robot cleaner
speed
rotation
rotational
Prior art date
Application number
PCT/KR2014/004237
Other languages
English (en)
Korean (ko)
Inventor
정현구
Original Assignee
에브리봇 주식회사
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 에브리봇 주식회사 filed Critical 에브리봇 주식회사
Priority to CN201480077173.1A priority Critical patent/CN106102539B/zh
Publication of WO2015137562A1 publication Critical patent/WO2015137562A1/fr

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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
    • A47L9/009—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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching 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
    • 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
    • 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 robot cleaner and a control method thereof, and more particularly, to a robot cleaner and a control method thereof that can perform mop cleaning while moving autonomously.
  • a robot cleaner is a device that automatically cleans an area to be cleaned by inhaling foreign substances such as dust from the surface to be cleaned or by wiping off the foreign materials from the surface to be cleaned while driving itself in the area to be cleaned without a user's operation. It is utilized.
  • such a robot cleaner may include a vacuum cleaner that performs cleaning using suction power using a power source such as electricity.
  • a robot cleaner including such a vacuum cleaner has a limitation that can not remove foreign matters or dents stuck on the surface to be cleaned, and recently, a robot that can attach a mop to the robot cleaner and perform mop or mop cleaning. Vacuum cleaners are on the rise.
  • the mop cleaning method using a general robot cleaner is a simple method of attaching a mop or the like to the lower part of a conventional robot vacuum cleaner, and thus has a disadvantage in that a foreign matter removal effect is low and efficient mop cleaning is not performed.
  • the mop cleaning method of the general robot cleaner runs using the existing suction type vacuum cleaner moving method and the avoiding method for obstacles as it is, so that even if the dust scattered on the surface to be cleaned is removed, There is a problem that cannot be easily removed.
  • the mop attachment structure of the general robot cleaner the frictional force with the ground by the mop surface is in a state that the additional driving force is required to move the wheel, there is a problem that the battery consumption increases.
  • the present invention has been made in view of the above problems, and in the robot cleaner provided with a pair of rotating members to which a mop can be attached so as to effectively remove foreign substances and the like stuck to the surface to be cleaned, the rotational force itself of the rotating member itself. It is an object of the present invention to provide a robot cleaner and a control method thereof that not only improve battery efficiency using a moving power source but also perform rotation control to achieve effective mop cleaning in response to a path and obstacle detection.
  • a method of controlling a robot cleaner includes: detecting a spiral mode selection; Setting a reference area in response to the spiral mode selection; When the reference area is set, the robot cleaner controls the rotation of the first rotation member in the first direction at the first speed, and the rotation control of the second rotation member in the first direction at the second speed, so that the robot cleaner controls the reference area. Controlling to perform a rotational movement about the center; And accelerating the rotational speeds of the first rotating member and the second rotating member, respectively, while maintaining the difference in the rotational speed between the first rotating member and the second rotating member at a constant ratio.
  • the apparatus of the present invention for achieving the above object, in the robot cleaner, the first rotating member and the second rotating member to which the circular cleaner can be fixed is coupled to protrude toward the surface to be cleaned; Fixed in the main body, for driving the first rotating member in a first direction or in a second direction, fixed in the main body, for driving the second rotating member in the first or second direction.
  • a drive unit At least one sensor provided on an outer surface of the main body and provided to sense an obstacle around the robot cleaner;
  • a control unit connected to the sensor and controlling the driving unit to control rotation of the first rotating member and the second rotating member, wherein the controller responds to the spiral mode selection when the spiral mode selection is detected.
  • the robot cleaner may be configured by setting a reference area, controlling the rotation of the first rotating member in the first direction at the first speed, and controlling the rotation of the second rotating member in the first direction at the second speed when the reference area is set.
  • the rotational speed of the first rotational member and the second rotational member is controlled to perform a rotational movement about the reference area, while maintaining a difference in the rotational speed between the first and the second rotational members at a constant ratio. Accelerate each.
  • control method of the robot cleaner may be implemented as a computer-readable recording medium recording a program for execution in a computer.
  • the robot cleaner can move while effectively removing foreign matters and the like adhered to the surface to be cleaned by using the rotational force of the pair of rotating members to which the mop is attached as a moving force source.
