WO2016047935A1 - 먼지 센서, 먼지 측정 장치, 로봇 청소기 및 그들의 제어 방법 - Google Patents
먼지 센서, 먼지 측정 장치, 로봇 청소기 및 그들의 제어 방법 Download PDFInfo
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- WO2016047935A1 WO2016047935A1 PCT/KR2015/009339 KR2015009339W WO2016047935A1 WO 2016047935 A1 WO2016047935 A1 WO 2016047935A1 KR 2015009339 W KR2015009339 W KR 2015009339W WO 2016047935 A1 WO2016047935 A1 WO 2016047935A1
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- dust
- unit
- light
- window
- robot cleaner
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Images
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
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- A47L9/2805—Parameters or conditions being sensed
- A47L9/281—Parameters or conditions being sensed the amount or condition of incoming dirt or dust
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- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
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- A—HUMAN NECESSITIES
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- A—HUMAN NECESSITIES
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Definitions
- the present invention relates to a dust sensor for detecting dust, a dust measuring device for measuring the amount of dust using the dust sensor, a robot cleaner for free running and cleaning, and a control method thereof.
- the air quality of the living room or the room that spends a lot of time at home seems to be related to health.
- the general home is provided with a dust measuring device for measuring the degree of dust pollution inside the room, and induces to clean the indoor air according to the measurement.
- the conventional dust measuring method was a method of measuring the amount of suspended dust in the air in a sealed environment where no external light enters.
- the conventional dust measuring method is suitable for a solution such as an air cleaner and not for a robot cleaner for cleaning the floor.
- the present invention has been made in accordance with the above-described needs, and an object of the present invention is to provide a dust sensor, a dust measuring device, a robot cleaner and a control method thereof that can detect dust in an environment exposed to the outside.
- Dust measuring apparatus for achieving the above object, the window portion is exposed to the outside through the opening of the main body, the dust accumulated in the outside, the light emitting portion in the window And a controller configured to measure the amount of dust accumulated in the window unit based on the intensity of the emitted light and the intensity of the received light.
- the robot cleaner for achieving the above object, a driving unit for providing a driving force for driving the robot cleaner, a driving unit for driving the robot cleaner in accordance with the driving force, a plurality of cleaning A communication unit for receiving identification information of the dust measuring device and information on the amount of dust measured from each of the plurality of dust measuring devices located in the space, and a cleaning space to perform cleaning based on the received information, and determining the cleaning And a control unit for controlling the driving unit to travel to space.
- the robot cleaner for achieving the above object, the main body forming the appearance of the robot cleaner, the window exposed to the outside through the opening of the main body to accumulate dust existing in the outside And a light emitting part emitting light from the window part, a light receiving part receiving light reflected from the window part, and an amount of dust accumulated in the window part based on the intensity of the emitted light and the intensity of the received light. It includes a control unit.
- the window portion is exposed to the outside of the dust accumulated in the outside, the light emitting portion for emitting light to the window portion and the window portion And a light receiving unit configured to receive the light reflected from the window unit, wherein the window unit may have a predetermined curvature such that the incident emission light is refracted toward the outside when the emission light is incident on an area of the window unit where dust does not exist.
- control method of the robot cleaner including a window portion exposed to the outside through the opening of the main body to accumulate dust existing in the outside, the step of emitting light to the window portion, receiving the light reflected from the window portion Step, measuring the amount of dust accumulated in the window portion based on the intensity of the emitted light and the intensity of the received light, and if the amount of the measured dust is greater than the amount of the predetermined dust, the power of the robot cleaner Turning on to perform a cleaning run.
- a dust sensor capable of detecting dust in an environment exposed to the outside and accurately calculating an amount of dust accumulated in a window portion, a dust measuring device having the dust sensor, It is possible to provide a robot cleaner having the dust sensor.
- the robot cleaner may automatically provide a robot cleaner to wake up when the amount of dust exceeds a predetermined amount.
- a robot cleaner that performs communication with a dust measuring apparatus and determines a cleaning space in which a lot of dust exists according to the communication may be provided.
- FIG. 1 is a perspective view showing a dust sensor according to an embodiment of the present invention.
- FIG. 2 is a vertical cross-sectional view of the dust sensor according to an embodiment of the present invention.
- 3 to 4 are diagrams illustrating light emission and light reception operations of the dust sensor according to an exemplary embodiment.
- FIG. 5 is a perspective view illustrating a dust measuring device having a dust sensor according to an embodiment of the present invention.
- FIG. 6 is a plan view illustrating a dust measuring apparatus having a dust sensor according to an embodiment of the present invention.
- FIG. 7 is a front view showing a dust measuring apparatus having a dust sensor according to an embodiment of the present invention.
- FIG. 8 is a block diagram illustrating a dust measuring apparatus according to an exemplary embodiment.
- FIG. 9 is a view showing an output screen of the dust measuring apparatus according to an embodiment of the present invention.
- FIG. 10 is a perspective view illustrating a robot cleaner according to an embodiment of the present invention.
- FIG. 11 is a bottom view illustrating a robot cleaner according to an embodiment of the present invention.
- FIG. 12 is a block diagram illustrating a robot cleaner according to an embodiment of the present invention.
- FIG. 13 is a flowchart illustrating a cleaning driving process of the robot cleaner according to an embodiment of the present invention.
