WO2016129911A1 - Robot nettoyeur et son procédé de commande - Google Patents

Robot nettoyeur et son procédé de commande Download PDF

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Publication number
WO2016129911A1
WO2016129911A1 PCT/KR2016/001349 KR2016001349W WO2016129911A1 WO 2016129911 A1 WO2016129911 A1 WO 2016129911A1 KR 2016001349 W KR2016001349 W KR 2016001349W WO 2016129911 A1 WO2016129911 A1 WO 2016129911A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot cleaner
driving
unit
rotation
falling point
Prior art date
Application number
PCT/KR2016/001349
Other languages
English (en)
Korean (ko)
Inventor
정우철
김운기
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
Publication of WO2016129911A1 publication Critical patent/WO2016129911A1/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
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/04—Viewing devices
    • 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 capable of performing wet cleaning while driving autonomously.
  • Robot cleaners including such vacuum cleaners have a limitation in that they cannot remove foreign substances stuck to the surface to be cleaned or when they are stuck. Recently, robot cleaners that can perform wet cleaning by attaching mops to the robot cleaners have emerged. .
  • the vehicle is driven by using a conventional suction type vacuum cleaner moving method and an obstacle avoiding method, and thus, even if the dust scattered on the surface to be cleaned is removed, There is a problem that cannot be easily removed.
  • an object of the present invention is to use the rotational force itself of a pair of rotating members as a moving force source of the robot cleaner, and to allow the cleaner for wet cleaning to the rotating member to be fixed,
  • the present invention provides a robot cleaner capable of driving while cleaning and a control method thereof.
  • the controller may control the robot cleaner to travel along the falling point by controlling at least one of a rotation direction and a rotation speed of at least one of the first and second driving units.
  • the controller may control the robot cleaner to travel in a direction opposite to the dropping point by controlling at least one of a rotation direction and a rotation speed of at least one of the first and second driving units.
  • control method of the robot cleaner for achieving the above object, by rotating at least one of the first and second rotating members to rotate around the first and second rotation axis, respectively Controlling the robot cleaner to run in a specific driving direction, emitting plane light toward a cleaning surface located in the driving direction of the robot cleaner, photographing a cleaning area including the emitted plane light by using a photographing unit Generating an image corresponding to the photographed cleaning area; determining whether a drop point is located in the cleaning area by using the image; and supplying power for driving the robot cleaner according to the determination result. Controlling the driving unit to control to avoid the dropping point.
  • the imaging unit may include an imaging device including a lens unit and an imaging area in which an optical signal to the cleaning area is formed.
  • the determining may include setting a reference area in the imaging area, The location of the falling point may be determined according to whether the plane light is detected.
  • controlling to avoid the falling point by controlling at least one of the rotational direction, the rotational speed of at least one of the first, second drive unit may be controlled to drive the robot cleaner along the falling point.
  • the controlling to avoid the falling point may include controlling at least one of a rotation direction and a rotation speed of at least one of the first and second driving units to control the robot cleaner to travel in a direction opposite to the falling point. Can be.
  • the robot cleaner may travel while performing wet cleaning using the rotational force of the pair of rotating members as a moving power source.
  • the robot cleaner may improve battery efficiency by using rotational force of a pair of rotating members as a moving force source.
  • the robot cleaner may be applied to the surface to be cleaned by friction between the first cleaner and the second cleaner, which are rotated by the respective rotary motions of the first and second rotary members.
  • the foreign matter stuck to it can be removed more effectively.
  • FIG. 1 is an exploded perspective view of a robot cleaner according to an embodiment of the present invention.
  • FIG. 2 is a bottom view of the robot cleaner according to the embodiment of the present invention.
  • FIG. 3 is a front view of the robot cleaner according to an embodiment of the present invention.
  • FIG. 5 is a block diagram illustrating a robot cleaner according to an embodiment of the present invention.
  • 6 to 7 are views for explaining the driving operation of the robot cleaner according to an embodiment of the present invention.
  • FIG. 12 is a view showing a drop point avoidance method of the robot cleaner according to another embodiment of the present invention.
  • FIG. 13 is a flowchart illustrating a method of controlling a robot cleaner 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.
  • the robot cleaner 100 of the present invention is structurally formed on the outer periphery of the main body 10 and the outer periphery of the main body 10 to form the exterior of the robot cleaner 100.
  • a bumper 20 that protects the 10
  • an external shock detector 130 that senses an external shock applied to the bumper 20, and installed in the main body 10 to supply power to drive the robot cleaner 100.
  • the first rotating member 110 is coupled to the first driving unit 151 to transmit power by the first driving unit 151, and a first transmission that rotates about the first rotating shaft 310 by the power.
  • the member 111 may be included.
  • the first cleaner 210 for wet cleaning may include a first fixing member 112 that can be fixed.
  • first fixing member 112 and the second fixing member 122 when the first fixing member 112 and the second fixing member 122 are coupled to the main body 10, the first fixing member 112 and the second fixing member 122 may be implemented to protrude in the direction of the surface to be cleaned, for example, to protrude in the bottom surface direction.
  • the first cleaner 210 and the second cleaner 220 for cleaning may be formed to be fixed.