  • the robot cleaner may not only solve a problem such as being stuck by an obstacle when moving the robot cleaner, but also reduce the manufacturing cost by attaching the sensor.
  • a robot cleaner and a method of controlling the same may provide an efficient mop cleaning in a pattern suitable for a feature by supporting various driving patterns.
  • FIG. 1 is a view schematically showing the appearance of a robot cleaner according to an embodiment of the present invention.
  • FIG. 2 is a bottom view illustrating the first and second rotating members of the robot cleaner according to the embodiment of the present invention.
  • FIG 3 is a side view illustrating a sensor position of a robot cleaner according to an exemplary embodiment of the present invention.
  • FIG. 4 is a block diagram illustrating a system configuration for controlling a robot cleaner according to an exemplary embodiment of the present invention.
  • FIG. 5 is a flowchart illustrating a control method of a robot cleaner according to an embodiment of the present invention.
  • 6 to 11 are diagrams for describing a spiral mode pattern according to an embodiment of the present invention.
  • components expressed as means for performing the functions described in the detailed description include all types of software including, for example, a combination of circuit elements or firmware / microcode, etc. that perform the functions. It is intended to include all methods of performing a function which are combined with appropriate circuitry for executing the software to perform the function.
  • the invention, as defined by these claims, is equivalent to what is understood from this specification, as any means capable of providing such functionality, as the functionality provided by the various enumerated means are combined, and in any manner required by the claims. It should be understood that.
  • 1 to 3 are views for explaining the physical configuration of the robot cleaner according to an embodiment of the present invention.
  • FIG. 1 is an exploded perspective view schematically illustrating a structure of a robot cleaner according to an embodiment of the present invention
  • FIG. 2 illustrates a first rotating member and a second rotating member of a robot cleaner according to an embodiment of the present invention
  • 3 is a side view illustrating a sensor position of a robot cleaner according to an exemplary embodiment of the present invention.
  • the robot cleaner 100 of the present invention is structurally coupled to a body 10 and a driving unit fixed to the inside of the body 10 to be connected to each other in the direction of the surface to be cleaned ( 151 and the second rotating shaft 152, the first rotating member 110 coupled to the first rotating shaft 151 to rotate, and the second rotating member coupled to the second rotating shaft 152 to rotate 120, one or more sensors 130a, 130b,... Provided on side and center surfaces of the main body 10, an input unit 180 and a communication unit 140 provided on an upper end of the main body 10. It may be configured to include).
  • first circular cleaner 210 and the second circular cleaner 220 are respectively connected to the first rotating member 110 and the second rotating member 120 coupled to the first rotating shaft 151 and the second rotating shaft 152. May be coupled and rotate according to the rotational movement.
  • the first rotating member 110 and the second rotating member 120 may be coupled to protrude from the main body 10 in the direction to be cleaned, for example, to protrude in the bottom surface direction, and include the first circular cleaner 210 and The second circular cleaner 220 may be formed to be fixed.
  • the first circular cleaner 210 and the second circular cleaner 220 may clean various surface to be cleaned, such as a microfiber cloth, a rag, a nonwoven fabric, a brush, and the like, so that the adhered foreign matter on the bottom surface can be removed through a rotary motion. It may be made of a fiber material such as cloth.
  • the fixing of the circular cleaners 210 and 220 may be performed by covering the first rotating member 110 and the second rotating member 220 or by using a separate fixing means.
  • the first circular cleaner 210 and the second circular cleaner 220 may be attached and fixed to the first rotating member 110 and the second rotating member 120 by using a Velcro tape or the like.
  • the robot cleaner 100 according to the embodiment of the present invention as described above, the first circular cleaner 210 and the second circular cleaner 220 by the rotational movement of the first rotating member 110 and the second rotating member 120. As it rotates, foreign matters stuck to the floor can be removed through friction with the surface to be cleaned. In addition, when a frictional force with the surface to be cleaned is generated, the frictional force may be used as a moving force source of the robot cleaner 100.
  • the moving speed and direction of the robot cleaner 100 may be adjusted.