- FIG. 14 is a timing diagram illustrating a cleaning driving process of a robot cleaner according to another exemplary embodiment of the present disclosure.
- FIG. 15 is a perspective view illustrating a dust measuring device according to another embodiment of the present invention.
- 16 is a timing diagram illustrating a cleaning driving process of a robot cleaner according to another exemplary embodiment of the present disclosure.
- 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.
- the dust sensor 10 includes a dust sensor main body 11, a window part 12, a light emitting part 13 for emitting light to the window part 12, and the window part 13. It includes a light receiving unit 14 for receiving the light reflected from.
- the window unit 12 may be exposed to an external space so that dust existing in the air may be accumulated on the air exposure surface of the window unit 12 and exposed to external light such as illumination light or sunlight.
- the light emitter 13 is formed at one side of the window 12 that is opposite to the window 12, and emits light toward the window 12.
- the light receiving unit 14 is formed on the other side opposite to the window unit 12, and when the light emitted from the light emitting unit 13 is reflected toward the window unit 12, it may receive the reflected light.
- the light emitting unit 13 and the light receiving unit 14 may be preferably implemented as an infrared light emitting unit using an infrared light, an infrared light receiving unit.
- the light emitting unit 13 and the light receiving unit 14 may be implemented as a device using other light, such as laser light.
- the window part 12 may have a predetermined curvature, and the predetermined curvature may have a shape in which at least one surface is convex toward the external space.
- the predetermined curvature may have a shape in which at least one surface is convex toward the external space.
- the surface exposed to the external space of the window part 12 may be convex toward the external space.
- the dust sensor 10 may accurately calculate the amount of dust accumulated in the window unit 12 by outputting an accurate sensing value. This will be described in detail with reference to FIGS. 3 to 4.
- dust 15 may be accumulated on the externally exposed surface 12-1 of the window part 12, and the light emitting part 13 may emit light toward the window part 12.
- the emission light 13-1 may pass through the window part 12 and be reflected by the dust 15 of the external exposure surface 12-1.
- the reflected light 14-1 generated by the emission light 13-1 reflected by the dust may be received by the light receiving unit 14.
- dust 15 may be accumulated on the externally exposed surface 12-1 of the window part 12, and the light emitting part 13 may emit light toward the window part 12.
- the emission light 13-2 may penetrate the window part 12 to be incident on a region where dust 15 of the external exposure surface 12-1 does not exist.
- the emission light 13-2 may not be reflected into the dust sensor 10 but may be refracted according to the predetermined curvature to emit an external space.
- the dust sensor 10 reduces the amount of reflection reflected inside by the surface of the window portion 12, not the dust accumulated in the window portion 12, It is possible to reduce the reflection of other than dust in the sensing value of the dust sensor 10. Accordingly, the amount of dust accumulated in the window unit 12 can be accurately calculated based on the sensing value of the dust sensor 10.
- the dust sensor 10 may be implemented as a module in which each of the window part 12, the light emitting part 13, and the light receiving part 14 is installed in the accommodation space of the main body 11.
- the modular dust sensor 10 may be installed in various devices such as the dust measuring device 100, the robot cleaner 200, and the air cleaning device, and may be used as a sensor for measuring the amount of dust in the air.
- the dust sensor 10 includes one light emitting unit 13 and one light receiving unit 14, but according to another example, the dust sensor 10 includes a plurality of dust sensors 10. The light emitting unit 13 and a plurality of light receiving units 14 may be included.
- the dust measuring apparatus 100 includes a main body 20 forming an appearance of the dust measuring apparatus 100, and a window part 12 exposed through an opening of the main body 20.
- the dust sensor 10 may be implemented with the dust sensor described above with reference to FIGS. 1 to 4, and is exposed to the outside through the opening of the dust measuring apparatus main body 20 to accumulate dust existing outside and at the same time, illumination light, solar
- the window unit 12 may be exposed to external light such as light, the light emitting unit 13 emitting light to the window unit 12, and the light receiving unit 14 receiving the light reflected from the window unit.
- the dust sensor 10 may be located above the main body 20 with respect to the fixed dust measuring apparatus 100 so that dust existing in the air may be well accumulated in the window unit 12. That is, when the dust sensor 10 is fixed, the window portion 12 of the dust sensor 10 may face upward.
- the dust measuring apparatus 100 may measure the amount of dust accumulated in the window unit 12 using the sensing value of the dust sensor 10, and may utilize the measured amount of dust. This will be described in detail with reference to FIG. 8.
- the dust measuring apparatus 100 may include a power supply unit 110, a storage unit 120, a light emission controller 130, a communication unit 140, a display unit 150, a controller 160, and a dust sensor 10. ), May include all or part of the illumination sensor 40.
- the dust sensor 10 may be a sensor including the window part 12, the light emitting part 13, and the light receiving part 14 described above with reference to FIGS. 1 to 4.
- the power supply unit 110 supplies power to the dust measuring apparatus 100.
- the power supply unit 110 may supply power for driving and operating the functional units constituting the dust measuring apparatus 100.
- the power supply unit 110 may be implemented in the form of using the AC power supplied from the external power supply device, including the plug 111.
- the present invention is not limited thereto, and the power supply unit 110 may be implemented as a rechargeable battery.
- the storage unit 120 stores various programs and data for the operation of the dust measuring apparatus 100.