  • the first cleaner 210 and the second cleaner 220 may be a cloth for cleaning various cleaning surfaces, such as a microfiber cloth, a rag, a nonwoven fabric, a brush, and the like, so that the foreign matter adhered to the bottom surface can be removed through a rotary motion. It may be composed of the same fiber material.
  • the first cleaner 210 and the second cleaner 220 may have a circular shape as shown in FIG. 1, but may be implemented in various forms without any limitation.
  • the first and second rotary shafts 310 and 320 of the first and second rotary members 110 and 120 by the power of the pair of driving units 151 and 152 may be robot cleaners. It may be tilted to have a predetermined angle with respect to the central axis 300 corresponding to the vertical axis of the (100). In this case, the first and second rotating members 110 and 120 may be inclined downward to the outside based on the central axis. That is, the region located far from the central axis 300 among the regions of the first and second rotating members 110 and 120 may be in close contact with the surface to be cleaned than the region located closer to the central axis 300.
  • the bumper 20 includes a first bumper 21 formed around the first outer circumference of the body 10 and a second bumper 22 formed around the second outer circumference of the body 10 separately from the first bumper 21. can do.
  • the bumper 20 may be formed around the left and right sides of the main body 10 based on the direction F toward which the front side of the robot cleaner 10 faces.
  • the first bumper 21 may be formed at the left circumference of the main body 10 based on the direction F toward which the front side of the robot cleaner 10 faces
  • the second bumper Reference numeral 22 may be formed at the right circumference of the main body 10 with respect to the direction F facing the front side.
  • the diffusion unit may diffuse and emit light emitted from the light source into the plane light.
  • the diffuser may generate and emit plane light by reflecting light emitted from the light source through a mirror or refracting through the lens.
  • the diffusion unit may be implemented using a mirror having a conical shape for reflecting light or a wide-angle lens for refracting the light so that the light emitted from the light source is widely spread.
  • the power supply unit 190 supplies power to the robot cleaner 100.
  • the power supply unit 190 supplies power to each of the functional units constituting the robot cleaner 100, and when the remaining power is insufficient, the power supply unit 190 may be charged by receiving a charging current.
  • the power supply unit 190 may be implemented as a rechargeable battery.
  • the rotation direction of the rotating member may be described based on the direction viewed from the top of the robot cleaner 100.
  • the first direction may refer to a direction in which the robot cleaner 100 rotates counterclockwise in a state viewed from the top with the traveling direction 300 at 12 o'clock.
  • the second direction may be a direction different from the first direction, and may mean a direction in which the traveling direction 300 is rotated clockwise at 12 o'clock.
  • the controller 170 determines whether the falling point is located in the cleaning area by using the captured image of the photographing unit 133-3, and controls the driving unit 150 to avoid the falling point according to the determination result. Can be.
  • the light emitter 133-1 of the robot cleaner 100 generates the fan-shaped planar light 800 by reflecting light emitted from a light source through a mirror or refracting it through a lens. Can be emitted toward the surface to be cleaned located in the driving direction. Accordingly, the plane light 800 may be irradiated onto the surface to be cleaned located in the driving direction of the robot cleaner.
  • the controller 170 may start the mode of driving along the dropping point. Can be controlled.
  • controller 170 may determine the driving direction 1100 of the mode of traveling along the falling point.
  • the driving direction 1100 may be determined in one of two directions parallel to the falling point 901.
  • the controller 170 drops in the driving direction of the robot cleaner 100. It may be determined that the point 901 is located, and may be controlled to start the mode of traveling along the falling point.
  • the controller 170 controls the robot cleaner 100 by controlling at least one of a rotation direction and a rotation speed of at least one of the first driver 151 and the second driver 152. May be controlled to travel in a direction opposite to the drop point 901.
  • the controller 170 reversely sets the rotation directions of the first rotation member 110 and the second rotation member 120 so that the robot cleaner 100 is opposite to the traveling direction before the robot cleaner 100 approaches the dropping point 901. It can be controlled to drive in the direction of.
  • the robot cleaner 100 may perform the wet cleaning while avoiding the falling point.
  • the robot cleaner 100 may emit plane light toward the surface to be cleaned located in the driving direction (S302).
  • the robot cleaner 100 may photograph the cleaning area including the plane light emitted by using the photographing unit, and generate an image corresponding to the photographed cleaning area (S303).
  • the imaging unit may include an imaging device including a lens unit and an imaging area in which an optical signal for the cleaning area is formed.
  • the robot cleaner 100 may determine whether the drop point is located in the cleaning area using the image.
  • the reference area may be set in the imaging area, and the location of the falling point may be determined according to whether the plane light is detected in the reference area.
  • the robot cleaner 100 may control to avoid the falling point by controlling the driving unit for supplying power for driving the robot cleaner according to the determination result (S305).
  • the driving unit for supplying power for driving the robot cleaner according to the determination result (S305).
  • the falling point is avoided by controlling at least one of the rotation direction and the rotation speed of at least one of the first and second driving units. Can be controlled.
  • At least one of the rotation direction and the rotation speed of at least one of the first and second drivers may be controlled to control the robot cleaner to travel along the fall point.
  • 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.