  • each of the rotating shafts 151 and 152 coupled to the pair of rotating members 110 and 120 may be formed in a direction inclined toward the center of the body 10. Accordingly, the pair of rotating members 110 and 120 may be coupled to be inclined upward in the center direction from the outside of the body 10. Therefore, when the pair of rotating members 110 and 120 rotate, the relative frictional force generated between the surface to be cleaned may be greater than the center of the main body 10. Therefore, the movement speed and direction of the robot cleaner 100 may be controlled by the relative frictional force generated by controlling the rotation of the pair of rotating members 110 and 120, respectively.
  • rotation control for achieving effective mop cleaning in response to the progress path and obstacle detection may be performed through the movement speed and direction control of the robot cleaner 100.
  • a detailed control configuration will be described later.
  • the sensor unit 130 may include a plurality of sensors provided at an appropriate position for detecting the front and rear obstacles.
  • the sensor units 130a, 130b, 130c, and 130d may be provided on side and center surfaces of the main body 10 for obstacle detection.
  • a pair of sensor units 130a, 130b, 130c, and 130d may be provided at the front and the rear of the robot cleaner 100 based on the moving direction of the robot cleaner 100, and may be provided at positions corresponding to the respective rotating members 110 and 120. Can be arranged.
  • the robot cleaner 100 detects a forward obstacle based on the information sensed by the sensor unit 130a and the sensor unit 130b based on the traveling direction, or detects the sensor unit 130c and the sensor unit.
  • the rear obstacle may be detected based on the information sensed at 130d.
  • the robot cleaner 100 since the robot cleaner 100 has an eight-character structure in which a pair of rotating members are connected, many sensors may be required for obstacle detection.
  • the first rotation member 110 and the first rotation member 110 may perform obstacle detection and avoidance using only the sensor units 130a, 130b, 130c, and 130d of the sensor configuration of the robot cleaner 100.
  • the rotation control of the two rotating members 120 may be provided. Accordingly, the robot cleaner 100 may not only solve the problem of being stuck by an obstacle when moving the robot cleaner 100 but also reduce the manufacturing cost by attaching the sensor.
  • FIG. 4 is a block diagram illustrating a system configuration for controlling a robot cleaner according to an exemplary embodiment of the present invention.
  • the system for controlling the robot cleaner drives the sensor unit 130, the communication unit 140, the first rotating member 110, and the second rotating member 120.
  • the driving unit 150, the storage unit 160, the control unit 170, the input unit 180, the output unit 185, and the power supply unit 190 may be configured.
  • the sensor unit 130 may include one or more sensor units 130a, 130b, 130c, and 130d provided on the side and the center surface of the main body 10 as described above, and may detect a surrounding state of the robot cleaner 100 to detect the robot. A sensing signal for controlling the operation of the cleaner 100 is generated. In addition, the sensor unit 130 may transmit the sensing signal detected according to the surrounding state to the controller 170.
  • the sensor unit 130 may include an obstacle detection sensor or a camera sensor that transmits an infrared or ultrasonic signal to the outside and receives a signal reflected from the obstacle.
  • the communication unit 140 may include one or more modules that enable wireless communication between the robot cleaner 100 and another wireless terminal or between the robot cleaner 100 and a network in which the other wireless terminal is located.
  • the communication unit 140 may communicate with a wireless terminal as a remote control device, and may include a short range communication module or a wireless internet module for this purpose.
  • the robot cleaner 100 may control an operation state or an operation method by the control signal received by the communication unit 140.
  • the terminal for controlling the robot cleaner 100 may include, for example, a smartphone, a tablet, a personal computer, a remote controller (remote control device), and the like, which can communicate with the robot cleaner 100.
  • the driving unit 150 generates a control signal for rotating the first rotating member 110 and the second rotating member 120 under the control of the controller 170.
  • the driving unit 150 may include a first driving unit and a second driving unit, and each of the first driving units generates a control signal for controlling the rotation of the first rotating shaft 151 axially coupled to the first rotating member 110.
  • the second driver may generate a control signal for controlling the rotation of the second rotation shaft 152 axially coupled to the second rotation member 120.
  • Such a driving unit 150 may be composed of an assembly coupled to a motor and a gear.
  • the storage unit 160 may store a program for the operation of the controller 170, and may temporarily store input / output data.