- the storage unit 120 may store information for identifying each of the plurality of dust measuring apparatuses 100, such as a serial number of the dust measuring apparatus 100.
- the storage unit 120 measures the amount of dust matching the amount of dust accumulated in the window unit 12 according to the intensity ratio of the received light of the light receiving unit 14 to the intensity of the emitted light of the light emitting unit 13.
- Information can be stored. For example, it may be stored as shown in Table 1 below.
- the storage 120 may store the information in the form of a lookup table (LUT).
- LUT lookup table
- the storage unit 120 may include random access memory (RAM), flash memory, read only memory (ROM), erasable programmable ROM (EPROM), electronically erasable and programmable ROM (EPROM), register, hard disk, removable disk, and memory.
- RAM random access memory
- ROM read only memory
- EPROM erasable programmable ROM
- EPROM electronically erasable and programmable ROM
- register hard disk, removable disk, and memory.
- the communication unit 140 may enable communication between the dust measurement apparatus 100 and an external device.
- the communication unit 140 may enable communication between the dust measuring apparatus 100 and the robot cleaner 200 which performs autonomous driving and cleaning. Accordingly, the communication unit 140 may transmit the amount of dust measured to the robot cleaner 200.
- the communication unit 140 is a wired / wireless communication module for communicating in a wireless or wired manner through a local area network (LAN) and an internet network, a USB interface module for communicating through a universal serial bus (USB) port, and 3G.
- Mobile communication module to access and communicate with mobile communication networks according to various mobile communication standards such as 3rd Generation, 3rd Generation Partnership Project (3GPP), Long Term Evoloution (LTE), Near Field Communication (NFC), Wi-Fi, It may include a short-range communication module for communicating through a short-range wireless communication method such as Zigbee, nRF.
- the communication unit 140 may include a short range wireless communication chip (near field wireless communication module) for performing nRF or Bluetooth Low Energy (BLE) communication.
- Bluetooth low energy is a wireless communication protocol used to transmit messages at low energy, and the BLE specification is defined in the Volume 6 of the Bluetooth Specification.
- the display unit 150 may output dust-related information as data that can be visually recognized. For example, as illustrated in FIG. 9, the display unit 150 may quantify and output the amount of dust.
- the display unit 150 may be a liquid crystal display, a thin film transistor-liquid crystal display, an organic light-emitting diode, a flexible display, or a three-dimensional display.
- the display may be implemented as at least one of a 3D display, a transparent display, a head up display (HUD), a head mounted display (HMD), and a prism project display.
- HUD head up display
- HMD head mounted display
- the illuminance sensor 40 may be exposed to the outside through an opening of the dust measuring apparatus main body 20 to sense external illuminance.
- the illuminance sensor 40 may include a light receiving element composed of a device such as a photodiode for converting the intensity of the received light into a corresponding current.
- the controller 160 controls the overall operation of the dust measuring apparatus 100.
- the controller 160 may control all or part of the power supply unit 110, the storage unit 120, the communication unit 140, the display unit 150, the dust sensor 10, and the illumination sensor 40. .
- control unit 160 is applied to Table 1 stored in the storage unit 120 based on the intensity of the emitted light of the light emitting unit 13 and the intensity of the received light of the light receiving unit 14 to the window portion of the dust sensor 10.
- the amount of dust accumulated in (11) can be measured.
- the intensity of the emitted light and the intensity of the received light may be calculated by the controller 160 measuring a current flowing through each of the light emitter 13 and the light receiver 14.
- the controller 160 may control the power supplied to the light emitter 13 from the power so that the intensity of the emitted light of the light emitter 13 is constant.
- the table shown in Table 1 may be a value measured by an experiment in a dark environment having less influence on external light such as illumination light, sunlight, etc., in order to accurately measure the amount of dust corresponding to the ratio. Therefore, as in the exemplary embodiment of the present invention, an error may occur in the calculated amount of dust in a case in which the window part 12 of the dust sensor 10 is exposed to external light and exposed to external light. Accordingly, according to an embodiment of the present disclosure, the controller 160 compensates the intensity of the received light of the light receiving unit 14 by using the sensing value of the illuminance sensor 20, and the intensity and emission of the compensated received light. The amount of dust accumulated in the window part 12 may be measured based on the light intensity. Accordingly, the controller 160 may measure the exact amount of dust by reflecting the influence of external light.
- the controller 160 may control the communicator 140 to transmit the packet including the information about the measured amount of dust and identification information of the dust measuring apparatus to the robot cleaner 200 through nRF communication.
- the controller 160 may control the communicator 140 to transmit the packet including the information about the measured amount of dust and identification information of the dust measuring apparatus to the robot cleaner 200 using BLE communication. .
- the dust measuring apparatus 100 may serve as an advertiser defined by BLE.
- the communication unit 140 may broadcast a packet including information on the amount of the measured dust and identification information of the dust measuring apparatus.
- the communication unit 140 may always perform the broadcasting when the dust measuring apparatus 100 is powered on.
- the communication unit 140 may perform the broadcasting when the measured amount of dust is larger than the preset amount of dust.
- the broadcasting here has a communicable range and may be approximately 50-100 meters in radius.
- the communication range may vary depending on various factors.
- the robot cleaner 200 capable of BLE communication and located within the communicable range may receive a packet broadcast from the dust measuring apparatus 100.