Landscapes

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

Abstract

L'invention concerne un robot nettoyeur. Le présent robot nettoyeur comprend : un corps principal; une unité d'entraînement située sur le corps principal de façon à fournir de l'énergie pour le déplacement du robot nettoyeur; des premier et second éléments rotatifs, qui tournent respectivement autour d'un premier arbre rotatif et d'un second arbre rotatif par la puissance de l'unité d'entraînement, et sur lequel des éléments de nettoyage pour un nettoyage par voie humide peuvent être respectivement fixés; une unité électroluminescente pour émettre un faisceau planaire vers une surface de nettoyage située dans la direction de déplacement du robot nettoyeur; une unité de photographie pour photographier une zone de nettoyage comprenant le faisceau planaire émis, et générer une image correspondant à la zone de nettoyage photographiée; et une unité de commande pour déterminer, en utilisant l'image, la position d'un point au niveau duquel le robot nettoyeur tombe dans la zone de nettoyage, et commander l'unité d'entraînement selon le résultat de détermination de façon à amener le robot nettoyeur à éviter le point au niveau duquel le robot nettoyeur tombe.
PCT/KR2016/001349 2015-02-10 2016-02-05 Robot nettoyeur et son procédé de commande WO2016129911A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2015-0020507 2015-02-10
KR1020150020507A KR101613467B1 (ko) 2015-02-10 2015-02-10 로봇 청소기 및 그의 제어 방법

Publications (1)

Publication Number Publication Date
WO2016129911A1 true WO2016129911A1 (fr) 2016-08-18

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PCT/KR2016/001349 WO2016129911A1 (fr) 2015-02-10 2016-02-05 Robot nettoyeur et son procédé de commande

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WO (1) WO2016129911A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109247880A (zh) * 2017-07-14 2019-01-22 艾薇波特公司 清扫机器人以及其行走控制方法

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7035300B2 (ja) 2016-03-15 2022-03-15 アクチエボラゲット エレクトロルックス ロボット清掃デバイス、ロボット清掃デバイスにおける、断崖検出を遂行する方法、コンピュータプログラム、およびコンピュータプログラム製品
KR20200013657A (ko) 2017-06-02 2020-02-07 에이비 엘렉트로룩스 로봇 청소 장치 전방의 표면의 레벨차를 검출하는 방법
KR102217540B1 (ko) * 2019-05-07 2021-02-19 엘지전자 주식회사 이동 로봇 및 복수의 이동 로봇의 제어방법

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0584200A (ja) * 1991-09-25 1993-04-06 Matsushita Electric Ind Co Ltd 自走式電気掃除機の段差検知装置
KR20060105830A (ko) * 2005-04-04 2006-10-11 주식회사 대우일렉트로닉스 로봇청소기 주행제어방법
KR20070027895A (ko) * 2005-08-30 2007-03-12 이기환 진공 및 스팀 청소기
KR20110105305A (ko) * 2010-03-18 2011-09-26 김정옥 청소기
WO2015012602A1 (fr) * 2013-07-24 2015-01-29 주식회사 모뉴엘 Robot de nettoyage à tissu humide et procédé pour la commande de nettoyage

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0584200A (ja) * 1991-09-25 1993-04-06 Matsushita Electric Ind Co Ltd 自走式電気掃除機の段差検知装置
KR20060105830A (ko) * 2005-04-04 2006-10-11 주식회사 대우일렉트로닉스 로봇청소기 주행제어방법
KR20070027895A (ko) * 2005-08-30 2007-03-12 이기환 진공 및 스팀 청소기
KR20110105305A (ko) * 2010-03-18 2011-09-26 김정옥 청소기
WO2015012602A1 (fr) * 2013-07-24 2015-01-29 주식회사 모뉴엘 Robot de nettoyage à tissu humide et procédé pour la commande de nettoyage

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109247880A (zh) * 2017-07-14 2019-01-22 艾薇波特公司 清扫机器人以及其行走控制方法
EP3427627A3 (fr) * 2017-07-14 2019-06-12 Everybot Inc. Robot nettoyeur et son procédé de commande de conduite
CN109247880B (zh) * 2017-07-14 2021-09-10 艾薇波特公司 清扫机器人以及其行走控制方法

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