  • the storage unit 160 may include a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (eg, SD or XD memory), Random Access Memory (RAM), Static Random Access Memory (SRAM), Read-Only Memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Programmable Read-Only Memory (PROM), Magnetic Memory, It may include a storage medium of at least one type of magnetic disk, optical disk.
  • the input unit 180 generates input data for the user to control the operation of the robot cleaner 100.
  • the input unit 180 may include a key pad dome switch, a touch pad (constant voltage / capacitance), a jog wheel, a jog switch, and the like.
  • the output unit 185 is used to generate an output related to vision, hearing, and the like.
  • the output unit 185 may include a display unit, a sound output module, an alarm unit, and the like.
  • the controller 170 typically controls the overall operation of the robot cleaner 100. For example, processes and controls related to cleaning time determination, cleaning path determination, driving mode setting, obstacle avoidance, and the like are performed.
  • the controller 170 rotates at least one of the first rotating member 110 or the second rotating member 120 simultaneously or sequentially according to the driving mode, so that the robot cleaner 100 is rotated. ) Can be controlled to travel in a specific travel direction.
  • the controller 170 determines whether an obstacle is detected from a signal sensed by the sensor unit 130 while the robot cleaner 100 continues to travel.
  • the first rotating member 110 and the second rotating member 120 may be rotated in the same direction and at the same speed for a predetermined time.
  • the robot cleaner 100 may perform the movement to rotate in place.
  • the robot cleaner 100 may rotate in place according to the speed at which the first and second rotating members 110 and 120 rotate.
  • the frictional force acting on the robot cleaner 100 may act as a rotational force with respect to the robot cleaner 100 while being opposite to each other.
  • the controller 170 may change the direction of travel by arbitrarily adjusting the rotation time to rotate in place after a specific time. Accordingly, according to an embodiment of the present invention, even if an obstacle is not detected, when a specific time elapses, by rotating in place and changing the direction, it may be possible to escape from being caught by an obstacle that is not sensed. .
  • the robot cleaner 100 according to the embodiment of the present invention may reach a hanging state without climbing on a carpet, etc., but it is possible to easily escape without additional sensor by performing the rotation control as described above.
  • the controller 170 controls the rotation of the first rotating member and the second rotating member in a direction for avoiding the obstacle, and performs a direction change according to the position of the detected obstacle.
  • the direction in which the obstacle is not detected may be set as the traveling direction.
  • controller 170 may include a forward mode setting unit configured to select one of the driving modes as the driving mode or the first forward mode.
  • the forward mode setting unit selects one of the first forward mode and the second forward mode according to the speed setting of the robot cleaner, or the first forward mode or the second forward according to the cleaning mode setting of the robot cleaner.
  • One of the modes can be selected.
  • the moving direction may vary according to a moving path determined by the controller 170 or a predetermined moving path according to a user input.
  • the controller 170 controls at least one of the first rotating member and the second rotating member in accordance with the selected driving mode and the set travel direction to the first forward mode or the second forward mode specialized for the robot cleaner 100. It is possible to carry out running and to perform efficient cleaning.
  • the control unit 170 may rotate the first and second rotating members 110 and 120 in different directions and at the same speed to correspond to the traveling direction when the first forward mode is selected. Can be controlled.
  • the direction in which one end moves with respect to the surface to be cleaned by the frictional force of the first rotating member 110 based on the body 10 of the robot cleaner 100 is the surface to be cleaned by the frictional force of the second rotating member 110. It may be the same as the direction in which the other end with respect to. Therefore, when the first forward mode is selected, the controller 170 may perform straight driving in a specific direction.
  • the controller 170 rotates the first rotating member 110 in a first speed and a second direction for a first time while the second rotating member is rotated.
  • the second step of controlling the second rotating member 120 to rotate in the first direction and the first direction while rotating in a first direction different from the second direction at a speed is sequentially repeated for a preset cleaning time.
  • the controller 170 may perform driving while forming an S-shaped path in a specific direction. In this case, although the moving speed may be slightly reduced compared to the first forward mode, there is an advantage of improving obstacle detection performance and cleaning efficiency.