- the robot cleaner 200 which is not located within the communication range among the robot cleaners 200 capable of BLE communication may not receive the broadcast packet.
- the robot cleaner 100 may determine a cleaning space in which cleaning is to be performed based on the received information according to the broadcasting, and may perform cleaning by driving to the determined cleaning space.
- the robot cleaner 200 may receive a main body 30 structurally forming the exterior of the robot cleaner and a user input for manipulating the robot cleaner 200.
- An input / output unit 210 including an input unit and an output unit for outputting robot cleaner-related information, main wheels 241 and 242 for enabling the robot cleaner 200 to move forward, backward, and rotate in a cleaning process; It may include auxiliary wheels (243, 244, 245) to rotate in accordance with the driving direction of the robot cleaner 200 to maintain a stable posture.
- two main wheels 241 and 242 may be symmetrically disposed at left and right edges of a central area of the bottom of the main body 30.
- the auxiliary wheels 243, 244, and 245 may be disposed at, for example, the front and rear ends of the bottom of the main body, and may be implemented as casters.
- the robot cleaner 200 is exposed to the outside through the opening of the main body 30 to accumulate dust existing outside the window portion exposed to the external light such as illumination light, sunlight, etc. 12, a dust sensor 10 including a light emitting unit 13 for emitting light to the window unit 12 and a light receiving unit 14 for receiving the light reflected from the window unit.
- the dust sensor 10 may be implemented with the dust sensor described above with reference to FIGS.
- the dust sensor 10 may be positioned above the robot cleaner 200 so that dust existing in the air may be well accumulated in the window unit 12.
- the robot cleaner 200 includes the main brush assembly 233 and the side brush assemblies 231 and 232 which perform dry cleaning to suck and remove free particles such as dust present on the surface to be cleaned. And a cleaner fixing part 234 capable of fixing the cleaner for performing wet cleaning to remove the foreign matter stuck to the surface to be cleaned using a liquid such as water or detergent.
- the cleaner fixing part 234 may be disposed at the bottom of the bottom of the main body 30, the cleaner is implemented with a fiber material such as microfiber cloth, rag, non-woven fabric, brush, etc. to clean the foreign matter adhered to the surface to be cleaned is fixed Can be.
- a fiber material such as microfiber cloth, rag, non-woven fabric, brush, etc.
- the side brush assemblies 231 and 232 may sweep free particles such as dust present in corner portions of the bottom surface and dust adjacent to the wall surface to guide the main brush assembly 233.
- two side brush assemblies 231 and 232 may be symmetrically disposed at left and right upper edges of the bottom of the main body 30, and the first side brush assemblies 231 positioned on the left side based on the bottom view. May rotate in a clockwise direction, and the second side brush assembly 232 located on the right side may rotate in a counterclockwise direction.
- the main brush assembly 233 may sweep the free particles derived from the side brush assemblies 231 and 232 to the suction port.
- one main brush assembly 233 may be disposed at, for example, a central region of the bottom surface of the main body 30.
- the robot cleaner 200 may include a main body 30, an input / output unit 210, a driving unit 220, a cleaning unit 230, and a traveling unit 240 that form an exterior of the robot cleaner 200. ), The storage unit 250, the power supply unit 260, the sensor unit 270, the communication unit 280, the control unit 290, and all or part of the light emission control unit (not shown).
- the input / output unit 210 includes an input unit for receiving a user input for operating the robot cleaner and an output unit for outputting robot cleaner related information.
- the input unit may receive various user inputs such as a user input for manipulating on / off of the robot cleaner power, a user input for manipulating a cleaning mode of the robot cleaner, a user input for manipulating an operation or stop of the robot cleaner, and the like.
- the input unit 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 may output robot cleaner related information such as a battery state of the robot cleaner, a cleaning mode of the robot cleaner, and the like, and the output unit may be visually recognized and an audio output unit that outputs audible data. It may include a display unit for outputting data.
- the audio output unit may be implemented as a speaker.
- the display unit includes a liquid crystal display (LCD), a thin film transistor liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), and a flexible display. It may be implemented by including at least one of a field emission display (FED), a 3D display, a transparent display.
- FED field emission display
- 3D display a transparent display.
- the driving unit 220 may provide a driving force for driving each of the cleaning unit 230 and the driving unit 240.
- the driving unit 220 may include a motor that rotates the main wheels of the driving unit 240 to drive the robot cleaner by driving the motor.
- Each motor is connected to the main wheels so that the main wheels rotate, and the motors operate independently of each other and can rotate in both directions.
- the driving unit 220 may include a motor for rotating the main brush assembly 233 and the side brush assemblies 231 and 232, respectively, so that the robot cleaner 200 may perform dry cleaning by driving the motor.
- the driving unit 240 drives the robot cleaner 200 according to the driving of the driving unit 220.
- the driving unit 240 may include the main wheels 241 and 242 to enable the moving operation such as forward, backward and rotation driving in the process of cleaning the robot cleaner 200 according to the driving of the driving unit 220. Can be.
- the driving unit 240 may include auxiliary wheels 243, 244, and 245.
- the auxiliary wheels 243, 244, 245 may support the main body of the robot cleaner 200, minimize friction with the bottom surface (cleaned surface), and smoothly run the robot cleaner 200.
- the auxiliary wheels 243, 244, 245 may be implemented as a caster to rotate in accordance with the driving direction of the robot cleaner 200 to maintain the body in a stable posture.
