WO2015167059A1 - Robot nettoyeur et procédé de commande associé - Google Patents

Robot nettoyeur et procédé de commande associé Download PDF

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Publication number
WO2015167059A1
WO2015167059A1 PCT/KR2014/004241 KR2014004241W WO2015167059A1 WO 2015167059 A1 WO2015167059 A1 WO 2015167059A1 KR 2014004241 W KR2014004241 W KR 2014004241W WO 2015167059 A1 WO2015167059 A1 WO 2015167059A1
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WO
WIPO (PCT)
Prior art keywords
robot cleaner
driving
path
along
backward
Prior art date
Application number
PCT/KR2014/004241
Other languages
English (en)
Korean (ko)
Inventor
송창남
김봉윤
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 CN201480000724.4A priority Critical patent/CN105491931B/zh
Publication of WO2015167059A1 publication Critical patent/WO2015167059A1/fr

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    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • 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
    • 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

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 capable of performing intensive cleaning of a specific area.
  • 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.
  • the robot cleaner including such a vacuum cleaner has a limitation in that it is not possible to remove debris or dust stuck on the surface to be cleaned, and recently, a surface cleaner such as a mop is attached to the robot cleaner to perform mopping or mop cleaning. Robot cleaners that can do it are emerging.
  • the general cleaning method using a robot cleaner has a problem that it is not efficient because there are many obstacles around, or movement in a complicated structure is not free.
  • the mop cleaning method of the general robot cleaner runs using the existing suction type vacuum cleaner movement pattern and the avoiding method for obstacles as it is, so even if the dust scattered on the surface to be cleaned is removed, etc. There is a problem that can not be easily removed.
  • the present invention has been made in view of the above problems, and provides a robot cleaner and a control method thereof capable of efficiently cleaning a specific area intensively without being affected by a large number of surrounding obstacles or a narrow and complicated structure.
  • the robot cleaner an input unit for receiving a user input;
  • a storage unit which stores a driving pattern for driving the robot cleaner; And control the driving of the robot cleaner based on the driving pattern stored in the storage unit according to the user input.
  • a reference area is set based on the current position of the robot cleaner.
  • a controller for controlling forward or backward driving along a curved radial path centered on the reference area.
  • the control method of the robot cleaner receiving a user input; Storing a driving pattern for driving the robot cleaner; Controlling driving of the robot cleaner based on a driving pattern stored in the storage unit according to the user input; Setting a reference area based on a current position of the robot cleaner when an intensive cleaning pattern is selected; And controlling the robot cleaner to move forward or backward along a curved radial path about the reference area.
  • the method according to the present invention for solving the above problems can be implemented as a computer-readable recording medium in which a program for execution in a computer is recorded.
  • the forward and backward may be repeated around the reference area along a curved radial path, and the moving direction may be shifted by a predetermined angle in a specific direction at every repetition time point. Therefore, it can be controlled to intensively clean the inside of the circle having a specific distance in diameter, it is possible to improve the efficiency of intensive cleaning.
  • control method of the robot cleaner according to an embodiment of the present invention can be cleaned up to corners without significant influence even if a complicated structure or obstacle is present by avoiding by reversing or rotating in a predetermined angle in accordance with the radial path of obstacle detection. It has an effect.
  • FIG. 1 is a view schematically showing the appearance of the robot cleaner according to an embodiment of the present invention.
  • FIG. 2 is a block diagram showing in more detail the configuration of a robot cleaner according to an embodiment of the present invention.
  • FIG. 3 is a flowchart illustrating a control method of a robot cleaner according to an exemplary embodiment of the present invention.
  • 4 to 9 are flowcharts illustrating an embodiment for implementing concentrated cleaning of a robot cleaner according to an embodiment of the present invention.
  • 10 to 14 are flowcharts illustrating an embodiment for implementing concentrated cleaning of a robot cleaner according to another embodiment of the present invention.
  • 15 to 16 are flowcharts for describing a method of controlling a robot cleaner according to another 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.