  • the power supply unit 190 receives an external power source and an internal power source under the control of the controller 170 to supply power for operation of each component.
  • FIG. 5 is a flowchart illustrating a control method of a robot cleaner according to an embodiment of the present invention.
  • the robot cleaner 100 sets a progress direction (S101), and starts driving by controlling the first rotating member 110 and the second rotating member 120 according to the forward mode (S103). .
  • the controller 170 may set the moving direction according to the predetermined movement path, select the forward mode, and perform driving.
  • the robot cleaner 100 determines whether an obstacle is detected (S105).
  • the controller 170 may determine whether an obstacle is detected based on the sensing signals output from the plurality of sensors 130a, 130b, 130c, and 130d included in the sensor unit 130.
  • the controller 170 may determine whether the obstacle is detected by using only some of the sensing signals corresponding to the moving direction of the robot cleaner 100 among the sensors of the sensor unit 130. For example, the controller 170 determines whether an obstacle is located in the traveling direction based on a sensor 130a located at one side and a sensing signal output from the sensor 130b based on a relatively long side of the body 10. can do.
  • the robot cleaner 100 controls the first rotating member 110 and the second rotating member 120 to switch in the direction of avoiding the obstacle (S111), and then to the switched direction.
  • the driving direction is reset (S113), and the driving of controlling the first rotating member and the second rotating member is started again according to the advance mode (S103).
  • the controller 170 may measure the direction and the distance where the obstacle is located based on the traveling direction based on the sensing signal output from the sensor unit 130.
  • the rotation control in which the controller 170 switches to a direction for avoiding an obstacle may have several methods.
  • the controller 170 controls the rotation direction and the speed of the first rotation member 110 and the second rotation member 120 in the same manner to rotate in place for a predetermined time in a direction away from the direction in which the obstacle is detected. Can be controlled.
  • the controller 170 may stop the rotation of the second rotating member 110 in a first state.
  • the rotation direction of the rotation member 110 may be controlled to rotate in a direction away from the obstacle by rotating for a predetermined time in a direction opposite to the current direction.
  • the controller 170 rotates the first rotating member 110 and the second rotating member 120. It is also possible to reverse the direction of travel by rotating the directions all in opposite directions different from the present.
  • the controller 170 may select a specific direction except for the direction in which the obstacle is detected and reset the moving direction.
  • the specific direction may be a random direction except the direction in which the obstacle is detected or a direction determined according to the predetermined movement path according to the direction change result.
  • the robot cleaner 100 determines whether a predetermined time has elapsed (S107). If the predetermined time has not elapsed, driving in the forward mode is continued (S103).
  • the robot cleaner 100 rotates the first rotating member 110 and the second rotating member 120 in the same direction for a predetermined time (S109).
  • the driving of the robot cleaner 100 depends on the rotational force of the rotating member, and a cleaner of cloth material such as a mop may be attached to the rotating member. Therefore, it is possible to drive abnormally due to obstacles that are difficult to sense, such as a column jammed in the middle of the body 10 or a height change or material change of the surface to be cleaned. Therefore, in order to solve this problem, the controller 170 controls the rotation direction and the speed of the first and second rotation members 110 and 120 in the same way when the state without the obstacle detection is over a predetermined time. Control to perform in-situ rotation.
  • the robot cleaner 100 By the rotation control of the control unit 170, the in-situ rotation is performed at a predetermined time period, the robot cleaner 100 according to an embodiment of the present invention to more effectively detect the obstacles located around the rotation through the avoidance. Can be.
  • the robot cleaner 100 may escape through periodic rotations even when the robot cleaner 100 is stuck in a specific position of the surface to be cleaned and is stuck in a difficult deadlock sensing state.
  • the robot cleaner 100 may provide a spiral mode pattern as a driving mode.
  • the spiral mode pattern may include a pattern for sequentially changing the rotation mode around a specific region, or a pattern for driving the circular path while gradually increasing or decreasing the rotation radius.
  • the mopping effect may be doubled by providing a path for the robot cleaner 100 to move in a circular path as a whole while rotating the circular rotating members, respectively.
  • the intensive mopping on the basis of a predetermined specific area, it is possible to effectively remove the fixed foreign matters in the area.