- the cleaning unit 230 cleans the cleaning area.
- the cleaning unit 230 is a main brush assembly 233 for sweeping free particles such as dust present on the surface to be cleaned, such as the bottom surface to the suction port, and side brush assemblies 231 and 232 for cleaning the wall and the adjacent portion ).
- the main brush assembly 233 may include a rotatable roller and a main brush installed to surround the outer circumferential surface of the roller.
- the main brush may induce dust to flow into the suction port by stirring the dust accumulated on the bottom surface as the roller rotates.
- the roller may be formed of a rigid rigid body.
- the cleaning unit 230 is a suction unit (not shown) to generate a suction force in the suction port so that the free particles induced in the suction port is sucked in the suction port, to collect the dust introduced into the suction port by the suction unit It may include a dust collector (not shown).
- the suction unit may be implemented as, for example, a suction motor.
- the cleaning unit 230 may include a cleaner fixing unit 234 capable of fixing the cleaner for wet cleaning.
- the cleaner fixing part 234 may be located below the main body.
- the cleaner may be implemented with a fiber material such as a microfiber cloth, a rag, a non-woven fabric, a brush, etc., to wipe off the adhered foreign matter on the bottom surface.
- the cleaning unit 230 may be further provided with a water supply unit (not shown) for improving the cleaning ability of the cleaner mop.
- the storage unit 250 stores various programs and data for the operation of the robot cleaner 200.
- the storage unit 250 may store the robot cleaner at least one of a cleaning map and a cleaning area.
- the storage unit 250 measures the amount of dust matching the amount of dust accumulated in the window unit 12 according to the intensity ratio of the received light of the light receiving unit 14 to the intensity of the emitted light of the light emitting unit 13.
- Information can be stored. For example, it may be stored as shown in Table 1 above.
- the storage unit 250 may include a random access memory (RAM), a flash memory, a read only memory (ROM), an erasable programmable ROM (EPROM), an electronically erasable and programmable ROM (EPROM), a register, a hard disk, a removable disk, In addition to the built-in type of storage such as a memory card, the Universal Subscriber Identity Module (USIM) and the like, as well as a removable type of storage such as USB memory.
- RAM random access memory
- ROM read only memory
- EPROM erasable programmable ROM
- EPROM electronically erasable and programmable ROM
- register a register
- hard disk a hard disk
- a removable disk In addition to the built-in type of storage such as a memory card, the Universal Subscriber Identity Module (USIM) and the like, as well as a removable type of storage such as USB memory.
- USB memory Universal Subscriber Identity Module
- the power supply unit 260 supplies power to the robot cleaner 200. Specifically, the power supply unit 260 supplies driving power to each of the functional units constituting the robot cleaner 200 and operating power according to whether the robot cleaner runs or performs cleaning. When the remaining power is insufficient, the power supply unit 260 moves to the charging station to charge it. It can be charged with current.
- the power supply unit 160 may be implemented as a rechargeable battery.
- the sensor unit 270 may sense various information about the cleaning driving of the robot cleaner 200.
- the sensor unit 270 may include one or more sensors provided on the side of the main body 30 to detect a second obstacle that cannot be climbed such as a wall.
- the sensor unit 270 may include one or more sensors positioned at the lower front and / or rear surface of the main body 30 to detect a first obstacle having a predetermined height such as a threshold.
- the first and second obstacle sensing sensors may be implemented as, for example, 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 sensor unit 270 may include a sensor for detecting a driving state such as a driving distance, a traveling speed, a driving acceleration, and the like of the robot cleaner 100, for example, an acceleration sensor.
- the sensor unit 270 may include the above-described dust sensor 10 and the illuminance sensor 20.
- the sensor unit 270 may transmit the sensing signal to the control unit 290.
- the communication unit 280 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 280 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 200 may control an operation state or an operation method by the control signal received by the communication unit 280.
- the terminal for controlling the robot cleaner 200 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 200.
- the controller 290 controls the overall operation of the robot cleaner 200.
- the control unit 290 includes the input / output unit 210, the driving unit 220, the cleaning unit 230, the driving unit 240, the storage unit 250, the power supply unit 260, the sensor unit 270, and the communication unit 280. You can control all or part of.
- control unit 290 is applied to Table 1 stored in the storage unit 250 based on the intensity of the emitted light of the light emitting unit 13 and the intensity of the received light of the light receiving unit 14 to the window portion of the dust sensor 10.
- the amount of dust accumulated in (11) can be measured.
- the controller 290 compensates the intensity of the received light of the light receiving unit 14 by using the sensing value of the illuminance sensor 20, and compensates the intensity of the received light and the emitted light.
- the amount of dust accumulated in the window portion 12 can be measured based on the intensity.
- the controller 290 may control the driving unit 220 to control the robot cleaner 200 to perform a cleaning run.
- a configuration for measuring the amount of dust even in a power-off state of the robot cleaner 200 for example, power is supplied to the dust sensor 10, the illuminance sensor 20, the control unit 290, and the like. Can be. If the amount of dust measured in the power off state is greater than the preset amount of dust, the controller 290 automatically turns on the power of the robot cleaner 200, and the power unit 260 cleans the dust.