  • FIG. 1 is a block diagram illustrating a structure of a robot cleaner according to an embodiment of the present invention
  • FIG. 2 is a block diagram illustrating a configuration of a robot cleaner according to an embodiment of the present invention.
  • the robot cleaner 100 of the present invention may travel in a specific direction based on a predetermined driving pattern.
  • at least one rotating member 101 for driving may be coupled to the bottom of the robot cleaner 100, and the robot cleaner is rotated by the rotation of the at least one rotating member 101.
  • the driving direction and driving angle of the 100 may be controlled.
  • the at least one rotating member 101 may be, for example, two or more wheels whose drive is controlled by a motor.
  • a lower surface cleaner for cleaning the mop may be attached to the lower portion of the robot cleaner 100 according to the embodiment of the present invention.
  • the robot cleaner 100 may be further provided with a cleaner attachment module 102.
  • the cleaner to be attached to the robot cleaner 100 may be made of a fiber material such as a cloth for cleaning various surfaces to be cleaned, such as a microfiber cloth, a rag, a nonwoven fabric, a brush, and the like so as to remove the adhered foreign matter from the bottom surface.
  • the robot cleaner 100 may further include a water supply unit 190 for improving a mop cleaning ability of the cleaner.
  • the running speed and the running angular velocity of the robot cleaner 100 may be changed in real time based on the stored driving pattern, and accordingly, another concentrated cleaning pattern may be performed according to an embodiment of the present invention.
  • the robot cleaner 100 includes an input unit 120, a sensor unit 130, a detection unit 135, a communication unit 140, a storage unit 150,
  • the display unit 160 includes a display unit 160, a driving unit 170, a cleaning unit 180, a water supply unit 190, and a power supply unit 195.
  • the input unit 120 may receive a button manipulation input by a user, or may receive a command or a control signal.
  • the input unit 120 may generate input data for controlling the operation of the robot cleaner 100 by the user, and the input unit 120 may include a key pad dome switch and a touch pad (static pressure / capacitance). , Jog wheel, jog switch, and the like.
  • the user may select a desired function or input information through the input unit 120.
  • the input unit 120 may receive an automatic driving mode input according to an embodiment of the present disclosure, or may receive a mode key input, a sweep mode input, a driving start or driving end input, and the like. To this end, the input unit 120 may include various buttons for receiving each mode input or a soft button implemented by a touch screen.
  • the sensor unit 130 may be provided on the side of the robot cleaner 100 to detect an obstacle.
  • the sensor unit 130 generates a sensing signal for controlling the operation of the robot cleaner 100 by sensing a peripheral state of the robot cleaner 100.
  • the sensor unit 130 may transmit the sensing signal detected according to the surrounding state to the detection unit 135.
  • the sensor unit 130 may be an obstacle detection sensor that transmits an infrared or ultrasonic signal to the outside and receives a signal reflected from the obstacle.
  • the sensor unit 130 may include a camera sensor for generating image information and transmitting the generated image information, or filtering the image information and outputting the sensed ambient information.
  • the detector 135 may detect an object, an obstacle, or the like existing in any specific area based on the information sensed by the sensor 130. For example, the detector 135 may detect an obstacle in front of the moving direction or an obstacle located behind. The detector may detect the position of the obstacle and the distance from the obstacle from the ultrasonic sensor signal, the infrared sensor signal, the RF sensor signal, or the image data detected by the sensor 130, or detect a collision with 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 storage unit 150 may store various user interfaces or graphic user interfaces, store programs for the operation of the controller 110, and temporarily store input / output data. have.
  • the storage unit 150 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 storage unit 150 may store one or more driving pattern information, and may store operation information on the concentrated cleaning pattern according to an embodiment of the present disclosure.
  • the display unit 160 may be provided on an upper surface or a side of the robot cleaner 100, and may display various information generated by the controller 110.
  • the display unit 160 may include a liquid crystal display (LCD), a thin film transistor liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), and a flexible display (LCD). It may include at least one of a flexible display, an emission display (FED), a 3D display, a transparent display.