  • the robot cleaner 100 detects a spiral mode selection (S401).
  • the controller 170 may detect the spiral mode selection in response to a user command received from the input unit 180 or the communication unit 140. For example, the controller 170 may detect a spiral mode selection in response to a user button input received from the input unit 180. In addition, the controller 170 may detect the spiral mode selection based on the command data remotely received from the user terminal through the communication unit 140.
  • the robot cleaner 100 sets a reference area in response to the spiral mode selection detection (S403).
  • the controller 170 may set the position of the robot cleaner 100 as a reference region when the spiral mode selection is detected.
  • the controller 170 may measure a relative distance between the robot cleaner 100 and the reference region based on the sensing information received from the sensor unit 130.
  • the sensor unit 130 may further include at least one of a position sensor, an acceleration sensor, and a speed sensor in addition to the plurality of sensors 130a, 130b, 130c, and 130d described above. Accordingly, the controller 170 may track the change of the movement path and the distance from the reference region according to the sensing data measured by the sensor unit 130 using the position of the robot cleaner 100 as the reference region.
  • the robot cleaner 100 performs a first rotation mode around the reference area.
  • FIG. 8 illustrates rotation control according to a first rotation mode according to an embodiment of the present invention.
  • the first rotation mode may mean the in-situ rotation mode described above.
  • the controller 170 may perform the first rotation mode control by controlling the first rotation member 110 and the second rotation member 120 to rotate at the same speed and in the same direction.
  • the movement direction of one side of the robot cleaner 100 relatively proceeds according to the frictional force generated by the first rotating member 110 and the frictional force generated by the second rotating member 120. Since the moving direction of the other side of the robot cleaner 100 is reversed, the robot cleaner 100 performs in-situ rotation about the reference area 500 which is the center point by force.
  • the robot cleaner 100 may perform in-situ rotation about the reference area 500. Accordingly, the robot cleaner 100 may perform the concentrated mopping of the cleaning area 510 corresponding to the first rotation mode.
  • the first rotation mode may be terminated after the robot cleaner 100 is rotated in place for a predetermined number of times or after a predetermined time.
  • the first rotation mode ends and the robot cleaner 100 performs a second rotation mode control (S407).
  • FIG. 9 illustrates rotation control according to a second rotation mode according to an embodiment of the present invention.
  • the controller 170 may control the second rotation mode by fixing the second rotation member 120 and controlling only the first rotation member 110 to rotate in a specific speed and in a specific direction. can do.
  • the second rotation member 120 In the case of the second rotation mode, unlike the first rotation mode, only the frictional force generated by the first rotation member 110 exists, and the second rotation member 120 is fixed in a state in which it is not rotated or extremely low speed and is relatively Only one side of the first rotating member 110 side of the robot cleaner 100, which proceeds to the rotation, moves around the reference area 500.
  • the robot cleaner 100 may perform its own rotation about the reference area 500.
  • the cleaning area 520 covered by the robot cleaner 100 may be different.
  • the cleaning area 520 of the second rotation mode may include a cleaning area in a wider range than the first rotation mode, and even if the effect of removing foreign matters is reduced than in the first rotation mode, the cleaning area 520 may define a range area to concentrate mopping by widening the rotation radius. There is a difference that widens.
  • the embodiment of the present invention switches the peripheral area having less importance by switching to the second rotation mode in which the area is widened after the first rotation mode. Cleaning of the area can be controlled to be wide and quick.
  • the second rotation mode ends and the robot cleaner 100 accelerates the first rotation member 110 at high speed and simultaneously controls the speed of the second rotation member to be accelerated at low speed ( S409, while gradually maintaining the speed difference between the first rotating member 120 and the second rotating member 120 (S411).
  • control unit 170 may control the rotation of the first rotating member 110 in the first speed and the first direction of the high speed, the second rotating member 120 is a low speed
  • the control unit 170 may control the rotation in the second direction and the first direction of the robot cleaner to perform a spiral (spiral) rotational movement around the reference area.