- Configuration for driving for example, the input and output unit 210, the driving unit 220, the cleaning unit 230, the driving unit 240, storage unit 250, power supply unit 260, sensor unit 270, communication unit ( 280 may be supplied with power. Accordingly, even if the cleaning command of the user is not input, the robot cleaner 200 may automatically wake up to perform the cleaning driving. This process may be the same as FIG. 13.
- the robot cleaner 200 having the dust sensor may perform an operation as shown in FIG. 13.
- the light emitting part 13 of the dust sensor 10 emits light to the window part 12 of the dust sensor 10 (S101), and the light receiving part 140 of the dust sensor 10 is the window part 12.
- the reflected light may be received.
- the controller 290 may measure the amount of dust accumulated in the window unit 12 based on the intensity of the emitted light and the intensity of the received light (S103).
- steps S101, S102, and S103 may be performed because the power supply is not cut off even in the power-off state of the robot cleaner 200 in the components for performing the respective steps.
- control unit 290 may perform a cleaning run by turning on the power of the robot cleaner (S104).
- the robot cleaner 200 may not include a dust sensor 10 that is a component for measuring the amount of dust.
- the robot cleaner 200 may perform cleaning in association with the dust measuring apparatus 100. This will be described in detail with reference to FIG. 14.
- the robot cleaner 200 receives identification information of the dust measuring device and information on the measured amount of dust from each of the plurality of dust measuring devices 100-1 and 100 -N located in the plurality of cleaning spaces. It may be (S201).
- the dust measuring apparatus 100 may serve as an advertiser defined by BLE, and in this case, broadcasts a packet including information on the amount of dust measured and identification information of the dust measuring apparatus.
- the robot cleaner 200 receives a broadcast signal from each of the plurality of dust measuring apparatuses 100-1 and 100 -N located in the plurality of cleaning spaces, thereby identifying the identification information of the dust measuring apparatus and the amount of dust measured. Information can be received.
- the robot cleaner 200 may determine a cleaning space in which cleaning is to be performed based on the received information (S202).
- the robot cleaner 200 may detect the identification information of the dust measuring apparatus 100 in which the amount of dust measured using the received information is greater than a preset amount, and determine a cleaning space to be cleaned.
- the plurality of cleaning spaces may be distinguished from each of the plurality of cleaning spaces by identification information of the dust measuring apparatus 100 located therein.
- the robot cleaner 200 may determine the cleaning sequence number of each of the determined plurality of cleaning spaces (S203). In this case, the robot cleaner 200 may determine the cleaning order in descending order from the cleaning space having a large amount of dust. For example, the amount of dust measured by the first dust measuring apparatus 100-1 located in the cleaning space A is 80%, and the amount of dust measured by the second dust measuring apparatus 100-1 located in the cleaning space B is measured. When the amount is 70%, the robot cleaner 200 may determine the cleaning order of the cleaning space A as 1 and the cleaning order of the cleaning space B as 2 times.
- the robot cleaner 200 may perform cleaning by driving to the corresponding cleaning space based on the determined cleaning sequence number (S204). In this case, the robot cleaner 200 may travel to the cleaning space by using previously stored cleaning map data.
- the robot cleaner 200 may travel to the cleaning space using the received signal strength indicator (RSSI) in the plurality of dust measuring apparatuses 100.
- RSSI received signal strength indicator
- the robot cleaner 200 may determine the current position of the robot cleaner by using a triangulation method or the like based on the size information RSSI of the broadcasting signal in the plurality of dust measuring apparatuses 100.
- the current position determined based on the continuously received size information of the broadcasting signal may be updated and the vehicle may be cleaned by driving to the cleaning space.
- the dust measuring apparatus 100 may include a main body 20, which is a configuration of the dust measuring apparatus 100 described above with reference to FIGS. 5 to 9, and a window part 12 exposed through an opening of the main body 20.
- it may further include an IR communication unit 141 for IR (Infrared) communication.
- the IR communication unit 141 is installed on the first side of the dust measuring apparatus 100 and is installed on the second side opposite to the first IR communication unit and the first side that emits the IR signal in the first direction and the second direction. It may include a second IR communication unit for emitting an IR signal.
- the IR signal may be received by the IR communication unit of the robot cleaner 200 so that the robot cleaner 200 may recognize the position of the dust measuring apparatus 100. This will be described in detail with reference to FIG. 16.
- the dust measuring apparatus 100 is stacked on the window 11 of the dust sensor 10 based on the intensity of the emitted light of the light emitting unit 13 and the intensity of the received light of the light receiving unit 14.
- the amount of dust can be measured (S301).
- the dust measuring apparatus 100 may transmit a packet including identification information of the dust measuring apparatus to the robot cleaner 200 using RF communication (S302). ).
- the dust measuring apparatus 100 may emit an IR signal before, after, or simultaneously with step S302 (S303).
- the robot cleaner 200 receiving the packet may recognize that the vicinity of the point where the dust measuring device 100 corresponding to the received identification information is located should be cleaned (S304).
- the packet may be used as a wakeup signal of the robot cleaner 200. That is, when the power of the robot cleaner 200 is in the OFF state, the robot cleaner 200 receiving the packet turns on the power, and then cleans the spot where the dust measuring device 100 is located. If the power of the robot cleaner 200 is ON, the robot cleaner 200 may recognize that the dust cleaning apparatus 100 needs to be cleaned.
- the robot cleaner 200 may determine the position of the dust measuring apparatus 100 based on the IR signal emitted from the dust measuring apparatus 100 (S305), and may travel toward the corresponding dust measuring apparatus 100. There is (S306).