  • the display unit 160 may further include a sound output module and an alarm unit.
  • the driving unit 170 generates a control signal for rotating the rotating member under the control of the controller 110.
  • the driving unit 170 may be configured as an assembly coupled to a motor, a gear, and the like to drive at least one rotating member.
  • the driving unit 170 may perform driving operations such as moving, stopping, speed control, direction change, or angular speed change under the control of the controller 110. To this end, the driving unit 170 may be connected to sensors such as encoder (encoder).
  • encoder encoder
  • the cleaning unit 180 may be provided on the lower surface of the robot cleaner 100, by the control of the controller 110, the robot cleaner 100 is moving or to stop the foreign matter below the stop during the stop. Perform a cleaning action to absorb or mop.
  • the cleaning unit 180 may further include an air purifying unit for purifying contaminants in the air.
  • the cleaning unit 180 may include a cleaner attachment module 102.
  • the cleaner attachment module 102 may be attached with a cleaner in the form of a surface such as a mop. Accordingly, when the surface cleaner is attached to the cleaning unit 180, the robot cleaner 100 may perform mop cleaning to wipe off contaminants adhered to the floor by friction with the floor.
  • the water supply unit 190 may improve cleaning of the cleaner, that is, sweeping performance by continuously supplying water through the cleaner attachment module 102.
  • the water supply unit 190 may control so that water is continuously supplied to the mop when the mop is attached.
  • the supply amount of water may be controlled by the water supply unit 190 itself or may be physically controlled by the controller 110.
  • the controller 110 typically controls the overall operation of the robot cleaner 100. For example, processes and controls related to cleaning time determination, cleaning path determination, driving pattern selection, obstacle avoidance, and the like are performed.
  • the controller 110 may perform the concentrated cleaning pattern on the storage unit 150 according to the driving pattern.
  • the controller 110 controls the driving of the robot cleaner based on a driving pattern stored in the storage unit 150 according to a user input.
  • the controller 110 sets a reference area based on the current position of the robot cleaner.
  • the robot cleaner may be controlled to travel forward or backward along a curved radial path around the reference area.
  • the radial path may include one or more circular arc paths, or may include one or more reciprocating circular paths.
  • the controller 110 moves forward the robot cleaner 100 along the first arc path at a constant angular velocity about the reference area and then moves back to the reference area. It is possible to control to form a curved radial path by returning to the second arc path twisted in a predetermined direction by a predetermined angle.
  • the controller 110 performs forward driving along the first circular arc path, and moves the predetermined angle along the second circular arc path calculated based on the forward traveling distance.
  • the rotational angular velocity can be controlled to travel backward to the reference region.
  • the controller 110 performs forward driving along the first circular arc path, and sets the reference as a path twisted at an angle along the second circular arc path calculated based on the forward traveling time.
  • the rotational angular velocity can be controlled to travel backward to the region.
  • the controller 110 When the controller 110 detects an obstacle during the forward driving with the first circular path, the controller 110 switches to the reverse driving and calculates the second circular arc path according to at least one of the forward traveling distance, the forward traveling angular velocity, and the forward traveling time.
  • the vehicle may travel backward to the reference area.
  • the controller 110 performs a forward driving along the first reciprocating circular path when the concentrated cleaning pattern is selected, and when the forward driving is completed, the first reciprocating A backward driving may be performed along the circular path to the reference region, and may be controlled to rotate at a predetermined angle when the backward driving is completed.
  • the controller 110 When the controller 110 detects an obstacle during the forward driving along the first reciprocating arc path, the controller 110 switches to the backward driving, and based on the time or distance traveled forward, the reference along the part of the first reciprocating arc path. You can drive backward to the area.
  • the controller 110 may rotate in place in a direction for avoiding the obstacle when an obstacle is detected within a predetermined distance from the reference area.
  • the controller 110 may be shorter than the first distance along the predetermined path when the robot cleaner travels a predetermined path by a first distance with respect to a driving pattern currently being performed.
  • the property of returning by the second distance may be applied to further improve the efficiency of mop cleaning. This will be described later.