  • the controller 170 maintains the difference in the rotational speed between the first rotation member 120 and the second rotation member 120 according to a predetermined ratio, while the first rotation member 110 and the second rotation member. It is possible to increase the radius of rotation of the spiral rotational movement by accelerating the rotational speed of 120, respectively. Acceleration of each rotating member can be controlled sequentially or gradually. When controlled sequentially, the radius of rotation can be increased sequentially, and when controlled gradually, the radius of rotation can be gradually increased. This change in rotation radius is shown in FIG. 15.
  • the embodiment of the present invention controls to perform a spiral rotation movement to sequentially or gradually widen the area after the second rotation mode, thereby cleaning the surrounding area of which the importance is gradually reduced.
  • the predetermined ratio may be a speed ratio of 30:70, 20:80, and the like, and the predetermined ratio is not a default value, but may be changed in real time according to the state or environment of the robot cleaner 100.
  • the robot cleaner 100 may be connected to the first rotating member 120.
  • the rotation speeds of the first rotation member 110 and the second rotation member 120 are respectively decelerated while maintaining the difference in the rotation speed of the second rotation member 120 at the predetermined ratio (S413).
  • the controller 170 may determine whether the robot cleaner 100 is spaced apart from the reference area by more than a maximum distance based on the information sensed by the sensor 130. In addition, by measuring a timer running from the time when the spiral mode is selected, it may be determined whether the threshold time or more has elapsed.
  • the controller 170 may decelerate the rotational speeds of the first and second rotational members 120 and 120 that are accelerated in the state where the predetermined ratio is maintained.
  • the predetermined ratio may be a speed ratio of 30:70, 20:80, and the like, and may be changed in real time according to the movement state or environment change of the robot cleaner 100.
  • Such a deceleration step may be made sequentially or gradually as in the above-described acceleration step.
  • the robot cleaner 100 determines whether the time allocated to the spiral mode has elapsed or whether the robot cleaner 100 returns to the reference region (S415). In contrast, the robot cleaner 100 performs the second rotation mode (S417) and After controlling the execution of the first rotation mode (S419), the spiral mode is terminated (S421).
  • the controller 170 determines whether the robot cleaner 100 returns to the reference region based on the data sensed by the sensing unit 130, the controller 170 performs the second and first rotation mode control in the reverse order, and the spiral mode. Can be terminated.
  • the controller 170 stores the allocation time determined at the time of detecting the spiral mode in the storage unit 160, and when the allocation time has elapsed, performs the second and first rotation mode control in the reverse order, and the spiral mode. Can be terminated.
  • the robot cleaner 100 travels in another random driving pattern or switches to a preset driving mode (S423).
  • the preset driving mode may be the first forward mode or the second forward mode.
  • the controller 170 may switch to the first forward mode or the second forward mode in the random direction by specifying a random direction.
  • the robot cleaner 100 mops while gradually or gradually widening the rotation radius of the movement path to positions such as (1), (2), (3), (4), and (5). Can be performed.
  • the robot cleaner 100 of the present invention moving with the rotational force of the circular rotating members 110 and 120 provides a path to rotate again in a circular path while performing the rotary mopping, so that the mopping effect can be doubled. Therefore, in intensive mopping based on a predetermined specific region, it is possible to maximize the effect of removing the fixed foreign matter in the region.
  • FIG. 12 is a flowchart illustrating a control method of a robot cleaner according to another embodiment of the present invention.
  • the robot cleaner 100 determines whether a peripheral obstacle is detected (S433).
  • the controller 170 may determine whether an obstacle is detected according to a sensing signal sensed by the plurality of sensors 130a, 130b, 130c, and 130d provided on the side of the body 10. If the obstacle is not detected, spiral mode driving is continued (S431).
  • the robot cleaner 100 determines the possibility of maintaining the pattern in the spiral mode (S435).
  • the controller 170 may determine that it is impossible to maintain the pattern in the spiral mode.
  • the controller 170 may determine that pattern keeping in the spiral mode is impossible.
  • the robot cleaner 100 When there is a temporary obstacle or an obstacle having a small degree of change of direction, the robot cleaner 100 continues the spiral mode driving (S431).
  • the robot cleaner 100 may terminate the spiral mode by releasing the spiral mode and switching to the random pattern and the driving mode in the random direction as described above (S437).