- the robot cleaner 200 may perform cleaning of the cleaning space in which the dust measuring apparatus 100 is located (S307).
- control method 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 mediums.
- 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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Abstract
Description
방출광의 세기 | 수신광의 세기 | 윈도우부에 쌓인 먼지의 양(%) |
A | B | 80% |
C | 50% |
Claims (21)
- 먼지 측정 장치에 있어서,본체;상기 본체의 개구부를 통하여 외부에 노출되어 상기 외부에 존재하는 먼지가 쌓이는 윈도우부;상기 윈도우부에 광을 방출하는 발광부;상기 윈도우부에서 반사된 광을 수신하는 수광부; 및상기 방출광의 세기와 상기 수신광의 세기를 기초로 상기 윈도우부에 쌓여있는 먼지의 양을 측정하는 제어부;를 포함하는 먼지 측정 장치.
- 제1항에 있어서,상기 윈도우부는,먼지가 존재하지 않는 윈도우부의 영역에 상기 방출광이 입사되면, 상기 입사된 방출광이 상기 외부를 향하여 굴절되도록 소정 곡률을 가지는 것을 특징으로 하는 먼지 측정 장치.
- 제2항에 있어서,상기 윈도우부는,먼지가 존재하는 윈도우부의 영역에 상기 방출광이 입사되면, 상기 입사된 방출광이 상기 수광부를 향하여 반사시키는 것을 특징으로 하는 먼지 측정 장치.
- 제3항에 있어서,상기 소정 곡률에 따라 상기 윈도우부는 적어도 일면이 상기 외부를 향하여 볼록한 형태인 것을 특징으로 하는 먼지 측정 장치.
- 제1항에 있어서,상기 먼지 측정 장치의 동작을 위한 전원을 공급하는 전원부; 및상기 방출광의 세기가 일정하도록 상기 발광부에 공급되는 전원을 제어하는 제어부;를 더 포함하는 것을 특징으로 하는 먼지 측정 장치.
- 제1항에 있어서,상기 윈도우부는,상기 본체의 개구부를 통하여 외부에 노출되어 상기 외부의 광에 노출되는 것을 특징으로 하는 먼지 측정 장치.
- 제6항에 있어서,상기 먼지의 양의 측정을 위한 정보를 저장하는 저장부; 및상기 외부의 광의 조도를 감지하는 조도 센서;를 더 포함하고,상기 제어부는,상기 조도 센서의 센싱 결과를 이용하여 상기 수신광의 세기를 보상하고, 상기 보상된 수신광의 세기와 방출광의 세기를 기초로 상기 윈도우부에 쌓여있는 먼지의 양을 산출하는 것을 특징으로 하는 먼지 측정 장치.
- 제6항에 있어서,자율 주행하며 청소를 수행하는 로봇 청소기와 통신을 수행하는 통신부;를 더 포함하고,상기 통신부는,상기 먼지 측정 장치의 식별 정보 및 상기 측정된 먼지의 양에 관한 정보를 포함하는 패킷을 전송하는 것을 특징으로 하는 먼지 측정 장치.
- 로봇 청소기에 있어서,상기 로봇 청소기의 구동을 위한 구동력을 제공하는 구동부;상기 구동력에 따라 상기 로봇 청소기를 주행시키는 주행부;복수의 청소 공간에 위치한 복수의 먼지 측정 장치 각각으로부터 먼지 측정 장치의 식별 정보 및 측정된 먼지의 양에 관한 정보를 수신하는 통신부; 및상기 수신된 정보를 기초로 청소를 수행해야 할 청소 공간를 결정하고, 상기 결정된 청소 공간으로 주행하도록 상기 구동부 를 제어하는 제어부;를 포함하는 로봇 청소기.
- 제9항에 있어서,상기 제어부는,청소를 수행해야 할 청소 공간이 복수 개 결정되면, 결정된 복수의 청소 공간 각각의 청소 순번을 결정하는 것을 특징으로 하는 로봇 청소기.
- 제9항에 있어서,상기 통신부는,상기 복수의 먼지 측정 장치 각각에서 전송된 신호를 통하여 상기 먼지 측정 장치의 식별 정보 및 상기 측정된 먼지의 양에 관한 정보를 수신하고,상기 제어부는,상기 전송된 신호의 크기 정보(RSSI : Received Signal Strength Indicator)를 기초로 상기 로봇 청소기의 현재 위치를 판단하는 것을 특징으로 하는 로봇 청소기.
- 로봇 청소기에 있어서,상기 로봇 청소기의 외관을 형성하는 본체;상기 본체의 개구부를 통하여 외부에 노출되어 상기 외부에 존재하는 먼지가 쌓이는 윈도우부;상기 윈도우부에 광을 방출하는 발광부;상기 윈도우부에서 반사된 광을 수신하는 수광부; 및상기 방출광의 세기와 상기 수신광의 세기를 기초로 상기 윈도우부에 쌓여있는 먼지의 양을 측정하는 제어부;를 포함하는 로봇 청소기.