  • the power supply 195 supplies the operating power of the robot cleaner 100, and stores or charges the storage supplied from the external power supply device.
  • the power supply 195 may include one or more batteries.
  • the power supply unit 195 may receive power from an external power supply device by a wired / wireless charging method.
  • the controller 110 may reciprocate the reference area along the curved radial path when the concentrated driving pattern is selected, thereby eliminating the case where it is impossible to proceed due to the structure or the complexity of the specific cleaning area, thereby reducing the efficiency. It can be minimized.
  • the circular cleaning coverage is implemented, but can be adaptively changed according to obstacles, thereby increasing the cleaning efficiency. For example, it is possible to apply intensive cleaning patterns without problems in even cornered structures or obstacles.
  • FIG. 3 is a flowchart illustrating a control method of the robot cleaner 100 according to an embodiment of the present invention.
  • the robot cleaner 100 stores a plurality of driving patterns in operation S101.
  • the storage 150 may store a plurality of predetermined driving patterns.
  • the plurality of driving patterns may include driving patterns for general cleaning, and may include a concentrated cleaning pattern according to an embodiment of the present invention.
  • the storage 150 may further include scheduling information for performing a combination of various cleaning patterns.
  • the scheduling information may include order information of a driving pattern and time information corresponding to each driving pattern.
  • each driving pattern information or scheduling information stored in the storage unit 150 may be previously stored in the nonvolatile memory or temporarily stored in the volatile memory.
  • the driving patterns and the scheduling information stored in the storage unit 150 are updated at regular intervals through the communication unit 140, updated each time when connected to the Internet network, or the like, from the network every time the robot cleaner 100 starts cleaning. It may be received and temporarily stored. Therefore, the user can update whenever the driving patterns and the scheduling information thereof are improved, resulting in real-time performance improvement.
  • the robot cleaner 100 receives a user input for starting cleaning (S103).
  • the robot cleaner 100 selects the concentrated cleaning pattern according to the user input (S105), and controls the movement of the robot cleaner according to the selected pattern (S107).
  • the controller 110 may control the movement of the robot cleaner according to the concentrated cleaning pattern described above. More specific movement of the robot cleaner according to the intensive cleaning pattern will be described later.
  • the robot cleaner 100 ends the concentrated cleaning pattern when a pattern end input is received (S109) or when a predetermined time corresponding to the concentrated cleaning pattern has elapsed (S111).
  • 4 to 9 are flowcharts illustrating an embodiment for implementing a concentrated cleaning pattern of a robot cleaner according to an embodiment of the present invention.
  • the robot cleaner 100 determines a reference area (S201).
  • the controller 110 may determine a circle region having a predetermined radius as a reference region based on the starting point where the robot cleaner 100 is initially located.
  • the robot cleaner 100 moves forward along the first circular arc path according to the first angular velocity (S03).
  • the robot cleaner 100 calculates a second angular velocity for driving backward in the second circular arc path (S205).
  • the second angular velocity may be determined according to the distance traveled forward.
  • the controller 110 may measure the actual distance of the forward driving on the first circular arc path described above, and determine the second circular arc path based on the distance.
  • the controller 110 may calculate a second angular velocity value such that the point at which the driving is completed becomes the reference region when the vehicle reverses the second circular arc path according to the distance traveled in the first circular arc path.
  • the second angular velocity may be determined according to the time traveled forward.
  • the controller 110 may measure an actual time of moving forward on the first circular arc path described above, and determine the second circular arc path based on the time.
  • the controller 110 may calculate a second angular velocity value such that the point at which the driving is completed becomes the reference region when the vehicle reverses the second circular arc path according to the time of driving the first circular arc path.
  • the robot cleaner 100 travels backward to the reference area in the second circular arc path according to the second angular velocity (S207).
  • a curved radial path reciprocating the reference area with respect to the reference area may be sequentially formed.
  • the second circular arc path formed by the second angular velocity may be formed as a path rotated by an angle in a predetermined direction with respect to the first circular arc path traveled forward.