  • the present invention provides a robot cleaner having a pair of rotating members to which a mop can be attached so as to effectively remove foreign matters and the like adhered to the surface to be cleaned, so that the rotational force of the rotating member itself can be used as a moving power source, thereby improving battery efficiency.
  • the present invention may provide a robot cleaner and a control method for performing rotation control according to a driving mode supporting various patterns for achieving effective mop cleaning in response to a progress path and obstacle detection.
  • control method of an electronic device may be implemented in program code and provided to each server or device in a state of being stored in various non-transitory computer readable mediums. have.
  • the non-transitory readable medium refers to a medium that stores data semi-permanently and is readable by a device, not a medium storing data for a short time such as a register, a cache, a memory, and the like.
  • a non-transitory readable medium such as a CD, a DVD, a hard disk, a Blu-ray disk, a USB, a memory card, a ROM, or the like.

Landscapes

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

Abstract

Un mode de réalisation de la présente invention concerne un aspirateur robot comportant : une partie corps principal à laquelle un premier élément rotatif et un second élément rotatif, auxquels un dispositif de nettoyage circulaire peut être fixé, sont accouplés de manière à faire saillie vers une surface de non-nettoyage ; une unité d'entraînement, fixée à l'intérieur de la partie corps principal, permettant d'entraîner le premier élément rotatif vers une première direction ou une seconde direction et le second élément rotatif vers une première direction ou une seconde direction; un ou plusieurs capteurs, disposés sur la surface externe de la partie corps principal, permettant de détecter des obstacles à proximité de l'aspirateur robot ; et une unité de commande, connectée au capteur, permettant de commander les rotations du premier élément rotatif et du second élément rotatif en commandant l'unité d'entraînement.
PCT/KR2014/004237 2014-03-14 2014-05-12 Aspirateur robot et procédé de commande associé WO2015137562A1 (fr)

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CN201480077173.1A CN106102539B (zh) 2014-03-14 2014-05-12 清扫机器人以及其控制方法

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KR10-2014-0030263 2014-03-14
KR1020140030263A KR101622737B1 (ko) 2014-03-14 2014-03-14 로봇 청소기 및 그의 제어 방법

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CN110456789A (zh) * 2019-07-23 2019-11-15 中国矿业大学 一种清洁机器人的全覆盖路径规划方法
KR20210131750A (ko) * 2020-04-24 2021-11-03 엘지전자 주식회사 로봇 청소기 및 로봇 청소기의 제어방법
KR20210131749A (ko) * 2020-04-24 2021-11-03 엘지전자 주식회사 로봇 청소기 및 로봇 청소기의 제어방법
CN112484718B (zh) * 2020-11-30 2023-07-28 海之韵(苏州)科技有限公司 一种基于环境地图修正的边沿导航的装置和方法
CN114098565B (zh) * 2021-04-14 2023-05-16 曲阜信多达智能科技有限公司 清洁机的控制方法

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KR20060105830A (ko) * 2005-04-04 2006-10-11 주식회사 대우일렉트로닉스 로봇청소기 주행제어방법
KR101000178B1 (ko) * 2007-04-06 2010-12-10 조진호 자동 청소기
KR20120009927A (ko) * 2010-07-22 2012-02-02 김용욱 청소용 로봇 및 제어방법
KR20130002218A (ko) * 2011-06-28 2013-01-07 삼성전자주식회사 로봇 청소기 및 그 제어방법

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KR100697084B1 (ko) * 2005-04-16 2007-03-20 엘지전자 주식회사 로봇청소기의 주행방법

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KR20060105830A (ko) * 2005-04-04 2006-10-11 주식회사 대우일렉트로닉스 로봇청소기 주행제어방법
KR101000178B1 (ko) * 2007-04-06 2010-12-10 조진호 자동 청소기
KR20120009927A (ko) * 2010-07-22 2012-02-02 김용욱 청소용 로봇 및 제어방법
KR20130002218A (ko) * 2011-06-28 2013-01-07 삼성전자주식회사 로봇 청소기 및 그 제어방법

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CN106102539B (zh) 2019-08-13
CN106102539A (zh) 2016-11-09
KR101622737B1 (ko) 2016-05-19
KR20150107394A (ko) 2015-09-23

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