- 제12항에 있어서,상기 로봇 청소의 구동을 위한 구동력을 제공하는 구동부;상기 구동력에 따라 상기 로봇 청소기를 주행시키는 주행부;상기 구동력에 따라 청소를 수행하는 청소부;를 더 포함하고,상기 제어부는,상기 측정된 먼지의 양이 기 설정된 먼지의 양보다 크면, 상기 구동부를 제어하여 상기 로봇 청소기가 청소 주행을 수행하도록 제어하는 것을 특징으로 하는 로봇 청소기.
- 제12항에 있어서,상기 윈도우부는,먼지가 존재하지 않는 윈도우부의 영역에 상기 방출광이 입사되면, 상기 입사된 방출광이 상기 외부를 향하여 굴절되도록 소정 곡률을 가지는 것을 특징으로 하는 로봇 청소기.
- 제14항에 있어서,상기 윈도우부는,먼지가 존재하는 윈도우부의 영역에 상기 방출광이 입사되면, 상기 입사된 방출광이 상기 수광부를 향하여 반사시키는 것을 특징으로 하는 로봇 청소기.
- 제15항에 있어서,상기 소정 곡률에 따라 상기 윈도우부는 적어도 일면이 상기 외부를 향하여 볼록한 형태인 것을 특징으로 하는 로봇 청소기.
- 제12항에 있어서,상기 먼지 측정 장치의 동작을 위한 전원을 공급하는 전원부; 및상기 방출광의 세기가 일정하도록 상기 발광부에 공급되는 전원을 제어하는 제어부;를 더 포함하는 것을 특징으로 하는 로봇 청소기.
- 제12항에 있어서,상기 윈도우부는,상기 본체의 개구부를 통하여 외부에 노출되어 상기 외부의 광에 노출되는 것을 특징으로 하는 로봇 청소기.
- 제18항에 있어서,상기 먼지의 양의 측정을 위한 정보를 저장하는 저장부; 및상기 외부의 광의 조도를 감지하는 조도 센서;를 더 포함하고,상기 제어부는,측정된 수신광의 세기를 상기 조도 센서의 센싱 결과를 이용하여 보상하고, 상기 보상된 수신광의 세기와 방출광의 세기를 기초로 상기 윈도우부에 쌓여있는 먼지의 양을 산출하는 것을 특징으로 하는 로봇 청소기.
- 먼지 센서에 있어서,외부에 노출되어 상기 외부에 존재하는 먼지가 쌓이는 윈도우부;상기 윈도우부에 광을 방출하는 발광부; 및상기 윈도우부에서 반사된 광을 수신하는 수광부;를 포함하고,상기 윈도우부는,먼지가 존재하지 않는 윈도우부의 영역에 상기 방출광이 입사되면, 상기 입사된 방출광이 상기 외부를 향하여 굴절되도록 소정 곡률을 가지는 것을 특징으로 하는 먼지 센서.
- 본체의 개구부를 통하여 외부에 노출되어 상기 외부에 존재하는 먼지가 쌓이는 윈도우부를 포함하는 로봇 청소기의 제어 방법에 있어서,상기 윈도우부에 광을 방출하는 단계;상기 윈도우부에서 반사된 광을 수신하는 단계;상기 방출광의 세기와 상기 수신광의 세기를 기초로 상기 윈도우부에 쌓여있는 먼지의 양을 측정하는 단계; 및상기 측정된 먼지의 양이 기 설정된 먼지의 양보다 크면, 상기 로봇 청소기의 전원을 온(on)시켜 청소 주행을 수행하는 단계;를 포함하는 제어 방법.
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US15/514,638 US20170215670A1 (en) | 2014-09-26 | 2015-09-04 | Dust sensor, dust measuring apparatus, robot cleaner, and method of controlling the same |
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KR1020140129107A KR20160040746A (ko) | 2014-09-26 | 2014-09-26 | 먼지 센서, 먼지 측정 장치, 로봇 청소기 및 그들의 제어 방법 |
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CN104422641A (zh) * | 2013-09-02 | 2015-03-18 | 张卿 | 气体颗粒物测量仪 |
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KR102434410B1 (ko) * | 2015-12-14 | 2022-08-22 | 삼성전자주식회사 | 전자장치 및 그의 동작 방법 |
KR102613442B1 (ko) * | 2016-10-12 | 2023-12-13 | 삼성전자주식회사 | 청소로봇 및 그 제어 방법 |
KR102020856B1 (ko) * | 2017-12-07 | 2019-09-11 | 주식회사 에이유이 | 먼지 감지 센서 및 이를 부착한 필터 |
KR101973897B1 (ko) * | 2018-05-16 | 2019-04-29 | 윤일식 | 엘리베이터의 먼지 제거 장치 및 방법 |
KR20210029583A (ko) | 2019-09-06 | 2021-03-16 | 삼성전자주식회사 | 청소기 및 청소기의 제어 방법 |
KR20220121490A (ko) * | 2021-02-25 | 2022-09-01 | 엘지전자 주식회사 | 진공 청소기 및 그 제어방법 |
CN113984717A (zh) * | 2021-09-22 | 2022-01-28 | 深圳拓邦股份有限公司 | 一种物体表面脏污程度检测装置及清洁设备 |
CN113902603B (zh) * | 2021-10-13 | 2022-08-09 | 中科三清科技有限公司 | 沙尘排放通量的计算方法和装置 |
CN115137255B (zh) * | 2022-06-29 | 2023-11-21 | 深圳市优必选科技股份有限公司 | 充电异常处理方法、装置、可读存储介质及扫地机器人 |
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