  • the predetermined direction may be a counterclockwise direction
  • the second circular arc path formed by the second angular velocity may be a path rotated at an angle counterclockwise with respect to the first circular path. More specifically, this will be described with reference to FIG. 6.
  • FIG. 6 is a view showing a curved radial path formed with a plurality of arc paths as the robot cleaner 100 moves according to an embodiment of the present invention.
  • the curved radial path may be formed by repeatedly forming the first circular arc path and the second circular arc path that are rotated by an angle.
  • the robot cleaner 100 may start moving forward along the first circular arc path corresponding to (1) from the reference area.
  • the robot cleaner 100 may return to a position slightly shifted in the counterclockwise direction with respect to the reference area by traveling backward at different angular speeds according to the second circular arc path corresponding to (2). Then, the robot cleaner 100 again moves forward along the first arc path corresponding to (3) in the reference area, and again moves backward along the second arc path corresponding to (4), and repeats this sequentially. This makes it possible to form a curved radial path about the reference area.
  • the robot cleaner 100 performs in-situ rotation until the obstacle is not detected (S211). If the obstacle is not detected, the driving forward is performed from the reference area to the first circular arc path according to the first angular velocity.
  • the controller 110 may select the in-situ rotation.
  • the controller 110 may set the first circular arc path again to start the forward driving.
  • FIG. 5 is a flowchart illustrating a method of controlling the robot cleaner 100 when an obstacle is detected when driving in the first circular arc path
  • FIGS. 8 to 9 comprehensively describe operations of the robot cleaner according to obstacle detection when driving forward. It is a figure for description.
  • the robot cleaner 100 moves forward along the first arc path (S221), and determines whether an obstacle is detected while driving forward (S223).
  • the robot cleaner 100 calculates the second circular arc path immediately (S225), and travels backward to the reference area in the second circular arc path (S227).
  • the robot cleaner 100 calculates a second circular arc path that can return to the reference region by immediately switching to the backward movement mode when an exception such as a collision occurs during the forward movement. By reversing along the arc path, it is possible to eliminate the risk of being interrupted or leaving the area even in the presence of obstacles in the surroundings.
  • the second circular arc path may be immediately calculated and returned to the reference area, and then the concentrated cleaning mode may be continued again along the curved radial path. Therefore, smooth cleaning can be performed even for the limited area.
  • 10 to 15 are flowcharts illustrating an embodiment for implementing concentrated cleaning of a robot cleaner according to another embodiment of the present invention.
  • the robot cleaner 100 determines a reference area (S301).
  • the controller 110 may determine a circle region having a predetermined radius as a reference region based on the starting point where the robot cleaner 100 is initially located.
  • the robot cleaner 100 moves forward according to the first angular velocity (S03).
  • the robot cleaner 100 may travel in a first reciprocating circular arc path according to a first angular velocity.
  • the robot cleaner 100 travels backward according to the same first angular velocity (S305).
  • the robot cleaner 100 may backward at the same first angular velocity along the first reciprocating arc path. Since it moves along the same first reciprocating circular path, the travel time and distance in the forward travel may be the same or similar within the error range as the travel time and distance in the backward travel.
  • the robot cleaner 100 performs a predetermined angle rotation (S307), and when an obstacle is not detected (S311), the robot cleaner 100 performs forward driving again according to the first angular velocity (S303).
  • the controller 110 may control the forward driving according to the first angular velocity after the rotation of the predetermined angle in a predetermined direction to form the radial path described above.
  • the robot cleaner may additionally perform in-situ rotation until the obstacle is not detected (S313).
  • 11 to 14 are views showing the operation of the robot cleaner 100 according to another embodiment of the present invention.
  • the robot cleaner 100 performs forward driving and backward driving according to the reciprocating arc paths 1 and 2, and rotates a predetermined angle in place. After performing, the forward driving and the backward driving are again performed along the reciprocating arc paths (3) and (4), and by repeating them sequentially, a curved radial path can be formed.
  • a curved radial path reciprocating the reference area with respect to the reference area may be sequentially formed.
  • the robot cleaner 100 may additionally continue to rotate in place when there is an obstacle near the reference area.
  • the robot cleaner 100 when an obstacle is detected while driving forward, moves backward to the forward driving path again so that the obstacle or wall is around. Even in this existing environment, the risk of being interrupted or leaving the area can be eliminated. In addition, even if an obstacle exists in the forward driving, the vehicle may return to the reference area by using the path that has just traveled forward.
  • the cleaning concentration of the cleaning area may be maximized, and in particular, when the mop cleaning is performed in parallel, at least two repeated cleanings may be performed on the same section, and the center of the reference area may be efficiently Securing cleaning coverage can be made.
  • 15 to 16 are flowcharts for describing a method of controlling a robot cleaner according to another embodiment of the present invention.
  • the robot cleaner 100 performs cleaning by selecting a driving pattern (S401).
  • the controller 110 of the robot cleaner 100 may select an appropriate driving mode according to the scheduling information and perform cleaning.
  • the robot cleaner 100 determines whether the sweep mode is selected (S403). When the sweep mode is selected, the robot cleaner 100 applies the sweep mode to the current driving pattern (S405).
  • the user may instruct the sweep mode application through the input unit 120.
  • the controller 110 may control the current driving pattern to operate in the sweep mode.
  • the sweep mode according to the embodiment of the present invention may be an additional pattern that is generally applied to the mop cleaning mode.
  • FIG. 16 shows a change in the running pattern of the concentrated cleaning pattern when the sweep mode is applied.
  • the controller 110 moves the first distance along the predetermined driving pattern path by the robot cleaner 100, and then moves the second distance in the opposite direction along the driving pattern path. By revolving the distance and repeating it periodically, the cleaning can proceed while overlapping the same path.
  • the second distance needs to be shorter than the first distance, and preferably, the second distance may correspond to half of the first distance.
  • the controller 110 may perform a direction control operation such as avoiding according to an existing driving pattern.
  • the method according to various embodiments of the present disclosure described above may be implemented in program code and provided to each server or devices in a state of being stored in various non-transitory computer readable media.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (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

La présente invention concerne un robot nettoyeur, selon un mode de réalisation de la présente invention, comprenant : une unité d'entrée permettant de recevoir une entrée utilisateur; une unité de stockage permettant de stocker des modèles de mouvement pour le mouvement du robot nettoyeur; et une unité de commande permettant de commander le mouvement du robot nettoyeur en fonction de l'entrée utilisateur sur la base des modèles de mouvement stockés dans l'unité de stockage, de définir une zone de référence sur la base d'une position actuelle du robot nettoyeur lorsqu'un modèle de nettoyage intensif est sélectionné, et de commander le robot nettoyeur de telle façon que le robot nettoyeur se déplace vers l'avant ou vers l'arrière le long d'un trajet radial incurvé autour de la zone de référence.
PCT/KR2014/004241 2014-05-02 2014-05-12 Robot nettoyeur et procédé de commande associé WO2015167059A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201480000724.4A CN105491931B (zh) 2014-05-02 2014-05-12 机器人清扫机及其控制方法

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KR10-2014-0053570 2014-05-02
KR1020140053570A KR101578882B1 (ko) 2014-05-02 2014-05-02 로봇 청소기 및 그 제어 방법

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108742341A (zh) * 2018-06-13 2018-11-06 芜湖金智王机械设备有限公司 一种扫地机的自动控制方法及基于自动控制的扫地机
CN110647047A (zh) * 2019-09-30 2020-01-03 青岛海尔科技有限公司 智能家居操作系统中设备的控制方法、装置及存储介质
CN112595311A (zh) * 2020-12-08 2021-04-02 深圳市银星智能科技股份有限公司 清洁路径规划方法、装置、移动机器人及存储介质
CN112631278A (zh) * 2020-12-08 2021-04-09 深圳市银星智能科技股份有限公司 清洁路径规划方法、装置、移动机器人及存储介质
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